1 // main.cxx -- top level sim routines
3 // Written by Curtis Olson for OpenGL, started May 1997.
5 // Copyright (C) 1997 - 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 #define MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
31 #ifdef FG_MATH_EXCEPTION_CLASH
41 #include <simgear/xgl/xgl.h>
51 #ifdef HAVE_SYS_STAT_H
52 # include <sys/stat.h> /* for stat() */
56 # include <unistd.h> /* for stat() */
59 #include <plib/pu.h> // plib include
60 #include <plib/ssg.h> // plib include
62 #ifdef ENABLE_AUDIO_SUPPORT
63 # include <plib/sl.h> // plib include
64 # include <plib/sm.h> // plib include
67 #include <simgear/constants.h> // for VERSION
68 #include <simgear/debug/logstream.hxx>
69 #include <simgear/math/fg_geodesy.hxx>
70 #include <simgear/math/polar3d.hxx>
71 #include <simgear/math/fg_random.h>
72 #include <simgear/misc/fgpath.hxx>
74 #include <Include/general.hxx>
76 #include <Aircraft/aircraft.hxx>
77 #include <Ephemeris/ephemeris.hxx>
79 #include <Autopilot/autopilot.hxx>
80 #include <Cockpit/cockpit.hxx>
81 #include <Cockpit/radiostack.hxx>
82 #include <Cockpit/steam.hxx>
83 #include <FDM/UIUCModel/uiuc_aircraft.h>
84 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
86 #include <Joystick/joystick.hxx>
88 #include <NetworkOLK/network.h>
90 #include <Objects/materialmgr.hxx>
91 #include <Scenery/scenery.hxx>
92 #include <Scenery/tilemgr.hxx>
93 #include <Sky/sky.hxx>
94 #include <Time/event.hxx>
95 #include <Time/fg_time.hxx>
96 #include <Time/fg_timer.hxx>
97 #include <Time/sunpos.hxx>
99 #ifndef FG_OLD_WEATHER
100 # include <WeatherCM/FGLocalWeatherDatabase.h>
102 # include <Weather/weather.hxx>
105 #include "fg_init.hxx"
107 #include "keyboard.hxx"
108 #include "options.hxx"
109 #include "splash.hxx"
113 // -dw- use custom sioux settings so I can see output window
116 # include <sioux.h> // settings for output window
118 # include <console.h>
122 // This is a record containing a bit of global housekeeping information
125 // Specify our current idle function state. This is used to run all
126 // our initializations out of the glutIdleLoop() so that we can get a
127 // splash screen up and running right away.
128 static int idle_state = 0;
129 static int global_multi_loop;
134 // Global structures for the Audio library
135 #ifdef ENABLE_AUDIO_SUPPORT
136 slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
137 slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
138 slScheduler *audio_sched;
139 smMixer *audio_mixer;
146 ssgRoot *scene = NULL;
147 ssgBranch *terrain = NULL;
148 ssgSelector *penguin_sel = NULL;
149 ssgTransform *penguin_pos = NULL;
151 #ifdef FG_NETWORK_OLK
152 ssgSelector *fgd_sel = NULL;
153 ssgTransform *fgd_pos = NULL;
157 // current fdm/position used for view
158 FGInterface cur_view_fdm;
165 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
167 { 1.0f, 0.0f, 0.0f, 0.0f },
168 { 0.0f, 0.0f, -1.0f, 0.0f },
169 { 0.0f, 1.0f, 0.0f, 0.0f },
170 { 0.0f, 0.0f, 0.0f, 1.0f }
173 // The following defines flight gear options. Because glutlib will also
174 // want to parse its own options, those options must not be included here
175 // or they will get parsed by the main program option parser. Hence case
176 // is significant for any option added that might be in conflict with
179 // glutlib parses for:
181 // -direct (invalid in Win32)
185 // -indirect (invalid in Win32)
188 // Note that glutlib depends upon strings while this program's
189 // option parser wants only initial characters followed by numbers
194 ssgSimpleState *default_state;
195 ssgSimpleState *hud_and_panel;
196 ssgSimpleState *menus;
198 void fgBuildRenderStates( void ) {
199 default_state = new ssgSimpleState;
200 default_state->disable( GL_TEXTURE_2D );
201 default_state->enable( GL_CULL_FACE );
202 default_state->disable( GL_COLOR_MATERIAL );
203 default_state->disable( GL_BLEND );
204 default_state->disable( GL_ALPHA_TEST );
205 default_state->disable( GL_LIGHTING );
206 default_state->setMaterial( GL_AMBIENT_AND_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
208 hud_and_panel = new ssgSimpleState;
209 hud_and_panel->disable( GL_CULL_FACE );
210 hud_and_panel->disable( GL_TEXTURE_2D );
211 hud_and_panel->disable( GL_LIGHTING );
213 menus = new ssgSimpleState;
214 menus->disable( GL_CULL_FACE );
215 menus->disable( GL_TEXTURE_2D );
216 menus->enable( GL_BLEND );
220 // fgInitVisuals() -- Initialize various GL/view parameters
221 void fgInitVisuals( void ) {
224 l = &cur_light_params;
226 #ifndef GLUT_WRONG_VERSION
227 // Go full screen if requested ...
