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/newauto.hxx>
80 #include <Cockpit/cockpit.hxx>
81 #include <Cockpit/radiostack.hxx>
82 #include <Cockpit/steam.hxx>
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>
106 #include "fg_init.hxx"
108 #include "keyboard.hxx"
109 #include "options.hxx"
110 #include "splash.hxx"
114 // -dw- use custom sioux settings so I can see output window
117 # include <sioux.h> // settings for output window
119 # include <console.h>
123 // This is a record containing a bit of global housekeeping information
126 // Specify our current idle function state. This is used to run all
127 // our initializations out of the glutIdleLoop() so that we can get a
128 // splash screen up and running right away.
129 static int idle_state = 0;
130 static int global_multi_loop;
135 // Global structures for the Audio library
136 #ifdef ENABLE_AUDIO_SUPPORT
137 slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
138 slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
139 slScheduler *audio_sched;
140 smMixer *audio_mixer;
147 ssgRoot *scene = NULL;
148 ssgBranch *terrain = NULL;
149 ssgSelector *penguin_sel = NULL;
150 ssgTransform *penguin_pos = NULL;
152 #ifdef FG_NETWORK_OLK
153 ssgSelector *fgd_sel = NULL;
154 ssgTransform *fgd_pos = NULL;
158 // current fdm/position used for view
159 FGInterface cur_view_fdm;
166 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
168 { 1.0f, 0.0f, 0.0f, 0.0f },
169 { 0.0f, 0.0f, -1.0f, 0.0f },
170 { 0.0f, 1.0f, 0.0f, 0.0f },
171 { 0.0f, 0.0f, 0.0f, 1.0f }
174 // The following defines flight gear options. Because glutlib will also
175 // want to parse its own options, those options must not be included here
176 // or they will get parsed by the main program option parser. Hence case
177 // is significant for any option added that might be in conflict with
180 // glutlib parses for:
182 // -direct (invalid in Win32)
186 // -indirect (invalid in Win32)
189 // Note that glutlib depends upon strings while this program's
190 // option parser wants only initial characters followed by numbers
195 ssgSimpleState *default_state;
196 ssgSimpleState *hud_and_panel;
197 ssgSimpleState *menus;
199 void fgBuildRenderStates( void ) {
200 default_state = new ssgSimpleState;
201 default_state->disable( GL_TEXTURE_2D );
202 default_state->enable( GL_CULL_FACE );
203 default_state->disable( GL_COLOR_MATERIAL );
204 default_state->disable( GL_BLEND );
205 default_state->disable( GL_ALPHA_TEST );
206 default_state->disable( GL_LIGHTING );
207 default_state->setMaterial( GL_AMBIENT_AND_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
209 hud_and_panel = new ssgSimpleState;
210 hud_and_panel->disable( GL_CULL_FACE );
211 hud_and_panel->disable( GL_TEXTURE_2D );
212 hud_and_panel->disable( GL_LIGHTING );
213 hud_and_panel->enable( GL_BLEND );
215 menus = new ssgSimpleState;
216 menus->disable( GL_CULL_FACE );
217 menus->disable( GL_TEXTURE_2D );
218 menus->enable( GL_BLEND );
222 // fgInitVisuals() -- Initialize various GL/view parameters
223 void fgInitVisuals( void ) {
226 l = &cur_light_params;
228 #ifndef GLUT_WRONG_VERSION
229 // Go full screen if requested ...
230 if ( current_options.get_fullscreen() ) {
235 // If enabled, normal vectors specified with glNormal are scaled
236 // to unit length after transformation. See glNormal.
237 // glEnable( GL_NORMALIZE );
239 glEnable( GL_LIGHTING );
240 glEnable( GL_LIGHT0 );
241 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
244 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
245 ssgGetLight( 0 ) -> setPosition( sunpos );
247 // glFogi (GL_FOG_MODE, GL_LINEAR);
248 glFogi (GL_FOG_MODE, GL_EXP2);
249 if ( (current_options.get_fog() == 1) ||
250 (current_options.get_shading() == 0) ) {
251 // if fastest fog requested, or if flat shading force fastest
252 glHint ( GL_FOG_HINT, GL_FASTEST );
253 } else if ( current_options.get_fog() == 2 ) {
254 glHint ( GL_FOG_HINT, GL_NICEST );
256 if ( current_options.get_wireframe() ) {
258 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
261 // This is the default anyways, but it can't hurt
262 glFrontFace ( GL_CCW );
265 // glEnable(GL_POINT_SMOOTH);
266 // glEnable(GL_LINE_SMOOTH);
267 // glEnable(GL_POLYGON_SMOOTH);
271 // Update all Visuals (redraws anything graphics related)
272 void fgRenderFrame( void ) {
276 fgLIGHT *l = &cur_light_params;
277 FGTime *t = FGTime::cur_time_params;
278 // FGView *v = ¤t_view;
279 static double last_visibility = -9999;
280 static bool in_puff = false;
281 static double puff_length = 0;
282 static double puff_progression = 0;
283 const double ramp_up = 0.15;
284 const double ramp_down = 0.15;
287 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
288 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
289 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
290 // GLfloat mat_shininess[] = { 10.0 };
291 GLbitfield clear_mask;
293 if ( idle_state != 1000 ) {
294 // still initializing, draw the splash screen
295 if ( current_options.get_splash_screen() == 1 ) {
299 // idle_state is now 1000 meaning we've finished all our
300 // initializations and are running the main loop, so this will
301 // now work without seg faulting the system.
