diff --git a/CHANGELOG.md b/CHANGELOG.md
index 87c240e3b808c..dd45b9fc920c2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,10 @@
   * Added voxel grid map: [#1076](https://github.com/dartsim/dart/pull/1076), [#1083](https://github.com/dartsim/dart/pull/1083)
   * Added heightmap support: [#1069](https://github.com/dartsim/dart/pull/1069)
 
+* GUI
+
+  * Reorganized OpenGL and GLUT files: [#1088](https://github.com/dartsim/dart/pull/1088)
+
 ### [DART 6.5.0 (2018-05-12)](https://github.com/dartsim/dart/milestone/41?closed=1)
 
 * Common
diff --git a/dart/collision/Option.hpp b/dart/collision/Option.hpp
index dcfda7ce57157..375ba8c83778c 100644
--- a/dart/collision/Option.hpp
+++ b/dart/collision/Option.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_COLLISION_OPTION_HPP_
 #define DART_COLLISION_OPTION_HPP_
 
-#warning "This header has been deprecated in DART 6.1. "\
-  "Please include CollisionOption.hpp intead."
+#pragma message("This header has been deprecated in DART 6.1. "\
+  "Please include CollisionOption.hpp intead.")
 
 #include "dart/collision/CollisionOption.hpp"
 
diff --git a/dart/collision/Result.hpp b/dart/collision/Result.hpp
index 8c7324d753bc0..989081c54e514 100644
--- a/dart/collision/Result.hpp
+++ b/dart/collision/Result.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_COLLISION_RESULT_HPP_
 #define DART_COLLISION_RESULT_HPP_
 
-#warning "This header has been deprecated in DART 6.1. "\
-  "Please include CollisionResult.hpp intead."
+#pragma message("This header has been deprecated in DART 6.1. "\
+  "Please include CollisionResult.hpp intead.")
 
 #include "dart/collision/CollisionResult.hpp"
 
diff --git a/dart/dynamics/MultiSphereShape.hpp b/dart/dynamics/MultiSphereShape.hpp
index cad555e5b28d4..e474767d97113 100644
--- a/dart/dynamics/MultiSphereShape.hpp
+++ b/dart/dynamics/MultiSphereShape.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_DYNAMICS_MULTISPHERESHAPE_HPP_
 #define DART_DYNAMICS_MULTISPHERESHAPE_HPP_
 
-#warning "This header has been deprecated in DART 6.2. "\
-  "Please include MultiSphereConvexHullShape.hpp intead."
+#pragma message("This header has been deprecated in DART 6.2. "\
+  "Please include MultiSphereConvexHullShape.hpp intead.")
 
 #include "dart/dynamics/MultiSphereConvexHullShape.hpp"
 
diff --git a/dart/gui/CMakeLists.txt b/dart/gui/CMakeLists.txt
index 795de42bf41ad..8988c85aa226a 100644
--- a/dart/gui/CMakeLists.txt
+++ b/dart/gui/CMakeLists.txt
@@ -21,15 +21,31 @@ else()
 endif()
 
 # Search all header and source files
-file(GLOB hdrs "*.hpp")
-file(GLOB srcs "*.cpp")
+file(GLOB hdrs "*.hpp" "*.h" "detail/*.hpp")
+file(GLOB srcs "*.cpp" "*.c" "detail/*.cpp")
+
+function(dart_add_gui_headers)
+  dart_property_add(DART_GUI_HEADERS ${ARGN})
+endfunction()
+
+function(dart_add_gui_sources)
+  dart_property_add(DART_GUI_SOURCES ${ARGN})
+endfunction()
+
+# Add required subdirectory
+add_subdirectory(glut)
+
+get_property(dart_gui_headers GLOBAL PROPERTY DART_GUI_HEADERS)
+get_property(dart_gui_sources GLOBAL PROPERTY DART_GUI_SOURCES)
 
 # Set local target name
 set(target_name ${PROJECT_NAME}-gui)
 set(component_name gui)
 
 # Add target
-dart_add_library(${target_name} ${hdrs} ${srcs})
+dart_add_library(${target_name}
+  ${hdrs} ${srcs} ${dart_gui_headers} ${dart_gui_sources}
+)
 target_include_directories(
   ${target_name} SYSTEM
   PUBLIC
@@ -62,6 +78,25 @@ add_subdirectory(osg)
 
 # Generate header for this namespace
 dart_get_filename_components(header_names "gui headers" ${hdrs})
+
+# Remove deprecated files from the list
+list(REMOVE_ITEM header_names
+  "GLFuncs.hpp"
+  "GlutWindow.hpp"
+  "GraphWindow.hpp"
+  "LoadGlut.hpp"
+  "MotionBlurSimWindow.hpp"
+  "SimWindow.hpp"
+  "SoftSimWindow.hpp"
+  "Win2D.hpp"
+  "Win3D.hpp"
+)
+
+set(
+  header_names
+  ${header_names}
+  glut/glut.hpp
+)
 dart_generate_include_header_list(
   gui_headers
   "dart/gui/"
diff --git a/dart/gui/GLFuncs.cpp b/dart/gui/GLFuncs.cpp
index 5b1183e32b1d3..bce15c9c581d1 100644
--- a/dart/gui/GLFuncs.cpp
+++ b/dart/gui/GLFuncs.cpp
@@ -38,40 +38,18 @@
 
 #include <Eigen/Eigen>
 
+#include "dart/common/Console.hpp"
 #include "dart/math/Constants.hpp"
 #include "dart/gui/LoadOpengl.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/GLUTFuncs.hpp"
+// TODO(JS): remove once glut become an optional dependency
 
 namespace dart {
 namespace gui {
 
-  void drawStringOnScreen(float _x, float _y, const std::string& _s,
-                          bool _bigFont) {
-  // draws text on the screen
-  GLint oldMode;
-  glGetIntegerv(GL_MATRIX_MODE, &oldMode);
-  glMatrixMode(GL_PROJECTION);
-
-  glPushMatrix();
-  glLoadIdentity();
-  gluOrtho2D(0.0, 1.0, 0.0, 1.0);
-
-  glMatrixMode(GL_MODELVIEW);
-  glPushMatrix();
-  glLoadIdentity();
-  glRasterPos2f(_x, _y);
-  unsigned int length = _s.length();
-  for (unsigned int c = 0; c < length; c++) {
-    if (_bigFont)
-      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, _s.at(c) );
-    else
-      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_10, _s.at(c) );
-  }  
-  glPopMatrix();
-
-  glMatrixMode(GL_PROJECTION);
-  glPopMatrix();
-  glMatrixMode(oldMode);
+void drawStringOnScreen(float x, float y, const std::string& s, bool bigFont)
+{
+  glut::drawStringOnScreen(x, y, s, bigFont);
 }
 
 // draw a 3D arrow starting from pt along dir, the arrowhead is on the other end
diff --git a/dart/gui/GLFuncs.hpp b/dart/gui/GLFuncs.hpp
index d213a5a474e47..2e6df3c662918 100644
--- a/dart/gui/GLFuncs.hpp
+++ b/dart/gui/GLFuncs.hpp
@@ -34,15 +34,18 @@
 #define DART_GUI_GLFUNCS_HPP_
 
 #include <string>
-
 #include <Eigen/Eigen>
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-  void drawStringOnScreen(float _x, float _y, const std::string& _s,
-                          bool _bigFont = true);
+/// \deprecated Deprecated in 6.6. Please use
+/// dart::gui::glut::drawStringOnScreen() instead in
+/// dart/gui/glut/GLUTFuncs.hpp file.
+DART_DEPRECATED(6.6)
+void drawStringOnScreen(float _x, float _y, const std::string& _s,
+                        bool _bigFont = true);
 
 /// \brief
 void drawArrow3D(const Eigen::Vector3d& _pt, const Eigen::Vector3d& _dir,
diff --git a/dart/gui/GlutWindow.hpp b/dart/gui/GlutWindow.hpp
index d1b7abeeccdb9..2717cd62bc545 100644
--- a/dart/gui/GlutWindow.hpp
+++ b/dart/gui/GlutWindow.hpp
@@ -33,67 +33,18 @@
 #ifndef DART_GUI_GLUTWINDOW_HPP_
 #define DART_GUI_GLUTWINDOW_HPP_
 
-#include <vector>
+#pragma message("This header is deprecated as of DART 6.6. "\
+    "Please use dart/gui/glut/Window.hpp instead.")
 
