1 // main.cxx -- top level sim routines
3 // Written by Curtis Olson for OpenGL, started May 1997.
5 // Copyright (C) 1997 - 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #ifdef SG_MATH_EXCEPTION_CLASH
38 #include <simgear/xgl/xgl.h>
48 #ifdef HAVE_SYS_STAT_H
49 # include <sys/stat.h> // for stat()
53 # include <unistd.h> // for stat()
59 #include <simgear/constants.h> // for VERSION
60 #include <simgear/debug/logstream.hxx>
61 #include <simgear/math/polar3d.hxx>
62 #include <simgear/math/sg_random.h>
63 #include <simgear/misc/sg_path.hxx>
64 #include <simgear/sky/sky.hxx>
65 #include <simgear/timing/sg_time.hxx>
66 #include <simgear/timing/lowleveltime.h>
68 #include <Include/general.hxx>
70 #include <Aircraft/aircraft.hxx>
72 #include <Autopilot/newauto.hxx>
73 #include <Cockpit/cockpit.hxx>
74 #include <Cockpit/radiostack.hxx>
75 #include <Cockpit/steam.hxx>
77 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
79 #include <GUI/sgVec3Slider.hxx>
80 #include <Joystick/joystick.hxx>
82 #include <NetworkOLK/network.h>
84 #include <Scenery/scenery.hxx>
85 #include <Scenery/tilemgr.hxx>
86 #ifdef ENABLE_AUDIO_SUPPORT
87 # include <Sound/soundmgr.hxx>
88 # include <Sound/morse.hxx>
90 #include <Time/event.hxx>
91 #include <Time/fg_timer.hxx>
92 #include <Time/light.hxx>
93 #include <Time/sunpos.hxx>
94 #include <Time/tmp.hxx>
96 // begin - added Venky
97 // $$$ begin - added VS Renganathan
98 #include <simgear/misc/sgstream.hxx>
99 #include <FDM/flight.hxx>
100 #include <FDM/ADA.hxx>
101 void fgLoadDCS (void);
102 void fgUpdateDCS (void);
103 ssgSelector *ship_sel=NULL;
104 // upto 32 instances of a same object can be loaded.
105 ssgTransform *ship_pos[32];
106 double obj_lat[32],obj_lon[32],obj_alt[32];
108 // $$$ end - added VS Renganathan
111 #ifndef FG_OLD_WEATHER
112 # include <WeatherCM/FGLocalWeatherDatabase.h>
114 # include <Weather/weather.hxx>
120 #include "fg_init.hxx"
122 #include "globals.hxx"
123 #include "keyboard.hxx"
124 #include "splash.hxx"
127 # include <console.h> // -dw- for command line dialog
131 // This is a record containing a bit of global housekeeping information
134 // Specify our current idle function state. This is used to run all
135 // our initializations out of the glutIdleLoop() so that we can get a
136 // splash screen up and running right away.
137 static int idle_state = 0;
138 static long global_multi_loop;
140 // attempt to avoid a large bounce at startup
141 static bool initial_freeze = true;
143 // forward declaration
144 void fgReshape( int width, int height );
146 // Global structures for the Audio library
147 #ifdef ENABLE_AUDIO_SUPPORT
148 static FGSimpleSound *s1;
149 static FGSimpleSound *s2;
154 ssgRoot *scene = NULL;
155 ssgBranch *terrain = NULL;
157 // aircraft model stuff
158 ssgSelector *acmodel_selector = NULL;
159 ssgTransform *acmodel_pos = NULL;
160 ssgSelector *prop_selector = NULL;
161 ssgSelector *flaps_selector = NULL;
162 int acmodel_npropsettings;
163 int acmodel_proprpms[4][2]; // different propeller settings
165 ssgRoot *lighting = NULL;
166 ssgBranch *ground = NULL;
167 ssgBranch *airport = NULL;
169 #ifdef FG_NETWORK_OLK
170 ssgSelector *fgd_sel = NULL;
171 ssgTransform *fgd_pos = NULL;
174 // current fdm/position used for view
175 FGInterface cur_view_fdm;
181 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
183 { 1.0f, 0.0f, 0.0f, 0.0f },
184 { 0.0f, 0.0f, -1.0f, 0.0f },
185 { 0.0f, 1.0f, 0.0f, 0.0f },
186 { 0.0f, 0.0f, 0.0f, 1.0f }
189 // The following defines flightgear options. Because glutlib will also
190 // want to parse its own options, those options must not be included here
191 // or they will get parsed by the main program option parser. Hence case
192 // is significant for any option added that might be in conflict with
195 // glutlib parses for:
197 // -direct (invalid in Win32)
201 // -indirect (invalid in Win32)
204 // Note that glutlib depends upon strings while this program's
205 // option parser wants only initial characters followed by numbers
210 ssgSimpleState *default_state;
211 ssgSimpleState *hud_and_panel;
212 ssgSimpleState *menus;
214 void fgBuildRenderStates( void ) {
215 default_state = new ssgSimpleState;
216 default_state->ref();
217 default_state->disable( GL_TEXTURE_2D );
218 default_state->enable( GL_CULL_FACE );
219 default_state->enable( GL_COLOR_MATERIAL );
220 default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
221 default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
222 default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
223 default_state->disable( GL_BLEND );
224 default_state->disable( GL_ALPHA_TEST );
225 default_state->disable( GL_LIGHTING );
227 hud_and_panel = new ssgSimpleState;
228 hud_and_panel->ref();
229 hud_and_panel->disable( GL_CULL_FACE );
230 hud_and_panel->disable( GL_TEXTURE_2D );
231 hud_and_panel->disable( GL_LIGHTING );
232 hud_and_panel->enable( GL_BLEND );
234 menus = new ssgSimpleState;
236 menus->disable( GL_CULL_FACE );
237 menus->disable( GL_TEXTURE_2D );
238 menus->enable( GL_BLEND );
241 // fgFindNode -- a function that finds a named node in an ssg graph
242 ssgEntity *fgFindNode( ssgEntity *node, const char *name ) {
243 if ( node->getName() != NULL && strcmp( name, node->getName() ) == 0 ) {
245 } else if ( node->isAKindOf( ssgTypeBranch() ) ) {
246 ssgEntity *kid = ((ssgBranch*)node)->getKid(0);
247 while (kid != NULL) {
248 ssgEntity *n = fgFindNode(kid, name);
252 kid = ((ssgBranch*)node)->getNextKid();
259 // fgInitVisuals() -- Initialize various GL/view parameters
260 void fgInitVisuals( void ) {
263 l = &cur_light_params;
265 #ifndef GLUT_WRONG_VERSION
266 // Go full screen if requested ...
