Merge branch 'master' of https://github.com/erwincoumans/bullet3

btgui/OpenGLWindow/CMakeLists.txt

@@ -32,7 +32,14 @@ ENDIF(APPLE)
 
 #no Linux detection?
 IF(NOT WIN32 AND NOT APPLE)
-	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${OpenGLWindowCommon_CPP} )
+	INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+        )
+        ADD_DEFINITIONS(-DGLEW_STATIC)
+	ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
 ENDIF()
 
 

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -16,8 +16,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;//false;//true;
-float shadowMapWidth=8192;
-float shadowMapHeight=8192;
+int shadowMapWidth=8192;
+int shadowMapHeight=8192;
 float shadowMapWorldSize=100;
 float WHEEL_MULTIPLIER=0.01f;
 float MOUSE_MOVE_MULTIPLIER = 0.4f;

btgui/OpenGLWindow/GLPrimitiveRenderer.cpp

@@ -131,8 +131,8 @@ void GLPrimitiveRenderer::loadBufferData()
     glGenBuffers(1, &m_data->m_vertexBuffer);
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(Vertex), vertexData, GL_DYNAMIC_DRAW);
-    GLuint err = glGetError();
-    assert(err==GL_NO_ERROR);
+    
+    assert(glGetError()==GL_NO_ERROR);
     
     
     
@@ -142,16 +142,14 @@ void GLPrimitiveRenderer::loadBufferData()
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
     
     
     
@@ -191,8 +189,7 @@ void GLPrimitiveRenderer::loadBufferData()
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
     glGenerateMipmap(GL_TEXTURE_2D);
     
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
     delete[] image;
     
@@ -217,36 +214,25 @@ void GLPrimitiveRenderer::drawLine()
 
 void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
 {
-	GLint err;
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
 	
 	 glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
-
+	assert(glGetError()==GL_NO_ERROR);
 	drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
 
 }
 
 void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
 {
-    GLint err;
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
    
     
     glUseProgram(m_data->m_shaderProg);
     
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBindVertexArray(m_data->m_vertexArrayObject);
@@ -263,10 +249,10 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
 	}
 
 	   Vertex vertexData[4] = {
-        { vec4(-1.+2.*x0/float(m_screenWidth), 1.-2.*y0/float(m_screenHeight), 0, 0 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v0)},
-        { vec4(-1.+2.*x0/float(m_screenWidth),  1.-2.*y1/float(m_screenHeight), 0, 1 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v1)},
-        { vec4( -1.+2.*x1/float(m_screenWidth),  1.-2.*y1/float(m_screenHeight), 1, 1 ), vec4(color[0], color[1], color[2], color[3]) ,vec2(u1,v1)},
-        { vec4( -1.+2.*x1/float(m_screenWidth), 1.-2.*y0/float(m_screenHeight), 1, 0 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u1,v0)}
+        { vec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v0)},
+        { vec4(-1.f+2.f*x0/float(m_screenWidth),  1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v1)},
+        { vec4( -1.f+2.f*x1/float(m_screenWidth),  1.f-2.f*y1/float(m_screenHeight), 1.f, 1.f ), vec4(color[0], color[1], color[2], color[3]) ,vec2(u1,v1)},
+        { vec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 1.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u1,v0)}
     };
     
 	   glBufferSubData(GL_ARRAY_BUFFER, 0,4 * sizeof(Vertex), vertexData);
@@ -276,8 +262,7 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
     
     
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
 	if (useRGBA)
@@ -290,60 +275,47 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
     
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = 6;
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
 	
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 	
 	
     glBindVertexArray(0);
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	//glDisableVertexAttribArray(m_data->m_textureAttribute);
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	glUseProgram(0);
    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 }
 

btgui/OpenGLWindow/GwenOpenGL3CoreRenderer.h

@@ -119,55 +119,37 @@ public:
 	{
 		m_yOffset=0;
 		glEnable(GL_BLEND);
-		GLint err = glGetError();
-		assert(err==GL_NO_ERROR);
+	  assert(glGetError()==GL_NO_ERROR);
+
 
 		glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+		assert(glGetError()==GL_NO_ERROR);
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+		assert(glGetError()==GL_NO_ERROR);
         
