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->enable( GL_COLOR_MATERIAL );
204 default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
205 default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
206 default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
207 default_state->disable( GL_BLEND );
208 default_state->disable( GL_ALPHA_TEST );
209 default_state->disable( GL_LIGHTING );
211 hud_and_panel = new ssgSimpleState;
212 hud_and_panel->disable( GL_CULL_FACE );
213 hud_and_panel->disable( GL_TEXTURE_2D );
214 hud_and_panel->disable( GL_LIGHTING );
215 hud_and_panel->enable( GL_BLEND );
217 menus = new ssgSimpleState;
218 menus->disable( GL_CULL_FACE );
219 menus->disable( GL_TEXTURE_2D );
220 menus->enable( GL_BLEND );
224 // fgInitVisuals() -- Initialize various GL/view parameters
225 void fgInitVisuals( void ) {
228 l = &cur_light_params;
230 #ifndef GLUT_WRONG_VERSION
231 // Go full screen if requested ...
232 if ( current_options.get_fullscreen() ) {
237 // If enabled, normal vectors specified with glNormal are scaled
238 // to unit length after transformation. See glNormal.
239 // glEnable( GL_NORMALIZE );
241 glEnable( GL_LIGHTING );
242 glEnable( GL_LIGHT0 );
243 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
246 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
247 ssgGetLight( 0 ) -> setPosition( sunpos );
249 // glFogi (GL_FOG_MODE, GL_LINEAR);
250 glFogi (GL_FOG_MODE, GL_EXP2);
251 if ( (current_options.get_fog() == 1) ||
252 (current_options.get_shading() == 0) ) {
253 // if fastest fog requested, or if flat shading force fastest
254 glHint ( GL_FOG_HINT, GL_FASTEST );
255 } else if ( current_options.get_fog() == 2 ) {
256 glHint ( GL_FOG_HINT, GL_NICEST );
258 if ( current_options.get_wireframe() ) {
260 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
263 // This is the default anyways, but it can't hurt
264 glFrontFace ( GL_CCW );
267 // glEnable(GL_POINT_SMOOTH);
268 // glEnable(GL_LINE_SMOOTH);
269 // glEnable(GL_POLYGON_SMOOTH);
273 // Update all Visuals (redraws anything graphics related)
274 void fgRenderFrame( void ) {
278 fgLIGHT *l = &cur_light_params;
279 FGTime *t = FGTime::cur_time_params;
280 // FGView *v = ¤t_view;
281 static double last_visibility = -9999;
282 static bool in_puff = false;
283 static double puff_length = 0;
284 static double puff_progression = 0;
285 const double ramp_up = 0.15;
286 const double ramp_down = 0.15;
289 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
290 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
291 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
292 // GLfloat mat_shininess[] = { 10.0 };
293 GLbitfield clear_mask;
295 if ( idle_state != 1000 ) {
296 // still initializing, draw the splash screen
297 if ( current_options.get_splash_screen() == 1 ) {
301 // idle_state is now 1000 meaning we've finished all our
302 // initializations and are running the main loop, so this will
303 // now work without seg faulting the system.
305 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
306 // FG_Altitude * FEET_TO_METER);
308 // this is just a temporary hack, to make me understand Pui
309 // timerText -> setLabel (ctime (&t->cur_time));
312 // update view volume parameters
313 // cout << "before pilot_view update" << endl;
314 pilot_view.UpdateViewParams(*cur_fdm_state);
315 // cout << "after pilot_view update" << endl;
316 current_view.UpdateViewParams(cur_view_fdm);
318 // set the sun position
319 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
321 clear_mask = GL_DEPTH_BUFFER_BIT;
322 if ( current_options.get_wireframe() ) {
323 clear_mask |= GL_COLOR_BUFFER_BIT;
325 if ( current_options.get_panel_status() ) {
326 // we can't clear the screen when the panel is active
327 } else if ( current_options.get_skyblend() ) {
328 if ( current_options.get_textures() ) {
329 // glClearColor(black[0], black[1], black[2], black[3]);
330 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
331 l->adj_fog_color[2], l->adj_fog_color[3]);
332 clear_mask |= GL_COLOR_BUFFER_BIT;
335 glClearColor(l->sky_color[0], l->sky_color[1],
336 l->sky_color[2], l->sky_color[3]);
337 clear_mask |= GL_COLOR_BUFFER_BIT;
339 glClear( clear_mask );
341 // Tell GL we are switching to model view parameters