267 if ( fgGetBool("/sim/startup/fullscreen") ) {
272 // If enabled, normal vectors specified with glNormal are scaled
273 // to unit length after transformation. See glNormal.
274 // glEnable( GL_NORMALIZE );
276 glEnable( GL_LIGHTING );
277 glEnable( GL_LIGHT0 );
278 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
281 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
282 ssgGetLight( 0 ) -> setPosition( sunpos );
284 // glFogi (GL_FOG_MODE, GL_LINEAR);
285 glFogi (GL_FOG_MODE, GL_EXP2);
286 if ( (fgGetString("/sim/rendering/fog") == "disabled") ||
287 (!fgGetBool("/sim/rendering/shading"))) {
288 // if fastest fog requested, or if flat shading force fastest
289 glHint ( GL_FOG_HINT, GL_FASTEST );
290 } else if ( fgGetString("/sim/rendering/fog") == "nicest" ) {
291 glHint ( GL_FOG_HINT, GL_NICEST );
293 if ( fgGetBool("/sim/rendering/wireframe") ) {
295 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
298 // This is the default anyways, but it can't hurt
299 glFrontFace ( GL_CCW );
302 // glEnable(GL_POINT_SMOOTH);
303 // glEnable(GL_LINE_SMOOTH);
304 // glEnable(GL_POLYGON_SMOOTH);
308 // Update all Visuals (redraws anything graphics related)
309 void fgRenderFrame( void ) {
313 fgLIGHT *l = &cur_light_params;
314 static double last_visibility = -9999;
316 static GLfloat fog_exp_density;
317 static GLfloat fog_exp2_density;
318 static GLfloat fog_exp2_punch_through;
321 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
322 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
323 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
324 // GLfloat mat_shininess[] = { 10.0 };
325 GLbitfield clear_mask;
327 if ( idle_state != 1000 ) {
328 // still initializing, draw the splash screen
329 if ( fgGetBool("/sim/startup/splash-screen") ) {
333 // idle_state is now 1000 meaning we've finished all our
334 // initializations and are running the main loop, so this will
335 // now work without seg faulting the system.
337 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
338 // FG_Altitude * SG_FEET_TO_METER);
340 // this is just a temporary hack, to make me understand Pui
341 // timerText -> setLabel (ctime (&t->cur_time));
344 // calculate our current position in cartesian space
345 scenery.center = scenery.next_center;
346 // printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x(),
347 // scenery.center.y(), scenery.center.z());
349 FGViewerRPH *pilot_view =
350 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
352 pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
353 cur_fdm_state->get_Lat_geocentric(),
354 cur_fdm_state->get_Altitude() *
356 pilot_view->set_sea_level_radius( cur_fdm_state->
357 get_Sea_level_radius() *
359 pilot_view->set_rph( cur_fdm_state->get_Phi(),
360 cur_fdm_state->get_Theta(),
361 cur_fdm_state->get_Psi() );
363 FGViewerLookAt *chase_view =
364 (FGViewerLookAt *)globals->get_viewmgr()->get_view( 1 );
366 sgVec3 po; // chase view pilot_offset
367 sgVec3 wup; // chase view world up
368 sgSetVec3( po, 0.0, 0.0, 50.0 );
369 sgCopyVec3( wup, pilot_view->get_world_up() );
370 sgMat4 CXFM; // chase view + pilot offset xform
372 chase_view->get_view_offset() * SGD_RADIANS_TO_DEGREES -
373 cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES,
375 sgVec3 npo; // new pilot offset after rotation
376 sgVec3 *pPO = PilotOffsetGet();
377 sgXformVec3( po, *pPO, pilot_view->get_UP() );
378 sgXformVec3( npo, po, CXFM );
380 chase_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
381 cur_fdm_state->get_Lat_geocentric(),
382 cur_fdm_state->get_Altitude() *
384 chase_view->set_sea_level_radius( cur_fdm_state->
385 get_Sea_level_radius() *
387 chase_view->set_pilot_offset( npo[0], npo[1], npo[2] );
388 chase_view->set_view_forward( pilot_view->get_view_pos() );
389 chase_view->set_view_up( wup );
393 sgCopyMat4( rph, pilot_view->get_VIEW() );
394 cout << "RPH Matrix = " << endl;
396 for ( i = 0; i < 4; i++ ) {
397 for ( j = 0; j < 4; j++ ) {
398 printf("%10.4f ", rph[i][j]);
404 sgCopyMat4( la, chase_view->get_VIEW() );
405 cout << "LookAt Matrix = " << endl;
406 for ( i = 0; i < 4; i++ ) {
407 for ( j = 0; j < 4; j++ ) {
408 printf("%10.4f ", la[i][j]);
415 fgReshape( fgGetInt("/sim/startup/xsize"),
416 fgGetInt("/sim/startup/ysize") );
421 if ( ! fgPanelVisible() ) {
423 (GLint)(fgGetInt("/sim/startup/xsize")),
424 (GLint)(fgGetInt("/sim/startup/ysize")) );
427 int( (current_panel->getViewHeight() -
428 current_panel->getYOffset())
429 * (fgGetInt("/sim/startup/ysize") / 768.0) );
431 (GLint)(fgGetInt("/sim/startup/ysize") - view_h),
432 (GLint)(fgGetInt("/sim/startup/xsize")),
437 // set the sun position
438 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
