1 /**************************************************************************
2 * GLmain.c -- top level sim routines
4 * Written by Curtis Olson for OpenGL, started May 1997.
6 * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
8 * This program is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU General Public License as
10 * published by the Free Software Foundation; either version 2 of the
11 * License, or (at your option) any later version.
13 * This program is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 * General Public License for more details.
18 * You should have received a copy of the GNU General Public License
19 * along with this program; if not, write to the Free Software
20 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
23 * (Log is kept at end of this file)
24 **************************************************************************/
37 /* assumes -I/usr/include/mesa in compile command */
42 #include "../constants.h"
44 #include "../Aircraft/aircraft.h"
45 #include "../Scenery/mesh.h"
46 #include "../Scenery/scenery.h"
47 #include "../Math/fg_random.h"
48 #include "../Math/mat3.h"
49 #include "../Math/polar.h"
50 #include "../Time/fg_timer.h"
51 #include "../Weather/weather.h"
54 /* This is a record containing all the info for the aircraft currently
56 struct aircraft_params current_aircraft;
59 static GLfloat win_ratio = 1.0;
62 static GLfloat sun_vec[4] = {0.2948, 0.7816, -0.5498, 0.0 };
65 /* extern struct mesh *mesh_ptr; */
66 /* Function prototypes */
67 /* GLint fgSceneryCompile_OLD(); */
68 /* static void fgSceneryDraw_OLD(); */
70 /* pointer to scenery structure */
71 /* static GLint scenery, runway; */
74 double fogDensity = 60000.0; /* in meters */
75 double view_offset = 0.0;
76 double goal_view_offset = 0.0;
79 #define DEFAULT_TIMER_HZ 20
80 #define DEFAULT_MULTILOOP 6
81 #define DEFAULT_MODEL_HZ (DEFAULT_TIMER_HZ * DEFAULT_MULTILOOP)
89 /**************************************************************************
90 * fgInitVisuals() -- Initialize various GL/view parameters
91 **************************************************************************/
93 static void fgInitVisuals() {
94 /* if the 4th field is 0.0, this specifies a direction ... */
95 static GLfloat fogColor[4] = {0.65, 0.65, 0.85, 1.0};
97 glEnable( GL_DEPTH_TEST );
98 /* glFrontFace(GL_CW); */
99 glEnable( GL_CULL_FACE );
101 /* If enabled, normal vectors specified with glNormal are scaled
102 to unit length after transformation. See glNormal. */
103 glEnable( GL_NORMALIZE );
105 glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
106 glEnable( GL_LIGHTING );
107 glEnable( GL_LIGHT0 );
109 glShadeModel( GL_FLAT ); /* glShadeModel( GL_SMOOTH ); */
112 glFogi (GL_FOG_MODE, GL_LINEAR);
113 /* glFogf (GL_FOG_START, 1.0); */
114 glFogf (GL_FOG_END, fogDensity);
115 glFogfv (GL_FOG_COLOR, fogColor);
116 /* glFogf (GL_FOG_DENSITY, fogDensity); */
117 /* glHint (GL_FOG_HINT, GL_FASTEST); */
119 glClearColor(0.6, 0.6, 0.9, 1.0);
123 /**************************************************************************
124 * Update the view volume, position, and orientation
125 **************************************************************************/
127 static void fgUpdateViewParams() {
128 struct fgCartesianPoint view_pos /*, alt_up */;
129 struct flight_params *f;
130 MAT3mat R, TMP, UP, LOCAL, VIEW;
131 MAT3vec vec, view_up, forward, view_forward, local_up;
133 f = ¤t_aircraft.flight;
135 /* Tell GL we are about to modify the projection parameters */
136 glMatrixMode(GL_PROJECTION);
138 gluPerspective(45.0, 1.0/win_ratio, 1.0, 200000.0);
140 glMatrixMode(GL_MODELVIEW);
143 /* calculate view position in current FG view coordinate system */
