C++ GLUI::add_panel方法代码示例

void initGLUI(int window) {
	GLUI *gluiSide = GLUI_Master.create_glui_subwindow(window, GLUI_SUBWINDOW_RIGHT);
	gluiSide->set_main_gfx_window(window);

	gluiSide->add_button("New Curve",     NEW_CURVE,   gluiHandler);

	gluiSide->add_button("New Surface",   NEW_SURFACE, gluiHandler);
	surfPanel = gluiSide->add_panel("Surface Parms", GLUI_PANEL_EMBOSSED);
	GLUI_Spinner *xS = gluiSide->add_spinner_to_panel(surfPanel, "X Pts.", 
									GLUI_SPINNER_INT, &surf_x, SURF_X, gluiHandler);
	xS->set_int_limits(3, 10);
	GLUI_Spinner *yS = gluiSide->add_spinner_to_panel(surfPanel, "Y Pts.", 
									GLUI_SPINNER_INT, &surf_y, SURF_Y, gluiHandler);
	yS->set_int_limits(3, 10);
	gluiSide->add_button_to_panel(surfPanel, "Ok", SURF_OK, gluiHandler);
	surfPanel->disable();

	gluiSide->add_button("Modify Points", MODIFY,      gluiHandler);
	gluiSide->add_button("Clear Screen",  CLEAR,       gluiHandler);
	gluiSide->add_button("Camera Mode",   CAMERA,      gluiHandler);

	gluiSide->add_separator();

	GLUI_Spinner *uS = gluiSide->add_spinner("U", GLUI_SPINNER_FLOAT, &u, U, gluiHandler);
	uS->set_float_limits(0.0f, 1.0f);
	uS->set_speed(50);
	GLUI_Spinner *vS = gluiSide->add_spinner("V", GLUI_SPINNER_FLOAT, &v, V, gluiHandler);
	vS->set_float_limits(0.0f, 1.0f);
	vS->set_speed(50);

	gluiSide->add_separator();

	gluiSide->add_button("Quit", QUIT, gluiHandler);
}

//! This function creates all the GLUI gui elements
void create_glui_ui(void)
{
  GLUI *glui = GLUI_Master.create_glui_subwindow( main_window, GLUI_SUBWINDOW_RIGHT );
  glui->add_statictext("Group 11 Simulation"); 
  new GLUI_Separator(glui);
  glui->add_statictext("Simulation Timesteps"); 
  GLUI_Spinner* velocityIterationSpinner =
    glui->add_spinner("Velocity Iterations", GLUI_SPINNER_INT, &settings.velocity_iterations);
  velocityIterationSpinner->set_int_limits(1, 500);
  
  GLUI_Spinner* positionIterationSpinner =
    glui->add_spinner("Position Iterations", GLUI_SPINNER_INT, &settings.position_iterations);
  positionIterationSpinner->set_int_limits(0, 100);
  
  GLUI_Spinner* hertzSpinner =
    glui->add_spinner("Sim steps per frame", GLUI_SPINNER_FLOAT, &settings.hz);
  hertzSpinner->set_float_limits(5.0f, 200.0f);


  new GLUI_Separator(glui);
  //new GLUI_Column( glui, false );
  glui->add_statictext("Simulation Parameters"); 
  glui->add_checkbox("Warm Starting", &settings.enable_warm_starting);
  glui->add_checkbox("Time of Impact", &settings.enable_continuous);
  glui->add_checkbox("Sub-Stepping", &settings.enable_sub_stepping);


  
  //new GLUI_Column( glui, false );
  new GLUI_Separator(glui);
  glui->add_statictext("Display Options"); 
  GLUI_Panel* drawPanel =	glui->add_panel("Draw");
  glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.draw_shapes);
  glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.draw_joints);
  glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.draw_AABBs);
  glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.draw_stats);
  glui->add_checkbox_to_panel(drawPanel, "Profile", &settings.draw_profile);
  
  //new GLUI_Column( glui, false );
  new GLUI_Separator(glui);
  glui->add_button("Pause", 0, callbacks_t::pause_cb);
  glui->add_button("Single Step", 0, callbacks_t::single_step_cb);
  glui->add_button("Restart", 0, callbacks_t::restart_cb);
  glui->add_button("Quit", 0,(GLUI_Update_CB)callbacks_t::exit_cb);
  glui->set_main_gfx_window( main_window );

  new GLUI_Separator(glui);
  glui->add_statictext("Mayank Meghwanshi"); 
  glui->add_statictext("Divyam Bansal"); 
  glui->add_statictext("Jaswant Kumar"); 

}

int main(int argc, char* argv[])
{
	atexit(onExit);

	/****************************************/
	/*   Initialize GLUT and create window  */
	/****************************************/

	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);
	glutInitWindowPosition(50, 50);
	glutInitWindowSize(500, 500);

	main_window = glutCreateWindow("COMP 175 Assignment 4");
	glutDisplayFunc(myGlutDisplay);
	glutReshapeFunc(myGlutReshape);

	/****************************************/
	/*         Here's the GLUI code         */
	/****************************************/

	GLUI* glui = GLUI_Master.create_glui("GLUI");

	filenameTextField = new GLUI_EditText( glui, "Filename:", filenamePath);
	filenameTextField->set_w(300);
	glui->add_button("Load", 0, callback_load);
	glui->add_button("Start!", 0, callback_start);
	glui->add_checkbox("Isect Only", &isectOnly);
	
	GLUI_Panel *camera_panel = glui->add_panel("Camera");
	(new GLUI_Spinner(camera_panel, "RotateV:", &camRotV))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateU:", &camRotU))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateW:", &camRotW))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "Angle:", &viewAngle))
		->set_int_limits(1, 179);

	glui->add_column_to_panel(camera_panel, true);

	GLUI_Spinner* eyex_widget = glui->add_spinner_to_panel(camera_panel, "EyeX:", GLUI_SPINNER_FLOAT, &eyeX);
	eyex_widget->set_float_limits(-10, 10);
	GLUI_Spinner* eyey_widget = glui->add_spinner_to_panel(camera_panel, "EyeY:", GLUI_SPINNER_FLOAT, &eyeY);
	eyey_widget->set_float_limits(-10, 10);
	GLUI_Spinner* eyez_widget = glui->add_spinner_to_panel(camera_panel, "EyeZ:", GLUI_SPINNER_FLOAT, &eyeZ);
	eyez_widget->set_float_limits(-10, 10);