440 clear_mask = GL_DEPTH_BUFFER_BIT;
441 if ( fgGetBool("/sim/rendering/wireframe") ) {
442 clear_mask |= GL_COLOR_BUFFER_BIT;
445 if ( fgGetBool("/sim/rendering/skyblend") ) {
446 if ( fgGetBool("/sim/rendering/textures") ) {
447 // glClearColor(black[0], black[1], black[2], black[3]);
448 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
449 l->adj_fog_color[2], l->adj_fog_color[3]);
450 clear_mask |= GL_COLOR_BUFFER_BIT;
453 glClearColor(l->sky_color[0], l->sky_color[1],
454 l->sky_color[2], l->sky_color[3]);
455 clear_mask |= GL_COLOR_BUFFER_BIT;
457 glClear( clear_mask );
459 // Tell GL we are switching to model view parameters
461 // I really should create a derived ssg node or use a call
462 // back or something so that I can draw the sky within the
463 // ssgCullAndDraw() function, but for now I just mimic what
464 // ssg does to set up the model view matrix
465 glMatrixMode(GL_MODELVIEW);
467 ssgSetCamera( (sgVec4 *)globals->get_current_view()->get_VIEW() );
469 // set the opengl state to known default values
470 default_state->force();
472 // update fog params if visibility has changed
473 #ifndef FG_OLD_WEATHER
474 thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
476 thesky->set_visibility( current_weather.get_visibility() );
479 thesky->modify_vis( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
480 ( global_multi_loop *
481 fgGetInt("/sim/speed-up") ) /
482 (double)fgGetInt("/sim/model-hz") );
484 double actual_visibility = thesky->get_visibility();
485 // cout << "actual visibility = " << actual_visibility << endl;
487 if ( actual_visibility != last_visibility ) {
488 last_visibility = actual_visibility;
490 // cout << "----> updating fog params" << endl;
493 fog_exp_density = -log(0.01) / actual_visibility;
496 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
497 fog_exp2_punch_through = sqrt( -log(0.01) ) /
498 ( actual_visibility * 1.5 );
501 // Set correct opengl fog density
502 glFogf (GL_FOG_DENSITY, fog_exp2_density);
504 // update the sky dome
505 if ( fgGetBool("/sim/rendering/skyblend") ) {
506 /* cout << "thesky->repaint() sky_color = "
507 << cur_light_params.sky_color[0] << " "
508 << cur_light_params.sky_color[1] << " "
509 << cur_light_params.sky_color[2] << " "
510 << cur_light_params.sky_color[3] << endl;
512 << cur_light_params.fog_color[0] << " "
513 << cur_light_params.fog_color[1] << " "
514 << cur_light_params.fog_color[2] << " "
515 << cur_light_params.fog_color[3] << endl;
516 cout << " sun_angle = " << cur_light_params.sun_angle
517 << " moon_angle = " << cur_light_params.moon_angle
519 thesky->repaint( cur_light_params.sky_color,
520 cur_light_params.adj_fog_color,
521 cur_light_params.sun_angle,
522 cur_light_params.moon_angle,
523 globals->get_ephem()->getNumPlanets(),
524 globals->get_ephem()->getPlanets(),
525 globals->get_ephem()->getNumStars(),
526 globals->get_ephem()->getStars() );
528 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
529 << view_pos[1] << " " << view_pos[2] << endl;
530 cout << " zero_elev = " << zero_elev[0] << " "
531 << zero_elev[1] << " " << zero_elev[2]
532 << " lon = " << cur_fdm_state->get_Longitude()
533 << " lat = " << cur_fdm_state->get_Latitude() << endl;
534 cout << " sun_rot = " << cur_light_params.sun_rotation
535 << " gst = " << SGTime::cur_time_params->getGst() << endl;
536 cout << " sun ra = " << globals->get_ephem()->getSunRightAscension()
537 << " sun dec = " << globals->get_ephem()->getSunDeclination()
538 << " moon ra = " << globals->get_ephem()->getMoonRightAscension()
539 << " moon dec = " << globals->get_ephem()->getMoonDeclination() << endl; */
541 thesky->reposition( globals->get_current_view()->get_view_pos(),
542 globals->get_current_view()->get_zero_elev(),
543 globals->get_current_view()->get_world_up(),
544 cur_fdm_state->get_Longitude(),
545 cur_fdm_state->get_Latitude(),
546 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
547 cur_light_params.sun_rotation,
548 globals->get_time_params()->getGst(),
549 globals->get_ephem()->getSunRightAscension(),
550 globals->get_ephem()->getSunDeclination(),
552 globals->get_ephem()->getMoonRightAscension(),
553 globals->get_ephem()->getMoonDeclination(),
557 glEnable( GL_DEPTH_TEST );
558 if ( fgGetString("/sim/rendering/fog") != "disabled" ) {
560 glFogi( GL_FOG_MODE, GL_EXP2 );
561 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
564 // set sun/lighting parameters
565 ssgGetLight( 0 ) -> setPosition( l->sun_vec );
567 // GL_LIGHT_MODEL_AMBIENT has a default non-zero value so if
568 // we only update GL_AMBIENT for our lights we will never get
569 // a completely dark scene. So, we set GL_LIGHT_MODEL_AMBIENT
570 // explicitely to black.
