diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 4efe55201..b9584a93a 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -8,49 +8,50 @@ env:
   DISPLAY: '0:0'
 
 jobs:
-  linux:
-    strategy:
-      matrix:
-        include:
-          - DOCKER_IMAGE: ubuntu:trusty
-          - DOCKER_IMAGE: ubuntu:xenial
-          - DOCKER_IMAGE: ubuntu:bionic
-          - DOCKER_IMAGE: ubuntu:bionic
-            COLLISION_LIB: PQP
-          - DOCKER_IMAGE: ubuntu:bionic
-            COLLISION_LIB: BULLET
-          - DOCKER_IMAGE: ubuntu:focal
-          - DOCKER_IMAGE: debian:stretch
-          - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
-          - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
-          - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
-          - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
-          - DOCKER_IMAGE: arm64v8/ubuntu:bionic
-          - DOCKER_IMAGE: arm64v8/ubuntu:focal
-          - DOCKER_IMAGE: osrf/debian_arm64:stretch
-      fail-fast: false
+  # linux:
+  #   strategy:
+  #     matrix:
+  #       include:
+  #         - DOCKER_IMAGE: ubuntu:trusty
+  #         - DOCKER_IMAGE: ubuntu:xenial
+  #         - DOCKER_IMAGE: ubuntu:bionic
+  #         - DOCKER_IMAGE: ubuntu:bionic
+  #           COLLISION_LIB: PQP
+  #         - DOCKER_IMAGE: ubuntu:bionic
+  #           COLLISION_LIB: BULLET
+  #         - DOCKER_IMAGE: ubuntu:focal
+  #         - DOCKER_IMAGE: debian:stretch
+  #         - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
+  #         - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
+  #         - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
+  #         - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
+  #         - DOCKER_IMAGE: arm64v8/ubuntu:bionic
+  #         - DOCKER_IMAGE: arm64v8/ubuntu:focal
+  #         - DOCKER_IMAGE: osrf/debian_arm64:stretch
+  #     fail-fast: false
 
-    runs-on: ubuntu-18.04
-    timeout-minutes: 90
+  #   runs-on: ubuntu-18.04
+  #   timeout-minutes: 90
 
-    name: linux
+  #   name: linux
+
+  #   steps:
+  #     - name: Checkout
+  #       uses: actions/checkout@v2
+  #     - name: Run test
+  #       shell: bash
+  #       run: |
+  #         set -x
+  #         export CI_SOURCE_PATH=$(pwd)
+  #         export REPOSITORY_NAME=${PWD##*/}
+  #         export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
+  #         export TRAVIS_OS_NAME=linux
+  #         export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
+  #         if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
+  #         if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
+  #         echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  #         docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Run test
-        shell: bash
-        run: |
-          set -x
-          export CI_SOURCE_PATH=$(pwd)
-          export REPOSITORY_NAME=${PWD##*/}
-          export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
-          export TRAVIS_OS_NAME=linux
-          export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
-          if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
-          if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
-          echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-          docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 
   catkin:
     runs-on: ubuntu-18.04
@@ -121,56 +122,171 @@ jobs:
           catkin config --install
           catkin build -v -i --make-args VERBOSE=1
 
-  doc:
+  # test for non X11/GL environment, i.e. embedded environment
+  linux-nox:
     runs-on: ubuntu-latest
+    container: ubuntu:20.04
     timeout-minutes: 60
-
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - name: Checkout eus (on support_nonx, git install x11 lib, so auto-remove it)
+        shell: bash
+        run: |
+          set -xe
+          apt update -y -qq && apt install -y -qq git
+          git clone --branch support_nonx https://github.com/euslisp/EusLisp eus
+          apt purge -y -qq git
+          apt autoremove -y -qq
+      - name: Setup environmnet
+        shell: bash
+        run: |
+          set -xe
+          apt update -y -qq && apt install -y -qq make gcc g++ libjpeg-dev libpng-dev
+          dpkg --get-selections | egrep -e '(x11|gl)' || echo "OK"   ## show selected X/GL
+          dpkg --get-selections | egrep -q -e '(x11|gl)' && exit 1   ## exit 1, when X/GL found
+          exit 0
+      - name: Compile eusg (on support_nonx)
+        shell: bash
+        run: |
+          set -xe
+          make bashrc.eus
+          source bashrc.eus
+          cd eus/lisp
+          ln -sf Makefile.$ARCHDIR Makefile
+          make eus0 eus1 eus2 eusg
+      - name: Compile irteusg
+        shell: bash
+        run: |
+          set -xe
+          source bashrc.eus
+          cd irteus
+          make irteusg
       - name: Run test
         shell: bash
         run: |
-          set -x
-          sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
-          make
-          sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
-          (source bashrc.eus; cd doc/; make pdf)
-          (source bashrc.eus; cd doc/; make html)
-
+          # fix eus/models for irteusg
+          sed -i 's/(send x:\*root\* :size)/#f\(1000\)/' eus/models/irt-all-*.l
+          sed -i '/\(send self :def-gl-vertices\)/ s/^/;/' eus/models/*.l
+          sed -i '/\(send self :make-collision-model-for-links\)/ s/^/;/' eus/models/*.l
+          source bashrc.eus
+          export EXIT_STATUS=0; for test_l in irteus/test/*.l; do irteusg $test_l; export TMP_EXIT_STATUS=$?; export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`; done; [ $EXIT_STATUS == 0 ] || exit 1
 
-  osx:
-    runs-on: macos-latest
+  # test for cross sompile
+  linux-nox-crosscompile:
+    runs-on: ubuntu-latest
     timeout-minutes: 60
     steps:
       - name: Checkout
         uses: actions/checkout@v2
-      - name: Get brew cache directory
-        id: brew-cache
-        run: echo "::set-output name=dir::$(brew --cache)/downloads"
-      - name: Brew cache
-        uses: actions/cache@v2
-        with:
-          path: ${{ steps.brew-cache.outputs.dir }}
-          key: ${{ runner.os }}-${{ hashFiles('.github/workflows/Brewfile') }}
-      - name: Brew config
+      - name: Clone Euslisp and Setup environmnet
+        shell: bash
+        run: |
+          set -xe
+          git clone --branch support_nonx https://github.com/euslisp/EusLisp eus
+          sudo apt update -y -qq
+          # remove unused packages
+          sudo dpkg -r --force-depends nginx || echo "OK"
+          sudo apt purge -y -qq build-essential gcc-9 gcc-10 || echo "OK"
+          sudo apt purge -y -qq libldap-* || echo "OK"
+          sudo apt purge -y -qq libx11* x11* libgl1* libglx* || echo "OK"
+          sudo apt autoremove -y -qq || echo "OK"
+          # install deb environment
+          sudo apt install -y -qq make binutils-aarch64-linux-gnu gcc-aarch64-linux-gnu g++-aarch64-linux-gnu qemu-user-static
+          exit 0
+      - name: Check environmnet
+        shell: bash
         run: |
-          cd .github/workflows/
-          brew config
+          set -xe
+          dpkg --get-selections | egrep -e '(cc|ld)' || echo "OK"   ## show selected X/GL
+          dpkg --get-selections | egrep -e '(libpq|jpeg|png)' || echo "OK"   ## show selected X/GL
+          dpkg --get-selections | egrep -e '(x11|gl)' || echo "OK"   ## show selected X/GL
+          #dpkg --get-selections | egrep -q -e '(x11|gl)' && exit 1   ## exit 1, when X/GL found
+          exit 0
+      - name: Compile irteusg
+        shell: bash
+        run: |
+          set -xe
+          export TOPDIR=$(pwd)
+          export EUSDIR=$(pwd)/eus
+          export ARCHDIR=LinuxARM
+          export PATH=$EUSDIR/$ARCHDIR/bin:$EUSDIR/$ARCHDIR/lib:$PATH
+          export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/lib:$EUSDIR/$ARCHDIR/bin:$LD_LIBRARY_PATH
+          export CC=aarch64-linux-gnu-gcc
+          export LD=aarch64-linux-gnu-ld
+          export AR=aarch64-linux-gnu-ar
+          export CXX=aarch64-linux-gnu-g++
+          export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu/
+          cd $EUSDIR/lisp
+          ln -sf Makefile.Linux Makefile
+          CC=$CC LD=$LD make eus0 eus1 eus2 eusg
+          (cd $EUSDIR//test; CXX=$CXX make)
+          cd $TOPDIR/irteus
+          ARCHDIR=$ARCHDIR CC=$CC LD=$LD AR=$AR CXX=$CXX make irteusg
       - name: Run test
         shell: bash
         run: |
-          set -x
-          export CI_SOURCE_PATH=$(pwd)
-          export REPOSITORY_NAME=${PWD##*/}
-          export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
-          export LC_CTYPE=C
-          echo insecure >> ~/.curlrc
-          export HOMEBREW_CURLRC=1
-          HOMEBREW_NO_AUTO_UPDATE=1 brew install coreutils
-          export PATH="/usr/local/opt/coreutils/libexec/gnubin:$PATH"
-          # since macos-11, we need to install GL/gl.h
-          HOMEBREW_NO_AUTO_UPDATE=1 brew install mesa-glu
-          ./.travis-osx.sh
-      - name: Cleanup some brew downloads
-        run: cd ${{ steps.brew-cache.outputs.dir }} && ls -lsS | head -n 10 | awk '{ print $10 }' | xargs rm -rf
+          sed -i 's/(send x:\*root\* :size)/#f\(1000\)/' eus/models/irt-all-*.l
+          sed -i '/\(send self :def-gl-vertices\)/ s/^/;/' eus/models/*.l
+          sed -i '/\(send self :make-collision-model-for-links\)/ s/^/;/' eus/models/*.l
+          export EUSDIR=$(pwd)/eus
+          export ARCHDIR=LinuxARM
+          export PATH=$EUSDIR/$ARCHDIR/bin:$EUSDIR/$ARCHDIR/lib:$PATH
+          export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/lib:$EUSDIR/$ARCHDIR/bin:$LD_LIBRARY_PATH
+          export QEMU_LD_PREFIX=/usr/aarch64-linux-gnu/
+          set -xe
+          export EXIT_STATUS=0; for test_l in irteus/test/*.l; do [[ $test_l =~ all-robots-objects.l|irteus-demo.l|matrix.l|rendering.l|test-collision.l|test-irt-motion.l ]] && continue; irteusg $test_l; export TMP_EXIT_STATUS=$?; export EXIT_STATUS=`expr $TMP_EXIT_STATUS + $EXIT_STATUS`; done; [ $EXIT_STATUS == 0 ] || exit 1
+
+  # doc:
+  #   runs-on: ubuntu-latest
+  #   timeout-minutes: 60
+
+  #   steps:
+  #     - name: Checkout
+  #       uses: actions/checkout@v2
+  #     - name: Run test
+  #       shell: bash
+  #       run: |
+  #         set -x
+  #         sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
+  #         make
+  #         sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
+  #         (source bashrc.eus; cd doc/; make pdf)
+  #         (source bashrc.eus; cd doc/; make html)
+
+
+  # osx:
+  #   runs-on: macos-latest
+  #   timeout-minutes: 60
+  #   steps:
+  #     - name: Checkout
+  #       uses: actions/checkout@v2
+  #     - name: Get brew cache directory
+  #       id: brew-cache
+  #       run: echo "::set-output name=dir::$(brew --cache)/downloads"
+  #     - name: Brew cache
+  #       uses: actions/cache@v2
+  #       with:
+  #         path: ${{ steps.brew-cache.outputs.dir }}
+  #         key: ${{ runner.os }}-${{ hashFiles('.github/workflows/Brewfile') }}
+  #     - name: Brew config
+  #       run: |
+  #         cd .github/workflows/
+  #         brew config
+  #     - name: Run test
+  #       shell: bash
+  #       run: |
+  #         set -x
+  #         export CI_SOURCE_PATH=$(pwd)
+  #         export REPOSITORY_NAME=${PWD##*/}
+  #         export TRAVIS_BRANCH=${GITHUB_REF#refs/heads/}
+  #         export LC_CTYPE=C
+  #         echo insecure >> ~/.curlrc
+  #         export HOMEBREW_CURLRC=1
+  #         HOMEBREW_NO_AUTO_UPDATE=1 brew install coreutils
+  #         export PATH="/usr/local/opt/coreutils/libexec/gnubin:$PATH"
+  #         # since macos-11, we need to install GL/gl.h
+  #         HOMEBREW_NO_AUTO_UPDATE=1 brew install mesa-glu
+  #         ./.travis-osx.sh
+  #     - name: Cleanup some brew downloads
+  #       run: cd ${{ steps.brew-cache.outputs.dir }} && ls -lsS | head -n 10 | awk '{ print $10 }' | xargs rm -rf
diff --git a/irteus/Makefile b/irteus/Makefile
index 51fed4ae7..495fec390 100644
--- a/irteus/Makefile
+++ b/irteus/Makefile
@@ -41,8 +41,6 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-include ./Makefile.$(ARCHDIR)
-
 # directory where this package install object file to
 IRTEUSDIR=$(EUSDIR)
 INSTALLBINDIR=$(IRTEUSDIR)/$(ARCHDIR)/bin
@@ -50,16 +48,7 @@ INSTALLOBJDIR=$(IRTEUSDIR)/$(ARCHDIR)/obj
 INSTALLLIBDIR=$(IRTEUSDIR)/$(ARCHDIR)/lib
 
