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 M_PI 3.14159265358979323846 /* pi */
55 #define PI2 (M_PI + M_PI)
60 #define M_PI_2 1.57079632679489661923 /* pi/2 */
63 /* This is a record containing all the info for the aircraft currently
65 struct aircraft_params current_aircraft;
68 static GLfloat win_ratio = 1.0;
71 static GLfloat sun_vec[4] = {-3.0, 1.0, 2.0, 0.0 };
74 extern struct mesh *mesh_ptr;
75 /* Function prototypes */
76 GLint fgSceneryCompile();
77 static void fgSceneryDraw();
79 /* pointer to scenery structure */
80 static GLint scenery, runway;
83 double fogDensity = 2000.0;
84 double view_offset = 0.0;
85 double goal_view_offset = 0.0;
88 #define DEFAULT_TIMER_HZ 20
89 #define DEFAULT_MULTILOOP 6
90 #define DEFAULT_MODEL_HZ (DEFAULT_TIMER_HZ * DEFAULT_MULTILOOP)
98 /**************************************************************************
99 * fgInitVisuals() -- Initialize various GL/view parameters
100 **************************************************************************/
102 static void fgInitVisuals() {
103 /* if the 4th field is 0.0, this specifies a direction ... */
104 static GLfloat fogColor[4] = {0.65, 0.65, 0.85, 1.0};
106 glEnable( GL_DEPTH_TEST );
108 glEnable( GL_CULL_FACE );
110 /* If enabled, normal vectors specified with glNormal are scaled
111 to unit length after transformation. See glNormal. */
112 glEnable( GL_NORMALIZE );
114 glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
115 glEnable( GL_LIGHTING );
116 glEnable( GL_LIGHT0 );
118 glShadeModel( GL_FLAT ); /* glShadeModel( GL_SMOOTH ); */
121 glFogi (GL_FOG_MODE, GL_LINEAR);
122 /* glFogf (GL_FOG_START, 1.0); */
123 glFogf (GL_FOG_END, fogDensity);
124 glFogfv (GL_FOG_COLOR, fogColor);
125 /* glFogf (GL_FOG_DENSITY, fogDensity); */
126 /* glHint (GL_FOG_HINT, GL_FASTEST); */
128 glClearColor(0.6, 0.6, 0.9, 1.0);
132 /**************************************************************************
133 * Update the view volume, position, and orientation
134 **************************************************************************/
136 static void fgUpdateViewParams() {
137 double pos_x, pos_y, pos_z;
138 struct flight_params *f;
140 MAT3vec vec, up, forward, fwrd_view;
142 f = ¤t_aircraft.flight;
144 /* Tell GL we are about to modify the projection parameters */
145 glMatrixMode(GL_PROJECTION);
147 gluPerspective(45.0, 1.0/win_ratio, 0.01, 6000.0);
149 glMatrixMode(GL_MODELVIEW);
152 /* calculate position in arc seconds */
153 pos_x = (FG_Longitude * RAD_TO_DEG) * 3600.0;
154 pos_y = (FG_Latitude * RAD_TO_DEG) * 3600.0;
155 pos_z = FG_Altitude * 0.01; /* (Convert feet to aproximate arcsecs) */
157 printf("*** pos_z = %.2f\n", pos_z);
159 /* build current rotation matrix */
160 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
161 MAT3rotate(R, vec, FG_Phi);
162 /* printf("Roll matrix\n"); */
163 /* MAT3print(R, stdout); */
165 MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
166 /* MAT3mult_vec(vec, vec, R); */
167 MAT3rotate(TMP, vec, -FG_Theta);
168 /* printf("Pitch matrix\n"); */
169 /* MAT3print(TMP, stdout); */
172 MAT3_SET_VEC(vec, 0.0, 0.0, -1.0);
173 /* MAT3mult_vec(vec, vec, R); */
174 /* MAT3rotate(TMP, vec, M_PI + M_PI_2 + FG_Psi + view_offset); */
175 MAT3rotate(TMP, vec, FG_Psi - M_PI_2);
176 /* printf("Yaw matrix\n");
177 MAT3print(TMP, stdout); */
180 /* MAT3print(R, stdout); */
182 /* generate the current up, forward, and fwrd-view vectors */
183 MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
184 MAT3mult_vec(up, vec, R);
186 MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
187 MAT3mult_vec(forward, vec, R);
188 printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
191 MAT3rotate(TMP, up, view_offset);
192 MAT3mult_vec(fwrd_view, forward, TMP);
194 gluLookAt(pos_x, pos_y, pos_z,
195 pos_x + fwrd_view[0], pos_y + fwrd_view[1], pos_z + fwrd_view[2],
196 up[0], up[1], up[2]);
198 glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
202 /**************************************************************************
203 * Update all Visuals (redraws anything graphics related)