-#include "dart/gui/LoadOpengl.hpp"
-#include "dart/gui/RenderInterface.hpp"
+#include "dart/gui/glut/Window.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class GlutWindow {
-public:
-  GlutWindow();
-  virtual ~GlutWindow();
+using GlutWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::Window;
 
-  /// \warning This function should be called once.
-  virtual void initWindow(int _w, int _h, const char* _name);
-
-  // callback functions
-  static void reshape(int _w, int _h);
-  static void keyEvent(unsigned char _key, int _x, int _y);
-  static void specKeyEvent(int _key, int _x, int _y);
-  static void mouseClick(int _button, int _state, int _x, int _y);
-  static void mouseDrag(int _x, int _y);
-  static void mouseMove(int _x, int _y);
-  static void refresh();
-  static void refreshTimer(int _val);
-  static void runTimer(int _val);
-
-  static GlutWindow* current();
-  static std::vector<GlutWindow*> mWindows;
-  static std::vector<int> mWinIDs;
-
-protected:
-  // callback implementation
-  virtual void resize(int _w, int _h) = 0;
-  virtual void render() = 0;
-  virtual void keyboard(unsigned char _key, int _x, int _y);
-  virtual void specKey(int _key, int _x, int _y);
-  virtual void click(int _button, int _state, int _x, int _y);
-  virtual void drag(int _x, int _y);
-  virtual void move(int _x, int _y);
-  virtual void displayTimer(int _val);
-  virtual void simTimer(int _val);
-
-  virtual bool screenshot();
-
-  int mWinWidth;
-  int mWinHeight;
-  int mMouseX;
-  int mMouseY;
-  double mDisplayTimeout;
-  bool mMouseDown;
-  bool mMouseDrag;
-  bool mCapture;
-  double mBackground[4];
-  gui::RenderInterface* mRI;
-  std::vector<unsigned char> mScreenshotTemp;
-  std::vector<unsigned char> mScreenshotTemp2;
-};
-
-}  // namespace gui
-}  // namespace dart
+} // namespace gui
+} // namespace dart
 
 #endif  // DART_GUI_GLUTWINDOW_HPP_
diff --git a/dart/gui/GraphWindow.hpp b/dart/gui/GraphWindow.hpp
index e71382ba9380a..624220f392d8f 100644
--- a/dart/gui/GraphWindow.hpp
+++ b/dart/gui/GraphWindow.hpp
@@ -39,35 +39,16 @@
 #ifndef DART_GUI_GRAPHWINDOW_HPP_
 #define DART_GUI_GRAPHWINDOW_HPP_
 
-#include <vector>
+#pragma message("This header is deprecated as of DART 6.6. "\
+    "Please use dart/gui/glut/GraphWindow.hpp instead.")
 
-#include <Eigen/Dense>
-
-#include "dart/gui/Win2D.hpp"
+#include "dart/gui/glut/GraphWindow.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class GraphWindow : public Win2D {
-public:
-  /// \brief
-  GraphWindow();
-
-  /// \brief
-  virtual ~GraphWindow();
-
-  /// \brief
-  void draw() override;
-
-  /// \brief
-  void keyboard(unsigned char _key, int _x, int _y) override;
-
-  void setData(Eigen::VectorXd _data);
-
-protected:
-  Eigen::VectorXd mData;
-};
+using GraphWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::GraphWindow;
  
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/LoadGlut.hpp b/dart/gui/LoadGlut.hpp
index 18cf436eddf81..c5baa79309211 100644
--- a/dart/gui/LoadGlut.hpp
+++ b/dart/gui/LoadGlut.hpp
@@ -33,15 +33,9 @@
 #ifndef DART_GUI_LOADGLUT_HPP_
 #define DART_GUI_LOADGLUT_HPP_
 
-#if defined(_WIN32)
-  #include <cstdlib> // To disable glut::exit() function
-  #include <GL/glut.h>
-#elif defined(__linux__)
-  #include <GL/glut.h>
-#elif defined(__APPLE__)
-  #include <GLUT/glut.h>
-#else
-  #error "Load OpenGL Error: What's your operating system?"
-#endif
+#pragma message("This file is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/LoadGlut.hpp instead.")
+
+#include "dart/gui/glut/LoadGlut.hpp"
 
 #endif  // DART_GUI_LOADGLUT_HPP_
diff --git a/dart/gui/MotionBlurSimWindow.hpp b/dart/gui/MotionBlurSimWindow.hpp
index 0950fb2688059..ca53ebbc801b2 100644
--- a/dart/gui/MotionBlurSimWindow.hpp
+++ b/dart/gui/MotionBlurSimWindow.hpp
@@ -9,49 +9,19 @@
 #ifndef DART_GUI_MOTIONBLURSIMWINDOW_HPP_
 #define DART_GUI_MOTIONBLURSIMWINDOW_HPP_
 
-#include <vector>
-#include <Eigen/Dense>
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/MotionBlurSimWindow.hpp instead.")
 
-#include "dart/gui/SimWindow.hpp"
+#include "dart/gui/glut/MotionBlurSimWindow.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-class MotionBlurSimWindow : public SimWindow
-{
-public:
+using MotionBlurSimWindow DART_DEPRECATED(6.6) =
+  ::dart::gui::glut::MotionBlurSimWindow;
 
-  /// \brief
-  MotionBlurSimWindow();
-
-  /// \brief
-  virtual ~MotionBlurSimWindow();
-    
-  // Set the Quality of Motion Blur
-  // Default is 5 (record position of every frame)
-  // int from 0 (No motion blur) - 5 (Highest)
-  // The function takes value smaller than 0 as 0, larger than 5 as 5
-  void setMotionBlurQuality(int _val);
-
-  // Override the render function in dart/gui/Win3D.hpp
-  // To draw the motion image
-  // Render function is called once per GUI display time
-  // but in MotionBlurSimWindow, draw function will run in motion blur frequency
-  void render() override;
-
-  // Override the display timer,
-  // Move the part of "step" in world function to the render function
-  void displayTimer(int _val) override;
-    
-protected:
-  // Determines the frequency of the motion blur
-  // Default is 1, which means motion blur effect has the highest quality
-  // When set to m, motion blur record data every m frames
-  int mMotionBlurFrequency;
-
-}; // End of Class Definition
- 
-} // namespace gui
-} // namespace dart
+}  // namespace gui
+}  // namespace dart
 
 #endif // DART_GUI_MOTIONBLURSIMWINDOW_HPP_
diff --git a/dart/gui/SimWindow.hpp b/dart/gui/SimWindow.hpp
index 2948aa3e6daf0..1915008c8fa2e 100644
--- a/dart/gui/SimWindow.hpp
+++ b/dart/gui/SimWindow.hpp
@@ -39,120 +39,16 @@
 #ifndef DART_GUI_SIMWINDOW_HPP_
 #define DART_GUI_SIMWINDOW_HPP_
 
-#include <vector>
-
-#include <Eigen/Dense>
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/SimWindow.hpp instead.")
 
+#include "dart/gui/glut/SimWindow.hpp"
 #include "dart/common/Deprecated.hpp"
-#include "dart/gui/Win3D.hpp"
-#include "dart/simulation/World.hpp"
 
 namespace dart {
 namespace gui {
 
-class GraphWindow;
-
-/// \brief
-class SimWindow : public Win3D {
-public:
-  /// \brief
-  SimWindow();
-
-  /// \brief
-  virtual ~SimWindow();
-
-  /// \brief
-  virtual void timeStepping();
-
-  virtual void drawWorld() const;
-
-  virtual void drawSkeletons() const;
-
-  DART_DEPRECATED(6.0)
-  virtual void drawSkels();
-
-  DART_DEPRECATED(6.0)
-  virtual void drawEntities();
-
-  /// \brief
-  void displayTimer(int _val) override;
-
-  /// \brief
-  void draw() override;
-
-  /// \brief
-  void keyboard(unsigned char _key, int _x, int _y) override;
-
-  /// \brief
-  void setWorld(dart::simulation::WorldPtr _world);
-
-  /// \brief Save world in 'tempWorld.txt'
-  void saveWorld();
-
-  /// \brief Plot _data in a 2D window
-  void plot(Eigen::VectorXd& _data);
-//  bool isSimulating() const { return mSimulating; }
-
-//  void setSimulatingFlag(int _flag) { mSimulating = _flag; }
-
-protected:
-
-  virtual void drawSkeleton(
-      const dynamics::Skeleton* skeleton,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true) const;
-
-  virtual void drawEntity(
-      const dynamics::Entity* entity,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true) const;
-
-  virtual void drawBodyNode(
-      const dynamics::BodyNode* bodyNode,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true,
-      bool recursive = false) const;
-
-  virtual void drawShapeFrame(
-      const dynamics::ShapeFrame* shapeFrame,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true) const;
-
-  virtual void drawShape(
-      const dynamics::Shape* shape,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5)) const;
-
-  virtual void drawPointMasses(
-      const std::vector<dynamics::PointMass*> pointMasses,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true) const;
-
-  virtual void drawMarker(
-      const dynamics::Marker* marker,
-      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
-      bool useDefaultColor = true) const;
-
-  /// \brief
-  simulation::WorldPtr mWorld;
-
-  /// \brief
-  int mPlayFrame;
-
-  /// \brief
-  bool mPlay;
-
-  /// \brief
-  bool mSimulating;
-
-  /// If true, render point masses of soft bodies
-  bool mShowPointMasses;
-
-  /// If true, render markers
-  bool mShowMarkers;
-
-  /// \brief Array of graph windows
-  std::vector<GraphWindow*> mGraphWindows;
-};
+using SimWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::SimWindow;
 