303 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
304 // FG_Altitude * FEET_TO_METER);
306 // this is just a temporary hack, to make me understand Pui
307 // timerText -> setLabel (ctime (&t->cur_time));
310 // update view volume parameters
311 // cout << "before pilot_view update" << endl;
312 pilot_view.UpdateViewParams(*cur_fdm_state);
313 // cout << "after pilot_view update" << endl;
314 current_view.UpdateViewParams(cur_view_fdm);
316 // set the sun position
317 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
319 clear_mask = GL_DEPTH_BUFFER_BIT;
320 if ( current_options.get_wireframe() ) {
321 clear_mask |= GL_COLOR_BUFFER_BIT;
323 if ( current_options.get_panel_status() ) {
324 // we can't clear the screen when the panel is active
325 } else if ( current_options.get_skyblend() ) {
326 if ( current_options.get_textures() ) {
327 // glClearColor(black[0], black[1], black[2], black[3]);
328 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
329 l->adj_fog_color[2], l->adj_fog_color[3]);
330 clear_mask |= GL_COLOR_BUFFER_BIT;
333 glClearColor(l->sky_color[0], l->sky_color[1],
334 l->sky_color[2], l->sky_color[3]);
335 clear_mask |= GL_COLOR_BUFFER_BIT;
337 glClear( clear_mask );
339 // Tell GL we are switching to model view parameters
341 // I really should create a derived ssg node or use a call
342 // back or something so that I can draw the sky within the
343 // ssgCullandDraw() function, but for now I just mimic what
344 // ssg does to set up the model view matrix
345 glMatrixMode(GL_MODELVIEW);
347 ssgSetCamera( current_view.VIEW );
350 sgMat4 vm_tmp, view_mat;
351 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
352 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
353 sgPreMultMat4( view_mat, vm_tmp ) ;
354 glLoadMatrixf( (float *)view_mat );
357 // set the opengl state to known default values
358 default_state->force();
361 if ( current_options.get_skyblend() ) {
364 current_view.get_view_pos().x(),
365 current_view.get_view_pos().y(),
366 current_view.get_view_pos().z() );
369 sgSetVec3( zero_elev,
370 current_view.get_cur_zero_elev().x(),
371 current_view.get_cur_zero_elev().y(),
372 current_view.get_cur_zero_elev().z() );
374 /* cout << "thesky->repaint() sky_color = "
375 << cur_light_params.sky_color[0] << " "
376 << cur_light_params.sky_color[1] << " "
377 << cur_light_params.sky_color[2] << " "
378 << cur_light_params.sky_color[3] << endl;
380 << cur_light_params.fog_color[0] << " "
381 << cur_light_params.fog_color[1] << " "
382 << cur_light_params.fog_color[2] << " "
383 << cur_light_params.fog_color[3] << endl;
384 cout << " sun_angle = " << cur_light_params.sun_angle
385 << " moon_angle = " << cur_light_params.moon_angle
387 thesky->repaint( cur_light_params.sky_color,
388 cur_light_params.adj_fog_color,
389 cur_light_params.sun_angle,
390 cur_light_params.moon_angle,
391 ephem->getNumPlanets(), ephem->getPlanets(),
392 ephem->getNumStars(), ephem->getStars() );
394 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
395 << view_pos[1] << " " << view_pos[2] << endl;
396 cout << " zero_elev = " << zero_elev[0] << " "
397 << zero_elev[1] << " " << zero_elev[2]
398 << " lon = " << cur_fdm_state->get_Longitude()
399 << " lat = " << cur_fdm_state->get_Latitude() << endl;
400 cout << " sun_rot = " << cur_light_params.sun_rotation
401 << " gst = " << FGTime::cur_time_params->getGst() << endl;
402 cout << " sun ra = " << ephem->getSunRightAscension()
403 << " sun dec = " << ephem->getSunDeclination()
404 << " moon ra = " << ephem->getMoonRightAscension()
405 << " moon dec = " << ephem->getMoonDeclination() << endl; */
407 thesky->reposition( view_pos, zero_elev,
408 cur_fdm_state->get_Longitude(),
409 cur_fdm_state->get_Latitude(),
410 cur_light_params.sun_rotation,
411 FGTime::cur_time_params->getGst(),
412 ephem->getSunRightAscension(),
413 ephem->getSunDeclination(), 50000.0,
414 ephem->getMoonRightAscension(),
415 ephem->getMoonDeclination(), 50000.0 );
418 glEnable( GL_DEPTH_TEST );
419 if ( current_options.get_fog() > 0 ) {
421 glFogi( GL_FOG_MODE, GL_EXP2 );
422 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
425 // update fog params if visibility has changed
426 #ifndef FG_OLD_WEATHER
427 double cur_visibility = WeatherDatabase->getWeatherVisibility();
429 double cur_visibility = current_weather.get_visibility();