	GLUI_Spinner* lookx_widget = glui->add_spinner_to_panel(camera_panel, "LookX:", GLUI_SPINNER_FLOAT, &lookX);
	lookx_widget->set_float_limits(-10, 10);
	GLUI_Spinner* looky_widget = glui->add_spinner_to_panel(camera_panel, "LookY:", GLUI_SPINNER_FLOAT, &lookY);
	looky_widget->set_float_limits(-10, 10);
	GLUI_Spinner* lookz_widget = glui->add_spinner_to_panel(camera_panel, "LookZ:", GLUI_SPINNER_FLOAT, &lookZ);
	lookz_widget->set_float_limits(-10, 10);

	glui->add_button("Quit", 0, (GLUI_Update_CB)exit);

	glui->set_main_gfx_window(main_window);

	/* We register the idle callback with GLUI, *not* with GLUT */
	GLUI_Master.set_glutIdleFunc(myGlutIdle);

	glutMainLoop();

	return EXIT_SUCCESS;
}

void glutAndGluiInit(int argc, char* argv[]) {
	//////////////////////////////////////////
	//   Initialize GLUT and create window  
	//////////////////////////////////////////
	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
	glutInitWindowPosition(-1, -1);
	glutInitWindowSize(640, 480);
 
	int main_window = glutCreateWindow("Scenegraph");
	glutDisplayFunc(display);
	GLUI_Master.set_glutReshapeFunc(reshape);  

	//////////////////////////////////////////
	//         GLUI UI setup         
	//////////////////////////////////////////
	// Create the side subwindow 
	GLUI* glui = GLUI_Master.create_glui_subwindow( main_window, GLUI_SUBWINDOW_RIGHT );
	glui->set_main_gfx_window( main_window );

	////////// Buttons 
	GLUI_Panel* panel = glui->add_panel("Add Object");
	glui->add_button_to_panel(panel, "Cone",    CONE_ID,    control_cb);
	glui->add_button_to_panel(panel, "Sphere",  SPHERE_ID,  control_cb);
	glui->add_button_to_panel(panel, "Spindle", SPINDLE_ID, control_cb);
	glui->add_button_to_panel(panel, "Teapot",  TEAPOT_ID,  control_cb);
	glui->add_button_to_panel(panel, "Torus",   TORUS_ID,   control_cb);

	panel = glui->add_panel("Grouping");
	glui->add_button_to_panel(panel, "Add Selected", ADD_ID,    control_cb);
	glui->add_button_to_panel(panel, "Select Next",  NEXT_ID,   control_cb);
	glui->add_button_to_panel(panel, "Close Group",  CLOSE_ID,  control_cb);
	glui->add_button_to_panel(panel, "Reopen Group", REOPEN_ID, control_cb);

	panel = glui->add_panel("Other");
	glui->add_button_to_panel(panel, "Print Graph", PRINT_ID, control_cb);
	glui->add_button_to_panel(panel, "Quit",        0,        control_cb);

	///////////// Create the bottom subwindow 
	GLUI* glui2 = GLUI_Master.create_glui_subwindow( main_window, GLUI_SUBWINDOW_BOTTOM );
	glui2->set_main_gfx_window( main_window );

	///////////// View rotation
	GLUI_Rotation *view_rot   = glui2->add_rotation( "View", &root.view_rotate.m[0]);
	view_rot->set_spin( 1.0 );  glui2->add_column( false );

	///////////// Object Translations
	GLUI_Translation *trans_x = glui2->add_translation("Xlate X", GLUI_TRANSLATION_X, &root.obj_xlate[0], 0, xformCallback);
	trans_x->set_speed( .005 ); glui2->add_column( false );
	GLUI_Translation *trans_y = glui2->add_translation("Xlate Y", GLUI_TRANSLATION_Y, &root.obj_xlate[1], 0, xformCallback);
	trans_y->set_speed( .005 ); glui2->add_column( false );
	GLUI_Translation *trans_z = glui2->add_translation("Xlate Z", GLUI_TRANSLATION_Z, &root.obj_xlate[2], 0, xformCallback);
	trans_z->set_speed( .005 ); glui2->add_column( false );

	///////////// Object Rotations
	GLUI_Translation *r_x = glui2->add_translation("Rotate X", GLUI_TRANSLATION_X, &root.obj_rdelta[0], 0, xformCallback);
	r_x->set_speed( .005 ); glui2->add_column( false );
	GLUI_Translation *r_y = glui2->add_translation("Rotate Y", GLUI_TRANSLATION_X, &root.obj_rdelta[1], 0, xformCallback);
	r_y->set_speed( .005 ); glui2->add_column( false );
	GLUI_Translation *r_z = glui2->add_translation("Rotate Z", GLUI_TRANSLATION_X, &root.obj_rdelta[2], 0, xformCallback);
	r_z->set_speed( .005 ); glui2->add_column( false );

	////////// Object Scale
	GLUI_Spinner *xspin = glui2->add_spinner("XScale:", GLUI_SPINNER_FLOAT, &root.obj_scale[0], 0, xformCallback);
	xspin->set_float_limits( .5f, 4.0 ); xspin->set_alignment( GLUI_ALIGN_RIGHT );
	GLUI_Spinner *yspin = glui2->add_spinner("YScale:", GLUI_SPINNER_FLOAT, &root.obj_scale[1], 0, xformCallback);
	yspin->set_float_limits( .5f, 4.0 ); yspin->set_alignment( GLUI_ALIGN_RIGHT );
	GLUI_Spinner *zspin = glui2->add_spinner("ZScale:", GLUI_SPINNER_FLOAT, &root.obj_scale[2], 0, xformCallback);
	zspin->set_float_limits( .5f, 4.0 ); zspin->set_alignment( GLUI_ALIGN_RIGHT );
}

int main(int argc, char* argv[])
{
	atexit(onExit);

	/****************************************/
	/*   Initialize GLUT and create window  */
	/****************************************/

