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.
28 #ifdef SG_MATH_EXCEPTION_CLASH
48 #ifdef HAVE_SYS_STAT_H
49 # include <sys/stat.h> // for stat()
53 # include <unistd.h> // for stat()
59 #include <simgear/constants.h> // for VERSION
60 #include <simgear/debug/logstream.hxx>
61 #include <simgear/math/polar3d.hxx>
62 #include <simgear/math/sg_random.h>
63 #include <simgear/misc/sg_path.hxx>
64 #include <simgear/sky/sky.hxx>
65 #include <simgear/timing/sg_time.hxx>
66 #include <simgear/timing/lowleveltime.h>
68 #include <Include/general.hxx>
70 #include <Aircraft/aircraft.hxx>
72 #include <Autopilot/newauto.hxx>
73 #include <Cockpit/cockpit.hxx>
74 #include <Cockpit/radiostack.hxx>
75 #include <Cockpit/steam.hxx>
77 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
79 #include <GUI/sgVec3Slider.hxx>
80 #include <Joystick/joystick.hxx>
82 #include <NetworkOLK/network.h>
84 #include <Objects/matlib.hxx>
85 #include <Scenery/scenery.hxx>
86 #include <Scenery/tilemgr.hxx>
87 #ifdef ENABLE_AUDIO_SUPPORT
88 # include <Sound/soundmgr.hxx>
89 # include <Sound/morse.hxx>
91 #include <Time/event.hxx>
92 #include <Time/fg_timer.hxx>
93 #include <Time/light.hxx>
94 #include <Time/sunpos.hxx>
95 #include <Time/tmp.hxx>
97 // begin - added Venky
98 // $$$ begin - added VS Renganathan
99 #include <simgear/misc/sgstream.hxx>
100 #include <FDM/flight.hxx>
101 #include <FDM/ADA.hxx>
102 void fgLoadDCS (void);
103 void fgUpdateDCS (void);
104 ssgSelector *ship_sel=NULL;
105 // upto 32 instances of a same object can be loaded.
106 ssgTransform *ship_pos[32];
107 double obj_lat[32],obj_lon[32],obj_alt[32];
109 // $$$ end - added VS Renganathan
112 #ifndef FG_OLD_WEATHER
113 # include <WeatherCM/FGLocalWeatherDatabase.h>
115 # include <Weather/weather.hxx>
121 #include "fg_init.hxx"
123 #include "globals.hxx"
124 #include "keyboard.hxx"
125 #include "splash.hxx"
128 # include <console.h> // -dw- for command line dialog
132 // This is a record containing a bit of global housekeeping information
135 // Specify our current idle function state. This is used to run all
136 // our initializations out of the glutIdleLoop() so that we can get a
137 // splash screen up and running right away.
138 static int idle_state = 0;
139 static long global_multi_loop;
141 // attempt to avoid a large bounce at startup
142 static bool initial_freeze = true;
144 // forward declaration
145 void fgReshape( int width, int height );
147 // Global structures for the Audio library
148 #ifdef ENABLE_AUDIO_SUPPORT
149 static FGSimpleSound *s1;
150 static FGSimpleSound *s2;
155 ssgRoot *scene = NULL;
156 ssgBranch *terrain = NULL;
158 // aircraft model stuff
159 ssgSelector *acmodel_selector = NULL;
160 ssgTransform *acmodel_pos = NULL;
161 ssgSelector *prop_selector = NULL;
162 ssgSelector *flaps_selector = NULL;
163 int acmodel_npropsettings;
164 int acmodel_proprpms[4][2]; // different propeller settings
166 ssgRoot *lighting = NULL;
167 ssgBranch *ground = NULL;
168 ssgBranch *airport = NULL;
170 #ifdef FG_NETWORK_OLK
171 ssgSelector *fgd_sel = NULL;
172 ssgTransform *fgd_pos = NULL;
175 // current fdm/position used for view
176 FGInterface cur_view_fdm;
182 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
184 { 1.0f, 0.0f, 0.0f, 0.0f },
185 { 0.0f, 0.0f, -1.0f, 0.0f },
186 { 0.0f, 1.0f, 0.0f, 0.0f },
187 { 0.0f, 0.0f, 0.0f, 1.0f }
190 // The following defines flightgear options. Because glutlib will also
191 // want to parse its own options, those options must not be included here
192 // or they will get parsed by the main program option parser. Hence case
193 // is significant for any option added that might be in conflict with
196 // glutlib parses for:
198 // -direct (invalid in Win32)
202 // -indirect (invalid in Win32)
205 // Note that glutlib depends upon strings while this program's
206 // option parser wants only initial characters followed by numbers
211 ssgSimpleState *default_state;
212 ssgSimpleState *hud_and_panel;
213 ssgSimpleState *menus;
215 void fgBuildRenderStates( void ) {
216 default_state = new ssgSimpleState;
217 default_state->ref();
218 default_state->disable( GL_TEXTURE_2D );
219 default_state->enable( GL_CULL_FACE );
220 default_state->enable( GL_COLOR_MATERIAL );
221 default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
222 default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
223 default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
224 default_state->disable( GL_BLEND );
225 default_state->disable( GL_ALPHA_TEST );
226 default_state->disable( GL_LIGHTING );
228 hud_and_panel = new ssgSimpleState;
229 hud_and_panel->ref();
230 hud_and_panel->disable( GL_CULL_FACE );
231 hud_and_panel->disable( GL_TEXTURE_2D );
232 hud_and_panel->disable( GL_LIGHTING );
233 hud_and_panel->enable( GL_BLEND );
235 menus = new ssgSimpleState;
237 menus->disable( GL_CULL_FACE );
238 menus->disable( GL_TEXTURE_2D );
239 menus->enable( GL_BLEND );
242 // fgFindNode -- a function that finds a named node in an ssg graph
243 ssgEntity *fgFindNode( ssgEntity *node, const char *name ) {
244 if ( node->getName() != NULL && strcmp( name, node->getName() ) == 0 ) {
246 } else if ( node->isAKindOf( ssgTypeBranch() ) ) {
247 ssgEntity *kid = ((ssgBranch*)node)->getKid(0);
248 while (kid != NULL) {
249 ssgEntity *n = fgFindNode(kid, name);
253 kid = ((ssgBranch*)node)->getNextKid();
260 // fgInitVisuals() -- Initialize various GL/view parameters
261 void fgInitVisuals( void ) {
264 l = &cur_light_params;
266 #ifndef GLUT_WRONG_VERSION
267 // Go full screen if requested ...
268 if ( fgGetBool("/sim/startup/fullscreen") ) {
273 // If enabled, normal vectors specified with glNormal are scaled
274 // to unit length after transformation. See glNormal.