343 // I really should create a derived ssg node or use a call
344 // back or something so that I can draw the sky within the
345 // ssgCullandDraw() function, but for now I just mimic what
346 // ssg does to set up the model view matrix
347 glMatrixMode(GL_MODELVIEW);
349 ssgSetCamera( current_view.VIEW );
352 sgMat4 vm_tmp, view_mat;
353 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
354 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
355 sgPreMultMat4( view_mat, vm_tmp ) ;
356 glLoadMatrixf( (float *)view_mat );
359 // set the opengl state to known default values
360 default_state->force();
363 if ( current_options.get_skyblend() ) {
366 current_view.get_view_pos().x(),
367 current_view.get_view_pos().y(),
368 current_view.get_view_pos().z() );
371 sgSetVec3( zero_elev,
372 current_view.get_cur_zero_elev().x(),
373 current_view.get_cur_zero_elev().y(),
374 current_view.get_cur_zero_elev().z() );
376 /* cout << "thesky->repaint() sky_color = "
377 << cur_light_params.sky_color[0] << " "
378 << cur_light_params.sky_color[1] << " "
379 << cur_light_params.sky_color[2] << " "
380 << cur_light_params.sky_color[3] << endl;
382 << cur_light_params.fog_color[0] << " "
383 << cur_light_params.fog_color[1] << " "
384 << cur_light_params.fog_color[2] << " "
385 << cur_light_params.fog_color[3] << endl;
386 cout << " sun_angle = " << cur_light_params.sun_angle
387 << " moon_angle = " << cur_light_params.moon_angle
389 thesky->repaint( cur_light_params.sky_color,
390 cur_light_params.adj_fog_color,
391 cur_light_params.sun_angle,
392 cur_light_params.moon_angle,
393 ephem->getNumPlanets(), ephem->getPlanets(),
394 ephem->getNumStars(), ephem->getStars() );
396 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
397 << view_pos[1] << " " << view_pos[2] << endl;
398 cout << " zero_elev = " << zero_elev[0] << " "
399 << zero_elev[1] << " " << zero_elev[2]
400 << " lon = " << cur_fdm_state->get_Longitude()
401 << " lat = " << cur_fdm_state->get_Latitude() << endl;
402 cout << " sun_rot = " << cur_light_params.sun_rotation
403 << " gst = " << FGTime::cur_time_params->getGst() << endl;
404 cout << " sun ra = " << ephem->getSunRightAscension()
405 << " sun dec = " << ephem->getSunDeclination()
406 << " moon ra = " << ephem->getMoonRightAscension()
407 << " moon dec = " << ephem->getMoonDeclination() << endl; */
409 thesky->reposition( view_pos, zero_elev,
410 cur_fdm_state->get_Longitude(),
411 cur_fdm_state->get_Latitude(),
412 cur_light_params.sun_rotation,
413 FGTime::cur_time_params->getGst(),
414 ephem->getSunRightAscension(),
415 ephem->getSunDeclination(), 50000.0,
416 ephem->getMoonRightAscension(),
417 ephem->getMoonDeclination(), 50000.0 );
420 glEnable( GL_DEPTH_TEST );
421 if ( current_options.get_fog() > 0 ) {
423 glFogi( GL_FOG_MODE, GL_EXP2 );
424 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
427 // update fog params if visibility has changed
428 #ifndef FG_OLD_WEATHER
429 double cur_visibility = WeatherDatabase->getWeatherVisibility();
431 double cur_visibility = current_weather.get_visibility();
433 double actual_visibility = cur_visibility;
435 if ( current_options.get_clouds() ) {
436 double diff = fabs( cur_fdm_state->get_Altitude() * FEET_TO_METER -
437 current_options.get_clouds_asl() );
438 // cout << "altitude diff = " << diff << endl;
441 // calc chance of entering cloud puff
442 double rnd = fg_random();
443 double chance = rnd * rnd * rnd;
444 if ( chance > 0.95 /* * (diff - 25) / 50.0 */ ) {
447 puff_length = fg_random() * 2.0; // up to 2 seconds
448 } while ( puff_length <= 0.0 );
449 puff_progression = 0.0;
453 actual_visibility = cur_visibility * (diff - 25) / 50.0;
456 // modify actual_visibility based on puff envelope
458 if ( puff_progression <= ramp_up ) {
459 double x = FG_PI_2 * puff_progression / ramp_up;
460 double factor = 1.0 - sin( x );
461 actual_visibility = actual_visibility * factor;
462 } else if ( puff_progression >= ramp_up + puff_length ) {
464 (puff_progression - (ramp_up + puff_length)) /
466 double factor = sin( x );
467 actual_visibility = actual_visibility * factor;
469 actual_visibility = 0.0;
472 /* cout << "len = " << puff_length
474 << " factor = " << factor
475 << " actual_visibility = " << actual_visibility
478 puff_progression += ( global_multi_loop *