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/SoftSimWindow.hpp b/dart/gui/SoftSimWindow.hpp
index 0fde069c84968..c1588361b7cfd 100644
--- a/dart/gui/SoftSimWindow.hpp
+++ b/dart/gui/SoftSimWindow.hpp
@@ -39,31 +39,16 @@
 #ifndef DART_GUI_SOFTSIMWINDOW_HPP_
 #define DART_GUI_SOFTSIMWINDOW_HPP_
 
-#include "dart/gui/SimWindow.hpp"
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/SoftSimWindow.hpp instead.")
+
+#include "dart/gui/glut/SoftSimWindow.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class SoftSimWindow : public SimWindow
-{
-public:
-  /// \brief
-  SoftSimWindow();
-
-  /// \brief
-  virtual ~SoftSimWindow();
-
-  /// \brief
-  void keyboard(unsigned char key, int x, int y) override;
-
-protected:
-  /// \brief
-  bool mShowPointMasses;
-
-  /// \brief
-  bool mShowMeshs;
-};
+using SoftSimWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::SoftSimWindow;
 
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/Win2D.hpp b/dart/gui/Win2D.hpp
index c985c09320fee..9fa6f78cc687d 100644
--- a/dart/gui/Win2D.hpp
+++ b/dart/gui/Win2D.hpp
@@ -33,48 +33,16 @@
 #ifndef DART_GUI_WIN2D_HPP_
 #define DART_GUI_WIN2D_HPP_
 
-#include "dart/gui/GlutWindow.hpp"
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/Win2D.hpp instead.")
+
+#include "dart/gui/glut/Win2D.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class Win2D : public GlutWindow {
-public:
-  /// \brief
-  Win2D();
-
-  /// \brief
-  void resize(int _w, int _h) override;
-
-  /// \brief
-  void render() override;
-
-  /// \brief
-  void keyboard(unsigned char _key, int _x, int _y) override;
-
-  /// \brief
-  void click(int _button, int _state, int _x, int _y) override;
-
-  /// \brief
-  void drag(int _x, int _y) override;
-
-  /// \brief
-  virtual void initGL();
-
-  /// \brief
-  virtual void draw() = 0;
-
-protected:
-  /// \brief
-  bool mTranslate;
-
-  /// \brief
-  double mTransX;
-
-  /// \brief
-  double mTransY;
-};
+using Win2D DART_DEPRECATED(6.6) = ::dart::gui::glut::Win2D;
 
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/Win3D.hpp b/dart/gui/Win3D.hpp
index 8407f889c7ba9..49eaa093af915 100644
--- a/dart/gui/Win3D.hpp
+++ b/dart/gui/Win3D.hpp
@@ -33,43 +33,16 @@
 #ifndef DART_GUI_WIN3D_HPP_
 #define DART_GUI_WIN3D_HPP_
 
-#include <Eigen/Eigen>
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/Win3D.hpp instead.")
 
-#include "dart/gui/GlutWindow.hpp"
-#include "dart/gui/Trackball.hpp"
+#include "dart/gui/glut/Win3D.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-class Win3D : public GlutWindow {
-public:
-  Win3D();
-
-  void initWindow(int _w, int _h, const char* _name) override;
-  void resize(int _w, int _h) override;
-  void render() override;
-
-  void keyboard(unsigned char _key, int _x, int _y) override;
-  void click(int _button, int _state, int _x, int _y) override;
-  void drag(int _x, int _y) override;
-
-  virtual void initGL();
-  virtual void initLights();
-
-  virtual void draw()=0;
-
-protected:
-  Trackball mTrackBall;
-  Eigen::Vector3d mTrans;
-  Eigen::Vector3d mEye;
-  Eigen::Vector3d mUp;
-  float mZoom;
-  float mPersp;
-
-  bool mRotate;
-  bool mTranslate;
-  bool mZooming;
-};
+using Win3D DART_DEPRECATED(6.6) = ::dart::gui::glut::Win3D;
 
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/CMakeLists.txt b/dart/gui/glut/CMakeLists.txt
new file mode 100644
index 0000000000000..9ddaccad48d3d
--- /dev/null
+++ b/dart/gui/glut/CMakeLists.txt
@@ -0,0 +1,25 @@
+# Search all header and source files
+file(GLOB hdrs "*.hpp")
+file(GLOB srcs "*.cpp")
+dart_add_gui_headers(${hdrs} ${detail_hdrs})
+dart_add_gui_sources(${srcs} ${detail_srcs})
+
+# Generate header for this namespace
+dart_get_filename_components(header_names "gui_glut_headers headers" ${hdrs})
+dart_generate_include_header_list(
+  gui_glut_headers
+  "dart/gui/glut/"
+  "gui_glut_headers headers"
+  ${header_names}
+)
+configure_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/glut.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/glut.hpp
+)
+
+# Install
+install(
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/glut.hpp
+  DESTINATION include/dart/gui/glut
+  COMPONENT headers
+)
diff --git a/dart/gui/glut/GLUTFuncs.cpp b/dart/gui/glut/GLUTFuncs.cpp
new file mode 100644
index 0000000000000..a694cc6d6385a
--- /dev/null
+++ b/dart/gui/glut/GLUTFuncs.cpp
@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/gui/glut/GLUTFuncs.hpp"
+
+#include <cstdio>
+#include <iostream>
+#include <string>
+
+#include <Eigen/Eigen>
+
+#include "dart/gui/LoadOpengl.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+void drawStringOnScreen(float x, float y, const std::string& s, bool bigFont)
+{
+  // draws text on the screen
+  GLint oldMode;
+  glGetIntegerv(GL_MATRIX_MODE, &oldMode);
+  glMatrixMode(GL_PROJECTION);
+
+  glPushMatrix();
+  glLoadIdentity();
+  gluOrtho2D(0.0, 1.0, 0.0, 1.0);
+
+  glMatrixMode(GL_MODELVIEW);
+  glPushMatrix();
+  glLoadIdentity();
+  glRasterPos2f(x, y);
+  unsigned int length = s.length();
+  for (unsigned int c = 0; c < length; c++)
+  {
+    if (bigFont)
+      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, s.at(c) );
+    else
+      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_10, s.at(c) );
+  }
+  glPopMatrix();
+
+  glMatrixMode(GL_PROJECTION);
+  glPopMatrix();
+  glMatrixMode(oldMode);
+}
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
diff --git a/dart/gui/glut/GLUTFuncs.hpp b/dart/gui/glut/GLUTFuncs.hpp
new file mode 100644
index 0000000000000..605ad78fc21f1
--- /dev/null
+++ b/dart/gui/glut/GLUTFuncs.hpp
@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_GLFUNCS_HPP_
+#define DART_GUI_GLUT_GLFUNCS_HPP_
+
+#include <string>
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+void drawStringOnScreen(
+    float x, float y, const std::string& s, bool bigFont = true);
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_GLFUNCS_HPP_
diff --git a/dart/gui/GlutWindow.cpp b/dart/gui/glut/GlutWindow.cpp
similarity index 81%
rename from dart/gui/GlutWindow.cpp
rename to dart/gui/glut/GlutWindow.cpp
index bdeaf8e7b582a..83a3275be3d02 100644
--- a/dart/gui/GlutWindow.cpp
+++ b/dart/gui/glut/GlutWindow.cpp
@@ -30,7 +30,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/GlutWindow.hpp"
+#include "dart/gui/glut/Window.hpp"
 
 #include "dart/external/lodepng/lodepng.h"
 
@@ -48,17 +48,18 @@
 #include <vector>
 
 #include "dart/common/Console.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 #include "dart/gui/GLFuncs.hpp"
 #include "dart/gui/OpenGLRenderInterface.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
-std::vector<GlutWindow*> GlutWindow::mWindows;
-std::vector<int> GlutWindow::mWinIDs;
+std::vector<Window*> Window::mWindows;
+std::vector<int> Window::mWinIDs;
 
-GlutWindow::GlutWindow() {
+Window::Window() {
   mWinWidth = 0;
   mWinHeight = 0;
   mMouseX = 0;
@@ -74,11 +75,11 @@ GlutWindow::GlutWindow() {
   mRI = nullptr;
 }
 
-GlutWindow::~GlutWindow() {
+Window::~Window() {
   delete mRI;
 }
 
-void GlutWindow::initWindow(int _w, int _h, const char* _name) {
+void Window::initWindow(int _w, int _h, const char* _name) {
   mWindows.push_back(this);
 
   mWinWidth = _w;
@@ -113,53 +114,53 @@ void GlutWindow::initWindow(int _w, int _h, const char* _name) {
   // Note: We book the timer id 0 for the main rendering purpose.
 }
 
-void GlutWindow::reshape(int _w, int _h) {
+void Window::reshape(int _w, int _h) {
   current()->mScreenshotTemp = std::vector<unsigned char>(_w*_h*4);
   current()->mScreenshotTemp2 = std::vector<unsigned char>(_w*_h*4);
   current()->resize(_w, _h);
 }
 