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-        
+		assert(glGetError()==GL_NO_ERROR);      
 		//glColor4ub(255,0,0,255);
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-        
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+		
 		glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
 
 	//	saveOpenGLState(width,height);//m_glutScreenWidth,m_glutScreenHeight);
 			
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-
+		assert(glGetError()==GL_NO_ERROR);
 			
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 
 		glDisable(GL_CULL_FACE);
 
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+		assert(glGetError()==GL_NO_ERROR);
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-            
+		        
 		glEnable(GL_BLEND);
 
-            
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-            
+		assert(glGetError()==GL_NO_ERROR);        
 	}
 	virtual void End()
 	{
@@ -375,10 +357,7 @@ public:
 	glBindTexture(GL_TEXTURE_2D,texHandle);
 //		glDisable(GL_DEPTH_TEST);
 
-		GLint err;
-		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+		assert(glGetError()==GL_NO_ERROR);
 		
 	
 /*	bool useFiltering = true;
@@ -406,8 +385,8 @@ public:
 	m_primitiveRenderer->drawTexturedRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, color,0+add,0,1+add,1,true);
 
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
+				assert(glGetError()==GL_NO_ERROR);
+
 		
 		
 	}

btgui/OpenGLWindow/LoadShader.cpp

@@ -18,8 +18,7 @@ void gltLoadShaderSrc(const char *szShaderSrc, GLuint shader)
 GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 {
 
-    GLuint err = glGetError();
-    assert(err==GL_NO_ERROR);
+  assert(glGetError()==GL_NO_ERROR);
 
 	// Temporary Shader objects
 	GLuint hVertexShader;
@@ -36,7 +35,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 
 	// Compile them
 	glCompileShader(hVertexShader);
-    err = glGetError();
+  assert(glGetError()==GL_NO_ERROR);
 
 	glGetShaderiv(hVertexShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -51,10 +50,10 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+  assert(glGetError()==GL_NO_ERROR);
 
     glCompileShader(hFragmentShader);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
 
     glGetShaderiv(hFragmentShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -69,7 +68,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	// Check for errors
 

btgui/OpenGLWindow/MacOpenGLWindow.h

@@ -81,7 +81,7 @@ public:
 	
 	virtual void setWindowTitle(const char* title);
 
-	
+    int fileOpenDialog(char* filename, int maxNameLength);
 
 };
 

btgui/OpenGLWindow/MacOpenGLWindow.mm

@@ -989,8 +989,48 @@ void MacOpenGLWindow::setRequestExit()
 	m_internalData->m_exitRequested = true;
 }
 
+#include <string.h>
+int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+    //save/restore the OpenGL context, NSOpenPanel can mess it up
+    //http://stackoverflow.com/questions/13987148/nsopenpanel-breaks-my-sdl-opengl-app
+    
+    NSOpenGLContext *foo = [NSOpenGLContext currentContext];
+    // get the url of a .txt file
+    NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel];
+    NSArray * zAryOfExtensions = [NSArray arrayWithObject:@"urdf"];
+    [zOpenPanel setAllowedFileTypes:zAryOfExtensions];
+    NSInteger zIntResult = [zOpenPanel runModal];
+    
+    [foo makeCurrentContext];
+    
+    if (zIntResult == NSFileHandlingPanelCancelButton) {
+        NSLog(@"readUsingOpenPanel cancelled");
+        return 0;
+    }
+    NSURL *zUrl = [zOpenPanel URL];
+   if (zUrl)
+   {
+       //without the file://
+       NSString *myString = [zUrl absoluteString];
+       int slen = [myString length];
+       if (slen < maxNameLength)
+       {
+           const char *cfilename=[myString UTF8String];
+           //expect file:// at start of URL
+           const char* p = strstr(cfilename, "file://");
+            if (p==cfilename)
+            {
+                int actualLen = strlen(cfilename)-7;
+                memcpy(filename, cfilename+7,actualLen);
+                filename[actualLen]=0;
+                return actualLen;
+            }
+       }
+   }
 