228 if ( current_options.get_fullscreen() ) {
233 // If enabled, normal vectors specified with glNormal are scaled
234 // to unit length after transformation. See glNormal.
235 // glEnable( GL_NORMALIZE );
237 glEnable( GL_LIGHTING );
238 glEnable( GL_LIGHT0 );
239 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
242 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
243 ssgGetLight( 0 ) -> setPosition( sunpos );
245 // glFogi (GL_FOG_MODE, GL_LINEAR);
246 glFogi (GL_FOG_MODE, GL_EXP2);
247 if ( (current_options.get_fog() == 1) ||
248 (current_options.get_shading() == 0) ) {
249 // if fastest fog requested, or if flat shading force fastest
250 glHint ( GL_FOG_HINT, GL_FASTEST );
251 } else if ( current_options.get_fog() == 2 ) {
252 glHint ( GL_FOG_HINT, GL_NICEST );
254 if ( current_options.get_wireframe() ) {
256 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
259 // This is the default anyways, but it can't hurt
260 glFrontFace ( GL_CCW );
263 // glEnable(GL_POINT_SMOOTH);
264 // glEnable(GL_LINE_SMOOTH);
265 // glEnable(GL_POLYGON_SMOOTH);
269 // Update all Visuals (redraws anything graphics related)
270 void fgRenderFrame( void ) {
271 fgLIGHT *l = &cur_light_params;
272 FGTime *t = FGTime::cur_time_params;
273 // FGView *v = ¤t_view;
274 static double last_visibility = -9999;
275 static bool in_puff = false;
276 static double puff_length = 0;
277 static double puff_progression = 0;
278 const double ramp_up = 0.15;
279 const double ramp_down = 0.15;
282 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
283 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
284 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
285 // GLfloat mat_shininess[] = { 10.0 };
286 GLbitfield clear_mask;
288 if ( idle_state != 1000 ) {
289 // still initializing, draw the splash screen
290 if ( current_options.get_splash_screen() == 1 ) {
294 // idle_state is now 1000 meaning we've finished all our
295 // initializations and are running the main loop, so this will
296 // now work without seg faulting the system.
298 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
299 // FG_Altitude * FEET_TO_METER);
301 // this is just a temporary hack, to make me understand Pui
302 // timerText -> setLabel (ctime (&t->cur_time));
305 // update view volume parameters
306 // cout << "before pilot_view update" << endl;
307 pilot_view.UpdateViewParams(*cur_fdm_state);
308 // cout << "after pilot_view update" << endl;
309 current_view.UpdateViewParams(cur_view_fdm);
311 // set the sun position
312 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
314 clear_mask = GL_DEPTH_BUFFER_BIT;
315 if ( current_options.get_wireframe() ) {
316 clear_mask |= GL_COLOR_BUFFER_BIT;
318 if ( current_options.get_panel_status() ) {
319 // we can't clear the screen when the panel is active
320 } else if ( current_options.get_skyblend() ) {
321 if ( current_options.get_textures() ) {
322 // glClearColor(black[0], black[1], black[2], black[3]);
323 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
324 l->adj_fog_color[2], l->adj_fog_color[3]);
325 clear_mask |= GL_COLOR_BUFFER_BIT;
328 glClearColor(l->sky_color[0], l->sky_color[1],
329 l->sky_color[2], l->sky_color[3]);
330 clear_mask |= GL_COLOR_BUFFER_BIT;
332 glClear( clear_mask );
334 // Tell GL we are switching to model view parameters
336 // I really should create a derived ssg node or use a call
337 // back or something so that I can draw the sky within the
338 // ssgCullandDraw() function, but for now I just mimic what
339 // ssg does to set up the model view matrix
340 glMatrixMode(GL_MODELVIEW);
342 ssgSetCamera( current_view.VIEW );
345 sgMat4 vm_tmp, view_mat;
346 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
347 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
348 sgPreMultMat4( view_mat, vm_tmp ) ;
349 glLoadMatrixf( (float *)view_mat );
352 // set the opengl state to known default values
353 default_state->force();
356 if ( current_options.get_skyblend() ) {
359 current_view.get_view_pos().x(),
360 current_view.get_view_pos().y(),
361 current_view.get_view_pos().z() );
364 sgSetVec3( zero_elev,
365 current_view.get_cur_zero_elev().x(),
366 current_view.get_cur_zero_elev().y(),
367 current_view.get_cur_zero_elev().z() );
369 /* cout << "thesky->repaint() sky_color = "
370 << cur_light_params.sky_color[0] << " "
371 << cur_light_params.sky_color[1] << " "
372 << cur_light_params.sky_color[2] << " "
373 << cur_light_params.sky_color[3] << endl;
375 << cur_light_params.fog_color[0] << " "
376 << cur_light_params.fog_color[1] << " "
377 << cur_light_params.fog_color[2] << " "
378 << cur_light_params.fog_color[3] << endl;
379 cout << " sun_angle = " << cur_light_params.sun_angle
380 << " moon_angle = " << cur_light_params.moon_angle
382 thesky->repaint( cur_light_params.sky_color,
383 cur_light_params.adj_fog_color,
384 cur_light_params.sun_angle,
385 cur_light_params.moon_angle,
386 ephem->getNumPlanets(), ephem->getPlanets(),
387 ephem->getNumStars(), ephem->getStars() );
389 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
