#!/bin/bash
# Setup script for NVIDIA GPU with Gazebo

set -e

echo "Setting up NVIDIA GPU for Gazebo..."

# Check if NVIDIA GPU is available
if ! command -v nvidia-smi &> /dev/null; then
    echo "NVIDIA driver not found. Please install NVIDIA drivers first."
    exit 1
fi

nvidia-smi

# Set environment variables for NVIDIA
export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia

# For Gazebo Harmonic
export LIBGL_ALWAYS_SOFTWARE=0

# Create persistent config
cat >> ~/.bashrc << 'EOF'

# NVIDIA GPU for Gazebo
export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia
export LIBGL_ALWAYS_SOFTWARE=0
EOF

echo ""
echo "NVIDIA setup complete!"
echo "Please restart your terminal or run: source ~/.bashrc"
echo ""
echo "Test with: glxinfo | grep 'OpenGL renderer'"