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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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Generate a window manually with GLFW when using irrlicht #1071

Closed S-Dafarra closed 1 year ago

S-Dafarra commented 1 year ago

This should fix #1070

I have tested it on Ubuntu 20 and on Windows 11 with a fresh installation and it seems to work. On Windows it works only when using SDL.

I needed to add a good amount of code to process the mouse inputs since with the external window, irrlicht was not detecting the events anymore.

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S-Dafarra commented 1 year ago

I realized now that the additional FindGLFW3.cmake file could be an issue for projects using iDynTree, does it?

traversaro commented 1 year ago

I realized now that the additional FindGLFW3.cmake file could be an issue for projects using iDynTree, does it?

No problem! Anyhow I got rid of the Find script in https://github.com/S-Dafarra/idyntree/pull/1 , as it is not necessary in Ubuntu >= 20.04 .

traversaro commented 1 year ago

Ok, CI seems happy with the latest change. At this point, I think we need to ask help to @antonellopaolino to check if this new version of iDynTree does not interfere with his visualization workflow on Windows. For doing that, I already prepared some binaries at https://github.com/conda-forge/idyntree-feedstock/pull/59 . However, there is a binary for each different version of Python, so to minimize the changes, I would like to ask to @antonellopaolino to provide us the output of mamba list of his existing environment, so that I can provide instructions on how to the the binary corresponding to this PR.

