src/Main/main.cxx

   1 // main.cxx -- top level sim routines
   2 //
   3 // Written by Curtis Olson for OpenGL, started May 1997.
   4 //
   5 // Copyright (C) 1997 - 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   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.
  11 //
  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.
  16 //
  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.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #if defined(__linux__) && defined(__i386__)
  29 #  include <fpu_control.h>
  30 #  include <signal.h>
  31 #endif
  32
  33 #include <simgear/compiler.h>
  34 #include <simgear/misc/exception.hxx>
  35
  36 #ifdef SG_MATH_EXCEPTION_CLASH
  37 #  include <math.h>
  38 #endif
  39
  40 #ifdef HAVE_WINDOWS_H
  41 #  include <windows.h>
  42 #  include <float.h>
  43 #endif
  44
  45 #include <GL/glut.h>
  46 #include <GL/gl.h>
  47
  48 #include <stdio.h>
  49 #include <string.h>
  50 #include <string>
  51
  52 #ifdef HAVE_STDLIB_H
  53 #   include <stdlib.h>
  54 #endif
  55
  56 #ifdef HAVE_SYS_STAT_H
  57 #  include <sys/stat.h>         // for stat()
  58 #endif
  59
  60 #ifdef HAVE_UNISTD_H
  61 #  include <unistd.h>           // for stat()
  62 #endif
  63
  64 #include <plib/netChat.h>
  65 #include <plib/pu.h>
  66 #include <plib/ssg.h>
  67
  68 #include <simgear/constants.h>  // for VERSION
  69 #include <simgear/debug/logstream.hxx>
  70 #include <simgear/math/polar3d.hxx>
  71 #include <simgear/math/sg_random.h>
  72 #include <simgear/misc/sg_path.hxx>
  73 #include <simgear/sky/sky.hxx>
  74 #include <simgear/timing/sg_time.hxx>
  75
  76 #include <Include/general.hxx>
  77
  78 #include <Aircraft/aircraft.hxx>
  79
  80 #include <ATC/ATCdisplay.hxx>
  81 #include <Autopilot/newauto.hxx>
  82
  83 #include <Cockpit/cockpit.hxx>
  84 #include <Cockpit/radiostack.hxx>
  85 #include <Cockpit/steam.hxx>
  86
  87 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
  88 #include <GUI/gui.h>
  89 #include <GUI/sgVec3Slider.hxx>
  90 // #include <Joystick/joystick.hxx>
  91 #ifdef FG_NETWORK_OLK
  92 #include <NetworkOLK/network.h>
  93 #endif
  94 #include <Objects/matlib.hxx>
  95 #include <Scenery/scenery.hxx>
  96 #include <Scenery/tilemgr.hxx>
  97 #ifdef ENABLE_AUDIO_SUPPORT
  98 #  include <Sound/soundmgr.hxx>
  99 #  include <Sound/fg_fx.hxx>
 100 #  include <Sound/morse.hxx>
 101 #endif
 102 #include <Time/event.hxx>
 103 #include <Time/fg_timer.hxx>
 104 #include <Time/light.hxx>
 105 #include <Time/sunpos.hxx>
 106 #include <Time/tmp.hxx>
 107
 108 #include <Input/input.hxx>
 109
 110 // ADA
 111 #include <simgear/misc/sgstream.hxx>
 112 #include <simgear/math/point3d.hxx>
 113 #include <FDM/flight.hxx>
 114 #include <FDM/ADA.hxx>
 115 #include <Scenery/tileentry.hxx>
 116
 117 // Should already be inlcluded by gl.h if needed by your platform so
 118 // we shouldn't include this here.
 119 // #include <GL/glext.h>
 120 #if !defined(sgi)
 121 // PFNGLPOINTPARAMETERFEXTPROC glPointParameterfEXT = 0;
 122 // PFNGLPOINTPARAMETERFVEXTPROC glPointParameterfvEXT = 0;
 123 #endif
 124 float default_attenuation[3] = {1.0, 0.0, 0.0};
 125 //Required for using GL_extensions
 126 void fgLoadDCS (void);
 127 void fgUpdateDCS (void);
 128 ssgSelector *ship_sel=NULL;
 129 // upto 32 instances of a same object can be loaded.
 130 ssgTransform *ship_pos[32];
 131 double obj_lat[32],obj_lon[32],obj_alt[32],obj_pitch[32],obj_roll[32];
 132 int objc=0;
 133 ssgSelector *lightpoints_brightness = new ssgSelector;
 134 ssgTransform *lightpoints_transform = new ssgTransform;
 135 FGTileEntry *dummy_tile;
 136 sgVec3 rway_ols;
 137 // ADA
 138
 139 #ifndef FG_OLD_WEATHER
 140 #  include <WeatherCM/FGLocalWeatherDatabase.h>
 141 #else
 142 #  include <Weather/weather.hxx>
 143 #endif
 144
 145 #include "version.h"
 146
 147 #include "fg_init.hxx"
 148 #include "fg_io.hxx"
 149 #include "fg_props.hxx"
 150 #include "globals.hxx"
 151 #include "splash.hxx"
 152 #include "viewmgr.hxx"
 153 #include "options.hxx"
 154
 155 #ifdef macintosh
 156 #  include <console.h>          // -dw- for command line dialog
 157 #endif
 158
 159
 160 // This is a record containing a bit of global housekeeping information
 161 FGGeneral general;
 162
 163 // Specify our current idle function state.  This is used to run all
 164 // our initializations out of the glutIdleLoop() so that we can get a
 165 // splash screen up and running right away.
 166 static int idle_state = 0;
 167 static long global_multi_loop;
 168
 169 // forward declaration
 170 void fgReshape( int width, int height );
 171
 172 // ssg variables
 173 ssgRoot *scene = NULL;
 174 ssgBranch *terrain = NULL;
 175
 176 // aircraft model stuff
 177 ssgSelector *acmodel_selector = NULL;
 178 ssgTransform *acmodel_pos = NULL;
 179 ssgSelector *prop_selector = NULL;
 180 ssgSelector *flaps_selector = NULL;
 181 int acmodel_npropsettings;
 182 int acmodel_proprpms[4][2];  // different propeller settings
 183
 184 ssgRoot *lighting = NULL;
 185 ssgBranch *ground = NULL;
 186 ssgBranch *airport = NULL;
 187
 188 #ifdef FG_NETWORK_OLK
 189 ssgSelector *fgd_sel = NULL;
 190 ssgTransform *fgd_pos = NULL;
 191 #endif
 192
 193 // current fdm/position used for view
 194 FGInterface cur_view_fdm;
 195
 196 // Sky structures
 197 SGSky *thesky;
 198
 199 // hack
 200 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
 201 {
 202   {  1.0f,  0.0f,  0.0f,  0.0f },
 203   {  0.0f,  0.0f, -1.0f,  0.0f },
 204   {  0.0f,  1.0f,  0.0f,  0.0f },
 205   {  0.0f,  0.0f,  0.0f,  1.0f }
 206 };
 207
 208 // The following defines flightgear options. Because glutlib will also
 209 // want to parse its own options, those options must not be included here
 210 // or they will get parsed by the main program option parser. Hence case
 211 // is significant for any option added that might be in conflict with
 212 // glutlib's parser.
 213 //
 214 // glutlib parses for:
 215 //    -display
 216 //    -direct   (invalid in Win32)
 217 //    -geometry
 218 //    -gldebug
 219 //    -iconized
 220 //    -indirect (invalid in Win32)
 221 //    -synce
 222 //
 223 // Note that glutlib depends upon strings while this program's
 224 // option parser wants only initial characters followed by numbers
 225 // or pathnames.
 226 //
 227
 228
 229 ssgSimpleState *default_state;
 230 ssgSimpleState *hud_and_panel;
 231 ssgSimpleState *menus;
 232
 233 void fgBuildRenderStates( void ) {
 234     default_state = new ssgSimpleState;
 235     default_state->ref();
 236     default_state->disable( GL_TEXTURE_2D );
 237     default_state->enable( GL_CULL_FACE );
 238     default_state->enable( GL_COLOR_MATERIAL );
 239     default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
 240     default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
 241     default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
 242     default_state->disable( GL_BLEND );
 243     default_state->disable( GL_ALPHA_TEST );
 244     default_state->disable( GL_LIGHTING );
 245
 246     hud_and_panel = new ssgSimpleState;
 247     hud_and_panel->ref();
 248     hud_and_panel->disable( GL_CULL_FACE );
 249     hud_and_panel->disable( GL_TEXTURE_2D );
 250     hud_and_panel->disable( GL_LIGHTING );
 251     hud_and_panel->enable( GL_BLEND );
 252
 253     menus = new ssgSimpleState;
 254     menus->ref();
 255     menus->disable( GL_CULL_FACE );
 256     menus->disable( GL_TEXTURE_2D );
 257     menus->enable( GL_BLEND );
 258 }
 259
 260 // fgFindNode -- a function that finds a named node in an ssg graph
 261 ssgEntity *fgFindNode( ssgEntity *node, const char *name ) {
 262     if ( node->getName() != NULL && strcmp( name, node->getName() ) == 0 ) {
 263         return node;
 264     } else if ( node->isAKindOf(ssgTypeBranch()) ) {
 265         ssgEntity *kid = ((ssgBranch*)node)->getKid(0);
 266         while ( kid != NULL ) {
 267             ssgEntity *n = fgFindNode(kid, name);
 268             if ( n != NULL ) {
 269                 return n;
 270             }
 271             kid = ((ssgBranch*)node)->getNextKid();
 272         }
 273     }
 274
 275     return NULL;
 276 }
 277
 278 // fgInitVisuals() -- Initialize various GL/view parameters
 279 void fgInitVisuals( void ) {
 280     fgLIGHT *l;
 281
 282     l = &cur_light_params;
 283
 284 #ifndef GLUT_WRONG_VERSION
 285     // Go full screen if requested ...
 286     if ( fgGetBool("/sim/startup/fullscreen") ) {
 287         glutFullScreen();
 288     }
 289 #endif
 290
 291     // If enabled, normal vectors specified with glNormal are scaled
 292     // to unit length after transformation.  See glNormal.
