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 **************************************************************************/
36 /* assumes -I/usr/include/mesa in compile command */
41 #include "../Aircraft/aircraft.h"
42 #include "../Scenery/scenery.h"
43 #include "../mat3/mat3.h"
44 #include "../Timer/fg_timer.h"
47 #define DEG_TO_RAD 0.017453292
48 #define RAD_TO_DEG 57.29577951
51 #define PI2 (M_PI + M_PI)
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] = {-3.0, 1.0, 2.0, 0.0 };
65 extern struct mesh *mesh_ptr;
66 /* Function prototypes */
67 GLint fgSceneryCompile();
68 static void fgSceneryDraw();
70 /* pointer to scenery structure */
71 static GLint scenery, runway;
74 double fogDensity = 2000.0;
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 );
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 double pos_x, pos_y, pos_z;
129 struct flight_params *f;
131 MAT3vec vec, up, forward, fwrd_view;
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, 0.01, 6000.0);
140 glMatrixMode(GL_MODELVIEW);
143 /* calculate position in arc seconds */
144 pos_x = (FG_Longitude * RAD_TO_DEG) * 3600.0;
145 pos_y = (FG_Latitude * RAD_TO_DEG) * 3600.0;
146 pos_z = FG_Altitude * 0.01; /* (Convert feet to aproximate arcsecs) */
148 printf("*** pos_z = %.2f\n", pos_z);
150 /* build current rotation matrix */
151 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
152 MAT3rotate(R, vec, FG_Phi);
153 /* printf("Roll matrix\n"); */
154 /* MAT3print(R, stdout); */
156 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
157 /* MAT3mult_vec(vec, vec, R); */
158 MAT3rotate(TMP, vec, -FG_Theta);
159 /* printf("Pitch matrix\n"); */
160 /* MAT3print(TMP, stdout); */
163 MAT3_SET_VEC(vec, 0.0, 0.0, -1.0);
164 /* MAT3mult_vec(vec, vec, R); */
165 /* MAT3rotate(TMP, vec, M_PI + M_PI_2 + FG_Psi + view_offset); */
166 MAT3rotate(TMP, vec, FG_Psi - M_PI_2);
167 /* printf("Yaw matrix\n");
168 MAT3print(TMP, stdout); */
171 /* MAT3print(R, stdout); */
173 /* generate the current up, forward, and fwrd-view vectors */
174 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
175 MAT3mult_vec(up, vec, R);
177 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
178 MAT3mult_vec(forward, vec, R);
179 printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
182 MAT3rotate(TMP, up, view_offset);
183 MAT3mult_vec(fwrd_view, forward, TMP);
185 gluLookAt(pos_x, pos_y, pos_z,
186 pos_x + fwrd_view[0], pos_y + fwrd_view[1], pos_z + fwrd_view[2],
187 up[0], up[1], up[2]);
189 glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
193 /**************************************************************************
194 * Update all Visuals (redraws anything graphics related)
195 **************************************************************************/
197 static void fgUpdateVisuals( void ) {
198 /* update view volume parameters */
199 fgUpdateViewParams();
201 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
203 /* Tell GL we are switching to model view parameters */
204 glMatrixMode(GL_MODELVIEW);
205 /* glLoadIdentity(); */
218 /**************************************************************************
219 * Update internal time dependent calculations (i.e. flight model)
220 **************************************************************************/
222 void fgUpdateTimeDepCalcs(int multi_loop) {
223 struct flight_params *f;
226 f = ¤t_aircraft.flight;
228 /* update the flight model */
229 if ( multi_loop < 0 ) {
230 multi_loop = DEFAULT_MULTILOOP;
233 /* printf("updating flight model x %d\n", multi_loop); */
234 fgFlightModelUpdate(FG_LARCSIM, f, multi_loop);
236 for ( i = 0; i < multi_loop; i++ ) {
237 if ( fabs(goal_view_offset - view_offset) < 0.05 ) {
238 view_offset = goal_view_offset;
241 /* move view_offset towards goal_view_offset */
242 if ( goal_view_offset > view_offset ) {
243 if ( goal_view_offset - view_offset < M_PI ) {
249 if ( view_offset - goal_view_offset < M_PI ) {
255 if ( view_offset > PI2 ) {
257 } else if ( view_offset < 0 ) {
265 void fgInitTimeDepCalcs() {
266 /* initialize timer */
267 fgTimerInit( 1.0 / DEFAULT_TIMER_HZ, fgUpdateTimeDepCalcs );
271 /**************************************************************************
272 * Scenery management routines
273 **************************************************************************/
275 static void fgSceneryInit() {