479 current_options.get_speed_up() ) /
480 (double)current_options.get_model_hz();
482 /* cout << "gml = " << global_multi_loop
483 << " speed up = " << current_options.get_speed_up()
484 << " hz = " << current_options.get_model_hz() << endl;
487 if ( puff_progression > puff_length + ramp_up + ramp_down) {
492 // never let visibility drop below zero
493 if ( actual_visibility < 0 ) {
494 actual_visibility = 0;
499 // cout << "actual visibility = " << actual_visibility << endl;
501 if ( actual_visibility != last_visibility ) {
502 last_visibility = actual_visibility;
504 // cout << "----> updating fog params" << endl;
506 GLfloat fog_exp_density;
507 GLfloat fog_exp2_density;
510 fog_exp_density = -log(0.01 / actual_visibility);
513 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
515 // Set correct opengl fog density
516 glFogf (GL_FOG_DENSITY, fog_exp2_density);
519 // set lighting parameters
520 glLightfv( GL_LIGHT0, GL_AMBIENT, l->scene_ambient );
521 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
522 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
524 // texture parameters
525 // glEnable( GL_TEXTURE_2D );
526 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
527 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
528 // set base color (I don't think this is doing anything here)
529 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
530 // (GL_FRONT, GL_DIFFUSE, white);
531 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
532 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
535 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
536 ssgGetLight( 0 ) -> setPosition( sunpos );
538 // glMatrixMode( GL_PROJECTION );
540 float fov = current_options.get_fov();
541 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
543 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
546 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
547 // << current_weather.get_visibility() );
550 ssgSetNearFar( 10.0f, 120000.0f );
552 ssgSetNearFar( 0.5f, 120000.0f );
555 if ( current_options.get_view_mode() ==
556 fgOPTIONS::FG_VIEW_PILOT )
559 penguin_sel->select(0);
560 } else if ( current_options.get_view_mode() ==
561 fgOPTIONS::FG_VIEW_FOLLOW )
563 // select view matrix from front of view matrix queue
564 // FGMat4Wrapper tmp = current_view.follow.front();
565 // sgCopyMat4( sgVIEW, tmp.m );
567 // enable TuX and set up his position and orientation
568 penguin_sel->select(1);
571 sgMakeTransMat4( sgTRANS,
572 pilot_view.view_pos.x(),
573 pilot_view.view_pos.y(),
574 pilot_view.view_pos.z() );
577 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
580 sgMakeRotMat4( sgROT, -90.0, ownship_up );
584 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
585 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
587 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
589 sgCopyMat4( sgTUX, sgROT );
590 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
591 sgPostMultMat4( sgTUX, sgTRANS );
594 sgSetCoord( &tuxpos, sgTUX );
595 penguin_pos->setTransform( &tuxpos );
598 # ifdef FG_NETWORK_OLK
599 if ( current_options.get_network_olk() ) {
601 other = head->next; /* put listpointer to start */
602 while ( other != tail) { /* display all except myself */
603 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
604 other->fgd_sel->select(1);
605 sgSetCoord( &fgdpos, other->sgFGD_COORD );
606 other->fgd_pos->setTransform( &fgdpos );
611 // fgd_sel->select(1);
612 // sgCopyMat4( sgTUX, current_view.sgVIEW);
614 // sgSetCoord( &fgdpos, sgFGD_VIEW );
615 // fgd_pos->setTransform( &fgdpos);
619 // ssgSetCamera( current_view.VIEW );
621 // position tile nodes and update range selectors
622 global_tile_mgr.prep_ssg_nodes();
624 // force the default state so ssg can get back on track if
625 // we've changed things elsewhere (this is now handled
628 // FGMaterialSlot m_slot;
629 // FGMaterialSlot *m_ptr = &m_slot;
630 // if ( material_mgr.find( "Default", m_ptr ) ) {
631 // m_ptr->get_state()->force();
634 // draw the ssg scene
635 ssgCullAndDraw( scene );
638 // display HUD && Panel
640 glDisable( GL_DEPTH_TEST );
641 // glDisable( GL_CULL_FACE );
642 // glDisable( GL_TEXTURE_2D );
643 hud_and_panel->apply();
646 // We can do translucent menus, so why not. :-)
