Use Egl instead of Glx

ci/install_magnum.sh

@@ -22,7 +22,7 @@ git clone https://github.com/mosra/magnum.git
 cd magnum
 mkdir build && cd build
 # Ubuntu
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DCMAKE_INSTALL_PREFIX=/usr ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_AUDIO=ON -DMAGNUM_WITH_DEBUGTOOLS=ON -DMAGNUM_WITH_GL=ON -DMAGNUM_WITH_MESHTOOLS=ON -DMAGNUM_WITH_PRIMITIVES=ON -DMAGNUM_WITH_SCENEGRAPH=ON -DMAGNUM_WITH_SHADERS=ON -DMAGNUM_WITH_TEXT=ON -DMAGNUM_WITH_TEXTURETOOLS=ON -DMAGNUM_WITH_TRADE=ON -DMAGNUM_WITH_GLFWAPPLICATION=ON -DMAGNUM_WITH_WINDOWLESSEGLAPPLICATION=ON -DMAGNUM_WITH_OPENGLTESTER=ON -DMAGNUM_WITH_ANYAUDIOIMPORTER=ON -DMAGNUM_WITH_ANYIMAGECONVERTER=ON -DMAGNUM_WITH_ANYIMAGEIMPORTER=ON -DMAGNUM_WITH_ANYSCENEIMPORTER=ON -DMAGNUM_WITH_MAGNUMFONT=ON -DMAGNUM_WITH_OBJIMPORTER=ON -DMAGNUM_WITH_TGAIMPORTER=ON -DMAGNUM_WITH_WAVAUDIOIMPORTER=ON -DMAGNUM_TARGET_EGL=ON -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j
 sudo make install
 cd ../..
@@ -31,7 +31,7 @@ cd ../..
 git clone https://github.com/mosra/magnum-plugins.git
 cd magnum-plugins
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON  -DCMAKE_INSTALL_PREFIX=/usr ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_ASSIMPIMPORTER=ON -DMAGNUM_WITH_DDSIMPORTER=ON -DMAGNUM_WITH_JPEGIMPORTER=ON -DMAGNUM_WITH_OPENGEXIMPORTER=ON -DMAGNUM_WITH_PNGIMPORTER=ON -DMAGNUM_WITH_TINYGLTFIMPORTER=ON -DMAGNUM_WITH_STBTRUETYPEFONT=ON  -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j
 sudo make install
 cd ../..
@@ -40,7 +40,7 @@ cd ../..
 git clone https://github.com/mosra/magnum-integration.git
 cd magnum-integration
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DWITH_DART=ON -DWITH_EIGEN=ON  -DCMAKE_INSTALL_PREFIX=/usr -DDART_DIR=$DART_DIR ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON  -DCMAKE_INSTALL_PREFIX=/usr -DDART_DIR=$DART_DIR ..
 make -j
 sudo make install
 cd ../..