275 // glEnable( GL_NORMALIZE );
277 glEnable( GL_LIGHTING );
278 glEnable( GL_LIGHT0 );
279 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
282 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
283 ssgGetLight( 0 ) -> setPosition( sunpos );
285 // glFogi (GL_FOG_MODE, GL_LINEAR);
286 glFogi (GL_FOG_MODE, GL_EXP2);
287 if ( (fgGetString("/sim/rendering/fog") == "disabled") ||
288 (!fgGetBool("/sim/rendering/shading"))) {
289 // if fastest fog requested, or if flat shading force fastest
290 glHint ( GL_FOG_HINT, GL_FASTEST );
291 } else if ( fgGetString("/sim/rendering/fog") == "nicest" ) {
292 glHint ( GL_FOG_HINT, GL_NICEST );
294 if ( fgGetBool("/sim/rendering/wireframe") ) {
296 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
299 // This is the default anyways, but it can't hurt
300 glFrontFace ( GL_CCW );
303 // glEnable(GL_POINT_SMOOTH);
304 // glEnable(GL_LINE_SMOOTH);
305 // glEnable(GL_POLYGON_SMOOTH);
309 // Update all Visuals (redraws anything graphics related)
310 void fgRenderFrame( void ) {
314 fgLIGHT *l = &cur_light_params;
315 static double last_visibility = -9999;
317 static GLfloat fog_exp_density;
318 static GLfloat fog_exp2_density;
319 static GLfloat fog_exp2_punch_through;
322 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
323 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
324 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
325 // GLfloat mat_shininess[] = { 10.0 };
326 GLbitfield clear_mask;
328 if ( idle_state != 1000 ) {
329 // still initializing, draw the splash screen
330 if ( fgGetBool("/sim/startup/splash-screen") ) {
334 // idle_state is now 1000 meaning we've finished all our
335 // initializations and are running the main loop, so this will
336 // now work without seg faulting the system.
338 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
339 // FG_Altitude * SG_FEET_TO_METER);
341 // this is just a temporary hack, to make me understand Pui
342 // timerText -> setLabel (ctime (&t->cur_time));
345 // calculate our current position in cartesian space
346 scenery.center = scenery.next_center;
347 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x(),
348 // scenery.center.y(), scenery.center.z());
350 FGViewerRPH *pilot_view =
351 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
353 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
354 cur_fdm_state->get_Lat_geocentric(),
355 cur_fdm_state->get_Altitude() *
357 pilot_view->set_sea_level_radius( cur_fdm_state->
358 get_Sea_level_radius() *
360 pilot_view->set_rph( cur_fdm_state->get_Phi(),
361 cur_fdm_state->get_Theta(),
362 cur_fdm_state->get_Psi() );
364 FGViewerLookAt *chase_view =
365 (FGViewerLookAt *)globals->get_viewmgr()->get_view( 1 );
367 sgVec3 po; // chase view pilot_offset
368 sgVec3 wup; // chase view world up
369 sgSetVec3( po, 0.0, 0.0, 50.0 );
370 sgCopyVec3( wup, pilot_view->get_world_up() );
371 sgMat4 CXFM; // chase view + pilot offset xform
373 chase_view->get_view_offset() * SGD_RADIANS_TO_DEGREES -
374 cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES,
376 sgVec3 npo; // new pilot offset after rotation
377 sgVec3 *pPO = PilotOffsetGet();
378 sgXformVec3( po, *pPO, pilot_view->get_UP() );
379 sgXformVec3( npo, po, CXFM );
381 chase_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
382 cur_fdm_state->get_Lat_geocentric(),
383 cur_fdm_state->get_Altitude() *
385 chase_view->set_sea_level_radius( cur_fdm_state->
386 get_Sea_level_radius() *
388 chase_view->set_pilot_offset( npo[0], npo[1], npo[2] );
389 chase_view->set_view_forward( pilot_view->get_view_pos() );
390 chase_view->set_view_up( wup );
394 sgCopyMat4( rph, pilot_view->get_VIEW() );
395 cout << "RPH Matrix = " << endl;
397 for ( i = 0; i < 4; i++ ) {
398 for ( j = 0; j < 4; j++ ) {
399 printf("%10.4f ", rph[i][j]);
405 sgCopyMat4( la, chase_view->get_VIEW() );
406 cout << "LookAt Matrix = " << endl;
407 for ( i = 0; i < 4; i++ ) {
408 for ( j = 0; j < 4; j++ ) {
409 printf("%10.4f ", la[i][j]);
416 fgReshape( fgGetInt("/sim/startup/xsize"),
417 fgGetInt("/sim/startup/ysize") );
422 if ( ! fgPanelVisible() ) {
424 (GLint)(fgGetInt("/sim/startup/xsize")),
425 (GLint)(fgGetInt("/sim/startup/ysize")) );
428 int( (current_panel->getViewHeight() -
429 current_panel->getYOffset())
430 * (fgGetInt("/sim/startup/ysize") / 768.0) );
432 (GLint)(fgGetInt("/sim/startup/ysize") - view_h),
433 (GLint)(fgGetInt("/sim/startup/xsize")),
438 // set the sun position
439 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
441 clear_mask = GL_DEPTH_BUFFER_BIT;
442 if ( fgGetBool("/sim/rendering/wireframe") ) {
443 clear_mask |= GL_COLOR_BUFFER_BIT;
446 if ( fgGetBool("/sim/rendering/skyblend") ) {
447 if ( fgGetBool("/sim/rendering/textures") ) {
448 // glClearColor(black[0], black[1], black[2], black[3]);
449 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
450 l->adj_fog_color[2], l->adj_fog_color[3]);
451 clear_mask |= GL_COLOR_BUFFER_BIT;
454 glClearColor(l->sky_color[0], l->sky_color[1],
455 l->sky_color[2], l->sky_color[3]);
456 clear_mask |= GL_COLOR_BUFFER_BIT;
458 glClear( clear_mask );
460 // Tell GL we are switching to model view parameters
462 // I really should create a derived ssg node or use a call
463 // back or something so that I can draw the sky within the
464 // ssgCullAndDraw() function, but for now I just mimic what
465 // ssg does to set up the model view matrix
466 glMatrixMode(GL_MODELVIEW);
468 ssgSetCamera( (sgVec4 *)globals->get_current_view()->get_VIEW() );
470 // set the opengl state to known default values
471 default_state->force();
473 // update fog params if visibility has changed
474 #ifndef FG_OLD_WEATHER
475 thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
477 thesky->set_visibility( current_weather.get_visibility() );
480 thesky->modify_vis( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
481 ( global_multi_loop *
482 fgGetInt("/sim/speed-up") ) /
483 (double)fgGetInt("/sim/model-hz") );
485 double actual_visibility = thesky->get_visibility();
486 // cout << "actual visibility = " << actual_visibility << endl;
488 if ( actual_visibility != last_visibility ) {
489 last_visibility = actual_visibility;
491 // cout << "----> updating fog params" << endl;
494 fog_exp_density = -log(0.01) / actual_visibility;
497 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
498 fog_exp2_punch_through = sqrt( -log(0.01) ) /
499 ( actual_visibility * 1.5 );
502 // Set correct opengl fog density
503 glFogf (GL_FOG_DENSITY, fog_exp2_density);
505 // update the sky dome
506 if ( fgGetBool("/sim/rendering/skyblend") ) {
507 /* cout << "thesky->repaint() sky_color = "
508 << cur_light_params.sky_color[0] << " "
509 << cur_light_params.sky_color[1] << " "
510 << cur_light_params.sky_color[2] << " "
511 << cur_light_params.sky_color[3] << endl;
