2 // fg_init.cxx -- Flight Gear top level initialization routines
4 // Written by Curtis Olson, started August 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.
24 // (Log is kept at end of this file)
34 // work around a stdc++ lib bug in some versions of linux, but doesn't
35 // seem to hurt to have this here for all versions of Linux.
37 # define _G_NO_EXTERN_TEMPLATES
42 #include <Include/fg_constants.h>
43 #include <Include/general.h>
45 #include <Aircraft/aircraft.h>
46 #include <Astro/moon.hxx>
47 #include <Astro/planets.hxx>
48 #include <Astro/sky.hxx>
49 #include <Astro/stars.hxx>
50 #include <Astro/sun.hxx>
51 #include <Autopilot/autopilot.h>
52 #include <Cockpit/cockpit.hxx>
53 #include <Debug/fg_debug.h>
54 #include <Joystick/joystick.h>
55 #include <Math/fg_random.h>
56 #include <Scenery/scenery.hxx>
57 #include <Scenery/tilemgr.hxx>
58 #include <Time/event.hxx>
59 #include <Time/fg_time.hxx>
60 #include <Time/light.hxx>
61 #include <Time/sunpos.hxx>
62 #include <Weather/weather.h>
64 #include "airports.hxx"
65 #include "fg_init.hxx"
66 #include "options.hxx"
70 extern const char *default_root;
73 // Set initial position and orientation
74 int fgInitPosition( void ) {
78 f = current_aircraft.flight;
80 current_options.get_airport_id(id);
82 // set initial position from airport id
87 fgPrintf( FG_GENERAL, FG_INFO,
88 "Attempting to set starting position from airport code %s.\n",
91 airports.load("Airports");
92 a = airports.search(id);
93 if ( (fabs(a.longitude) < FG_EPSILON) &&
94 (fabs(a.latitude) < FG_EPSILON) &&
95 (fabs(a.elevation) < FG_EPSILON) ) {
96 fgPrintf( FG_GENERAL, FG_EXIT,
97 "Failed to find %s in database.\n", id);
99 FG_Longitude = ( a.longitude ) * DEG_TO_RAD;
100 FG_Latitude = ( a.latitude ) * DEG_TO_RAD;
103 // set initial position from default or command line coordinates
105 FG_Longitude = current_options.get_lon() * DEG_TO_RAD;
106 FG_Latitude = current_options.get_lat() * DEG_TO_RAD;
109 printf("starting altitude is = %.2f\n", current_options.get_altitude());
111 FG_Altitude = current_options.get_altitude() * METER_TO_FEET;
112 FG_Runway_altitude = FG_Altitude - 3.758099;
114 fgPrintf( FG_GENERAL, FG_INFO,
115 "Initial position is: (%.4f, %.4f, %.2f)\n",
116 FG_Longitude * RAD_TO_DEG, FG_Latitude * RAD_TO_DEG,
117 FG_Altitude * FEET_TO_METER);
123 // General house keeping initializations
124 int fgInitGeneral( void ) {
131 fgPrintf( FG_GENERAL, FG_INFO, "General Initialization\n" );
132 fgPrintf( FG_GENERAL, FG_INFO, "======= ==============\n" );
134 g->glVendor = (char *)glGetString ( GL_VENDOR );
135 g->glRenderer = (char *)glGetString ( GL_RENDERER );
136 g->glVersion = (char *)glGetString ( GL_VERSION );
138 current_options.get_fg_root(root);
139 if ( !strlen(root) ) {
140 // No root path set? Then bail ...
141 fgPrintf( FG_GENERAL, FG_EXIT, "%s %s\n",
142 "Cannot continue without environment variable FG_ROOT",
145 fgPrintf( FG_GENERAL, FG_INFO, "FG_ROOT = %s\n\n", root);
147 // prime the frame rate counter pump
148 for ( i = 0; i < FG_FRAME_RATE_HISTORY; i++ ) {
156 // This is the top level init routine which calls all the other
157 // initialization routines. If you are adding a subsystem to flight
158 // gear, its initialization call should located in this routine.