antonellopaolino commented 1 year ago

Hi, @traversaro! This is the output of the mamba list command on the environment in which I usually run idyntree:

``` # Name Version Build Channel ace 7.0.11 h63175ca_0 conda-forge aom 3.5.0 h63175ca_0 conda-forge assimp 5.2.5 h4dcb625_0 conda-forge blockfactory 0.8.3 h63175ca_78 robotology blosc 1.21.3 hdccc3a2_0 conda-forge boost-cpp 1.78.0 h9f4b32c_1 conda-forge bullet-cpp 3.21 h1c4a608_4 conda-forge bzip2 1.0.8 h8ffe710_4 conda-forge c-compiler 1.5.2 hcfcfb64_0 conda-forge ca-certificates 2022.12.7 h5b45459_0 conda-forge cairo 1.16.0 hd694305_1014 conda-forge cfitsio 4.2.0 h9ebe7e4_0 conda-forge clangdev 5.0.0 flang_3 conda-forge cmake 3.25.2 h1537add_0 conda-forge compilers 1.5.2 h57928b3_0 conda-forge console_bridge 1.0.2 h5362a0b_1 conda-forge cppzmq 4.9.0 h449d27f_0 conda-forge curl 7.88.1 h68f0423_0 conda-forge cxx-compiler 1.5.2 h91493d7_0 conda-forge cython 0.29.33 py310h00ffb61_0 conda-forge dartsim 6.12.2 he40511e_3 conda-forge dirent 1.21 0 conda-forge dlfcn-win32 1.3.0 h0e60522_0 conda-forge eigen 3.4.0 h2d74725_0 conda-forge expat 2.5.0 h1537add_0 conda-forge fcl 0.7.0 h2475031_2 conda-forge ffmpeg 5.1.2 gpl_h5b1d025_106 conda-forge flang 5.0.0 he025d50_20180525 conda-forge flang_win-64 5.0.0 h13ae965_20180526 conda-forge flann 1.9.1 h23a95e4_1011 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 hab24e00_0 conda-forge fontconfig 2.14.2 hbde0cde_0 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fortran-compiler 1.5.2 h9655429_0 conda-forge freeglut 3.2.2 h0e60522_1 conda-forge freeimage 3.18.0 h30d40d2_12 conda-forge freetype 2.12.1 h546665d_1 conda-forge freexl 1.0.6 h67ca5e6_1 conda-forge fribidi 1.0.10 h8d14728_0 conda-forge gazebo 11.12.0 h0516dcc_8 conda-forge gazebo-yarp-plugins 4.6.0 hd2d89ca_78 robotology geos 3.11.1 h1537add_0 conda-forge geotiff 1.7.1 hc256dc0_6 conda-forge getopt-win32 0.1 h8ffe710_0 conda-forge gettext 0.21.1 h5728263_0 conda-forge glib 2.74.1 h12be248_1 conda-forge glib-tools 2.74.1 h12be248_1 conda-forge graphite2 1.3.13 1000 conda-forge graphviz 6.0.2 hb5dec95_0 conda-forge gsl 2.7 hdfb1a43_0 conda-forge gst-plugins-base 1.22.0 h001b923_0 conda-forge gstreamer 1.22.0 h6b5321d_0 conda-forge gts 0.7.6 h7c369d9_2 conda-forge harfbuzz 6.0.0 he256f1b_0 conda-forge hdf4 4.2.15 h1b1b6ef_5 conda-forge hdf5 1.12.2 nompi_h57737ce_101 conda-forge icu 70.1 h0e60522_0 conda-forge icub-firmware-shared 1.29.0 h63175ca_78 robotology icub-main 2.0.2 py310h70c1692_78 robotology icub-models 1.26.0 py310h00ffb61_0 conda-forge idyntree 8.1.0 py310h666c5ba_0 conda-forge idyntree-matlab-bindings 8.1.0 h63175ca_78 robotology imath 3.1.6 h12be248_1 conda-forge intel-openmp 2023.0.0 h57928b3_25922 conda-forge ipopt 3.14.10 ha9547d1_0 conda-forge irrlicht 1.8.5 h739eaf8_2 conda-forge jasper 2.0.33 hc2e4405_1 conda-forge jpeg 9e hcfcfb64_3 conda-forge jsoncpp 1.9.5 h2d74725_1 conda-forge jxrlib 1.1 h8ffe710_2 conda-forge kealib 1.5.0 h61be68b_0 conda-forge krb5 1.20.1 heb0366b_0 conda-forge lcms2 2.14 ha5c8aab_1 conda-forge lerc 4.0.0 h63175ca_0 conda-forge libaec 1.0.6 h63175ca_1 conda-forge libblas 3.9.0 16_win64_mkl conda-forge libcblas 3.9.0 16_win64_mkl conda-forge libccd-double 2.1 h0e60522_3 