571 GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
572 GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
573 glLightModelfv( GL_LIGHT_MODEL_AMBIENT, black );
575 ssgGetLight( 0 ) -> setColour( GL_AMBIENT, l->scene_ambient );
576 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
577 // ssgGetLight( 0 ) -> setColour( GL_SPECULAR, l->scene_white );
579 // texture parameters
580 // glEnable( GL_TEXTURE_2D );
581 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
582 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
584 // glMatrixMode( GL_PROJECTION );
586 float fov = globals->get_current_view()->get_fov();
587 ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());
589 double agl = current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER
592 // SG_LOG( SG_ALL, SG_INFO, "visibility is "
593 // << current_weather.get_visibility() );
596 ssgSetNearFar( 10.0f, 120000.0f );
598 ssgSetNearFar( 0.5f, 120000.0f );
601 if ( globals->get_viewmgr()->get_current() == 0 ) {
602 // disable aircraft model
603 acmodel_selector->select(0);
605 // enable aircraft model and set up its position and orientation
606 acmodel_selector->select(1);
608 FGViewerRPH *pilot_view =
609 (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
612 sgMakeTransMat4( sgTRANS, pilot_view->get_view_pos() );
615 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
618 sgMakeRotMat4( sgROT, -90.0, ownship_up );
622 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
623 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
625 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
627 sgCopyMat4( sgTUX, sgROT );
628 sgPostMultMat4( sgTUX, pilot_view->get_VIEW_ROT() );
629 sgPostMultMat4( sgTUX, sgTRANS );
632 sgSetCoord( &tuxpos, sgTUX );
633 acmodel_pos->setTransform( &tuxpos );
635 // set up moving parts
636 if (flaps_selector != NULL) {
637 flaps_selector->select( (controls.get_flaps() > 0.5f) ? 1 : 2 );
640 if (prop_selector != NULL) {
641 int propsel_mask = 0;
642 for (int i = 0; i < acmodel_npropsettings; i++) {
643 if (FGBFI::getRPM() >= acmodel_proprpms[i][0] &&
644 FGBFI::getRPM() <= acmodel_proprpms[i][1]) {
645 propsel_mask |= 1 << i;
648 prop_selector->select(propsel_mask);
652 // $$$ begin - added VS Renganthan 17 Oct 2K
654 // $$$ end - added VS Renganthan 17 Oct 2K
656 # ifdef FG_NETWORK_OLK
657 if ( fgGetBool("/sim/networking/network-olk") ) {
659 other = head->next; /* put listpointer to start */
660 while ( other != tail) { /* display all except myself */
661 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
662 other->fgd_sel->select(1);
663 sgSetCoord( &fgdpos, other->sgFGD_COORD );
664 other->fgd_pos->setTransform( &fgdpos );
669 // fgd_sel->select(1);
670 // sgCopyMat4( sgTUX, current_view.sgVIEW);
672 // sgSetCoord( &fgdpos, sgFGD_VIEW );
673 // fgd_pos->setTransform( &fgdpos);
677 // position tile nodes and update range selectors
678 global_tile_mgr.prep_ssg_nodes();
680 if ( fgGetBool("/sim/rendering/skyblend") ) {
681 // draw the sky backdrop
683 // we need a white diffuse light for the phase of the moon
684 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, white );
688 // return to the desired diffuse color
689 ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse );
692 // draw the ssg scene
693 glEnable( GL_DEPTH_TEST );
694 ssgCullAndDraw( scene );
696 // change state for lighting here
699 // Set punch through fog density
700 glFogf (GL_FOG_DENSITY, fog_exp2_punch_through);
702 ssgCullAndDraw( lighting );
704 if ( fgGetBool("/sim/rendering/skyblend") ) {
705 // draw the sky cloud layers
706 thesky->postDraw( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
709 // display HUD && Panel
711 glDisable( GL_DEPTH_TEST );
712 // glDisable( GL_CULL_FACE );
713 // glDisable( GL_TEXTURE_2D );
715 // update the controls subsystem
718 hud_and_panel->apply();
721 // update the panel subsystem
722 if (current_panel != 0)
723 current_panel->update();
725 // We can do translucent menus, so why not. :-)
727 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
729 // glDisable ( GL_BLEND ) ;
731 // glEnable( GL_FOG );
738 // Update internal time dependent calculations (i.e. flight model)
739 void fgUpdateTimeDepCalcs() {
740 static bool inited = false;
742 fgLIGHT *l = &cur_light_params;
747 if ( !globals->get_freeze() && !initial_freeze ) {
748 // conceptually, this could be done for each fdm instance ...
751 cur_fdm_state->stamp();
757 long elapsed = current - cur_fdm_state->get_time_stamp();
758 cur_fdm_state->set_time_stamp( current );
759 elapsed += cur_fdm_state->get_remainder();
760 // cout << "elapsed = " << elapsed << endl;
761 // cout << "dt = " << cur_fdm_state->get_delta_t() << endl;
762 multi_loop = (long)(((double)elapsed * 0.000001) /
763 cur_fdm_state->get_delta_t() );
764 cur_fdm_state->set_multi_loop( multi_loop );
765 long remainder = elapsed - (long)( (multi_loop*1000000) *
766 cur_fdm_state->get_delta_t() );
767 cur_fdm_state->set_remainder( remainder );
768 // cout << "remainder = " << remainder << endl;
770 // chop max interations to something reasonable if the sim was
771 // delayed for an excesive amount of time
772 if ( multi_loop > 2.0 / cur_fdm_state->get_delta_t() ) {
773 multi_loop = (int)(2.0 / cur_fdm_state->get_delta_t());
774 cur_fdm_state->set_remainder( 0 );
777 // cout << "multi_loop = " << multi_loop << endl;
778 for ( i = 0; i < multi_loop * fgGetInt("/sim/speed-up"); ++i ) {
779 // run Autopilot system
780 current_autopilot->run();
783 cur_fdm_state->update( 1 );
785 FGSteam::update( multi_loop * fgGetInt("/sim/speed-up") );
787 cur_fdm_state->update( 0 );
788 FGSteam::update( 0 );
790 if ( global_tile_mgr.queue_size() == 0 ) {