 # check bullet version
-BULLET_VER_MAJOR:=$(shell pkg-config bullet --modversion --silence-errors | cut -f1 -d.)
-BULLET_VER_MINOR:=$(shell pkg-config bullet --modversion --silence-errors | cut -f2 -d.)
-ifneq ($(and $(BULLET_VER_MAJOR),$(BULLET_VER_MINOR)),)
-  BULLET_GE_2_83=$(shell [ $(BULLET_VER_MAJOR) -gt 2 -o \( $(BULLET_VER_MAJOR) -eq 2 -a $(BULLET_VER_MINOR) -ge 83 \) ] && echo true)
-endif
-ifeq ($(BULLET_GE_2_83), true)
-    HAVE_BULLET=1
-else
-    HAVE_BULLET=0
-endif
+HAVE_BULLET=$(shell echo "\#include <btBulletCollisionCommon.h>\n\#include <BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h>\nint main(){}" > test-bullet.c; $(CXX) -I/usr/include/bullet $(pkg-config bullet --cflags) test-bullet.c -lBulletCollision -lLinearMath $(pkg-config bullet --libs) > /dev/null 2>&1 && echo 1 || echo 0)
 $(info "--      HAVE_BULLET = ${HAVE_BULLET}")
 
 ifneq ($(wildcard PQP/*),)
@@ -69,6 +58,14 @@ else
 endif
 $(info "--      HAVE_PQP = ${HAVE_PQP}")
 
+
+HAVE_JPEG=$(shell echo "\#include <stdio.h>\n\#include \"jpeglib.h\"\n\#include \"jconfig.h\"\n" > test-jpeg.c; $(CC) -c test-jpeg.c > /dev/null 2>&1 && echo 1 || echo 0)
+$(info "--      HAVE_JPEG = ${HAVE_JPEG}")
+HAVE_PNG=$(shell echo "\#include <png.h>\nint main(){png_create_read_struct(PNG_LIBPNG_VER_STRING,NULL,NULL,NULL);;}\n" > test-png.c; $(CC) test-png.c -lpng > /dev/null 2>&1 && echo 1 || echo 0)
+$(info "--      HAVE_PNG = ${HAVE_PNG}")
+
+include ./Makefile.$(ARCHDIR)
+
 # common
 WFLAGS= #-Wall
 
@@ -93,10 +90,20 @@ PNG_CFLAGS=`pkg-config libpng --cflags`
 MODULES.L=irt_modules.l
 EUSLIB_MODULES.L=$(addprefix $(EUSDIR)/lib/,$(MODULES.L))
 
-IRTEUS=irtmath irtutil irtgraph gnuplotlib pgsql time
+IRTEUS=irtmath irtutil irtgraph gnuplotlib time
+ifneq (,$(wildcard /usr/lib/$(shell $(CC) -dumpmachine)/libpq.so)) # if /usr/lib/x86_64-linux-gnu/libpq.so exists, use pgsql
+IRTEUS+=pgsql
+endif
 IRTEUSG=irtgeo pqp bullet irtcollision irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada irtpointcloud irtstl irtwrl
 IRTEUSX=irtx
-IRTEUSIMG=irtimage eusjpeg png
+IRTEUSIMG=irtimage
+ifeq ($(HAVE_JPEG), 1)
+  IRTEUSIMG+=eusjpeg
+  JPEGMEMCD=$(INSTALLLIBDIR)/jpegmemcd.$(LSFX)
+endif
+ifeq ($(HAVE_PNG), 1)
+  IRTEUSIMG+=png
+endif
 IRTEUSGL=irtgl irtglrgb irtviewer
 NR=nr
 
@@ -151,14 +158,27 @@ IRTEUSGL_L=$(addsuffix .l,$(IRTEUSGL))
 
 IRTCOBJECTS=$(INSTALLOBJDIR)/irtc.$(OSFX) $(INSTALLOBJDIR)/irtgeoc.$(OSFX)
 IRTGCOBJECTS=$(INSTALLOBJDIR)/CPQP.$(OSFX) $(INSTALLOBJDIR)/euspqp.$(OSFX) $(INSTALLOBJDIR)/CBULLET.$(OSFX) $(INSTALLOBJDIR)/eusbullet.$(OSFX)
-IRTIMGCOBJECTS=$(INSTALLOBJDIR)/euspng.$(OSFX)
+ifeq ($(HAVE_PNG), 1)
+  IRTIMGCOBJECTS=$(INSTALLOBJDIR)/euspng.$(OSFX)
+endif
 IRTGLCOBJECTS=$(INSTALLOBJDIR)/irtglc.$(OSFX)
 NROBJECTS=$(INSTALLOBJDIR)/nr.$(OSFX)
 
-all: defun.h $(LIBNR) $(LIBIRTEUS) $(LIBIRTEUSG) $(LIBIRTEUSX) $(LIBIRTEUSIMG) $(LIBIRTEUSGL) make-link install-irtext.l
+ifneq (,$(wildcard $(BINDIR)/eusgl))
+	IRTEUS_COMPILE_TARGET=irteusg irteusx irteusgl
+else ifneq (,$(wildcard $(BINDIR)/eusx))
+	IRTEUS_COMPILE_TARGET=irteusg irteusx
+else
+	IRTEUS_COMPILE_TARGET=irteusg
+endif
+$(info "Compile irteus with ${IRTEUS_COMPILE_TARGET}")
+all: ${IRTEUS_COMPILE_TARGET}
 