647 // glEnable ( GL_BLEND ) ;
649 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
651 // glDisable ( GL_BLEND ) ;
653 // glEnable( GL_FOG );
660 // Update internal time dependent calculations (i.e. flight model)
661 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
662 static fdm_state_list fdm_list;
663 // FGInterface fdm_state;
664 fgLIGHT *l = &cur_light_params;
665 FGTime *t = FGTime::cur_time_params;
666 // FGView *v = ¤t_view;
669 // update the flight model
670 if ( multi_loop < 0 ) {
674 if ( !t->getPause() ) {
675 // run Autopilot system
676 current_autopilot->run();
678 // printf("updating flight model x %d\n", multi_loop);
679 /* fgFDMUpdate( current_options.get_flight_model(),
681 multi_loop * current_options.get_speed_up(),
683 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
684 FGSteam::update( multi_loop * current_options.get_speed_up() );
686 // fgFDMUpdate( current_options.get_flight_model(),
687 // fdm_state, 0, remainder );
688 cur_fdm_state->update( 0 );
689 FGSteam::update( 0 );
692 fdm_list.push_back( *cur_fdm_state );
693 while ( fdm_list.size() > 15 ) {
694 fdm_list.pop_front();
697 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
698 cur_view_fdm = *cur_fdm_state;
700 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
701 cur_view_fdm = fdm_list.front();
704 // update the view angle
705 for ( i = 0; i < multi_loop; i++ ) {
706 if ( fabs(current_view.get_goal_view_offset() -
707 current_view.get_view_offset()) < 0.05 )
709 current_view.set_view_offset( current_view.get_goal_view_offset() );
712 // move current_view.view_offset towards current_view.goal_view_offset
713 if ( current_view.get_goal_view_offset() >
714 current_view.get_view_offset() )
716 if ( current_view.get_goal_view_offset() -
717 current_view.get_view_offset() < FG_PI )
719 current_view.inc_view_offset( 0.01 );
721 current_view.inc_view_offset( -0.01 );
724 if ( current_view.get_view_offset() -
725 current_view.get_goal_view_offset() < FG_PI )
727 current_view.inc_view_offset( -0.01 );
729 current_view.inc_view_offset( 0.01 );
732 if ( current_view.get_view_offset() > FG_2PI ) {
733 current_view.inc_view_offset( -FG_2PI );
734 } else if ( current_view.get_view_offset() < 0 ) {
735 current_view.inc_view_offset( FG_2PI );
740 double tmp = -(l->sun_rotation + FG_PI)
741 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
742 while ( tmp < 0.0 ) {
745 while ( tmp > FG_2PI ) {
748 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
749 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
750 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
753 // Update solar system
754 ephem->update( t, cur_fdm_state->get_Latitude() );
756 // Update radio stack model
757 current_radiostack->update( cur_fdm_state->get_Longitude(),
758 cur_fdm_state->get_Latitude(),
759 cur_fdm_state->get_Altitude() * FEET_TO_METER );
763 void fgInitTimeDepCalcs( void ) {
766 // #ifdef HAVE_SETITIMER
767 // fgTimerInit( 1.0 / current_options.get_model_hz(),
768 // fgUpdateTimeDepCalcs );
769 // #endif HAVE_SETITIMER
773 static const double alt_adjust_ft = 3.758099;
774 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
777 // What should we do when we have nothing else to do? Let's get ready
778 // for the next move and update the display?
779 static void fgMainLoop( void ) {
781 static long remainder = 0;
783 #ifdef FANCY_FRAME_COUNTER
787 static time_t last_time = 0;
788 static int frames = 0;
789 #endif // FANCY_FRAME_COUNTER
791 t = FGTime::cur_time_params;
793 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
794 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
796 #ifdef FG_NETWORK_OLK
797 if ( current_options.get_network_olk() ) {
798 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
799 // printf("FGD: Netupdate\n");
800 fgd_send_com( "A", FGFS_host); // Send Mat4 data
801 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
806 #if defined( ENABLE_PLIB_JOYSTICK )
807 // Read joystick and update control settings
808 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
811 #elif defined( ENABLE_GLUT_JOYSTICK )
812 // Glut joystick support works by feeding a joystick handler
813 // function to glut. This is taken care of once in the joystick
814 // init routine and we don't have to worry about it again.