277 scenery = fgSceneryCompile();
278 runway = fgRunwayHack(0.69, 53.07);
282 /* create the scenery */
283 GLint fgSceneryCompile() {
286 scenery = mesh2GL(mesh_ptr);
292 /* hack in a runway */
293 GLint fgRunwayHack(double width, double length) {
294 static GLfloat concrete[4] = { 0.5, 0.5, 0.5, 1.0 };
295 static GLfloat line[4] = { 0.9, 0.9, 0.9, 1.0 };
298 float line_len, line_width_2, cur_pos;
300 runway = glGenLists(1);
301 glNewList(runway, GL_COMPILE);
305 glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, concrete );
306 glNormal3f(0.0, 0.0, 1.0);
308 glVertex3d( 0.0, -width/2.0, 0.0);
309 glVertex3d( 0.0, width/2.0, 0.0);
310 glVertex3d(length, width/2.0, 0.0);
311 glVertex3d(length, -width/2.0, 0.0);
314 /* draw center line */
315 glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, line );
316 line_len = length / ( 2 * num_lines + 1);
317 printf("line_len = %.3f\n", line_len);
320 for ( i = 0; i < num_lines; i++ ) {
322 glVertex3d( cur_pos, -line_width_2, 0.005);
323 glVertex3d( cur_pos, line_width_2, 0.005);
325 glVertex3d( cur_pos, line_width_2, 0.005);
326 glVertex3d( cur_pos, -line_width_2, 0.005);
337 /* draw the scenery */
338 static void fgSceneryDraw() {
339 static float z = 32.35;
345 printf("*** Drawing runway at %.2f\n", z);
347 glTranslatef( -398391.28, 120070.41, 32.35);
348 glRotatef(170.0, 0.0, 0.0, 1.0);
355 /* What should we do when we have nothing else to do? How about get
356 * ready for the next move?*/
357 static void fgMainLoop( void ) {
358 static int remainder = 0;
359 int elapsed, multi_loop;
361 elapsed = fgGetTimeInterval();
362 printf("Time interval is = %d, previous remainder is = %d\n", elapsed,
364 printf("--> Frame rate is = %.2f\n", 1000.0 / (float)elapsed);
365 elapsed += remainder;
367 multi_loop = ((float)elapsed * 0.001) * DEFAULT_MODEL_HZ;
368 remainder = elapsed - ((multi_loop*1000) / DEFAULT_MODEL_HZ);
369 printf("Model iterations needed = %d, new remainder = %d\n", multi_loop,
375 if ( ! use_signals ) {
376 fgUpdateTimeDepCalcs(multi_loop);
381 /**************************************************************************
382 * Handle new window size or exposure
383 **************************************************************************/
385 static void fgReshape( int width, int height ) {
386 /* Do this so we can call fgReshape(0,0) ourselves without having to know
387 * what the values of width & height are. */
388 if ( (height > 0) && (width > 0) ) {
389 win_ratio = (GLfloat) height / (GLfloat) width;
392 /* Inform gl of our view window size */
393 glViewport(0, 0, (GLint)width, (GLint)height);
395 fgUpdateViewParams();
397 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
401 /**************************************************************************
403 **************************************************************************/
405 int main( int argc, char *argv[] ) {
406 struct flight_params *f;
408 f = ¤t_aircraft.flight;
411 /* initialize GLUT */
412 glutInit(&argc, argv);
414 /* Define Display Parameters */
415 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
417 /* Define initial window size */
418 glutInitWindowSize(640, 480);
420 /* Initialize the main window */
421 glutCreateWindow("Flight Gear");
423 /* Define initial window size */
424 tkInitPosition(0, 0, 640, 480);
426 /* Define Display Parameters */
427 tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
429 /* Initialize the main window */
430 if (tkInitWindow("Flight Gear") == GL_FALSE) {
435 /* setup view parameters, only makes GL calls */
438 /* Globe Aiport, AZ */
439 FG_Runway_altitude = 3234.5;
440 FG_Runway_latitude = 120070.41;
441 FG_Runway_longitude = -398391.28;
442 FG_Runway_heading = 102.0 * DEG_TO_RAD;
444 /* Initial Position */
445 FG_Latitude = ( 120070.41 / 3600.0 ) * DEG_TO_RAD;
446 FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD;
447 FG_Altitude = FG_Runway_altitude + 3.758099;
449 printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude,
450 FG_Longitude, FG_Altitude);
453 /* Initial Velocity */
454 FG_V_north = 0.0 /* 7.287719E+00 */;
455 FG_V_east = 0.0 /* 1.521770E+03 */;
456 FG_V_down = 0.0 /* -1.265722E-05 */;
458 /* Initial Orientation */
459 FG_Phi = -2.658474E-06;
460 FG_Theta = 7.401790E-03;
461 FG_Psi = 282.0 * DEG_TO_RAD;
463 /* Initial Angular B rates */
464 FG_P_body = 7.206685E-05;
465 FG_Q_body = 0.000000E+00;