cmake/FindEGL.cmake

@@ -0,0 +1,86 @@
+#.rst:
+# Find EGL
+# --------
+#
+# Finds the EGL library. This module defines:
+#
+#  EGL_FOUND            - True if EGL library is found
+#  EGL::EGL             - EGL imported target
+#
+# Additionally these variables are defined for internal usage:
+#
+#  EGL_LIBRARY          - EGL library
+#  EGL_INCLUDE_DIR      - Include dir
+#
+
+#
+#   This file is part of Magnum.
+#
+#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
+#               2020, 2021, 2022 Vladimír Vondruš <[email protected]>
+#
+#   Permission is hereby granted, free of charge, to any person obtaining a
+#   copy of this software and associated documentation files (the "Software"),
+#   to deal in the Software without restriction, including without limitation
+#   the rights to use, copy, modify, merge, publish, distribute, sublicense,
+#   and/or sell copies of the Software, and to permit persons to whom the
+#   Software is furnished to do so, subject to the following conditions:
+#
+#   The above copyright notice and this permission notice shall be included
+#   in all copies or substantial portions of the Software.
+#
+#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+#   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+#   THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+#   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+#   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+#   DEALINGS IN THE SOFTWARE.
+#
+
+# Under Emscripten, GL is linked implicitly. With MINIMAL_RUNTIME you need to
+# specify -lGL. Simply set the library name to that.
+if(CORRADE_TARGET_EMSCRIPTEN)
+    set(EGL_LIBRARY GL CACHE STRING "Path to a library." FORCE)
+else()
+    find_library(EGL_LIBRARY NAMES
+        EGL
+
+        # ANGLE (CMake doesn't search for lib prefix on Windows)
+        libEGL
+
+        # On iOS a part of OpenGLES
+        OpenGLES)
+endif()
+
+# Include dir
+find_path(EGL_INCLUDE_DIR NAMES
+    EGL/egl.h
+
+    # iOS
+    EAGL.h)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(EGL DEFAULT_MSG
+    EGL_LIBRARY
+    EGL_INCLUDE_DIR)
+
+if(NOT TARGET EGL::EGL)
+    # Work around BUGGY framework support on macOS. Do this also in case of
+    # Emscripten, since there we don't have a location either.
+    # http://public.kitware.com/pipermail/cmake/2016-April/063179.html
+    if((APPLE AND ${EGL_LIBRARY} MATCHES "\\.framework$") OR CORRADE_TARGET_EMSCRIPTEN)
+        add_library(EGL::EGL INTERFACE IMPORTED)
+        set_property(TARGET EGL::EGL APPEND PROPERTY
+            INTERFACE_LINK_LIBRARIES ${EGL_LIBRARY})
+    else()
+        add_library(EGL::EGL UNKNOWN IMPORTED)
+        set_property(TARGET EGL::EGL PROPERTY
+            IMPORTED_LOCATION ${EGL_LIBRARY})
+    endif()
+
+    set_target_properties(EGL::EGL PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES ${EGL_INCLUDE_DIR})
+endif()
+
+mark_as_advanced(EGL_LIBRARY EGL_INCLUDE_DIR)

cmake/FindGLFW.cmake

@@ -20,8 +20,8 @@
 #
 #   This file is part of Magnum.
 #
-#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019
-#             Vladimír Vondruš <[email protected]>
+#   Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
+#               2020, 2021, 2022 Vladimír Vondruš <[email protected]>
 #   Copyright © 2016 Jonathan Hale <[email protected]>
 #
 #   Permission is hereby granted, free of charge, to any person obtaining a
@@ -43,11 +43,17 @@
 #   DEALINGS IN THE SOFTWARE.
 #
 
-# GLFW installs cmake package config files to shared/ folder which handles
-# dependencies in case GLFW is built statically. Try to find first, quietly, so
-# it doesn't print loud messages when it's not found, since that's okay.
-find_package(glfw3 CONFIG QUIET)
+# GLFW installs cmake package config files which handles dependencies in case
+# GLFW is built statically. Try to find first, quietly, so it doesn't print
+# loud messages when it's not found, since that's okay. If the glfw target
+# already exists, it means we're using it through a CMake subproject -- don't
+# attempt to find the package in that case.
+if(NOT TARGET glfw)
+    find_package(glfw3 CONFIG QUIET)
+endif()
 
+# If either a glfw config file was found or we have a subproject, point
+# GLFW::GLFW to that and exit -- nothing else to do here.
 if(TARGET glfw)
     if(NOT TARGET GLFW::GLFW)
         # Aliases of (global) targets are only supported in CMake 3.11, so we
@@ -81,6 +87,8 @@ if(CORRADE_TARGET_WINDOWS)
             set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2017)
         elseif(MSVC_VERSION VERSION_LESS 1930)
             set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2019)
+        elseif(MSVC_VERSION VERSION_LESS 1940)
+            set(_GLFW_LIBRARY_PATH_SUFFIX lib-vc2022)
         else()
             message(FATAL_ERROR "Unsupported MSVC version")
         endif()

docs/installation.md

@@ -119,7 +119,7 @@ git clone https://github.com/mosra/magnum.git
 cd magnum
 mkdir build && cd build
 # Ubuntu
-cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSGLXAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
+cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_HEADLESS=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
 # Mac OSX
 cmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)
 make -j