	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
	glutInitWindowPosition(50, 50);
	glutInitWindowSize(500, 500);

	main_window = glutCreateWindow("COMP 175 Assignment 2");
	glutDisplayFunc(myGlutDisplay);
	glutReshapeFunc(myGlutReshape);

	/****************************************/
	/*       Set up OpenGL lighting         */
	/****************************************/


	    glClearColor (0.38, 0.38, 0.38, 0.0);
        glShadeModel (GL_SMOOTH);

        GLfloat light_pos0[] = {0.0f, 0.0f, 1.0f, 0.0f};
        GLfloat diffuse[] = {0.5f, 0.5f, 0.5f, 0.0f};
        GLfloat ambient[] = {0.1f, 0.1f, 0.1f, 1.0f};

        glLightfv (GL_LIGHT0, GL_AMBIENT, ambient);
        glLightfv (GL_LIGHT0, GL_DIFFUSE, diffuse);
        glLightfv (GL_LIGHT0, GL_POSITION, light_pos0);

        glColorMaterial (GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
        glEnable (GL_COLOR_MATERIAL);

        glEnable(GL_LIGHTING);
        glEnable (GL_LIGHT0);
        glEnable (GL_DEPTH_TEST);

	///****************************************/
	///*          Enable z-buferring          */
	///****************************************/


	glPolygonOffset(1, 1);



	/****************************************/
	/*         Here's the GLUI code         */
	/****************************************/

	GLUI *glui = GLUI_Master.create_glui("GLUI");

	GLUI_Panel *render_panel = glui->add_panel("Render");
	new GLUI_Checkbox(render_panel, "Wireframe", &wireframe);
	new GLUI_Checkbox(render_panel, "Fill", &fill);
	new GLUI_Checkbox(render_panel, "Normal", &normal);
	(new GLUI_Spinner(render_panel, "Segments X:", &segmentsX))
		->set_int_limits(3, 60);
	(new GLUI_Spinner(render_panel, "Segments Y:", &segmentsY))
		->set_int_limits(3, 60);

	GLUI_Panel *camera_panel = glui->add_panel("Camera");
	(new GLUI_Spinner(camera_panel, "RotateV:", &camRotV))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateU:", &camRotU))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateW:", &camRotW))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "Angle:", &viewAngle))
		->set_int_limits(1, 179);

	GLUI_Spinner* eyex_widget = glui->add_spinner_to_panel(camera_panel, "EyeX:", GLUI_SPINNER_FLOAT, &eyeX);
	eyex_widget->set_float_limits(-5, 5);
	GLUI_Spinner* eyey_widget = glui->add_spinner_to_panel(camera_panel, "EyeY:", GLUI_SPINNER_FLOAT, &eyeY);
	eyey_widget->set_float_limits(-5, 5);
	GLUI_Spinner* eyez_widget = glui->add_spinner_to_panel(camera_panel, "EyeZ:", GLUI_SPINNER_FLOAT, &eyeZ);
	eyez_widget->set_float_limits(-5, 5);

	GLUI_Spinner* lookx_widget = glui->add_spinner_to_panel(camera_panel, "LookX:", GLUI_SPINNER_FLOAT, &lookX);
	lookx_widget->set_float_limits(-5, 5);
	GLUI_Spinner* looky_widget = glui->add_spinner_to_panel(camera_panel, "LookY:", GLUI_SPINNER_FLOAT, &lookY);
	looky_widget->set_float_limits(-5, 5);
	GLUI_Spinner* lookz_widget = glui->add_spinner_to_panel(camera_panel, "LookZ:", GLUI_SPINNER_FLOAT, &lookZ);
	lookz_widget->set_float_limits(-5, 5);

	GLUI_Spinner* clipN_widget = glui->add_spinner_to_panel(camera_panel, "Near:", GLUI_SPINNER_FLOAT, &clipNear);
	clipN_widget->set_float_limits(0, 10);
	GLUI_Spinner* clipF_widget = glui->add_spinner_to_panel(camera_panel, "Far:", GLUI_SPINNER_FLOAT, &clipFar);
	clipF_widget->set_float_limits(0, 100);

	glui->add_column(true);

	GLUI_Panel *obj_panel = glui->add_panel("Object Type");
	GLUI_RadioGroup *group1 =
		glui->add_radiogroup_to_panel(obj_panel, (int*)(&objType), 3, callback_obj);
	glui->add_radiobutton_to_group(group1, "Cube");
	glui->add_radiobutton_to_group(group1, "Cylinder");
//.........这里部分代码省略.........

int main(int argc, char* argv[])
{

	atexit(onExit);
	/****************************************/
	/*   Initialize GLUT and create window  */
	/****************************************/
	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
	glutInitWindowPosition(100, 100);
	glutInitWindowSize(windowXSize, windowYSize);

	main_window = glutCreateWindow("COMP 175 In Class Assignment 7");
	glutDisplayFunc(myGlutDisplay);
	glutReshapeFunc(myGlutReshape);
	/****************************************/
	/*       Set up OpenGL lighting         */
	/****************************************/
	glShadeModel(GL_SMOOTH);

	glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
	glEnable(GL_COLOR_MATERIAL);
	
	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);

	static float one[] = { 1, 1, 1, 1 };
	glLightModelfv(GL_LIGHT_MODEL_AMBIENT, one);
	/****************************************/
	/*          Enable z-buferring          */
	/****************************************/
	glEnable(GL_DEPTH_TEST);
	glPolygonOffset(1, 1);

	/****************************************/
	/*		Setup textured Objects          */
	/****************************************/
	myObject->setTexture(0,"./data/pink.ppm");
	myObject->setTexture(1,"./data/smile.ppm");

	/****************************************/
	/*         Here's the GLUI code         */
	/****************************************/
	GLUI *glui = GLUI_Master.create_glui("GLUI");

	GLUI_Scrollbar* sb1 = new GLUI_Scrollbar(glui, "Red", GLUI_SCROLL_HORIZONTAL, &red_Scroll, COLORR_ID, control_cb);
	sb1->set_int_limits(0, 255);
	GLUI_Scrollbar* sb2 = new GLUI_Scrollbar(glui, "Green", GLUI_SCROLL_HORIZONTAL, &green_Scroll, COLORG_ID, control_cb);
	sb2->set_int_limits(0, 255);
	GLUI_Scrollbar* sb3 = new GLUI_Scrollbar(glui, "Blue", GLUI_SCROLL_HORIZONTAL, &blue_Scroll, COLORB_ID, control_cb);
	sb3->set_int_limits(0, 255);
	sb1->set_int_val(255);
	sb2->set_int_val(255);