204 **************************************************************************/
206 static void fgUpdateVisuals( void ) {
207 /* update view volume parameters */
208 fgUpdateViewParams();
210 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
212 /* Tell GL we are switching to model view parameters */
213 glMatrixMode(GL_MODELVIEW);
214 /* glLoadIdentity(); */
227 /**************************************************************************
228 * Update internal time dependent calculations (i.e. flight model)
229 **************************************************************************/
231 void fgUpdateTimeDepCalcs(int multi_loop) {
232 struct flight_params *f;
235 f = ¤t_aircraft.flight;
237 /* update the flight model */
238 if ( multi_loop < 0 ) {
239 multi_loop = DEFAULT_MULTILOOP;
242 /* printf("updating flight model x %d\n", multi_loop); */
243 fgFlightModelUpdate(FG_LARCSIM, f, multi_loop);
245 for ( i = 0; i < multi_loop; i++ ) {
246 if ( fabs(goal_view_offset - view_offset) < 0.05 ) {
247 view_offset = goal_view_offset;
250 /* move view_offset towards goal_view_offset */
251 if ( goal_view_offset > view_offset ) {
252 if ( goal_view_offset - view_offset < M_PI ) {
258 if ( view_offset - goal_view_offset < M_PI ) {
264 if ( view_offset > PI2 ) {
266 } else if ( view_offset < 0 ) {
274 void fgInitTimeDepCalcs() {
275 /* initialize timer */
278 fgTimerInit( 1.0 / DEFAULT_TIMER_HZ, fgUpdateTimeDepCalcs );
284 /**************************************************************************
285 * Scenery management routines
286 **************************************************************************/
288 static void fgSceneryInit() {
290 scenery = fgSceneryCompile();
291 runway = fgRunwayHack(0.69, 53.07);
295 /* create the scenery */
296 GLint fgSceneryCompile() {
299 scenery = mesh2GL(mesh_ptr);
305 /* hack in a runway */
306 GLint fgRunwayHack(double width, double length) {
307 static GLfloat concrete[4] = { 0.5, 0.5, 0.5, 1.0 };
308 static GLfloat line[4] = { 0.9, 0.9, 0.9, 1.0 };
311 float line_len, line_width_2, cur_pos;
313 runway = glGenLists(1);
314 glNewList(runway, GL_COMPILE);
318 glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, concrete );
319 glNormal3f(0.0, 0.0, 1.0);
321 glVertex3d( 0.0, -width/2.0, 0.0);
322 glVertex3d( 0.0, width/2.0, 0.0);
323 glVertex3d(length, width/2.0, 0.0);
324 glVertex3d(length, -width/2.0, 0.0);
327 /* draw center line */
328 glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, line );
329 line_len = length / ( 2 * num_lines + 1);
330 printf("line_len = %.3f\n", line_len);
333 for ( i = 0; i < num_lines; i++ ) {
335 glVertex3d( cur_pos, -line_width_2, 0.005);
336 glVertex3d( cur_pos, line_width_2, 0.005);
338 glVertex3d( cur_pos, line_width_2, 0.005);
339 glVertex3d( cur_pos, -line_width_2, 0.005);
350 /* draw the scenery */
351 static void fgSceneryDraw() {
352 static float z = 32.35;
358 printf("*** Drawing runway at %.2f\n", z);
360 glTranslatef( -398391.28, 120070.41, 32.35);
361 glRotatef(170.0, 0.0, 0.0, 1.0);
368 /* What should we do when we have nothing else to do? How about get
369 * ready for the next move?*/
370 static void fgMainLoop( void ) {
371 static int remainder = 0;
372 int elapsed, multi_loop;
374 elapsed = fgGetTimeInterval();
375 printf("Time interval is = %d, previous remainder is = %d\n", elapsed,
377 printf("--> Frame rate is = %.2f\n", 1000.0 / (float)elapsed);
378 elapsed += remainder;
380 multi_loop = ((float)elapsed * 0.001) * DEFAULT_MODEL_HZ;
381 remainder = elapsed - ((multi_loop*1000) / DEFAULT_MODEL_HZ);
382 printf("Model iterations needed = %d, new remainder = %d\n", multi_loop,
388 if ( ! use_signals ) {
389 fgUpdateTimeDepCalcs(multi_loop);
394 /**************************************************************************
395 * Handle new window size or exposure
396 **************************************************************************/
398 static void fgReshape( int width, int height ) {
399 /* Do this so we can call fgReshape(0,0) ourselves without having to know