144 view_pos = fgPolarToCart(FG_Longitude, FG_Lat_geocentric,
145 FG_Radius_to_vehicle * FEET_TO_METER + 1.0);
146 printf("View pos = %.4f, %.4f, %.4f\n", view_pos.x, view_pos.y, view_pos.z);
148 /* Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw) */
149 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
150 MAT3rotate(R, vec, FG_Phi);
151 /* printf("Roll matrix\n"); */
152 /* MAT3print(R, stdout); */
154 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
155 /* MAT3mult_vec(vec, vec, R); */
156 MAT3rotate(TMP, vec, FG_Theta);
157 /* printf("Pitch matrix\n"); */
158 /* MAT3print(TMP, stdout); */
161 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
162 /* MAT3mult_vec(vec, vec, R); */
163 /* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
164 MAT3rotate(TMP, vec, -FG_Psi);
165 /* printf("Yaw matrix\n");
166 MAT3print(TMP, stdout); */
167 MAT3mult(LOCAL, R, TMP);
168 /* printf("LOCAL matrix\n"); */
169 /* MAT3print(LOCAL, stdout); */
171 /* Derive the local UP transformation matrix based on *geodetic*
173 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
174 MAT3rotate(R, vec, FG_Longitude); /* R = rotate about Z axis */
175 /* printf("Longitude matrix\n"); */
176 /* MAT3print(R, stdout); */
178 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
179 MAT3mult_vec(vec, vec, R);
180 MAT3rotate(TMP, vec, -FG_Latitude); /* TMP = rotate about X axis */
181 /* printf("Latitude matrix\n"); */
182 /* MAT3print(TMP, stdout); */
184 MAT3mult(UP, R, TMP);
185 /* printf("Local up matrix\n"); */
186 /* MAT3print(UP, stdout); */
188 MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
189 MAT3mult_vec(local_up, local_up, UP);
191 printf(" Local Up = (%.4f, %.4f, %.4f)\n", local_up[0], local_up[1],
194 /* Alternative method to Derive local up vector based on
195 * *geodetic* coordinates */
196 /* alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0); */
197 /* printf(" Alt Up = (%.4f, %.4f, %.4f)\n",
198 alt_up.x, alt_up.y, alt_up.z); */
200 /* Derive the VIEW matrix */
201 MAT3mult(VIEW, LOCAL, UP);
202 /* printf("VIEW matrix\n"); */
203 /* MAT3print(VIEW, stdout); */
205 /* generate the current up, forward, and fwrd-view vectors */
206 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
207 MAT3mult_vec(view_up, vec, VIEW);
209 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
210 MAT3mult_vec(forward, vec, VIEW);
211 printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
214 MAT3rotate(TMP, view_up, view_offset);
215 MAT3mult_vec(view_forward, forward, TMP);
217 gluLookAt(view_pos.x, view_pos.y, view_pos.z,
218 view_pos.x + view_forward[0], view_pos.y + view_forward[1],
219 view_pos.z + view_forward[2],
220 view_up[0], view_up[1], view_up[2]);
222 glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
226 /**************************************************************************
227 * Update all Visuals (redraws anything graphics related)
228 **************************************************************************/
230 static void fgUpdateVisuals( void ) {
231 /* update view volume parameters */
232 fgUpdateViewParams();
234 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
236 /* Tell GL we are switching to model view parameters */
237 glMatrixMode(GL_MODELVIEW);
238 /* glLoadIdentity(); */
251 /**************************************************************************
252 * Update internal time dependent calculations (i.e. flight model)
253 **************************************************************************/
255 void fgUpdateTimeDepCalcs(int multi_loop) {
256 struct flight_params *f;
259 f = ¤t_aircraft.flight;
261 /* update the flight model */
262 if ( multi_loop < 0 ) {
263 multi_loop = DEFAULT_MULTILOOP;