/*
    // Create a rotation widget
    GLUI_Rotation *view_rot = new GLUI_Rotation(glui, "Objects", view_rotate );
    view_rot->set_spin( 1.0 );

    // Navigate our scene
    new GLUI_Column( glui, false );
    GLUI_Translation *trans_x =  new GLUI_Translation(glui, "Objects X", GLUI_TRANSLATION_X, obj_pos );
    trans_x->set_speed( .1 );
    new GLUI_Column( glui, false );
    GLUI_Translation *trans_y =  new GLUI_Translation( glui, "Objects Y", GLUI_TRANSLATION_Y, &obj_pos[1] );
    trans_y->set_speed( .1 );
    new GLUI_Column( glui, false );
    GLUI_Translation *trans_z =  new GLUI_Translation( glui, "Objects Z", GLUI_TRANSLATION_Z, &obj_pos[2] );
    trans_z->set_speed( .1 );
*/
	glui->add_column(true);

	GLUI_Panel *render_panel = glui->add_panel("Render");
	new GLUI_Checkbox(render_panel, "Wireframe", &wireframe);
	new GLUI_Checkbox(render_panel, "Filled", &filled);
	new GLUI_Checkbox(render_panel, "Paint", &paint);

	glui->add_button("Quit", 0, (GLUI_Update_CB)exit);

	glui->set_main_gfx_window(main_window);
	/* We register the idle callback with GLUI, *not* with GLUT */
	GLUI_Master.set_glutIdleFunc(myGlutIdle);
	GLUI_Master.set_glutMouseFunc( myGlutMouse );
	glutMotionFunc( myGlutMotion );

	glutMainLoop();

	return EXIT_SUCCESS;
}

int main(int argc, char* argv[])
{
	glutInit(&argc, argv);
	glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH); //double buffering, RGB mode, need depth buffer
	glutInitWindowSize(WIDTH,HEIGHT); //width, height of the window
	glutInitWindowPosition(0, 0);	// location on the screen the window appears
	
	window = glutCreateWindow("Project GUI");	// creates the window
	
	init(); //things to do once, mostly in beginning	
	
	glutDisplayFunc(handleDisplay);		// tells glut which function to call to render a screen.
	glutMotionFunc(handleMotion);		// handle when motion (this generally means when mouse is moved with a button pressed)
	
 	GLUI_Master.set_glutReshapeFunc( handleReshape );

  	//Setting opengl lights

  	GLfloat light0_ambient[] =  {0.1f, 0.1f, 0.3f, 1.0f};
  	GLfloat light0_diffuse[] =  {.6f, .6f, 1.0f, 1.0f};
  	GLfloat light0_position[] = {1.0f, 1.0f, 1.0f, 0.0f};

  	glEnable(GL_LIGHTING);
  	glEnable(GL_LIGHT0);
  	glLightfv(GL_LIGHT0, GL_AMBIENT, light0_ambient);
  	glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
  	glLightfv(GL_LIGHT0, GL_POSITION, light0_position);
	
	glEnable(GL_DEPTH_TEST);		// enabling depth
	
	GLUI *glui = GLUI_Master.create_glui_subwindow(window,
                     GLUI_SUBWINDOW_RIGHT);
  	new GLUI_StaticText( glui, "Project GLUI" );
  	new GLUI_Separator(glui);
	
	glui->set_main_gfx_window( window );
	GLUI_Panel *obj_panel = glui->add_panel ("Display option panel");
  	
	listbox = new GLUI_Listbox(obj_panel, "Mesh display option", &display_type, 1, controlBlock);
  	listbox->add_item(FLAT_SHADED, "Flat Shaded");
	listbox->add_item(SMOOTH_SHADED, "Smooth Shaded");
	listbox->add_item(WIREFRAME, "Wireframe");
  	listbox->add_item(EDGES_SHADED, "Shaded with mesh edges");

	//scale code
	GLUI_Spinner *scale_spinner = new GLUI_Spinner( obj_panel, "Scale:", &scale);
  	scale_spinner->set_float_limits( .2f, 5.0 );
  	scale_spinner->set_alignment( GLUI_ALIGN_RIGHT );
	
	//rotation code
	GLUI_Panel * rotation_panel = glui->add_panel_to_panel(obj_panel, "", GLUI_PANEL_NONE);
	
	GLUI_Rotation *sph_rot =
		glui->add_rotation_to_panel(rotation_panel,"Rotate", sphere_rotate,
		ROTATION_ID, controlBlock); 
	sph_rot->set_spin(1.0);

	//translation code
	GLUI_Panel * translate_panel = glui->add_panel_to_panel(obj_panel, "",
		GLUI_PANEL_NONE);	

	GLUI_Translation * move_z =
		glui->add_translation_to_panel(translate_panel,"Object Z",
		GLUI_TRANSLATION_Z, &obj_pos[2]); 
	move_z->scale_factor = 0.1f;

	glui->add_column_to_panel(translate_panel, true);
	
	GLUI_Translation * move_around =
		glui->add_translation_to_panel(translate_panel,"Object XY",
		GLUI_TRANSLATION_XY, obj_pos);
	move_around->scale_factor = 0.1f;

	GLUI_Panel * decimate_panel = glui->add_panel("Decimate Panel");

	glui->add_edittext_to_panel(decimate_panel, "No. of collapse iteration: ", GLUI_EDITTEXT_INT, &collapseCount);

	glui->add_edittext_to_panel(decimate_panel, "Random count (k): ", GLUI_EDITTEXT_INT, &KValue);

	glui->add_button_to_panel(decimate_panel, "Decimate", DECIMATE_ID, controlBlock);

	glui->add_button_to_panel(decimate_panel, "Shape Preserve", SHAPE_PRESERVE_DECIMATE_ID, controlBlock);

	glui->add_separator();