 293     // glEnable( GL_NORMALIZE );
 294
 295     glEnable( GL_LIGHTING );
 296     glEnable( GL_LIGHT0 );
 297     glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
 298
 299     sgVec3 sunpos;
 300     sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
 301     ssgGetLight( 0 ) -> setPosition( sunpos );
 302
 303     // glFogi (GL_FOG_MODE, GL_LINEAR);
 304     glFogi (GL_FOG_MODE, GL_EXP2);
 305     if ( (fgGetString("/sim/rendering/fog") == "disabled") ||
 306          (!fgGetBool("/sim/rendering/shading"))) {
 307         // if fastest fog requested, or if flat shading force fastest
 308         glHint ( GL_FOG_HINT, GL_FASTEST );
 309     } else if ( fgGetString("/sim/rendering/fog") == "nicest" ) {
 310         glHint ( GL_FOG_HINT, GL_NICEST );
 311     }
 312     if ( fgGetBool("/sim/rendering/wireframe") ) {
 313         // draw wire frame
 314         glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
 315     }
 316
 317     // This is the default anyways, but it can't hurt
 318     glFrontFace ( GL_CCW );
 319
 320     // Just testing ...
 321     // glEnable(GL_POINT_SMOOTH);
 322     // glEnable(GL_LINE_SMOOTH);
 323     // glEnable(GL_POLYGON_SMOOTH);
 324 }
 325
 326
 327 // For HiRes screen Dumps using Brian Pauls TR Library
 328 void trRenderFrame( void ) {
 329
 330     if ( fgPanelVisible() ) {
 331         GLfloat height = fgGetInt("/sim/startup/ysize");
 332         GLfloat view_h =
 333             (current_panel->getViewHeight() - current_panel->getYOffset())
 334             * (height / 768.0) + 1;
 335         glTranslatef( 0.0, view_h, 0.0 );
 336     }
 337
 338     static double m_log01      = -log( 0.01 );
 339     static double sqrt_m_log01 = sqrt( m_log01 );
 340
 341     static GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
 342     static GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
 343
 344     fgLIGHT *l = &cur_light_params;
 345
 346     glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
 347                  l->adj_fog_color[2], l->adj_fog_color[3]);
 348
 349     glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
 350
 351     // set the opengl state to known default values
 352     default_state->force();
 353
 354     // update fog params
 355     double actual_visibility       = thesky->get_visibility();
 356     // GLfloat fog_exp_density        = m_log01 / actual_visibility;
 357     GLfloat fog_exp2_density       = sqrt_m_log01 / actual_visibility;
 358     GLfloat fog_exp2_punch_through = sqrt_m_log01 / ( actual_visibility * 1.5 );
 359
 360     glEnable( GL_FOG );
 361     glFogf  ( GL_FOG_DENSITY, fog_exp2_density);
 362     glFogi  ( GL_FOG_MODE,    GL_EXP2 );
 363     glFogfv ( GL_FOG_COLOR,   l->adj_fog_color );
 364
 365     // GL_LIGHT_MODEL_AMBIENT has a default non-zero value so if
 366     // we only update GL_AMBIENT for our lights we will never get
 367     // a completely dark scene.  So, we set GL_LIGHT_MODEL_AMBIENT
 368     // explicitely to black.
 369     glLightModelfv( GL_LIGHT_MODEL_AMBIENT, black );
 370
 371     ssgGetLight( 0 ) -> setColour( GL_AMBIENT, l->scene_ambient );
 372
 373     // texture parameters
 374     glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
 375     glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
 376
 377     // we need a white diffuse light for the phase of the moon
 378     ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, white );
 379     thesky->preDraw();
 380
 381     // draw the ssg scene
 382     // return to the desired diffuse color
 383     ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
 384     glEnable( GL_DEPTH_TEST );
 385     ssgCullAndDraw( scene );
 386
 387     // draw the lights
 388     glFogf (GL_FOG_DENSITY, fog_exp2_punch_through);
 389     ssgCullAndDraw( lighting );
 390
 391     thesky->postDraw( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
 392
 393     // need to do this here as hud_and_panel state is static to
 394     // main.cxx  and HUD and Panel routines have to be called with
 395     // knowledge of the the TR struct < see gui.cxx::HighResDump()
 396     hud_and_panel->apply();
 397 }
 398
 399
 400 // Update all Visuals (redraws anything graphics related)
 401 void fgRenderFrame( void ) {
 402     static const SGPropertyNode *longitude
 403         = fgGetNode("/position/longitude-deg");
 404     static const SGPropertyNode *latitude
 405         = fgGetNode("/position/latitude-deg");
 406     static const SGPropertyNode *altitude
 407         = fgGetNode("/position/altitude-ft");
 408
 409     // Update the default (kludged) properties.
 410     fgUpdateProps();
 411
 412     fgLIGHT *l = &cur_light_params;
 413     static double last_visibility = -9999;
 414
 415     static GLfloat fog_exp_density;
 416     static GLfloat fog_exp2_density;
 417     static GLfloat fog_exp2_punch_through;
 418
 419     // double angle;
 420     // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
 421     // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
 422     // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
 423     // GLfloat mat_shininess[] = { 10.0 };
 424     GLbitfield clear_mask;
 425
 426     if ( idle_state != 1000 ) {
 427         // still initializing, draw the splash screen
 428         if ( fgGetBool("/sim/startup/splash-screen") ) {
 429             fgSplashUpdate(0.0);
 430         }
 431     } else {
 432         // idle_state is now 1000 meaning we've finished all our
 433         // initializations and are running the main loop, so this will
 434         // now work without seg faulting the system.
 435
 436         // printf("Ground = %.2f  Altitude = %.2f\n", scenery.get_cur_elev(),
 437         //        FG_Altitude * SG_FEET_TO_METER);
 438
 439         // this is just a temporary hack, to make me understand Pui
 440         // timerText -> setLabel (ctime (&t->cur_time));
 441         // end of hack
 442
 443         // calculate our current position in cartesian space
 444         scenery.set_center( scenery.get_next_center() );
 445         // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x(),
 446         //        scenery.center.y(), scenery.center.z());
 447
 448         FGViewerRPH *pilot_view =
 449             (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
 450
 451         pilot_view->set_geod_view_pos( longitude->getDoubleValue()
 452                                          * SGD_DEGREES_TO_RADIANS,
 453                                        latitude->getDoubleValue()
 454                                          * SGD_DEGREES_TO_RADIANS,
 455                                        altitude->getDoubleValue()
 456                                          * SG_FEET_TO_METER );
 457         pilot_view->set_rph( cur_fdm_state->get_Phi(),
 458                              cur_fdm_state->get_Theta(),
 459                              cur_fdm_state->get_Psi() );
 460
 461         if (fgGetString("/sim/flight-model") == "ada") {
 462             //+ve x is aft, +ve z is up (see viewer.hxx)
 463             pilot_view->set_pilot_offset( -5.0, 0.0, 1.0 );
 464         }
 465
 466         FGViewerLookAt *chase_view =
 467             (FGViewerLookAt *)globals->get_viewmgr()->get_view( 1 );
 468
 469         sgVec3 po;              // chase view pilot_offset
 470         sgVec3 wup;             // chase view world up
 471         sgSetVec3( po, 0.0, 0.0, 100.0 );
 472         sgCopyVec3( wup, pilot_view->get_world_up() );
 473         sgMat4 CXFM;            // chase view + pilot offset xform
 474         sgMakeRotMat4( CXFM,
 475                        chase_view->get_view_offset() * SGD_RADIANS_TO_DEGREES -
 476                        cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES,
 477                        wup );
 478         sgVec3 npo;             // new pilot offset after rotation
 479         sgVec3 *pPO = PilotOffsetGet();
 480         sgXformVec3( po, *pPO, pilot_view->get_UP() );
 481         sgXformVec3( npo, po, CXFM );
 482
 483         chase_view->set_geod_view_pos( longitude->getDoubleValue()
 484                                          * SGD_DEGREES_TO_RADIANS,
 485                                        latitude->getDoubleValue()
 486                                          * SGD_DEGREES_TO_RADIANS,
 487                                        altitude->getDoubleValue()
 488                                          * SG_FEET_TO_METER );
 489         chase_view->set_pilot_offset( npo[0], npo[1], npo[2] );
 490         chase_view->set_view_forward( pilot_view->get_view_pos() );
 491         chase_view->set_view_up( wup );
 492
 493 #if 0
 494         sgMat4 rph;
 495         sgCopyMat4( rph, pilot_view->get_VIEW() );
 496         cout << "RPH Matrix = " << endl;
 497         int i, j;
 498         for ( i = 0; i < 4; i++ ) {
 499             for ( j = 0; j < 4; j++ ) {
 500                 printf("%10.4f ", rph[i][j]);
 501             }
 502             cout << endl;
 503         }
 504
 505         sgMat4 la;
 506         sgCopyMat4( la, chase_view->get_VIEW() );
 507         cout << "LookAt Matrix = " << endl;
 508         for ( i = 0; i < 4; i++ ) {
 509             for ( j = 0; j < 4; j++ ) {
 510                 printf("%10.4f ", la[i][j]);
 511             }
 512             cout << endl;
 513         }
 514 #endif
 515
 516         // update view port
 517         fgReshape( fgGetInt("/sim/startup/xsize"),
 518                    fgGetInt("/sim/startup/ysize") );
 519
 520         // set the sun position
 521         glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
 522
 523         clear_mask = GL_DEPTH_BUFFER_BIT;
 524         if ( fgGetBool("/sim/rendering/wireframe") ) {
 525             clear_mask |= GL_COLOR_BUFFER_BIT;
 526         }
 527
 528         if ( fgGetBool("/sim/rendering/skyblend") ) {
 529             if ( fgGetBool("/sim/rendering/textures") ) {
 530                 // glClearColor(black[0], black[1], black[2], black[3]);
 531                 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
 532                              l->adj_fog_color[2], l->adj_fog_color[3]);
 533                 clear_mask |= GL_COLOR_BUFFER_BIT;
 534             }
 535         } else {
 536             glClearColor(l->sky_color[0], l->sky_color[1],
 537                          l->sky_color[2], l->sky_color[3]);
 538             clear_mask |= GL_COLOR_BUFFER_BIT;
 539         }
 540         glClear( clear_mask );
 541
 542         // Tell GL we are switching to model view parameters
 543
 544         // I really should create a derived ssg node or use a call
 545         // back or something so that I can draw the sky within the
 546         // ssgCullAndDraw() function, but for now I just mimic what
 547         // ssg does to set up the model view matrix
 548         glMatrixMode(GL_MODELVIEW);
 549         glLoadIdentity();
 550         ssgSetCamera( (sgVec4 *)globals->get_current_view()->get_VIEW() );
 551
 552         // set the opengl state to known default values
 553         default_state->force();
 554
 555         // update fog params if visibility has changed
 556 #ifndef FG_OLD_WEATHER
 557         thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
 558 #else
 559         thesky->set_visibility( current_weather.get_visibility() );
 560 #endif
 561
 562         thesky->modify_vis( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
 563                             ( global_multi_loop * fgGetInt("/sim/speed-up") )
 564                             / (double)fgGetInt("/sim/model-hz") );
 565