266 /* printf("updating flight model x %d\n", multi_loop); */
267 fgFlightModelUpdate(FG_LARCSIM, f, multi_loop);
269 for ( i = 0; i < multi_loop; i++ ) {
270 if ( fabs(goal_view_offset - view_offset) < 0.05 ) {
271 view_offset = goal_view_offset;
274 /* move view_offset towards goal_view_offset */
275 if ( goal_view_offset > view_offset ) {
276 if ( goal_view_offset - view_offset < FG_PI ) {
282 if ( view_offset - goal_view_offset < FG_PI ) {
288 if ( view_offset > FG_2PI ) {
289 view_offset -= FG_2PI;
290 } else if ( view_offset < 0 ) {
291 view_offset += FG_2PI;
298 void fgInitTimeDepCalcs() {
299 /* initialize timer */
302 fgTimerInit( 1.0 / DEFAULT_TIMER_HZ, fgUpdateTimeDepCalcs );
308 /**************************************************************************
309 * Scenery management routines
310 **************************************************************************/
312 /* static void fgSceneryInit_OLD() { */
314 /* scenery = fgSceneryCompile_OLD();
315 runway = fgRunwayHack_OLD(0.69, 53.07);
319 /* create the scenery */
320 /* GLint fgSceneryCompile_OLD() {
323 scenery = mesh2GL(mesh_ptr_OLD);
329 /* hack in a runway */
330 /* GLint fgRunwayHack_OLD(double width, double length) {
331 static GLfloat concrete[4] = { 0.5, 0.5, 0.5, 1.0 };
332 static GLfloat line[4] = { 0.9, 0.9, 0.9, 1.0 };
335 float line_len, line_width_2, cur_pos;
337 runway = glGenLists(1);
338 glNewList(runway, GL_COMPILE);
341 /* glBegin(GL_POLYGON);
342 glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, concrete );
343 glNormal3f(0.0, 0.0, 1.0);
345 glVertex3d( 0.0, -width/2.0, 0.0);
346 glVertex3d( 0.0, width/2.0, 0.0);
347 glVertex3d(length, width/2.0, 0.0);
348 glVertex3d(length, -width/2.0, 0.0);
351 /* draw center line */
352 /* glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, line );
353 line_len = length / ( 2 * num_lines + 1);
354 printf("line_len = %.3f\n", line_len);
357 for ( i = 0; i < num_lines; i++ ) {
359 glVertex3d( cur_pos, -line_width_2, 0.005);
360 glVertex3d( cur_pos, line_width_2, 0.005);
362 glVertex3d( cur_pos, line_width_2, 0.005);
363 glVertex3d( cur_pos, -line_width_2, 0.005);
374 /* draw the scenery */
375 /*static void fgSceneryDraw_OLD() {
376 static float z = 32.35;
382 printf("*** Drawing runway at %.2f\n", z);
384 glTranslatef( -398391.28, 120070.41, 32.35);
385 glRotatef(170.0, 0.0, 0.0, 1.0);
392 /* What should we do when we have nothing else to do? How about get
393 * ready for the next move and update the display? */
394 static void fgMainLoop( void ) {
395 static int remainder = 0;
396 int elapsed, multi_loop;
398 struct flight_params *f;
400 f = ¤t_aircraft.flight;
402 elapsed = fgGetTimeInterval();
403 printf("Time interval is = %d, previous remainder is = %d\n", elapsed,
405 printf("--> Frame rate is = %.2f\n", 1000.0 / (float)elapsed);
406 elapsed += remainder;
408 multi_loop = ((float)elapsed * 0.001) * DEFAULT_MODEL_HZ;
409 remainder = elapsed - ((multi_loop*1000) / DEFAULT_MODEL_HZ);
410 printf("Model iterations needed = %d, new remainder = %d\n", multi_loop,
416 if ( ! use_signals ) {
417 fgUpdateTimeDepCalcs(multi_loop);
420 /* I'm just sticking this here for now, it should probably move
422 rough_elev = mesh_altitude(FG_Longitude * RAD_TO_ARCSEC,
423 FG_Latitude * RAD_TO_ARCSEC);
424 printf("Ground elevation is %.2f meters here.\n", rough_elev);
425 /* FG_Runway_altitude = rough_elev * METER_TO_FEET; */
427 if ( FG_Altitude * FEET_TO_METER < rough_elev + 3.758099) {
428 /* set this here, otherwise if we set runway height above our
429 current height we get a really nasty bounce. */
430 FG_Runway_altitude = FG_Altitude - 3.758099;
432 /* now set aircraft altitude above ground */