159 // Returns non-zero if a problem encountered.
160 int fgInitSubsystems( void ) {
166 l = &cur_light_params;
167 t = &cur_time_params;
170 fgPrintf( FG_GENERAL, FG_INFO, "Initialize Subsystems\n");
171 fgPrintf( FG_GENERAL, FG_INFO, "========== ==========\n");
173 // seed the random number generater
176 // The following section sets up the flight model EOM parameters
177 // and should really be read in from one or more files.
179 // Must happen before any of the flight model or control
180 // parameters are set
182 fgAircraftInit(); // In the future this might not be the case.
183 f = current_aircraft.flight;
185 // set the initial position
189 FG_V_north = 0.0; // 7.287719E+00
190 FG_V_east = 0.0; // 1.521770E+03
191 FG_V_down = 0.0; // -1.265722E-05
193 // Initial Orientation
194 FG_Phi = current_options.get_roll() * DEG_TO_RAD;
195 FG_Theta = current_options.get_pitch() * DEG_TO_RAD;
196 FG_Psi = current_options.get_heading() * DEG_TO_RAD;
198 // Initial Angular B rates
199 FG_P_body = 7.206685E-05;
200 FG_Q_body = 0.000000E+00;
201 FG_R_body = 9.492658E-05;
203 FG_Earth_position_angle = 0.000000E+00;
205 // Mass properties and geometry values
206 FG_Mass = 8.547270E+01;
207 FG_I_xx = 1.048000E+03;
208 FG_I_yy = 3.000000E+03;
209 FG_I_zz = 3.530000E+03;
210 FG_I_xz = 0.000000E+00;
212 // CG position w.r.t. ref. point
213 FG_Dx_cg = 0.000000E+00;
214 FG_Dy_cg = 0.000000E+00;
215 FG_Dz_cg = 0.000000E+00;
217 // Initialize the event manager
218 global_events.Init();
220 // Output event stats every 60 seconds
221 global_events.Register( "fgEventPrintStats()", fgEventPrintStats,
222 FG_EVENT_READY, 60000 );
224 // Initialize the time dependent variables
228 // Initialize view parameters
231 v->UpdateWorldToEye(f);
233 // Initialize the orbital elements of sun, moon and mayor planets
234 fgSolarSystemInit(*t);
236 // Initialize the Stars subsystem
237 if( fgStarsInit() ) {
238 // Stars initialized ok.
240 fgPrintf( FG_GENERAL, FG_EXIT, "Error in Stars initialization!\n" );
243 // Initialize the planetary subsystem
244 global_events.Register( "fgPlanetsInit()", fgPlanetsInit,
245 FG_EVENT_READY, 600000);
247 // Initialize the sun's position
248 global_events.Register( "fgSunInit()", fgSunInit,
249 FG_EVENT_READY, 30000 );
251 // Intialize the moon's position
252 global_events.Register( "fgMoonInit()", fgMoonInit,
253 FG_EVENT_READY, 600000 );
255 // fgUpdateSunPos() needs a few position and view parameters set
256 // so it can calculate local relative sun angle and a few other
257 // things for correctly orienting the sky.
260 // Initialize Lighting interpolation tables
263 // update the lighting parameters (based on sun angle)
264 global_events.Register( "fgLightUpdate()", fgLightUpdate,
265 FG_EVENT_READY, 30000 );
267 // Initialize the weather modeling subsystem
270 // update the weather for our current position
271 global_events.Register( "fgWeatherUpdate()", fgWeatherUpdate,
272 FG_EVENT_READY, 120000 );
274 // Initialize the Cockpit subsystem
275 if( fgCockpitInit( ¤t_aircraft )) {
276 // Cockpit initialized ok.
278 fgPrintf( FG_GENERAL, FG_EXIT, "Error in Cockpit initialization!\n" );
281 // Initialize the "sky"
284 // Initialize the Scenery Management subsystem
285 if ( fgSceneryInit() ) {
286 // Scenery initialized ok.