 566         double actual_visibility = thesky->get_visibility();
 567         // cout << "actual visibility = " << actual_visibility << endl;
 568
 569         if ( actual_visibility != last_visibility ) {
 570             last_visibility = actual_visibility;
 571
 572             // cout << "----> updating fog params" << endl;
 573
 574             // for GL_FOG_EXP
 575             fog_exp_density = -log(0.01) / actual_visibility;
 576
 577             // for GL_FOG_EXP2
 578             fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
 579             fog_exp2_punch_through = sqrt( -log(0.01) ) /
 580                 ( actual_visibility * 1.5 );
 581         }
 582
 583         // Set correct opengl fog density
 584         glFogf (GL_FOG_DENSITY, fog_exp2_density);
 585
 586         // update the sky dome
 587         if ( fgGetBool("/sim/rendering/skyblend") ) {
 588             /* cout << "thesky->repaint() sky_color = "
 589                  << cur_light_params.sky_color[0] << " "
 590                  << cur_light_params.sky_color[1] << " "
 591                  << cur_light_params.sky_color[2] << " "
 592                  << cur_light_params.sky_color[3] << endl;
 593             cout << "    fog = "
 594                  << cur_light_params.fog_color[0] << " "
 595                  << cur_light_params.fog_color[1] << " "
 596                  << cur_light_params.fog_color[2] << " "
 597                  << cur_light_params.fog_color[3] << endl;
 598             cout << "    sun_angle = " << cur_light_params.sun_angle
 599                  << "    moon_angle = " << cur_light_params.moon_angle
 600                  << endl; */
 601             thesky->repaint( cur_light_params.sky_color,
 602                              cur_light_params.adj_fog_color,
 603                              cur_light_params.sun_angle,
 604                              cur_light_params.moon_angle,
 605                              globals->get_ephem()->getNumPlanets(),
 606                              globals->get_ephem()->getPlanets(),
 607                              globals->get_ephem()->getNumStars(),
 608                              globals->get_ephem()->getStars() );
 609
 610             /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
 611                  << view_pos[1] << " " << view_pos[2] << endl;
 612             cout << "    zero_elev = " << zero_elev[0] << " "
 613                  << zero_elev[1] << " " << zero_elev[2]
 614                  << " lon = " << cur_fdm_state->get_Longitude()
 615                  << " lat = " << cur_fdm_state->get_Latitude() << endl;
 616             cout << "    sun_rot = " << cur_light_params.sun_rotation
 617                  << " gst = " << SGTime::cur_time_params->getGst() << endl;
 618             cout << "    sun ra = " << globals->get_ephem()->getSunRightAscension()
 619                  << " sun dec = " << globals->get_ephem()->getSunDeclination()
 620                  << " moon ra = " << globals->get_ephem()->getMoonRightAscension()
 621                  << " moon dec = " << globals->get_ephem()->getMoonDeclination() << endl; */
 622
 623             thesky->reposition( globals->get_current_view()->get_view_pos(),
 624                                 globals->get_current_view()->get_zero_elev(),
 625                                 globals->get_current_view()->get_world_up(),
 626                                 longitude->getDoubleValue()
 627                                   * SGD_DEGREES_TO_RADIANS,
 628                                 latitude->getDoubleValue()
 629                                   * SGD_DEGREES_TO_RADIANS,
 630                                 altitude->getDoubleValue() * SG_FEET_TO_METER,
 631                                 cur_light_params.sun_rotation,
 632                                 globals->get_time_params()->getGst(),
 633                                 globals->get_ephem()->getSunRightAscension(),
 634                                 globals->get_ephem()->getSunDeclination(),
 635                                 50000.0,
 636                                 globals->get_ephem()->getMoonRightAscension(),
 637                                 globals->get_ephem()->getMoonDeclination(),
 638                                 50000.0 );
 639         }
 640
 641         glEnable( GL_DEPTH_TEST );
 642         if ( fgGetString("/sim/rendering/fog") != (string)"disabled" ) {
 643             glEnable( GL_FOG );
 644             glFogi( GL_FOG_MODE, GL_EXP2 );
 645             glFogfv( GL_FOG_COLOR, l->adj_fog_color );
 646         }
 647
 648         // set sun/lighting parameters
 649         ssgGetLight( 0 ) -> setPosition( l->sun_vec );
 650
 651         // GL_LIGHT_MODEL_AMBIENT has a default non-zero value so if
 652         // we only update GL_AMBIENT for our lights we will never get
 653         // a completely dark scene.  So, we set GL_LIGHT_MODEL_AMBIENT
 654         // explicitely to black.
 655         GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
 656         GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
 657         glLightModelfv( GL_LIGHT_MODEL_AMBIENT, black );
 658
 659         ssgGetLight( 0 ) -> setColour( GL_AMBIENT, l->scene_ambient );
 660         ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
 661         // ssgGetLight( 0 ) -> setColour( GL_SPECULAR, l->scene_white );
 662
 663         // texture parameters
 664         // glEnable( GL_TEXTURE_2D );
 665         glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
 666         glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
 667
 668         // glMatrixMode( GL_PROJECTION );
 669         // glLoadIdentity();
 670         ssgSetFOV( globals->get_current_view()->get_h_fov(),
 671                    globals->get_current_view()->get_v_fov() );
 672
 673         double agl = current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER
 674             - scenery.get_cur_elev();
 675
 676         // SG_LOG( SG_ALL, SG_INFO, "visibility is "
 677         //         << current_weather.get_visibility() );
 678
 679         if ( agl > 10.0 ) {
 680             ssgSetNearFar( 10.0f, 120000.0f );
 681         } else {
 682             ssgSetNearFar( 0.5f, 120000.0f );
 683         }
 684
 685         if ( globals->get_viewmgr()->get_current() == 0 ) {
 686             // disable aircraft model
 687             acmodel_selector->select(0);
 688         } else {
 689             // enable aircraft model and set up its position and orientation
 690             acmodel_selector->select(1);
 691
 692             FGViewerRPH *pilot_view =
 693                 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
 694
 695             sgMat4 sgTRANS;
 696             sgMakeTransMat4( sgTRANS, pilot_view->get_view_pos() );
 697
 698             sgVec3 ownship_up;
 699             sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
 700
 701             sgMat4 sgROT;
 702             sgMakeRotMat4( sgROT, -90.0, ownship_up );
 703
 704             // sgMat4 sgTMP;
 705             // sgMat4 sgTUX;
 706             // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
 707             // sgMultMat4( sgTUX, sgTMP, sgTRANS );
 708
 709             // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
 710             sgMat4 sgTUX;
 711             sgCopyMat4( sgTUX, sgROT );
 712             sgPostMultMat4( sgTUX, pilot_view->get_VIEW_ROT() );
 713             sgPostMultMat4( sgTUX, sgTRANS );
 714
 715             sgCoord tuxpos;
 716             sgSetCoord( &tuxpos, sgTUX );
 717             acmodel_pos->setTransform( &tuxpos );
 718
 719             // set up moving parts
 720             if (flaps_selector != NULL) {
 721                 flaps_selector->select( (globals->get_controls()->get_flaps() > 0.5f) ? 1 : 2 );
 722             }
 723
 724             if (prop_selector != NULL) {
 725               int propsel_mask = 0;
 726               double rpm = fgGetDouble("/engines/engine[0]/rpm");
 727               for (int i = 0; i < acmodel_npropsettings; i++) {
 728                 if (rpm >= acmodel_proprpms[i][0] &&
 729                     rpm <= acmodel_proprpms[i][1]) {
 730                   propsel_mask |= 1 << i;
 731                 }
 732               }
 733               prop_selector->select(propsel_mask);
 734             }
 735         }
 736
 737         // $$$ begin - added VS Renganthan 17 Oct 2K
 738         fgUpdateDCS();
 739         // $$$ end - added VS Renganthan 17 Oct 2K
 740
 741 # ifdef FG_NETWORK_OLK
 742         if ( fgGetBool("/sim/networking/network-olk") ) {
 743             sgCoord fgdpos;
 744             other = head->next;             /* put listpointer to start  */
 745             while ( other != tail) {        /* display all except myself */
 746                 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
 747                     other->fgd_sel->select(1);
 748                     sgSetCoord( &fgdpos, other->sgFGD_COORD );
 749                     other->fgd_pos->setTransform( &fgdpos );
 750                 }
 751                 other = other->next;
 752             }
 753
 754             // fgd_sel->select(1);
 755             // sgCopyMat4( sgTUX, current_view.sgVIEW);
 756             // sgCoord fgdpos;
 757             // sgSetCoord( &fgdpos, sgFGD_VIEW );
 758             // fgd_pos->setTransform( &fgdpos);
 759         }
 760 # endif
 761
 762         // position tile nodes and update range selectors
 763         global_tile_mgr.prep_ssg_nodes();
 764
 765         if ( fgGetBool("/sim/rendering/skyblend") ) {
 766             // draw the sky backdrop
 767
 768             // we need a white diffuse light for the phase of the moon
 769             ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, white );
 770
 771             thesky->preDraw();
 772
 773             // return to the desired diffuse color
 774             ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
 775         }
 776
 777         // draw the ssg scene
 778         glEnable( GL_DEPTH_TEST );
 779         ssgCullAndDraw( scene );
 780
 781         // change state for lighting here
 782
 783         // draw lighting
 784         // Set punch through fog density
 785         glFogf (GL_FOG_DENSITY, fog_exp2_punch_through);
 786
 787 #ifdef FG_EXPERIMENTAL_LIGHTING
 788         // Enable states for drawing points with GL_extension
 789         if (glutExtensionSupported("GL_EXT_point_parameters")) {
 790             glEnable(GL_POINT_SMOOTH);
 791             float quadratic[3] = {1.0, 0.01, 0.0001};
 792             // get the address of our OpenGL extensions
 793 #if !defined(sgi)
 794             glPointParameterfEXT = (PFNGLPOINTPARAMETERFEXTPROC)
 795                 wglGetProcAddress("glPointParameterfEXT");
 796             glPointParameterfvEXT = (PFNGLPOINTPARAMETERFVEXTPROC)
 797                 wglGetProcAddress("glPointParameterfvEXT");
 798 #endif
 799             // makes the points fade as they move away
 800             glPointParameterfvEXT(GL_DISTANCE_ATTENUATION_EXT, quadratic);
 801             glPointParameterfEXT(GL_POINT_SIZE_MIN_EXT, 1.0);
 802             glPointSize(4.0);
 803
 804             // Enable states for drawing runway lights with spherical mapping
 805             glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_SPHERE_MAP);
 806             glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_SPHERE_MAP);
 807             glEnable(GL_TEXTURE_GEN_S);
 808             glEnable(GL_TEXTURE_GEN_T);
 809
 810             //Maybe this is not the best way, but it works !!
