C++ GLUI::add_spinner_to_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);
}

//////////////////// CGlutWin methods //////////////////// 
void 
CPCPView::_InitFunc()
{
	_KeepUpdateOn();
	
	/////////////////////////////////////////////
	// set up GLUI
	GLUI *pcGlui = PCGetGluiSubwin();

	GLUI_Panel *pcPanel_Line = pcGlui->add_rollout("Line");
	GLUI_Panel *pcPanel_Color = pcGlui->add_panel_to_panel(pcPanel_Line, "Color");
	static char* pszChannels[] = {"R", "G", "B", "A"};
	float *pfColor = &f4Color.x;
	for(int c = 0; c < sizeof(pszChannels)/sizeof(pszChannels[0]); c++)
	{
		GLUI_Spinner* pcSpinner = pcGlui->add_spinner_to_panel(pcPanel_Color, pszChannels[c], GLUI_SPINNER_FLOAT, &pfColor[c]);
		pcSpinner->set_float_limits(0.0f, 1.0f);
	}
	GLUI_Spinner* pcSpinner_Width = pcGlui->add_spinner_to_panel(pcPanel_Line, "Width", GLUI_SPINNER_FLOAT, &fWidth);
		pcSpinner_Width->set_float_limits(1.0f, 16.0f);

	cFilter._AddGlui(this, pcGlui, NULL, pcBlockTree->uMaxLevel + 1);
}

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;
}

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.........

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;
}

  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;
  }