791 initial_freeze = false;
795 if ( fgGetString("/sim/view-mode") == "pilot" ) {
796 cur_view_fdm = *cur_fdm_state;
800 // update the view angle
801 FGViewer *v = globals->get_current_view();
802 for ( i = 0; i < multi_loop; i++ ) {
803 if ( fabs(v->get_goal_view_offset() - v->get_view_offset()) < 0.05 ) {
804 v->set_view_offset( v->get_goal_view_offset() );
807 // move current_view.view_offset towards
808 // current_view.goal_view_offset
809 if ( v->get_goal_view_offset() > v->get_view_offset() )
811 if ( v->get_goal_view_offset() - v->get_view_offset() < SGD_PI ){
812 v->inc_view_offset( 0.01 );
814 v->inc_view_offset( -0.01 );
817 if ( v->get_view_offset() - v->get_goal_view_offset() < SGD_PI ){
818 v->inc_view_offset( -0.01 );
820 v->inc_view_offset( 0.01 );
823 if ( v->get_view_offset() > SGD_2PI ) {
824 v->inc_view_offset( -SGD_2PI );
825 } else if ( v->get_view_offset() < 0 ) {
826 v->inc_view_offset( SGD_2PI );
831 double tmp = -(l->sun_rotation + SGD_PI)
832 - (cur_fdm_state->get_Psi() -
833 globals->get_current_view()->get_view_offset() );
834 while ( tmp < 0.0 ) {
837 while ( tmp > SGD_2PI ) {
840 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
841 FG_Psi * SGD_RADIANS_TO_DEGREES, current_view.view_offset * SGD_RADIANS_TO_DEGREES,
842 -(l->sun_rotation+SGD_PI) * SGD_RADIANS_TO_DEGREES, tmp * SGD_RADIANS_TO_DEGREES); */
845 // Update solar system
846 globals->get_ephem()->update( globals->get_time_params()->getMjd(),
847 globals->get_time_params()->getLst(),
848 cur_fdm_state->get_Latitude() );
850 // Update radio stack model
851 current_radiostack->update();
855 void fgInitTimeDepCalcs( void ) {
858 // #ifdef HAVE_SETITIMER
859 // fgTimerInit( 1.0 / fgGetInt("/sim/model-hz"),
860 // fgUpdateTimeDepCalcs );
861 // #endif HAVE_SETITIMER
865 static const double alt_adjust_ft = 3.758099;
866 static const double alt_adjust_m = alt_adjust_ft * SG_FEET_TO_METER;
869 // What should we do when we have nothing else to do? Let's get ready
870 // for the next move and update the display?
871 static void fgMainLoop( void ) {
872 static long remainder = 0;
874 #ifdef FANCY_FRAME_COUNTER
878 static time_t last_time = 0;
879 static int frames = 0;
880 #endif // FANCY_FRAME_COUNTER
882 SGTime *t = globals->get_time_params();
884 SG_LOG( SG_ALL, SG_DEBUG, "Running Main Loop");
885 SG_LOG( SG_ALL, SG_DEBUG, "======= ==== ====");
887 #ifdef FG_NETWORK_OLK
888 if ( fgGetBool("/sim/networking/network-olk") ) {
889 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
890 // printf("FGD: Netupdate\n");
891 fgd_send_com( "A", FGFS_host); // Send Mat4 data
892 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
897 #if defined( ENABLE_PLIB_JOYSTICK )
898 // Read joystick and update control settings
899 if ( fgGetString("/sim/control-mode") == "joystick" )
903 #elif defined( ENABLE_GLUT_JOYSTICK )
904 // Glut joystick support works by feeding a joystick handler
905 // function to glut. This is taken care of once in the joystick
906 // init routine and we don't have to worry about it again.
909 #ifdef FG_OLD_WEATHER
910 current_weather.Update();
913 // Fix elevation. I'm just sticking this here for now, it should
914 // probably move eventually
916 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
918 cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
919 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
921 if ( scenery.cur_elev > -9990 ) {
922 if ( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER <
923 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
924 // now set aircraft altitude above ground
925 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
926 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
927 scenery.cur_elev + alt_adjust_m - 3.0,
928 scenery.cur_elev + alt_adjust_m );
929 fgFDMForceAltitude( fgGetString("/sim/flight-model"),
930 scenery.cur_elev + alt_adjust_m );
932 SG_LOG( SG_ALL, SG_DEBUG,
933 "<*> resetting altitude to "
934 << cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
939 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
941 cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
942 cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
945 if ( globals->get_warp_delta() != 0 ) {
946 globals->inc_warp( globals->get_warp_delta() );
949 t->update( cur_fdm_state->get_Longitude(),
950 cur_fdm_state->get_Latitude(),
951 globals->get_warp() );
953 if ( globals->get_warp_delta() != 0 ) {
954 fgUpdateSkyAndLightingParams();
957 // update magvar model
958 globals->get_mag()->update( cur_fdm_state->get_Longitude(),
959 cur_fdm_state->get_Latitude(),
960 cur_fdm_state->get_Altitude()* SG_FEET_TO_METER,
961 globals->get_time_params()->getJD() );
963 // Get elapsed time (in usec) for this past frame
964 elapsed = fgGetTimeInterval();
965 SG_LOG( SG_ALL, SG_DEBUG,
966 "Elapsed time interval is = " << elapsed
967 << ", previous remainder is = " << remainder );
969 // Calculate frame rate average
970 #ifdef FANCY_FRAME_COUNTER
971 /* old fps calculation */
975 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
976 tmp = general.get_frame(i);
978 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
979 general.set_frame(i+1,tmp);
981 tmp = 1000000.0 / (float)elapsed;
982 general.set_frame(0,tmp);
983 // printf("frame[0] = %.2f\n", general.frames[0]);
985 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
986 // printf("ave = %.2f\n", general.frame_rate);
989 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
990 general.set_frame_rate( frames );
991 SG_LOG( SG_ALL, SG_DEBUG,
992 "--> Frame rate is = " << general.get_frame_rate() );
995 last_time = t->get_cur_time();