-void GlutWindow::keyEvent(unsigned char _key, int _x, int _y) {
+void Window::keyEvent(unsigned char _key, int _x, int _y) {
   current()->keyboard(_key, _x, _y);
 }
 
-void GlutWindow::specKeyEvent(int _key, int _x, int _y) {
+void Window::specKeyEvent(int _key, int _x, int _y) {
   current()->specKey(_key, _x, _y);
 }
 
-void GlutWindow::mouseClick(int _button, int _state, int _x, int _y) {
+void Window::mouseClick(int _button, int _state, int _x, int _y) {
   current()->click(_button, _state, _x, _y);
 }
 
-void GlutWindow::mouseDrag(int _x, int _y) {
+void Window::mouseDrag(int _x, int _y) {
   current()->drag(_x, _y);
 }
 
-void GlutWindow::mouseMove(int _x, int _y) {
+void Window::mouseMove(int _x, int _y) {
   current()->move(_x, _y);
 }
 
-void GlutWindow::refresh() {
+void Window::refresh() {
   current()->render();
 }
 
-void GlutWindow::refreshTimer(int _val) {
+void Window::refreshTimer(int _val) {
   current()->displayTimer(_val);
 }
 
-void GlutWindow::displayTimer(int _val) {
+void Window::displayTimer(int _val) {
   glutPostRedisplay();
   glutTimerFunc(mDisplayTimeout, refreshTimer, _val);
 }
 
-void GlutWindow::simTimer(int /*_val*/) {
+void Window::simTimer(int /*_val*/) {
 }
 
-void GlutWindow::runTimer(int _val) {
+void Window::runTimer(int _val) {
   current()->simTimer(_val);
 }
 
-bool GlutWindow::screenshot() {
+bool Window::screenshot() {
   static int count = 0;
   const char directory[8] = "frames";
   const char fileBase[8] = "Capture";
@@ -181,7 +182,7 @@ bool GlutWindow::screenshot() {
 
   if (!S_ISDIR(buff.st_mode))
   {
-    dtwarn << "[GlutWindow::screenshot] 'frames' is not a directory, "
+    dtwarn << "[Window::screenshot] 'frames' is not a directory, "
            << "cannot write a screenshot\n";
     return false;
   }
@@ -218,7 +219,7 @@ bool GlutWindow::screenshot() {
   }
 }
 
-inline GlutWindow* GlutWindow::current() {
+inline Window* Window::current() {
   int id = glutGetWindow();
   for (unsigned int i = 0; i < mWinIDs.size(); i++) {
     if (mWinIDs.at(i) == id) {
@@ -229,21 +230,22 @@ inline GlutWindow* GlutWindow::current() {
   exit(0);
 }
 
-void GlutWindow::keyboard(unsigned char /*_key*/, int /*_x*/, int /*_y*/) {
+void Window::keyboard(unsigned char /*_key*/, int /*_x*/, int /*_y*/) {
   // TODO(JS): Is 2d point information necessary for keyboard event?
 }
 
-void GlutWindow::specKey(int /*_key*/, int /*_x*/, int /*_y*/) {
+void Window::specKey(int /*_key*/, int /*_x*/, int /*_y*/) {
 }
 
-void GlutWindow::click(int /*_button*/, int /*_state*/, int /*_x*/, int /*_y*/) {
+void Window::click(int /*_button*/, int /*_state*/, int /*_x*/, int /*_y*/) {
 }
 
-void GlutWindow::drag(int /*_x*/, int /*_y*/) {
+void Window::drag(int /*_x*/, int /*_y*/) {
 }
 
-void GlutWindow::move(int /*_x*/, int /*_y*/) {
+void Window::move(int /*_x*/, int /*_y*/) {
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/GraphWindow.cpp b/dart/gui/glut/GraphWindow.cpp
similarity index 93%
rename from dart/gui/GraphWindow.cpp
rename to dart/gui/glut/GraphWindow.cpp
index 5c201f7704070..7b17172c9cde6 100644
--- a/dart/gui/GraphWindow.cpp
+++ b/dart/gui/glut/GraphWindow.cpp
@@ -36,17 +36,18 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/GraphWindow.hpp"
+#include "dart/gui/glut/GraphWindow.hpp"
 
 #include <cstdio>
 #include <iostream>
 #include <string>
 
-#include "dart/gui/GLFuncs.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/GLUTFuncs.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
 GraphWindow::GraphWindow()
   : Win2D() {
@@ -94,7 +95,7 @@ void GraphWindow::draw() {
 #endif
     std::string frame(buff);
     glColor3f(0.0, 0.0, 0.0);
-    gui::drawStringOnScreen(xPos, 0.01f, frame, false);
+    drawStringOnScreen(xPos, 0.01f, frame, false);
     xPos += 0.2;
   }
 
@@ -109,7 +110,7 @@ void GraphWindow::draw() {
 #endif
     std::string frame(buff);
     glColor3f(0.0, 0.0, 0.0);
-    gui::drawStringOnScreen(0.01f, yPos, frame, false);
+    drawStringOnScreen(0.01f, yPos, frame, false);
     yPos += 0.2;
   }
 }
@@ -126,5 +127,6 @@ void GraphWindow::setData(Eigen::VectorXd _data) {
   mData = _data;
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/GraphWindow.hpp b/dart/gui/glut/GraphWindow.hpp
new file mode 100644
index 0000000000000..1fe561994a1ad
--- /dev/null
+++ b/dart/gui/glut/GraphWindow.hpp
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_GRAPHWINDOW_HPP_
+#define DART_GUI_GLUT_GRAPHWINDOW_HPP_
+
+#include <vector>
+
+#include <Eigen/Dense>
+
+#include "dart/gui/glut/Win2D.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+/// \brief
+class GraphWindow : public Win2D {
+public:
+  /// \brief
+  GraphWindow();
+
+  /// \brief
+  virtual ~GraphWindow();
+
+  /// \brief
+  void draw() override;
+
+  /// \brief
+  void keyboard(unsigned char _key, int _x, int _y) override;
+
+  void setData(Eigen::VectorXd _data);
+
+protected:
+  Eigen::VectorXd mData;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_GRAPHWINDOW_HPP_
diff --git a/dart/gui/glut/LoadGlut.hpp b/dart/gui/glut/LoadGlut.hpp
new file mode 100644
index 0000000000000..2ea3c0d7419c9
--- /dev/null
+++ b/dart/gui/glut/LoadGlut.hpp
@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_LOADGLUT_HPP_
+#define DART_GUI_GLUT_LOADGLUT_HPP_
+
+#if defined(_WIN32)
+  #include <cstdlib> // To disable glut::exit() function
+  #include <GL/glut.h>
+#elif defined(__linux__)
+  #include <GL/glut.h>
+#elif defined(__APPLE__)
+  #include <GLUT/glut.h>
+#else
+  #error "Load OpenGL Error: What's your operating system?"
+#endif
+
+#endif  // DART_GUI_GLUT_LOADGLUT_HPP_
diff --git a/dart/gui/MotionBlurSimWindow.cpp b/dart/gui/glut/MotionBlurSimWindow.cpp
similarity index 94%
rename from dart/gui/MotionBlurSimWindow.cpp
rename to dart/gui/glut/MotionBlurSimWindow.cpp
index 6bad000c29f62..719dc8466d972 100644
--- a/dart/gui/MotionBlurSimWindow.cpp
+++ b/dart/gui/glut/MotionBlurSimWindow.cpp
@@ -9,29 +9,33 @@
 /////////////////////////////////////////////////////////////////////////
 // OpenGL Motion blur require the Accumulate function of OpenGL
 // To intergrate this class into the engine
-// Change line 86 of dart/gui/GlutWindows.cpp
+// Change line 86 of dart/gui/glut/Window.cpp
 // From  glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA | GLUT_MULTISAMPLE);
 // to    glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA | GLUT_MULTISAMPLE | GLUT_ACCUM);
 /////////////////////////////////////////////////////////////////////////
 
 
-#include "dart/gui/MotionBlurSimWindow.hpp"
+#include "dart/gui/glut/MotionBlurSimWindow.hpp"
 
 #include "dart/constraint/ConstraintSolver.hpp"
 #include "dart/gui/GLFuncs.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
+//==============================================================================
 MotionBlurSimWindow::MotionBlurSimWindow()
   : SimWindow()
 {
   mMotionBlurFrequency = 1;
 }
 
+//==============================================================================
 MotionBlurSimWindow::~MotionBlurSimWindow()
 {
+  // Do nothing
 }
 
 //==============================================================================
@@ -218,8 +222,7 @@ void MotionBlurSimWindow::displayTimer(int _val)
   glutPostRedisplay();
   glutTimerFunc(mDisplayTimeout, refreshTimer, _val);
 }
-    
 