390 << view_pos[1] << " " << view_pos[2] << endl;
391 cout << " zero_elev = " << zero_elev[0] << " "
392 << zero_elev[1] << " " << zero_elev[2]
393 << " lon = " << cur_fdm_state->get_Longitude()
394 << " lat = " << cur_fdm_state->get_Latitude() << endl;
395 cout << " sun_rot = " << cur_light_params.sun_rotation
396 << " gst = " << FGTime::cur_time_params->getGst() << endl;
397 cout << " sun ra = " << ephem->getSunRightAscension()
398 << " sun dec = " << ephem->getSunDeclination()
399 << " moon ra = " << ephem->getMoonRightAscension()
400 << " moon dec = " << ephem->getMoonDeclination() << endl; */
402 thesky->reposition( view_pos, zero_elev,
403 cur_fdm_state->get_Longitude(),
404 cur_fdm_state->get_Latitude(),
405 cur_light_params.sun_rotation,
406 FGTime::cur_time_params->getGst(),
407 ephem->getSunRightAscension(),
408 ephem->getSunDeclination(), 50000.0,
409 ephem->getMoonRightAscension(),
410 ephem->getMoonDeclination(), 50000.0 );
413 glEnable( GL_DEPTH_TEST );
414 if ( current_options.get_fog() > 0 ) {
416 glFogi( GL_FOG_MODE, GL_EXP2 );
417 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
420 // update fog params if visibility has changed
421 #ifndef FG_OLD_WEATHER
422 double cur_visibility = WeatherDatabase->getWeatherVisibility();
424 double cur_visibility = current_weather.get_visibility();
426 double actual_visibility = cur_visibility;
428 if ( current_options.get_clouds() ) {
429 double diff = fabs( cur_fdm_state->get_Altitude() * FEET_TO_METER -
430 current_options.get_clouds_asl() );
431 // cout << "altitude diff = " << diff << endl;
434 // calc chance of entering cloud puff
435 double rnd = fg_random();
436 double chance = rnd * rnd * rnd;
437 if ( chance > 0.95 /* * (diff - 25) / 50.0 */ ) {
440 puff_length = fg_random() * 2.0; // up to 2 seconds
441 } while ( puff_length <= 0.0 );
442 puff_progression = 0.0;
446 actual_visibility = cur_visibility * (diff - 25) / 50.0;
449 // modify actual_visibility based on puff envelope
451 if ( puff_progression <= ramp_up ) {
452 double x = FG_PI_2 * puff_progression / ramp_up;
453 double factor = 1.0 - sin( x );
454 actual_visibility = actual_visibility * factor;
455 } else if ( puff_progression >= ramp_up + puff_length ) {
457 (puff_progression - (ramp_up + puff_length)) /
459 double factor = sin( x );
460 actual_visibility = actual_visibility * factor;
462 actual_visibility = 0.0;
465 /* cout << "len = " << puff_length
467 << " factor = " << factor
468 << " actual_visibility = " << actual_visibility
471 puff_progression += ( global_multi_loop *
472 current_options.get_speed_up() ) /
473 (double)current_options.get_model_hz();
475 /* cout << "gml = " << global_multi_loop
476 << " speed up = " << current_options.get_speed_up()
477 << " hz = " << current_options.get_model_hz() << endl;
480 if ( puff_progression > puff_length + ramp_up + ramp_down) {
485 // never let visibility drop below zero
486 if ( actual_visibility < 0 ) {
487 actual_visibility = 0;
492 // cout << "actual visibility = " << actual_visibility << endl;
494 if ( actual_visibility != last_visibility ) {
495 last_visibility = actual_visibility;
497 // cout << "----> updating fog params" << endl;
499 GLfloat fog_exp_density;
500 GLfloat fog_exp2_density;
503 fog_exp_density = -log(0.01 / actual_visibility);
506 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
508 // Set correct opengl fog density
509 glFogf (GL_FOG_DENSITY, fog_exp2_density);
512 // set lighting parameters
513 glLightfv( GL_LIGHT0, GL_AMBIENT, l->scene_ambient );
514 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
515 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
517 // texture parameters
518 // glEnable( GL_TEXTURE_2D );
519 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
520 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
521 // set base color (I don't think this is doing anything here)
522 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
523 // (GL_FRONT, GL_DIFFUSE, white);
524 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
525 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
528 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
529 ssgGetLight( 0 ) -> setPosition( sunpos );
531 // glMatrixMode( GL_PROJECTION );
533 float fov = current_options.get_fov();
534 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
536 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
539 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
540 // << current_weather.get_visibility() );
543 ssgSetNearFar( 10.0f, 120000.0f );
545 ssgSetNearFar( 0.5f, 120000.0f );
548 if ( current_options.get_view_mode() ==
549 fgOPTIONS::FG_VIEW_PILOT )
552 penguin_sel->select(0);
553 } else if ( current_options.get_view_mode() ==
554 fgOPTIONS::FG_VIEW_FOLLOW )
556 // select view matrix from front of view matrix queue
557 // FGMat4Wrapper tmp = current_view.follow.front();
558 // sgCopyMat4( sgVIEW, tmp.m );
560 // enable TuX and set up his position and orientation
561 penguin_sel->select(1);
564 sgMakeTransMat4( sgTRANS,