-
+    return 0;
+}
 
 
 

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -430,19 +430,17 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
 {
 	int numComponents = 4;
 	//glPixelStorei(GL_PACK_ALIGNMENT,1);
-	GLuint err=glGetError();
-	assert(err==GL_NO_ERROR);
+	
+	b3Assert(glGetError()==GL_NO_ERROR);
 	//glReadBuffer(GL_BACK);//COLOR_ATTACHMENT0);
-	err=glGetError();
-	assert(err==GL_NO_ERROR);
+	
 	float* orgPixels = (float*)malloc(textureWidth*textureHeight*numComponents*4);
 	glReadPixels(0,0,textureWidth, textureHeight, GL_RGBA, GL_FLOAT, orgPixels);
 	//it is useful to have the actual float values for debugging purposes
 
 	//convert float->char
 	char* pixels = (char*)malloc(textureWidth*textureHeight*numComponents);
-	err=glGetError();
-	assert(err==GL_NO_ERROR);
+	assert(glGetError()==GL_NO_ERROR);
 
 	for (int j=0;j<textureHeight;j++)
 	{

btgui/OpenGLWindow/Win32OpenGLWindow.cpp

@@ -137,6 +137,40 @@ void	Win32OpenGLWindow::endRendering()
 
 }
 
+int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
+{
+	//wchar_t wideChars[1024];
 
+		OPENFILENAME ofn ;
+	ZeroMemory( &ofn , sizeof( ofn));
+	ofn.lStructSize = sizeof ( ofn );
+	ofn.hwndOwner = NULL  ;
+
+#ifdef UNICODE
+	WCHAR bla[1024];
+	ofn.lpstrFile = bla;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	ofn.lpstrFilter = L"URDF\0*.urdf\0";
+#else
+	ofn.lpstrFile = fileName;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
+	ofn.lpstrFilter = "URDF\0*.urdf\0";
+	
+#endif
+
+	ofn.nFilterIndex =1;
+	ofn.lpstrFileTitle = NULL ;
+	ofn.nMaxFileTitle = 0 ;
+	ofn.lpstrInitialDir=NULL ;
+	ofn.Flags = OFN_PATHMUSTEXIST|OFN_FILEMUSTEXIST ;
+	GetOpenFileName( &ofn );
+	return strlen(fileName);
+
+
+	//return 0;
+}
 
 	

btgui/OpenGLWindow/Win32OpenGLWindow.h

@@ -51,6 +51,8 @@ public:
 	virtual	void	endRendering();
 
 	virtual float getRetinaScale() const {return 1.f;}
+
+	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
 
 

btgui/OpenGLWindow/X11OpenGLWindow.cpp

@@ -29,7 +29,34 @@
 
 #include <pthread.h>
 
-GLint                   att[] = { GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None };
+GLint                   att[] = { GLX_RGBA,
+GLX_DEPTH_SIZE, 24,
+GLX_RED_SIZE        , 8,
+GLX_GREEN_SIZE      , 8,
+GLX_BLUE_SIZE       , 8,
+GLX_ALPHA_SIZE      , 8,
+GLX_STENCIL_SIZE    , 8,
+GLX_DOUBLEBUFFER,
+None };
+/*
+ static int att[] =
+            {
+                GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None
+
+              GLX_X_RENDERABLE    , True,
+              GLX_DRAWABLE_TYPE   , GLX_WINDOW_BIT,
+              GLX_RENDER_TYPE     , GLX_RGBA_BIT,
+              GLX_X_VISUAL_TYPE   , GLX_TRUE_COLOR,
+              GLX_RED_SIZE        , 8,
+              GLX_GREEN_SIZE      , 8,
+              GLX_BLUE_SIZE       , 8,
+              GLX_ALPHA_SIZE      , 8,
+              GLX_DEPTH_SIZE      , 24,
+              GLX_STENCIL_SIZE    , 8,
+              GLX_DOUBLEBUFFER    , True,
+              None
+            };
+*/
 static bool forceOpenGL3 = true;
 