 811             glPolygonMode(GL_FRONT, GL_POINT);
 812             glCullFace(GL_BACK);
 813             glEnable(GL_CULL_FACE);
 814         }
 815
 816         glDisable( GL_LIGHTING );
 817         // blending function for runway lights
 818         glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) ;
 819         glEnable(GL_BLEND);
 820 #endif
 821
 822         ssgCullAndDraw( lighting );
 823
 824 #ifdef FG_EXPERIMENTAL_LIGHTING
 825         if (glutExtensionSupported("GL_EXT_point_parameters")) {
 826             // Disable states used for runway lighting
 827             glPolygonMode(GL_FRONT, GL_FILL);
 828
 829             glDisable(GL_TEXTURE_GEN_S);
 830             glDisable(GL_TEXTURE_GEN_T);
 831             glPointParameterfvEXT(GL_DISTANCE_ATTENUATION_EXT,
 832                                   default_attenuation);
 833         }
 834
 835         glPointSize(1.0);
 836 #endif
 837
 838         if ( fgGetBool("/sim/rendering/skyblend") ) {
 839             // draw the sky cloud layers
 840             thesky->postDraw( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
 841         }
 842
 843         // display HUD && Panel
 844         glDisable( GL_FOG );
 845         glDisable( GL_DEPTH_TEST );
 846         // glDisable( GL_CULL_FACE );
 847         // glDisable( GL_TEXTURE_2D );
 848
 849         // update the input subsystem
 850         current_input.update(1); // FIXME: use real dt
 851
 852         // update the controls subsystem
 853         globals->get_controls()->update(1); // FIXME: use real dt
 854
 855         hud_and_panel->apply();
 856         fgCockpitUpdate();
 857
 858         // Use the hud_and_panel ssgSimpleState for rendering the ATC output
 859         // This only works properly if called before the panel call
 860         current_atcdisplay->update();
 861
 862         // update the panel subsystem
 863         if ( current_panel != NULL ) {
 864             current_panel->update(1); // FIXME: use real dt
 865         }
 866
 867         // We can do translucent menus, so why not. :-)
 868         menus->apply();
 869         glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
 870         puDisplay();
 871         // glDisable ( GL_BLEND ) ;
 872
 873         // glEnable( GL_FOG );
 874     }
 875
 876     glutSwapBuffers();
 877 }
 878
 879
 880 // Update internal time dependent calculations (i.e. flight model)
 881 void fgUpdateTimeDepCalcs() {
 882     static bool inited = false;
 883     static const SGPropertyNode *master_freeze
 884         = fgGetNode("/sim/freeze/master");
 885
 886     // cout << "Updating time dep calcs()" << endl;
 887
 888     fgLIGHT *l = &cur_light_params;
 889     int i;
 890
 891     long multi_loop = 1;
 892
 893     // Initialize the FDM here if it hasn't been and if we have a
 894     // scenery elevation hit.
 895
 896     // cout << "cur_fdm_state->get_inited() = " << cur_fdm_state->get_inited()
 897     //      << " cur_elev = " << scenery.get_cur_elev() << endl;
 898
 899     if ( !cur_fdm_state->get_inited() && scenery.get_cur_elev() > -9990 ) {
 900         cout << "Finally initializing fdm" << endl;
 901         cur_fdm_state->init();
 902         if ( cur_fdm_state->get_bound() ) {
 903             cur_fdm_state->unbind();
 904         }
 905         cur_fdm_state->bind();
 906     }
 907
 908     // conceptually, the following block could be done for each fdm
 909     // instance ...
 910     if ( !cur_fdm_state->get_inited() ) {
 911         // do nothing, fdm isn't inited yet
 912     } else if ( master_freeze->getBoolValue() ) {
 913         // we are frozen, run the fdm's with 0 time slices in case
 914         // they want to do something with that.
 915
 916         cur_fdm_state->update( 0 );
 917         FGSteam::update( 0 );
 918     } else {
 919         // we have been inited, and we are not frozen, we are good to go ...
 920
 921         if ( !inited ) {
 922             cur_fdm_state->stamp();
 923             inited = true;
 924         }
 925
 926         SGTimeStamp current;
 927         current.stamp();
 928         long elapsed = current - cur_fdm_state->get_time_stamp();
 929         cur_fdm_state->set_time_stamp( current );
 930         elapsed += cur_fdm_state->get_remainder();
 931         // cout << "elapsed = " << elapsed << endl;
 932         // cout << "dt = " << cur_fdm_state->get_delta_t() << endl;
 933         multi_loop = (long)(((double)elapsed * 0.000001) /
 934                                cur_fdm_state->get_delta_t() );
 935         cur_fdm_state->set_multi_loop( multi_loop );
 936         long remainder = elapsed - (long)( (multi_loop*1000000) *
 937                                      cur_fdm_state->get_delta_t() );
 938         cur_fdm_state->set_remainder( remainder );
 939         // cout << "remainder = " << remainder << endl;
 940
 941         // chop max interations to something reasonable if the sim was
 942         // delayed for an excesive amount of time
 943         if ( multi_loop > 2.0 / cur_fdm_state->get_delta_t() ) {
 944             multi_loop = (int)(2.0 / cur_fdm_state->get_delta_t());
 945             cur_fdm_state->set_remainder( 0 );
 946         }
 947
 948         // cout << "multi_loop = " << multi_loop << endl;
 949         for ( i = 0; i < multi_loop * fgGetInt("/sim/speed-up"); ++i ) {
 950             // run Autopilot system
 951             current_autopilot->run();
 952
 953             // update FDM
 954             cur_fdm_state->update( 1 );
 955         }
 956         FGSteam::update( multi_loop * fgGetInt("/sim/speed-up") );
 957     }
 958
 959     if ( fgGetString("/sim/view-mode") == "pilot" ) {
 960         cur_view_fdm = *cur_fdm_state;
 961         // do nothing
 962     }
 963
 964     // update the view angle
 965     globals->get_current_view()->update(multi_loop);
 966
 967     l->UpdateAdjFog();
 968
 969     // Update solar system
 970     globals->get_ephem()->update( globals->get_time_params()->getMjd(),
 971                                   globals->get_time_params()->getLst(),
 972                                   cur_fdm_state->get_Latitude() );
 973
 974     // Update radio stack model
 975     current_radiostack->update(multi_loop);
 976 }
 977
 978
 979 void fgInitTimeDepCalcs( void ) {
 980     // initialize timer
 981
 982     // #ifdef HAVE_SETITIMER
 983     //   fgTimerInit( 1.0 / fgGetInt("/sim/model-hz"),
 984     //                fgUpdateTimeDepCalcs );
 985     // #endif HAVE_SETITIMER
 986 }
 987
 988
 989 static const double alt_adjust_ft = 3.758099;
 990 static const double alt_adjust_m = alt_adjust_ft * SG_FEET_TO_METER;
 991
 992
 993 // What should we do when we have nothing else to do?  Let's get ready
 994 // for the next move and update the display?
 995 static void fgMainLoop( void ) {
 996     static const SGPropertyNode *longitude
 997         = fgGetNode("/position/longitude-deg");
 998     static const SGPropertyNode *latitude
 999         = fgGetNode("/position/latitude-deg");
1000     static const SGPropertyNode *altitude
1001         = fgGetNode("/position/altitude-ft");
1002     static const SGPropertyNode *clock_freeze
1003         = fgGetNode("/sim/freeze/clock", true);
1004     static const SGPropertyNode *cur_time_override
1005         = fgGetNode("/sim/time/cur-time-override", true);
1006
1007     static long remainder = 0;
1008     long elapsed;
1009 #ifdef FANCY_FRAME_COUNTER
1010     int i;
1011     double accum;
1012 #else
1013     static time_t last_time = 0;
1014     static int frames = 0;
1015 #endif // FANCY_FRAME_COUNTER
1016
1017     SGTime *t = globals->get_time_params();
1018
1019     SG_LOG( SG_ALL, SG_DEBUG, "Running Main Loop");
1020     SG_LOG( SG_ALL, SG_DEBUG, "======= ==== ====");
1021
1022 #ifdef FG_NETWORK_OLK
1023     if ( fgGetBool("/sim/networking/network-olk") ) {
1024         if ( net_is_registered == 0 ) {      // We first have to reg. to fgd
1025             // printf("FGD: Netupdate\n");
1026             fgd_send_com( "A", FGFS_host);   // Send Mat4 data
1027             fgd_send_com( "B", FGFS_host);   // Recv Mat4 data
1028         }
1029     }
1030 #endif
1031
1032 #if defined( ENABLE_PLIB_JOYSTICK )
1033     // Read joystick and update control settings
1034     // if ( fgGetString("/sim/control-mode") == "joystick" )
1035     // {
1036     //    fgJoystickRead();
1037     // }
1038 #elif defined( ENABLE_GLUT_JOYSTICK )
1039     // Glut joystick support works by feeding a joystick handler
1040     // function to glut.  This is taken care of once in the joystick
1041     // init routine and we don't have to worry about it again.
1042 #endif
1043
1044 #ifdef FG_OLD_WEATHER
1045     current_weather.Update();
1046 #endif
1047
1048     // Fix elevation.  I'm just sticking this here for now, it should
1049     // probably move eventually
1050
1051     /* printf("Before - ground = %.2f  runway = %.2f  alt = %.2f\n",
1052            scenery.get_cur_elev(),
1053            cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
1054            cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
1055
1056     if ( scenery.get_cur_elev() > -9990 && cur_fdm_state->get_inited() ) {
1057         if ( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER <
1058              (scenery.get_cur_elev() + alt_adjust_m - 3.0) ) {
1059             // now set aircraft altitude above ground
1060             printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
1061                    cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
1062                    scenery.get_cur_elev() + alt_adjust_m - 3.0,
1063                    scenery.get_cur_elev() + alt_adjust_m );
1064             fgFDMForceAltitude( fgGetString("/sim/flight-model"),
1065                                 scenery.get_cur_elev() + alt_adjust_m );
1066
1067             SG_LOG( SG_ALL, SG_DEBUG,
1068                     "<*> resetting altitude to "
1069                     << cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
1070                     << " meters" );
1071         }
1072     }
1073
1074     /* printf("Adjustment - ground = %.2f  runway = %.2f  alt = %.2f\n",
1075            scenery.get_cur_elev(),
1076            cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
1077            cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
1078
1079     // cout << "Warp = " << globals->get_warp() << endl;
1080
1081     // update "time"
1082     static bool last_clock_freeze = false;
1083
1084     if ( clock_freeze->getBoolValue() ) {
1085         // clock freeze requested
1086         if ( cur_time_override->getLongValue() == 0 ) {
1087             fgSetLong( "/sim/time/cur-time-override", t->get_cur_time() );
1088             globals->set_warp( 0 );
1089         }
1090     } else {
1091         // no clock freeze requested
1092         if ( last_clock_freeze == true ) {
1093             // clock just unfroze, let's set warp as the difference
1094             // between frozen time and current time so we don't get a
1095             // time jump (and corresponding sky object and lighting
1096             // jump.)