288 fgPrintf( FG_GENERAL, FG_EXIT, "Error in Scenery initialization!\n" );
291 if( fgTileMgrInit() ) {
292 // Load the local scenery data
295 fgPrintf( FG_GENERAL, FG_EXIT,
296 "Error in Tile Manager initialization!\n" );
299 // I'm just sticking this here for now, it should probably move
301 scenery.cur_elev = FG_Runway_altitude * FEET_TO_METER;
303 if ( FG_Altitude < FG_Runway_altitude + 3.758099) {
304 FG_Altitude = FG_Runway_altitude + 3.758099;
307 fgPrintf( FG_GENERAL, FG_INFO,
308 "Updated position (after elevation adj): (%.4f, %.4f, %.2f)\n",
309 FG_Latitude * RAD_TO_DEG, FG_Longitude * RAD_TO_DEG,
310 FG_Altitude * FEET_TO_METER);
311 // end of thing that I just stuck in that I should probably move
313 // Initialize the flight model subsystem data structures base on
316 fgFlightModelInit( current_options.get_flight_model(), f,
317 1.0 / DEFAULT_MODEL_HZ );
319 // I'm just sticking this here for now, it should probably move
321 scenery.cur_elev = FG_Runway_altitude * FEET_TO_METER;
323 if ( FG_Altitude < FG_Runway_altitude + 3.758099) {
324 FG_Altitude = FG_Runway_altitude + 3.758099;
327 fgPrintf( FG_GENERAL, FG_INFO,
328 "Updated position (after elevation adj): (%.4f, %.4f, %.2f)\n",
329 FG_Latitude * RAD_TO_DEG, FG_Longitude * RAD_TO_DEG,
330 FG_Altitude * FEET_TO_METER);
331 // end of thing that I just stuck in that I should probably move
334 if (fgJoystickInit(0) ) {
335 // Joystick initialized ok.
337 fgPrintf( FG_GENERAL, FG_EXIT, "Error in Joystick initialization!\n" );
340 // Autopilot init added here, by Jeff Goeke-Smith
341 fgAPInit(¤t_aircraft);
343 fgPrintf(FG_GENERAL, FG_INFO,"\n");
350 // Revision 1.29 1998/07/30 23:48:27 curt
351 // Output position & orientation when pausing.
352 // Eliminated libtool use.
353 // Added options to specify initial position and orientation.
354 // Changed default fov to 55 degrees.
355 // Added command line option to start in paused or unpaused state.
357 // Revision 1.28 1998/07/27 18:41:25 curt
358 // Added a pause command "p"
359 // Fixed some initialization order problems between pui and glut.
360 // Added an --enable/disable-sound option.
362 // Revision 1.27 1998/07/24 21:39:10 curt
363 // Debugging output tweaks.
364 // Cast glGetString to (char *) to avoid compiler errors.
365 // Optimizations to fgGluLookAt() by Norman Vine.
367 // Revision 1.26 1998/07/22 21:40:44 curt
368 // Clear to adjusted fog color (for sunrise/sunset effects)
369 // Make call to fog sunrise/sunset adjustment method.
370 // Add a stdc++ library bug work around to fg_init.cxx
372 // Revision 1.25 1998/07/13 21:01:38 curt
373 // Wrote access functions for current fgOPTIONS.
375 // Revision 1.24 1998/07/13 15:32:39 curt
376 // Clear color buffer if drawing wireframe.
377 // When specifying and airport, start elevation at -1000 and let the system
378 // position you at ground level.
380 // Revision 1.23 1998/07/12 03:14:43 curt
381 // Added ground collision detection.
382 // Did some serious horsing around to be able to "hug" the ground properly
383 // and still be able to take off.
384 // Set the near clip plane to 1.0 meters when less than 10 meters above the
386 // Did some serious horsing around getting the initial airplane position to be
387 // correct based on rendered terrain elevation.