817 #ifdef FG_OLD_WEATHER
818 current_weather.Update();
821 // Fix elevation. I'm just sticking this here for now, it should
822 // probably move eventually
824 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
826 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
827 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
829 if ( scenery.cur_elev > -9990 ) {
830 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
831 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
832 // now set aircraft altitude above ground
833 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
834 cur_fdm_state->get_Altitude() * FEET_TO_METER,
835 scenery.cur_elev + alt_adjust_m - 3.0,
836 scenery.cur_elev + alt_adjust_m );
837 fgFDMForceAltitude( current_options.get_flight_model(),
838 scenery.cur_elev + alt_adjust_m );
840 FG_LOG( FG_ALL, FG_DEBUG,
841 "<*> resetting altitude to "
842 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
844 fgFDMSetGroundElevation( current_options.get_flight_model(),
845 scenery.cur_elev ); // meters
848 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
850 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
851 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
854 t->update( cur_fdm_state->get_Longitude(),
855 cur_fdm_state->get_Latitude(),
856 cur_fdm_state->get_Altitude()* FEET_TO_METER );
858 // Get elapsed time (in usec) for this past frame
859 elapsed = fgGetTimeInterval();
860 FG_LOG( FG_ALL, FG_DEBUG,
861 "Elapsed time interval is = " << elapsed
862 << ", previous remainder is = " << remainder );
864 // Calculate frame rate average
865 #ifdef FANCY_FRAME_COUNTER
866 /* old fps calculation */
870 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
871 tmp = general.get_frame(i);
873 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
874 general.set_frame(i+1,tmp);
876 tmp = 1000000.0 / (float)elapsed;
877 general.set_frame(0,tmp);
878 // printf("frame[0] = %.2f\n", general.frames[0]);
880 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
881 // printf("ave = %.2f\n", general.frame_rate);
884 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
885 general.set_frame_rate( frames );
886 FG_LOG( FG_ALL, FG_DEBUG,
887 "--> Frame rate is = " << general.get_frame_rate() );
890 last_time = t->get_cur_time();
895 if ( ! use_signals ) {
896 // Calculate model iterations needed for next frame
897 elapsed += remainder;
899 global_multi_loop = (int)(((double)elapsed * 0.000001) *
900 current_options.get_model_hz());
901 remainder = elapsed - ( (global_multi_loop*1000000) /
902 current_options.get_model_hz() );
903 FG_LOG( FG_ALL, FG_DEBUG,
904 "Model iterations needed = " << global_multi_loop
905 << ", new remainder = " << remainder );
908 if ( global_multi_loop > 0 ) {
909 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
911 FG_LOG( FG_ALL, FG_DEBUG,
912 "Elapsed time is zero ... we're zinging" );
916 #if ! defined( MACOS )
917 // Do any I/O channel work that might need to be done
921 // see if we need to load any new scenery tiles
922 global_tile_mgr.update();
924 // Process/manage pending events
925 global_events.Process();
927 // Run audio scheduler
928 #ifdef ENABLE_AUDIO_SUPPORT
929 if ( current_options.get_sound() && !audio_sched->not_working() ) {
931 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
933 // note: all these factors are relative to the sample. our
934 // sample format should really contain a conversion factor so
935 // that we can get prop speed right for arbitrary samples.
936 // Note that for normal-size props, there is a point at which
937 // the prop tips approach the speed of sound; that is a pretty
938 // strong limit to how fast the prop can go.