1097             globals->set_warp( cur_time_override->getLongValue() - time(NULL) );
1098             fgSetLong( "/sim/time/cur-time-override", 0 );
1099         }
1100         if ( globals->get_warp_delta() != 0 ) {
1101             globals->inc_warp( globals->get_warp_delta() );
1102         }
1103     }
1104
1105     last_clock_freeze = clock_freeze->getBoolValue();
1106
1107     t->update( longitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
1108                latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
1109                cur_time_override->getLongValue(),
1110                globals->get_warp() );
1111
1112     if ( globals->get_warp_delta() != 0 ) {
1113         fgUpdateSkyAndLightingParams();
1114     }
1115
1116     // update magvar model
1117     globals->get_mag()->update( longitude->getDoubleValue()
1118                                   * SGD_DEGREES_TO_RADIANS,
1119                                 latitude->getDoubleValue()
1120                                   * SGD_DEGREES_TO_RADIANS,
1121                                 altitude->getDoubleValue() * SG_FEET_TO_METER,
1122                                 globals->get_time_params()->getJD() );
1123
1124     // Get elapsed time (in usec) for this past frame
1125     elapsed = fgGetTimeInterval();
1126     SG_LOG( SG_ALL, SG_DEBUG,
1127             "Elapsed time interval is = " << elapsed
1128             << ", previous remainder is = " << remainder );
1129
1130     // Calculate frame rate average
1131 #ifdef FANCY_FRAME_COUNTER
1132     /* old fps calculation */
1133     if ( elapsed > 0 ) {
1134         double tmp;
1135         accum = 0.0;
1136         for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
1137             tmp = general.get_frame(i);
1138             accum += tmp;
1139             // printf("frame[%d] = %.2f\n", i, g->frames[i]);
1140             general.set_frame(i+1,tmp);
1141         }
1142         tmp = 1000000.0 / (float)elapsed;
1143         general.set_frame(0,tmp);
1144         // printf("frame[0] = %.2f\n", general.frames[0]);
1145         accum += tmp;
1146         general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
1147         // printf("ave = %.2f\n", general.frame_rate);
1148     }
1149 #else
1150     if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
1151         general.set_frame_rate( frames );
1152         SG_LOG( SG_ALL, SG_DEBUG,
1153                 "--> Frame rate is = " << general.get_frame_rate() );
1154         frames = 0;
1155     }
1156     last_time = t->get_cur_time();
1157     ++frames;
1158 #endif
1159
1160     // Run flight model
1161
1162     // Calculate model iterations needed for next frame
1163     elapsed += remainder;
1164
1165     global_multi_loop = (long)(((double)elapsed * 0.000001) *
1166                               fgGetInt("/sim/model-hz"));
1167     remainder = elapsed - ( (global_multi_loop*1000000) /
1168                             fgGetInt("/sim/model-hz") );
1169     SG_LOG( SG_ALL, SG_DEBUG,
1170             "Model iterations needed = " << global_multi_loop
1171             << ", new remainder = " << remainder );
1172
1173     // chop max interations to something reasonable if the sim was
1174     // delayed for an excesive amount of time
1175     if ( global_multi_loop > 2.0 * fgGetInt("/sim/model-hz") ) {
1176         global_multi_loop = (int)(2.0 * fgGetInt("/sim/model-hz") );
1177         remainder = 0;
1178     }
1179
1180     // flight model
1181     if ( global_multi_loop > 0 ) {
1182         fgUpdateTimeDepCalcs();
1183     } else {
1184         SG_LOG( SG_ALL, SG_DEBUG,
1185                 "Elapsed time is zero ... we're zinging" );
1186     }
1187
1188 #if ! defined( macintosh )
1189     // Do any I/O channel work that might need to be done
1190     fgIOProcess();
1191 #endif
1192
1193     // see if we need to load any new scenery tiles
1194     global_tile_mgr.update( longitude->getDoubleValue(),
1195                             latitude->getDoubleValue() );
1196
1197     // see if we need to load any deferred-load textures
1198     material_lib.load_next_deferred();
1199
1200     // Process/manage pending events
1201     global_events.Process();
1202
1203     // Run audio scheduler
1204 #ifdef ENABLE_AUDIO_SUPPORT
1205     if ( fgGetBool("/sim/sound") && globals->get_soundmgr()->is_working() ) {
1206         globals->get_fx()->update(1); // FIXME: use dt
1207         globals->get_soundmgr()->update(1); // FIXME: use dt
1208     }
1209 #endif
1210
1211     // redraw display
1212     fgRenderFrame();
1213
1214     SG_LOG( SG_ALL, SG_DEBUG, "" );
1215 }
1216
1217
1218 // This is the top level master main function that is registered as
1219 // our idle funciton
1220 //
1221
1222 // The first few passes take care of initialization things (a couple
1223 // per pass) and once everything has been initialized fgMainLoop from
1224 // then on.
1225
1226 static void fgIdleFunction ( void ) {
1227     // printf("idle state == %d\n", idle_state);
1228
1229     if ( idle_state == 0 ) {
1230         // Initialize the splash screen right away
1231         if ( fgGetBool("/sim/startup/splash-screen") ) {
1232             fgSplashInit();
1233         }
1234
1235         idle_state++;
1236     } else if ( idle_state == 1 ) {
1237         // Initialize audio support
1238 #ifdef ENABLE_AUDIO_SUPPORT
1239
1240         // Start the intro music
1241         if ( fgGetBool("/sim/startup/intro-music") ) {
1242             SGPath mp3file( globals->get_fg_root() );
1243             mp3file.append( "Sounds/intro.mp3" );
1244
1245             SG_LOG( SG_GENERAL, SG_INFO,
1246                     "Starting intro music: " << mp3file.str() );
1247
1248 #if defined( __CYGWIN__ )
1249             string command = "start /m `cygpath -w " + mp3file.str() + "`";
1250 #elif defined( WIN32 )
1251             string command = "start /m " + mp3file.str();
1252 #else
1253             string command = "mpg123 " + mp3file.str() + "> /dev/null 2>&1";
1254 #endif
1255
1256             system ( command.c_str() );
1257         }
1258
1259 #endif
1260
1261         idle_state++;
1262     } else if ( idle_state == 2 ) {
1263         // These are a few miscellaneous things that aren't really
1264         // "subsystems" but still need to be initialized.
1265
1266 #ifdef USE_GLIDE
1267         if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1268             grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1269         }
1270 #endif
1271
1272         idle_state++;
1273     } else if ( idle_state == 3 ) {
1274         // This is the top level init routine which calls all the
1275         // other subsystem initialization routines.  If you are adding
1276         // a subsystem to flightgear, its initialization call should
1277         // located in this routine.
1278         if( !fgInitSubsystems()) {
1279             SG_LOG( SG_GENERAL, SG_ALERT,
1280                     "Subsystem initializations failed ..." );
1281             exit(-1);
1282         }
1283
1284         idle_state++;
1285     } else if ( idle_state == 4 ) {
1286         // setup OpenGL view parameters
1287         fgInitVisuals();
1288
1289         idle_state++;
1290     } else if ( idle_state == 5 ) {
1291
1292         idle_state++;
1293     } else if ( idle_state == 6 ) {
1294         // sleep(1);
1295         idle_state = 1000;
1296
1297         cout << "Panel visible = " << fgPanelVisible() << endl;
1298         fgReshape( fgGetInt("/sim/startup/xsize"),
1299                    fgGetInt("/sim/startup/ysize") );
1300     }
1301
1302     if ( idle_state == 1000 ) {
1303         // We've finished all our initialization steps, from now on we
1304         // run the main loop.
1305
1306         fgMainLoop();
1307     } else {
1308         if ( fgGetBool("/sim/startup/splash-screen") ) {
1309             fgSplashUpdate(0.0);
1310         }
1311     }
1312 }
1313
1314 // options.cxx needs to see this for toggle_panel()
1315 // Handle new window size or exposure
1316 void fgReshape( int width, int height ) {
1317     int view_h;
1318
1319     if ( fgPanelVisible() && idle_state == 1000 ) {
1320         view_h = (int)(height * (current_panel->getViewHeight() -
1321                                  current_panel->getYOffset()) / 768.0);
1322     } else {
1323         view_h = height;
1324     }
1325
1326     // for all views
1327     for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
1328         globals->get_viewmgr()->get_view(i)->
1329             set_aspect_ratio((float)view_h / (float)width);
1330     }
1331
1332     glViewport( 0, (GLint)(height - view_h), (GLint)(width), (GLint)(view_h) );
1333
1334     fgSetInt("/sim/startup/xsize", width);
1335     fgSetInt("/sim/startup/ysize", height);
1336     guiInitMouse(width, height);
1337
1338     ssgSetFOV( globals->get_current_view()->get_h_fov(),
1339                globals->get_current_view()->get_v_fov() );
1340
1341     fgHUDReshape();
1342 }
1343
1344
1345 // Initialize GLUT and define a main window
1346 int fgGlutInit( int *argc, char **argv ) {
1347
1348 #if !defined( macintosh )
1349     // GLUT will extract all glut specific options so later on we only
1350     // need wory about our own.