src/robot_dart/gui/magnum/base_application.hpp

@@ -23,7 +23,7 @@
 #include <Magnum/GL/TextureArray.h>
 #include <Magnum/Platform/GLContext.h>
 #ifndef MAGNUM_MAC_OSX
-#include <Magnum/Platform/WindowlessGlxApplication.h>
+#include <Magnum/Platform/WindowlessEglApplication.h>
 #else
 #include <Magnum/Platform/WindowlessCglApplication.h>
 #endif

waf_tools/magnum.py

@@ -218,10 +218,10 @@ def fatal(required, msg):
                 conf.end_msg(opengl_include_dir)
 
                 conf.start_msg('Magnum: Checking for OpenGL lib')
-                opengl_lib_dir = get_directory('libGL.'+suffix, libs_check)
+                opengl_lib_dir = get_directory('libOpenGL.'+suffix, libs_check)
                 magnum_libpaths = magnum_libpaths + [opengl_lib_dir]
-                magnum_libs = magnum_libs + ['GL']
-                conf.end_msg(['GL'])
+                magnum_libs = magnum_libs + ['OpenGL']
+                conf.end_msg(['OpenGL'])
 
             conf.start_msg('Magnum: Checking for MagnumGL lib')
             gl_lib_dir = get_directory('libMagnumGL.'+suffix, libs_check)
@@ -232,6 +232,50 @@ def fatal(required, msg):
             fatal(required, 'At the moment only desktop OpenGL is supported by WAF')
             return
 