1001 // Calculate model iterations needed for next frame
1002 elapsed += remainder;
1004 global_multi_loop = (long)(((double)elapsed * 0.000001) *
1005 fgGetInt("/sim/model-hz"));
1006 remainder = elapsed - ( (global_multi_loop*1000000) /
1007 fgGetInt("/sim/model-hz") );
1008 SG_LOG( SG_ALL, SG_DEBUG,
1009 "Model iterations needed = " << global_multi_loop
1010 << ", new remainder = " << remainder );
1012 // chop max interations to something reasonable if the sim was
1013 // delayed for an excesive amount of time
1014 if ( global_multi_loop > 2.0 * fgGetInt("/sim/model-hz") ) {
1015 global_multi_loop = (int)(2.0 * fgGetInt("/sim/model-hz") );
1020 if ( global_multi_loop > 0 ) {
1021 fgUpdateTimeDepCalcs();
1023 SG_LOG( SG_ALL, SG_DEBUG,
1024 "Elapsed time is zero ... we're zinging" );
1027 #if ! defined( macintosh )
1028 // Do any I/O channel work that might need to be done
1032 // see if we need to load any new scenery tiles
1033 global_tile_mgr.update( cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES,
1034 cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES );
1036 // Process/manage pending events
1037 global_events.Process();
1039 // Run audio scheduler
1040 #ifdef ENABLE_AUDIO_SUPPORT
1041 if ( fgGetBool("/sim/sound") && globals->get_soundmgr()->is_working() ) {
1042 if ( fgGetString("/sim/aircraft") == "c172" ) {
1043 // pitch corresponds to rpm
1044 // volume corresponds to manifold pressure
1046 // cout << "AUDIO working = "
1047 // << globals->get_soundmgr()->is_working() << endl;
1050 if ( cur_fdm_state->get_engine(0) != NULL ) {
1051 rpm_factor = cur_fdm_state->get_engine(0)->get_RPM() / 2500.0;
1055 // cout << "rpm = " << cur_fdm_state->get_engine(0)->get_RPM()
1058 double pitch = 0.3 + rpm_factor * 3.0;
1060 // don't run at absurdly slow rates -- not realistic
1061 // and sounds bad to boot. :-)
1062 if (pitch < 0.7) { pitch = 0.7; }
1063 if (pitch > 5.0) { pitch = 5.0; }
1066 if ( cur_fdm_state->get_engine(0) != NULL ) {
1068 cur_fdm_state->get_engine(0)->get_Manifold_Pressure() / 100;
1073 << cur_fdm_state->get_engine(0)->get_Manifold_Pressure()
1076 double volume = 0.15 + mp_factor / 2.0;
1078 if ( volume < 0.15 ) { volume = 0.15; }
1079 if ( volume > 0.5 ) { volume = 0.5; }
1080 // cout << "volume = " << volume << endl;
1082 s1->set_pitch( pitch );
1083 s1->set_volume( volume );
1085 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
1086 s1->set_pitch( param );
1087 s1->set_volume( param );
1090 globals->get_soundmgr()->update();
1097 SG_LOG( SG_ALL, SG_DEBUG, "" );
1101 // This is the top level master main function that is registered as
1102 // our idle funciton
1105 // The first few passes take care of initialization things (a couple
1106 // per pass) and once everything has been initialized fgMainLoop from
1109 static void fgIdleFunction ( void ) {
1110 // printf("idle state == %d\n", idle_state);
1112 if ( idle_state == 0 ) {
1113 // Initialize the splash screen right away
1114 if ( fgGetBool("/sim/startup/splash-screen") ) {
1119 } else if ( idle_state == 1 ) {
1120 // Start the intro music
1122 if ( fgGetBool("/sim/startup/intro-music") ) {
1123 string lockfile = "/tmp/mpg123.running";
1124 SGPath mp3file( globals->get_fg_root() );
1125 mp3file.append( "Sounds/intro.mp3" );
1127 string command = "(touch " + lockfile + "; mpg123 "
1128 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1130 SG_LOG( SG_GENERAL, SG_INFO,
1131 "Starting intro music: " << mp3file.str() );
1132 system ( command.c_str() );
1137 } else if ( idle_state == 2 ) {
1138 // These are a few miscellaneous things that aren't really
1139 // "subsystems" but still need to be initialized.
1142 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1143 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1148 } else if ( idle_state == 3 ) {
1149 // This is the top level init routine which calls all the
1150 // other subsystem initialization routines. If you are adding
1151 // a subsystem to flightgear, its initialization call should
1152 // located in this routine.
1153 if( !fgInitSubsystems()) {
1154 SG_LOG( SG_GENERAL, SG_ALERT,
1155 "Subsystem initializations failed ..." );
1160 } else if ( idle_state == 4 ) {
1161 // setup OpenGL view parameters
1165 } else if ( idle_state == 5 ) {
1168 } else if ( idle_state == 6 ) {
1169 // Initialize audio support
1170 #ifdef ENABLE_AUDIO_SUPPORT
1173 if ( fgGetBool("/sim/startup/intro-music") ) {
1174 // Let's wait for mpg123 to finish
1175 string lockfile = "/tmp/mpg123.running";
1176 struct stat stat_buf;
1178 SG_LOG( SG_GENERAL, SG_INFO,
1179 "Waiting for mpg123 player to finish ..." );
1180 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1181 // file exist, wait ...
1183 SG_LOG( SG_GENERAL, SG_INFO, ".");
1185 SG_LOG( SG_GENERAL, SG_INFO, "");
1189 if ( fgGetBool("/sim/sound") ) {
1190 globals->get_soundmgr()->init();
1192 s1 = new FGSimpleSound( fgGetString("/sim/sounds/engine",
1193 "Sounds/wasp.wav") );
1194 globals->get_soundmgr()->add( s1, "engine loop" );
1195 globals->get_soundmgr()->play_looped( "engine loop" );
1196 SG_LOG( SG_GENERAL, SG_INFO,
1197 "Rate = " << s1->get_sample()->getRate()
1198 << " Bps = " << s1->get_sample()->getBps()
1199 << " Stereo = " << s1->get_sample()->getStereo() );
1201 s2 = new FGSimpleSound( "Sounds/corflaps.wav" );
1204 // s2 = mmm.make_ident( "JLI" );
1205 s2->set_volume( 0.3 );
1206 globals->get_soundmgr()->add( s2, "flaps" );
1213 cout << "Panel visible = " << fgPanelVisible() << endl;
1214 fgReshape( fgGetInt("/sim/startup/xsize"),
1215 fgGetInt("/sim/startup/ysize") );
1218 if ( idle_state == 1000 ) {
1219 // We've finished all our initialization steps, from now on we
1220 // run the main loop.