431 double actual_visibility = cur_visibility;
433 if ( current_options.get_clouds() ) {
434 double diff = fabs( cur_fdm_state->get_Altitude() * FEET_TO_METER -
435 current_options.get_clouds_asl() );
436 // cout << "altitude diff = " << diff << endl;
439 // calc chance of entering cloud puff
440 double rnd = fg_random();
441 double chance = rnd * rnd * rnd;
442 if ( chance > 0.95 /* * (diff - 25) / 50.0 */ ) {
445 puff_length = fg_random() * 2.0; // up to 2 seconds
446 } while ( puff_length <= 0.0 );
447 puff_progression = 0.0;
451 actual_visibility = cur_visibility * (diff - 25) / 50.0;
454 // modify actual_visibility based on puff envelope
456 if ( puff_progression <= ramp_up ) {
457 double x = FG_PI_2 * puff_progression / ramp_up;
458 double factor = 1.0 - sin( x );
459 actual_visibility = actual_visibility * factor;
460 } else if ( puff_progression >= ramp_up + puff_length ) {
462 (puff_progression - (ramp_up + puff_length)) /
464 double factor = sin( x );
465 actual_visibility = actual_visibility * factor;
467 actual_visibility = 0.0;
470 /* cout << "len = " << puff_length
472 << " factor = " << factor
473 << " actual_visibility = " << actual_visibility
476 puff_progression += ( global_multi_loop *
477 current_options.get_speed_up() ) /
478 (double)current_options.get_model_hz();
480 /* cout << "gml = " << global_multi_loop
481 << " speed up = " << current_options.get_speed_up()
482 << " hz = " << current_options.get_model_hz() << endl;
485 if ( puff_progression > puff_length + ramp_up + ramp_down) {
490 // never let visibility drop below zero
491 if ( actual_visibility < 0 ) {
492 actual_visibility = 0;
497 // cout << "actual visibility = " << actual_visibility << endl;
499 if ( actual_visibility != last_visibility ) {
500 last_visibility = actual_visibility;
502 // cout << "----> updating fog params" << endl;
504 GLfloat fog_exp_density;
505 GLfloat fog_exp2_density;
508 fog_exp_density = -log(0.01 / actual_visibility);
511 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
513 // Set correct opengl fog density
514 glFogf (GL_FOG_DENSITY, fog_exp2_density);
517 // set lighting parameters
518 glLightfv( GL_LIGHT0, GL_AMBIENT, l->scene_ambient );
519 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
520 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
522 // texture parameters
523 // glEnable( GL_TEXTURE_2D );
524 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
525 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
526 // set base color (I don't think this is doing anything here)
527 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
528 // (GL_FRONT, GL_DIFFUSE, white);
529 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
530 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
533 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
534 ssgGetLight( 0 ) -> setPosition( sunpos );
536 // glMatrixMode( GL_PROJECTION );
538 float fov = current_options.get_fov();
539 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
541 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
544 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
545 // << current_weather.get_visibility() );
548 ssgSetNearFar( 10.0f, 120000.0f );
550 ssgSetNearFar( 0.5f, 120000.0f );
553 if ( current_options.get_view_mode() ==
554 fgOPTIONS::FG_VIEW_PILOT )
557 penguin_sel->select(0);
558 } else if ( current_options.get_view_mode() ==
559 fgOPTIONS::FG_VIEW_FOLLOW )
561 // select view matrix from front of view matrix queue
562 // FGMat4Wrapper tmp = current_view.follow.front();
563 // sgCopyMat4( sgVIEW, tmp.m );
565 // enable TuX and set up his position and orientation
566 penguin_sel->select(1);
569 sgMakeTransMat4( sgTRANS,
570 pilot_view.view_pos.x(),
571 pilot_view.view_pos.y(),
572 pilot_view.view_pos.z() );
575 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
578 sgMakeRotMat4( sgROT, -90.0, ownship_up );
582 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
583 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
585 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
587 sgCopyMat4( sgTUX, sgROT );
588 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
589 sgPostMultMat4( sgTUX, sgTRANS );
592 sgSetCoord( &tuxpos, sgTUX );
593 penguin_pos->setTransform( &tuxpos );
596 # ifdef FG_NETWORK_OLK
597 if ( current_options.get_network_olk() ) {
