Is there any actively developed open-source (GPL is fine) library that can draw widgets such as buttons, menus, etc on an existing SDL/OpenGL context? I have heard of FLTK, but it appears that it creates its own window and its own OpenGL context to draw widgets on.
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Yes. CeGUI is perfectly capable of drawing into an OpenGL context (it doesn't care how you initialize OpenGL).

Nicol Bolas
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1_Really_ messy library. But it seems to do what it claims to do – Sudarshan S Jul 01 '11 at 17:36