	GLUI_Panel * shape_panel = glui->add_panel("Shape based Panel");
	
	glui->add_button_to_panel(shape_panel, "Go", SURE_SHAPE_PRESERVE_DECIMATE_ID, controlBlock);

	glui->add_separator();

	GLUI_Panel * mapping_panel = glui->add_panel("Mapping Panel");

	glui->add_button_to_panel(mapping_panel, "Open map file", MAPPING_OPEN_ID, controlBlock);
	//other details
	glui->add_separator();
	glui->add_button("Open", OPEN_ID, controlBlock);
	glui->add_button("Save", SAVE_ID, controlBlock);
	glui->add_button("Reset", RESET_ID, controlBlock);
  	glui->add_button("Quit", QUIT_ID, (GLUI_Update_CB)exit);
//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
        
        atexit(onExit);

        /****************************************/
        /*   Initialize GLUT and create window  */
        /****************************************/

        glutInit(&argc, argv);
        glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
        glutInitWindowPosition(50, 50);
        glutInitWindowSize(500, 500);

        main_window = glutCreateWindow("COMP 175 In Class Lab 7");
        glutDisplayFunc(myGlutDisplay);
        glutReshapeFunc(myGlutReshape);

        /****************************************/
        /*       Set up OpenGL lighting         */
        /****************************************/

        // Essentially set the background color of the 3D scene.
        //glClearColor(.9f, .9f, .9f, 1.0f);
        glClearColor(0.1, 0.1, 0.1, 1.0);
        glShadeModel(GL_FLAT);

        GLfloat light_pos0[] = { 0.0f, 0.0f, 1.0f, 0.0f };
        GLfloat diffuse[] = { 0.5f, 0.5f, 0.5f, 0.0f };
        GLfloat ambient[] = { 0.7f, 0.7f, 0.7f, 1.0f };

        glLightfv(GL_LIGHT0, GL_AMBIENT, ambient);
        glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse);
        glLightfv(GL_LIGHT0, GL_POSITION, light_pos0);

        //glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
        glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE);
        glEnable(GL_COLOR_MATERIAL);

        glEnable(GL_LIGHTING);
        glEnable(GL_LIGHT0);

        /****************************************/
        /*          Enable z-buferring          */
        /****************************************/

        glEnable(GL_DEPTH_TEST);
        glPolygonOffset(1, 1);

        /****************************************/
        /*         Here's the GLUI code         */
        /****************************************/

        GLUI *glui = GLUI_Master.create_glui("GLUI");

        GLUI_Panel *render_panel = glui->add_panel("Render");
        new GLUI_Checkbox(render_panel, "Wireframe", &wireframe);
        new GLUI_Checkbox(render_panel, "Filled", &filled);
        new GLUI_Checkbox(render_panel, "Silhouette", &silhouette);

        GLUI_Panel *camera_panel = glui->add_panel("Camera");
        (new GLUI_Spinner(camera_panel, "Rotate Y:", &rotY))->set_int_limits(0, 359);
        (new GLUI_Spinner(camera_panel, "Scale:", &scale))
                ->set_int_limits(1, 1000);


        filenameTextField = new GLUI_EditText( glui, "Filename:", filenamePath);
        filenameTextField->set_w(300);
        glui->add_button("Load PLY", 0, callback_load);


        glui->add_column(true);
        glui->add_button("Quit", 0, (GLUI_Update_CB)exit);

        glui->set_main_gfx_window(main_window);
        /* We register the idle callback with GLUI, *not* with GLUT */
        GLUI_Master.set_glutIdleFunc(myGlutIdle);



        glutMainLoop();

        return EXIT_SUCCESS;
}

void createInterface() {

    GLUI *glui = GLUI_Master.create_glui("RGBD Effects", 0, 1050, 100);

    //Effect Selection
    GLUI_Panel *effectSelectionPanel = glui->add_panel("Effect");
    GLUI_RadioGroup *effectRadioGroup = glui->add_radiogroup_to_panel(effectSelectionPanel, &selectedEffect, -1, gluiCallback);
    glui->add_radiobutton_to_group(effectRadioGroup, "Maps");
    glui->add_radiobutton_to_group(effectRadioGroup, "Fog");
    glui->add_radiobutton_to_group(effectRadioGroup, "Depth of Field");
    glui->add_radiobutton_to_group(effectRadioGroup, "Relighting");
    glui->add_radiobutton_to_group(effectRadioGroup, "Cartoon Shading");

    //Depth range
    glui->add_statictext("");
    GLUI_Panel *depthRangePanel = glui->add_panel("Depth Range");
    GLUI_Checkbox *adaptiveDepthRangeCheckBox = glui->add_checkbox_to_panel(depthRangePanel, "Adaptive ", &adaptiveDepthRange, -1, gluiCallback);
    GLUI_Spinner *nearPlaneSpinner = glui->add_spinner_to_panel(depthRangePanel, "Near Plane ", GLUI_SPINNER_FLOAT, &nearPlane, -1, gluiCallback);
    nearPlaneSpinner->set_float_limits(10, 2000);
    GLUI_Spinner *farPlaneSpinner = glui->add_spinner_to_panel(depthRangePanel, "Far Plane ", GLUI_SPINNER_FLOAT, &farPlane, -1, gluiCallback);
    farPlaneSpinner->set_float_limits(10, 2000);

    //View maps
    GLUI_Rollout *mapRollout = glui->add_rollout("Maps", 0);
    mapRollout->set_w(218);
    glui->add_statictext_to_panel(mapRollout, "")->set_w(200);
    GLUI_RadioGroup *mapRadioGroup = glui->add_radiogroup_to_panel(mapRollout, &mapEffect->selectedMap, -1, gluiCallback);
    glui->add_radiobutton_to_group(mapRadioGroup, "Colour");
    glui->add_radiobutton_to_group(mapRadioGroup, "Depth");
    glui->add_radiobutton_to_group(mapRadioGroup, "Normals");

    GLUI_Panel* mapPreblurPanel = glui->add_panel_to_panel(mapRollout, "Pre-processing");
    GLUI_RadioGroup *mapPreblurRadioGroup = glui->add_radiogroup_to_panel(mapPreblurPanel, &mapEffect->selectedPreFilter, -1, gluiCallback);
    glui->add_radiobutton_to_group(mapPreblurRadioGroup, "None");
    glui->add_radiobutton_to_group(mapPreblurRadioGroup, "Blur");
    glui->add_radiobutton_to_group(mapPreblurRadioGroup, "Bilateral");

