Adapt mbs_common/realtime code to the new architecture

This mainly consist in calling the MbsWorld3D constructor with the 2 new
arguments, i.e. the WindowManager object and the WorldRenderer object.

ExampleProjects/PendulumSpringC/workR/src/main.c

@@ -85,7 +85,7 @@ int main(int argc, char const *argv[])
     mbs_dirdyn->options->save2file = 1;
     mbs_dirdyn->options->respath  = PROJECT_SOURCE_DIR"/../resultsR";
     mbs_dirdyn->options->animpath = PROJECT_SOURCE_DIR"/../animationR";
-    mbs_dirdyn->options->realtime = 0;
+    mbs_dirdyn->options->realtime = 1;
 
     mbs_run_dirdyn(mbs_dirdyn, mbs_data);
 

MBsysC/mbs_common/mbs_realtime/CMakeLists.txt

@@ -104,6 +104,10 @@ if (FLAG_REAL_TIME AND FLAG_OPEN_GL)
     include_directories("./open_gl/world")
     include_directories("./open_gl/renderer")
     include_directories("./open_gl/renderer/default")
+    include_directories("./open_gl/renderer/ogl")
+    include_directories("./open_gl/specific_include")
+    include_directories("./open_gl/window")
+    include_directories("./open_gl/window/glfw")
 
     increment_src( ${PROJECT_SOURCE_DIR}/open_gl )
 

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

@@ -10,6 +10,9 @@
 #include <string>
 #include <sstream>
 
+#include "OglWorldRenderer.hh"
+#include "GlfwWindowManager.hh"
+
 #if (defined OPEN_GL_THREAD_UNIX) || (defined OPEN_GL_PROCESS_UNIX)
     #include <unistd.h>
     #include <pthread.h>
@@ -236,7 +239,8 @@ void init_open_gl(Realtime_visu *visu, MbsData *mbs_data, int nb_models, int *nb
         }
 
         // create world
-        world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp);
+        world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0),
+                    new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
 
         // load each model
         for(int i=0; i<nb_models; i++)
@@ -850,7 +854,8 @@ void opengl_thread_unix_run_visu(OpenGlIn* open_gl_in)
     }
 
     // create world
-    world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp);
+    world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0),
+                    new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
 
     // save world adress
     open_gl_in->visu->visu_class = world_3d;

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

@@ -20,6 +20,9 @@
 #include <iostream>
 #include <sstream>
 
+#include "OglWorldRenderer.hh"
+#include "GlfwWindowManager.hh"
+
 // states of the window
 enum {OPEN_GL_RUN, OPEN_GL_BREAK, OPEN_GL_STOP};
 
@@ -112,7 +115,8 @@ int main(int argc, char const *argv[])
     }
 
     // create world
-    world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp);
+    world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0),
+                    new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
 
     // load each model
     for(int i=0; i<nb_models; i++)

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

@@ -16,6 +16,9 @@
 #include <sstream>
 #include <windows.h>
 
+#include "OglWorldRenderer.hh"
+#include "GlfwWindowManager.hh"
+
 // size of the buffer to send messages
 #define BUFSIZE 4096
 
@@ -73,7 +76,8 @@ int main(int argc, char const *argv[])
         multi_samp = 4;
 
         // create world
-        world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp);
+        world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0), 
+                    new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
     }
     else
     {
@@ -88,7 +92,8 @@ int main(int argc, char const *argv[])
                 OpenGLMbs::shader_multisample(pipe_msg, shader_flag, multi_samp);
 
                 // create world
-                world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp);
+                world_3d = new OpenGLMbs::MbsWorld3D(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0),
+                    new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
             }
 
             world_3d->AddMbs(pipe_msg);

MBsysC/mbs_common/mbs_realtime/open_gl/world/MbsWorld3D.cc

@@ -20,9 +20,11 @@
 //#include <gtx/transform.hpp>
 
 #include "DefaultWorldRenderer.hh"
-#include "GlfwWindowManager.hh"
 #include "DefaultWindowManager.hh"
 
+#include "OglWorldRenderer.hh"
+#include "GlfwWindowManager.hh"
+
 
 namespace OpenGLMbs{
 
@@ -38,17 +40,24 @@ inline int limit_int_range(int x, int min, int max) { return (x < min) ? min : (
  * \param[in] background_color color of the background
  */
 MbsWorld3D::MbsWorld3D(int x_width, int y_width, int shader_flag, int multi_samp, glm::vec3 const& background_color,
-                        MbsWorldRenderer* renderer):
+                        MbsWorldRenderer* renderer, MbsWindowManager* winMngr):
     mbs_read(this)
 {
-    winManager = new DefaultWindowManager();
-
+    
     // Init the window 
+    if(winMngr==0){
+        winManager=new DefaultWindowManager();
+        //winManager=new GlfwWindowManager();
+    }
+    else{
+        winManager = winMngr;
+    }
     winManager->Init(this, x_width, y_width, multi_samp);
 
     // Initialize the renderer
     if(renderer==0){
         worldRenderer=new DefaultWorldRenderer();
+        //worldRenderer=new OglWorldRenderer();
     }
     else{
         worldRenderer = renderer;
@@ -59,7 +68,7 @@ MbsWorld3D::MbsWorld3D(int x_width, int y_width, int shader_flag, int multi_samp
     
 
     // init the renderer
-    renderer->Init();
+    worldRenderer->Init();
 
     // swap buffers
     winManager->SwapBuffers();

MBsysC/mbs_common/mbs_realtime/open_gl/world/MbsWorld3D.hh

@@ -51,7 +51,8 @@ class MbsWorld3D
     public:
         MbsWorld3D(int x_width=1024, int y_width=768, int shader_flag=LIGHTS_NO_SPEC_SHADER, int multi_samp=4,
             glm::vec3 const& background_color = glm::vec3(0.8, 0.8, 0.8),
-            MbsWorldRenderer* renderer=0);
+            MbsWorldRenderer* renderer=0,
+            MbsWindowManager* winManager=0);
         ~MbsWorld3D();
 
         /// get the width along the X axis (in pixels)

MBsysC/opengl_mbs/src/main.cc

@@ -9,9 +9,8 @@
 #include "shader_multisample.hh"
 #include <iostream>
 
-#include "MbsWorldRenderer.hh"
 #include "OglWorldRenderer.hh"
-#include "DefaultWorldRenderer.hh"
+#include "GlfwWindowManager.hh"
 
 // function prototype for manual loading
 void manual_mbs_load(OpenGLMbs::MbsWorld3D *world_3d);
@@ -31,7 +30,8 @@ int main(int argc, char **argv)
 
     // main window for 3D world
     OpenGLMbs::MbsWorldRenderer* rdr = new OpenGLMbs::OglWorldRenderer();
-    OpenGLMbs::MbsWorld3D world_3d(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0), rdr);
+    OpenGLMbs::MbsWorld3D world_3d(1024, 768, shader_flag, multi_samp, glm::vec3(0.0, 0.0, 0.0),
+       new OpenGLMbs::OglWorldRenderer(), new OpenGLMbs::GlfwWindowManager());
 
     // load mbs file
     world_3d.AddMbs(PROJECT_SOURCE_DIR"/../../ExampleProjects/PendulumSpringC/dataR/PendulumSpringC_obj.mbs");