#!/bin/bash
# WSL Environment Setup for UAV-UGV Simulation
# This file is sourced automatically when running the simulation in WSL

# DISPLAY configuration
if [ -d "/mnt/wslg" ]; then
    # WSLg (Windows 11) - native Wayland/X support
    export DISPLAY=:0
    export WAYLAND_DISPLAY="${WAYLAND_DISPLAY:-wayland-0}"
else
    # X server (Windows 10) - connect to VcXsrv or similar
    export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
fi

# OpenGL settings for better compatibility
export LIBGL_ALWAYS_INDIRECT=0

# Mesa driver overrides (helps with version requirements)
export MESA_GL_VERSION_OVERRIDE=3.3
export MESA_GLSL_VERSION_OVERRIDE=330

# Gazebo specific settings
export OGRE_RTT_MODE=Copy

# Source Gazebo setup for proper resource paths
if [ -f /usr/share/gazebo/setup.bash ]; then
    source /usr/share/gazebo/setup.bash
elif [ -f /usr/share/gazebo-11/setup.bash ]; then
    source /usr/share/gazebo-11/setup.bash
fi

# Uncomment the following line to force software rendering
# This is more stable but slower - use if you see rendering errors
# export LIBGL_ALWAYS_SOFTWARE=1