+} // namespace glut
 } // namespace gui
 } // namespace dart
-
diff --git a/dart/gui/glut/MotionBlurSimWindow.hpp b/dart/gui/glut/MotionBlurSimWindow.hpp
new file mode 100644
index 0000000000000..448ee40f5b28d
--- /dev/null
+++ b/dart/gui/glut/MotionBlurSimWindow.hpp
@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+//
+//  MotionBlurSimWindow.hpp
+//  dart
+//
+//  Created by Dong Xu on 1/22/17.
+//
+//
+
+#ifndef DART_GUI_GLUT_MOTIONBLURSIMWINDOW_HPP_
+#define DART_GUI_GLUT_MOTIONBLURSIMWINDOW_HPP_
+
+#include <vector>
+#include <Eigen/Dense>
+
+#include "dart/gui/glut/SimWindow.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+class MotionBlurSimWindow : public glut::SimWindow
+{
+public:
+  /// \brief
+  MotionBlurSimWindow();
+
+  /// \brief
+  virtual ~MotionBlurSimWindow();
+    
+  // Set the Quality of Motion Blur
+  // Default is 5 (record position of every frame)
+  // int from 0 (No motion blur) - 5 (Highest)
+  // The function takes value smaller than 0 as 0, larger than 5 as 5
+  void setMotionBlurQuality(int _val);
+
+  // Override the render function in dart/gui/Win3D.hpp
+  // To draw the motion image
+  // Render function is called once per GUI display time
+  // but in MotionBlurSimWindow, draw function will run in motion blur frequency
+  void render() override;
+
+  // Override the display timer,
+  // Move the part of "step" in world function to the render function
+  void displayTimer(int _val) override;
+    
+protected:
+  // Determines the frequency of the motion blur
+  // Default is 1, which means motion blur effect has the highest quality
+  // When set to m, motion blur record data every m frames
+  int mMotionBlurFrequency;
+
+}; // End of Class Definition
+
+} // namespace glut
+} // namespace gui
+} // namespace dart
+
+#endif // DART_GUI_GLUT_MOTIONBLURSIMWINDOW_HPP_
diff --git a/dart/gui/SimWindow.cpp b/dart/gui/glut/SimWindow.cpp
similarity index 98%
rename from dart/gui/SimWindow.cpp
rename to dart/gui/glut/SimWindow.cpp
index dec29f8592060..922f50993e362 100644
--- a/dart/gui/SimWindow.cpp
+++ b/dart/gui/glut/SimWindow.cpp
@@ -36,7 +36,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/SimWindow.hpp"
+#include "dart/gui/glut/SimWindow.hpp"
 
 #include <cstdio>
 #include <iostream>
@@ -59,13 +59,14 @@
 #include "dart/dynamics/Marker.hpp"
 #include "dart/constraint/ConstraintSolver.hpp"
 #include "dart/collision/CollisionDetector.hpp"
-#include "dart/gui/LoadGlut.hpp"
-#include "dart/gui/GLFuncs.hpp"
-#include "dart/gui/GraphWindow.hpp"
+#include "dart/gui/glut/GLUTFuncs.hpp"
+#include "dart/gui/glut/GraphWindow.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 #include "dart/utils/FileInfoWorld.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
 SimWindow::SimWindow()
   : Win3D() {
@@ -207,7 +208,7 @@ void SimWindow::draw() {
 #endif
   std::string frame(buff);
   glColor3f(0.0, 0.0, 0.0);
-  gui::drawStringOnScreen(0.02f, 0.02f, frame);
+  gui::glut::drawStringOnScreen(0.02f, 0.02f, frame);
   glEnable(GL_LIGHTING);
 }
 
@@ -551,5 +552,6 @@ void SimWindow::drawMarker(const dynamics::Marker* marker,
   mRI->popName();
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/SimWindow.hpp b/dart/gui/glut/SimWindow.hpp
new file mode 100644
index 0000000000000..3ec0438218e9a
--- /dev/null
+++ b/dart/gui/glut/SimWindow.hpp
@@ -0,0 +1,156 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_SIMWINDOW_HPP_
+#define DART_GUI_GLUT_SIMWINDOW_HPP_
+
+#include <vector>
+
+#include <Eigen/Dense>
+
+#include "dart/common/Deprecated.hpp"
+#include "dart/gui/glut/Win3D.hpp"
+#include "dart/simulation/World.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+class GraphWindow;
+
+/// \brief
+class SimWindow : public Win3D {
+public:
+  /// \brief
+  SimWindow();
+
+  /// \brief
+  virtual ~SimWindow();
+
+  /// \brief
+  virtual void timeStepping();
+
+  virtual void drawWorld() const;
+
+  virtual void drawSkeletons() const;
+
+  DART_DEPRECATED(6.0)
+  virtual void drawSkels();
+
+  DART_DEPRECATED(6.0)
+  virtual void drawEntities();
+
+  /// \brief
+  void displayTimer(int _val) override;
+
+  /// \brief
+  void draw() override;
+
+  /// \brief
+  void keyboard(unsigned char _key, int _x, int _y) override;
+
+  /// \brief
+  void setWorld(dart::simulation::WorldPtr _world);
+
+  /// \brief Save world in 'tempWorld.txt'
+  void saveWorld();
+
+  /// \brief Plot _data in a 2D window
+  void plot(Eigen::VectorXd& _data);
+//  bool isSimulating() const { return mSimulating; }
+
+//  void setSimulatingFlag(int _flag) { mSimulating = _flag; }
+
+protected:
+
+  virtual void drawSkeleton(
+      const dynamics::Skeleton* skeleton,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true) const;
+
+  virtual void drawEntity(
+      const dynamics::Entity* entity,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true) const;
+
+  virtual void drawBodyNode(
+      const dynamics::BodyNode* bodyNode,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true,
+      bool recursive = false) const;
+
+  virtual void drawShapeFrame(
+      const dynamics::ShapeFrame* shapeFrame,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true) const;
+
+  virtual void drawShape(
+      const dynamics::Shape* shape,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5)) const;
+
+  virtual void drawPointMasses(
+      const std::vector<dynamics::PointMass*> pointMasses,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true) const;
+
+  virtual void drawMarker(
+      const dynamics::Marker* marker,
+      const Eigen::Vector4d& color = Eigen::Vector4d::Constant(0.5),
+      bool useDefaultColor = true) const;
+
+  /// \brief
+  simulation::WorldPtr mWorld;
+
+  /// \brief
+  int mPlayFrame;
+
+  /// \brief
+  bool mPlay;
+
+  /// \brief
+  bool mSimulating;
+
+  /// If true, render point masses of soft bodies
+  bool mShowPointMasses;
+
+  /// If true, render markers
+  bool mShowMarkers;
+
+  /// \brief Array of graph windows
+  std::vector<GraphWindow*> mGraphWindows;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_SIMWINDOW_HPP_
diff --git a/dart/gui/SoftSimWindow.cpp b/dart/gui/glut/SoftSimWindow.cpp
similarity index 96%
rename from dart/gui/SoftSimWindow.cpp
rename to dart/gui/glut/SoftSimWindow.cpp
index 3433ac8779adb..55b2df26762ee 100644
--- a/dart/gui/SoftSimWindow.cpp
+++ b/dart/gui/glut/SoftSimWindow.cpp
@@ -36,12 +36,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/SoftSimWindow.hpp"
+#include "dart/gui/glut/SoftSimWindow.hpp"
 
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
 SoftSimWindow::SoftSimWindow()
   : SimWindow(),
@@ -101,5 +102,6 @@ void SoftSimWindow::keyboard(unsigned char key, int x, int y)
   glutPostRedisplay();
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/SoftSimWindow.hpp b/dart/gui/glut/SoftSimWindow.hpp
new file mode 100644
index 0000000000000..e8af653816287
--- /dev/null
+++ b/dart/gui/glut/SoftSimWindow.hpp
@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_SOFTSIMWINDOW_HPP_
+#define DART_GUI_GLUT_SOFTSIMWINDOW_HPP_
+
+#include "dart/gui/glut/SimWindow.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+/// \brief
+class SoftSimWindow : public SimWindow
+{
+public:
+  /// \brief
+  SoftSimWindow();
+
+  /// \brief
+  virtual ~SoftSimWindow();
+
+  /// \brief
+  void keyboard(unsigned char key, int x, int y) override;
+
+protected:
+  /// \brief
+  bool mShowPointMasses;
+
+  /// \brief
+  bool mShowMeshs;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_SOFTSIMWINDOW_HPP_
diff --git a/dart/gui/Win2D.cpp b/dart/gui/glut/Win2D.cpp
similarity index 96%
rename from dart/gui/Win2D.cpp
rename to dart/gui/glut/Win2D.cpp
index 999f05a6f7795..315edf8cafb3f 100644
--- a/dart/gui/Win2D.cpp
+++ b/dart/gui/glut/Win2D.cpp
@@ -30,16 +30,17 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/Win2D.hpp"
+#include "dart/gui/glut/Win2D.hpp"
 
