openGL working when sdl deactivated

ExampleProjects/PendulumSpringC/userfctR/realtime/user_realtime_options.c

@@ -84,6 +84,7 @@
  */
 void user_realtime_options(MbsData* mbs_data, Realtime_option *options)
 {
+	options->flag_plot = 0;
 
 }
 

MBsysC/mbs_common/mbs_realtime/open_gl/interface/open_gl_c_int.cc

@@ -2,6 +2,7 @@
 
 #include "open_gl_c_int.h"
 #include "MbsWorld3D.hh"
+#include "user_realtime.h"
 
 /*! \brief initialize the OpenGL class
  *
@@ -36,4 +37,55 @@ void free_open_gl(void *visu_class)
 	delete static_cast<OpenGLMbs::MbsWorld3D*>(visu_class);
 }
 
+/*! \brief update the OpenGL visualization
+ *
+ * \param[in,out] realtime real-time structure
+ */
+void update_open_gl(Simu_realtime *realtime)
+{
+	Realtime_visu *visu;
+	MbsData* mbs_data;
+	OpenGLMbs::MbsWorld3D *world_3d;
+
+	// get fields
+	visu     = realtime->ext->visu;
+	mbs_data = realtime->ext->mbs_data;
+
+	world_3d = static_cast<OpenGLMbs::MbsWorld3D*>(visu->visu_class);
+
+	// update world 3D timing
+	world_3d->UpdateTime();
+
+	// update joint positions
+	user_realtime_visu(mbs_data, visu->nb_models, visu->nb_q, visu->cur_q);		
+
+	if (visu->visu_past_flag)
+	{
+		visu->visu_past_flag   = 0;
+		visu->last_past_q_flag = 1;
+
+		world_3d->UpdateJoints(visu->nb_q[0], visu->past_q[0]);
+	}
+	else if (visu->change_viewpoint)
+	{
+		if (visu->last_past_q_flag)
+		{
+			world_3d->UpdateJoints(visu->nb_q[0], visu->past_q[0]);
+		}
+		else
+		{
+			world_3d->UpdateJoints(visu->nb_q[0], visu->cur_q[0]);
+		}
+	}
+	else
+	{
+		visu->last_past_q_flag = 0;
+
+		world_3d->UpdateJoints(visu->nb_q[0], visu->cur_q[0]);
+	}
+
+	// update the window
+	world_3d->Update();
+}
+
 #endif

MBsysC/mbs_common/mbs_realtime/open_gl/interface/open_gl_c_int.h

@@ -16,6 +16,7 @@ extern "C" {
 
 void init_open_gl(Realtime_visu *visu, int nb_models, int *nb_q, double **q_vec, char **mbs_file, int start_viewpoint);
 void free_open_gl(void *visu_class);
+void update_open_gl(Simu_realtime *realtime);
 
 #ifdef __cplusplus
 }

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -180,7 +180,7 @@ void mbs_realtime_loop(Simu_realtime *realtime, double tsim)
                     #if (defined JAVA)
                         update_java(realtime);
                     #elif (defined OPEN_GL)
-
+                        update_open_gl(realtime);
                     #endif
                 }
             }

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.c

@@ -3016,7 +3016,7 @@ void break_gestion(Simu_realtime *realtime, double tsim)
                 #if (defined JAVA)
                     update_java(realtime);
                 #elif (defined OPEN_GL)
-
+                    update_open_gl(realtime);
                 #endif
             }
         }