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Avoid to use GLFW to create the Viz window on Linux.
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Attempt to fix robotology#1116
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@S-Dafarra @flferretti
S-Dafarra authored and flferretti committed Dec 23, 2024
1 parent 5ef7283 commit 5ba0a7a
Showing 1 changed file with 50 additions and 20 deletions.
70 changes: 50 additions & 20 deletions src/visualization/src/Visualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,10 @@
#include <windows.h>
#endif

#if defined(_WIN32) || defined(__APPLE__)
#define IDYNTREE_USE_GLFW_WINDOW
#endif

#endif

#include "DummyImplementations.h"
Expand Down Expand Up @@ -126,6 +130,7 @@ struct Visualizer::VisualizerPimpl

#ifdef IDYNTREE_USES_IRRLICHT

#ifdef IDYNTREE_USE_GLFW_WINDOW
/**
* Custom window object
*/
Expand All @@ -137,8 +142,7 @@ struct Visualizer::VisualizerPimpl
HWND m_windowId;
#elif defined(__APPLE__)
id m_windowId;
#elif defined(__linux__)
Window m_windowId;
#endif
#endif

/**
Expand Down Expand Up @@ -238,6 +242,7 @@ struct Visualizer::VisualizerPimpl
m_palette["meshcat"].vector = irr::video::SColor(255,253,98,2);
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
void cursorPositionCallback(GLFWwindow* window, double xpos, double ypos)
{
if (window != m_window)
Expand Down Expand Up @@ -375,6 +380,7 @@ struct Visualizer::VisualizerPimpl
{
static_cast<Visualizer::VisualizerPimpl*>(glfwGetWindowUserPointer(window))->scrollCallback(window, xoffset, yoffset);
}
#endif

#else
DummyCamera m_camera;
Expand All @@ -399,7 +405,7 @@ struct Visualizer::VisualizerPimpl
}
};

#ifdef IDYNTREE_USES_IRRLICHT
#ifdef IDYNTREE_USE_GLFW_WINDOW

unsigned int Visualizer::VisualizerPimpl::m_glfwInstances = 0;

Expand Down Expand Up @@ -441,6 +447,9 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
// initialize the color palette
pimpl->initializePalette();

irr::SIrrlichtCreationParameters irrDevParams;

#ifdef IDYNTREE_USE_GLFW_WINDOW
if (pimpl->m_glfwInstances == 0)
{
if (!glfwInit()) {
Expand All @@ -461,10 +470,14 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
glfwMakeContextCurrent(pimpl->m_window);
glfwSwapInterval(1);

irr::SIrrlichtCreationParameters irrDevParams;
#if defined(_WIN32)
pimpl->m_windowId = glfwGetWin32Window(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#elif defined(__APPLE__)
pimpl->m_windowId = glfwGetCocoaWindow(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#endif

// If we are on Windows, only SDL works with the external window
#if defined(_WIN32) || defined(__APPLE__)
#ifndef _IRR_COMPILE_WITH_SDL_DEVICE_
#error "On Windows and MacOS it is necessary to use Irrlicht with SDL"
#endif
Expand All @@ -476,18 +489,6 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)
irrDevParams.WithAlphaChannel = true;
irrDevParams.AntiAlias = 4;

#if defined(_WIN32)
pimpl->m_windowId = glfwGetWin32Window(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#elif defined(__APPLE__)
pimpl->m_windowId = glfwGetCocoaWindow(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#elif defined(__linux__)
pimpl->m_windowId = glfwGetX11Window(pimpl->m_window);
irrDevParams.WindowId = (void*)(pimpl->m_windowId);
#endif


if( visualizerOptions.verbose )
{
reportWarning("Visualizer","init","verbose flag found, enabling verbose output in Visualizer");
Expand Down Expand Up @@ -555,10 +556,12 @@ bool Visualizer::init(const VisualizerOptions &visualizerOptions)

pimpl->m_textures.init(pimpl->m_irrDriver, pimpl->m_irrSmgr);