1224 if ( fgGetBool("/sim/startup/splash-screen") ) {
1225 fgSplashUpdate(0.0);
1230 // options.cxx needs to see this for toggle_panel()
1231 // Handle new window size or exposure
1232 void fgReshape( int width, int height ) {
1234 for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
1235 if ( ! fgPanelVisible() || idle_state != 1000 ) {
1236 globals->get_viewmgr()->get_view(i)->
1237 set_win_ratio( (float)height / (float)width );
1240 int((current_panel->getViewHeight() -
1241 current_panel->getYOffset())
1242 * (height / 768.0)) + 1;
1243 globals->get_viewmgr()->get_view(i)->
1244 set_win_ratio( (float)view_h / (float)width );
1248 if ( ! fgPanelVisible() || idle_state != 1000 ) {
1249 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1252 int((current_panel->getViewHeight() - current_panel->getYOffset())
1253 * (height / 768.0)) + 1;
1254 glViewport(0, (GLint)(height - view_h),
1255 (GLint)(width), (GLint)(view_h) );
1258 fgSetInt("/sim/startup/xsize", width);
1259 fgSetInt("/sim/startup/ysize", height);
1261 float fov = globals->get_current_view()->get_fov();
1262 ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());
1268 // Initialize GLUT and define a main window
1269 int fgGlutInit( int *argc, char **argv ) {
1271 #if !defined( macintosh )
1272 // GLUT will extract all glut specific options so later on we only
1273 // need wory about our own.
1274 glutInit(argc, argv);
1277 // Define Display Parameters
1278 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1280 SG_LOG( SG_GENERAL, SG_INFO, "Opening a window: " <<
1281 fgGetInt("/sim/startup/xsize") << "x"
1282 << fgGetInt("/sim/startup/ysize") );
1284 // Define initial window size
1285 glutInitWindowSize( fgGetInt("/sim/startup/xsize"),
1286 fgGetInt("/sim/startup/ysize") );
1288 // Initialize windows
1289 if ( !fgGetBool("/sim/startup/game-mode")) {
1290 // Open the regular window
1291 glutCreateWindow("FlightGear");
1292 #ifndef GLUT_WRONG_VERSION
1294 // Open the cool new 'game mode' window
1295 char game_mode_str[256];
1296 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1297 fgGetInt("/sim/startup/xsize"),
1298 fgGetInt("/sim/startup/ysize"),
1299 fgGetInt("/sim/rendering/bits-per-pixel"));
1301 SG_LOG( SG_GENERAL, SG_INFO,
1302 "game mode params = " << game_mode_str );
1303 glutGameModeString( game_mode_str );
1304 glutEnterGameMode();
1308 // This seems to be the absolute earliest in the init sequence
1309 // that these calls will return valid info. Too bad it's after
1310 // we've already created and sized out window. :-(
1311 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1312 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1313 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1314 SG_LOG( SG_GENERAL, SG_INFO, general.get_glRenderer() );
1317 glGetIntegerv( GL_MAX_TEXTURE_SIZE, &tmp );
1318 general.set_glMaxTexSize( tmp );
1319 SG_LOG ( SG_GENERAL, SG_INFO, "Max texture size = " << tmp );
1321 glGetIntegerv( GL_DEPTH_BITS, &tmp );
1322 general.set_glDepthBits( tmp );
1323 SG_LOG ( SG_GENERAL, SG_INFO, "Depth buffer bits = " << tmp );
1329 // Initialize GLUT event handlers
1330 int fgGlutInitEvents( void ) {
1331 // call fgReshape() on window resizes
1332 glutReshapeFunc( fgReshape );
1334 // call GLUTkey() on keyboard event
1335 glutKeyboardFunc( GLUTkey );
1336 glutSpecialFunc( GLUTspecialkey );
1338 // call guiMouseFunc() whenever our little rodent is used
1339 glutMouseFunc ( guiMouseFunc );
1340 glutMotionFunc (guiMotionFunc );
1341 glutPassiveMotionFunc (guiMotionFunc );
1343 // call fgMainLoop() whenever there is
1344 // nothing else to do
1345 glutIdleFunc( fgIdleFunction );
1348 glutDisplayFunc( fgRenderFrame );
1355 int main( int argc, char **argv ) {
1357 #if defined( macintosh )
1358 freopen ("stdout.txt", "w", stdout );
1359 freopen ("stderr.txt", "w", stderr );
1360 argc = ccommand( &argv );
1364 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1367 // set default log levels
1368 sglog().setLogLevels( SG_ALL, SG_INFO );
1371 #ifdef FLIGHTGEAR_VERSION
1372 version = FLIGHTGEAR_VERSION;
1374 version = "unknown version";
1376 SG_LOG( SG_GENERAL, SG_INFO, "FlightGear: Version "
1377 << version << endl );
1379 // Allocate global data structures. This needs to happen before
1380 // we parse command line options
1382 SGPropertyNode *props = new SGPropertyNode;
1383 globals = new FGGlobals;
1384 globals->set_props( props );
1386 // seed the random number generater
1389 SGRoute *route = new SGRoute;
1390 globals->set_route( route );
1392 #ifdef ENABLE_AUDIO_SUPPORT
1393 FGSoundMgr *soundmgr = new FGSoundMgr;
1394 globals->set_soundmgr( soundmgr );
1397 FGViewMgr *viewmgr = new FGViewMgr;
1398 globals->set_viewmgr( viewmgr );
1400 FGViewerRPH *pv = new FGViewerRPH;
1401 globals->get_viewmgr()->add_view( pv );
1403 FGViewerLookAt *chase = new FGViewerLookAt;
1404 globals->get_viewmgr()->add_view( chase );
1406 string_list *col = new string_list;
1407 globals->set_channel_options_list( col );
1409 // set current view to 0 (first) which is our main pilot view
1410 globals->set_current_view( globals->get_viewmgr()->get_view( 0 ) );
1412 // Scan the config file(s) and command line options to see if
1413 // fg_root was specified (ignore all other options for now)
1414 fgInitFGRoot(argc, argv);
1416 // Initialize the Aircraft directory to "" (UIUC)
1419 // Load the configuration parameters
1420 if ( !fgInitConfig(argc, argv) ) {
1421 SG_LOG( SG_GENERAL, SG_ALERT, "Config option parsing failed ..." );
1425 // Initialize the Window/Graphics environment.