400 * what the values of width & height are. */
401 if ( (height > 0) && (width > 0) ) {
402 win_ratio = (GLfloat) height / (GLfloat) width;
405 /* Inform gl of our view window size */
406 glViewport(0, 0, (GLint)width, (GLint)height);
408 fgUpdateViewParams();
410 glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
414 /**************************************************************************
416 **************************************************************************/
418 int main( int argc, char *argv[] ) {
419 struct flight_params *f;
421 f = ¤t_aircraft.flight;
423 printf("Flight Gear: prototype code to test OpenGL, LaRCsim, and VRML\n\n");
426 /* initialize GLUT */
427 glutInit(&argc, argv);
429 /* Define Display Parameters */
430 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
432 /* Define initial window size */
433 glutInitWindowSize(640, 480);
435 /* Initialize the main window */
436 glutCreateWindow("Flight Gear");
438 /* Define initial window size */
439 tkInitPosition(0, 0, 640, 480);
441 /* Define Display Parameters */
442 tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
444 /* Initialize the main window */
445 if (tkInitWindow("Flight Gear") == GL_FALSE) {
450 /* setup view parameters, only makes GL calls */
453 /* Globe Aiport, AZ */
454 FG_Runway_altitude = 3234.5;
455 FG_Runway_latitude = 120070.41;
456 FG_Runway_longitude = -398391.28;
457 FG_Runway_heading = 102.0 * DEG_TO_RAD;
459 /* Initial Position */
460 FG_Latitude = ( 120070.41 / 3600.0 ) * DEG_TO_RAD;
461 FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD;
462 FG_Altitude = FG_Runway_altitude + 3.758099;
464 printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude,
465 FG_Longitude, FG_Altitude);
468 /* Initial Velocity */
469 FG_V_north = 0.0 /* 7.287719E+00 */;
470 FG_V_east = 0.0 /* 1.521770E+03 */;
471 FG_V_down = 0.0 /* -1.265722E-05 */;
473 /* Initial Orientation */
474 FG_Phi = -2.658474E-06;
475 FG_Theta = 7.401790E-03;
476 FG_Psi = 282.0 * DEG_TO_RAD;
478 /* Initial Angular B rates */
479 FG_P_body = 7.206685E-05;
480 FG_Q_body = 0.000000E+00;
481 FG_R_body = 9.492658E-05;
483 FG_Earth_position_angle = 0.000000E+00;
485 /* Mass properties and geometry values */
486 FG_Mass = 8.547270E+01;
487 FG_I_xx = 1.048000E+03;
488 FG_I_yy = 3.000000E+03;
489 FG_I_zz = 3.530000E+03;
490 FG_I_xz = 0.000000E+00;
492 /* CG position w.r.t. ref. point */
493 FG_Dx_cg = 0.000000E+00;
494 FG_Dy_cg = 0.000000E+00;
495 FG_Dz_cg = 0.000000E+00;
497 /* Set initial position and slew parameters */
498 /* fgSlewInit(-398391.3, 120070.41, 244, 3.1415); */ /* GLOBE Airport */
499 /* fgSlewInit(-335340,162540, 15, 4.38); */
500 /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
502 fgFlightModelInit( FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ );
505 /* init timer routines, signals, etc. Arrange for an alarm
506 signal to be generated, etc. */
507 fgInitTimeDepCalcs();
510 /* build all objects */
512 /* parse the scenery file, and build the OpenGL call list */
513 /* this function will eventually move to the scenery management system */
514 if ( strlen(argv[1]) ) {
515 parse_scenery(argv[1]);
518 /* initialize the scenery */
522 /* call fgReshape() on window resizes */
523 glutReshapeFunc( fgReshape );
525 /* call key() on keyboard event */
526 glutKeyboardFunc( GLUTkey );
527 glutSpecialFunc( GLUTspecialkey );
529 /* call fgMainLoop() whenever there is nothing else to do */
530 glutIdleFunc( fgMainLoop );
533 glutDisplayFunc( fgUpdateVisuals );
535 /* pass control off to the GLUT event handler */
538 /* call fgReshape() on expose events */
539 tkExposeFunc( fgReshape );
541 /* call fgReshape() on window resizes */
542 tkReshapeFunc( fgReshape );
544 /* call key() on keyboard event */
545 tkKeyDownFunc( GLTKkey );
547 /* call fgMainLoop() whenever there is nothing else to do */
548 tkIdleFunc( fgMainLoop );
551 tkDisplayFunc( fgUpdateVisuals );
553 /* pass control off to the tk event handler */
562 /* Revision 1.23 1997/06/26 19:08:33 curt
563 /* Restructuring make, adding automatic "make dep" support.