513 << cur_light_params.fog_color[0] << " "
514 << cur_light_params.fog_color[1] << " "
515 << cur_light_params.fog_color[2] << " "
516 << cur_light_params.fog_color[3] << endl;
517 cout << " sun_angle = " << cur_light_params.sun_angle
518 << " moon_angle = " << cur_light_params.moon_angle
520 thesky->repaint( cur_light_params.sky_color,
521 cur_light_params.adj_fog_color,
522 cur_light_params.sun_angle,
523 cur_light_params.moon_angle,
524 globals->get_ephem()->getNumPlanets(),
525 globals->get_ephem()->getPlanets(),
526 globals->get_ephem()->getNumStars(),
527 globals->get_ephem()->getStars() );
529 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
530 << view_pos[1] << " " << view_pos[2] << endl;
531 cout << " zero_elev = " << zero_elev[0] << " "
532 << zero_elev[1] << " " << zero_elev[2]
533 << " lon = " << cur_fdm_state->get_Longitude()
534 << " lat = " << cur_fdm_state->get_Latitude() << endl;
535 cout << " sun_rot = " << cur_light_params.sun_rotation
536 << " gst = " << SGTime::cur_time_params->getGst() << endl;
537 cout << " sun ra = " << globals->get_ephem()->getSunRightAscension()
538 << " sun dec = " << globals->get_ephem()->getSunDeclination()
539 << " moon ra = " << globals->get_ephem()->getMoonRightAscension()
540 << " moon dec = " << globals->get_ephem()->getMoonDeclination() << endl; */
542 thesky->reposition( globals->get_current_view()->get_view_pos(),
543 globals->get_current_view()->get_zero_elev(),
544 globals->get_current_view()->get_world_up(),
545 cur_fdm_state->get_Longitude(),
546 cur_fdm_state->get_Latitude(),
547 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
548 cur_light_params.sun_rotation,
549 globals->get_time_params()->getGst(),
550 globals->get_ephem()->getSunRightAscension(),
551 globals->get_ephem()->getSunDeclination(),
553 globals->get_ephem()->getMoonRightAscension(),
554 globals->get_ephem()->getMoonDeclination(),
558 glEnable( GL_DEPTH_TEST );
559 if ( fgGetString("/sim/rendering/fog") != (string)"disabled" ) {
561 glFogi( GL_FOG_MODE, GL_EXP2 );
562 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
565 // set sun/lighting parameters
566 ssgGetLight( 0 ) -> setPosition( l->sun_vec );
568 // GL_LIGHT_MODEL_AMBIENT has a default non-zero value so if
569 // we only update GL_AMBIENT for our lights we will never get
570 // a completely dark scene. So, we set GL_LIGHT_MODEL_AMBIENT
571 // explicitely to black.
572 GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
573 GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
574 glLightModelfv( GL_LIGHT_MODEL_AMBIENT, black );
576 ssgGetLight( 0 ) -> setColour( GL_AMBIENT, l->scene_ambient );
577 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
578 // ssgGetLight( 0 ) -> setColour( GL_SPECULAR, l->scene_white );
580 // texture parameters
581 // glEnable( GL_TEXTURE_2D );
582 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
583 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
585 // glMatrixMode( GL_PROJECTION );
587 float fov = globals->get_current_view()->get_fov();
588 ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());
590 double agl = current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER
593 // SG_LOG( SG_ALL, SG_INFO, "visibility is "
594 // << current_weather.get_visibility() );
597 ssgSetNearFar( 10.0f, 120000.0f );
599 ssgSetNearFar( 0.5f, 120000.0f );
602 if ( globals->get_viewmgr()->get_current() == 0 ) {
603 // disable aircraft model
604 acmodel_selector->select(0);
606 // enable aircraft model and set up its position and orientation
607 acmodel_selector->select(1);
609 FGViewerRPH *pilot_view =
610 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
613 sgMakeTransMat4( sgTRANS, pilot_view->get_view_pos() );
616 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
619 sgMakeRotMat4( sgROT, -90.0, ownship_up );
623 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
624 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
626 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
628 sgCopyMat4( sgTUX, sgROT );
629 sgPostMultMat4( sgTUX, pilot_view->get_VIEW_ROT() );
630 sgPostMultMat4( sgTUX, sgTRANS );
633 sgSetCoord( &tuxpos, sgTUX );
634 acmodel_pos->setTransform( &tuxpos );
636 // set up moving parts
637 if (flaps_selector != NULL) {
638 flaps_selector->select( (controls.get_flaps() > 0.5f) ? 1 : 2 );
641 if (prop_selector != NULL) {
642 int propsel_mask = 0;
643 for (int i = 0; i < acmodel_npropsettings; i++) {
644 if (FGBFI::getRPM() >= acmodel_proprpms[i][0] &&
645 FGBFI::getRPM() <= acmodel_proprpms[i][1]) {
646 propsel_mask |= 1 << i;
649 prop_selector->select(propsel_mask);
653 // $$$ begin - added VS Renganthan 17 Oct 2K
655 // $$$ end - added VS Renganthan 17 Oct 2K
657 # ifdef FG_NETWORK_OLK
658 if ( fgGetBool("/sim/networking/network-olk") ) {
660 other = head->next; /* put listpointer to start */
661 while ( other != tail) { /* display all except myself */
662 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
663 other->fgd_sel->select(1);
664 sgSetCoord( &fgdpos, other->sgFGD_COORD );
665 other->fgd_pos->setTransform( &fgdpos );
670 // fgd_sel->select(1);
671 // sgCopyMat4( sgTUX, current_view.sgVIEW);
673 // sgSetCoord( &fgdpos, sgFGD_VIEW );
674 // fgd_pos->setTransform( &fgdpos);
678 // position tile nodes and update range selectors
679 global_tile_mgr.prep_ssg_nodes();
681 if ( fgGetBool("/sim/rendering/skyblend") ) {
682 // draw the sky backdrop
684 // we need a white diffuse light for the phase of the moon
685 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, white );
689 // return to the desired diffuse color
690 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
693 // draw the ssg scene
694 glEnable( GL_DEPTH_TEST );
695 ssgCullAndDraw( scene );
697 // change state for lighting here
700 // Set punch through fog density
701 glFogf (GL_FOG_DENSITY, fog_exp2_punch_through);
703 ssgCullAndDraw( lighting );
705 if ( fgGetBool("/sim/rendering/skyblend") ) {
706 // draw the sky cloud layers
707 thesky->postDraw( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
710 // display HUD && Panel
712 glDisable( GL_DEPTH_TEST );
713 // glDisable( GL_CULL_FACE );
714 // glDisable( GL_TEXTURE_2D );
716 // update the controls subsystem
719 hud_and_panel->apply();
722 // update the panel subsystem
723 if (current_panel != 0)
724 current_panel->update();
726 // We can do translucent menus, so why not. :-)
728 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
730 // glDisable ( GL_BLEND ) ;
732 // glEnable( GL_FOG );
739 // Update internal time dependent calculations (i.e. flight model)
740 void fgUpdateTimeDepCalcs() {
741 static bool inited = false;
743 fgLIGHT *l = &cur_light_params;
748 if ( !globals->get_freeze() && !initial_freeze ) {
749 // conceptually, this could be done for each fdm instance ...