1351     glutInit(argc, argv);
1352 #endif
1353
1354     // Define Display Parameters
1355     glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1356
1357     SG_LOG( SG_GENERAL, SG_INFO, "Opening a window: " <<
1358             fgGetInt("/sim/startup/xsize") << "x"
1359             << fgGetInt("/sim/startup/ysize") );
1360
1361     // Define initial window size
1362     glutInitWindowSize( fgGetInt("/sim/startup/xsize"),
1363                         fgGetInt("/sim/startup/ysize") );
1364
1365     // Initialize windows
1366     if ( !fgGetBool("/sim/startup/game-mode")) {
1367         // Open the regular window
1368         glutCreateWindow("FlightGear");
1369 #ifndef GLUT_WRONG_VERSION
1370     } else {
1371         // Open the cool new 'game mode' window
1372         char game_mode_str[256];
1373         sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1374                  fgGetInt("/sim/startup/xsize"),
1375                  fgGetInt("/sim/startup/ysize"),
1376                  fgGetInt("/sim/rendering/bits-per-pixel"));
1377
1378         SG_LOG( SG_GENERAL, SG_INFO,
1379                 "game mode params = " << game_mode_str );
1380         glutGameModeString( game_mode_str );
1381         glutEnterGameMode();
1382 #endif
1383     }
1384
1385     // This seems to be the absolute earliest in the init sequence
1386     // that these calls will return valid info.  Too bad it's after
1387     // we've already created and sized out window. :-(
1388     general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1389     general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1390     general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1391     SG_LOG( SG_GENERAL, SG_INFO, general.get_glRenderer() );
1392
1393     GLint tmp;
1394     glGetIntegerv( GL_MAX_TEXTURE_SIZE, &tmp );
1395     general.set_glMaxTexSize( tmp );
1396     SG_LOG ( SG_GENERAL, SG_INFO, "Max texture size = " << tmp );
1397
1398     glGetIntegerv( GL_DEPTH_BITS, &tmp );
1399     general.set_glDepthBits( tmp );
1400     SG_LOG ( SG_GENERAL, SG_INFO, "Depth buffer bits = " << tmp );
1401
1402     return 1;
1403 }
1404
1405
1406 // Initialize GLUT event handlers
1407 int fgGlutInitEvents( void ) {
1408     // call fgReshape() on window resizes
1409     glutReshapeFunc( fgReshape );
1410
1411     // call GLUTkey() on keyboard event
1412     glutKeyboardFunc(GLUTkey);
1413     glutKeyboardUpFunc(GLUTkeyup);
1414     glutSpecialFunc(GLUTspecialkey);
1415     glutSpecialUpFunc(GLUTspecialkeyup);
1416
1417     // call guiMouseFunc() whenever our little rodent is used
1418     glutMouseFunc ( guiMouseFunc );
1419     glutMotionFunc (guiMotionFunc );
1420     glutPassiveMotionFunc (guiMotionFunc );
1421
1422     // call fgMainLoop() whenever there is
1423     // nothing else to do
1424     glutIdleFunc( fgIdleFunction );
1425
1426     // draw the scene
1427     glutDisplayFunc( fgRenderFrame );
1428
1429     return 1;
1430 }
1431
1432
1433 // Main loop
1434 int mainLoop( int argc, char **argv ) {
1435
1436 #if defined( macintosh )
1437     freopen ("stdout.txt", "w", stdout );
1438     freopen ("stderr.txt", "w", stderr );
1439     argc = ccommand( &argv );
1440 #endif
1441
1442     // set default log levels
1443     sglog().setLogLevels( SG_ALL, SG_INFO );
1444
1445     string version;
1446 #ifdef FLIGHTGEAR_VERSION
1447     version = FLIGHTGEAR_VERSION;
1448 #else
1449     version = "unknown version";
1450 #endif
1451     SG_LOG( SG_GENERAL, SG_INFO, "FlightGear:  Version "
1452             << version << endl );
1453
1454     // Allocate global data structures.  This needs to happen before
1455     // we parse command line options
1456
1457     globals = new FGGlobals;
1458
1459     // seed the random number generater
1460     sg_srandom_time();
1461
1462     SGRoute *route = new SGRoute;
1463     globals->set_route( route );
1464
1465     FGControls *controls = new FGControls;
1466     globals->set_controls( controls );
1467
1468     FGViewMgr *viewmgr = new FGViewMgr;
1469     globals->set_viewmgr( viewmgr );
1470
1471     FGViewerRPH *pv = new FGViewerRPH;
1472     globals->get_viewmgr()->add_view( pv );
1473
1474     FGViewerLookAt *chase = new FGViewerLookAt;
1475     globals->get_viewmgr()->add_view( chase );
1476
1477     string_list *col = new string_list;
1478     globals->set_channel_options_list( col );
1479
1480     // set current view to 0 (first) which is our main pilot view
1481     globals->set_current_view( globals->get_viewmgr()->get_view( 0 ) );
1482
1483     // Scan the config file(s) and command line options to see if
1484     // fg_root was specified (ignore all other options for now)
1485     fgInitFGRoot(argc, argv);
1486
1487     // Check for the correct base package version
1488     string base_version = fgBasePackageVersion();
1489     if ( !(base_version == "0.7.9") ) {
1490         // tell the operator how to use this application
1491         fgUsage();
1492
1493         SG_LOG( SG_GENERAL, SG_ALERT, "Base package check failed ... "
1494                 << "Found version " << base_version );
1495         SG_LOG( SG_GENERAL, SG_ALERT, "Please upgrade to version 0.7.9" );
1496         exit(-1);
1497     }
1498
1499     // Initialize the Aircraft directory to "" (UIUC)
1500     aircraft_dir = "";
1501
1502     // Load the configuration parameters
1503     if ( !fgInitConfig(argc, argv) ) {
1504         SG_LOG( SG_GENERAL, SG_ALERT, "Config option parsing failed ..." );
1505         exit(-1);
1506     }
1507
1508     // Initialize the Window/Graphics environment.
1509     if( !fgGlutInit(&argc, argv) ) {
1510         SG_LOG( SG_GENERAL, SG_ALERT, "GLUT initialization failed ..." );
1511         exit(-1);
1512     }
1513
1514     // Initialize the various GLUT Event Handlers.
1515     if( !fgGlutInitEvents() ) {
1516         SG_LOG( SG_GENERAL, SG_ALERT,
1517                 "GLUT event handler initialization failed ..." );
1518         exit(-1);
1519     }
1520
1521     // Initialize plib net interface
1522     netInit( &argc, argv );
1523
1524     // Initialize ssg (from plib).  Needs to come before we do any
1525     // other ssg stuff, but after opengl/glut has been initialized.
1526     ssgInit();
1527
1528     // Initialize the user interface (we need to do this before
1529     // passing off control to glut and before fgInitGeneral to get our
1530     // fonts !!!
1531     guiInit();
1532
1533 #ifdef GL_EXT_texture_lod_bias
1534     glTexEnvf( GL_TEXTURE_FILTER_CONTROL_EXT, GL_TEXTURE_LOD_BIAS_EXT, -0.5 ) ;
1535 #endif
1536
1537     // set current_options lon/lat if an airport id is specified
1538     // cout << "3. airport_id = " << fgGetString("/sim/startup/airport-id") << endl;
1539     if ( fgGetString("/sim/startup/airport-id").length() ) {
1540         // fgSetPosFromAirportID( fgGetString("/sim/startup/airport-id") );
1541         fgSetPosFromAirportIDandHdg( fgGetString("/sim/startup/airport-id"),
1542                                      fgGetDouble("/orientation/heading-deg") );
1543     }
1544
1545     SGTime *t = fgInitTime();
1546     globals->set_time_params( t );
1547
1548     // Do some quick general initializations
1549     if( !fgInitGeneral()) {
1550         SG_LOG( SG_GENERAL, SG_ALERT,
1551                 "General initializations failed ..." );
1552         exit(-1);
1553     }
1554
1555     SGPath modelpath( globals->get_fg_root() );
1556     ssgModelPath( (char *)modelpath.c_str() );
1557
1558     // Scene graph root
1559     scene = new ssgRoot;
1560     scene->setName( "Scene" );
1561
1562     lighting = new ssgRoot;
1563     lighting->setName( "Lighting" );
1564
1565     // Initialize the sky
1566     SGPath ephem_data_path( globals->get_fg_root() );
1567     ephem_data_path.append( "Astro" );
1568     SGEphemeris *ephem = new SGEphemeris( ephem_data_path.c_str() );
1569     ephem->update( globals->get_time_params()->getMjd(),
1570                    globals->get_time_params()->getLst(),
1571                    0.0 );
1572     globals->set_ephem( ephem );
1573
1574     thesky = new SGSky;
1575
1576     SGPath sky_tex_path( globals->get_fg_root() );
1577     sky_tex_path.append( "Textures" );
1578     sky_tex_path.append( "Sky" );
1579     thesky->texture_path( sky_tex_path.str() );
1580
1581     thesky->build( 550.0, 550.0,
1582                    globals->get_ephem()->getNumPlanets(),
1583                    globals->get_ephem()->getPlanets(), 60000.0,
1584                    globals->get_ephem()->getNumStars(),
1585                    globals->get_ephem()->getStars(), 60000.0 );
1586
1587     if ( fgGetBool("/environment/clouds/status") ) {
1588         // thesky->add_cloud_layer( 2000.0, 200.0, 50.0, 40000.0,
1589         //                          SG_CLOUD_OVERCAST );
1590         thesky->add_cloud_layer( fgGetDouble("/environment/clouds/altitude-ft") *
1591                                  SG_FEET_TO_METER,
1592                                  200.0, 50.0, 40000.0,
1593                                  SG_CLOUD_MOSTLY_CLOUDY );
1594         // thesky->add_cloud_layer( 3000.0, 200.0, 50.0, 40000.0,
1595         //                          SG_CLOUD_MOSTLY_SUNNY );
1596         thesky->add_cloud_layer( 6000.0, 20.0, 10.0, 40000.0,
1597                                  SG_CLOUD_CIRRUS );
1598     }
1599
1600     // Initialize MagVar model
1601     SGMagVar *magvar = new SGMagVar();
1602     globals->set_mag( magvar );
1603
1604     // Terrain branch
1605     terrain = new ssgBranch;
1606     terrain->setName( "Terrain" );
1607     scene->addKid( terrain );
1608
1609     // Lighting
1610     ground = new ssgBranch;
1611     ground->setName( "Ground Lighting" );
1612     lighting->addKid( ground );
1613
1614     airport = new ssgBranch;
1615     airport->setName( "Airport Lighting" );
1616     lighting->addKid( airport );
1617
1618     // ADA
1619     fgLoadDCS();
1620     // ADA
1621
1622     // temporary visible aircraft "own ship"
1623     acmodel_selector = new ssgSelector;
1624     acmodel_pos = new ssgTransform;
1625
1626     ssgEntity *acmodel_obj = NULL;
1627     if (fgGetString("/sim/flight-model") == "ada") {
1628         // ada exteranl aircraft model loading
1629         if( !ship_pos[0]->getKid(0) ) {
1630             // fall back to default
1631             ssgEntity *acmodel_obj = ssgLoad( (char *)"glider.ac" );
1632             if( !acmodel_obj ) {
1633                 SG_LOG( SG_GENERAL, SG_ALERT, "FAILED to LOAD an AC model! ..." );
1634                 exit(-1);
1635             }
1636             acmodel_pos->addKid( acmodel_obj );
1637         } else {
1638             acmodel_obj = ship_pos[0]->getKid(0);
1639         }
1640     } else {
1641         // default aircraft model loading
1642
1643         // Get the model location, and load textures from the same
1644         // directory.  Use an absolute path for the model to avoid
1645         // incompatibilities in different versions of PLIB.