 #include <iostream>
 
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
-Win2D::Win2D() : GlutWindow() {
+Win2D::Win2D() : glut::Window() {
   mTransX = 0;
   mTransY = 0;
   mTranslate = false;
@@ -154,5 +155,6 @@ void Win2D::initGL() {
   glEnable(GL_LINE_SMOOTH);
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/Win2D.hpp b/dart/gui/glut/Win2D.hpp
new file mode 100644
index 0000000000000..649641be976fb
--- /dev/null
+++ b/dart/gui/glut/Win2D.hpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_WIN2D_HPP_
+#define DART_GUI_GLUT_WIN2D_HPP_
+
+#include "dart/gui/glut/Window.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+/// \brief
+class Win2D : public glut::Window {
+public:
+  /// \brief
+  Win2D();
+
+  /// \brief
+  void resize(int _w, int _h) override;
+
+  /// \brief
+  void render() override;
+
+  /// \brief
+  void keyboard(unsigned char _key, int _x, int _y) override;
+
+  /// \brief
+  void click(int _button, int _state, int _x, int _y) override;
+
+  /// \brief
+  void drag(int _x, int _y) override;
+
+  /// \brief
+  virtual void initGL();
+
+  /// \brief
+  virtual void draw() = 0;
+
+protected:
+  /// \brief
+  bool mTranslate;
+
+  /// \brief
+  double mTransX;
+
+  /// \brief
+  double mTransY;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_WIN2D_HPP_
diff --git a/dart/gui/Win3D.cpp b/dart/gui/glut/Win3D.cpp
similarity index 88%
rename from dart/gui/Win3D.cpp
rename to dart/gui/glut/Win3D.cpp
index 1ad6de1714e7c..87e7dc6a5b432 100644
--- a/dart/gui/Win3D.cpp
+++ b/dart/gui/glut/Win3D.cpp
@@ -30,18 +30,20 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/gui/Win3D.hpp"
+#include "dart/gui/glut/Win3D.hpp"
 
 #include <algorithm>
 
 #include "dart/math/Constants.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/LoadGlut.hpp"
 
 namespace dart {
 namespace gui {
+namespace glut {
 
+//==============================================================================
 Win3D::Win3D()
-  : GlutWindow(),
+  : Window(),
     mTrans(0.0, 0.0, 0.0),
     mEye(0.0, 0.0, 1.0),
     mUp(0.0, 1.0, 0.0),
@@ -49,17 +51,23 @@ Win3D::Win3D()
     mPersp(45.0),
     mRotate(false),
     mTranslate(false),
-    mZooming(false) {
+    mZooming(false)
+{
+  // Do nothing
 }
 
-void Win3D::initWindow(int _w, int _h, const char* _name) {
-  GlutWindow::initWindow(_w, _h, _name);
+//==============================================================================
+void Win3D::initWindow(int _w, int _h, const char* _name)
+{
+  Window::initWindow(_w, _h, _name);
 
   int smaller = _w < _h ? _w : _h;
   mTrackBall.setTrackball(Eigen::Vector2d(_w*0.5, _h*0.5), smaller/2.5);
 }
 
-void Win3D::resize(int _w, int _h) {
+//==============================================================================
+void Win3D::resize(int _w, int _h)
+{
   mWinWidth = _w;
   mWinHeight = _h;
 
@@ -79,7 +87,9 @@ void Win3D::resize(int _w, int _h) {
   glutPostRedisplay();
 }
 
-void Win3D::keyboard(unsigned char _key, int /*_x*/, int /*_y*/) {
+//==============================================================================
+void Win3D::keyboard(unsigned char _key, int /*_x*/, int /*_y*/)
+{
   switch (_key) {
     case ',':  // slow down
       mDisplayTimeout +=2;
@@ -109,7 +119,9 @@ void Win3D::keyboard(unsigned char _key, int /*_x*/, int /*_y*/) {
   // printf("ascii key: %lu\n", key);
 }
 
-void Win3D::click(int _button, int _state, int _x, int _y) {
+//==============================================================================
+void Win3D::click(int _button, int _state, int _x, int _y)
+{
   mMouseDown = !mMouseDown;
   int mask = glutGetModifiers();
   if (mMouseDown) {
@@ -141,7 +153,9 @@ void Win3D::click(int _button, int _state, int _x, int _y) {
   glutPostRedisplay();
 }
 
-void Win3D::drag(int _x, int _y) {
+//==============================================================================
+void Win3D::drag(int _x, int _y)
+{
   double deltaX = _x - mMouseX;
   double deltaY = _y - mMouseY;
 
@@ -162,7 +176,9 @@ void Win3D::drag(int _x, int _y) {
   glutPostRedisplay();
 }
 
-void Win3D::render() {
+//==============================================================================
+void Win3D::render()
+{
   glMatrixMode(GL_PROJECTION);
   glLoadIdentity();
   gluPerspective(mPersp,
@@ -220,7 +236,9 @@ void Win3D::render() {
     screenshot();
 }
 
-void Win3D::initGL() {
+//==============================================================================
+void Win3D::initGL()
+{
   glClearColor(mBackground[0], mBackground[1], mBackground[2], mBackground[3]);
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
   glEnable(GL_BLEND);
@@ -230,7 +248,9 @@ void Win3D::initGL() {
   glPolygonMode(GL_FRONT, GL_FILL);
 }
 
-void Win3D::initLights() {
+//==============================================================================
+void Win3D::initLights()
+{
   static float ambient[]             = {0.2, 0.2, 0.2, 1.0};
   static float diffuse[]             = {0.6, 0.6, 0.6, 1.0};
   static float front_mat_shininess[] = {60.0};
@@ -308,5 +328,6 @@ void accPerspective(GLdouble fovy, GLdouble aspect,
              pixdx, pixdy, eyedx, eyedy, focus);
 }
 
+}  // namespace glut
 }  // namespace gui
 }  // namespace dart
diff --git a/dart/gui/glut/Win3D.hpp b/dart/gui/glut/Win3D.hpp
new file mode 100644
index 0000000000000..50bc638f25a65
--- /dev/null
+++ b/dart/gui/glut/Win3D.hpp
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_WIN3D_HPP_
+#define DART_GUI_GLUT_WIN3D_HPP_
+
+#include <Eigen/Eigen>
+
+#include "dart/gui/Trackball.hpp"
+#include "dart/gui/glut/Window.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+class Win3D : public glut::Window {
+public:
+  Win3D();
+
+  void initWindow(int _w, int _h, const char* _name) override;
+  void resize(int _w, int _h) override;
+  void render() override;
+
+  void keyboard(unsigned char _key, int _x, int _y) override;
+  void click(int _button, int _state, int _x, int _y) override;
+  void drag(int _x, int _y) override;
+
+  virtual void initGL();
+  virtual void initLights();
+
+  virtual void draw()=0;
+
+protected:
+  Trackball mTrackBall;
+  Eigen::Vector3d mTrans;
+  Eigen::Vector3d mEye;
+  Eigen::Vector3d mUp;
+  float mZoom;
+  float mPersp;
+
+  bool mRotate;
+  bool mTranslate;
+  bool mZooming;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_WIN3D_HPP_
diff --git a/dart/gui/glut/Window.hpp b/dart/gui/glut/Window.hpp
new file mode 100644
index 0000000000000..549f40a08c339
--- /dev/null
+++ b/dart/gui/glut/Window.hpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2011-2018, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_GUI_GLUT_WINDOW_HPP_
+#define DART_GUI_GLUT_WINDOW_HPP_
+
+#include <vector>
+
+#include "dart/gui/LoadOpengl.hpp"
+#include "dart/gui/RenderInterface.hpp"
+
+namespace dart {
+namespace gui {
+namespace glut {
+
+/// \brief
+class Window {
+public:
+  Window();
+  virtual ~Window();
+
+  /// \warning This function should be called once.
+  virtual void initWindow(int _w, int _h, const char* _name);
+
+  // callback functions
+  static void reshape(int _w, int _h);
+  static void keyEvent(unsigned char _key, int _x, int _y);
+  static void specKeyEvent(int _key, int _x, int _y);
+  static void mouseClick(int _button, int _state, int _x, int _y);
+  static void mouseDrag(int _x, int _y);
+  static void mouseMove(int _x, int _y);
+  static void refresh();
+  static void refreshTimer(int _val);
+  static void runTimer(int _val);
+
+  static Window* current();
+  static std::vector<Window*> mWindows;
+  static std::vector<int> mWinIDs;
+
+protected:
+  // callback implementation
+  virtual void resize(int _w, int _h) = 0;
+  virtual void render() = 0;
+  virtual void keyboard(unsigned char _key, int _x, int _y);
+  virtual void specKey(int _key, int _x, int _y);
+  virtual void click(int _button, int _state, int _x, int _y);
+  virtual void drag(int _x, int _y);
+  virtual void move(int _x, int _y);
+  virtual void displayTimer(int _val);
+  virtual void simTimer(int _val);
+
+  virtual bool screenshot();
+
+  int mWinWidth;
+  int mWinHeight;
+  int mMouseX;
+  int mMouseY;
+  double mDisplayTimeout;
+  bool mMouseDown;
+  bool mMouseDrag;
+  bool mCapture;
+  double mBackground[4];
+  gui::RenderInterface* mRI;
+  std::vector<unsigned char> mScreenshotTemp;
+  std::vector<unsigned char> mScreenshotTemp2;
+};
+
+}  // namespace glut
+}  // namespace gui
+}  // namespace dart
+
+#endif  // DART_GUI_GLUT_WINDOW_HPP_
diff --git a/dart/gui/glut/glut.hpp.in b/dart/gui/glut/glut.hpp.in
new file mode 100644
index 0000000000000..22537f837dbb5
--- /dev/null
+++ b/dart/gui/glut/glut.hpp.in
@@ -0,0 +1,3 @@
+// Automatically generated file by cmake
+
+${gui_glut_headers}
diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
index 865f34524fd78..c3e65384da294 100644
--- a/dart/simulation/World.hpp
+++ b/dart/simulation/World.hpp
@@ -47,6 +47,7 @@
 