752 cur_fdm_state->stamp();
758 long elapsed = current - cur_fdm_state->get_time_stamp();
759 cur_fdm_state->set_time_stamp( current );
760 elapsed += cur_fdm_state->get_remainder();
761 // cout << "elapsed = " << elapsed << endl;
762 // cout << "dt = " << cur_fdm_state->get_delta_t() << endl;
763 multi_loop = (long)(((double)elapsed * 0.000001) /
764 cur_fdm_state->get_delta_t() );
765 cur_fdm_state->set_multi_loop( multi_loop );
766 long remainder = elapsed - (long)( (multi_loop*1000000) *
767 cur_fdm_state->get_delta_t() );
768 cur_fdm_state->set_remainder( remainder );
769 // cout << "remainder = " << remainder << endl;
771 // chop max interations to something reasonable if the sim was
772 // delayed for an excesive amount of time
773 if ( multi_loop > 2.0 / cur_fdm_state->get_delta_t() ) {
774 multi_loop = (int)(2.0 / cur_fdm_state->get_delta_t());
775 cur_fdm_state->set_remainder( 0 );
778 // cout << "multi_loop = " << multi_loop << endl;
779 for ( i = 0; i < multi_loop * fgGetInt("/sim/speed-up"); ++i ) {
780 // run Autopilot system
781 current_autopilot->run();
784 cur_fdm_state->update( 1 );
786 FGSteam::update( multi_loop * fgGetInt("/sim/speed-up") );
788 cur_fdm_state->update( 0 );
789 FGSteam::update( 0 );
791 //if ( global_tile_mgr.queue_size() == 0 ) {
792 initial_freeze = false;
796 if ( fgGetString("/sim/view-mode") == "pilot" ) {
797 cur_view_fdm = *cur_fdm_state;
801 // update the view angle
802 FGViewer *v = globals->get_current_view();
803 for ( i = 0; i < multi_loop; i++ ) {
804 if ( fabs(v->get_goal_view_offset() - v->get_view_offset()) < 0.05 ) {
805 v->set_view_offset( v->get_goal_view_offset() );
808 // move current_view.view_offset towards
809 // current_view.goal_view_offset
810 if ( v->get_goal_view_offset() > v->get_view_offset() )
812 if ( v->get_goal_view_offset() - v->get_view_offset() < SGD_PI ){
813 v->inc_view_offset( 0.01 );
815 v->inc_view_offset( -0.01 );
818 if ( v->get_view_offset() - v->get_goal_view_offset() < SGD_PI ){
819 v->inc_view_offset( -0.01 );
821 v->inc_view_offset( 0.01 );
824 if ( v->get_view_offset() > SGD_2PI ) {
825 v->inc_view_offset( -SGD_2PI );
826 } else if ( v->get_view_offset() < 0 ) {
827 v->inc_view_offset( SGD_2PI );
832 double tmp = -(l->sun_rotation + SGD_PI)
833 - (cur_fdm_state->get_Psi() -
834 globals->get_current_view()->get_view_offset() );
835 while ( tmp < 0.0 ) {
838 while ( tmp > SGD_2PI ) {
841 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
842 FG_Psi * SGD_RADIANS_TO_DEGREES, current_view.view_offset * SGD_RADIANS_TO_DEGREES,
843 -(l->sun_rotation+SGD_PI) * SGD_RADIANS_TO_DEGREES, tmp * SGD_RADIANS_TO_DEGREES); */
846 // Update solar system
847 globals->get_ephem()->update( globals->get_time_params()->getMjd(),
848 globals->get_time_params()->getLst(),
849 cur_fdm_state->get_Latitude() );
851 // Update radio stack model
852 current_radiostack->update();
856 void fgInitTimeDepCalcs( void ) {
859 // #ifdef HAVE_SETITIMER
860 // fgTimerInit( 1.0 / fgGetInt("/sim/model-hz"),
861 // fgUpdateTimeDepCalcs );
862 // #endif HAVE_SETITIMER
866 static const double alt_adjust_ft = 3.758099;
867 static const double alt_adjust_m = alt_adjust_ft * SG_FEET_TO_METER;
870 // What should we do when we have nothing else to do? Let's get ready
871 // for the next move and update the display?
872 static void fgMainLoop( void ) {
873 static long remainder = 0;
875 #ifdef FANCY_FRAME_COUNTER
879 static time_t last_time = 0;
880 static int frames = 0;
881 #endif // FANCY_FRAME_COUNTER
883 SGTime *t = globals->get_time_params();
885 SG_LOG( SG_ALL, SG_DEBUG, "Running Main Loop");
886 SG_LOG( SG_ALL, SG_DEBUG, "======= ==== ====");
888 #ifdef FG_NETWORK_OLK
889 if ( fgGetBool("/sim/networking/network-olk") ) {
890 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
891 // printf("FGD: Netupdate\n");
892 fgd_send_com( "A", FGFS_host); // Send Mat4 data
893 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
898 #if defined( ENABLE_PLIB_JOYSTICK )
899 // Read joystick and update control settings
900 if ( fgGetString("/sim/control-mode") == "joystick" )
904 #elif defined( ENABLE_GLUT_JOYSTICK )
905 // Glut joystick support works by feeding a joystick handler
906 // function to glut. This is taken care of once in the joystick
907 // init routine and we don't have to worry about it again.