565 pilot_view.view_pos.x(),
566 pilot_view.view_pos.y(),
567 pilot_view.view_pos.z() );
570 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
573 sgMakeRotMat4( sgROT, -90.0, ownship_up );
577 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
578 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
580 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
582 sgCopyMat4( sgTUX, sgROT );
583 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
584 sgPostMultMat4( sgTUX, sgTRANS );
587 sgSetCoord( &tuxpos, sgTUX );
588 penguin_pos->setTransform( &tuxpos );
591 # ifdef FG_NETWORK_OLK
592 if ( current_options.get_network_olk() ) {
594 other = head->next; /* put listpointer to start */
595 while ( other != tail) { /* display all except myself */
596 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
597 other->fgd_sel->select(1);
598 sgSetCoord( &fgdpos, other->sgFGD_COORD );
599 other->fgd_pos->setTransform( &fgdpos );
604 // fgd_sel->select(1);
605 // sgCopyMat4( sgTUX, current_view.sgVIEW);
607 // sgSetCoord( &fgdpos, sgFGD_VIEW );
608 // fgd_pos->setTransform( &fgdpos);
612 // ssgSetCamera( current_view.VIEW );
614 // position tile nodes and update range selectors
615 global_tile_mgr.prep_ssg_nodes();
617 // force the default state so ssg can get back on track if
618 // we've changed things elsewhere
619 FGMaterialSlot m_slot;
620 FGMaterialSlot *m_ptr = &m_slot;
621 if ( material_mgr.find( "Default", m_ptr ) ) {
622 m_ptr->get_state()->force();
625 // draw the ssg scene
626 ssgCullAndDraw( scene );
629 // display HUD && Panel
631 glDisable( GL_DEPTH_TEST );
632 // glDisable( GL_CULL_FACE );
633 // glDisable( GL_TEXTURE_2D );
634 hud_and_panel->apply();
637 // We can do translucent menus, so why not. :-)
638 // glEnable ( GL_BLEND ) ;
640 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
642 // glDisable ( GL_BLEND ) ;
644 // glEnable( GL_FOG );
651 // Update internal time dependent calculations (i.e. flight model)
652 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
653 static fdm_state_list fdm_list;
654 // FGInterface fdm_state;
655 fgLIGHT *l = &cur_light_params;
656 FGTime *t = FGTime::cur_time_params;
657 // FGView *v = ¤t_view;
660 // update the flight model
661 if ( multi_loop < 0 ) {
665 if ( !t->getPause() ) {
666 // run Autopilot system
669 // printf("updating flight model x %d\n", multi_loop);
670 /* fgFDMUpdate( current_options.get_flight_model(),
672 multi_loop * current_options.get_speed_up(),
674 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
675 FGSteam::update( multi_loop * current_options.get_speed_up() );
677 // fgFDMUpdate( current_options.get_flight_model(),
678 // fdm_state, 0, remainder );
679 cur_fdm_state->update( 0 );
680 FGSteam::update( 0 );
683 fdm_list.push_back( *cur_fdm_state );
684 while ( fdm_list.size() > 15 ) {
685 fdm_list.pop_front();
688 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
689 cur_view_fdm = *cur_fdm_state;
691 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
692 cur_view_fdm = fdm_list.front();
695 // update the view angle
696 for ( i = 0; i < multi_loop; i++ ) {
697 if ( fabs(current_view.get_goal_view_offset() -
698 current_view.get_view_offset()) < 0.05 )
700 current_view.set_view_offset( current_view.get_goal_view_offset() );
703 // move current_view.view_offset towards current_view.goal_view_offset
704 if ( current_view.get_goal_view_offset() >
705 current_view.get_view_offset() )
707 if ( current_view.get_goal_view_offset() -
708 current_view.get_view_offset() < FG_PI )
710 current_view.inc_view_offset( 0.01 );
712 current_view.inc_view_offset( -0.01 );
715 if ( current_view.get_view_offset() -
716 current_view.get_goal_view_offset() < FG_PI )
718 current_view.inc_view_offset( -0.01 );
720 current_view.inc_view_offset( 0.01 );
723 if ( current_view.get_view_offset() > FG_2PI ) {
724 current_view.inc_view_offset( -FG_2PI );
725 } else if ( current_view.get_view_offset() < 0 ) {
726 current_view.inc_view_offset( FG_2PI );
731 double tmp = -(l->sun_rotation + FG_PI)
732 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
733 while ( tmp < 0.0 ) {
736 while ( tmp > FG_2PI ) {
739 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
740 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
741 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
744 // Update solar system
745 ephem->update( t, cur_fdm_state->get_Latitude() );
747 // Update radio stack model
748 current_radiostack->update( cur_fdm_state->get_Longitude() * RAD_TO_DEG,
749 cur_fdm_state->get_Latitude() * RAD_TO_DEG,
750 cur_fdm_state->get_Altitude() * FEET_TO_METER );
754 void fgInitTimeDepCalcs( void ) {
757 // #ifdef HAVE_SETITIMER
758 // fgTimerInit( 1.0 / current_options.get_model_hz(),
759 // fgUpdateTimeDepCalcs );
760 // #endif HAVE_SETITIMER
764 static const double alt_adjust_ft = 3.758099;
765 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
768 // What should we do when we have nothing else to do? Let's get ready
769 // for the next move and update the display?