-.PHONY: defun.h
-defun.h:
+irteusg: $(INSTALLBINDIR)/irteusg$(ESFX)
+irteusx: $(INSTALLBINDIR)/irteusx$(ESFX)
+irteusgl: $(INSTALLBINDIR)/irteusgl$(ESFX)
+
+defun.h: $(EUSDIR)/include/eus.h
 	echo '#include "eus.h"\n#undef defun\npointer TEST();\nvoid test(void) {register context *ctx; pointer mod; defun(ctx,"TEST",mod,TEST,NULL);}' > test.c
 	echo "// redefine defun for update defun() API () https://github.com/euslisp/EusLisp/pull/116" > defun.h
 	echo "#undef defun" >> defun.h
@@ -166,44 +186,55 @@ defun.h:
 	cat defun.h
 
 $(LIBIRTEUS): $(IRTEUSOBJS) $(IRTCOBJECTS) $(LIBNR)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUS) $(IRTEUSOBJS) \
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUS) $(IRTEUSOBJS) \
 		$(IRTCOBJECTS) $(IMPLIB)
 
-$(LIBIRTEUSG): $(IRTEUSGOBJS) $(IRTGCOBJECTS) $(LIBNR)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSG) $(IRTEUSGOBJS) \
+$(LIBIRTEUSG): $(IRTEUSGOBJS) $(IRTGCOBJECTS) $(LIBNR) $(PQPLIBSTATIC)
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSG) $(IRTEUSGOBJS) \
 		$(IRTGCOBJECTS) $(IMPLIB) $(PQPLIB) $(BULLETLIB)
 
 $(LIBIRTEUSX): $(IRTEUSXOBJS) $(LIBNR)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSX) $(IRTEUSXOBJS) $(IMPLIB)
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSX) $(IRTEUSXOBJS) $(IMPLIB)
 
-$(LIBIRTEUSIMG): $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(LIBNR)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSIMG) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IMPLIB) $(IMPLIBIMG)
+$(LIBIRTEUSIMG): $(JPEGMEMCD) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(LIBNR)
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSIMG) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IMPLIB) $(IMPLIBIMG)
 
 $(LIBIRTEUSGL): $(IRTEUSGLOBJS) $(IRTGLCOBJECTS) $(LIBNR)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSGL) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS) $(IMPLIB)
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSGL) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS) $(IMPLIB)
 
-$(IRTEUSOBJS): $(INSTALLOBJDIR)/compile_irt.log
-$(IRTEUSOBJS) $(INSTALLOBJDIR)/compile_irt.log: $(IRTEUS_L)
+$(filter-out $(INSTALLOBJDIR)/pgsql.o $(INSTALLOBJDIR)/time.o,$(IRTEUSOBJS)): $(INSTALLOBJDIR)/%.o: %.l compile_irt.l
+	@[ compile_irt.l -nt $< ] && (set -x; rm -f $(IRTEUSOBJS)) || echo "if compile_irt.l is older then target, so do not remove existing target object"
 	$(BINDIR)/eus2$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irt.l > $(INSTALLOBJDIR)/compile_irt.log
 	-rm -f $(IRTEUS_C) $(IRTEUS_H)
+$(INSTALLOBJDIR)/pgsql.$(OSFX): $(EUSDIR)/lib/llib/pgsql.l
+	$(BINDIR)/eus2$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irt.l > $(INSTALLOBJDIR)/compile_irt.log
+	-rm -f $(INSTALLOBJDIR)/pgsql.c $(INSTALLOBJDIR)/pgsql.h
+$(INSTALLOBJDIR)/time.$(OSFX): $(EUSDIR)/lib/llib/time.l
+	$(BINDIR)/eus2$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irt.l > $(INSTALLOBJDIR)/compile_irt.log
+	-rm -f $(INSTALLOBJDIR)/time.c $(INSTALLOBJDIR)/time.h
+
 
-$(IRTEUSGOBJS): $(INSTALLOBJDIR)/compile_irtg.log
-$(IRTEUSGOBJS) $(INSTALLOBJDIR)/compile_irtg.log: $(IRTEUSG_L)
-	$(BINDIR)/eusgl$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtg.l > $(INSTALLOBJDIR)/compile_irtg.log
+$(IRTEUSGOBJS): $(INSTALLOBJDIR)/%.o: %.l compile_irtg.l
+	@[ compile_irtg.l -nt $< ] && (set -x; rm -f $(IRTEUSGOBJS)) || echo "if compile_irtg.l is older then target, so do not remove existing target object"
+	$(BINDIR)/eusg$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtg.l > $(INSTALLOBJDIR)/compile_irtg.log
 	-rm -f $(IRTEUSG_C) $(IRTEUSG_H)
 
-$(IRTEUSXOBJS): $(INSTALLOBJDIR)/compile_irtx.log
-$(IRTEUSXOBJS) $(INSTALLOBJDIR)/compile_irtx.log: $(IRTEUSX_L)
+$(IRTEUSXOBJS): $(INSTALLOBJDIR)/%.o: %.l compile_irtx.l
+	@[ compile_irtx.l -nt $< ] && (set -x; rm -f $(IRTEUSXOBJS)) || echo "if compile_irtx.l is older then target, so do not remove existing target object"
 	$(BINDIR)/eusx$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtx.l > $(INSTALLOBJDIR)/compile_irtx.log
 	-rm -f $(IRTEUSX_C) $(IRTEUSX_H)
 
-$(IRTEUSIMGOBJS): $(INSTALLOBJDIR)/compile_irtimg.log
-$(IRTEUSIMGOBJS) $(INSTALLOBJDIR)/compile_irtimg.log: $(IRTEUSIMG_L)
-	$(BINDIR)/eusx$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtimg.l > $(INSTALLOBJDIR)/compile_irtimg.log
+$(filter-out $(INSTALLOBJDIR)/eusjpeg.o,$(IRTEUSIMGOBJS)): $(INSTALLOBJDIR)/%.o: %.l compile_irtimg.l
+	@[ compile_irtimg.l -nt $< ] && (set -x; rm -f $(IRTEUSIMGOBJS)) || echo "if compile_irtimg.l is older then target, so do not remove existing target object"
+	$(BINDIR)/eusg$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtimg.l > $(INSTALLOBJDIR)/compile_irtimg.log
 	-rm -f $(IRTEUSIMG_C) $(IRTEUSIMG_H)
+$(INSTALLOBJDIR)/eusjpeg.$(OSFX): $(EUSDIR)/lisp/image/jpeg/eusjpeg.l
+	$(BINDIR)/eusg$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtimg.l > $(INSTALLOBJDIR)/compile_irtimg.log
+	-rm -f $(INSTALLOBJDIR)/eusjpeg.c $(INSTALLOBJDIR)/eusjpeg.h
 
-$(IRTEUSGLOBJS): $(INSTALLOBJDIR)/compile_irtgl.log
-$(IRTEUSGLOBJS) $(INSTALLOBJDIR)/compile_irtgl.log: $(IRTEUSGL_L)
+
+$(IRTEUSGLOBJS): $(INSTALLOBJDIR)/%.o: %.l compile_irtgl.l
+	@[ compile_irtgl.l -nt $< ] && (set -x; rm -f $(IRTEUSGLOBJS)) || echo "if compile_irtgl.l is older then target, so do not remove existing target object"
 	$(BINDIR)/eusgl$(ESFX) "(setq *objdir* \"$(INSTALLOBJDIR)/\")" < ./compile_irtgl.l > $(INSTALLOBJDIR)/compile_irtgl.log
 	-rm -f $(IRTEUSGL_C) $(IRTEUSGL_H)
 
@@ -211,13 +242,18 @@ PQP/$(ARCHDIR)/libPQP-static.a:
 	make -C PQP
 
 $(LIBNR): $(NROBJECTS)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBNR) $(NROBJECTS)
+	$(CC) $(SOFLAGS) $(OUTOPT)$(LIBNR) $(NROBJECTS)
 
-BINS=$(BINDIR)/irteus$(ESFX) $(BINDIR)/irteusgl$(ESFX)
-make-link: $(BINS) $(EUSDIR)/irteus
-$(BINS):
+$(INSTALLBINDIR)/irteusg$(ESFX): $(LIBIRTEUS) $(LIBIRTEUSG) $(LIBIRTEUSIMG) make-link install-irtext.l
+	(cd $(INSTALLBINDIR); ln -sf eusg$(ESFX) irteusg$(ESFX))
+$(INSTALLBINDIR)/irteusx$(ESFX): $(LIBIRTEUS) $(LIBIRTEUSG) $(LIBIRTEUSIMG) $(LIBIRTEUSX) make-link install-irtext.l
+	(cd $(INSTALLBINDIR); ln -sf eusx$(ESFX) irteusx$(ESFX))
+$(INSTALLBINDIR)/irteusgl$(ESFX): $(LIBIRTEUS) $(LIBIRTEUSG) $(LIBIRTEUSIMG) $(LIBIRTEUSX) $(LIBIRTEUSIMG) $(LIBIRTEUSGL) make-link install-irtext.l
 	(cd $(INSTALLBINDIR); ln -sf eus$(ESFX) irteus$(ESFX))
 	(cd $(INSTALLBINDIR); ln -sf eusgl$(ESFX) irteusgl$(ESFX))
+
+make-link: $(EUSDIR)/irteus
+
 $(EUSDIR)/irteus:
 	(cd $(IRTEUSDIR); ln -sf ../irteus irteus)
 