940 // multiplication factor is prime pitch control; add some log
941 // component for verisimilitude
943 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
944 //fprintf(stderr, "pitch1: %f ", pitch);
945 // if (controls.get_throttle(0) > 0.0 ||
946 // cur_fdm_state->v_rel_wind > 40.0) {
948 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
949 // only add relative wind and AoA if prop is moving
950 // or we're really flying at idle throttle
951 if (pitch < 5.4) { // this needs tuning
952 // prop tips not breaking sound barrier
953 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
955 // prop tips breaking sound barrier
956 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
958 //fprintf(stderr, "pitch2: %f ", pitch);
959 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
961 // Angle of Attack next... -x^3(e^x) is my best guess Just
962 // need to calculate some reasonable scaling factor and
963 // then clamp it on the positive aoa (neg adj) side
964 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
966 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
967 if (aoa_adj < -0.8) aoa_adj = -0.8;
969 //fprintf(stderr, "pitch3: %f ", pitch);
971 // don't run at absurdly slow rates -- not realistic
972 // and sounds bad to boot. :-)
973 if (pitch < 0.8) pitch = 0.8;
975 // fprintf(stderr, "pitch4: %f\n", pitch);
977 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
978 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
979 // fprintf(stderr, "volume: %f\n", volume);
981 pitch_envelope.setStep ( 0, 0.01, pitch );
982 volume_envelope.setStep ( 0, 0.01, volume );
986 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
987 pitch_envelope.setStep ( 0, 0.01, param );
988 volume_envelope.setStep ( 0, 0.01, param );
990 # endif // experimental throttle patch
992 audio_sched -> update();
999 FG_LOG( FG_ALL, FG_DEBUG, "" );
1003 // This is the top level master main function that is registered as
1004 // our idle funciton
1007 // The first few passes take care of initialization things (a couple
1008 // per pass) and once everything has been initialized fgMainLoop from
1011 static void fgIdleFunction ( void ) {
1012 // printf("idle state == %d\n", idle_state);
1014 if ( idle_state == 0 ) {
1015 // Initialize the splash screen right away
1016 if ( current_options.get_splash_screen() ) {
1021 } else if ( idle_state == 1 ) {
1022 // Start the intro music
1024 if ( current_options.get_intro_music() ) {
1025 string lockfile = "/tmp/mpg123.running";
1026 FGPath mp3file( current_options.get_fg_root() );
1027 mp3file.append( "Sounds/intro.mp3" );
1029 string command = "(touch " + lockfile + "; mpg123 "
1030 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1032 FG_LOG( FG_GENERAL, FG_INFO,
1033 "Starting intro music: " << mp3file.str() );
1034 system ( command.c_str() );
1039 } else if ( idle_state == 2 ) {
1040 // These are a few miscellaneous things that aren't really
1041 // "subsystems" but still need to be initialized.
1044 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1045 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1050 } else if ( idle_state == 3 ) {
1051 // This is the top level init routine which calls all the
1052 // other subsystem initialization routines. If you are adding
1053 // a subsystem to flight gear, its initialization call should
1054 // located in this routine.
1055 if( !fgInitSubsystems()) {
1056 FG_LOG( FG_GENERAL, FG_ALERT,
1057 "Subsystem initializations failed ..." );
1062 } else if ( idle_state == 4 ) {
1063 // setup OpenGL view parameters
1066 if ( use_signals ) {
1067 // init timer routines, signals, etc. Arrange for an alarm
1068 // signal to be generated, etc.
1069 fgInitTimeDepCalcs();
1073 } else if ( idle_state == 5 ) {
1076 } else if ( idle_state == 6 ) {
1077 // Initialize audio support
1078 #ifdef ENABLE_AUDIO_SUPPORT
1081 if ( current_options.get_intro_music() ) {
1082 // Let's wait for mpg123 to finish
1083 string lockfile = "/tmp/mpg123.running";
1084 struct stat stat_buf;
1086 FG_LOG( FG_GENERAL, FG_INFO,
1087 "Waiting for mpg123 player to finish ..." );
1088 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1089 // file exist, wait ...
1091 FG_LOG( FG_GENERAL, FG_INFO, ".");
1093 FG_LOG( FG_GENERAL, FG_INFO, "");
1097 if ( current_options.get_sound() ) {
1098 audio_sched = new slScheduler ( 8000 );
1099 audio_mixer = new smMixer;
1100 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1101 audio_sched -> setSafetyMargin ( 1.0 ) ;
1103 FGPath slfile( current_options.get_fg_root() );
1104 slfile.append( "Sounds/wasp.wav" );
1106 s1 = new slSample ( (char *)slfile.c_str() );
1107 FG_LOG( FG_GENERAL, FG_INFO,
1108 "Rate = " << s1 -> getRate()
1109 << " Bps = " << s1 -> getBps()
1110 << " Stereo = " << s1 -> getStereo() );
1111 audio_sched -> loopSample ( s1 );
1113 if ( audio_sched->not_working() ) {
1116 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1117 volume_envelope.setStep ( 0, 0.01, 0.6 );
1119 audio_sched -> addSampleEnvelope( s1, 0, 0,
1121 SL_PITCH_ENVELOPE );
1122 audio_sched -> addSampleEnvelope( s1, 0, 1,
1124 SL_VOLUME_ENVELOPE );
1127 // strcpy(slfile, path);
1128 // strcat(slfile, "thunder.wav");
1129 // s2 -> loadFile ( slfile );
1130 // s2 -> adjustVolume(0.5);
1131 // audio_sched -> playSample ( s2 );
1139 if ( idle_state == 1000 ) {
1140 // We've finished all our initialization steps, from now on we
1141 // run the main loop.