770 static void fgMainLoop( void ) {
772 static long remainder = 0;
774 #ifdef FANCY_FRAME_COUNTER
778 static time_t last_time = 0;
779 static int frames = 0;
780 #endif // FANCY_FRAME_COUNTER
782 t = FGTime::cur_time_params;
784 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
785 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
787 #ifdef FG_NETWORK_OLK
788 if ( current_options.get_network_olk() ) {
789 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
790 // printf("FGD: Netupdate\n");
791 fgd_send_com( "A", FGFS_host); // Send Mat4 data
792 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
797 #if defined( ENABLE_PLIB_JOYSTICK )
798 // Read joystick and update control settings
799 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
802 #elif defined( ENABLE_GLUT_JOYSTICK )
803 // Glut joystick support works by feeding a joystick handler
804 // function to glut. This is taken care of once in the joystick
805 // init routine and we don't have to worry about it again.
808 #ifdef FG_OLD_WEATHER
809 current_weather.Update();
812 // Fix elevation. I'm just sticking this here for now, it should
813 // probably move eventually
815 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
817 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
818 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
820 if ( scenery.cur_elev > -9990 ) {
821 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
822 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
823 // now set aircraft altitude above ground
824 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
825 cur_fdm_state->get_Altitude() * FEET_TO_METER,
826 scenery.cur_elev + alt_adjust_m - 3.0,
827 scenery.cur_elev + alt_adjust_m );
828 fgFDMForceAltitude( current_options.get_flight_model(),
829 scenery.cur_elev + alt_adjust_m );
831 FG_LOG( FG_ALL, FG_DEBUG,
832 "<*> resetting altitude to "
833 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
835 fgFDMSetGroundElevation( current_options.get_flight_model(),
836 scenery.cur_elev ); // meters
839 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
841 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
842 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
845 t->update( cur_fdm_state->get_Longitude(),
846 cur_fdm_state->get_Latitude(),
847 cur_fdm_state->get_Altitude()* FEET_TO_METER );
849 // Get elapsed time (in usec) for this past frame
850 elapsed = fgGetTimeInterval();
851 FG_LOG( FG_ALL, FG_DEBUG,
852 "Elapsed time interval is = " << elapsed
853 << ", previous remainder is = " << remainder );
855 // Calculate frame rate average
856 #ifdef FANCY_FRAME_COUNTER
857 /* old fps calculation */
861 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
862 tmp = general.get_frame(i);
864 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
865 general.set_frame(i+1,tmp);
867 tmp = 1000000.0 / (float)elapsed;
868 general.set_frame(0,tmp);
869 // printf("frame[0] = %.2f\n", general.frames[0]);
871 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
872 // printf("ave = %.2f\n", general.frame_rate);
875 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
876 general.set_frame_rate( frames );
877 FG_LOG( FG_ALL, FG_DEBUG,
878 "--> Frame rate is = " << general.get_frame_rate() );
881 last_time = t->get_cur_time();
886 if ( ! use_signals ) {
887 // Calculate model iterations needed for next frame
888 elapsed += remainder;
890 global_multi_loop = (int)(((double)elapsed * 0.000001) *
891 current_options.get_model_hz());
892 remainder = elapsed - ( (global_multi_loop*1000000) /
893 current_options.get_model_hz() );
894 FG_LOG( FG_ALL, FG_DEBUG,
895 "Model iterations needed = " << global_multi_loop
896 << ", new remainder = " << remainder );
899 if ( global_multi_loop > 0 ) {
900 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
902 FG_LOG( FG_ALL, FG_DEBUG,
903 "Elapsed time is zero ... we're zinging" );
907 #if ! defined( MACOS )
908 // Do any I/O channel work that might need to be done
912 // see if we need to load any new scenery tiles
913 global_tile_mgr.update();
915 // Process/manage pending events
916 global_events.Process();
918 // Run audio scheduler
919 #ifdef ENABLE_AUDIO_SUPPORT
920 if ( current_options.get_sound() && !audio_sched->not_working() ) {
922 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
924 // note: all these factors are relative to the sample. our
925 // sample format should really contain a conversion factor so
926 // that we can get prop speed right for arbitrary samples.