 #include "dart/common/Timer.hpp"
 #include "dart/common/NameManager.hpp"
+#include "dart/common/SmartPointer.hpp"
 #include "dart/common/Subject.hpp"
 #include "dart/dynamics/SimpleFrame.hpp"
 #include "dart/dynamics/Skeleton.hpp"
@@ -73,6 +74,8 @@ class CollisionResult;
 
 namespace simulation {
 
+DART_COMMON_DECLARE_SHARED_WEAK(World)
+
 /// class World
 class World : public virtual common::Subject
 {
@@ -310,8 +313,6 @@ class World : public virtual common::Subject
 
 };
 
-typedef std::shared_ptr<World> WorldPtr;
-
 }  // namespace simulation
 }  // namespace dart
 
diff --git a/dart/utils/urdf/URDFTypes.hpp b/dart/utils/urdf/URDFTypes.hpp
index 117e33c558cec..1a5864323d03f 100644
--- a/dart/utils/urdf/URDFTypes.hpp
+++ b/dart/utils/urdf/URDFTypes.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_UTILS_URDF_URDFTYPES_HPP_
 #define DART_UTILS_URDF_URDFTYPES_HPP_
 
-#warning "This header has been deprecated in DART 6.2. "\
-  "Please include dart/utils/urdf/BackwardCompatibility.hpp intead."
+#pragma message("This header has been deprecated in DART 6.2. "\
+  "Please include dart/utils/urdf/BackwardCompatibility.hpp intead.")
 
 #include "dart/utils/urdf/BackwardCompatibility.hpp"
 
diff --git a/examples/addDeleteSkels/MyWindow.hpp b/examples/addDeleteSkels/MyWindow.hpp
index b3f471bb3eea4..442a455a87874 100644
--- a/examples/addDeleteSkels/MyWindow.hpp
+++ b/examples/addDeleteSkels/MyWindow.hpp
@@ -37,7 +37,7 @@
 #include <dart/gui/gui.hpp>
 
 /// \brief
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow {
 public:
   /// \brief
   MyWindow();
diff --git a/examples/atlasSimbicon/MyWindow.cpp b/examples/atlasSimbicon/MyWindow.cpp
index 645be908f8566..ad6398852b28f 100644
--- a/examples/atlasSimbicon/MyWindow.cpp
+++ b/examples/atlasSimbicon/MyWindow.cpp
@@ -32,6 +32,8 @@
 
 #include "MyWindow.hpp"
 
+#include <dart/gui/GLFuncs.hpp>
+
 //==============================================================================
 MyWindow::MyWindow(Controller* _controller)
   : SimWindow(),
diff --git a/examples/atlasSimbicon/MyWindow.hpp b/examples/atlasSimbicon/MyWindow.hpp
index a8fbb53a10ec9..1ce14ce639774 100644
--- a/examples/atlasSimbicon/MyWindow.hpp
+++ b/examples/atlasSimbicon/MyWindow.hpp
@@ -39,7 +39,7 @@
 #include "Controller.hpp"
 
 /// \brief class MyWindow
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
   /// \brief Constructor
diff --git a/examples/bipedStand/MyWindow.cpp b/examples/bipedStand/MyWindow.cpp
index 0df0cc3f61447..3b9b461020ee6 100644
--- a/examples/bipedStand/MyWindow.cpp
+++ b/examples/bipedStand/MyWindow.cpp
@@ -32,6 +32,8 @@
 
 #include "MyWindow.hpp"
 
+#include <dart/gui/GLFuncs.hpp>
+
 MyWindow::MyWindow(): SimWindow() {
   mForce = Eigen::Vector3d::Zero();
   mController = nullptr;
diff --git a/examples/bipedStand/MyWindow.hpp b/examples/bipedStand/MyWindow.hpp
index e29a98ce314e8..058102ff724b4 100644
--- a/examples/bipedStand/MyWindow.hpp
+++ b/examples/bipedStand/MyWindow.hpp
@@ -42,7 +42,7 @@
 
 #include "Controller.hpp"
 
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow {
 public:
   MyWindow();
   virtual ~MyWindow();
diff --git a/examples/hardcodedDesign/MyWindow.hpp b/examples/hardcodedDesign/MyWindow.hpp
index eeb7eb07c00b5..9077dc2d4475c 100644
--- a/examples/hardcodedDesign/MyWindow.hpp
+++ b/examples/hardcodedDesign/MyWindow.hpp
@@ -46,7 +46,7 @@
 #include <dart/dart.hpp>
 #include <dart/gui/gui.hpp>
 
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow {
 public:
   /// \brief The constructor - set the position of the skeleton
   explicit MyWindow(dart::dynamics::SkeletonPtr _skel): SimWindow(), skel(_skel) {
diff --git a/examples/hybridDynamics/MyWindow.hpp b/examples/hybridDynamics/MyWindow.hpp
index e2c125bd0074c..a13936a5bde78 100644
--- a/examples/hybridDynamics/MyWindow.hpp
+++ b/examples/hybridDynamics/MyWindow.hpp
@@ -37,7 +37,7 @@
 #include <dart/gui/gui.hpp>
 
 /// \brief
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
   /// \brief
diff --git a/examples/jointConstraints/MyWindow.cpp b/examples/jointConstraints/MyWindow.cpp
index a42c35dcf475b..d534c3338e390 100644
--- a/examples/jointConstraints/MyWindow.cpp
+++ b/examples/jointConstraints/MyWindow.cpp
@@ -32,6 +32,8 @@
 
 #include "MyWindow.hpp"
 
+#include <dart/gui/GLFuncs.hpp>
+
 using namespace dart;
 using namespace math;
 using namespace dynamics;
diff --git a/examples/jointConstraints/MyWindow.hpp b/examples/jointConstraints/MyWindow.hpp
index 4017dd0145bc0..d5301537c785b 100644
--- a/examples/jointConstraints/MyWindow.hpp
+++ b/examples/jointConstraints/MyWindow.hpp
@@ -41,7 +41,7 @@
 #include <dart/dart.hpp>
 #include <dart/gui/gui.hpp>
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
   MyWindow(): SimWindow()
diff --git a/examples/mixedChain/MyWindow.cpp b/examples/mixedChain/MyWindow.cpp
index 450fa29e01a29..8dff888230ae8 100644
--- a/examples/mixedChain/MyWindow.cpp
+++ b/examples/mixedChain/MyWindow.cpp
@@ -38,6 +38,8 @@
 
 #include "MyWindow.hpp"
 
+#include <dart/gui/GLFuncs.hpp>
+
 #define FORCE_ON_RIGIDBODY 500.0;
 #define FORCE_ON_VERTEX 1.00;
 
diff --git a/examples/mixedChain/MyWindow.hpp b/examples/mixedChain/MyWindow.hpp
index 54b3930316007..509e49199c1dc 100644
--- a/examples/mixedChain/MyWindow.hpp
+++ b/examples/mixedChain/MyWindow.hpp
@@ -43,7 +43,7 @@
 #include <dart/gui/gui.hpp>
 
 /// \brief
-class MyWindow : public dart::gui::SoftSimWindow
+class MyWindow : public dart::gui::glut::SoftSimWindow
 {
 public:
   /// \brief
diff --git a/examples/operationalSpaceControl/MyWindow.hpp b/examples/operationalSpaceControl/MyWindow.hpp
index af139b078a5de..b271f886043ca 100644
--- a/examples/operationalSpaceControl/MyWindow.hpp
+++ b/examples/operationalSpaceControl/MyWindow.hpp
@@ -39,7 +39,7 @@
 #include "Controller.hpp"
 
 /// \brief class MyWindow
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
   /// \brief Default constructor
diff --git a/examples/rigidChain/MyWindow.hpp b/examples/rigidChain/MyWindow.hpp
index 3dc51c3f3c98c..5044867be5d76 100644
--- a/examples/rigidChain/MyWindow.hpp
+++ b/examples/rigidChain/MyWindow.hpp
@@ -36,7 +36,7 @@
 #include <dart/dart.hpp>
 #include <dart/gui/gui.hpp>
 