910 #ifdef FG_OLD_WEATHER
911 current_weather.Update();
914 // Fix elevation. I'm just sticking this here for now, it should
915 // probably move eventually
917 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
919 cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
920 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
922 if ( scenery.cur_elev > -9990 ) {
923 if ( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER <
924 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
925 // now set aircraft altitude above ground
926 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
927 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
928 scenery.cur_elev + alt_adjust_m - 3.0,
929 scenery.cur_elev + alt_adjust_m );
930 fgFDMForceAltitude( fgGetString("/sim/flight-model"),
931 scenery.cur_elev + alt_adjust_m );
933 SG_LOG( SG_ALL, SG_DEBUG,
934 "<*> resetting altitude to "
935 << cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
940 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
942 cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
943 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
946 if ( globals->get_warp_delta() != 0 ) {
947 globals->inc_warp( globals->get_warp_delta() );
950 t->update( cur_fdm_state->get_Longitude(),
951 cur_fdm_state->get_Latitude(),
952 globals->get_warp() );
954 if ( globals->get_warp_delta() != 0 ) {
955 fgUpdateSkyAndLightingParams();
958 // update magvar model
959 globals->get_mag()->update( cur_fdm_state->get_Longitude(),
960 cur_fdm_state->get_Latitude(),
961 cur_fdm_state->get_Altitude()* SG_FEET_TO_METER,
962 globals->get_time_params()->getJD() );
964 // Get elapsed time (in usec) for this past frame
965 elapsed = fgGetTimeInterval();
966 SG_LOG( SG_ALL, SG_DEBUG,
967 "Elapsed time interval is = " << elapsed
968 << ", previous remainder is = " << remainder );
970 // Calculate frame rate average
971 #ifdef FANCY_FRAME_COUNTER
972 /* old fps calculation */
976 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
977 tmp = general.get_frame(i);
979 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
980 general.set_frame(i+1,tmp);
982 tmp = 1000000.0 / (float)elapsed;
983 general.set_frame(0,tmp);
984 // printf("frame[0] = %.2f\n", general.frames[0]);
986 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
987 // printf("ave = %.2f\n", general.frame_rate);
990 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
991 general.set_frame_rate( frames );
992 SG_LOG( SG_ALL, SG_DEBUG,
993 "--> Frame rate is = " << general.get_frame_rate() );
996 last_time = t->get_cur_time();
1002 // Calculate model iterations needed for next frame
1003 elapsed += remainder;
1005 global_multi_loop = (long)(((double)elapsed * 0.000001) *
1006 fgGetInt("/sim/model-hz"));
1007 remainder = elapsed - ( (global_multi_loop*1000000) /
1008 fgGetInt("/sim/model-hz") );
1009 SG_LOG( SG_ALL, SG_DEBUG,
1010 "Model iterations needed = " << global_multi_loop
1011 << ", new remainder = " << remainder );
1013 // chop max interations to something reasonable if the sim was
1014 // delayed for an excesive amount of time
1015 if ( global_multi_loop > 2.0 * fgGetInt("/sim/model-hz") ) {
1016 global_multi_loop = (int)(2.0 * fgGetInt("/sim/model-hz") );
1021 if ( global_multi_loop > 0 ) {
1022 fgUpdateTimeDepCalcs();
1024 SG_LOG( SG_ALL, SG_DEBUG,
1025 "Elapsed time is zero ... we're zinging" );
1028 #if ! defined( macintosh )
1029 // Do any I/O channel work that might need to be done
1033 // see if we need to load any new scenery tiles
1034 global_tile_mgr.update( cur_fdm_state->get_Longitude()
1035 * SGD_RADIANS_TO_DEGREES,
1036 cur_fdm_state->get_Latitude()
1037 * SGD_RADIANS_TO_DEGREES );
1039 // see if we need to load any deferred-load textures
1040 material_lib.load_next_deferred();
1042 // Process/manage pending events
1043 global_events.Process();
1045 // Run audio scheduler
1046 #ifdef ENABLE_AUDIO_SUPPORT
1047 if ( fgGetBool("/sim/sound") && globals->get_soundmgr()->is_working() ) {
1048 if ( fgGetString("/sim/aircraft") == "c172" ) {
1049 // pitch corresponds to rpm
1050 // volume corresponds to manifold pressure
1052 // cout << "AUDIO working = "
1053 // << globals->get_soundmgr()->is_working() << endl;
1056 if ( cur_fdm_state->get_engine(0) != NULL ) {
1057 rpm_factor = cur_fdm_state->get_engine(0)->get_RPM() / 2500.0;
1061 // cout << "rpm = " << cur_fdm_state->get_engine(0)->get_RPM()
1064 double pitch = 0.3 + rpm_factor * 3.0;
1066 // don't run at absurdly slow rates -- not realistic
1067 // and sounds bad to boot. :-)
1068 if (pitch < 0.7) { pitch = 0.7; }
1069 if (pitch > 5.0) { pitch = 5.0; }
1072 if ( cur_fdm_state->get_engine(0) != NULL ) {
1074 cur_fdm_state->get_engine(0)->get_Manifold_Pressure() / 100;
1079 << cur_fdm_state->get_engine(0)->get_Manifold_Pressure()
1082 double volume = 0.15 + mp_factor / 2.0;
1084 if ( volume < 0.15 ) { volume = 0.15; }
1085 if ( volume > 0.5 ) { volume = 0.5; }
1086 // cout << "volume = " << volume << endl;
1088 s1->set_pitch( pitch );
1089 s1->set_volume( volume );
1091 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
1092 s1->set_pitch( param );
1093 s1->set_volume( param );
1096 globals->get_soundmgr()->update();
1103 SG_LOG( SG_ALL, SG_DEBUG, "" );
1107 // This is the top level master main function that is registered as
1108 // our idle funciton
1111 // The first few passes take care of initialization things (a couple
1112 // per pass) and once everything has been initialized fgMainLoop from
1115 static void fgIdleFunction ( void ) {
1116 // printf("idle state == %d\n", idle_state);
1118 if ( idle_state == 0 ) {
1119 // Initialize the splash screen right away
1120 if ( fgGetBool("/sim/startup/splash-screen") ) {
1125 } else if ( idle_state == 1 ) {
1126 // Start the intro music
1128 if ( fgGetBool("/sim/startup/intro-music") ) {
1129 string lockfile = "/tmp/mpg123.running";
1130 SGPath mp3file( globals->get_fg_root() );
1131 mp3file.append( "Sounds/intro.mp3" );
1133 string command = "(touch " + lockfile + "; mpg123 "
1134 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1136 SG_LOG( SG_GENERAL, SG_INFO,
1137 "Starting intro music: " << mp3file.str() );
1138 system ( command.c_str() );
1143 } else if ( idle_state == 2 ) {
1144 // These are a few miscellaneous things that aren't really
1145 // "subsystems" but still need to be initialized.
1148 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1149 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1154 } else if ( idle_state == 3 ) {
1155 // This is the top level init routine which calls all the
1156 // other subsystem initialization routines. If you are adding
1157 // a subsystem to flightgear, its initialization call should
1158 // located in this routine.
1159 if( !fgInitSubsystems()) {
1160 SG_LOG( SG_GENERAL, SG_ALERT,
1161 "Subsystem initializations failed ..." );
1166 } else if ( idle_state == 4 ) {
1167 // setup OpenGL view parameters
1171 } else if ( idle_state == 5 ) {
1174 } else if ( idle_state == 6 ) {
1175 // Initialize audio support
1176 #ifdef ENABLE_AUDIO_SUPPORT
1179 if ( fgGetBool("/sim/startup/intro-music") ) {
1180 // Let's wait for mpg123 to finish
1181 string lockfile = "/tmp/mpg123.running";
1182 struct stat stat_buf;
1184 SG_LOG( SG_GENERAL, SG_INFO,
1185 "Waiting for mpg123 player to finish ..." );
1186 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1187 // file exist, wait ...
1189 SG_LOG( SG_GENERAL, SG_INFO, ".");
1191 SG_LOG( SG_GENERAL, SG_INFO, "");
1195 if ( fgGetBool("/sim/sound") ) {
1196 globals->get_soundmgr()->init();
1198 s1 = new FGSimpleSound( fgGetString("/sim/sounds/engine",
1199 "Sounds/wasp.wav") );
1200 globals->get_soundmgr()->add( s1, "engine loop" );
1201 globals->get_soundmgr()->play_looped( "engine loop" );
1202 SG_LOG( SG_GENERAL, SG_INFO,
1203 "Rate = " << s1->get_sample()->getRate()
1204 << " Bps = " << s1->get_sample()->getBps()
1205 << " Stereo = " << s1->get_sample()->getStereo() );
1207 s2 = new FGSimpleSound( "Sounds/corflaps.wav" );
1210 // s2 = mmm.make_ident( "JLI" );
1211 s2->set_volume( 0.3 );
1212 globals->get_soundmgr()->add( s2, "flaps" );
1219 cout << "Panel visible = " << fgPanelVisible() << endl;
1220 fgReshape( fgGetInt("/sim/startup/xsize"),
1221 fgGetInt("/sim/startup/ysize") );
1224 if ( idle_state == 1000 ) {
1225 // We've finished all our initialization steps, from now on we
1226 // run the main loop.