927 // Note that for normal-size props, there is a point at which
928 // the prop tips approach the speed of sound; that is a pretty
929 // strong limit to how fast the prop can go.
931 // multiplication factor is prime pitch control; add some log
932 // component for verisimilitude
934 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
935 //fprintf(stderr, "pitch1: %f ", pitch);
936 if (controls.get_throttle(0) > 0.0 || cur_fdm_state->v_rel_wind > 40.0) {
937 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
938 // only add relative wind and AoA if prop is moving
939 // or we're really flying at idle throttle
940 if (pitch < 5.4) { // this needs tuning
941 // prop tips not breaking sound barrier
942 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
944 // prop tips breaking sound barrier
945 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
947 //fprintf(stderr, "pitch2: %f ", pitch);
948 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
950 // Angle of Attack next... -x^3(e^x) is my best guess Just
951 // need to calculate some reasonable scaling factor and
952 // then clamp it on the positive aoa (neg adj) side
953 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
955 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
956 if (aoa_adj < -0.8) aoa_adj = -0.8;
958 //fprintf(stderr, "pitch3: %f ", pitch);
960 // don't run at absurdly slow rates -- not realistic
961 // and sounds bad to boot. :-)
962 if (pitch < 0.8) pitch = 0.8;
964 //fprintf(stderr, "pitch4: %f\n", pitch);
966 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
967 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
968 // fprintf(stderr, "volume: %f\n", volume);
970 pitch_envelope.setStep ( 0, 0.01, pitch );
971 volume_envelope.setStep ( 0, 0.01, volume );
975 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
976 pitch_envelope.setStep ( 0, 0.01, param );
977 volume_envelope.setStep ( 0, 0.01, param );
979 # endif // experimental throttle patch
981 audio_sched -> update();
988 FG_LOG( FG_ALL, FG_DEBUG, "" );
992 // This is the top level master main function that is registered as
996 // The first few passes take care of initialization things (a couple
997 // per pass) and once everything has been initialized fgMainLoop from
1000 static void fgIdleFunction ( void ) {
1001 // printf("idle state == %d\n", idle_state);
1003 if ( idle_state == 0 ) {
1004 // Initialize the splash screen right away
1005 if ( current_options.get_splash_screen() ) {
1010 } else if ( idle_state == 1 ) {
1011 // Start the intro music
1013 if ( current_options.get_intro_music() ) {
1014 string lockfile = "/tmp/mpg123.running";
1015 FGPath mp3file( current_options.get_fg_root() );
1016 mp3file.append( "Sounds/intro.mp3" );
1018 string command = "(touch " + lockfile + "; mpg123 "
1019 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1021 FG_LOG( FG_GENERAL, FG_INFO,
1022 "Starting intro music: " << mp3file.str() );
1023 system ( command.c_str() );
1028 } else if ( idle_state == 2 ) {
1029 // These are a few miscellaneous things that aren't really
1030 // "subsystems" but still need to be initialized.
1033 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1034 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1039 } else if ( idle_state == 3 ) {
1040 // This is the top level init routine which calls all the
1041 // other subsystem initialization routines. If you are adding
1042 // a subsystem to flight gear, its initialization call should
1043 // located in this routine.
1044 if( !fgInitSubsystems()) {
1045 FG_LOG( FG_GENERAL, FG_ALERT,
1046 "Subsystem initializations failed ..." );
1051 } else if ( idle_state == 4 ) {
1052 // setup OpenGL view parameters
1055 if ( use_signals ) {
1056 // init timer routines, signals, etc. Arrange for an alarm
1057 // signal to be generated, etc.
1058 fgInitTimeDepCalcs();
1062 } else if ( idle_state == 5 ) {
1065 } else if ( idle_state == 6 ) {
1066 // Initialize audio support
1067 #ifdef ENABLE_AUDIO_SUPPORT
1070 if ( current_options.get_intro_music() ) {
1071 // Let's wait for mpg123 to finish
1072 string lockfile = "/tmp/mpg123.running";
1073 struct stat stat_buf;
1075 FG_LOG( FG_GENERAL, FG_INFO,
1076 "Waiting for mpg123 player to finish ..." );
1077 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1078 // file exist, wait ...