@@ -237,45 +273,18 @@ clean:
 	-rm -f *~ *.stackdump
 	-rm -f $(EUSDIR)/irteus
 	-rm -f $(INSTALLOBJDIR)/compile_*.log
+	-rm -f $(INSTALLBINDIR)/irteus$(ESFX) $(INSTALLBINDIR)/irteusg$(ESFX) $(INSTALLBINDIR)/irteusx$(ESFX) $(INSTALLBINDIR)/irteusgl$(ESFX)
 	chmod a-x Makefile* *.l *.c
 	[ -e PQP ] && (cd PQP;make clean)
 	if [ -w $(EUSDIR)/lisp/image/jpeg/ ]; then make -C $(EUSDIR)/lisp/image/jpeg/ clean; else echo "EUSDIR/lisp/image/jpeg/ is not writable"; fi
 	-rm -f $(EUSDIR)/lib/llib/pgsql.c $(EUSDIR)/lib/llib/pgsql.h
 	-rm -f $(EUSDIR)/lib/llib/time.c $(EUSDIR)/lib/llib/time.h
 
-$(INSTALLOBJDIR)/irtmath.$(OSFX): irtmath.l
-$(INSTALLOBJDIR)/irtutil.$(OSFX): irtutil.l
-$(INSTALLOBJDIR)/irtgraph.$(OSFX): irtgraph.l
-$(INSTALLOBJDIR)/irtgeo.$(OSFX): irtgeo.l
-$(INSTALLOBJDIR)/irtscene.$(OSFX): irtscene.l
-$(INSTALLOBJDIR)/irtmodel.$(OSFX): irtmodel.l
-$(INSTALLOBJDIR)/irtdyna.$(OSFX): irtdyna.l
-$(INSTALLOBJDIR)/irtcollada.$(OSFX): irtcollada.l
-$(INSTALLOBJDIR)/irtstl.$(OSFX): irtstl.l
-$(INSTALLOBJDIR)/irtwrl.$(OSFX): irtwrl.l
-$(INSTALLOBJDIR)/irtsensor.$(OSFX): irtsensor.l
-$(INSTALLOBJDIR)/irtpointcloud.$(OSFX): irtpointcloud.l
-$(INSTALLOBJDIR)/irtrobot.$(OSFX): irtrobot.l
-$(INSTALLOBJDIR)/irtbvh.$(OSFX): irtbvh.l
-$(INSTALLOBJDIR)/irtx.$(OSFX): irtx.l
-$(INSTALLOBJDIR)/irtgl.$(OSFX): irtgl.l
-$(INSTALLOBJDIR)/irtglrgb.$(OSFX): irtglrgb.l
-$(INSTALLOBJDIR)/irtviewer.$(OSFX): irtviewer.l
-$(INSTALLOBJDIR)/irtimage.$(OSFX): irtimage.l
-$(INSTALLOBJDIR)/irtcollision.$(OSFX): irtcollision.l
-$(INSTALLOBJDIR)/gnuplotlib.$(OSFX): gnuplotlib.l
-$(INSTALLOBJDIR)/pqp.$(OSFX): pqp.l
-$(INSTALLOBJDIR)/bullet.$(OSFX): bullet.l
-$(INSTALLOBJDIR)/png.$(OSFX): png.l
-$(INSTALLOBJDIR)/pgsql.$(OSFX): $(EUSDIR)/lib/llib/pgsql.l
-$(INSTALLOBJDIR)/time.$(OSFX): $(EUSDIR)/lib/llib/time.l
-$(INSTALLOBJDIR)/eusjpeg.$(OSFX): $(EUSDIR)/lisp/image/jpeg/eusjpeg.l
-
-$(INSTALLOBJDIR)/irtc.$(OSFX): irtc.c $(filter-out $(INSTALLOBJDIR)/irtc.$(OSFX),$(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) $(PQPLIBSTATIC) $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS)) defun.h
+$(INSTALLOBJDIR)/irtc.$(OSFX): irtc.c defun.h
 	$(CC) $(CFLAGS) $(WFLAGS) -c irtc.c $(OBJOPT)$(INSTALLOBJDIR)/irtc.$(OSFX)
-$(INSTALLOBJDIR)/irtglc.$(OSFX): irtglc.c $(filter-out $(INSTALLOBJDIR)/irtglc.$(OSFX),$(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) $(PQPLIBSTATIC) $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS)) defun.h
+$(INSTALLOBJDIR)/irtglc.$(OSFX): irtglc.c defun.h
 	$(CC) $(CFLAGS) $(WFLAGS) -c irtglc.c $(OBJOPT)$(INSTALLOBJDIR)/irtglc.$(OSFX)
-$(INSTALLOBJDIR)/irtgeoc.$(OSFX): irtgeoc.c $(filter-out $(INSTALLOBJDIR)/irtgeoc.$(OSFX), $(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) $(PQPLIBSTATIC) $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS)) defun.h
+$(INSTALLOBJDIR)/irtgeoc.$(OSFX): irtgeoc.c defun.h
 	$(CC) $(CFLAGS) $(WFLAGS) -c irtgeoc.c $(OBJOPT)$(INSTALLOBJDIR)/irtgeoc.$(OSFX)
 $(INSTALLOBJDIR)/CPQP.$(OSFX): CPQP.C defun.h
 	$(CXX) $(CXXFLAGS) $(PQPCFLAGS) -c CPQP.C $(OBJOPT)$(INSTALLOBJDIR)/CPQP.$(OSFX)
diff --git a/irteus/Makefile.Cygwin b/irteus/Makefile.Cygwin
index d53033b22..e302a3945 100644
--- a/irteus/Makefile.Cygwin
+++ b/irteus/Makefile.Cygwin
@@ -41,9 +41,8 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-CC=gcc
-CXX=g++
-LD=g++ -shared
+CC  ?= gcc
+CXX ?= g++
 OBJOPT=-o
 OUTOPT=-o 
 OSFX=o
@@ -52,10 +51,15 @@ LPFX=lib
 ARCH=Cygwin
 ESFX=.exe
 #SOFLAGS=-g -falign-functions=4 -Wl,--export-all-symbols -Wl,--unresolved-symbols=ignore-all  -Wl,--stack,5000000
-SOFLAGS=-g -falign-functions=4 -Wl,--export-all-symbols
+SOFLAGS=-shared -g -falign-functions=4 -Wl,--export-all-symbols
 IMPLIB=$(EUSDIR)/$(ARCH)/bin/eusgl.a $(EUSDIR)/$(ARCH)/lib/libnr.$(LSFX)
 IMPLIBGL=$(EUSDIR)/$(ARCH)/bin/eusgl.a -L/usr/X11R6/lib -lGLU -lGL -lXext
-IMPLIBIMG=-ljpeg -lpng
+ifeq ($(HAVE_JPEG), 1)
+  IMPLIBIMG+=-ljpeg
+endif
+ifeq ($(HAVE_PNG), 1)
+  IMPLIBIMG+=-lpng
+endif
 EXPLIB=
 RAPID=-LRAPID/$(ARCHDIR) -lRAPID-static
 RAPIDLIB=RAPID/$(ARCHDIR)/$(LPFX)RAPID-static.a
diff --git a/irteus/Makefile.Darwin b/irteus/Makefile.Darwin
index 885000264..d995ef89d 100644
--- a/irteus/Makefile.Darwin
+++ b/irteus/Makefile.Darwin
@@ -41,19 +41,23 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-CC=gcc
-CXX=gcc
-LD=g++ -dynamiclib -flat_namespace -undefined suppress
+CC  ?= gcc
+CXX ?= g++
 OBJOPT=-o 
 OUTOPT=-o 
 OSFX=o
 LSFX=so
 LPFX=lib
 ESFX=
-SOFLAGS=-g -falign-functions=8
+SOFLAGS=-dynamiclib -flat_namespace -undefined suppress -g -falign-functions=8
 IMPLIB=-L$(EUSDIR)/$(ARCHDIR)/lib -leusgeo -L$(INSTALLLIBDIR) -lnr
 IMPLIBGL=-L$(EUSDIR)/$(ARCHDIR)/lib -leusgl -L/usr/X11R6/lib -lGLU -lGL -lXext
-IMPLIBIMG=-L/opt/local/lib/jpeg6b/lib -ljpeg -L/opt/local/lib -lpng
+ifeq ($(HAVE_JPEG), 1)
+  IMPLIBIMG+=-L/opt/local/lib/jpeg6b/lib -ljpeg
+endif
+ifeq ($(HAVE_PNG), 1)
+  IMPLIBIMG+=-L/opt/local/lib -lpng
+endif
 EXPLIB=
 RAPID=-LRAPID/$(ARCHDIR) -lRAPID-static
 RAPIDLIB=RAPID/$(ARCHDIR)/$(LPFX)RAPID-static.a
diff --git a/irteus/Makefile.Linux b/irteus/Makefile.Linux
index ff236acc7..9a575830a 100644
--- a/irteus/Makefile.Linux
+++ b/irteus/Makefile.Linux
@@ -41,9 +41,8 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-CC=gcc
-CXX=g++
-LD=g++ -shared
+CC  ?= gcc
+CXX ?= g++
 OBJOPT=-o
 OUTOPT=-o 
 OSFX=o
@@ -52,10 +51,15 @@ LPFX=lib
 ARCH=Linux
 ESFX=
 #SOFLAGS=-g -falign-functions=4 -Xlinker --export-all-symbols --unresolved-symbols=ignore-all
-SOFLAGS=-g -falign-functions=4 -Xlinker --unresolved-symbols=ignore-all
+SOFLAGS=-shared -g -falign-functions=4 -Xlinker --unresolved-symbols=ignore-all
 IMPLIB=-L$(EUSDIR)/$(ARCH)/lib -leusgeo -L$(INSTALLLIBDIR) -lnr
 IMPLIBGL=-L$(EUSDIR)/$(ARCH)/lib -leusgl -L/usr/X11R6/lib -lGLU -lGL -lXext
-IMPLIBIMG=-ljpeg -lpng
+ifeq ($(HAVE_JPEG), 1)
+  IMPLIBIMG+=-ljpeg
+endif
+ifeq ($(HAVE_PNG), 1)
+  IMPLIBIMG+=-lpng
+endif
 EXPLIB=
 RAPID=-LRAPID/$(ARCHDIR) -lRAPID-static
 RAPIDLIB=RAPID/$(ARCHDIR)/$(LPFX)RAPID-static.a
@@ -75,5 +79,4 @@ CXXFLAGS+=-g -falign-functions=4
 ifeq ($(shell /bin/uname -m), x86_64)
 CC += -m32
 CXX += -m32
-LD += -m32
 endif
diff --git a/irteus/Makefile.Linux64 b/irteus/Makefile.Linux64
index 7d68934fa..f9aacd026 100644
--- a/irteus/Makefile.Linux64
+++ b/irteus/Makefile.Linux64
@@ -41,19 +41,23 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-CC=gcc
-CXX=g++
-LD=g++ -shared
+CC  ?= gcc
+CXX ?= g++
 OBJOPT=-o 
 OUTOPT=-o 
 OSFX=o
 LSFX=so
 LPFX=lib
 ESFX=
-SOFLAGS=-g -falign-functions=8 -Xlinker --unresolved-symbols=ignore-all
+SOFLAGS=-shared -g -falign-functions=8 -Xlinker --unresolved-symbols=ignore-all
 IMPLIB=-L$(EUSDIR)/$(ARCHDIR)/lib -leusgeo -L$(INSTALLLIBDIR) -lnr
 IMPLIBGL=-L$(EUSDIR)/$(ARCHDIR)/lib -leusgl -L/usr/X11R6/lib -lGLU -lGL -lXext
-IMPLIBIMG=-ljpeg -lpng
+ifeq ($(HAVE_JPEG), 1)
+  IMPLIBIMG+=-ljpeg
+endif
+ifeq ($(HAVE_PNG), 1)
+  IMPLIBIMG+=-lpng
+endif
 EXPLIB=
 RAPID=-LRAPID/$(ARCHDIR) -lRAPID-static
 RAPIDLIB=RAPID/$(ARCHDIR)/$(LPFX)RAPID-static.a
diff --git a/irteus/Makefile.LinuxARM b/irteus/Makefile.LinuxARM
index 8b04f2f4f..5eb122208 100644
--- a/irteus/Makefile.LinuxARM
+++ b/irteus/Makefile.LinuxARM
@@ -41,9 +41,8 @@
 ### ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ###
 