conda-forge libclang 15.0.7 default_h77d9078_1 conda-forge libclang13 15.0.7 default_h77d9078_1 conda-forge libcurl 7.88.1 h68f0423_0 conda-forge libdeflate 1.17 hcfcfb64_0 conda-forge libffi 3.4.2 h8ffe710_5 conda-forge libflang 5.0.0 h6538335_20180525 conda-forge libgd 2.3.3 hf5a96e7_4 conda-forge libgdal 3.6.2 h329cd9e_7 conda-forge libglib 2.74.1 he8f3873_1 conda-forge libhwloc 2.9.0 h51c2c0f_0 conda-forge libiconv 1.17 h8ffe710_0 conda-forge libignition-cmake2 2.16.0 h63175ca_1 conda-forge libignition-common3 3.15.1 hc27e538_1 conda-forge libignition-fuel-tools4 4.6.0 h4cc2e26_0 conda-forge libignition-math6 6.13.0 py310h595d6f7_1 conda-forge libignition-msgs5 5.9.0 hc6328b4_1 conda-forge libignition-tools1 1.5.0 h63175ca_2 conda-forge libignition-transport8 8.3.0 h252ff3b_1 conda-forge libkml 1.3.0 hf2ab4e4_1015 conda-forge liblapack 3.9.0 16_win64_mkl conda-forge liblapacke 3.9.0 16_win64_mkl conda-forge libnetcdf 4.9.1 nompi_hc41bf00_101 conda-forge libode 0.16.2 h00ffb61_11 conda-forge libogg 1.3.4 h8ffe710_1 conda-forge libopenblas 0.3.21 pthreads_hc140b1d_3 conda-forge libopencv 4.7.0 py310h90026ac_1 conda-forge libopus 1.3.1 h8ffe710_1 conda-forge libosqp 0.6.2 h63175ca_4 conda-forge libpng 1.6.39 h19919ed_0 conda-forge libpq 15.2 ha9684e8_0 conda-forge libprotobuf 3.21.12 h12be248_0 conda-forge libqdldl 0.1.5 h63175ca_1 conda-forge libraw 0.21.1 h3eb7d9d_0 conda-forge librttopo 1.1.0 he22b5cd_12 conda-forge libsdformat 9.8.0 h5ba8b87_4 conda-forge libsodium 1.0.18 h8d14728_1 conda-forge libspatialite 5.0.1 hfdcade0_23 conda-forge libsqlite 3.40.0 hcfcfb64_0 conda-forge libssh2 1.10.0 h9a1e1f7_3 conda-forge libtiff 4.5.0 hf8721a0_2 conda-forge libusb 1.0.26 h8ffe710_100 conda-forge libvorbis 1.3.7 h0e60522_0 conda-forge libwebp 1.2.4 hcfcfb64_1 conda-forge libwebp-base 1.2.4 h8ffe710_0 conda-forge libxcb 1.13 hcd874cb_1004 conda-forge libxml2 2.10.3 hc3477c8_0 conda-forge libzip 1.9.2 h519de47_1 conda-forge libzlib 1.2.13 hcfcfb64_4 conda-forge llvm-meta 5.0.0 0 conda-forge lz4-c 1.9.4 hcfcfb64_0 conda-forge m2w64-gcc-libgfortran 5.3.0 6 conda-forge m2w64-gcc-libs 5.3.0 7 conda-forge m2w64-gcc-libs-core 5.3.0 7 conda-forge m2w64-gmp 6.1.0 2 conda-forge m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge make 4.3 h3d2af85_1 conda-forge matlab-whole-body-simulator 3.2.0 h63175ca_78 robotology metis 5.1.0 h0e60522_1006 conda-forge mkl 2022.1.0 h6a75c08_874 conda-forge msys2-conda-epoch 20160418 1 conda-forge mumps-seq 5.2.1 hb3f9cae_11 conda-forge ninja 1.11.1 h91493d7_0 conda-forge numpy 1.24.2 py310hd02465a_0 conda-forge octomap 1.9.8 h91493d7_0 conda-forge ogre 1.10.12 h7604e60_10 conda-forge openal-soft 1.22.2 h2d74725_0 conda-forge openblas 0.3.21 pthreads_h1956dd5_3 conda-forge opencv 4.7.0 py310h5588dad_1 conda-forge openexr 3.1.5 hab3b255_1 conda-forge openh264 2.3.1 h63175ca_2 conda-forge openjpeg 2.5.0 ha2aaf27_2 conda-forge openmp 5.0.0 vc14_1 conda-forge openssl 3.0.8 hcfcfb64_0 conda-forge osqp-eigen 0.8.0 h63175ca_0 conda-forge pango 1.50.13 hdffb7b3_0 conda-forge pcre2 10.40 h17e33f8_0 conda-forge pip 23.0.1 pyhd8ed1ab_0 conda-forge pixman 0.40.0 h8ffe710_0 conda-forge pkg-config 0.29.2 h2bf4dc2_1008 conda-forge poppler 23.01.0 h183ae7b_0 