1230 if ( fgGetBool("/sim/startup/splash-screen") ) {
1231 fgSplashUpdate(0.0);
1236 // options.cxx needs to see this for toggle_panel()
1237 // Handle new window size or exposure
1238 void fgReshape( int width, int height ) {
1240 for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
1241 if ( ! fgPanelVisible() || idle_state != 1000 ) {
1242 globals->get_viewmgr()->get_view(i)->
1243 set_win_ratio( (float)height / (float)width );
1246 int((current_panel->getViewHeight() -
1247 current_panel->getYOffset())
1248 * (height / 768.0)) + 1;
1249 globals->get_viewmgr()->get_view(i)->
1250 set_win_ratio( (float)view_h / (float)width );
1254 if ( ! fgPanelVisible() || idle_state != 1000 ) {
1255 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1258 int((current_panel->getViewHeight() - current_panel->getYOffset())
1259 * (height / 768.0)) + 1;
1260 glViewport(0, (GLint)(height - view_h),
1261 (GLint)(width), (GLint)(view_h) );
1264 fgSetInt("/sim/startup/xsize", width);
1265 fgSetInt("/sim/startup/ysize", height);
1267 float fov = globals->get_current_view()->get_fov();
1268 ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());
1274 // Initialize GLUT and define a main window
1275 int fgGlutInit( int *argc, char **argv ) {
1277 #if !defined( macintosh )
1278 // GLUT will extract all glut specific options so later on we only
1279 // need wory about our own.
1280 glutInit(argc, argv);
1283 // Define Display Parameters
1284 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1286 SG_LOG( SG_GENERAL, SG_INFO, "Opening a window: " <<
1287 fgGetInt("/sim/startup/xsize") << "x"
1288 << fgGetInt("/sim/startup/ysize") );
1290 // Define initial window size
1291 glutInitWindowSize( fgGetInt("/sim/startup/xsize"),
1292 fgGetInt("/sim/startup/ysize") );
1294 // Initialize windows
1295 if ( !fgGetBool("/sim/startup/game-mode")) {
1296 // Open the regular window
1297 glutCreateWindow("FlightGear");
1298 #ifndef GLUT_WRONG_VERSION
1300 // Open the cool new 'game mode' window
1301 char game_mode_str[256];
1302 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1303 fgGetInt("/sim/startup/xsize"),
1304 fgGetInt("/sim/startup/ysize"),
1305 fgGetInt("/sim/rendering/bits-per-pixel"));
1307 SG_LOG( SG_GENERAL, SG_INFO,
1308 "game mode params = " << game_mode_str );
1309 glutGameModeString( game_mode_str );
1310 glutEnterGameMode();
1314 // This seems to be the absolute earliest in the init sequence
1315 // that these calls will return valid info. Too bad it's after
1316 // we've already created and sized out window. :-(
1317 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1318 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1319 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1320 SG_LOG( SG_GENERAL, SG_INFO, general.get_glRenderer() );
1323 glGetIntegerv( GL_MAX_TEXTURE_SIZE, &tmp );
1324 general.set_glMaxTexSize( tmp );
1325 SG_LOG ( SG_GENERAL, SG_INFO, "Max texture size = " << tmp );
1327 glGetIntegerv( GL_DEPTH_BITS, &tmp );
1328 general.set_glDepthBits( tmp );
1329 SG_LOG ( SG_GENERAL, SG_INFO, "Depth buffer bits = " << tmp );
1335 // Initialize GLUT event handlers
1336 int fgGlutInitEvents( void ) {
1337 // call fgReshape() on window resizes
1338 glutReshapeFunc( fgReshape );
1340 // call GLUTkey() on keyboard event
1341 glutKeyboardFunc( GLUTkey );
1342 glutSpecialFunc( GLUTspecialkey );
1344 // call guiMouseFunc() whenever our little rodent is used
1345 glutMouseFunc ( guiMouseFunc );
1346 glutMotionFunc (guiMotionFunc );
1347 glutPassiveMotionFunc (guiMotionFunc );
1349 // call fgMainLoop() whenever there is
1350 // nothing else to do
1351 glutIdleFunc( fgIdleFunction );
1354 glutDisplayFunc( fgRenderFrame );
1361 int main( int argc, char **argv ) {
1363 #if defined( macintosh )
1364 freopen ("stdout.txt", "w", stdout );
1365 freopen ("stderr.txt", "w", stderr );
1366 argc = ccommand( &argv );
1370 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1373 // set default log levels
1374 sglog().setLogLevels( SG_ALL, SG_INFO );
1377 #ifdef FLIGHTGEAR_VERSION
1378 version = FLIGHTGEAR_VERSION;
1380 version = "unknown version";
1382 SG_LOG( SG_GENERAL, SG_INFO, "FlightGear: Version "
1383 << version << endl );
1385 // Allocate global data structures. This needs to happen before
1386 // we parse command line options
1388 SGPropertyNode *props = new SGPropertyNode;
1389 globals = new FGGlobals;
1390 globals->set_props( props );
1392 // seed the random number generater
1395 SGRoute *route = new SGRoute;
1396 globals->set_route( route );
1398 #ifdef ENABLE_AUDIO_SUPPORT
1399 FGSoundMgr *soundmgr = new FGSoundMgr;
1400 globals->set_soundmgr( soundmgr );
1403 FGViewMgr *viewmgr = new FGViewMgr;
1404 globals->set_viewmgr( viewmgr );
1406 FGViewerRPH *pv = new FGViewerRPH;
1407 globals->get_viewmgr()->add_view( pv );
1409 FGViewerLookAt *chase = new FGViewerLookAt;
1410 globals->get_viewmgr()->add_view( chase );
1412 string_list *col = new string_list;
1413 globals->set_channel_options_list( col );
1415 // set current view to 0 (first) which is our main pilot view
1416 globals->set_current_view( globals->get_viewmgr()->get_view( 0 ) );
1418 // Scan the config file(s) and command line options to see if
1419 // fg_root was specified (ignore all other options for now)
1420 fgInitFGRoot(argc, argv);
1422 // Initialize the Aircraft directory to "" (UIUC)
1425 // Load the configuration parameters
1426 if ( !fgInitConfig(argc, argv) ) {
1427 SG_LOG( SG_GENERAL, SG_ALERT, "Config option parsing failed ..." );
1431 // Initialize the Window/Graphics environment.
1432 if( !fgGlutInit(&argc, argv) ) {
1433 SG_LOG( SG_GENERAL, SG_ALERT, "GLUT initialization failed ..." );
1437 // Initialize the various GLUT Event Handlers.
1438 if( !fgGlutInitEvents() ) {
1439 SG_LOG( SG_GENERAL, SG_ALERT,
1440 "GLUT event handler initialization failed ..." );
1444 // Initialize ssg (from plib). Needs to come before we do any
1445 // other ssg stuff, but after opengl/glut has been initialized.