433 FG_Altitude = rough_elev * METER_TO_FEET + 3.758099;
434 printf("<*> resetting altitude to %.0f meters\n",
435 FG_Altitude * FEET_TO_METER);
438 /* update the weather for our current position */
439 fgWeatherUpdate(FG_Longitude * RAD_TO_ARCSEC,
440 FG_Latitude * RAD_TO_ARCSEC,
441 FG_Altitude * FEET_TO_METER);
445 /**************************************************************************
446 * Handle new window size or exposure
447 **************************************************************************/
449 static void fgReshape( int width, int height ) {
450 /* Do this so we can call fgReshape(0,0) ourselves without having to know
451 * what the values of width & height are. */
452 if ( (height > 0) && (width > 0) ) {
453 win_ratio = (GLfloat) height / (GLfloat) width;
456 /* Inform gl of our view window size */
457 glViewport(0, 0, (GLint)width, (GLint)height);
459 fgUpdateViewParams();
461 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
465 /**************************************************************************
467 **************************************************************************/
469 int main( int argc, char *argv[] ) {
470 struct flight_params *f;
473 f = ¤t_aircraft.flight;
475 printf("Flight Gear: prototype code to test OpenGL, LaRCsim, and VRML\n\n");
478 /**********************************************************************
479 * Initialize the Window/Graphics environment.
480 **********************************************************************/
483 /* initialize GLUT */
484 glutInit(&argc, argv);
486 /* Define Display Parameters */
487 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
489 /* Define initial window size */
490 glutInitWindowSize(640, 480);
492 /* Initialize windows */
493 glutCreateWindow("Flight Gear");
496 /* Define initial window size */
497 tkInitPosition(0, 0, 640, 480);
499 /* Define Display Parameters */
500 tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
502 /* Initialize the main window */
503 if (tkInitWindow("Flight Gear") == GL_FALSE) {
508 /* seed the random number generater */
511 /* setup view parameters, only makes GL calls */
515 /****************************************************************
516 * The following section sets up the flight model EOM parameters and
517 * should really be read in from one or more files.
518 ****************************************************************/
520 /* Globe Aiport, AZ */
521 FG_Runway_altitude = 3234.5;
522 FG_Runway_latitude = 120070.41;
523 FG_Runway_longitude = -398391.28;
524 FG_Runway_heading = 102.0 * DEG_TO_RAD;
526 /* Initial Position */
527 FG_Latitude = ( 120070.41 / 3600.0 ) * DEG_TO_RAD;
528 FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD;
529 FG_Altitude = FG_Runway_altitude + 3.758099;
531 /* FG_Latitude = 0.0; */
532 /* FG_Longitude = 0.0; */
533 /* FG_Altitude = 15000.0; */
535 printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude,
536 FG_Longitude, FG_Altitude);
538 /* Initial Velocity */
539 FG_V_north = 0.0 /* 7.287719E+00 */;
540 FG_V_east = 0.0 /* 1.521770E+03 */;
541 FG_V_down = 0.0 /* -1.265722E-05 */;
543 /* Initial Orientation */
544 FG_Phi = -2.658474E-06;
545 FG_Theta = 7.401790E-03;
546 /* FG_Psi = 270.0 * DEG_TO_RAD; */
547 FG_Psi = 0.0 * DEG_TO_RAD;
549 /* Initial Angular B rates */
550 FG_P_body = 7.206685E-05;
551 FG_Q_body = 0.000000E+00;
552 FG_R_body = 9.492658E-05;
554 FG_Earth_position_angle = 0.000000E+00;
556 /* Mass properties and geometry values */
557 FG_Mass = 8.547270E+01;
558 FG_I_xx = 1.048000E+03;
559 FG_I_yy = 3.000000E+03;
560 FG_I_zz = 3.530000E+03;
561 FG_I_xz = 0.000000E+00;
563 /* CG position w.r.t. ref. point */
564 FG_Dx_cg = 0.000000E+00;