    GLUI_Spinner *mapPreblurPassesSpinner = glui->add_spinner_to_panel(mapPreblurPanel, "Filter Passes ", GLUI_SPINNER_INT, &mapEffect->preblurFilterPasses, -1, gluiCallback);
    mapPreblurPassesSpinner->set_int_limits(0, 10);
    GLUI_Spinner *mapPreblurKernelSizeSpinner = glui->add_spinner_to_panel(mapPreblurPanel, "Kernel Size ", GLUI_SPINNER_INT, &mapEffect->preblurKernelSize, -1, gluiCallback);
    mapPreblurKernelSizeSpinner->set_int_limits(1, 100);
    GLUI_Spinner *mapPreblurSigmaSpinner = glui->add_spinner_to_panel(mapPreblurPanel, "Sample Deviation ", GLUI_SPINNER_FLOAT, &mapEffect->preblurSigma, -1, gluiCallback);
    mapPreblurSigmaSpinner->set_float_limits(0.001, 0.15);



    //FOG
    GLUI_Rollout *fogRollout = glui->add_rollout("Fog", 0);
    fogRollout->set_w(218);
    glui->add_statictext_to_panel(fogRollout, "")->set_w(200);
    GLUI_Spinner *fogDensitySpinner = glui->add_spinner_to_panel(fogRollout, "Density ", GLUI_SPINNER_FLOAT, &fogEffect->fogDensity, -1, gluiCallback);
    fogDensitySpinner->set_float_limits(0.0, 20.0);
    GLUI_Spinner *fogAmountSpinner = glui->add_spinner_to_panel(fogRollout, "Amount ", GLUI_SPINNER_FLOAT, &fogEffect->fogAmount, -1, gluiCallback);
    fogAmountSpinner->set_float_limits(0.0, 1);

    glui->add_statictext_to_panel(fogRollout, "");
    GLUI_Panel* fogPreblurPanel = glui->add_panel_to_panel(fogRollout, "Preblur");

    GLUI_Spinner *fogPreblurPassesSpinner = glui->add_spinner_to_panel(fogPreblurPanel, "Filter Passes ", GLUI_SPINNER_INT, &fogEffect->preblurFilterPasses, -1, gluiCallback);
    fogPreblurPassesSpinner->set_int_limits(0, 10);
    GLUI_Spinner *fogPreblurKernelSizeSpinner = glui->add_spinner_to_panel(fogPreblurPanel, "Kernel Size ", GLUI_SPINNER_INT, &fogEffect->preblurKernelSize, -1, gluiCallback);
    fogPreblurKernelSizeSpinner->set_int_limits(1, 100);
    GLUI_Spinner *fogPreblurSigmaSpinner = glui->add_spinner_to_panel(fogPreblurPanel, "Sample Deviation ", GLUI_SPINNER_FLOAT, &fogEffect->preblurSigma, -1, gluiCallback);
    fogPreblurSigmaSpinner->set_float_limits(0.001, 0.15);


    glui->add_statictext_to_panel(fogRollout, "");
    GLUI_Panel* fogColourPanel = glui->add_panel_to_panel(fogRollout, "Colour", GLUI_PANEL_EMBOSSED);

    GLUI_Spinner *fogColourRedSpinner = glui->add_spinner_to_panel(fogColourPanel, "Red ", GLUI_SPINNER_FLOAT, &fogEffect->fogColourRed, -1, gluiCallback);
    fogColourRedSpinner->set_float_limits(0.0, 1);
    GLUI_Spinner *fogColourGreenSpinner = glui->add_spinner_to_panel(fogColourPanel, "Green ", GLUI_SPINNER_FLOAT, &fogEffect->fogColourGreen, -1, gluiCallback);
    fogColourGreenSpinner->set_float_limits(0.0, 1);
    GLUI_Spinner *fogColourBlueSpinner = glui->add_spinner_to_panel(fogColourPanel, "Blue ", GLUI_SPINNER_FLOAT, &fogEffect->fogColourBlue, -1, gluiCallback);
    fogColourBlueSpinner->set_float_limits(0.0, 1);


    //DEPTH OF FIELD
    GLUI_Rollout *DOFRollout = glui->add_rollout("Depth of Field", 0);
    DOFRollout->set_w(218);
    glui->add_statictext_to_panel(DOFRollout, "")->set_w(200);

    GLUI_Spinner *distributionSigmaSpinner = glui->add_spinner_to_panel(DOFRollout, "Sample Deviation ", GLUI_SPINNER_FLOAT, &dofEffect->distributionSigma, -1, gluiCallback);
    distributionSigmaSpinner->set_float_limits(0.001, 0.15);
    GLUI_Spinner *sampleRadiusSpinner = glui->add_spinner_to_panel(DOFRollout, "Sample Radius ", GLUI_SPINNER_INT, &dofEffect->sampleRadius, -1, gluiCallback);
    sampleRadiusSpinner->set_int_limits(1, 40);


    GLUI_Spinner *lensDiameterSpinner = glui->add_spinner_to_panel(DOFRollout, "Aperture Size ", GLUI_SPINNER_FLOAT, &dofEffect->lensDiameter, -1, gluiCallback);
    lensDiameterSpinner->set_float_limits(0.001, 1);
    GLUI_Spinner *focalLengthSpinner = glui->add_spinner_to_panel(DOFRollout, "Focal Length ", GLUI_SPINNER_FLOAT, &dofEffect->focalLength, -1, gluiCallback);
    focalLengthSpinner->set_float_limits(0.001, 1);
    GLUI_Spinner *focalDepthSpinner = glui->add_spinner_to_panel(DOFRollout, "Focal Depth ", GLUI_SPINNER_FLOAT, &dofEffect->focalPlaneDepth, -1, gluiCallback);
    focalDepthSpinner->set_float_limits(0.0, 1);

    glui->add_statictext_to_panel(DOFRollout, "");
    GLUI_Panel* DOFPreblurPanel = glui->add_panel_to_panel(DOFRollout, "Preblur");