1646         string acmodel_path =
1647             fgGetString("/sim/model/path", "Models/Geometry/glider.ac");
1648         SGPath full_model = globals->get_fg_root();
1649         full_model.append(acmodel_path);
1650
1651         ssgTexturePath( (char *)full_model.dir().c_str() );
1652         acmodel_obj = ssgLoad( (char *)full_model.c_str() );
1653         if( !acmodel_obj ) {
1654             // fall back to default
1655             acmodel_obj = ssgLoad( (char *)"Models/Geometry/glider.ac" );
1656             if( !acmodel_obj ) {
1657                 SG_LOG( SG_GENERAL, SG_ALERT, "FAILED to LOAD an AC model! ..." );
1658                 exit(-1);
1659             }
1660         }
1661     }
1662
1663     // find moving parts (if this is an MDL model)
1664     flaps_selector = (ssgSelector*)fgFindNode( acmodel_obj, "FLAPS" );
1665     prop_selector  = (ssgSelector*)fgFindNode( acmodel_obj, "PROP"  );
1666
1667     acmodel_npropsettings = 0;
1668     if (prop_selector != NULL) {
1669       for (ssgEntity* kid = prop_selector->getKid(0); kid != NULL;
1670            kid = prop_selector->getNextKid()) {
1671         int prop_low, prop_high;
1672         if ( sscanf(kid->getName(), "PROP_%d_%d",
1673                     &prop_low, &prop_high) == 2 ) {
1674           prop_low  = (int)((float)prop_low  * (5000.0f / 32767.0f));
1675           prop_high = (int)((float)prop_high * (5000.0f / 32767.0f));
1676           acmodel_proprpms[acmodel_npropsettings][0] = prop_low ;
1677           acmodel_proprpms[acmodel_npropsettings][1] = prop_high;
1678           acmodel_npropsettings++;
1679
1680           SG_LOG( SG_GENERAL, SG_INFO, "PROPELLER SETTING " << prop_low <<
1681                   " " << prop_high );
1682         }
1683       }
1684     }
1685
1686     // align the model properly for FGFS
1687     ssgTransform *acmodel_align = new ssgTransform;
1688     acmodel_align->addKid(acmodel_obj);
1689     sgMat4 rot_matrix;
1690     sgMat4 off_matrix;
1691     sgMat4 res_matrix;
1692     float h_rot = fgGetFloat("/sim/model/heading-offset-deg", 0.0);
1693     float p_rot = fgGetFloat("/sim/model/roll-offset-deg", 0.0);
1694     float r_rot = fgGetFloat("/sim/model/pitch-offset-deg", 0.0);
1695     float x_off = fgGetFloat("/sim/model/x-offset-m", 0.0);
1696     float y_off = fgGetFloat("/sim/model/y-offset-m", 0.0);
1697     float z_off = fgGetFloat("/sim/model/z-offset-m", 0.0);
1698     sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
1699     sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
1700     sgMultMat4(res_matrix, off_matrix, rot_matrix);
1701     acmodel_align->setTransform(res_matrix);
1702
1703     acmodel_pos->addKid( acmodel_align );
1704     acmodel_selector->addKid( acmodel_pos );
1705     //ssgFlatten( acmodel_obj );
1706     //ssgStripify( acmodel_selector );
1707     acmodel_selector->clrTraversalMaskBits( SSGTRAV_HOT );
1708     scene->addKid( acmodel_selector );
1709
1710 #ifdef FG_NETWORK_OLK
1711     // Do the network intialization
1712     if ( fgGetBool("/sim/networking/network-olk") ) {
1713         printf("Multipilot mode %s\n", fg_net_init( scene ) );
1714     }
1715 #endif
1716
1717     // build our custom render states
1718     fgBuildRenderStates();
1719
1720     // pass control off to the master GLUT event handler
1721     glutMainLoop();
1722
1723     // we never actually get here ... but to avoid compiler warnings,
1724     // etc.
1725     return 0;
1726 }
1727
1728
1729 // $$$ end - added VS Renganathan, 15 Oct 2K
1730 //         - added Venky         , 12 Nov 2K
1731
1732 #if defined(__linux__) && defined(__i386__)
1733
1734 static void handleFPE (int);
1735
1736 static void
1737 initFPE ()
1738 {
1739     fpu_control_t fpe_flags = 0;
1740     _FPU_GETCW(fpe_flags);
1741 //     fpe_flags &= ~_FPU_MASK_IM;      // invalid operation
1742 //     fpe_flags &= ~_FPU_MASK_DM;      // denormalized operand
1743 //     fpe_flags &= ~_FPU_MASK_ZM;      // zero-divide
1744 //     fpe_flags &= ~_FPU_MASK_OM;      // overflow
1745 //     fpe_flags &= ~_FPU_MASK_UM;      // underflow
1746 //     fpe_flags &= ~_FPU_MASK_PM;      // precision (inexact result)
1747     _FPU_SETCW(fpe_flags);
1748     signal(SIGFPE, handleFPE);
1749 }
1750
1751 static void
1752 handleFPE (int num)
1753 {
1754   initFPE();
1755   SG_LOG(SG_GENERAL, SG_ALERT, "Floating point interrupt (SIGFPE)");
1756 }
1757 #endif
1758
1759 // Main entry point; catch any exceptions that have made it this far.
1760 int main ( int argc, char **argv ) {
1761
1762     // Enable floating-point exceptions for Linux/x86
1763 #if defined(__linux__) && defined(__i386__)
1764     initFPE();
1765 #endif
1766
1767     // Enable floating-point exceptions for Windows
1768 #if defined( _MSC_VER ) && defined( DEBUG )
1769     // Christian, we should document what this does
1770     _control87( _EM_INEXACT, _MCW_EM );
1771 #endif
1772
1773 #if defined( HAVE_BC5PLUS )
1774     _control87(MCW_EM, MCW_EM);  /* defined in float.h */
1775 #endif
1776
1777     // FIXME: add other, more specific
1778     // exceptions.
1779     try {
1780         mainLoop(argc, argv);
1781     } catch (sg_throwable &t) {
1782         SG_LOG(SG_GENERAL, SG_ALERT,
1783                "Fatal error: " << t.getFormattedMessage()
1784                << "\n (received from " << t.getOrigin() << ')');
1785         exit(1);
1786     }
1787
1788     return 0;
1789 }
1790
1791
1792 void fgLoadDCS(void) {
1793
1794     ssgEntity *ship_obj = NULL;
1795
1796     char obj_filename[25];
1797
1798     for ( int k = 0; k < 32; k++ ) {
1799         ship_pos[k]=NULL;
1800     }
1801
1802     SGPath tile_path( globals->get_fg_root());
1803     tile_path.append( "Scenery" );
1804     tile_path.append( "Objects.txt" );
1805     sg_gzifstream in( tile_path.str() );
1806     if ( ! in.is_open() ) {
1807         SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: " << tile_path.str() );
1808     } else {
1809
1810         SGPath modelpath( globals->get_fg_root() );
1811         modelpath.append( "Models" );
1812         modelpath.append( "Geometry" );
1813
1814         SGPath texturepath( globals->get_fg_root() );
1815         texturepath.append( "Models" );
1816         texturepath.append( "Textures" );
1817
1818         ssgModelPath( (char *)modelpath.c_str() );
1819         ssgTexturePath( (char *)texturepath.c_str() );
1820
1821         ship_sel = new ssgSelector;
1822
1823         char c;
1824         while ( ! in.eof() ) {
1825             in >> ::skipws;
1826             if ( in.get( c ) && c == '#' ) {
1827                 in >> skipeol;
1828             } else {
1829                 in.putback(c);
1830                 in >> obj_filename >> obj_lat[objc] >> obj_lon[objc] >> obj_alt[objc];
1831                 /* cout << endl << obj_filename << " " << obj_lat[objc] << " " << obj_lon[objc] <<  " " << obj_alt[objc] << endl;
1832                    int chj=getchar();*/
1833
1834                 obj_lon[objc] *=SGD_DEGREES_TO_RADIANS;
1835                 obj_lat[objc] *=SGD_DEGREES_TO_RADIANS;
1836
1837                 ship_pos[objc] = new ssgTransform;
1838
1839                 // type "repeat" in objects.txt to load one more
1840                 // instance of the last object.
1841
1842                 if ( strcmp(obj_filename,"repeat") != 0) {
1843                     ship_obj = ssgLoad( obj_filename );
1844                 }
1845
1846                 if ( ship_obj != NULL ) {
1847                                         ship_obj->setName(obj_filename);
1848                                 if (objc == 0)
1849                                                 ship_obj->clrTraversalMaskBits( SSGTRAV_HOT );
1850                                         else
1851                                                 ship_obj->setTraversalMaskBits( SSGTRAV_HOT );
1852                     ship_pos[objc]->addKid( ship_obj ); // add object to transform node
1853                     ship_sel->addKid( ship_pos[objc] ); // add transform node to selector
1854                     SG_LOG( SG_TERRAIN, SG_ALERT, "Loaded file: "
1855                             << obj_filename );
1856                 } else {
1857                     SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: "
1858                             << obj_filename );
1859                 }
1860
1861                                 // temporary hack for deck lights - ultimately should move to PLib (when??)