1448 // Initialize the user interface (we need to do this before
1449 // passing off control to glut and before fgInitGeneral to get our
1453 // set current_options lon/lat if an airport id is specified
1454 // cout << "3. airport_id = " << fgGetString("/sim/startup/airport-id") << endl;
1455 if ( fgGetString("/sim/startup/airport-id").length() ) {
1456 // fgSetPosFromAirportID( fgGetString("/sim/startup/airport-id") );
1457 fgSetPosFromAirportIDandHdg( fgGetString("/sim/startup/airport-id"),
1458 fgGetDouble("/orientation/heading") );
1462 SGPath zone( globals->get_fg_root() );
1463 zone.append( "Timezone" );
1464 SGTime *t = new SGTime( fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS,
1465 fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS,
1468 // Handle potential user specified time offsets
1469 time_t cur_time = t->get_cur_time();
1470 time_t currGMT = sgTimeGetGMT( gmtime(&cur_time) );
1471 time_t systemLocalTime = sgTimeGetGMT( localtime(&cur_time) );
1472 time_t aircraftLocalTime =
1473 sgTimeGetGMT( fgLocaltime(&cur_time, t->get_zonename() ) );
1475 // Okay, we now have six possible scenarios
1476 int offset = fgGetInt("/sim/startup/time-offset");
1477 const string &offset_type = fgGetString("/sim/startup/time-offset-type");
1478 if (offset_type == "system-offset") {
1479 globals->set_warp( offset );
1480 } else if (offset_type == "gmt-offset") {
1481 globals->set_warp( offset - (currGMT - systemLocalTime) );
1482 } else if (offset_type == "latitude-offset") {
1483 globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) );
1484 } else if (offset_type == "system") {
1485 globals->set_warp( offset - cur_time );
1486 } else if (offset_type == "gmt") {
1487 globals->set_warp( offset - currGMT );
1488 } else if (offset_type == "latitude") {
1489 globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) -
1492 SG_LOG( SG_GENERAL, SG_ALERT,
1493 "Unsupported offset type " << offset_type );
1497 SG_LOG( SG_GENERAL, SG_INFO, "After time init, warp = "
1498 << globals->get_warp() );
1500 globals->set_warp_delta( 0 );
1502 t->update( 0.0, 0.0, globals->get_warp() );
1504 globals->set_time_params( t );
1506 // Do some quick general initializations
1507 if( !fgInitGeneral()) {
1508 SG_LOG( SG_GENERAL, SG_ALERT,
1509 "General initializations failed ..." );
1513 SGPath modelpath( globals->get_fg_root() );
1514 ssgModelPath( (char *)modelpath.c_str() );
1517 scene = new ssgRoot;
1518 scene->setName( "Scene" );
1520 lighting = new ssgRoot;
1521 lighting->setName( "Lighting" );
1523 // Initialize the sky
1524 SGPath ephem_data_path( globals->get_fg_root() );
1525 ephem_data_path.append( "Astro" );
1526 SGEphemeris *ephem = new SGEphemeris( ephem_data_path.c_str() );
1527 ephem->update( globals->get_time_params()->getMjd(),
1528 globals->get_time_params()->getLst(),
1530 globals->set_ephem( ephem );
1534 SGPath sky_tex_path( globals->get_fg_root() );
1535 sky_tex_path.append( "Textures" );
1536 sky_tex_path.append( "Sky" );
1537 thesky->texture_path( sky_tex_path.str() );
1539 thesky->build( 550.0, 550.0,
1540 globals->get_ephem()->getNumPlanets(),
1541 globals->get_ephem()->getPlanets(), 60000.0,
1542 globals->get_ephem()->getNumStars(),
1543 globals->get_ephem()->getStars(), 60000.0 );
1545 if ( fgGetBool("/environment/clouds/status") ) {
1546 thesky->add_cloud_layer( 2000.0, 200.0, 50.0, 40000.0,
1547 SG_CLOUD_OVERCAST );
1548 thesky->add_cloud_layer( 2600.0, 200.0, 50.0, 40000.0,
1549 SG_CLOUD_MOSTLY_CLOUDY );
1550 thesky->add_cloud_layer( 3000.0, 200.0, 50.0, 40000.0,
1551 SG_CLOUD_MOSTLY_SUNNY );
1552 thesky->add_cloud_layer( 6000.0, 20.0, 10.0, 40000.0,
1556 // Initialize MagVar model
1557 SGMagVar *magvar = new SGMagVar();
1558 globals->set_mag( magvar );
1561 terrain = new ssgBranch;
1562 terrain->setName( "Terrain" );
1563 scene->addKid( terrain );
1566 ground = new ssgBranch;
1567 ground->setName( "Ground Lighting" );
1568 lighting->addKid( ground );
1570 airport = new ssgBranch;
1571 airport->setName( "Airport Lighting" );
1572 lighting->addKid( airport );
1574 // temporary visible aircraft "own ship"
1575 acmodel_selector = new ssgSelector;
1576 acmodel_pos = new ssgTransform;
1578 // Get the model location, and load textures from the same
1579 // directory. Use an absolute path for the model to avoid
1580 // incompatibilities in different versions of PLIB.