599 other = head->next; /* put listpointer to start */
600 while ( other != tail) { /* display all except myself */
601 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
602 other->fgd_sel->select(1);
603 sgSetCoord( &fgdpos, other->sgFGD_COORD );
604 other->fgd_pos->setTransform( &fgdpos );
609 // fgd_sel->select(1);
610 // sgCopyMat4( sgTUX, current_view.sgVIEW);
612 // sgSetCoord( &fgdpos, sgFGD_VIEW );
613 // fgd_pos->setTransform( &fgdpos);
617 // ssgSetCamera( current_view.VIEW );
619 // position tile nodes and update range selectors
620 global_tile_mgr.prep_ssg_nodes();
622 // force the default state so ssg can get back on track if
623 // we've changed things elsewhere
624 FGMaterialSlot m_slot;
625 FGMaterialSlot *m_ptr = &m_slot;
626 if ( material_mgr.find( "Default", m_ptr ) ) {
627 m_ptr->get_state()->force();
630 // draw the ssg scene
631 ssgCullAndDraw( scene );
634 // display HUD && Panel
636 glDisable( GL_DEPTH_TEST );
637 // glDisable( GL_CULL_FACE );
638 // glDisable( GL_TEXTURE_2D );
639 hud_and_panel->apply();
642 // We can do translucent menus, so why not. :-)
643 // glEnable ( GL_BLEND ) ;
645 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
647 // glDisable ( GL_BLEND ) ;
649 // glEnable( GL_FOG );
656 // Update internal time dependent calculations (i.e. flight model)
657 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
658 static fdm_state_list fdm_list;
659 // FGInterface fdm_state;
660 fgLIGHT *l = &cur_light_params;
661 FGTime *t = FGTime::cur_time_params;
662 // FGView *v = ¤t_view;
665 // update the flight model
666 if ( multi_loop < 0 ) {
670 if ( !t->getPause() ) {
671 // run Autopilot system
672 current_autopilot->run();
674 // printf("updating flight model x %d\n", multi_loop);
675 /* fgFDMUpdate( current_options.get_flight_model(),
677 multi_loop * current_options.get_speed_up(),
679 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
680 FGSteam::update( multi_loop * current_options.get_speed_up() );
682 // fgFDMUpdate( current_options.get_flight_model(),
683 // fdm_state, 0, remainder );
684 cur_fdm_state->update( 0 );
685 FGSteam::update( 0 );
688 fdm_list.push_back( *cur_fdm_state );
689 while ( fdm_list.size() > 15 ) {
690 fdm_list.pop_front();
693 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
694 cur_view_fdm = *cur_fdm_state;
696 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
697 cur_view_fdm = fdm_list.front();
700 // update the view angle
701 for ( i = 0; i < multi_loop; i++ ) {
702 if ( fabs(current_view.get_goal_view_offset() -
703 current_view.get_view_offset()) < 0.05 )
705 current_view.set_view_offset( current_view.get_goal_view_offset() );
708 // move current_view.view_offset towards current_view.goal_view_offset
709 if ( current_view.get_goal_view_offset() >
710 current_view.get_view_offset() )
712 if ( current_view.get_goal_view_offset() -
713 current_view.get_view_offset() < FG_PI )
715 current_view.inc_view_offset( 0.01 );
717 current_view.inc_view_offset( -0.01 );
720 if ( current_view.get_view_offset() -
721 current_view.get_goal_view_offset() < FG_PI )
723 current_view.inc_view_offset( -0.01 );
725 current_view.inc_view_offset( 0.01 );
728 if ( current_view.get_view_offset() > FG_2PI ) {
729 current_view.inc_view_offset( -FG_2PI );
730 } else if ( current_view.get_view_offset() < 0 ) {
731 current_view.inc_view_offset( FG_2PI );
736 double tmp = -(l->sun_rotation + FG_PI)
737 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
738 while ( tmp < 0.0 ) {
741 while ( tmp > FG_2PI ) {
744 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
745 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
746 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
749 // Update solar system
750 ephem->update( t, cur_fdm_state->get_Latitude() );
752 // Update radio stack model
753 current_radiostack->update( cur_fdm_state->get_Longitude(),
754 cur_fdm_state->get_Latitude(),
755 cur_fdm_state->get_Altitude() * FEET_TO_METER );
759 void fgInitTimeDepCalcs( void ) {
762 // #ifdef HAVE_SETITIMER
763 // fgTimerInit( 1.0 / current_options.get_model_hz(),
764 // fgUpdateTimeDepCalcs );
765 // #endif HAVE_SETITIMER
769 static const double alt_adjust_ft = 3.758099;
770 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
773 // What should we do when we have nothing else to do? Let's get ready
774 // for the next move and update the display?