565 * Revision 1.22 1997/06/25 15:39:47 curt
566 * Minor changes to compile with rsxnt/win32.
568 * Revision 1.21 1997/06/22 21:44:41 curt
569 * Working on intergrating the VRML (subset) parser.
571 * Revision 1.20 1997/06/21 17:12:53 curt
572 * Capitalized subdirectory names.
574 * Revision 1.19 1997/06/18 04:10:31 curt
575 * A couple more runway tweaks ...
577 * Revision 1.18 1997/06/18 02:21:24 curt
580 * Revision 1.17 1997/06/17 16:51:58 curt
581 * Timer interval stuff now uses gettimeofday() instead of ftime()
583 * Revision 1.16 1997/06/17 04:19:16 curt
584 * More timer related tweaks with respect to view direction changes.
586 * Revision 1.15 1997/06/17 03:41:10 curt
587 * Nonsignal based interval timing is now working.
588 * This would be a good time to look at cleaning up the code structure a bit.
590 * Revision 1.14 1997/06/16 19:32:51 curt
591 * Starting to add general timer support.
593 * Revision 1.13 1997/06/02 03:40:06 curt
594 * A tiny bit more view tweaking.
596 * Revision 1.12 1997/06/02 03:01:38 curt
597 * Working on views (side, front, back, transitions, etc.)
599 * Revision 1.11 1997/05/31 19:16:25 curt
600 * Elevator trim added.
602 * Revision 1.10 1997/05/31 04:13:52 curt
605 * Continuing work on the LaRCsim flight model integration.
606 * Added some MSFS-like keyboard input handling.
608 * Revision 1.9 1997/05/30 19:27:01 curt
609 * The LaRCsim flight model is starting to look like it is working.
611 * Revision 1.8 1997/05/30 03:54:10 curt
612 * Made a bit more progress towards integrating the LaRCsim flight model.
614 * Revision 1.7 1997/05/29 22:39:49 curt
615 * Working on incorporating the LaRCsim flight model.
617 * Revision 1.6 1997/05/29 12:31:39 curt
618 * Minor tweaks, moving towards general flight model integration.
620 * Revision 1.5 1997/05/29 02:33:23 curt
621 * Updated to reflect changing interfaces in other "modules."
623 * Revision 1.4 1997/05/27 17:44:31 curt
624 * Renamed & rearranged variables and routines. Added some initial simple
625 * timer/alarm routines so the flight model can be updated on a regular
628 * Revision 1.3 1997/05/23 15:40:25 curt
629 * Added GNU copyright headers.
632 * Revision 1.2 1997/05/23 00:35:12 curt
633 * Trying to get fog to work ...
635 * Revision 1.1 1997/05/21 15:57:51 curt
636 * Renamed due to added GLUT support.
638 * Revision 1.3 1997/05/19 18:22:42 curt
639 * Parameter tweaking ... starting to stub in fog support.
641 * Revision 1.2 1997/05/17 00:17:34 curt
642 * Trying to stub in support for standard OpenGL.
644 * Revision 1.1 1997/05/16 16:05:52 curt