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow {
 public:
   MyWindow();
 
diff --git a/examples/rigidCubes/MyWindow.hpp b/examples/rigidCubes/MyWindow.hpp
index c2192f2675084..c1d82a621672a 100644
--- a/examples/rigidCubes/MyWindow.hpp
+++ b/examples/rigidCubes/MyWindow.hpp
@@ -34,24 +34,19 @@
 #define EXAMPLES_CUBES_MYWINDOW_HPP_
 
 #include <dart/dart.hpp>
-#include <dart/gui/gui.hpp>
+#include <dart/gui/glut/glut.hpp>
 
-/// \brief
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow
+{
 public:
-  /// \brief
   MyWindow();
 
-  /// \brief
   virtual ~MyWindow();
 
-  /// \brief
   void timeStepping() override;
 
-  /// \brief
   void drawWorld() const override;
 
-  /// \brief
   void keyboard(unsigned char _key, int _x, int _y) override;
 
 private:
diff --git a/examples/rigidCubes/Main.cpp b/examples/rigidCubes/main.cpp
similarity index 86%
rename from examples/rigidCubes/Main.cpp
rename to examples/rigidCubes/main.cpp
index aba51e820b90a..11e558f7c49b1 100644
--- a/examples/rigidCubes/Main.cpp
+++ b/examples/rigidCubes/main.cpp
@@ -39,16 +39,18 @@
 
 int main(int argc, char* argv[])
 {
-  // create and initialize the world
-  dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld("dart://sample/skel/cubes.skel");
-  assert(myWorld != nullptr);
-  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
-  myWorld->setGravity(gravity);
+  // Create and initialize the world
+  auto world = dart::utils::SkelParser::readWorld("dart://sample/skel/cubes.skel");
+  if (!world)
+  {
+    dterr << "Failed to load world.\n";
+    exit(EXIT_FAILURE);
+  }
+  world->setGravity(Eigen::Vector3d(0.0, -9.81, 0.0));
 
-  // create a window and link it to the world
+  // Create a window and link it to the world
   MyWindow window;
-  window.setWorld(myWorld);
+  window.setWorld(world);
 
   std::cout << "space bar: simulation on/off" << std::endl;
   std::cout << "'p': playback/stop" << std::endl;
diff --git a/examples/rigidLoop/MyWindow.hpp b/examples/rigidLoop/MyWindow.hpp
index 229f9b2ac602b..d175e972f8227 100644
--- a/examples/rigidLoop/MyWindow.hpp
+++ b/examples/rigidLoop/MyWindow.hpp
@@ -36,7 +36,7 @@
 #include <dart/dart.hpp>
 #include <dart/gui/gui.hpp>
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
     MyWindow() : SimWindow() {}
diff --git a/examples/rigidShapes/MyWindow.hpp b/examples/rigidShapes/MyWindow.hpp
index 1f362361e15f7..a676c34437cf2 100644
--- a/examples/rigidShapes/MyWindow.hpp
+++ b/examples/rigidShapes/MyWindow.hpp
@@ -43,7 +43,7 @@
 #include <dart/gui/gui.hpp>
 
 /// MyWindow
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
   /// Constructor
diff --git a/examples/simpleFrames/Main.cpp b/examples/simpleFrames/Main.cpp
index 2f54d06eaca60..1370f5ffd3189 100644
--- a/examples/simpleFrames/Main.cpp
+++ b/examples/simpleFrames/Main.cpp
@@ -92,7 +92,7 @@ int main(int argc, char* argv[])
   // rendered correctly, it must be a child of the World Frame
   // TODO(MXG): Fix this issue ^
 
-  dart::gui::SimWindow window;
+  dart::gui::glut::SimWindow window;
   window.setWorld(myWorld);
 
   glutInit(&argc, argv);
diff --git a/examples/softBodies/MyWindow.cpp b/examples/softBodies/MyWindow.cpp
index c6059dd5334c4..f1b6507a069bc 100644
--- a/examples/softBodies/MyWindow.cpp
+++ b/examples/softBodies/MyWindow.cpp
@@ -38,6 +38,8 @@
 
 #include "MyWindow.hpp"
 
+#include <dart/gui/GLFuncs.hpp>
+
 #define FORCE_ON_RIGIDBODY 25.0;
 #define FORCE_ON_VERTEX 1.00;
 
diff --git a/examples/softBodies/MyWindow.hpp b/examples/softBodies/MyWindow.hpp
index 390a140298139..2943e21b52f9a 100644
--- a/examples/softBodies/MyWindow.hpp
+++ b/examples/softBodies/MyWindow.hpp
@@ -43,7 +43,7 @@
 #include <dart/gui/gui.hpp>
 
 /// \brief
-class MyWindow : public dart::gui::SoftSimWindow
+class MyWindow : public dart::gui::glut::SoftSimWindow
 {
 public:
   /// \brief
diff --git a/examples/vehicle/MyWindow.hpp b/examples/vehicle/MyWindow.hpp
index 5a427dcf6ba63..8d603dfad60ac 100644
--- a/examples/vehicle/MyWindow.hpp
+++ b/examples/vehicle/MyWindow.hpp
@@ -38,7 +38,7 @@
 #include <dart/gui/gui.hpp>
 
 /// \brief
-class MyWindow : public dart::gui::SimWindow {
+class MyWindow : public dart::gui::glut::SimWindow {
 public:
   /// \brief
   MyWindow();
diff --git a/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp b/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp
index 9035f837f5b3f..9b9fc53f6eff7 100644
--- a/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp
+++ b/tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp
@@ -45,6 +45,7 @@ using namespace dart::common;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 using namespace dart::gui;
+using namespace dart::gui::glut;
 using namespace dart::utils;
 using namespace dart::math;
 
diff --git a/tutorials/tutorialBiped/tutorialBiped.cpp b/tutorials/tutorialBiped/tutorialBiped.cpp
index 0a8347312e87b..09f7373f27309 100644
--- a/tutorials/tutorialBiped/tutorialBiped.cpp
+++ b/tutorials/tutorialBiped/tutorialBiped.cpp
@@ -45,6 +45,7 @@ using namespace dart::common;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 using namespace dart::gui;
+using namespace dart::gui::glut;
 using namespace dart::utils;
 using namespace dart::math;
 
diff --git a/tutorials/tutorialCollisions-Finished/tutorialCollisions-Finished.cpp b/tutorials/tutorialCollisions-Finished/tutorialCollisions-Finished.cpp
index 14b66b5f35e4e..07ec2a2df325b 100644
--- a/tutorials/tutorialCollisions-Finished/tutorialCollisions-Finished.cpp
+++ b/tutorials/tutorialCollisions-Finished/tutorialCollisions-Finished.cpp
@@ -105,7 +105,7 @@ void setupRing(const SkeletonPtr& ring)
   }
 }
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
 
diff --git a/tutorials/tutorialCollisions/tutorialCollisions.cpp b/tutorials/tutorialCollisions/tutorialCollisions.cpp
index c1b1c465aa60e..8a7082d7b6eca 100644
--- a/tutorials/tutorialCollisions/tutorialCollisions.cpp
+++ b/tutorials/tutorialCollisions/tutorialCollisions.cpp
@@ -71,6 +71,7 @@ const double default_soft_damping = 5.0;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 using namespace dart::gui;
+using namespace dart::gui::glut;
 
 void setupRing(const SkeletonPtr& /*ring*/)
 {
diff --git a/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp b/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp
index 8cc6a618beae1..8b19842268671 100644
--- a/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp
+++ b/tutorials/tutorialDominoes-Finished/tutorialDominoes-Finished.cpp
@@ -219,7 +219,7 @@ class Controller
   Eigen::VectorXd mForces;
 };
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
 
diff --git a/tutorials/tutorialDominoes/tutorialDominoes.cpp b/tutorials/tutorialDominoes/tutorialDominoes.cpp
index 189ae5a0b811f..322f760e7de44 100644
--- a/tutorials/tutorialDominoes/tutorialDominoes.cpp
+++ b/tutorials/tutorialDominoes/tutorialDominoes.cpp
@@ -132,7 +132,7 @@ class Controller
   Eigen::VectorXd mForces;
 };
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
 
diff --git a/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp b/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp
index fc395703dbaea..0d2a7c5144cb4 100644
--- a/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp
+++ b/tutorials/tutorialMultiPendulum-Finished/tutorialMultiPendulum-Finished.cpp
@@ -53,7 +53,7 @@ const double delta_damping = 1.0;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public:
 
diff --git a/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp b/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp
index f1a9a9364f6fe..c99dc70655a2a 100644
--- a/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp
+++ b/tutorials/tutorialMultiPendulum/tutorialMultiPendulum.cpp
@@ -53,7 +53,7 @@ const double delta_damping = 1.0;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 
-class MyWindow : public dart::gui::SimWindow
+class MyWindow : public dart::gui::glut::SimWindow
 {
 public: