static void engine_handle_cmd(struct android_app* app, int32_t cmd) {
	switch (cmd) {
	case APP_CMD_SAVE_STATE:
		// The system has asked us to save our current state.  Do so.
		break;
	case APP_CMD_INIT_WINDOW:
		// The window is being shown, get it ready.
		if (app->window != NULL) {
			setupGraphics(app);
//			renderFrame();
		}
		break;
	case APP_CMD_TERM_WINDOW:
		// The window is being hidden or closed, clean it up.
		break;
	case APP_CMD_GAINED_FOCUS:
		// When our app gains focus, we start monitoring the accelerometer.
		break;
	case APP_CMD_LOST_FOCUS:
		// When our app loses focus, we stop monitoring the accelerometer.
		// This is to avoid consuming battery while not being used.
		// Also stop animating.
		break;
	}
}

JNIEXPORT void JNICALL Java_com_fbrs_electraengine_GL2JNILib_init(JNIEnv * env, jobject obj,  jint width, jint height, jstring vertexShader, jstring fragShader)
{
	jboolean *isCopy;
	gVertexShader = env->GetStringUTFChars(vertexShader, isCopy);
	gFragmentShader = env->GetStringUTFChars(fragShader, isCopy);
	setupGraphics(width, height);
}

void HodginDidItApp::setup()
{
	setupIO();
	setupCiCamera();
	setupGraphics();
	setupShaders();
	setupFbos();
}

JNIEXPORT void JNICALL Java_ondrej_platek_bind_NativeRenderer_initG(JNIEnv * env, jobject mythis)  {
    AppCtx * c =  reinterpret_cast<AppCtx*>(extractInt(env, mythis, "pAppCtx"));
    if(c == NULL) {
      LOGE("NativeRender_init context is NULL");
    }
    else {
        setupGraphics(c);
    }
}

MainWindow::MainWindow(QWidget *parent) :
  QMainWindow(parent),
  ui(new Ui::MainWindow)
{
  ui->setupUi(this);

  setupGraphics();
  this->setFocus();
}

JNIEXPORT void JNICALL Java_com_android_spinningcube_SpinningCubeLib_init(JNIEnv * env, jobject obj,  jint width, jint height, jstring vShader, jstring fShader)
{
    if(!gVertexShader && !gFragmentShader) {
	gVertexShader = env->GetStringUTFChars(vShader, 0);
	gFragmentShader = env->GetStringUTFChars(fShader, 0);
    }
    setupGraphics(width, height);
    stats_init(&stats);

}

AddRemoveBodiesDemo::AddRemoveBodiesDemo(hkDemoEnvironment* env)
:	hkDefaultPhysicsDemo(env),
	m_frameCount(0),
	m_currentBody(0)
{
	for( int i = 0; i < NUM_BODIES; i++ )
	{
		m_bodies[i] = HK_NULL;		
	}	

	//
	// Setup the camera
	//
	{
		hkVector4 from(0.0f, 30.0f, 50.0f);
		hkVector4 to  (0.0f,  0.0f,  0.0f);
		hkVector4 up  (0.0f,  1.0f,  0.0f);
		setupDefaultCameras(env, from, to, up);

		float lightDir[] = { -1, -0.5f , -0.25f};
		float lightAabbMin[] = { -15, -15, -15};
		float lightAabbMax[] = { 15, 15, 15};
		setLightAndFixedShadow(lightDir, lightAabbMin, lightAabbMax );
	}


	//
	// Setup and create the hkpWorld
	//
	{
		hkpWorldCinfo info;
		info.m_gravity = hkVector4(0.0f, -9.8f, 0.0f);
		info.setBroadPhaseWorldSize(1000.0f);
		info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_8ITERS_MEDIUM);
		info.m_collisionTolerance = 0.01f; 
		
		m_world = new hkpWorld( info );
		m_world->lock();

		setupGraphics();		
	}

	// Register the single agent required (a hkpBoxBoxAgent)
	{
		hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
	}

	// Create the rigid bodies
	createBodies();

	// Create the ground
	createGround();

	m_world->unlock();
}

//--------------------------------------------------------------
void testApp::setup(){
	
	setupOsc();
	setupKinect();
	setupGraphics();
	mode = Donk::Mode::getInstance();
	// default starting mode
	nextMode = "buzz";
	mode->setMode(nextMode);

}

KdTreeVsBroadphaseDemo::KdTreeVsBroadphaseDemo(hkDemoEnvironment* env)
:	hkDefaultPhysicsDemo(env), 
	m_flattenRays(false),
	m_rand(1337)
{

	{
		m_worldSizeX = 2.0f * hkMath::sqrt(hkReal(m_env->m_cpuMhz));
		m_worldSizeY = 3;
		m_worldSizeZ = m_worldSizeX;
	}

	// Setup the camera and graphics
	{
		// setup the camera
		hkVector4 from(0.0f, m_worldSizeZ*2.f, -m_worldSizeZ);
		hkVector4 to  (0.0f, 0.0f,  0.0f);
		hkVector4 up  (0.0f, 1.0f,  0.0f);
		setupDefaultCameras( env, from, to, up, 1.0f, 5000.0f );
	}


	{
		hkpWorldCinfo cinfo;
		cinfo.m_gravity.setAll(0);
		cinfo.m_broadPhaseWorldAabb.m_max.set( m_worldSizeX,  10.0f*m_worldSizeY,  m_worldSizeZ);
		cinfo.m_broadPhaseWorldAabb.m_min.setNeg4(	cinfo.m_broadPhaseWorldAabb.m_max );	
		cinfo.m_useKdTree = true;
		m_world = new hkpWorld(cinfo);
		m_world->lock();
	}

	{
		hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
	}

	//
	// Add a lot of rigid bodies to the world
	//
	{
		hkAabb worldAabb; 
		worldAabb.m_max.set( m_worldSizeX,  10.0f*m_worldSizeY,  m_worldSizeZ);
		worldAabb.m_min.setNeg4( worldAabb.m_max );	

		hkpMotion::MotionType motionType = hkpMotion::MOTION_FIXED;
		KdTreeDemoUtils::createRandomBodies(m_world, worldAabb, numBodies, motionType, &m_rand, m_collidables);

	}


	setupGraphics();
	
	m_world->unlock();
}

ZChessCraft::ZChessCraft(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::ZChessCraft)
{
    ui->setupUi(this);

    setupChessModel();
    setupGraphics();
    setupChessboard();
    setupChessmen();
    setupComputer();
}

//--------------------------------------------------------------
void testApp::setup(){
	HOLD_COUNT = 200;
	setupGraphics();
	setupVision();
	presenceDetector.setup();
	

	thanksSign.setup();
	lastTimeFinishedRecording = -1000;


	video = new RamVideo();
	video->setup(480, 640, MAX_VIDEO_LENGTH);

	triggerDepth = 100;
	drawDebug = false;
	
	
	minRecordingInterval = 4;
	
	carousel.setVideoFeed(&videoFeed);
	
	
	gui.addToggle("Draw Debug", drawDebug);
	
	gui.addSlider("Count down time", HOLD_COUNT, 80, 350);
	gui.addSlider("Min Time between recordings", minRecordingInterval, 2, 20);
	gui.addSlider("Carousel video duration", carousel.frameDuration, 10, 200);
	gui.addSlider("Carousel inactivity delay", carouselDelay, 0, 5);
	gui.addSlider("Slide time pct", carousel.slideTime, 0.05, 1);
	gui.addTitle("Carousel");
	gui.addSlider("Overlap", carousel.overlap, 0, 260);
	gui.addTitle("Triggers");
	gui.addSlider("Triggers Horizontal", presenceDetector.triggersX, 0, VISION_HEIGHT);
	gui.addSlider("Triggers Vertical", presenceDetector.triggersY, 0, VISION_WIDTH);
	gui.addSlider("Triggers Radius", presenceDetector.triggerRadius, 0, 100);
	gui.addSlider("Trigger Depth", farThreshold, 0, 255);
	gui.addToggle("save all videos", saveAllVideos);
	gui.addToggle("clear all videos", clearAllVideos);
	dots.setup(480, 640);
	gui.setAlignRight(true);
	gui.setAutoSave(true);
	gui.loadFromXML();
	
	recording = false;
	clearAllVideos = false;
	saveAllVideos = false;
	
	//ofSetOrientation(OF_ORIENTATION_90_LEFT);
	
	
}

static int engine_init_shaders(struct engine* engine) {
    LOGI("from engine_init_shaders \n");
    
    setupGraphics(engine->width, engine->height);
    AAssetDir* assetDir = AAssetManager_openDir(engine->assetManager, "");
    AAssetDir_rewind(assetDir);
    const char* name=NULL;
    const char* vert=NULL, *frag=NULL;
    while ( (name = AAssetDir_getNextFileName(assetDir)) != NULL)
    {
        if (frag == NULL && NULL != strstr(name, gTagFrag)) //if we haven't found the fragment shader and 'name' is the fragment shader, save it.
            frag = name;
        if (vert == NULL && NULL != strstr(name, gTagVert)) //if we haven't found the vertex shader and the 'name' is the vertex shader, save it.
            vert = name;
        if (!vert && !frag) //if we found both files, we're done
            break;
    }
    //open the shader assets
    AAsset* fragAsset = AAssetManager_open(engine->assetManager, frag, AASSET_MODE_BUFFER);
    if (!fragAsset)
    {
        LOGE(" error opening %s\n", fragAsset);
        return;
    }
    AAsset* vertAsset = AAssetManager_open(engine->assetManager, vert, AASSET_MODE_BUFFER);
    if (!vertAsset)
    {
        LOGE(" error opening %s\n", vertAsset);
        return;
    }
    //access the shader asset buffer in preperation for reading
    const char* fragBuff = (const char*)AAsset_getBuffer(fragAsset);
    const char* vertBuff = (const char*)AAsset_getBuffer(vertAsset);
    
    setupGraphics(engine->width, engine->height); //minimaly initialize client graphics state
    LoadShaders(fragBuff, AAsset_getLength(fragAsset), vertBuff, AAsset_getLength(vertAsset)); //load the shaders
    
    AAssetDir_close(assetDir);
}

	Config::Config(KConfig *config, KileInfo *ki, QWidget* parent)
		: KPageDialog(parent),
		  m_config(config),
		  m_ki(ki)
	{
		setWindowTitle(i18n("Configure"));
		setModal(true);
		setObjectName("kileconfiguration");
		setFaceType(Tree);

		m_config->sync();

		// we need a dialog manager
		m_manager = new KConfigDialogManager(this,KileConfig::self());

		KPageWidgetItem* kilePageWidgetItem = addConfigFolder(i18n("Kile"), "kile");
		KPageWidgetItem* latexPageWidgetItem = addConfigFolder(i18n("LaTeX"), "latex-config");
		KPageWidgetItem* toolsPageWidgetItem = addConfigFolder(i18n("Tools"), "system-run");
		KPageWidgetItem* editorPageWidgetItem = addConfigFolder(i18n("Editor"), "accessories-text-editor");

		// setup all configuration pages
		setupGeneralOptions(kilePageWidgetItem);
		setupAppearance(kilePageWidgetItem);
		setupCodeCompletion(kilePageWidgetItem);   // complete configuration (dani)
		setupHelp(kilePageWidgetItem);
		setupScripting(kilePageWidgetItem);
		setupUsermenu(kilePageWidgetItem);
		setupLivePreview(kilePageWidgetItem);

		setupLatex(latexPageWidgetItem);
		setupEnvironment(latexPageWidgetItem);
		setupGraphics(latexPageWidgetItem);
		setupStructure(latexPageWidgetItem);
		setupSymbolView(latexPageWidgetItem);

		setupTools(toolsPageWidgetItem);
		setupQuickPreview(toolsPageWidgetItem);     // QuickPreview (dani)

		setupEditor(editorPageWidgetItem);

		m_configDialogSize = m_config->group("KileConfigDialog");
		KWindowConfig::restoreWindowSize(windowHandle(), m_configDialogSize);

		// setup connections
		//connect(m_manager, SIGNAL(widgetModified()), this, SLOT(slotWidgetModified()));
		connect(this, &KPageDialog::accepted, this, &Config::slotAcceptChanges);
		connect(this, &KPageDialog::accepted, m_manager, &KConfigDialogManager::updateSettings);
		connect(this, &KPageDialog::rejected, this, [=] () {
			m_config->markAsClean();
		});
	}

WindChimesDemo::WindChimesDemo(hkDemoEnvironment* env)
:	hkDefaultPhysicsDemo(env),
	m_loader(HK_NULL)
{
	const WindChimesVariant& variant =  g_variants[m_variantId];

	//
	// Create the sound manager.
	//

	//
	// Set up the camera
	//
	{
		hkVector4 from(6.0f, 0.0f, 3.0f);
		hkVector4 to  (0.0f, 0.0f, 0.0f);
		hkVector4 up  (0.0f, 0.0f, 1.0f);
		setupDefaultCameras( env, from, to, up );
	}

	hkString assetFile = hkAssetManagementUtil::getFilePath(variant.m_assetName);
	m_loader = new hkLoader();
	hkRootLevelContainer* container = m_loader->load( assetFile.cString() );
	HK_ASSERT2(0xaefe9356, container != HK_NULL , "Could not load asset");

	hkpPhysicsData* physics = static_cast<hkpPhysicsData*>( container->findObjectByType( hkpPhysicsDataClass.getName() ) );
	HK_ASSERT2(0x245982ae, physics != HK_NULL, "Could not find physics data in root level object" );
	{
		m_world = new hkpWorld( *physics->getWorldCinfo() );

		m_world->lock();

		hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());

		setupGraphics();
	}

	m_world->addPhysicsSystem( physics->getPhysicsSystems()[0] );

	// There are 5 pipes in the circular chimes asset, called Chime0, Chime1...etc.
	for( int i = 0; i < variant.m_numChimes; i++ )
	{
		hkString chimeName;
		chimeName.printf( "Chime%d", i );
		hkpRigidBody* chime = physics->findRigidBodyByName( chimeName.cString() );
		HK_ASSERT(0x99862353, chime);

		new WindChimesCollisionListener( chime, i % variant.m_numDifferentChimeSizes );
	}
	m_world->unlock();
}

void Ship::init() {
	const char gVertexShader[] =
				"attribute vec4 vPosition;\n"
			    "void main() {\n"
			    "  gl_Position = vPosition;\n"
			    "}\n";
	const char gFragmentShader[] =
			    "precision mediump float;\n"
			    "void main() {\n"
			    "  gl_FragColor = vec4(0.0, 1.0, 0.0, 1.0);\n"
			    "}\n";
	if (!setupGraphics(gVertexShader, gFragmentShader, gProgram, gvPositionHandle))
		LOGE("Ship init error");
}

JNIEXPORT void JNICALL Java_jk_j_1JNILib_init(JNIEnv * env, jobject obj, jobject activity, jint width, jint height)
{
	jclass android_content_Context =env->GetObjectClass(activity);

	jmethodID midGetPackageName = env->GetMethodID(android_content_Context, "getPackageName", "()Ljava/lang/String;");

	jstring packageName= (jstring)env->CallObjectMethod(activity, midGetPackageName);
	const char *aa = env->GetStringUTFChars(packageName, NULL);

	if (strcmp(aa, APP_PACKAGE_NAME) != 0)
	{
		hasPermission = false;
	}
    setupGraphics(width, height);
}

hkDemo::Result WorldSnapshotWithContactPointsDemo::stepDemo()
{
	Result r = hkDefaultPhysicsDemo::stepDemo();
	if( r != DEMO_OK )
	{
		return r;
	}

	// The first button in the pad will load the last saved scene
	if( m_env->m_gamePad->wasButtonPressed( HKG_PAD_BUTTON_1 ) )
	{
		hkString filename = hkAssetManagementUtil::getFilePath( SCRATCH_FILE );
		hkIstream in(filename.cString());
		if( in.isOk() )
		{
			cleanupWorld();
			cleanupGraphics();

			hkpWorld::IgnoreForceMultithreadedSimulation ignoreForceMultithreaded;
			m_world = loadWorld(filename.cString(), &m_physicsData, &m_loadedData);

			m_debugViewerNames.pushBack( hkpActiveContactPointViewer::getName() );
			m_debugViewerNames.pushBack( hkpInactiveContactPointViewer::getName() );

			setupGraphics();
		}
		else
		{
			m_env->m_textDisplay->outputText("Please save before attempting to load", 20U, m_env->m_window->getHeight()/2, 0xffffffffU, 60);
		}
	}
	else if (m_env->m_gamePad->wasButtonPressed (HKG_PAD_BUTTON_2) )
	{
		// The second button in the pad will save the current scene
		saveWorld(m_world, SCRATCH_FILE, true);
	}
	else if (m_env->m_gamePad->wasButtonPressed (HKG_PAD_BUTTON_3) )
	{
		// The second button in the pad will save the current scene
		saveWorld(m_world, SCRATCH_FILE, false);
	}

	m_world->lock();
	m_world->updateCollisionFilterOnWorld( HK_UPDATE_FILTER_ON_WORLD_FULL_CHECK, HK_UPDATE_COLLECTION_FILTER_PROCESS_SHAPE_COLLECTIONS);
	m_world->unlock();

	return DEMO_OK;
}

int main(int argc, char *argv[])
{
	ESContext esContext;
	UserData  userData;

	esInitContext(&esContext);
	esContext.userData = &userData;


	esCreateWindow(&esContext, TEXT("Hello Triangle"), 800, 600, ES_WINDOW_RGB);

	setupGraphics(800, 600);

	esRegisterDrawFunc(&esContext, Draw);

	esMainLoop(&esContext);
}

    CTest(): spApp(core::IApplication::Create())
    {
        spApp->addTask(core::PTask(new core::CRenderTask(2)));
        spApp->addTask(core::PTask(new core::CGameTask(1)));
        spApp->addTask(core::PTask(new core::CInputTask(0)));

        //инициализация рендера
        setupGraphics();

        //инициализация ввода
        setupInput();


        //инициализация камер
        setupCameras();

        spApp->Run();
    }

RobotProjet::RobotProjet(RS232& serialPort):
AbstractRobot(serialPort),
_corp(8),
_roueGauche(sf::Vector2f(26,100)),
_roueDroite(sf::Vector2f(26,100)),
_widget(0)
{
  _corp.setPoint(0, sf::Vector2f(45, 0));
  _corp.setPoint(1, sf::Vector2f(330-45, 0));
  _corp.setPoint(2, sf::Vector2f(330, 45));
  _corp.setPoint(3, sf::Vector2f(330, 330-45));
  _corp.setPoint(4, sf::Vector2f(330-45, 330));
  _corp.setPoint(5, sf::Vector2f(45, 330));
  _corp.setPoint(6, sf::Vector2f(0, 330-45));
  _corp.setPoint(7, sf::Vector2f(0, 45));
  _color= sf::Color(157,172,230,255);
  _texture.loadFromFile("projet_robot.png");
  _corp.setTexture(&_texture,true);
  setupGraphics();
}