565 FG_Dy_cg = 0.000000E+00;
566 FG_Dz_cg = 0.000000E+00;
568 /* Set initial position and slew parameters */
569 /* fgSlewInit(-398391.3, 120070.41, 244, 3.1415); */ /* GLOBE Airport */
570 /* fgSlewInit(-335340,162540, 15, 4.38); */
571 /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
573 /* Initialize the Scenery Management system */
576 /* Tell the Scenery Management system where we are so it can load
577 * the correct scenery data */
578 fgSceneryUpdate(FG_Latitude, FG_Longitude, FG_Altitude);
580 /* I'm just sticking this here for now, it should probably move
582 rough_elev = mesh_altitude(FG_Longitude * RAD_TO_DEG * 3600.0,
583 FG_Latitude * RAD_TO_DEG * 3600.0);
584 printf("Ground elevation is %.2f meters here.\n", rough_elev);
585 if ( rough_elev > -9990.0 ) {
586 FG_Runway_altitude = rough_elev * METER_TO_FEET;
589 if ( FG_Altitude < FG_Runway_altitude ) {
590 FG_Altitude = FG_Runway_altitude + 3.758099;
592 /* end of thing that I just stuck in that I should probably move */
594 /* Initialize the flight model data structures base on above values */
595 fgFlightModelInit( FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ );
598 /* init timer routines, signals, etc. Arrange for an alarm
599 signal to be generated, etc. */
600 fgInitTimeDepCalcs();
603 /* Initialize the weather modeling subsystem */
606 /**********************************************************************
607 * Initialize the Event Handlers.
608 **********************************************************************/
611 /* call fgReshape() on window resizes */
612 glutReshapeFunc( fgReshape );
614 /* call key() on keyboard event */
615 glutKeyboardFunc( GLUTkey );
616 glutSpecialFunc( GLUTspecialkey );
618 /* call fgMainLoop() whenever there is nothing else to do */
619 glutIdleFunc( fgMainLoop );
622 glutDisplayFunc( fgUpdateVisuals );
624 /* pass control off to the GLUT event handler */
627 /* call fgReshape() on expose events */
628 tkExposeFunc( fgReshape );
630 /* call fgReshape() on window resizes */
631 tkReshapeFunc( fgReshape );
633 /* call key() on keyboard event */
634 tkKeyDownFunc( GLTKkey );
636 /* call fgMainLoop() whenever there is nothing else to do */
637 tkIdleFunc( fgMainLoop );
640 tkDisplayFunc( fgUpdateVisuals );
642 /* pass control off to the tk event handler */
652 int printf (const char *format, ...) {
659 /* Revision 1.1 1997/08/02 18:45:00 curt
660 /* Renamed GLmain.c GLUTmain.c
662 * Revision 1.43 1997/08/02 16:23:47 curt
665 * Revision 1.42 1997/08/01 19:43:33 curt
666 * Making progress with coordinate system overhaul.
668 * Revision 1.41 1997/07/31 22:52:37 curt
669 * Working on redoing internal coordinate systems & scenery transformations.
671 * Revision 1.40 1997/07/30 16:12:42 curt
672 * Moved fg_random routines from Util/ to Math/
674 * Revision 1.39 1997/07/21 14:45:01 curt
677 * Revision 1.38 1997/07/19 23:04:47 curt
678 * Added an initial weather section.
680 * Revision 1.37 1997/07/19 22:34:02 curt
681 * Moved PI definitions to ../constants.h
682 * Moved random() stuff to ../Utils/ and renamed fg_random()
684 * Revision 1.36 1997/07/18 23:41:25 curt
685 * Tweaks for building with Cygnus Win32 compiler.
687 * Revision 1.35 1997/07/18 14:28:34 curt
688 * Hacked in some support for wind/turbulence.
690 * Revision 1.34 1997/07/16 20:04:48 curt
691 * Minor tweaks to aid Win32 port.
693 * Revision 1.33 1997/07/12 03:50:20 curt
694 * Added an #include <Windows32/Base.h> to help compiling for Win32
696 * Revision 1.32 1997/07/11 03:23:18 curt
697 * Solved some scenery display/orientation problems. Still have a positioning
698 * (or transformation?) problem.
700 * Revision 1.31 1997/07/11 01:29:58 curt
701 * More tweaking of terrian floor.