1145 if ( current_options.get_splash_screen() == 1 ) {
1146 fgSplashUpdate(0.0);
1151 // options.cxx needs to see this for toggle_panel()
1152 // Handle new window size or exposure
1153 void fgReshape( int width, int height ) {
1154 if ( ! current_options.get_panel_status() ) {
1155 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1156 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1158 current_view.set_win_ratio( (GLfloat) width /
1159 ((GLfloat) (height)*0.4232) );
1160 glViewport(0, (GLint)((height)*0.5768),
1161 (GLint)(width), (GLint)((height)*0.4232) );
1164 current_view.set_winWidth( width );
1165 current_view.set_winHeight( height );
1166 current_view.force_update_fov_math();
1168 // set these fov to be the same as in fgRenderFrame()
1169 // float x_fov = current_options.get_fov();
1170 // float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1171 // ssgSetFOV( x_fov, y_fov );
1173 // glViewport ( 0, 0, width, height );
1174 float fov = current_options.get_fov();
1175 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1179 if ( idle_state == 1000 ) {
1180 // yes we've finished all our initializations and are running
1181 // the main loop, so this will now work without seg faulting
1183 current_view.UpdateViewParams(cur_view_fdm);
1188 // Initialize GLUT and define a main window
1189 int fgGlutInit( int *argc, char **argv ) {
1191 #if !defined( MACOS )
1192 // GLUT will extract all glut specific options so later on we only
1193 // need wory about our own.
1194 glutInit(argc, argv);
1197 // Define Display Parameters
1198 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1200 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1201 current_options.get_xsize() << "x" << current_options.get_ysize() );
1203 // Define initial window size
1204 glutInitWindowSize( current_options.get_xsize(),
1205 current_options.get_ysize() );
1207 // Initialize windows
1208 if ( current_options.get_game_mode() == 0 ) {
1209 // Open the regular window
1210 glutCreateWindow("Flight Gear");
1211 #ifndef GLUT_WRONG_VERSION
1213 // Open the cool new 'game mode' window
1214 char game_mode_str[256];
1215 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1216 current_options.get_xsize(),
1217 current_options.get_ysize(),
1218 current_options.get_bpp());
1220 FG_LOG( FG_GENERAL, FG_INFO,
1221 "game mode params = " << game_mode_str );
1222 glutGameModeString( game_mode_str );
1223 glutEnterGameMode();
1227 // This seems to be the absolute earliest in the init sequence
1228 // that these calls will return valid info. Too bad it's after
1229 // we've already created and sized out window. :-(
1230 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1231 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1232 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1234 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1237 // try to determine if we should adjust the initial default
1238 // display resolution. The options class defaults (is
1239 // initialized) to 640x480.
1240 string renderer = general.glRenderer;
1242 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1243 if ( renderer.find( "Glide" ) != string::npos ) {
1244 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1245 if ( renderer.find( "FB/8" ) != string::npos ) {
1246 // probably a voodoo-2
1247 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1248 // probably two SLI'd Voodoo-2's
1249 current_options.set_xsize( 1024 );
1250 current_options.set_ysize( 768 );
1251 FG_LOG( FG_GENERAL, FG_INFO,
1252 "It looks like you have two sli'd voodoo-2's." << endl
1253 << "upgrading your win resolution to 1024 x 768" );
1254 glutReshapeWindow(1024, 768);
1256 // probably a single non-SLI'd Voodoo-2
1257 current_options.set_xsize( 800 );
1258 current_options.set_ysize( 600 );
1259 FG_LOG( FG_GENERAL, FG_INFO,
1260 "It looks like you have a voodoo-2." << endl
1261 << "upgrading your win resolution to 800 x 600" );
1262 glutReshapeWindow(800, 600);
1264 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1265 // probably a voodoo-1, stick with the default
1268 // we have no special knowledge of this card, stick with the default
1276 // Initialize GLUT event handlers
1277 int fgGlutInitEvents( void ) {
1278 // call fgReshape() on window resizes
1279 glutReshapeFunc( fgReshape );
1281 // call GLUTkey() on keyboard event
1282 glutKeyboardFunc( GLUTkey );
1283 glutSpecialFunc( GLUTspecialkey );
1285 // call guiMouseFunc() whenever our little rodent is used
1286 glutMouseFunc ( guiMouseFunc );
1287 glutMotionFunc (guiMotionFunc );
1288 glutPassiveMotionFunc (guiMotionFunc );
1290 // call fgMainLoop() whenever there is
1291 // nothing else to do
1292 glutIdleFunc( fgIdleFunction );
1295 glutDisplayFunc( fgRenderFrame );
1302 int main( int argc, char **argv ) {
1304 #if defined( MACOS )
1305 freopen ("stdout.txt", "w", stdout );
1306 freopen ("stderr.txt", "w", stderr );
1307 argc = ccommand( &argv );
1311 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1314 // set default log levels
1315 fglog().setLogLevels( FG_ALL, FG_INFO );
1317 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1319 // seed the random number generater
1322 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1324 // Load the configuration parameters
1325 if ( !fgInitConfig(argc, argv) ) {
1326 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1330 // Initialize the Window/Graphics environment.