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSetWindowUserPointer(pimpl->m_window, pimpl);
glfwSetCursorPosCallback(pimpl->m_window, VisualizerPimpl::cursor_position_callback);
glfwSetMouseButtonCallback(pimpl->m_window, VisualizerPimpl::mouse_button_callback);
glfwSetScrollCallback(pimpl->m_window, VisualizerPimpl::scroll_callback);
#endif

pimpl->m_isInitialized = true;
pimpl->lastFPS = -1;
Expand Down Expand Up @@ -667,7 +670,9 @@ void Visualizer::draw()
return;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif

pimpl->m_irrDriver->beginScene(true,true, pimpl->m_environment.m_backgroundColor.toSColor(), pimpl->m_irrVideoData);

Expand All @@ -685,9 +690,11 @@ void Visualizer::draw()
pimpl->m_irrDriver->endScene();
pimpl->m_subDrawStarted = false;

#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSwapBuffers(pimpl->m_window);

glfwPollEvents();
#endif

int fps = pimpl->m_irrDriver->getFPS();

Expand All @@ -701,7 +708,9 @@ void Visualizer::draw()
irr::core::stringc strc(str);

pimpl->m_irrDevice->setWindowCaption(str.c_str());
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwSetWindowTitle(pimpl->m_window, strc.c_str());
#endif
pimpl->lastFPS = fps;
}

Expand Down Expand Up @@ -739,7 +748,9 @@ void Visualizer::subDraw(int xOffsetFromTopLeft, int yOffsetFromTopLeft, int sub
bool clearTextureBuffers = false;
if (!pimpl->m_subDrawStarted)
{
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif
pimpl->m_irrDriver->beginScene(true,true, pimpl->m_environment.m_backgroundColor.toSColor(), pimpl->m_irrVideoData);
pimpl->m_subDrawStarted = true;
clearTextureBuffers = true;
Expand Down Expand Up @@ -907,11 +918,15 @@ int Visualizer::width() const
reportError("Visualizer","width","Visualizer not initialized.");
return 0;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
GLint ww, wh;
glfwGetWindowSize(pimpl->m_window, &ww, &wh);

return ww;
#else
auto winDimensions = pimpl->m_irrDriver->getScreenSize();
return winDimensions.Width;
#endif
#else
return 0;
#endif
Expand All @@ -926,9 +941,15 @@ int Visualizer::height() const
return 0;
}

#ifdef IDYNTREE_USE_GLFW_WINDOW
GLint ww, wh;
glfwGetWindowSize(pimpl->m_window, &ww, &wh);

return wh;
#else
auto winDimensions = pimpl->m_irrDriver->getScreenSize();
return winDimensions.Height;
#endif
#else
return 0;
#endif
Expand All @@ -942,8 +963,13 @@ bool Visualizer::run()
reportError("Visualizer","run","Impossible to run not initialized visualizer");
return false;
}
bool shouldClose = false;

#ifdef IDYNTREE_USE_GLFW_WINDOW
shouldClose = glfwWindowShouldClose(pimpl->m_window);
#endif

return pimpl->m_irrDevice->run() && !glfwWindowShouldClose(pimpl->m_window);
return pimpl->m_irrDevice->run() && !shouldClose;
#else
reportError("Visualizer","run","Impossible to use iDynTree::Visualizer, as iDynTree has been compiled without Irrlicht.");
return false;
Expand All @@ -957,7 +983,9 @@ void Visualizer::close()
{
return;
}
#ifdef IDYNTREE_USE_GLFW_WINDOW
glfwMakeContextCurrent(pimpl->m_window);
#endif

pimpl->m_vectors.close();
pimpl->m_frames.close();
Expand All @@ -979,6 +1007,7 @@ void Visualizer::close()

pimpl->m_modelViz.resize(0);

#ifdef IDYNTREE_USE_GLFW_WINDOW
if (pimpl->m_window)
{
glfwMakeContextCurrent(pimpl->m_window);
Expand All @@ -992,6 +1021,7 @@ void Visualizer::close()

pimpl->m_window = nullptr;
}
#endif

return;
#endif
Expand Down

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