1862                                 //const char *extn = file_extension ( obj_filename ) ;
1863                                 if ( objc == 1 ){
1864                                     ssgVertexArray *lights = new ssgVertexArray( 100 );
1865                                         ssgVertexArray *lightpoints = new ssgVertexArray( 100 );
1866                                         ssgVertexArray *lightnormals = new ssgVertexArray( 100 );
1867                                         ssgVertexArray *lightdir = new ssgVertexArray( 100 );
1868                                         int ltype[500], light_type;
1869                                         static int ltcount = 0;
1870                                     string token;
1871                                         sgVec3 rway_dir,rway_normal,lightpt;
1872                                         Point3D node;
1873                                         modelpath.append(obj_filename);
1874                                         sg_gzifstream in1( modelpath.str() );
1875                                         if ( ! in1.is_open() ) {
1876                                                 SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: " << modelpath.str() );
1877                                         } else {
1878                                                 while ( ! in1.eof() ) {
1879                                                         in1 >> ::skipws;
1880                                                         if ( in1.get( c ) && c == '#' ) {
1881                                                                 in1 >> skipeol;
1882                                                         } else {
1883                                                                 in1.putback(c);
1884                                                                 in1 >> token;
1885                                                                 //cout << token << endl;
1886                                                                 if ( token == "runway" ) {
1887                                                                         in1 >> node;
1888                                                                         sgSetVec3 (rway_dir, node[0], node[1], node[2] );
1889                                                                 } else if ( token == "edgelight" ) {
1890                                                                         in1 >> node;
1891                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1892                                                                         light_type = 1;
1893                                                                 } else if ( token == "taxi" ) {
1894                                                                         in1 >> node;
1895                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1896                                                                         light_type = 2;
1897                                                                 } else if ( token == "vasi" ) {
1898                                                                         in1 >> node;
1899                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1900                                                                         light_type = 3;
1901                                                                 } else if ( token == "threshold" ) {
1902                                                                         in1 >> node;
1903                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1904                                                                         light_type = 4;
1905                                                                 } else if ( token == "rabbit" ) {
1906                                                                         in1 >> node;
1907                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1908                                                                         light_type = 5;
1909                                                                 } else if ( token == "ols" ) {
1910                                                                         in1 >> node;
1911                                                                         sgSetVec3 (rway_ols, node[0], node[1], node[2] );
1912                                                                         light_type = 6;
1913                                                                 } else if ( token == "red" ) {
1914                                                                         in1 >> node;
1915                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1916                                                                         light_type = 7;
1917                                                                 } else if ( token == "green" ) {
1918                                                                         in1 >> node;
1919                                                                         sgSetVec3 (rway_normal, node[0], node[1], node[2] );
1920                                                                         light_type = 8;
1921                                                                 } else if ( token == "lp" ) {
1922                                                                         in1 >> node;
1923                                                                         sgSetVec3 (lightpt, node[0], node[1], node[2] );
1924                                                                         lightpoints->add( lightpt );
1925                                                                         lightnormals->add( rway_normal );
1926                                                                         lightdir->add( rway_dir );
1927                                                                         ltype[ltcount]= light_type;
1928                                                                         ltcount++;
1929                                                                 }
1930                                                                 if (in1.eof()) break;
1931                                                         }
1932                                                 }  //while
1933
1934                                                 if ( lightpoints->getNum() ) {
1935                                                         ssgBranch *lightpoints_branch;
1936                                                         long int dummy = -999;
1937                                                         dummy_tile = new FGTileEntry((SGBucket)dummy);
1938                                                         dummy_tile->lightmaps_sequence = new ssgSelector;
1939                                                         dummy_tile->ols_transform = new ssgTransform;
1940
1941                                                         // call function to generate the runway lights
1942                                                         lightpoints_branch =
1943                                                         dummy_tile->gen_runway_lights( lightpoints, lightnormals,
1944                                                                                                                                 lightdir, ltype);
1945                                                         lightpoints_brightness->addKid(lightpoints_branch);
1946                                                         lightpoints_transform->addKid(lightpoints_brightness);
1947                                                     //dummy_tile->lightmaps_sequence->setTraversalMaskBits( SSGTRAV_HOT );
1948                                                         lightpoints_transform->addKid( dummy_tile->lightmaps_sequence );
1949                                                         lightpoints_transform->ref();
1950                                                         ground->addKid( lightpoints_transform );
1951                                                 }
1952                                         } //if in1
1953                 } //if objc
1954                                 // end hack for deck lights
1955
1956                 objc++;
1957
1958                 if (in.eof()) break;
1959             }
1960         } // while
1961
1962         SG_LOG ( SG_TERRAIN, SG_ALERT, "Finished object processing." );
1963
1964         terrain->addKid( ship_sel ); //add selector node to root node
1965     }
1966
1967     return;
1968  }
1969
1970
1971 void fgUpdateDCS (void) {
1972
1973     // double eye_lat,eye_lon,eye_alt;
1974     // static double obj_head;
1975     double sl_radius,obj_latgc;
1976     // float nresultmat[4][4];
1977     // sgMat4 Trans,rothead,rotlon,rot180,rotlat,resultmat1,resultmat2,resultmat3;
1978     double bz[3];
1979
1980     // Instantaneous Geodetic Lat/Lon/Alt of moving object
1981     FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
1982
1983     // Deck should be the first object in objects.txt in case of fdm=ada
1984
1985     if (fgGetString("/sim/flight-model") == "ada") {
1986                 if ((fdm->get_iaux(1))==1)
1987                 {
1988                         obj_lat[1] = fdm->get_daux(1)*SGD_DEGREES_TO_RADIANS;
1989                         obj_lon[1] = fdm->get_daux(2)*SGD_DEGREES_TO_RADIANS;
1990                         obj_alt[1] = fdm->get_daux(3);
1991                         obj_pitch[1] = fdm->get_faux(1);
1992                         obj_roll[1] = fdm->get_faux(2);
1993                 }
1994     }
1995
1996     for ( int m = 0; m < objc; m++ ) {
1997         //cout << endl <<  obj_lat[m]*SGD_RADIANS_TO_DEGREES << " " << obj_lon[m]*SGD_RADIANS_TO_DEGREES << " " << obj_alt[m] << " " << objc << endl;
1998         //int v=getchar();
1999
2000         //Geodetic to Geocentric angles for rotation
2001         sgGeodToGeoc(obj_lat[m],obj_alt[m],&sl_radius,&obj_latgc);
2002
2003         //moving object gbs-posn in cartesian coords
2004         Point3D obj_posn = Point3D( obj_lon[m],obj_lat[m],obj_alt[m]);
2005         Point3D obj_pos = sgGeodToCart( obj_posn );
2006
2007         // Translate moving object w.r.t eye
2008         Point3D Objtrans = obj_pos-scenery.get_center();
2009         bz[0]=Objtrans.x();
2010         bz[1]=Objtrans.y();
2011         bz[2]=Objtrans.z();
2012
2013        // rotate dynamic objects for lat,lon & alt and other motion about its axes
2014
2015         sgMat4 sgTRANS;
2016         sgMakeTransMat4( sgTRANS, bz[0],bz[1],bz[2]);
2017
2018         sgVec3 ship_fwd,ship_rt,ship_up;
2019         sgSetVec3( ship_fwd, 1.0, 0.0, 0.0);//east,roll
2020         sgSetVec3( ship_rt, 0.0, 1.0, 0.0);//up,pitch
2021         sgSetVec3( ship_up, 0.0, 0.0, 1.0); //north,yaw
2022
2023         sgMat4 sgROT_lon, sgROT_lat, sgROT_hdg, sgROT_pitch, sgROT_roll;
2024         sgMakeRotMat4( sgROT_lon, obj_lon[m]*SGD_RADIANS_TO_DEGREES, ship_up );
2025         sgMakeRotMat4( sgROT_lat, 90-obj_latgc*SGD_RADIANS_TO_DEGREES, ship_rt );
2026         sgMakeRotMat4( sgROT_hdg, 180.0, ship_up );
2027         sgMakeRotMat4( sgROT_pitch, obj_pitch[m], ship_rt );
2028         sgMakeRotMat4( sgROT_roll, obj_roll[m], ship_fwd );
2029
2030         sgMat4 sgTUX;
2031         sgCopyMat4( sgTUX, sgROT_hdg );
2032         sgPostMultMat4( sgTUX, sgROT_pitch );
2033         sgPostMultMat4( sgTUX, sgROT_roll );
2034         sgPostMultMat4( sgTUX, sgROT_lat );
2035         sgPostMultMat4( sgTUX, sgROT_lon );
2036         sgPostMultMat4( sgTUX, sgTRANS );
2037
2038         sgCoord shippos;
2039         sgSetCoord(&shippos, sgTUX );
2040         ship_pos[m]->setTransform( &shippos );
2041         // temporary hack for deck lights - ultimately should move to PLib (when ??)
2042         if (m == 1) {
2043                 if (lightpoints_transform) {
2044                         lightpoints_transform->setTransform( &shippos );
2045                         float sun_angle = cur_light_params.sun_angle * SGD_RADIANS_TO_DEGREES;
2046                         if ( sun_angle > 89 ) {
2047                                 lightpoints_brightness->select(0x01);
2048                         } else {
2049                                 lightpoints_brightness->select(0x00);
2050                         }
2051                 }
2052
2053                 float elev;
2054                 sgVec3 rp,to;
2055                 float *vp;
2056                 float alt;
2057                 float ref_elev;
2058                 sgXformPnt3( rp, rway_ols, sgTUX );
2059                 vp = globals->get_current_view()->get_view_pos();
2060             to[0] = rp[0]-vp[0];
2061             to[1] = rp[1]-vp[1];
2062             to[2] = rp[2]-vp[2];
2063                 float dist = sgLengthVec3( to );
2064                 alt = (current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER)-rway_ols[2];
2065
2066                 elev = asin(alt/dist)*SGD_RADIANS_TO_DEGREES;
2067
2068             ref_elev = elev - 3.75; // +ve above, -ve below
2069
2070                 unsigned int sel;
2071                 sel = 0xFF;
2072 // DO NOT DELETE THIS CODE - This is to compare a discrete FLOLS (without LOD) with analog FLOLS
2073 //              if (ref_elev > 0.51) sel = 0x21;
2074 //              if ((ref_elev <= 0.51) & (ref_elev > 0.17)) sel = 0x22;
2075 //              if ((ref_elev <= 0.17) & (ref_elev >= -0.17)) sel = 0x24;
2076 //              if ((ref_elev < -0.17) & (ref_elev >= -0.51)) sel = 0x28;
2077 //              if (ref_elev < -0.51) sel = 0x30;
2078 // DO NOT DELETE THIS CODE - This is to compare a discrete FLOLS (without LOD) with analog FLOLS
2079                 dummy_tile->lightmaps_sequence->select(sel);
2080
2081                 sgVec3 up;
2082                 sgCopyVec3 (up, ship_up);
2083                 if (dist > 750)
2084                         sgScaleVec3 (up, 4.0*ref_elev*dist/750.0);
2085                 else
2086                         sgScaleVec3 (up, 4.0*ref_elev);
2087                 dummy_tile->ols_transform->setTransform(up);
2088                 //cout << "ref_elev  " << ref_elev << endl;
2089         }
2090     // end hack for deck lights
2091
2092     }
2093     if ( ship_sel != NULL ) {
2094         ship_sel->select(0xFFFFFFFE); // first object is ownship, added to acmodel
2095     }
2096 }
2097
2098 // $$$ end - added VS Renganathan, 15 Oct 2K
2099 //           added Venky         , 12 Nov 2K