-CC=gcc
-CXX=g++
-LD=g++ -shared
+CC  ?= gcc
+CXX ?= g++
 OBJOPT=-o
 OUTOPT=-o 
 OSFX=o
@@ -52,10 +51,15 @@ LPFX=lib
 ARCH=LinuxARM
 ESFX=
 #SOFLAGS=-g -falign-functions=4 -Xlinker --export-all-symbols --unresolved-symbols=ignore-all
-SOFLAGS=-g -falign-functions=4 -Xlinker --unresolved-symbols=ignore-all
+SOFLAGS=-shared -g -falign-functions=4 -Xlinker --unresolved-symbols=ignore-all
 IMPLIB=-L$(EUSDIR)/$(ARCH)/lib -leusgeo -L$(INSTALLLIBDIR) -lnr
 IMPLIBGL=-L$(EUSDIR)/$(ARCH)/lib -leusgl -L/usr/X11R6/lib -lGLU -lGL -lXext
-IMPLIBIMG=-ljpeg -lpng
+ifeq ($(HAVE_JPEG), 1)
+  IMPLIBIMG+=-ljpeg
+endif
+ifeq ($(HAVE_PNG), 1)
+  IMPLIBIMG+=-lpng
+endif
 EXPLIB=
 RAPID=-LRAPID/$(ARCHDIR) -lRAPID-static
 RAPIDLIB=RAPID/$(ARCHDIR)/$(LPFX)RAPID-static.a
diff --git a/irteus/PQP/Makefile b/irteus/PQP/Makefile
index 46064a3de..7ab150e5d 100644
--- a/irteus/PQP/Makefile
+++ b/irteus/PQP/Makefile
@@ -2,8 +2,8 @@ include Makefile.$(ARCHDIR)
 
 PQPDIR		= src
 
-CFLAGS		= -I. -I.. -D$(ARCHDIR)
-LDFLAGS		= -L. -L..
+CFLAGS		+= -I. -I.. -D$(ARCHDIR)
+LDFLAGS		+= -L. -L..
 
 .SUFFIXES: .cpp
 
@@ -29,13 +29,13 @@ library: $(ARCHDIR)/$(LPFX)PQP.$(LSFX) \
 	$(ARCHDIR)/$(LPFX)PQP-static.a
 
 $(ARCHDIR)/$(LPFX)PQP.$(LSFX): $(OBJECTS)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(ARCHDIR)/$(LPFX)PQP.$(LSFX) $(OBJECTS)
+	$(CXX) $(SOFLAGS) $(OUTOPT)$(ARCHDIR)/$(LPFX)PQP.$(LSFX) $(OBJECTS)
 
 $(ARCHDIR)/$(LPFX)PQP-static.a: $(OBJECTS)
 	$(AR) $(ARFLAGS) $@ $(OBJECTS)
 
 $(OBJECTS):
-	$(CC) $(CFLAGS) -DCOMPILE_LIB -c $(PQPDIR)/$(*F).cpp $(OBJOPT)$@
+	$(CXX) $(CFLAGS) -DCOMPILE_LIB -c $(PQPDIR)/$(*F).cpp $(OBJOPT)$@
 