703 * Revision 1.30 1997/07/10 04:26:37 curt
704 * We now can interpolated ground elevation for any position in the grid. We
705 * can use this to enforce a "hard" ground. We still need to enforce some
706 * bounds checking so that we don't try to lookup data points outside the
709 * Revision 1.29 1997/07/09 21:31:12 curt
710 * Working on making the ground "hard."
712 * Revision 1.28 1997/07/08 18:20:12 curt
713 * Working on establishing a hard ground.
715 * Revision 1.27 1997/07/07 20:59:49 curt
716 * Working on scenery transformations to enable us to fly fluidly over the
717 * poles with no discontinuity/distortion in scenery.
719 * Revision 1.26 1997/07/05 20:43:34 curt
720 * renamed mat3 directory to Math so we could add other math related routines.
722 * Revision 1.25 1997/06/29 21:19:17 curt
723 * Working on scenery management system.
725 * Revision 1.24 1997/06/26 22:14:53 curt
726 * Beginning work on a scenery management system.
728 * Revision 1.23 1997/06/26 19:08:33 curt
729 * Restructuring make, adding automatic "make dep" support.
731 * Revision 1.22 1997/06/25 15:39:47 curt
732 * Minor changes to compile with rsxnt/win32.
734 * Revision 1.21 1997/06/22 21:44:41 curt
735 * Working on intergrating the VRML (subset) parser.
737 * Revision 1.20 1997/06/21 17:12:53 curt
738 * Capitalized subdirectory names.
740 * Revision 1.19 1997/06/18 04:10:31 curt
741 * A couple more runway tweaks ...
743 * Revision 1.18 1997/06/18 02:21:24 curt
746 * Revision 1.17 1997/06/17 16:51:58 curt
747 * Timer interval stuff now uses gettimeofday() instead of ftime()
749 * Revision 1.16 1997/06/17 04:19:16 curt
750 * More timer related tweaks with respect to view direction changes.
752 * Revision 1.15 1997/06/17 03:41:10 curt
753 * Nonsignal based interval timing is now working.
754 * This would be a good time to look at cleaning up the code structure a bit.
756 * Revision 1.14 1997/06/16 19:32:51 curt
757 * Starting to add general timer support.
759 * Revision 1.13 1997/06/02 03:40:06 curt
760 * A tiny bit more view tweaking.
762 * Revision 1.12 1997/06/02 03:01:38 curt
763 * Working on views (side, front, back, transitions, etc.)
765 * Revision 1.11 1997/05/31 19:16:25 curt
766 * Elevator trim added.
768 * Revision 1.10 1997/05/31 04:13:52 curt
771 * Continuing work on the LaRCsim flight model integration.
772 * Added some MSFS-like keyboard input handling.
774 * Revision 1.9 1997/05/30 19:27:01 curt
775 * The LaRCsim flight model is starting to look like it is working.
777 * Revision 1.8 1997/05/30 03:54:10 curt
778 * Made a bit more progress towards integrating the LaRCsim flight model.
780 * Revision 1.7 1997/05/29 22:39:49 curt
781 * Working on incorporating the LaRCsim flight model.
783 * Revision 1.6 1997/05/29 12:31:39 curt
784 * Minor tweaks, moving towards general flight model integration.
786 * Revision 1.5 1997/05/29 02:33:23 curt
787 * Updated to reflect changing interfaces in other "modules."
789 * Revision 1.4 1997/05/27 17:44:31 curt
790 * Renamed & rearranged variables and routines. Added some initial simple
791 * timer/alarm routines so the flight model can be updated on a regular
794 * Revision 1.3 1997/05/23 15:40:25 curt
795 * Added GNU copyright headers.
798 * Revision 1.2 1997/05/23 00:35:12 curt
799 * Trying to get fog to work ...
801 * Revision 1.1 1997/05/21 15:57:51 curt
802 * Renamed due to added GLUT support.
804 * Revision 1.3 1997/05/19 18:22:42 curt
805 * Parameter tweaking ... starting to stub in fog support.
807 * Revision 1.2 1997/05/17 00:17:34 curt
808 * Trying to stub in support for standard OpenGL.
810 * Revision 1.1 1997/05/16 16:05:52 curt