388 // Added a little cheat/hack that will prevent the view position from ever
389 // dropping below the terrain, even when the flight model doesn't quite
390 // put you as high as you'd like.
392 // Revision 1.22 1998/07/04 00:52:25 curt
393 // Add my own version of gluLookAt() (which is nearly identical to the
394 // Mesa/glu version.) But, by calculating the Model View matrix our selves
395 // we can save this matrix without having to read it back in from the video
396 // card. This hopefully allows us to save a few cpu cycles when rendering
397 // out the fragments because we can just use glLoadMatrixd() with the
398 // precalculated matrix for each tile rather than doing a push(), translate(),
399 // pop() for every fragment.
401 // Panel status defaults to off for now until it gets a bit more developed.
403 // Extract OpenGL driver info on initialization.
405 // Revision 1.21 1998/06/27 16:54:33 curt
406 // Replaced "extern displayInstruments" with a entry in fgOPTIONS.
407 // Don't change the view port when displaying the panel.
409 // Revision 1.20 1998/06/17 21:35:12 curt
410 // Refined conditional audio support compilation.
411 // Moved texture parameter setup calls to ../Scenery/materials.cxx
412 // #include <string.h> before various STL includes.
413 // Make HUD default state be enabled.
415 // Revision 1.19 1998/06/08 17:57:05 curt
416 // Minor sound/startup position tweaks.
418 // Revision 1.18 1998/06/03 00:47:14 curt
419 // Updated to compile in audio support if OSS available.
420 // Updated for new version of Steve's audio library.
421 // STL includes don't use .h
422 // Small view optimizations.
424 // Revision 1.17 1998/06/01 17:54:42 curt
425 // Added Linux audio support.
426 // avoid glClear( COLOR_BUFFER_BIT ) when not using it to set the sky color.
429 // Revision 1.16 1998/05/29 20:37:24 curt
430 // Tweaked material properties & lighting a bit in GLUTmain.cxx.
431 // Read airport list into a "map" STL for dynamic list sizing and fast tree
434 // Revision 1.15 1998/05/22 21:28:53 curt
435 // Modifications to use the new fgEVENT_MGR class.
437 // Revision 1.14 1998/05/20 20:51:35 curt
438 // Tweaked smooth shaded texture lighting properties.
439 // Converted fgLIGHT to a C++ class.
441 // Revision 1.13 1998/05/16 13:08:35 curt
442 // C++ - ified views.[ch]xx
443 // Shuffled some additional view parameters into the fgVIEW class.
444 // Changed tile-radius to tile-diameter because it is a much better
446 // Added a WORLD_TO_EYE transformation to views.cxx. This allows us
447 // to transform world space to eye space for view frustum culling.
449 // Revision 1.12 1998/05/13 18:29:58 curt
450 // Added a keyboard binding to dynamically adjust field of view.
451 // Added a command line option to specify fov.
452 // Adjusted terrain color.
453 // Root path info moved to fgOPTIONS.
454 // Added ability to parse options out of a config file.
456 // Revision 1.11 1998/05/07 23:14:15 curt
457 // Added "D" key binding to set autopilot heading.
458 // Made frame rate calculation average out over last 10 frames.
459 // Borland C++ floating point exception workaround.
460 // Added a --tile-radius=n option.
462 // Revision 1.10 1998/05/06 03:16:24 curt
463 // Added an averaged global frame rate counter.
464 // Added an option to control tile radius.
466 // Revision 1.9 1998/05/03 00:47:31 curt
467 // Added an option to enable/disable full-screen mode.
469 // Revision 1.8 1998/04/30 12:34:18 curt
470 // Added command line rendering options:
471 // enable/disable fog/haze
472 // specify smooth/flat shading
473 // disable sky blending and just use a solid color
474 // enable wireframe drawing mode
476 // Revision 1.7 1998/04/28 01:20:22 curt
477 // Type-ified fgTIME and fgVIEW.
478 // Added a command line option to disable textures.
480 // Revision 1.6 1998/04/26 05:10:03 curt
481 // "struct fgLIGHT" -> "fgLIGHT" because fgLIGHT is typedef'd.