1331 if( !fgGlutInit(&argc, argv) ) {
1332 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1336 // Initialize the various GLUT Event Handlers.
1337 if( !fgGlutInitEvents() ) {
1338 FG_LOG( FG_GENERAL, FG_ALERT,
1339 "GLUT event handler initialization failed ..." );
1343 // Initialize ssg (from plib). Needs to come before we do any
1344 // other ssg stuff, but after opengl/glut has been initialized.
1347 // Initialize the user interface (we need to do this before
1348 // passing off control to glut and before fgInitGeneral to get our
1353 FGTime::cur_time_params = new FGTime();
1354 // FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1355 // cur_fdm_state->get_Latitude() );
1356 // FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1357 FGTime::cur_time_params->init( 0.0, 0.0 );
1358 FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
1360 // Do some quick general initializations
1361 if( !fgInitGeneral()) {
1362 FG_LOG( FG_GENERAL, FG_ALERT,
1363 "General initializations failed ..." );
1368 // some ssg test stuff (requires data from the plib source
1369 // distribution) specifically from the ssg tux example
1372 FGPath modelpath( current_options.get_fg_root() );
1373 modelpath.append( "Models" );
1374 modelpath.append( "Geometry" );
1376 FGPath texturepath( current_options.get_fg_root() );
1377 texturepath.append( "Models" );
1378 texturepath.append( "Textures" );
1380 ssgModelPath( (char *)modelpath.c_str() );
1381 ssgTexturePath( (char *)texturepath.c_str() );
1384 scene = new ssgRoot;
1385 scene->setName( "Scene" );
1387 // Initialize the sky
1388 FGPath ephem_data_path( current_options.get_fg_root() );
1389 ephem_data_path.append( "Astro" );
1390 ephem = new FGEphemeris( ephem_data_path.c_str() );
1391 ephem->update( FGTime::cur_time_params, 0.0 );
1393 FGPath sky_tex_path( current_options.get_fg_root() );
1394 sky_tex_path.append( "Textures" );
1395 sky_tex_path.append( "Sky" );
1397 thesky->texture_path( sky_tex_path.str() );
1399 ssgBranch *sky = thesky->build( 550.0, 550.0,
1400 ephem->getNumPlanets(),
1401 ephem->getPlanets(), 60000.0,
1402 ephem->getNumStars(),
1403 ephem->getStars(), 60000.0 );
1404 scene->addKid( sky );
1407 terrain = new ssgBranch;
1408 terrain->setName( "Terrain" );
1409 scene->addKid( terrain );
1411 // temporary visible aircraft "own ship"
1412 penguin_sel = new ssgSelector;
1413 penguin_pos = new ssgTransform;
1414 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1415 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1416 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1418 penguin_pos->addKid( tux_obj );
1419 penguin_sel->addKid( penguin_pos );
1420 ssgFlatten( tux_obj );
1421 ssgStripify( penguin_sel );
1422 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1423 scene->addKid( penguin_sel );
1425 #ifdef FG_NETWORK_OLK
1426 // Do the network intialization
1427 if ( current_options.get_network_olk() ) {
1428 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1432 // build our custom render states
1433 fgBuildRenderStates();
1435 // pass control off to the master GLUT event handler
1438 // we never actually get here ... but to avoid compiler warnings,