 clean:
 	rm -f $(CLEAN)
diff --git a/irteus/PQP/Makefile.Cygwin b/irteus/PQP/Makefile.Cygwin
index 95ca8a1cc..cf237b40c 100755
--- a/irteus/PQP/Makefile.Cygwin
+++ b/irteus/PQP/Makefile.Cygwin
@@ -1,9 +1,8 @@
-CC = c++ -O2 -falign-functions=4
+CXX ?= c++
+CFLAGS = -O2 -falign-functions=4
 OBJOPT = -o 
 OUTOPT = -o 
-LD = c++ -shared -falign-functions=4
-EXELD = c++ -falign-functions=4
-SOFLAGS = 
+SOFLAGS =  -shared -falign-functions=4
 EXESFX = .exe
 LSFX = dll
 LPFX = lib
diff --git a/irteus/PQP/Makefile.Darwin b/irteus/PQP/Makefile.Darwin
index 153873eeb..756cf288f 100644
--- a/irteus/PQP/Makefile.Darwin
+++ b/irteus/PQP/Makefile.Darwin
@@ -1,9 +1,8 @@
-CC = c++ -O2 -falign-functions=8 -fPIC 
+CXX ?= c++
+CFLAGS = -O2 -falign-functions=8 -fPIC
 OBJOPT = -o 
 OUTOPT = -o 
-LD = c++
 SOFLAGS = -dynamiclib -flat_namespace -undefined suppress
-EXELD = c++
 EXESFX = 
 LSFX = so
 LPFX = lib
diff --git a/irteus/PQP/Makefile.Linux b/irteus/PQP/Makefile.Linux
index 3c1efcc81..0e98f0809 100644
--- a/irteus/PQP/Makefile.Linux
+++ b/irteus/PQP/Makefile.Linux
@@ -1,9 +1,8 @@
-CC = c++ -O2
+CXX ?= c++
+CFLAGS = -O2
 OBJOPT = -o 
 OUTOPT = -o 
-LD = c++
 SOFLAGS = -shared
-EXELD = c++
 EXESFX = 
 LSFX = so
 LPFX = lib
diff --git a/irteus/PQP/Makefile.Linux64 b/irteus/PQP/Makefile.Linux64
index 6f1b6827c..89f0d9363 100644
--- a/irteus/PQP/Makefile.Linux64
+++ b/irteus/PQP/Makefile.Linux64
@@ -1,9 +1,8 @@
-CC = c++ -O2 -falign-functions=8 -fPIC 
+CXX ?= c++
+CFLAGS = -O2 -falign-functions=8 -fPIC
 OBJOPT = -o 
 OUTOPT = -o 
-LD = c++
 SOFLAGS = -shared
-EXELD = c++
 EXESFX = 
 LSFX = so
 LPFX = lib
diff --git a/irteus/PQP/Makefile.LinuxARM b/irteus/PQP/Makefile.LinuxARM
index 85efe19ae..8213759c1 100644
--- a/irteus/PQP/Makefile.LinuxARM
+++ b/irteus/PQP/Makefile.LinuxARM
@@ -1,9 +1,8 @@
-CC = c++ -O2 -fPIC
+CXX ?= c++
+CFLAGS =  -O2 -fPIC
 OBJOPT = -o 
 OUTOPT = -o 
-LD = c++
 SOFLAGS = -shared
-EXELD = c++
 EXESFX = 
 LSFX = so
 LPFX = lib
diff --git a/irteus/demo/hanoi.l b/irteus/demo/hanoi.l
index f09d02735..feb9aee5f 100644
--- a/irteus/demo/hanoi.l
+++ b/irteus/demo/hanoi.l
@@ -111,7 +111,8 @@
   (dotimes (i n)
     (setq disks (cons (hanoi-disk (+ (* (/ 27 n) i) 12) 20)
                       disks))
-    (send (car disks) :set-color (send (elt gl::*face-colors* (* (+ i 4) 32)) :name))
+    (when (memq :gl *features*)
+      (send (car disks) :set-color (send (elt gl::*face-colors* (* (+ i 4) 32)) :name)))
     (send (car disks) :name (format nil "disk~A" i))
     )
   (reverse disks))
diff --git a/irteus/demo/walk-motion.l b/irteus/demo/walk-motion.l
index af389067e..e8036238a 100644
--- a/irteus/demo/walk-motion.l
+++ b/irteus/demo/walk-motion.l
@@ -294,7 +294,7 @@
                  (format f "~A ~A ~A ~A~%" tm zmp cog refzmp))
              tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
      )
-    (unless (or (null x::*display*) (= x::*display* 0))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
       ;; graph-view
       (graph-view (list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2)) tm-list
                   :xlabel "Time [s]" :ylabel "ZMP X [mm]"
@@ -353,7 +353,7 @@
                  (format f "~A ~A ~A ~A~%" tm zmp cog refzmp))
              tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
      )
-    (unless (or (null x::*display*) (= x::*display* 0))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
       (let ((gp-command-list (list
                               "set xlabel 'Time [s]';"
                               "set ylabel 'ZMP X [mm]';"
@@ -407,7 +407,7 @@
                  (format f "~A ~A ~A ~A~%" tm zmp cog refzmp))
              tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
      )
-    (unless (or (null x::*display*) (= x::*display* 0))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
       (let ((gp-command-list (list
                               "set xlabel 'Time [s]';"
                               "set ylabel 'ZMP X [mm]';"
@@ -454,7 +454,7 @@
                  (format f "~A ~A ~A ~A~%" tm zmp cog refzmp))
              tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
      )
-    (unless (or (null x::*display*) (= x::*display* 0))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
       (let ((gp-command-list (list
                               "set xlabel 'Time [s]';"
                               "set ylabel 'ZMP X [mm]';"
@@ -509,7 +509,7 @@
                (mapcar #'(lambda (x) (elt (cadr (memq :output-cog x)) 1)) data)
                (mapcar #'(lambda (x) (elt (cadr (memq :input-cog x)) 1)) data)
                ))
-      (unless (or (null x::*display*) (= x::*display* 0))
+      (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
         (let ((gp-command-list (list
                                 "set xlabel 'Time [s]';"
                                 "set ylabel 'ZMP X [mm]';"
diff --git a/irteus/gnuplotlib.l b/irteus/gnuplotlib.l
index 17df00904..f7a0f35e7 100644
--- a/irteus/gnuplotlib.l
+++ b/irteus/gnuplotlib.l
@@ -32,7 +32,9 @@
   (:init (host &key (clear t) ((:debug _debug)))
      "Initialize gnuplot interface object with given host name"
      (when (eq (unix:system "which gnuplot") 256)
-       (error "gnuplot is not installed. $ sudo apt-get install gnuplot"))
+       (setq strm t)
+       (warning-message 1 "gnuplot is not installed. $ sudo apt-get install gnuplot~%")
+       (return-from :init self))
 	 (setq strm 
 	       (cond
 		((string= (unix:gethostname) host)
diff --git a/irteus/irtext.l b/irteus/irtext.l
index b21416881..90aba9f3a 100644
--- a/irteus/irtext.l
+++ b/irteus/irtext.l
@@ -54,19 +54,19 @@
    (format nil "~A~A/lib/libirteusg"
 	   *eusdir* (unix:getenv "ARCHDIR"))
    '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada" "irtstl" "irtwrl" "irtpointcloud" "eusbullet" "bullet" "irtcollision"))
+  (in-package "IMAGE")
+  (load-library
+   (format nil "~A~A/lib/libirteusimg"
+	   *eusdir* (unix:getenv "ARCHDIR"))
+   '("eusjpeg" "euspng" "png" "irtimage"))
   (in-package "USER")
-  (import '(collada::convert-irtmodel-to-collada collada::eus2collada)))
+  (import '(collada::convert-irtmodel-to-collada collada::eus2collada image::read-image-file image::write-image-file)))
 (defun load-irteusx ()
   (in-package "X")
   (load-library
    (format nil "~A~A/lib/libirteusx"
 	   *eusdir* (unix:getenv "ARCHDIR"))
    '("irtx"))
-  (in-package "IMAGE")
-  (load-library
-   (format nil "~A~A/lib/libirteusimg"
-	   *eusdir* (unix:getenv "ARCHDIR"))
-   '("eusjpeg" "euspng" "png" "irtimage"))
   (in-package "USER")
   )
 (defun load-irteusgl ()
diff --git a/irteus/irtgeo.l b/irteus/irtgeo.l
index 6cb9a1d88..51019bc12 100644
--- a/irteus/irtgeo.l
+++ b/irteus/irtgeo.l
@@ -813,6 +813,203 @@
         (normalize-vector
 	 (float-vector w (elt vec 0) (elt vec 1) (elt vec 2)))))))
 
+;; 2022.04.30 move (defmethod polygon :draw-on, (defmethod line :draw-on (defmethod faceset :draw-on :set-color from irtgl.l
+(defmethod polygon
+  (:draw-on
+   (&key ((:viewer vwer) *viewer*)
+         flush (width 1) (color #f(1 1 1)))
+   (if flush (send vwer :viewsurface :makecurrent))
+   (let ((pwidth (send vwer :viewsurface :line-width))
+         (pcolor (send vwer :viewsurface :color))
+	 (v (float-vector 0 0 0)))
+     (send vwer :viewsurface :line-width width)
+     (send vwer :viewsurface :color color)
+     (send vwer :viewsurface :3d-lines (send self :vertices))
+     (send vwer :viewsurface :line-width pwidth)
+     (send vwer :viewsurface :color pcolor)
+     (if flush (send vwer :viewsurface :flush))
+     ))
+  )
+
+(defmethod line
+  (:draw-on
+   (&key ((:viewer vwer) *viewer*)
+         flush (width 1) (color #f(1 1 1)))
+   (if flush (send vwer :viewsurface :makecurrent))
+   (let ((pwidth (send vwer :viewsurface :line-width))
+         (pcolor (send vwer :viewsurface :color))
+	 (v (float-vector 0 0 0)))
+     (send vwer :viewsurface :line-width width)
+     (send vwer :viewsurface :color color)
+     (send vwer :viewsurface :3d-line pvert nvert)
+     (send vwer :viewsurface :line-width pwidth)
+     (send vwer :viewsurface :color pcolor)
+     (if flush (send vwer :viewsurface :flush))
+     ))
+  )
+
+;; 2022.04.30 define dummy (defmethod faceset :set-color, :paste-texture-to-face it will be defined in irtgl.l with opengl code
+;; 2022.04.30 move (defmethod faceset :draw-on, from irtgl.l
+(defmethod faceset
+  (:set-color (col &rest args) (setf (get self :face-color) col))
+  (:paste-texture-to-face
+   (&rest args)
+   (warning-message 1 ";; call :paste-texture-to-face ~A from irteusg, which does not support GL~%" args))
+  (:draw-on
+   (&key ((:viewer vwer) *viewer*)
+         flush (width 1) (color #f(1 1 1)))
+   (if flush (send vwer :viewsurface :makecurrent))
+   (let ((pwidth (send vwer :viewsurface :line-width))
+         (pcolor (send vwer :viewsurface :color)))
+     (send vwer :viewsurface :line-width width)
+     (send vwer :viewsurface :color color)
+     (dolist (f (send self :faces))
+       (send vwer :viewsurface :3d-lines (send f :vertices)))
+     (send vwer :viewsurface :line-width pwidth)
+     (send vwer :viewsurface :color pcolor)
+     (if flush (send vwer :viewsurface :flush))
+     ))
+  ;;
+  )
+
+;; 2022.04.30 move (defmethod coordinates :vertices :draw-on, (defmethod geo::float-vector :vertices :draw-on from irtgl.l
+(defmethod coordinates
+  (:vertices () (list (send self :worldpos)))
+  (:draw-on
+   (&key ((:viewer vwer) user::*viewer*)
+	 flush (width (get self :width)) (color (get self :color))
+	 (size (get self :size)))
+   (if flush (send vwer :viewsurface :makecurrent))
+   (let ((pwidth (send vwer :viewsurface :line-width))
+         (pcolor (send vwer :viewsurface :color))
+	 (v (float-vector 0 0 0)) v2)
+     (if (null width) (setq width 1))
+     (if (null color) (setq color #f(1 1 1)))
+     (if (null size) (setq size 50))
+     (setq v2 (float-vector (* 0.3 size) 0 (* 0.7 size)))
+     (send vwer :viewsurface :line-width width)
+     (send vwer :viewsurface :color color)
+     (dotimes (i 3)
+       (setf (elt v i) size)
+       (send vwer :viewsurface :3d-line
+	     (send self :worldpos)
+	     (send self :transform-vector v))
+       (setf (elt v i) 0))
+     (setf (elt v 2) size)
+     (send vwer :viewsurface :3d-line
+	   (send self :transform-vector v)
+	   (send self :transform-vector v2))
+     (setf (elt v2 1) (elt v2 0)  (elt v2 0) 0)
+     (send vwer :viewsurface :3d-line
+	   (send self :transform-vector v)
+	   (send self :transform-vector v2))
+     (send vwer :viewsurface :line-width pwidth)
+     (send vwer :viewsurface :color pcolor)
+     (if flush (send vwer :viewsurface :flush))
+     ))
+  )
+
+(defmethod geo::float-vector
+  (:vertices () (list self))
+  (:draw-on
+   (&key ((:viewer vwer) *viewer*)
+         flush (width 1) (color #f(1 1 1)) (size 50))
+   (if flush (send vwer :viewsurface :makecurrent))
+   (let ((pwidth (send vwer :viewsurface :line-width))
+         (pcolor (send vwer :viewsurface :color))
+	 (v (float-vector 0 0 0)))
+     (send vwer :viewsurface :line-width width)
+     (send vwer :viewsurface :color color)
+     (dotimes (i 3)
+       (setf (elt v i) size)
+       (send vwer :viewsurface :3d-line self (v+ self v))
+       (setf (elt v i) 0))
+     (send vwer :viewsurface :line-width pwidth)
+     (send vwer :viewsurface :color pcolor)
+     (if flush (send vwer :viewsurface :flush))
+     ))
+  )
+
+;; 2022.04.30 move objects, make-irtviwer, irtviewer-dummy, make-irtviewer-dummy from irtviewer.l
+(in-package "USER")
+(defun objects (&optional (objs t) vw)
+  (when
+      (and objs (not (boundp '*irtviewer*)) (null vw))
+    (warn ";; (make-irtviewer) executed~%")
+    (make-irtviewer))
+  (if (null vw) (setq vw *irtviewer*))
+  (let (objects)
+  (if (eq objs t) (setq objects (send vw :objects))
+    (setq objects (send vw :objects objs)))
+  (send vw :look-all)
+  objects))
+
+
+(proclaim '(special *irtviewer*))
+;; make-irtviewer is re-defined in irtviwer.l to instantiate x::irtviewer
+(defun make-irtviewer (&rest args)
+  (warning-message 1 ";; call make-irtviewer from irteusg, which does not support X/GL~%")
+  (make-irtviewer-dummy)
+  *irtviewer*)
+
+(defclass viewer-dummy
+  :super propertied-object
+  :slots ())
+(defmethod viewer-dummy
+  (:nomethod (&rest args) t)
+  )
+
+(defclass irtviewer-dummy
+  :super propertied-object
+  :slots (objects draw-things))
+(defmethod irtviewer-dummy
+  (:objects (&rest args)
+   (when
+       args
+     (cond
+      ((null (car args))
+       (setq objects nil))
+      ((consp (car args))
+       (setq objects (car args)))
+      ((atom (car args))
+       (setq objects (append args objects)))
+      ))
+   (send-all objects :worldcoords)
+   (setq draw-things (x::draw-things objects))
+   objects)
+  (:nomethod (&rest args) t)
+  ) ;;
+
+(defun make-irtviewer-dummy (&rest args)
+  (warning-message 1 ";; no display is found. exit from (make-irtviewer)~%")
+  (setq *irtviewer* (instance irtviewer-dummy))
+  (setq *viewer* (instance viewer-dummy))
+  (setf (get *viewer* :pickviewer) *irtviewer*)
+  *irtviewer*)
+
+(in-package "X")
+;; 2022.04.30 move draw-things from irtviewer.l
+(defun draw-things (objs)
+  (cond
+   ((atom objs)
+    (cond
+     ((null objs) nil)
+     ((find-method objs :draw) (list objs))
+     ((find-method objs :bodies) (send objs :bodies))
+     (t (list objs))))
+   (t
+    (append (draw-things (car objs))
+	    (draw-things (cdr objs))))
+   ))
+
+(defun window-main-one (&rest args)) ;; define to call lisp code with (x::window-main-one) with irteusg, this function will be override in irtx.l
+
+(in-package "GL")
+(defun transparent (&rest args) ;; define to call lisp code with (gl::transparent) with irteusg, this function will be override in irtx.l
+  (warning-message 1 ";; call gl::transparent from irteusg, which does not support GL~%"))
+
+(in-package "GEOMETRY")
+
 (provide :irtgeo "$Id$")
 