483 // Revision 1.5 1998/04/25 22:06:30 curt
484 // Edited cvs log messages in source files ... bad bad bad!
486 // Revision 1.4 1998/04/25 20:24:01 curt
487 // Cleaned up initialization sequence to eliminate interdependencies
488 // between sun position, lighting, and view position. This creates a
489 // valid single pass initialization path.
491 // Revision 1.3 1998/04/25 15:11:11 curt
492 // Added an command line option to set starting position based on airport ID.
494 // Revision 1.2 1998/04/24 00:49:20 curt
495 // Wrapped "#include <config.h>" in "#ifdef HAVE_CONFIG_H"
496 // Trying out some different option parsing code.
497 // Some code reorganization.
499 // Revision 1.1 1998/04/22 13:25:44 curt
500 // C++ - ifing the code.
501 // Starting a bit of reorganization of lighting code.
503 // Revision 1.56 1998/04/18 04:11:28 curt
504 // Moved fg_debug to it's own library, added zlib support.
506 // Revision 1.55 1998/04/14 02:21:03 curt
507 // Incorporated autopilot heading hold contributed by: Jeff Goeke-Smith
508 // <jgoeke@voyager.net>
510 // Revision 1.54 1998/04/08 23:35:36 curt
511 // Tweaks to Gnu automake/autoconf system.
513 // Revision 1.53 1998/04/03 22:09:06 curt
514 // Converting to Gnu autoconf system.
516 // Revision 1.52 1998/03/23 21:24:38 curt
517 // Source code formating tweaks.
519 // Revision 1.51 1998/03/14 00:31:22 curt
520 // Beginning initial terrain texturing experiments.
522 // Revision 1.50 1998/03/09 22:46:19 curt
525 // Revision 1.49 1998/02/23 19:07:59 curt
526 // Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
527 // calculation code between sun display, and other FG sections that use this
528 // for things like lighting.
530 // Revision 1.48 1998/02/21 14:53:15 curt
531 // Added Charlie's HUD changes.
533 // Revision 1.47 1998/02/19 13:05:53 curt
534 // Incorporated some HUD tweaks from Michelle America.
535 // Tweaked the sky's sunset/rise colors.
536 // Other misc. tweaks.
538 // Revision 1.46 1998/02/18 15:07:06 curt
539 // Tweaks to build with SGI OpenGL (and therefor hopefully other accelerated
540 // drivers will work.)
542 // Revision 1.45 1998/02/16 13:39:43 curt
543 // Miscellaneous weekend tweaks. Fixed? a cache problem that caused whole
544 // tiles to occasionally be missing.
546 // Revision 1.44 1998/02/12 21:59:50 curt
547 // Incorporated code changes contributed by Charlie Hotchkiss
548 // <chotchkiss@namg.us.anritsu.com>
550 // Revision 1.43 1998/02/11 02:50:40 curt
553 // Revision 1.42 1998/02/09 22:56:58 curt
554 // Removed "depend" files from cvs control. Other minor make tweaks.
556 // Revision 1.41 1998/02/09 15:07:50 curt
559 // Revision 1.40 1998/02/07 15:29:44 curt
560 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
561 // <chotchkiss@namg.us.anritsu.com>
563 // Revision 1.39 1998/02/03 23:20:25 curt
564 // Lots of little tweaks to fix various consistency problems discovered by
565 // Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
566 // passed arguments along to the real printf(). Also incorporated HUD changes
567 // by Michele America.
569 // Revision 1.38 1998/02/02 20:53:58 curt
570 // Incorporated Durk's changes.
572 // Revision 1.37 1998/02/01 03:39:54 curt
575 // Revision 1.36 1998/01/31 00:43:13 curt
576 // Added MetroWorks patches from Carmen Volpe.
578 // Revision 1.35 1998/01/27 00:47:57 curt
579 // Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
580 // system and commandline/config file processing code.