1080 FG_LOG( FG_GENERAL, FG_INFO, ".");
1082 FG_LOG( FG_GENERAL, FG_INFO, "");
1086 if ( current_options.get_sound() ) {
1087 audio_sched = new slScheduler ( 8000 );
1088 audio_mixer = new smMixer;
1089 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1090 audio_sched -> setSafetyMargin ( 1.0 ) ;
1092 FGPath slfile( current_options.get_fg_root() );
1093 slfile.append( "Sounds/wasp.wav" );
1095 s1 = new slSample ( (char *)slfile.c_str() );
1096 FG_LOG( FG_GENERAL, FG_INFO,
1097 "Rate = " << s1 -> getRate()
1098 << " Bps = " << s1 -> getBps()
1099 << " Stereo = " << s1 -> getStereo() );
1100 audio_sched -> loopSample ( s1 );
1102 if ( audio_sched->not_working() ) {
1105 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1106 volume_envelope.setStep ( 0, 0.01, 0.6 );
1108 audio_sched -> addSampleEnvelope( s1, 0, 0,
1110 SL_PITCH_ENVELOPE );
1111 audio_sched -> addSampleEnvelope( s1, 0, 1,
1113 SL_VOLUME_ENVELOPE );
1116 // strcpy(slfile, path);
1117 // strcat(slfile, "thunder.wav");
1118 // s2 -> loadFile ( slfile );
1119 // s2 -> adjustVolume(0.5);
1120 // audio_sched -> playSample ( s2 );
1128 if ( idle_state == 1000 ) {
1129 // We've finished all our initialization steps, from now on we
1130 // run the main loop.
1134 if ( current_options.get_splash_screen() == 1 ) {
1135 fgSplashUpdate(0.0);
1140 // options.cxx needs to see this for toggle_panel()
1141 // Handle new window size or exposure
1142 void fgReshape( int width, int height ) {
1143 if ( ! current_options.get_panel_status() ) {
1144 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1145 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1147 current_view.set_win_ratio( (GLfloat) width /
1148 ((GLfloat) (height)*0.4232) );
1149 glViewport(0, (GLint)((height)*0.5768), (GLint)(width),
1150 (GLint)((height)*0.4232) );
1153 current_view.set_winWidth( width );
1154 current_view.set_winHeight( height );
1155 current_view.force_update_fov_math();
1157 // set these fov to be the same as in fgRenderFrame()
1158 float x_fov = current_options.get_fov();
1159 float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1160 ssgSetFOV( x_fov, y_fov );
1162 glViewport ( 0, 0, width, height );
1163 float fov = current_options.get_fov();
1164 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1166 if ( idle_state == 1000 ) {
1167 // yes we've finished all our initializations and are running
1168 // the main loop, so this will now work without seg faulting
1170 current_view.UpdateViewParams(cur_view_fdm);
1171 if ( current_options.get_panel_status() ) {
1172 FGPanel::OurPanel->ReInit(0, 0, 1024, 768);
1178 // Initialize GLUT and define a main window
1179 int fgGlutInit( int *argc, char **argv ) {
1181 #if !defined( MACOS )
1182 // GLUT will extract all glut specific options so later on we only
1183 // need wory about our own.
1184 glutInit(argc, argv);
1187 // Define Display Parameters
1188 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1190 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1191 current_options.get_xsize() << "x" << current_options.get_ysize() );
1193 // Define initial window size
1194 glutInitWindowSize( current_options.get_xsize(),
1195 current_options.get_ysize() );
1197 // Initialize windows
1198 if ( current_options.get_game_mode() == 0 ) {
1199 // Open the regular window
1200 glutCreateWindow("Flight Gear");
1201 #ifndef GLUT_WRONG_VERSION
1203 // Open the cool new 'game mode' window
1204 char game_mode_str[256];
1205 sprintf( game_mode_str, "width=%d height=%d bpp=32",
1206 current_options.get_xsize(),
1207 current_options.get_ysize() );
1209 FG_LOG( FG_GENERAL, FG_INFO,
1210 "game mode params = " << game_mode_str );
1211 glutGameModeString( game_mode_str );
1212 glutEnterGameMode();
1216 // This seems to be the absolute earliest in the init sequence
1217 // that these calls will return valid info. Too bad it's after
1218 // we've already created and sized out window. :-(
1219 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1220 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1221 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1223 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1226 // try to determine if we should adjust the initial default
1227 // display resolution. The options class defaults (is
1228 // initialized) to 640x480.