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
diff --git a/irteus/irtgl.l b/irteus/irtgl.l
index e3e070338..3a6dd22b2 100644
--- a/irteus/irtgl.l
+++ b/irteus/irtgl.l
@@ -404,40 +404,9 @@
       (setf (get abody :GL-DISPLAYLIST-ID) nil)
       fc)))
 
-(defmethod polygon
-  (:draw-on
-   (&key ((:viewer vwer) *viewer*)
-         flush (width 1) (color #f(1 1 1)))
-   (if flush (send vwer :viewsurface :makecurrent))
-   (let ((pwidth (send vwer :viewsurface :line-width))
-         (pcolor (send vwer :viewsurface :color))
-	 (v (float-vector 0 0 0)))
-     (send vwer :viewsurface :line-width width)
-     (send vwer :viewsurface :color color)
-     (send vwer :viewsurface :3d-lines (send self :vertices))
-     (send vwer :viewsurface :line-width pwidth)
-     (send vwer :viewsurface :color pcolor)
-     (if flush (send vwer :viewsurface :flush))
-     ))
-  )
-
-(defmethod line
-  (:draw-on
-   (&key ((:viewer vwer) *viewer*)
-         flush (width 1) (color #f(1 1 1)))
-   (if flush (send vwer :viewsurface :makecurrent))
-   (let ((pwidth (send vwer :viewsurface :line-width))
-         (pcolor (send vwer :viewsurface :color))
-	 (v (float-vector 0 0 0)))
-     (send vwer :viewsurface :line-width width)
-     (send vwer :viewsurface :color color)
-     (send vwer :viewsurface :3d-line pvert nvert)
-     (send vwer :viewsurface :line-width pwidth)
-     (send vwer :viewsurface :color pcolor)
-     (if flush (send vwer :viewsurface :flush))
-     ))
-  )
-
+;; 2022.04.30 move (defmethod polygon :draw-on, (defmethod line :draw-on to irtgeo.l
+;; 2022.04.30 add dummy (defmethod faceset :set-color in irtgeo.l
+;; 2022.04.30 move (defmethod faceset :draw-on to irtgeo.l
 (defmethod faceset
   (:set-color
    (color &optional (transparent))
@@ -452,20 +421,6 @@
     (t
      (setf (get self :face-color) (gl::find-color color)))
     ))
-  (:draw-on
-   (&key ((:viewer vwer) *viewer*)
-         flush (width 1) (color #f(1 1 1)))
-   (if flush (send vwer :viewsurface :makecurrent))
-   (let ((pwidth (send vwer :viewsurface :line-width))
-         (pcolor (send vwer :viewsurface :color)))
-     (send vwer :viewsurface :line-width width)
-     (send vwer :viewsurface :color color)
-     (dolist (f (send self :faces))
-       (send vwer :viewsurface :3d-lines (send f :vertices)))
-     (send vwer :viewsurface :line-width pwidth)
-     (send vwer :viewsurface :color pcolor)
-     (if flush (send vwer :viewsurface :flush))
-     ))
   ;;
   (:paste-texture-to-face
    (aface &key file image
@@ -507,62 +462,7 @@
      ))
   )
 
-(defmethod coordinates
-  (:vertices () (list (send self :worldpos)))
-  (:draw-on
-   (&key ((:viewer vwer) user::*viewer*)
-	 flush (width (get self :width)) (color (get self :color))
-	 (size (get self :size)))
-   (if flush (send vwer :viewsurface :makecurrent))
-   (let ((pwidth (send vwer :viewsurface :line-width))
-         (pcolor (send vwer :viewsurface :color))
-	 (v (float-vector 0 0 0)) v2)
-     (if (null width) (setq width 1))
-     (if (null color) (setq color #f(1 1 1)))
-     (if (null size) (setq size 50))
-     (setq v2 (float-vector (* 0.3 size) 0 (* 0.7 size)))
-     (send vwer :viewsurface :line-width width)
-     (send vwer :viewsurface :color color)
-     (dotimes (i 3)
-       (setf (elt v i) size)
-       (send vwer :viewsurface :3d-line
-	     (send self :worldpos)
-	     (send self :transform-vector v))
-       (setf (elt v i) 0))
-     (setf (elt v 2) size)
-     (send vwer :viewsurface :3d-line
-	   (send self :transform-vector v)
-	   (send self :transform-vector v2))
-     (setf (elt v2 1) (elt v2 0)  (elt v2 0) 0)
-     (send vwer :viewsurface :3d-line
-	   (send self :transform-vector v)
-	   (send self :transform-vector v2))
-     (send vwer :viewsurface :line-width pwidth)
-     (send vwer :viewsurface :color pcolor)
-     (if flush (send vwer :viewsurface :flush))
-     ))
-  )
-
-(defmethod geo::float-vector
-  (:vertices () (list self))
-  (:draw-on
-   (&key ((:viewer vwer) *viewer*)
-         flush (width 1) (color #f(1 1 1)) (size 50))
-   (if flush (send vwer :viewsurface :makecurrent))
-   (let ((pwidth (send vwer :viewsurface :line-width))
-         (pcolor (send vwer :viewsurface :color))
-	 (v (float-vector 0 0 0)))
-     (send vwer :viewsurface :line-width width)
-     (send vwer :viewsurface :color color)
-     (dotimes (i 3)
-       (setf (elt v i) size)
-       (send vwer :viewsurface :3d-line self (v+ self v))
-       (setf (elt v i) 0))
-     (send vwer :viewsurface :line-width pwidth)
-     (send vwer :viewsurface :color pcolor)
-     (if flush (send vwer :viewsurface :flush))
-     ))
-  )
+;; 2022.04.30 move (defmethod coordinates :vertices :draw-on, (defmethod geo::float-vector :vertices :draw-on to irtgeo.l
 