    GLUI_Spinner *DOFPreblurPassesSpinner = glui->add_spinner_to_panel(DOFPreblurPanel, "Filter Passes ", GLUI_SPINNER_INT, &dofEffect->preblurFilterPasses, -1, gluiCallback);
    DOFPreblurPassesSpinner->set_int_limits(0, 10);
//.........这里部分代码省略.........

int main(int argc, char* argv[])
{
	atexit(onExit);

	/****************************************/
	/*   Initialize GLUT and create window  */
	/****************************************/

	glutInit(&argc, argv);
	glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
	glutInitWindowPosition(50, 50);
	glutInitWindowSize(500, 500);

	main_window = glutCreateWindow("COMP 175 Assignment 3");
	glutDisplayFunc(myGlutDisplay);
	glutReshapeFunc(myGlutReshape);

	glShadeModel (GL_SMOOTH);

	glEnable(GL_DEPTH_TEST);

	// Specular reflections will be off without this, since OpenGL calculates
	// specular highlights using an infinitely far away camera by default, not
	// the actual location of the camera
	glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);

	// Show all ambient light for the entire scene (not one by default)
	GLfloat one[] = { 0.5f, 0.5f, 0.5f, 1.0f };
	glLightModelfv(GL_LIGHT_MODEL_AMBIENT, one);

	glPolygonOffset(1, 1);



	/****************************************/
	/*         Here's the GLUI code         */
	/****************************************/

	GLUI* glui = GLUI_Master.create_glui("GLUI");

	filenameTextField = new GLUI_EditText( glui, "Filename:", filenamePath);
	filenameTextField->set_w(300);
	glui->add_button("Load", 0, callback_load);
	
	GLUI_Panel *camera_panel = glui->add_panel("Camera");
	(new GLUI_Spinner(camera_panel, "RotateV:", &camRotV))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateU:", &camRotU))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "RotateW:", &camRotW))
		->set_int_limits(-179, 179);
	(new GLUI_Spinner(camera_panel, "Angle:", &viewAngle))
		->set_int_limits(1, 179);

	glui->add_column_to_panel(camera_panel, true);

	GLUI_Spinner* eyex_widget = glui->add_spinner_to_panel(camera_panel, "EyeX:", GLUI_SPINNER_FLOAT, &eyeX);
	eyex_widget->set_float_limits(-10, 10);
	GLUI_Spinner* eyey_widget = glui->add_spinner_to_panel(camera_panel, "EyeY:", GLUI_SPINNER_FLOAT, &eyeY);
	eyey_widget->set_float_limits(-10, 10);
	GLUI_Spinner* eyez_widget = glui->add_spinner_to_panel(camera_panel, "EyeZ:", GLUI_SPINNER_FLOAT, &eyeZ);
	eyez_widget->set_float_limits(-10, 10);

	GLUI_Spinner* lookx_widget = glui->add_spinner_to_panel(camera_panel, "LookX:", GLUI_SPINNER_FLOAT, &lookX);
	lookx_widget->set_float_limits(-10, 10);
	GLUI_Spinner* looky_widget = glui->add_spinner_to_panel(camera_panel, "LookY:", GLUI_SPINNER_FLOAT, &lookY);
	looky_widget->set_float_limits(-10, 10);
	GLUI_Spinner* lookz_widget = glui->add_spinner_to_panel(camera_panel, "LookZ:", GLUI_SPINNER_FLOAT, &lookZ);
	lookz_widget->set_float_limits(-10, 10);

	glui->add_column(true);

	GLUI_Panel *render_panel = glui->add_panel("Render");
	new GLUI_Checkbox(render_panel, "Wireframe", &wireframe);
	new GLUI_Checkbox(render_panel, "Fill", &fillObj);
	(new GLUI_Spinner(render_panel, "Segments X:", &segmentsX))
		->set_int_limits(3, 60);
	(new GLUI_Spinner(render_panel, "Segments Y:", &segmentsY))
		->set_int_limits(3, 60);


	glui->add_button("Quit", 0, (GLUI_Update_CB)exit);

	glui->set_main_gfx_window(main_window);

	/* We register the idle callback with GLUI, *not* with GLUT */
	GLUI_Master.set_glutIdleFunc(myGlutIdle);

	glutMainLoop();

	return EXIT_SUCCESS;
}

// Do some GLUT initialization, also set up GLUI
void setupGLUT(char* programName)
{
    glutInitDisplayMode(GLUT_DEPTH | GLUT_RGBA | GLUT_DOUBLE);
    glutInitWindowPosition(100,100);
    glutInitWindowSize(WIN_WIDTH, WIN_HEIGHT);
	mainWindow = glutCreateWindow(programName);

    glutReshapeFunc(reshape);

    glutDisplayFunc(display);

    glutKeyboardFunc(keyboard);

    glutMouseFunc(mouse);

    glutMotionFunc(mouseMove);

    glutIdleFunc(idle);

	glutTimerFunc(tickSpeed, tick, 0);

	GLUI_Master.set_glutKeyboardFunc(keyboard);
	GLUI_Master.set_glutReshapeFunc(reshape);

	//GLUI stuff
	gluiWindow = GLUI_Master.create_glui_subwindow(mainWindow, GLUI_SUBWINDOW_RIGHT);
	camRotateTrans = gluiWindow->add_translation("Rotate Camera", GLUI_TRANSLATION_XY, cameraRotate);
	camRotateTrans->set_speed(0.01f);
	camZoomTrans = gluiWindow->add_translation("Zoom Camera", GLUI_TRANSLATION_Z, cameraZoom);
	camZoomTrans->set_speed(0.1f);
	gluiWindow->add_separator();
	gluiWindow->add_button( "Quit", 0,(GLUI_Update_CB)exit );
	
	GLUI_Panel *viewPanel = gluiWindow->add_panel("Camera View", GLUI_PANEL_EMBOSSED);
	GLUI_RadioGroup *cameraRadio = gluiWindow->add_radiogroup_to_panel(viewPanel, &cameraMode);
	gluiWindow->add_radiobutton_to_group(cameraRadio, "Free Look");
	gluiWindow->add_radiobutton_to_group(cameraRadio, "Third Person");
	gluiWindow->add_radiobutton_to_group(cameraRadio, "Top View");