conda-forge poppler-data 0.4.12 hd8ed1ab_0 conda-forge portaudio 19.6.0 h63175ca_7 conda-forge postgresql 15.2 hd87cd2b_0 conda-forge proj 9.1.1 heca977f_2 conda-forge pthread-stubs 0.4 hcd874cb_1001 conda-forge pthreads-win32 2.9.1 hfa6e2cd_3 conda-forge pugixml 1.11.4 h0e60522_0 conda-forge py-opencv 4.7.0 py310hbbfc1a7_1 conda-forge pybind11-abi 4 hd8ed1ab_3 conda-forge python 3.10.9 h4de0772_0_cpython conda-forge python_abi 3.10 3_cp310 conda-forge qpoases 3.2.1 py310h2c5aedd_2 conda-forge qt-main 5.15.8 h720456b_6 conda-forge qwt 6.2.0 h07be427_5 conda-forge robot-testing-framework 2.0.1 h63175ca_1 conda-forge ruby 3.1.2 h8ed59c0_0 conda-forge sdl 1.2.60 h63175ca_0 conda-forge sdl2 2.26.3 h63175ca_0 conda-forge setuptools 67.4.0 pyhd8ed1ab_0 conda-forge simbody 3.7 hade3207_3 conda-forge snappy 1.1.9 hfb803bf_2 conda-forge soxr 0.1.3 hcfcfb64_3 conda-forge sqlite 3.40.0 hcfcfb64_0 conda-forge svt-av1 1.4.1 h63175ca_0 conda-forge tbb 2021.8.0 h91493d7_0 conda-forge tbb-devel 2021.8.0 h91493d7_0 conda-forge tiledb 2.13.2 h3132609_0 conda-forge tiny-process-library 2.0.4 h63175ca_1 conda-forge tinyxml 2.6.2 h2d74725_2 conda-forge tinyxml2 9.0.0 h0e60522_2 conda-forge tk 8.6.12 h8ffe710_0 conda-forge tzdata 2022g h191b570_0 conda-forge ucrt 10.0.22621.0 h57928b3_0 conda-forge urdfdom 3.1.0 h33150cf_1 conda-forge urdfdom_headers 1.1.0 h5362a0b_0 conda-forge vc 14.3 hb6edc58_10 conda-forge vs2015_runtime 14.34.31931 h4c5c07a_10 conda-forge vs2019_win-64 19.29.30139 hb9aee9d_10 conda-forge vswhere 3.1.1 h57928b3_0 conda-forge wb-toolbox 5.6.0 h63175ca_78 robotology wheel 0.38.4 pyhd8ed1ab_0 conda-forge whole-body-controllers 2.5.6 h63175ca_78 robotology whole-body-estimators 0.9.1 h63175ca_78 robotology x264 1!164.3095 h8ffe710_2 conda-forge x265 3.5 h2d74725_3 conda-forge xerces-c 3.2.4 h63175ca_1 conda-forge xorg-kbproto 1.0.7 hcd874cb_1002 conda-forge xorg-libice 1.0.10 hcd874cb_0 conda-forge xorg-libsm 1.2.3 hcd874cb_1000 conda-forge xorg-libx11 1.8.4 hcd874cb_0 conda-forge xorg-libxau 1.0.9 hcd874cb_0 conda-forge xorg-libxdmcp 1.1.3 hcd874cb_0 conda-forge xorg-libxext 1.3.4 hcd874cb_2 conda-forge xorg-libxpm 3.5.13 hcd874cb_0 conda-forge xorg-libxt 1.2.1 hcd874cb_2 conda-forge xorg-xextproto 7.3.0 hcd874cb_1003 conda-forge xorg-xproto 7.0.31 hcd874cb_1007 conda-forge xz 5.2.6 h8d14728_0 conda-forge yaml 0.2.5 h8ffe710_2 conda-forge yarp-cxx 3.7.2 h8a0a163_9 conda-forge yarp-matlab-bindings 3.7.3 h63175ca_78 robotology ycm-cmake-modules 0.15.1 h63175ca_1 conda-forge zeromq 4.3.4 h0e60522_1 conda-forge zlib 1.2.13 hcfcfb64_4 conda-forge zstd 1.5.2 h12be248_6 conda-forge zziplib 0.13.69 h1d00b33_1 conda-forge ```
traversaro commented 1 year ago

Actually I probably underestimated the effort for this test. The problem is that we have the binary corresponding to this PR in idyntree, but we do not have the corresponding idyntree-matlab-bindings package. At this point, probably we can just release idyntree 9 and do this tests after the release. In any case, even if the test fails the outcome will be that we debug the glfw version until it works, I think it would be improbably that we will not be able to fix eventual problems and that we need to go back to avoid the use of glfw.