1229 string renderer = general.glRenderer;
1231 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1232 if ( renderer.find( "Glide" ) != string::npos ) {
1233 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1234 if ( renderer.find( "FB/8" ) != string::npos ) {
1235 // probably a voodoo-2
1236 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1237 // probably two SLI'd Voodoo-2's
1238 current_options.set_xsize( 1024 );
1239 current_options.set_ysize( 768 );
1240 FG_LOG( FG_GENERAL, FG_INFO,
1241 "It looks like you have two sli'd voodoo-2's." << endl
1242 << "upgrading your win resolution to 1024 x 768" );
1243 glutReshapeWindow(1024, 768);
1245 // probably a single non-SLI'd Voodoo-2
1246 current_options.set_xsize( 800 );
1247 current_options.set_ysize( 600 );
1248 FG_LOG( FG_GENERAL, FG_INFO,
1249 "It looks like you have a voodoo-2." << endl
1250 << "upgrading your win resolution to 800 x 600" );
1251 glutReshapeWindow(800, 600);
1253 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1254 // probably a voodoo-1, stick with the default
1257 // we have no special knowledge of this card, stick with the default
1265 // Initialize GLUT event handlers
1266 int fgGlutInitEvents( void ) {
1267 // call fgReshape() on window resizes
1268 glutReshapeFunc( fgReshape );
1270 // call GLUTkey() on keyboard event
1271 glutKeyboardFunc( GLUTkey );
1272 glutSpecialFunc( GLUTspecialkey );
1274 // call guiMouseFunc() whenever our little rodent is used
1275 glutMouseFunc ( guiMouseFunc );
1276 glutMotionFunc (guiMotionFunc );
1277 glutPassiveMotionFunc (guiMotionFunc );
1279 // call fgMainLoop() whenever there is
1280 // nothing else to do
1281 glutIdleFunc( fgIdleFunction );
1284 glutDisplayFunc( fgRenderFrame );
1291 int main( int argc, char **argv ) {
1293 #if defined( MACOS )
1294 argc = ccommand( &argv );
1298 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1301 // set default log levels
1302 fglog().setLogLevels( FG_ALL, FG_INFO );
1304 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1306 // seed the random number generater
1309 // AIRCRAFT defined in uiuc_aircraft.h
1310 // AIRCRAFTDIR defined in uiuc_aircraftdir.h
1311 aircraft_ = new AIRCRAFT;
1312 aircraftdir_ = new AIRCRAFTDIR;
1313 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1315 // Load the configuration parameters
1316 if ( !fgInitConfig(argc, argv) ) {
1317 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1321 // Initialize the Window/Graphics environment.
1322 if( !fgGlutInit(&argc, argv) ) {
1323 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1327 // Initialize the various GLUT Event Handlers.
1328 if( !fgGlutInitEvents() ) {
1329 FG_LOG( FG_GENERAL, FG_ALERT,
1330 "GLUT event handler initialization failed ..." );
1334 // Initialize ssg (from plib). Needs to come before we do any
1335 // other ssg stuff, but after opengl/glut has been initialized.
1338 // Initialize the user interface (we need to do this before
1339 // passing off control to glut and before fgInitGeneral to get our
1344 FGTime::cur_time_params = new FGTime();
1345 // FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1346 // cur_fdm_state->get_Latitude() );
1347 // FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1348 FGTime::cur_time_params->init( 0.0, 0.0 );
1349 FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
1351 // Do some quick general initializations
1352 if( !fgInitGeneral()) {
1353 FG_LOG( FG_GENERAL, FG_ALERT,
1354 "General initializations failed ..." );
1359 // some ssg test stuff (requires data from the plib source
1360 // distribution) specifically from the ssg tux example
1363 FGPath modelpath( current_options.get_fg_root() );
1364 modelpath.append( "Models" );
1365 modelpath.append( "Geometry" );
1367 FGPath texturepath( current_options.get_fg_root() );
1368 texturepath.append( "Models" );
1369 texturepath.append( "Textures" );
1371 ssgModelPath( (char *)modelpath.c_str() );
1372 ssgTexturePath( (char *)texturepath.c_str() );
1375 scene = new ssgRoot;
1376 scene->setName( "Scene" );
1378 // Initialize the sky
1379 FGPath ephem_data_path( current_options.get_fg_root() );
1380 ephem_data_path.append( "Astro" );
1381 ephem = new FGEphemeris( ephem_data_path.c_str() );
1382 ephem->update( FGTime::cur_time_params, 0.0 );
1384 FGPath sky_tex_path( current_options.get_fg_root() );
1385 sky_tex_path.append( "Textures" );
1386 sky_tex_path.append( "Sky" );
1388 thesky->texture_path( sky_tex_path.str() );
1390 ssgBranch *sky = thesky->build( 550.0, 550.0,
1391 ephem->getNumPlanets(),
1392 ephem->getPlanets(), 60000.0,
1393 ephem->getNumStars(),
1394 ephem->getStars(), 60000.0 );
1395 scene->addKid( sky );
1398 terrain = new ssgBranch;
1399 terrain->setName( "Terrain" );
1400 scene->addKid( terrain );
1402 // temporary visible aircraft "own ship"
1403 penguin_sel = new ssgSelector;
1404 penguin_pos = new ssgTransform;
1405 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1406 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1407 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1409 penguin_pos->addKid( tux_obj );
1410 penguin_sel->addKid( penguin_pos );
1411 ssgFlatten( tux_obj );
1412 ssgStripify( penguin_sel );
1413 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1414 scene->addKid( penguin_sel );
1416 #ifdef FG_NETWORK_OLK
1417 // Do the network intialization
1418 if ( current_options.get_network_olk() ) {
1419 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1423 // build our custom render states
1424 fgBuildRenderStates();
1426 // pass control off to the master GLUT event handler
1429 // we never actually get here ... but to avoid compiler warnings,