775 static void fgMainLoop( void ) {
777 static long remainder = 0;
779 #ifdef FANCY_FRAME_COUNTER
783 static time_t last_time = 0;
784 static int frames = 0;
785 #endif // FANCY_FRAME_COUNTER
787 t = FGTime::cur_time_params;
789 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
790 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
792 #ifdef FG_NETWORK_OLK
793 if ( current_options.get_network_olk() ) {
794 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
795 // printf("FGD: Netupdate\n");
796 fgd_send_com( "A", FGFS_host); // Send Mat4 data
797 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
802 #if defined( ENABLE_PLIB_JOYSTICK )
803 // Read joystick and update control settings
804 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
807 #elif defined( ENABLE_GLUT_JOYSTICK )
808 // Glut joystick support works by feeding a joystick handler
809 // function to glut. This is taken care of once in the joystick
810 // init routine and we don't have to worry about it again.
813 #ifdef FG_OLD_WEATHER
814 current_weather.Update();
817 // Fix elevation. I'm just sticking this here for now, it should
818 // probably move eventually
820 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
822 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
823 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
825 if ( scenery.cur_elev > -9990 ) {
826 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
827 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
828 // now set aircraft altitude above ground
829 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
830 cur_fdm_state->get_Altitude() * FEET_TO_METER,
831 scenery.cur_elev + alt_adjust_m - 3.0,
832 scenery.cur_elev + alt_adjust_m );
833 fgFDMForceAltitude( current_options.get_flight_model(),
834 scenery.cur_elev + alt_adjust_m );
836 FG_LOG( FG_ALL, FG_DEBUG,
837 "<*> resetting altitude to "
838 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
840 fgFDMSetGroundElevation( current_options.get_flight_model(),
841 scenery.cur_elev ); // meters
844 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
846 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
847 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
850 t->update( cur_fdm_state->get_Longitude(),
851 cur_fdm_state->get_Latitude(),
852 cur_fdm_state->get_Altitude()* FEET_TO_METER );
854 // Get elapsed time (in usec) for this past frame
855 elapsed = fgGetTimeInterval();
856 FG_LOG( FG_ALL, FG_DEBUG,
857 "Elapsed time interval is = " << elapsed
858 << ", previous remainder is = " << remainder );
860 // Calculate frame rate average
861 #ifdef FANCY_FRAME_COUNTER
862 /* old fps calculation */
866 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
867 tmp = general.get_frame(i);
869 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
870 general.set_frame(i+1,tmp);
872 tmp = 1000000.0 / (float)elapsed;
873 general.set_frame(0,tmp);
874 // printf("frame[0] = %.2f\n", general.frames[0]);
876 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
877 // printf("ave = %.2f\n", general.frame_rate);
880 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
881 general.set_frame_rate( frames );
882 FG_LOG( FG_ALL, FG_DEBUG,
883 "--> Frame rate is = " << general.get_frame_rate() );
886 last_time = t->get_cur_time();
891 if ( ! use_signals ) {
892 // Calculate model iterations needed for next frame
893 elapsed += remainder;
895 global_multi_loop = (int)(((double)elapsed * 0.000001) *
896 current_options.get_model_hz());
897 remainder = elapsed - ( (global_multi_loop*1000000) /
898 current_options.get_model_hz() );
899 FG_LOG( FG_ALL, FG_DEBUG,
900 "Model iterations needed = " << global_multi_loop
901 << ", new remainder = " << remainder );
904 if ( global_multi_loop > 0 ) {
905 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
907 FG_LOG( FG_ALL, FG_DEBUG,
908 "Elapsed time is zero ... we're zinging" );
912 #if ! defined( MACOS )
913 // Do any I/O channel work that might need to be done
917 // see if we need to load any new scenery tiles
918 global_tile_mgr.update();
920 // Process/manage pending events
921 global_events.Process();
923 // Run audio scheduler
924 #ifdef ENABLE_AUDIO_SUPPORT
925 if ( current_options.get_sound() && !audio_sched->not_working() ) {
927 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
929 // note: all these factors are relative to the sample. our
930 // sample format should really contain a conversion factor so
931 // that we can get prop speed right for arbitrary samples.
932 // Note that for normal-size props, there is a point at which
933 // the prop tips approach the speed of sound; that is a pretty
934 // strong limit to how fast the prop can go.
936 // multiplication factor is prime pitch control; add some log
937 // component for verisimilitude
939 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
940 //fprintf(stderr, "pitch1: %f ", pitch);
941 if (controls.get_throttle(0) > 0.0 || cur_fdm_state->v_rel_wind > 40.0) {
942 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
943 // only add relative wind and AoA if prop is moving
944 // or we're really flying at idle throttle
945 if (pitch < 5.4) { // this needs tuning
946 // prop tips not breaking sound barrier
947 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
949 // prop tips breaking sound barrier
950 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
952 //fprintf(stderr, "pitch2: %f ", pitch);
953 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
955 // Angle of Attack next... -x^3(e^x) is my best guess Just
956 // need to calculate some reasonable scaling factor and
957 // then clamp it on the positive aoa (neg adj) side
958 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
960 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
961 if (aoa_adj < -0.8) aoa_adj = -0.8;
963 //fprintf(stderr, "pitch3: %f ", pitch);
965 // don't run at absurdly slow rates -- not realistic
966 // and sounds bad to boot. :-)
967 if (pitch < 0.8) pitch = 0.8;
969 //fprintf(stderr, "pitch4: %f\n", pitch);
971 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
972 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
973 // fprintf(stderr, "volume: %f\n", volume);
975 pitch_envelope.setStep ( 0, 0.01, pitch );
976 volume_envelope.setStep ( 0, 0.01, volume );
980 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
981 pitch_envelope.setStep ( 0, 0.01, param );
982 volume_envelope.setStep ( 0, 0.01, param );
984 # endif // experimental throttle patch
986 audio_sched -> update();
993 FG_LOG( FG_ALL, FG_DEBUG, "" );
997 // This is the top level master main function that is registered as
1001 // The first few passes take care of initialization things (a couple
1002 // per pass) and once everything has been initialized fgMainLoop from
1005 static void fgIdleFunction ( void ) {
1006 // printf("idle state == %d\n", idle_state);
1008 if ( idle_state == 0 ) {
1009 // Initialize the splash screen right away
1010 if ( current_options.get_splash_screen() ) {
1015 } else if ( idle_state == 1 ) {
1016 // Start the intro music
1018 if ( current_options.get_intro_music() ) {
1019 string lockfile = "/tmp/mpg123.running";
1020 FGPath mp3file( current_options.get_fg_root() );
1021 mp3file.append( "Sounds/intro.mp3" );
1023 string command = "(touch " + lockfile + "; mpg123 "
1024 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1026 FG_LOG( FG_GENERAL, FG_INFO,
1027 "Starting intro music: " << mp3file.str() );
1028 system ( command.c_str() );
1033 } else if ( idle_state == 2 ) {
1034 // These are a few miscellaneous things that aren't really
1035 // "subsystems" but still need to be initialized.
1038 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1039 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1044 } else if ( idle_state == 3 ) {
1045 // This is the top level init routine which calls all the
1046 // other subsystem initialization routines. If you are adding
1047 // a subsystem to flight gear, its initialization call should
1048 // located in this routine.
1049 if( !fgInitSubsystems()) {
1050 FG_LOG( FG_GENERAL, FG_ALERT,
1051 "Subsystem initializations failed ..." );
1056 } else if ( idle_state == 4 ) {
1057 // setup OpenGL view parameters
1060 if ( use_signals ) {
1061 // init timer routines, signals, etc. Arrange for an alarm
1062 // signal to be generated, etc.
1063 fgInitTimeDepCalcs();
1067 } else if ( idle_state == 5 ) {
1070 } else if ( idle_state == 6 ) {
1071 // Initialize audio support
1072 #ifdef ENABLE_AUDIO_SUPPORT
1075 if ( current_options.get_intro_music() ) {
1076 // Let's wait for mpg123 to finish
1077 string lockfile = "/tmp/mpg123.running";
1078 struct stat stat_buf;
1080 FG_LOG( FG_GENERAL, FG_INFO,
1081 "Waiting for mpg123 player to finish ..." );
1082 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1083 // file exist, wait ...
1085 FG_LOG( FG_GENERAL, FG_INFO, ".");
1087 FG_LOG( FG_GENERAL, FG_INFO, "");
1091 if ( current_options.get_sound() ) {
1092 audio_sched = new slScheduler ( 8000 );
1093 audio_mixer = new smMixer;
1094 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1095 audio_sched -> setSafetyMargin ( 1.0 ) ;
1097 FGPath slfile( current_options.get_fg_root() );
1098 slfile.append( "Sounds/wasp.wav" );
1100 s1 = new slSample ( (char *)slfile.c_str() );
1101 FG_LOG( FG_GENERAL, FG_INFO,
1102 "Rate = " << s1 -> getRate()
1103 << " Bps = " << s1 -> getBps()
1104 << " Stereo = " << s1 -> getStereo() );
1105 audio_sched -> loopSample ( s1 );
1107 if ( audio_sched->not_working() ) {
1110 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1111 volume_envelope.setStep ( 0, 0.01, 0.6 );
1113 audio_sched -> addSampleEnvelope( s1, 0, 0,
1115 SL_PITCH_ENVELOPE );
1116 audio_sched -> addSampleEnvelope( s1, 0, 1,
1118 SL_VOLUME_ENVELOPE );
1121 // strcpy(slfile, path);
1122 // strcat(slfile, "thunder.wav");
1123 // s2 -> loadFile ( slfile );
1124 // s2 -> adjustVolume(0.5);
1125 // audio_sched -> playSample ( s2 );
1133 if ( idle_state == 1000 ) {
1134 // We've finished all our initialization steps, from now on we
1135 // run the main loop.
1139 if ( current_options.get_splash_screen() == 1 ) {
1140 fgSplashUpdate(0.0);
1145 // options.cxx needs to see this for toggle_panel()
1146 // Handle new window size or exposure
1147 void fgReshape( int width, int height ) {
1148 if ( ! current_options.get_panel_status() ) {
1149 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1150 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1152 current_view.set_win_ratio( (GLfloat) width /
1153 ((GLfloat) (height)*0.4232) );
1154 glViewport(0, (GLint)((height)*0.5768),
1155 (GLint)(width), (GLint)((height)*0.4232) );
1158 current_view.set_winWidth( width );
1159 current_view.set_winHeight( height );
1160 current_view.force_update_fov_math();
1162 // set these fov to be the same as in fgRenderFrame()
1163 // float x_fov = current_options.get_fov();
1164 // float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1165 // ssgSetFOV( x_fov, y_fov );
1167 // glViewport ( 0, 0, width, height );
1168 float fov = current_options.get_fov();
1169 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1173 if ( idle_state == 1000 ) {
1174 // yes we've finished all our initializations and are running
1175 // the main loop, so this will now work without seg faulting
1177 current_view.UpdateViewParams(cur_view_fdm);
1182 // Initialize GLUT and define a main window
1183 int fgGlutInit( int *argc, char **argv ) {
1185 #if !defined( MACOS )
1186 // GLUT will extract all glut specific options so later on we only
1187 // need wory about our own.
1188 glutInit(argc, argv);
1191 // Define Display Parameters
1192 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1194 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1195 current_options.get_xsize() << "x" << current_options.get_ysize() );
1197 // Define initial window size
1198 glutInitWindowSize( current_options.get_xsize(),
1199 current_options.get_ysize() );
1201 // Initialize windows
1202 if ( current_options.get_game_mode() == 0 ) {
1203 // Open the regular window
1204 glutCreateWindow("Flight Gear");
1205 #ifndef GLUT_WRONG_VERSION
1207 // Open the cool new 'game mode' window
1208 char game_mode_str[256];
1209 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1210 current_options.get_xsize(),
1211 current_options.get_ysize(),
1212 current_options.get_bpp());
1214 FG_LOG( FG_GENERAL, FG_INFO,
1215 "game mode params = " << game_mode_str );
1216 glutGameModeString( game_mode_str );
1217 glutEnterGameMode();
1221 // This seems to be the absolute earliest in the init sequence
1222 // that these calls will return valid info. Too bad it's after
1223 // we've already created and sized out window. :-(
1224 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1225 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1226 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1228 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1231 // try to determine if we should adjust the initial default
1232 // display resolution. The options class defaults (is
1233 // initialized) to 640x480.