 
@@ -37,6 +64,7 @@ static bool forceOpenGL3 = true;
 #ifdef DYNAMIC_LOAD_X11_FUNCTIONS
 
 ///our X11 function typedefs
+
 typedef int (*PFNXFREE)(void*);
 typedef XErrorHandler (* PFNXSETERRORHANDLER) (XErrorHandler);
 typedef int (* PFNXSYNC) (Display* a,Bool b);
@@ -47,10 +75,14 @@ typedef int (*PFNXMAPWINDOW) (Display*, Window);
 typedef int (*PFNXSTORENAME) (Display* a,Window b,_Xconst char* c);
 typedef int (*PFNXCLOSEDISPLAY) (Display* a);
 typedef int (*PFNXDESTROYWINDOW) (Display* a,Window b);
+typedef int (*PFNXRAISEWINDOW) (Display* a, Window b);
+
 #if NeedWidePrototypes
-typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,unsigned int b,int c);
+	typedef KeySym* (*PFNXGETKEYBOARDMAPPING) (Display*,unsigned int,int,int*);
+	typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,unsigned int b,int c);
 #else
-typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,KeyCode b,int c);
+	typedef KeySym* (*PFNXGETKEYBOARDMAPPING) (Display*,KeyCode,int,int*);
+	typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,KeyCode b,int c);
 #endif
 typedef void	(*PFNXCONVERTCASE) (KeySym /* sym */,KeySym *		/* lower */,KeySym * /* upper */);
 typedef int (*PFNXPENDING) (Display* a);
@@ -63,6 +95,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define X11_LIBRARY "libX11.so.6"
 
 #define MyXSync m_data->m_x11_XSync
+#define MyXGetKeyboardMapping m_data->m_x11_XGetKeyboardMapping
 #define MyXSetErrorHandler m_data->m_x11_XSetErrorHandler
 #define MyXOpenDisplay m_data->m_x11_XOpenDisplay
 #define MyXCreateColormap m_data->m_x11_XCreateColormap
@@ -70,6 +103,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow m_data->m_x11_XMapWindow
 #define MyXStoreName m_data->m_x11_XStoreName
 #define MyXDestroyWindow m_data->m_x11_XDestroyWindow
+#define MyXRaiseWindow m_data->m_x11_XRaiseWindow
 #define MyXCloseDisplay m_data->m_x11_XCloseDisplay
 #define MyXKeycodeToKeysym m_data->m_x11_XKeycodeToKeysym
 #define MyXConvertCase m_data->m_x11_XConvertCase
@@ -87,6 +121,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 
 #else
 #define MyXSync XSync
+#define MyXGetKeyboardMapping XGetKeyboardMapping
 #define MyXSetErrorHandler XSetErrorHandler
 #define MyXOpenDisplay XOpenDisplay
 #define MyXCreateColormap XCreateColormap
@@ -94,6 +129,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow XMapWindow
 #define MyXStoreName XStoreName
 #define MyXDestroyWindow XDestroyWindow
+#define MyXRaiseWindow XRaiseWindow
 #define MyXCloseDisplay XCloseDisplay
 #define MyXKeycodeToKeysym XKeycodeToKeysym
 #define MyXConvertCase XConvertCase
@@ -136,7 +172,9 @@ struct InternalData2
 	PFNXSTORENAME					m_x11_XStoreName;
 	PFNXCLOSEDISPLAY			m_x11_XCloseDisplay;
 	PFNXDESTROYWINDOW			m_x11_XDestroyWindow;
+	PFNXRAISEWINDOW				m_x11_XRaiseWindow;
 	PFNXKEYCODETOKEYSYM		m_x11_XKeycodeToKeysym;
+	PFNXGETKEYBOARDMAPPING m_x11_XGetKeyboardMapping;
 	PFNXCONVERTCASE				m_x11_XConvertCase;
 	PFNXPENDING						m_x11_XPending;
 	PFNXNEXTEVENT					m_x11_XNextEvent;
@@ -190,13 +228,15 @@ struct InternalData2
 		if (missingFunc)		{ printf("Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XStoreName = (PFNXSTORENAME) dlsym(m_x11_library,"XStoreName"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XStoreName in %s, exiting!\n", X11_LIBRARY);	exit(0);}
-
 		missingFunc = ((m_x11_XCloseDisplay = (PFNXCLOSEDISPLAY) dlsym(m_x11_library,"XCloseDisplay"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XCloseDisplay in %s, exiting!\n", X11_LIBRARY);	exit(0);}
-
 		missingFunc = ((m_x11_XDestroyWindow = (PFNXDESTROYWINDOW) dlsym(m_x11_library,"XDestroyWindow"))==NULL) | missingFunc;
-		if (missingFunc)		{ printf("Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		if (missingFunc)		{ printf("Error: missing func XDestroyWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		missingFunc = ((m_x11_XRaiseWindow = (PFNXRAISEWINDOW) dlsym(m_x11_library,"XRaiseWindow"))==NULL) | missingFunc;
+		if (missingFunc)		{ printf("Error: missing func XRaiseWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 
+		missingFunc = ((m_x11_XGetKeyboardMapping = (PFNXGETKEYBOARDMAPPING) dlsym(m_x11_library,"XGetKeyboardMapping"))==NULL) | missingFunc;
+		if (missingFunc)		{ printf("Error: missing func XGetKeyboardMapping in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XKeycodeToKeysym = (PFNXKEYCODETOKEYSYM) dlsym(m_x11_library,"XKeycodeToKeysym"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XKeycodeToKeysym in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XConvertCase = (PFNXCONVERTCASE) dlsym(m_x11_library,"XConvertCase"))==NULL) | missingFunc;
@@ -612,9 +652,21 @@ void    X11OpenGLWindow::closeWindow()
 