 (defclass glvertices
   :super cascaded-coords
diff --git a/irteus/irtviewer.l b/irteus/irtviewer.l
index 29f40782e..6d9e43670 100644
--- a/irteus/irtviewer.l
+++ b/irteus/irtviewer.l
@@ -542,18 +542,7 @@
                                  :height (send viewer :viewsurface :height))))
   )
 
-(defun draw-things (objs)
-  (cond
-   ((atom objs)
-    (cond
-     ((null objs) nil)
-     ((find-method objs :draw) (list objs))
-     ((find-method objs :bodies) (send objs :bodies))
-     (t (list objs))))
-   (t
-    (append (draw-things (car objs))
-	    (draw-things (cdr objs))))
-   ))
+;; 2022.04.30 move draw-things to irtgeo.l
 
 
 (in-package "GEOMETRY")
@@ -583,21 +572,9 @@
 
 (in-package "USER")
 
-(defun objects (&optional (objs t) vw)
-  (when
-      (and objs (not (boundp '*irtviewer*)) (null vw))
-    (warn ";; (make-irtviewer) executed~%")
-    (make-irtviewer))
-  (if (null vw) (setq vw *irtviewer*))
-  (let (objects)
-  (if (eq objs t) (setq objects (send vw :objects))
-    (setq objects (send vw :objects objs)))
-  (send vw :look-all)
-  objects))
-
+;; 2022.04.30 move objects, make-irtviwer, irtviewer-dummy, make-irtviewer-dummy to irtgeo.l
 ;;
 ;;
-(proclaim '(special *irtviewer*))
 (defun make-irtviewer (&rest args)
   "Create irtviewer
   :view-name title
@@ -618,34 +595,6 @@
     (setq *irtviewer* (send-lexpr (instantiate x::irtviewer) :create args))))
    *irtviewer*)
 
-(defclass viewer-dummy
-  :super propertied-object
-  :slots ())
-(defmethod viewer-dummy
-  (:nomethod (&rest args) t)
-  )
-
-(defclass irtviewer-dummy
-  :super propertied-object
-  :slots (objects draw-things))
-(defmethod irtviewer-dummy
-  (:objects (&rest args)
-   (when
-       args
-     (cond
-      ((null (car args))
-       (setq objects nil))
-      ((consp (car args))
-       (setq objects (car args)))
-      ((atom (car args))
-       (setq objects (append args objects)))
-      ))
-   (send-all objects :worldcoords)
-   (setq draw-things (x::draw-things objects))
-   objects)
-  (:nomethod (&rest args) t)
-  ) ;;
-
 (defclass irtviewer-no-window
   :super propertied-object
   :slots (irtviewer))
@@ -670,13 +619,6 @@
    (send* irtviewer args))
   ) ;;
 
-(defun make-irtviewer-dummy (&rest args)
-  (warning-message 1 ";; no display is found. exit from (make-irtviewer)~%")
-  (setq *irtviewer* (instance irtviewer-dummy))
-  (setq *viewer* (instance viewer-dummy))
-  (setf (get *viewer* :pickviewer) *irtviewer*)
-  *irtviewer*)
-
 (defun geo::default-pixmapsurface (&rest args)
   (send-lexpr (instantiate gl::glpixmapsurface) :create args))
 (defun make-irtviewer-no-window (&rest args)
diff --git a/irteus/test/all-robots-objects.l b/irteus/test/all-robots-objects.l
index 9776868ad..49bffa917 100644
--- a/irteus/test/all-robots-objects.l
+++ b/irteus/test/all-robots-objects.l
@@ -11,7 +11,7 @@
      (eval
       `(deftest ,(read-from-string (format nil "test-~A" model-func-name))
          (load (format nil "models/irt-all-~A.l" ,model-type-name))
-         (unless x::*root* (defun ,model-func-name ())) ;; do not create viwer
+         (when (and (boundp 'x::*root*) (null x::*root*)) (defun ,model-func-name ())) ;; do not create viwer
          (setq model-viewers (,model-func-name))
          (let (fname (fname-list ""))
            (dolist (viewer model-viewers)
diff --git a/irteus/test/graph.l b/irteus/test/graph.l
index 12e50ebf4..a0337dc99 100644
--- a/irteus/test/graph.l
+++ b/irteus/test/graph.l
@@ -224,6 +224,7 @@
 (load "models/h4-robot.l")
 (load "models/h7-robot.l")
 
+#+:gl
 (deftest test-image-node ()
   (let ((g (instance graph))
         (node-h3 (instance node :name "h3"))
diff --git a/irteus/test/interpolator.l b/irteus/test/interpolator.l
index 51d23e06a..219490988 100644
--- a/irteus/test/interpolator.l
+++ b/irteus/test/interpolator.l
@@ -139,7 +139,7 @@
                                      ip)))
            ))
          (ret-list2 (mapcar #'(lambda (x) (elt x 0)) (cadr (memq :data ret-list)))))
-    (when (and (not (or (null x::*display*) (= x::*display* 0)))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0)))
                (functionp 'graph-view))
       (let ((r-pos (mapcar #'(lambda (x) (elt x 0)) (cadr (memq :data ret-list))))
             (r-vel (mapcar #'(lambda (x) (* 10 (elt x 0))) (cadr (memq :velocity ret-list))))
@@ -227,7 +227,7 @@
                   (format nil "~A vel: ~A, acc:~A, acc:~A, diff:~A~%" i (elt velocity i) real-acc calc-acc (norm (v- real-acc calc-acc)))))
         ))
 
-    (when (and (not (or (null x::*display*) (= x::*display* 0)))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
                (functionp 'graph-view))
       (let ((r-pos (mapcar #'(lambda (x) (elt x 0)) (cadr (memq :data ret-list))))
             (r-vel (mapcar #'(lambda (x) (* 0.001 (elt x 0))) (cadr (memq :velocity ret-list))))
diff --git a/irteus/test/irteus-demo.l b/irteus/test/irteus-demo.l
index dfb097c26..77448918b 100644
--- a/irteus/test/irteus-demo.l
+++ b/irteus/test/irteus-demo.l
@@ -3,7 +3,7 @@
 (init-unit-test)
 
 (load "irteus/demo/demo.l")
-(if (or (null x::*display*) (= x::*display* 0)) ;; aboid to show  (window-main-one nil) was called, but no display is found. message to reduce outputs in travis
+(if (and (boundp 'x::*display*) (or (null x::*display*) (= x::*display* 0))) ;; aboid to show  (window-main-one nil) was called, but no display is found. message to reduce outputs in travis
     (defun x::window-main-one (&rest args) ))
 (defmacro do-until-key (&rest forms) (with-gensyms (do-until-key-counter tm) `(progn (setq tm (instance mtimer :init)) (dotimes (do-until-key-counter 10) ,@forms))))
 
diff --git a/irteus/test/joint.l b/irteus/test/joint.l
index 5007ff1aa..c58fc6f34 100644
--- a/irteus/test/joint.l
+++ b/irteus/test/joint.l
@@ -122,7 +122,7 @@
             (list j1-min-max-table j2-min-max-table))
 
     ;; display min-max table if needed
-    (unless (or (null x::*display*) (= x::*display* 0))
+    (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
       (setq min-max-table-view
             (instance x::panel :create
                       :width  (round (- j1-org-max-angle j1-org-min-angle))
@@ -269,7 +269,7 @@
   (send *robot* :make-joint-min-max-table
         (send (send *robot* :j1) :parent-link) (send (send *robot* :j2) :child-link) (send *robot* :j1) (send *robot* :j2)
         :margin margin)
-  (unless (or (null x::*display*) (= x::*display* 0))
+  (when (and (boundp 'x::*display*) (not (or (null x::*display*) (= x::*display* 0))))
     (send *robot* :plot-joint-min-max-table (send *robot* :j1) (send *robot* :j2))
     ";; plot joint-min-max-table")
   (prog1
diff --git a/irteus/test/rendering.l b/irteus/test/rendering.l
index 6f062824c..8f4ac224a 100644
--- a/irteus/test/rendering.l
+++ b/irteus/test/rendering.l
@@ -11,6 +11,12 @@
   (assert (setq *img* (read-image-file *test-img-path*)) "failed to read-image-file pr2.png")
   (assert (> (send (send *img* :monochromize) :brightest-pixel) 0.0)
           "nothing is drawn in image")
+  )
+
+#+:gl
+(deftest gl-transpose-image ()
+  (setq *test-img-path* (format nil "~A/irteus/test/pr2.png" *eusdir*))
+  (setq *img* (read-image-file *test-img-path*))
   (setq *src-img* (copy-object *img*))
   (gl::transpose-image-rows *img*)
   (assert (not (string= (send *src-img* :entity) (send *img* :entity)))
diff --git a/irteus/test/transparent.l b/irteus/test/transparent.l
index a819e3cc9..850b85adc 100644
--- a/irteus/test/transparent.l
+++ b/irteus/test/transparent.l
@@ -16,6 +16,7 @@
     ret))
 
 ;;memory_leak_transparent
+#+:gl
 (deftest memory-leak-transparent
   (let (vmrss-orig vmrss)
     (setq *cubes* (make-cubes 5000))