582 // Revision 1.34 1998/01/22 02:59:37 curt
583 // Changed #ifdef FILE_H to #ifdef _FILE_H
585 // Revision 1.33 1998/01/21 21:11:34 curt
588 // Revision 1.32 1998/01/19 19:27:08 curt
589 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
590 // This should simplify things tremendously.
592 // Revision 1.31 1998/01/19 18:40:32 curt
593 // Tons of little changes to clean up the code and to remove fatal errors
594 // when building with the c++ compiler.
596 // Revision 1.30 1998/01/13 00:23:09 curt
597 // Initial changes to support loading and management of scenery tiles. Note,
598 // there's still a fair amount of work left to be done.
600 // Revision 1.29 1998/01/08 02:22:08 curt
601 // Beginning to integrate Tile management subsystem.
603 // Revision 1.28 1998/01/07 03:18:58 curt
604 // Moved astronomical stuff from .../Src/Scenery to .../Src/Astro/
606 // Revision 1.27 1998/01/05 18:44:35 curt
607 // Add an option to advance/decrease time from keyboard.
609 // Revision 1.26 1997/12/30 23:09:04 curt
610 // Tweaking initialization sequences.
612 // Revision 1.25 1997/12/30 22:22:33 curt
613 // Further integration of event manager.
615 // Revision 1.24 1997/12/30 20:47:44 curt
616 // Integrated new event manager with subsystem initializations.
618 // Revision 1.23 1997/12/30 16:36:50 curt
619 // Merged in Durk's changes ...
621 // Revision 1.22 1997/12/19 23:34:05 curt
622 // Lot's of tweaking with sky rendering and lighting.
624 // Revision 1.21 1997/12/19 16:45:00 curt
625 // Working on scene rendering order and options.
627 // Revision 1.20 1997/12/18 23:32:33 curt
628 // First stab at sky dome actually starting to look reasonable. :-)
630 // Revision 1.19 1997/12/17 23:13:36 curt
631 // Began working on rendering a sky.
633 // Revision 1.18 1997/12/15 23:54:49 curt
634 // Add xgl wrappers for debugging.
635 // Generate terrain normals on the fly.
637 // Revision 1.17 1997/12/15 20:59:09 curt
640 // Revision 1.16 1997/12/12 19:52:48 curt
641 // Working on lightling and material properties.
643 // Revision 1.15 1997/12/11 04:43:55 curt
644 // Fixed sun vector and lighting problems. I thing the moon is now lit
647 // Revision 1.14 1997/12/10 22:37:47 curt
648 // Prepended "fg" on the name of all global structures that didn't have it yet.
649 // i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
651 // Revision 1.13 1997/11/25 19:25:32 curt
652 // Changes to integrate Durk's moon/sun code updates + clean up.
654 // Revision 1.12 1997/11/15 18:16:35 curt
657 // Revision 1.11 1997/10/30 12:38:42 curt
658 // Working on new scenery subsystem.
660 // Revision 1.10 1997/10/25 03:24:23 curt
661 // Incorporated sun, moon, and star positioning code contributed by Durk Talsma.
663 // Revision 1.9 1997/09/23 00:29:39 curt
664 // Tweaks to get things to compile with gcc-win32.
666 // Revision 1.8 1997/09/22 14:44:20 curt
667 // Continuing to try to align stars correctly.
669 // Revision 1.7 1997/09/16 15:50:30 curt
670 // Working on star alignment and time issues.
672 // Revision 1.6 1997/09/05 14:17:30 curt
673 // More tweaking with stars.
675 // Revision 1.5 1997/09/04 02:17:36 curt
678 // Revision 1.4 1997/08/27 21:32:26 curt
679 // Restructured view calculation code. Added stars.
681 // Revision 1.3 1997/08/27 03:30:19 curt
682 // Changed naming scheme of basic shared structures.
684 // Revision 1.2 1997/08/25 20:27:23 curt
685 // Merged in initial HUD and Joystick code.
687 // Revision 1.1 1997/08/23 01:46:20 curt