1581 string acmodel_path =
1582 fgGetString("/sim/model/path", "Models/Geometry/glider.ac");
1583 SGPath full_model = globals->get_fg_root();
1584 full_model.append(acmodel_path);
1586 #if !defined( PLIB_1_2_X )
1587 // this should be redundant ... but it breaks for relative paths
1589 ssgModelPath( (char *)full_model.dir().c_str() );
1592 ssgTexturePath( (char *)full_model.dir().c_str() );
1593 ssgEntity *acmodel_obj = ssgLoad( (char *)full_model.c_str() );
1594 if( !acmodel_obj ) {
1595 // fall back to default
1596 acmodel_obj = ssgLoad( (char *)"glider.ac" );
1597 if( !acmodel_obj ) {
1598 SG_LOG( SG_GENERAL, SG_ALERT, "FAILED to LOAD an AC model! ..." );
1603 // find moving parts (if this is an MDL model)
1604 flaps_selector = (ssgSelector*)fgFindNode( acmodel_obj, "FLAPS" );
1605 prop_selector = (ssgSelector*)fgFindNode( acmodel_obj, "PROP" );
1607 acmodel_npropsettings = 0;
1608 if (prop_selector != NULL) {
1609 for (ssgEntity* kid = prop_selector->getKid(0); kid != NULL;
1610 kid = prop_selector->getNextKid()) {
1611 int prop_low, prop_high;
1612 if ( sscanf(kid->getName(), "PROP_%d_%d",
1613 &prop_low, &prop_high) == 2 ) {
1614 prop_low = (int)((float)prop_low * (5000.0f / 32767.0f));
1615 prop_high = (int)((float)prop_high * (5000.0f / 32767.0f));
1616 acmodel_proprpms[acmodel_npropsettings][0] = prop_low ;
1617 acmodel_proprpms[acmodel_npropsettings][1] = prop_high;
1618 acmodel_npropsettings++;
1620 SG_LOG( SG_GENERAL, SG_INFO, "PROPELLER SETTING " << prop_low <<
1626 // align the model properly for FGFS
1627 ssgTransform *acmodel_align = new ssgTransform;
1628 acmodel_align->addKid(acmodel_obj);
1632 float h_rot = fgGetFloat("/sim/model/h-rotation", 0.0);
1633 float p_rot = fgGetFloat("/sim/model/p-rotation", 0.0);
1634 float r_rot = fgGetFloat("/sim/model/r-rotation", 0.0);
1635 float x_off = fgGetFloat("/sim/model/x-offset", 0.0);
1636 float y_off = fgGetFloat("/sim/model/y-offset", 0.0);
1637 float z_off = fgGetFloat("/sim/model/z-offset", 0.0);
1638 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
1639 sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
1640 sgMultMat4(res_matrix, off_matrix, rot_matrix);
1641 acmodel_align->setTransform(res_matrix);
1643 acmodel_pos->addKid( acmodel_align );
1644 acmodel_selector->addKid( acmodel_pos );
1645 //ssgFlatten( acmodel_obj );
1646 //ssgStripify( acmodel_selector );
1647 acmodel_selector->clrTraversalMaskBits( SSGTRAV_HOT );
1648 scene->addKid( acmodel_selector );
1650 // $$$ begin - added VS Renganthan 17 Oct 2K
1652 // $$$ end - added VS Renganthan 17 Oct 2K
1654 #ifdef FG_NETWORK_OLK
1655 // Do the network intialization
1656 if ( fgGetBool("/sim/networking/network-olk") ) {
1657 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1661 // build our custom render states
1662 fgBuildRenderStates();
1664 // pass control off to the master GLUT event handler
1667 // we never actually get here ... but to avoid compiler warnings,
1673 // $$$ end - added VS Renganathan, 15 Oct 2K
1674 // - added Venky , 12 Nov 2K
1676 void fgLoadDCS(void) {
1678 ssgEntity *ship_obj = NULL;
1681 char obj_filename[25];
1683 for ( int k = 0; k < 32; k++ ) {
1687 SGPath tile_path( globals->get_fg_root());
1688 tile_path.append( "Scenery" );
1689 tile_path.append( "Objects.txt" );
1690 sg_gzifstream in( tile_path.str() );
1691 if ( ! in.is_open() ) {
1692 SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: " << tile_path.str() );
1695 SGPath modelpath( globals->get_fg_root() );
1696 modelpath.append( "Models" );
1697 modelpath.append( "Geometry" );
1699 SGPath texturepath( globals->get_fg_root() );
1700 texturepath.append( "Models" );
1701 texturepath.append( "Textures" );
1703 ssgModelPath( (char *)modelpath.c_str() );
1704 ssgTexturePath( (char *)texturepath.c_str() );
1706 ship_sel = new ssgSelector;
1709 while ( ! in.eof() ) {
1711 if ( in.get( c ) && c == '#' ) {
1715 in >> obj_filename >> obj_lat[objc] >> obj_lon[objc] >> obj_alt[objc];
1716 /* cout << endl << obj_filename << " " << obj_lat[objc] << " " << obj_lon[objc] << " " << obj_alt[objc] << endl;
1717 int chj=getchar();*/
1719 obj_lon[objc] *=SGD_DEGREES_TO_RADIANS;
1720 obj_lat[objc] *=SGD_DEGREES_TO_RADIANS;
1722 ship_pos[objc] = new ssgTransform;
1724 // type "repeat" in objects.txt to load one more
1725 // instance of the last object.
1727 if ( strcmp(obj_filename,"repeat") != 0) {
1728 ship_obj = ssgLoadOBJ( obj_filename );
1731 if ( ship_obj != NULL ) {
1732 ship_pos[objc]->addKid( ship_obj ); // add object to transform node
1733 ship_sel->addKid( ship_pos[objc] ); // add transform node to selector
1735 SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: "
1741 if (in.eof()) break;
1745 SG_LOG ( SG_TERRAIN, SG_ALERT, "Finished object processing." );
1747 ship_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1748 scene->addKid( ship_sel ); //add selector node to root node
1755 void fgUpdateDCS (void) {
1757 // double eye_lat,eye_lon,eye_alt;
1758 // static double obj_head;
1759 double sl_radius,obj_latgc;
1760 // float nresultmat[4][4];
1761 // sgMat4 Trans,rothead,rotlon,rot180,rotlat,resultmat1,resultmat2,resultmat3;
1764 // Instantaneous Geodetic Lat/Lon/Alt of moving object
1765 FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
1767 // Deck should be the first object in objects.txt in case of fdm=ada
1769 if (fgGetString("/sim/flight-model") == "ada") {
1770 obj_lon[0] = fdm->get_aux5()*SGD_DEGREES_TO_RADIANS;
1771 obj_lat[0] = fdm->get_aux6()*SGD_DEGREES_TO_RADIANS;
1772 obj_alt[0] = fdm->get_aux7();
1775 for ( int m = 0; m < objc; m++ ) {
1776 //cout << endl << obj_lat[m]*SGD_RADIANS_TO_DEGREES << " " << obj_lon[m]*SGD_RADIANS_TO_DEGREES << " " << obj_alt[m] << " " << objc << endl;
1779 //Geodetic to Geocentric angles for rotation
1780 sgGeodToGeoc(obj_lat[m],obj_alt[m],&sl_radius,&obj_latgc);
1782 //moving object gbs-posn in cartesian coords
1783 Point3D obj_posn = Point3D( obj_lon[m],obj_lat[m],obj_alt[m]);
1784 Point3D obj_pos = sgGeodToCart( obj_posn );
1786 // Translate moving object w.r.t eye
1787 Point3D Objtrans = obj_pos-scenery.center;
1792 // rotate dynamic objects for lat,lon & alt and other motion about its axes
1795 sgMakeTransMat4( sgTRANS, bz[0],bz[1],bz[2]);
1797 sgVec3 ship_fwd,ship_rt,ship_up;
1798 sgSetVec3( ship_fwd, 1.0, 0.0, 0.0);//east,roll
1799 sgSetVec3( ship_rt, 0.0, 1.0, 0.0);//up,pitch
1800 sgSetVec3( ship_up, 0.0, 0.0, 1.0); //north,yaw
1802 sgMat4 sgROT_lon, sgROT_lat, sgROT_hdg;
1803 sgMakeRotMat4( sgROT_lon, obj_lon[m]*SGD_RADIANS_TO_DEGREES, ship_up );
1804 sgMakeRotMat4( sgROT_lat, 90-obj_latgc*SGD_RADIANS_TO_DEGREES, ship_rt );
1805 sgMakeRotMat4( sgROT_hdg, 180.0, ship_up );
1808 sgCopyMat4( sgTUX, sgROT_hdg );
1809 sgPostMultMat4( sgTUX, sgROT_lat );
1810 sgPostMultMat4( sgTUX, sgROT_lon );
1811 sgPostMultMat4( sgTUX, sgTRANS );
1814 sgSetCoord(&shippos, sgTUX );
1815 ship_pos[m]->setTransform( &shippos );
1817 if ( ship_sel != NULL ) {
1818 ship_sel->select(0xFFFFFFFF);
1822 // $$$ end - added VS Renganathan, 15 Oct 2K
1823 // added Venky , 12 Nov 2K