 int X11OpenGLWindow::getAsciiCodeFromVirtualKeycode(int keycode)
 {
+    int result = 0;
+
     KeySym key, key_lc, key_uc;
 
-    key = MyXKeycodeToKeysym( m_data->m_dpy, keycode, 0 );
+    int keysyms_per_keycode_return;
+    KeySym *keysym = MyXGetKeyboardMapping(m_data->m_dpy,
+        keycode,
+        1,
+        &keysyms_per_keycode_return);
+
+    key = keysym[0];
+
+
+    //key = MyXKeycodeToKeysym( m_data->m_dpy, keycode, 0 );
+
     switch( key )
     {
         case XK_Escape:       return B3G_ESCAPE;
@@ -660,9 +712,12 @@ int X11OpenGLWindow::getAsciiCodeFromVirtualKeycode(int keycode)
             {
                 return (int) key;
             }
-            return -1;
+            result = -1;
     }
-    return 0;
+
+    MyXFree(keysym);
+
+    return result;
 }
 
 void X11OpenGLWindow::pumpMessage()
@@ -913,4 +968,29 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 {
 	return m_data->m_keyboardCallback;
 }
+#include <stdio.h>
 
+int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+	int len = 0;
+	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
+	if (output)
+	{
+		while( fgets(filename, maxNameLength-1, output) != NULL )
+		{
+			len=strlen(filename);
+			if (len>0)
+			{
+				filename[len-1]=0;
+				printf("file open (length=%d) = %s\n", len,filename);
+			}	
+		}
+		pclose(output);
+	} else
+	{
+		printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
+	}
+	MyXRaiseWindow(m_data->m_dpy, m_data->m_win);
+	return len;
+	
+}

btgui/OpenGLWindow/X11OpenGLWindow.h

@@ -59,6 +59,7 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 

btgui/OpenGLWindow/b3gWindowInterface.h

@@ -110,6 +110,8 @@ class b3gWindowInterface
 
 		virtual	float	getRetinaScale() const =0;
 
+        virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
+    
 };
 
 #endif //B3G_WINDOW_INTERFACE_H