1234 string renderer = general.glRenderer;
1236 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1237 if ( renderer.find( "Glide" ) != string::npos ) {
1238 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1239 if ( renderer.find( "FB/8" ) != string::npos ) {
1240 // probably a voodoo-2
1241 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1242 // probably two SLI'd Voodoo-2's
1243 current_options.set_xsize( 1024 );
1244 current_options.set_ysize( 768 );
1245 FG_LOG( FG_GENERAL, FG_INFO,
1246 "It looks like you have two sli'd voodoo-2's." << endl
1247 << "upgrading your win resolution to 1024 x 768" );
1248 glutReshapeWindow(1024, 768);
1250 // probably a single non-SLI'd Voodoo-2
1251 current_options.set_xsize( 800 );
1252 current_options.set_ysize( 600 );
1253 FG_LOG( FG_GENERAL, FG_INFO,
1254 "It looks like you have a voodoo-2." << endl
1255 << "upgrading your win resolution to 800 x 600" );
1256 glutReshapeWindow(800, 600);
1258 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1259 // probably a voodoo-1, stick with the default
1262 // we have no special knowledge of this card, stick with the default
1270 // Initialize GLUT event handlers
1271 int fgGlutInitEvents( void ) {
1272 // call fgReshape() on window resizes
1273 glutReshapeFunc( fgReshape );
1275 // call GLUTkey() on keyboard event
1276 glutKeyboardFunc( GLUTkey );
1277 glutSpecialFunc( GLUTspecialkey );
1279 // call guiMouseFunc() whenever our little rodent is used
1280 glutMouseFunc ( guiMouseFunc );
1281 glutMotionFunc (guiMotionFunc );
1282 glutPassiveMotionFunc (guiMotionFunc );
1284 // call fgMainLoop() whenever there is
1285 // nothing else to do
1286 glutIdleFunc( fgIdleFunction );
1289 glutDisplayFunc( fgRenderFrame );
1296 int main( int argc, char **argv ) {
1298 #if defined( MACOS )
1299 freopen ("stdout.txt", "w", stdout );
1300 freopen ("stderr.txt", "w", stderr );
1301 argc = ccommand( &argv );
1305 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1308 // set default log levels
1309 fglog().setLogLevels( FG_ALL, FG_INFO );
1311 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1313 // seed the random number generater
1316 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1318 // Load the configuration parameters
1319 if ( !fgInitConfig(argc, argv) ) {
1320 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1324 // Initialize the Window/Graphics environment.
1325 if( !fgGlutInit(&argc, argv) ) {
1326 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1330 // Initialize the various GLUT Event Handlers.
1331 if( !fgGlutInitEvents() ) {
1332 FG_LOG( FG_GENERAL, FG_ALERT,
1333 "GLUT event handler initialization failed ..." );
1337 // Initialize ssg (from plib). Needs to come before we do any
1338 // other ssg stuff, but after opengl/glut has been initialized.
1341 // Initialize the user interface (we need to do this before
1342 // passing off control to glut and before fgInitGeneral to get our
1347 FGTime::cur_time_params = new FGTime();
1348 // FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1349 // cur_fdm_state->get_Latitude() );
1350 // FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1351 FGTime::cur_time_params->init( 0.0, 0.0 );
1352 FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
1354 // Do some quick general initializations
1355 if( !fgInitGeneral()) {
1356 FG_LOG( FG_GENERAL, FG_ALERT,
1357 "General initializations failed ..." );
1362 // some ssg test stuff (requires data from the plib source
1363 // distribution) specifically from the ssg tux example
1366 FGPath modelpath( current_options.get_fg_root() );
1367 modelpath.append( "Models" );
1368 modelpath.append( "Geometry" );
1370 FGPath texturepath( current_options.get_fg_root() );
1371 texturepath.append( "Models" );
1372 texturepath.append( "Textures" );
1374 ssgModelPath( (char *)modelpath.c_str() );
1375 ssgTexturePath( (char *)texturepath.c_str() );
1378 scene = new ssgRoot;
1379 scene->setName( "Scene" );
1381 // Initialize the sky
1382 FGPath ephem_data_path( current_options.get_fg_root() );
1383 ephem_data_path.append( "Astro" );
1384 ephem = new FGEphemeris( ephem_data_path.c_str() );
1385 ephem->update( FGTime::cur_time_params, 0.0 );
1387 FGPath sky_tex_path( current_options.get_fg_root() );
1388 sky_tex_path.append( "Textures" );
1389 sky_tex_path.append( "Sky" );
1391 thesky->texture_path( sky_tex_path.str() );
1393 ssgBranch *sky = thesky->build( 550.0, 550.0,
1394 ephem->getNumPlanets(),
1395 ephem->getPlanets(), 60000.0,
1396 ephem->getNumStars(),
1397 ephem->getStars(), 60000.0 );
1398 scene->addKid( sky );
1401 terrain = new ssgBranch;
1402 terrain->setName( "Terrain" );
1403 scene->addKid( terrain );
1405 // temporary visible aircraft "own ship"
1406 penguin_sel = new ssgSelector;
1407 penguin_pos = new ssgTransform;
1408 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1409 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1410 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1412 penguin_pos->addKid( tux_obj );
1413 penguin_sel->addKid( penguin_pos );
1414 ssgFlatten( tux_obj );
1415 ssgStripify( penguin_sel );
1416 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1417 scene->addKid( penguin_sel );
1419 #ifdef FG_NETWORK_OLK
1420 // Do the network intialization
1421 if ( current_options.get_network_olk() ) {
1422 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1426 // build our custom render states
1427 fgBuildRenderStates();
1429 // pass control off to the master GLUT event handler
1432 // we never actually get here ... but to avoid compiler warnings,