	GLUI *gluiWindowLeft = GLUI_Master.create_glui_subwindow(mainWindow, GLUI_SUBWINDOW_LEFT);

	angleSpinner = gluiWindowLeft->add_spinner("Angle", GLUI_SPINNER_INT, &launchAngle);
	angleSpinner->set_int_limits(0, 359, GLUI_LIMIT_WRAP);
	angleSpinner->set_speed(0.2);
	angleSpinner->set_int_val(launchAngle);

	powerSpinner = gluiWindowLeft->add_spinner("Power", GLUI_SPINNER_INT, &launchPower);
	powerSpinner->set_int_limits(1, MAX_SPEED, GLUI_LIMIT_CLAMP);
	powerSpinner->set_int_val(launchPower);
	powerSpinner->set_speed(0.1);

	fireButton = gluiWindowLeft->add_button("Go!", 0, launchBall);

	newPlayerButton = gluiWindowLeft->add_button("New Player" , 1, addNewPlayer);
	//currentProfile = gluiWindowLeft->add_listbox(

	GLUI_Panel *holePanel = gluiWindowLeft->add_panel("Profile");
	userName = gluiWindowLeft->add_statictext_to_panel(holePanel, "Player: ");
	currentHole = gluiWindowLeft->add_statictext_to_panel(holePanel, "Hole: ");
	totalNumHoles = gluiWindowLeft->add_statictext_to_panel(holePanel, "Total Holes: ");
	numStrokes = gluiWindowLeft->add_statictext_to_panel(holePanel, "Current Stroke: ");	
	par = gluiWindowLeft->add_statictext_to_panel(holePanel, "Par: ");

	// Set glui initial values
	numStrokes->set_int_val(0);

	GLUI_Panel *scoresPanel = gluiWindowLeft->add_panel("High Scores");
	highScoresList[0] = gluiWindowLeft->add_statictext_to_panel(scoresPanel, "No high scores");
	highScoresList[1] = gluiWindowLeft->add_statictext_to_panel(scoresPanel, "");
	highScoresList[2] = gluiWindowLeft->add_statictext_to_panel(scoresPanel, "");
	highScoresList[3] = gluiWindowLeft->add_statictext_to_panel(scoresPanel, "");
	highScoresList[4] = gluiWindowLeft->add_statictext_to_panel(scoresPanel, "");
	
	soundButton = gluiWindowLeft->add_button("Toggle Music", 0, soundTest);
	
	GLUI_Master.auto_set_viewport();

	gluiWindow->set_main_gfx_window(mainWindow);
	GLUI_Master.set_glutIdleFunc(idle);
	GLUI_Master.sync_live_all();
}

  virtual bool Initialize()
  {
    cur_link=0;
    cur_driver=0;
    link_value = 0;
    driver_value = 0;
    draw_geom = 1;
    draw_bbs = 0;
    draw_com = 0;
    draw_frame = 0;
    draw_expanded = 0;
    draw_self_collision_tests = 0;
    hoverLink=hoverWidget=-1;
    hoverPt.setZero();
    pose_ik = 0;
    if(!RobotViewProgram::Initialize()) return false;
    self_colliding.resize(robot->links.size(),false);   
    UpdateConfig();

    /*
    //TEST: robot-to-robot IK test.  only works for AL5Dx2
    IKGoal test;
    test.link = 8;
    test.destLink = 16;
    test.localPosition.set(0,0,0.05);
    test.endPosition.set(0,0,0.05);
    //test.SetFixedPosition(test.endPosition);
    Matrix3 R;
    R.setRotateZ(120);
    test.SetFixedRotation(R);

    vector<IKGoal> problem(1,test);
    int iters=100;
    bool res=SolveIK(*robot,problem,1e-3,iters);
    printf("Solved IK: %d, %d iters, error %g\n",(int)res,iters,RobotIKError(*robot,test));
    UpdateConfig();
    */

    //setup GUI 
    glui = GLUI_Master.create_glui_subwindow(main_window,GLUI_SUBWINDOW_RIGHT);
    glui->set_main_gfx_window(main_window);
    GLUI_Panel* panel = glui->add_panel("Link controls");
    link_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_link,LINK_SPINNER_ID,ControlFunc);
    link_spinner->set_int_limits(0,robot->links.size()-1,GLUI_LIMIT_WRAP);

    link_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_link,LINK_LISTBOX_ID,ControlFunc);
    for(size_t i=0;i<robot->links.size();i++) {
      char buf[256];
      strcpy(buf,robot->linkNames[i].c_str());
      link_listbox->add_item(i,buf);
    }

    link_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&link_value,LINK_VALUE_SPINNER_ID,ControlFunc);
    link_info = glui->add_statictext_to_panel(panel,"Info");
    UpdateLinkValueGUI();
    UpdateLinkInfoGUI();

    panel = glui->add_panel("Driver controls");
    glui->add_checkbox_to_panel(panel,"Pose by IK",&pose_ik);
    driver_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_driver,DRIVER_SPINNER_ID,ControlFunc);
    driver_spinner->set_int_limits(0,(int)robot->drivers.size()-1,GLUI_LIMIT_WRAP);

    driver_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_driver,DRIVER_LISTBOX_ID,ControlFunc);
    for(size_t i=0;i<robot->drivers.size();i++) {
      char buf[256];
      strcpy(buf,robot->driverNames[i].c_str());
      driver_listbox->add_item(i,buf);
    }

    driver_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&driver_value,DRIVER_VALUE_SPINNER_ID,ControlFunc);
    driver_info = glui->add_statictext_to_panel(panel,"Info");

    glui->add_checkbox("Draw geometry",&draw_geom);
    glui->add_checkbox("Draw COM",&draw_com);
    glui->add_checkbox("Draw frame",&draw_frame);
    glui->add_checkbox("Draw bboxes",&draw_bbs);
    glui->add_checkbox("Draw expanded",&draw_expanded,DRAW_EXPANDED_CHECKBOX_ID,ControlFunc);
    glui->add_checkbox("Draw collision tests",&draw_self_collision_tests);
    UpdateDriverValueGUI();
    UpdateDriverInfoGUI();
    return true;
  }