+        egl_found = False
+        glx_found = False
+        if 'TARGET_HEADLESS' in magnum_config:
+            # TARGET_HEADLESS requires EGL
+            egl_inc = get_directory('EGL/egl.h', includes_check)
+
+            magnum_includes = magnum_includes + [egl_inc]
+
+            libs_egl = ['EGL']
+            for lib_egl in libs_egl:
+                try:
+                    lib_dir = get_directory('lib'+lib_egl+'.so', libs_check)
+                    egl_found = True
+
+                    magnum_libpaths = magnum_libpaths + [lib_dir]
+                    magnum_libs.append(lib_egl)
+                    break
+                except:
+                    egl_found = False
+
+            if not egl_found:
+                fatal(required, 'Not found')
+                return
+        else: # we need GLX
+            glx_inc = get_directory('GL/glx.h', includes_check)
+
+            magnum_includes = magnum_includes + [glx_inc]
+
+            libs_glx = ['GLX', 'X11']
+            for lib_glx in libs_glx:
+                try:
+                    lib_dir = get_directory('lib'+lib_glx+'.so', libs_check)
+                    glx_found = True
+
+                    magnum_libpaths = magnum_libpaths + [lib_dir]
+                    magnum_libs.append(lib_glx)
+                    # break
+                except:
+                    glx_found = False
+
+            if not glx_found:
+                fatal(required, 'Not found')
+                return
+
         conf.start_msg('Checking for Magnum components')
         # only check for components that can exist
         requested_components = list(set(requested_components).intersection(magnum_components))
@@ -293,6 +337,7 @@ def fatal(required, msg):
                             try:
                                 lib_dir = get_directory('lib'+lib_glfw+'.'+suffix, libs_check)
                                 glfw_found = True
+
                                 magnum_component_libpaths[component] = magnum_component_libpaths[component] + [lib_dir]
                                 magnum_component_libs[component].append(lib_glfw)
                                 break
@@ -352,49 +397,51 @@ def fatal(required, msg):
                             return
                         # to-do: maybe copy flags?
                     elif component == 'WindowlessEglApplication':
-                        # WindowlessEglApplication requires EGL
-                        egl_inc = get_directory('EGL/egl.h', includes_check)
-
-                        magnum_component_includes[component] = magnum_component_includes[component] + [egl_inc]
-
-                        libs_egl = ['EGL']
-                        egl_found = False
-                        for lib_egl in libs_egl:
-                            try:
-                                lib_dir = get_directory('lib'+lib_egl+'.so', libs_check)
-                                egl_found = True
-
-                                magnum_component_libpaths[component] = magnum_component_libpaths[component] + [lib_dir]
-                                magnum_component_libs[component].append(lib_egl)
-                                break
-                            except:
-                                egl_found = False
-
                         if not egl_found:
-                            fatal(required, 'Not found')
-                            return
+                            # WindowlessEglApplication requires EGL
+                            egl_inc = get_directory('EGL/egl.h', includes_check)
+
+                            magnum_component_includes[component] = magnum_component_includes[component] + [egl_inc]
+
+                            libs_egl = ['EGL']
+                            egl_found = False
+                            for lib_egl in libs_egl:
+                                try:
+                                    lib_dir = get_directory('lib'+lib_egl+'.so', libs_check)
+                                    egl_found = True
+
+                                    magnum_component_libpaths[component] = magnum_component_libpaths[component] + [lib_dir]
+                                    magnum_component_libs[component].append(lib_egl)
+                                    break
+                                except:
+                                    egl_found = False
+
+                            if not egl_found:
+                                fatal(required, 'Not found')
+                                return
                     elif component == 'WindowlessGlxApplication' or component == 'GlxApplication':
-                        # [Windowless]GlxApplication requires GLX. X11
-                        glx_inc = get_directory('GL/glx.h', includes_check)
-
-                        magnum_component_includes[component] = magnum_component_includes[component] + [glx_inc]
-
-                        libs_glx = ['GLX', 'X11']
-                        glx_found = False
-                        for lib_glx in libs_glx:
-                            try:
-                                lib_dir = get_directory('lib'+lib_glx+'.so', libs_check)
-                                glx_found = True
-
-                                magnum_component_libpaths[component] = magnum_component_libpaths[component] + [lib_dir]
-                                magnum_component_libs[component].append(lib_glx)
-                                # break
-                            except:
-                                glx_found = False
-
                         if not glx_found:
-                            fatal(required, 'Not found')
-                            return
+                            # [Windowless]GlxApplication requires GLX. X11
+                            glx_inc = get_directory('GL/glx.h', includes_check)
+
+                            magnum_component_includes[component] = magnum_component_includes[component] + [glx_inc]
+
+                            libs_glx = ['GLX', 'X11']
+                            glx_found = False
+                            for lib_glx in libs_glx:
+                                try:
+                                    lib_dir = get_directory('lib'+lib_glx+'.so', libs_check)
+                                    glx_found = True
+
+                                    magnum_component_libpaths[component] = magnum_component_libpaths[component] + [lib_dir]
+                                    magnum_component_libs[component].append(lib_glx)
+                                    # break
+                                except:
+                                    glx_found = False
+
+                            if not glx_found:
+                                fatal(required, 'Not found')
+                                return
                     elif component not in ['WindowlessCglApplication', 'WindowlessWglApplication']:
                         # to-do: support all other applications
                         msg = 'Component ' + component + ' is not yet supported by WAF'

wscript

@@ -110,7 +110,7 @@ def configure_robot_dart(conf):
     if conf.env['DEST_OS'] == 'darwin':
         conf.env['magnum_dep_libs'] += ' WindowlessCglApplication'
     else:
-        conf.env['magnum_dep_libs'] += ' WindowlessGlxApplication'
+        conf.env['magnum_dep_libs'] += ' WindowlessEglApplication'
     if len(conf.env.INCLUDES_Corrade):
         conf.check_magnum(components=conf.env['magnum_dep_libs'], required=False)
     if len(conf.env.INCLUDES_Magnum):
@@ -430,6 +430,7 @@ def build_robot_dart(bld):
     bld.install_files('${PREFIX}/lib/cmake/RobotDART/', blddir + '/RobotDARTConfig.cmake')
     bld.install_files('${PREFIX}/lib/cmake/RobotDART/', blddir + '/RobotDARTConfigVersion.cmake')
     bld.install_files('${PREFIX}/lib/cmake/RobotDART/', 'cmake/FindGLFW.cmake')
+    bld.install_files('${PREFIX}/lib/cmake/RobotDART/', 'cmake/FindEGL.cmake')
 
 def build_examples(bld):
     # we first build the library