466 FG_R_body = 9.492658E-05;
468 FG_Earth_position_angle = 0.000000E+00;
470 /* Mass properties and geometry values */
471 FG_Mass = 8.547270E+01;
472 FG_I_xx = 1.048000E+03;
473 FG_I_yy = 3.000000E+03;
474 FG_I_zz = 3.530000E+03;
475 FG_I_xz = 0.000000E+00;
477 /* CG position w.r.t. ref. point */
478 FG_Dx_cg = 0.000000E+00;
479 FG_Dy_cg = 0.000000E+00;
480 FG_Dz_cg = 0.000000E+00;
482 /* Set initial position and slew parameters */
483 /* fgSlewInit(-398391.3, 120070.41, 244, 3.1415); */ /* GLOBE Airport */
484 /* fgSlewInit(-335340,162540, 15, 4.38); */
485 /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
487 fgFlightModelInit( FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ );
490 /* init timer routines, signals, etc. Arrange for an alarm
491 signal to be generated, etc. */
492 fgInitTimeDepCalcs();
495 /* build all objects */
497 /* parse the scenery file, and build the OpenGL call list */
498 /* this function will eventually move to the scenery management system */
499 if ( strlen(argv[1]) ) {
500 parse_scenery(argv[1]);
503 /* initialize the scenery */
507 /* call fgReshape() on window resizes */
508 glutReshapeFunc( fgReshape );
510 /* call key() on keyboard event */
511 glutKeyboardFunc( GLUTkey );
512 glutSpecialFunc( GLUTspecialkey );
514 /* call fgMainLoop() whenever there is nothing else to do */
515 glutIdleFunc( fgMainLoop );
518 glutDisplayFunc( fgUpdateVisuals );
520 /* pass control off to the GLUT event handler */
523 /* call fgReshape() on expose events */
524 tkExposeFunc( fgReshape );
526 /* call fgReshape() on window resizes */
527 tkReshapeFunc( fgReshape );
529 /* call key() on keyboard event */
530 tkKeyDownFunc( GLTKkey );
532 /* call fgMainLoop() whenever there is nothing else to do */
533 tkIdleFunc( fgMainLoop );
536 tkDisplayFunc( fgUpdateVisuals );
538 /* pass control off to the tk event handler */
547 /* Revision 1.21 1997/06/22 21:44:41 curt
548 /* Working on intergrating the VRML (subset) parser.
550 * Revision 1.20 1997/06/21 17:12:53 curt
551 * Capitalized subdirectory names.
553 * Revision 1.19 1997/06/18 04:10:31 curt
554 * A couple more runway tweaks ...
556 * Revision 1.18 1997/06/18 02:21:24 curt
559 * Revision 1.17 1997/06/17 16:51:58 curt
560 * Timer interval stuff now uses gettimeofday() instead of ftime()
562 * Revision 1.16 1997/06/17 04:19:16 curt
563 * More timer related tweaks with respect to view direction changes.
565 * Revision 1.15 1997/06/17 03:41:10 curt
566 * Nonsignal based interval timing is now working.
567 * This would be a good time to look at cleaning up the code structure a bit.
569 * Revision 1.14 1997/06/16 19:32:51 curt
570 * Starting to add general timer support.
572 * Revision 1.13 1997/06/02 03:40:06 curt
573 * A tiny bit more view tweaking.
575 * Revision 1.12 1997/06/02 03:01:38 curt
576 * Working on views (side, front, back, transitions, etc.)
578 * Revision 1.11 1997/05/31 19:16:25 curt
579 * Elevator trim added.
581 * Revision 1.10 1997/05/31 04:13:52 curt
584 * Continuing work on the LaRCsim flight model integration.
585 * Added some MSFS-like keyboard input handling.
587 * Revision 1.9 1997/05/30 19:27:01 curt
588 * The LaRCsim flight model is starting to look like it is working.
590 * Revision 1.8 1997/05/30 03:54:10 curt
591 * Made a bit more progress towards integrating the LaRCsim flight model.
593 * Revision 1.7 1997/05/29 22:39:49 curt
594 * Working on incorporating the LaRCsim flight model.
596 * Revision 1.6 1997/05/29 12:31:39 curt
597 * Minor tweaks, moving towards general flight model integration.
599 * Revision 1.5 1997/05/29 02:33:23 curt
600 * Updated to reflect changing interfaces in other "modules."
602 * Revision 1.4 1997/05/27 17:44:31 curt
603 * Renamed & rearranged variables and routines. Added some initial simple
604 * timer/alarm routines so the flight model can be updated on a regular
607 * Revision 1.3 1997/05/23 15:40:25 curt
608 * Added GNU copyright headers.
611 * Revision 1.2 1997/05/23 00:35:12 curt
612 * Trying to get fog to work ...
614 * Revision 1.1 1997/05/21 15:57:51 curt
615 * Renamed due to added GLUT support.
617 * Revision 1.3 1997/05/19 18:22:42 curt
618 * Parameter tweaking ... starting to stub in fog support.
620 * Revision 1.2 1997/05/17 00:17:34 curt
621 * Trying to stub in support for standard OpenGL.
623 * Revision 1.1 1997/05/16 16:05:52 curt