1426 if( !fgGlutInit(&argc, argv) ) {
1427 SG_LOG( SG_GENERAL, SG_ALERT, "GLUT initialization failed ..." );
1431 // Initialize the various GLUT Event Handlers.
1432 if( !fgGlutInitEvents() ) {
1433 SG_LOG( SG_GENERAL, SG_ALERT,
1434 "GLUT event handler initialization failed ..." );
1438 // Initialize ssg (from plib). Needs to come before we do any
1439 // other ssg stuff, but after opengl/glut has been initialized.
1442 // Initialize the user interface (we need to do this before
1443 // passing off control to glut and before fgInitGeneral to get our
1447 // set current_options lon/lat if an airport id is specified
1448 // cout << "3. airport_id = " << fgGetString("/sim/startup/airport-id") << endl;
1449 if ( fgGetString("/sim/startup/airport-id").length() ) {
1450 // fgSetPosFromAirportID( fgGetString("/sim/startup/airport-id") );
1451 fgSetPosFromAirportIDandHdg( fgGetString("/sim/startup/airport-id"),
1452 fgGetDouble("/orientation/heading") );
1456 SGPath zone( globals->get_fg_root() );
1457 zone.append( "Timezone" );
1458 SGTime *t = new SGTime( fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS,
1459 fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS,
1462 // Handle potential user specified time offsets
1463 time_t cur_time = t->get_cur_time();
1464 time_t currGMT = sgTimeGetGMT( gmtime(&cur_time) );
1465 time_t systemLocalTime = sgTimeGetGMT( localtime(&cur_time) );
1466 time_t aircraftLocalTime =
1467 sgTimeGetGMT( fgLocaltime(&cur_time, t->get_zonename() ) );
1469 // Okay, we now have six possible scenarios
1470 int offset = fgGetInt("/sim/startup/time-offset");
1471 const string &offset_type = fgGetString("/sim/startup/time-offset-type");
1472 if (offset_type == "system-offset") {
1473 globals->set_warp( offset );
1474 } else if (offset_type == "gmt-offset") {
1475 globals->set_warp( offset - (currGMT - systemLocalTime) );
1476 } else if (offset_type == "latitude-offset") {
1477 globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) );
1478 } else if (offset_type == "system") {
1479 globals->set_warp( offset - cur_time );
1480 } else if (offset_type == "gmt") {
1481 globals->set_warp( offset - currGMT );
1482 } else if (offset_type == "latitude") {
1483 globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) -
1486 SG_LOG( SG_GENERAL, SG_ALERT,
1487 "Unsupported offset type " << offset_type );
1491 SG_LOG( SG_GENERAL, SG_INFO, "After time init, warp = "
1492 << globals->get_warp() );
1494 globals->set_warp_delta( 0 );
1496 t->update( 0.0, 0.0, globals->get_warp() );
1498 globals->set_time_params( t );
1500 // Do some quick general initializations
1501 if( !fgInitGeneral()) {
1502 SG_LOG( SG_GENERAL, SG_ALERT,
1503 "General initializations failed ..." );
1507 SGPath modelpath( globals->get_fg_root() );
1508 ssgModelPath( (char *)modelpath.c_str() );
1511 scene = new ssgRoot;
1512 scene->setName( "Scene" );
1514 lighting = new ssgRoot;
1515 lighting->setName( "Lighting" );
1517 // Initialize the sky
1518 SGPath ephem_data_path( globals->get_fg_root() );
1519 ephem_data_path.append( "Astro" );
1520 SGEphemeris *ephem = new SGEphemeris( ephem_data_path.c_str() );
1521 ephem->update( globals->get_time_params()->getMjd(),
1522 globals->get_time_params()->getLst(),
1524 globals->set_ephem( ephem );
1526 SGPath sky_tex_path( globals->get_fg_root() );
1527 sky_tex_path.append( "Textures" );
1528 sky_tex_path.append( "Sky" );
1530 thesky->texture_path( sky_tex_path.str() );
1532 thesky->build( 550.0, 550.0,
1533 globals->get_ephem()->getNumPlanets(),
1534 globals->get_ephem()->getPlanets(), 60000.0,
1535 globals->get_ephem()->getNumStars(),
1536 globals->get_ephem()->getStars(), 60000.0 );
1538 if ( fgGetBool("/environment/clouds/status") ) {
1539 thesky->add_cloud_layer( 2600.0, 200.0, 50.0, 40000.0,
1540 SG_CLOUD_MOSTLY_SUNNY );
1541 thesky->add_cloud_layer( 6000.0, 20.0, 10.0, 40000.0,
1543 // thesky->add_cloud_layer( 1000.0, 200.0, 50.0,
1544 // SG_CLOUD_MOSTLY_SUNNY );
1545 // thesky->add_cloud_layer( 1800.0, 400.0, 100.0, SG_CLOUD_OVERCAST );
1546 // thesky->add_cloud_layer( 5000.0, 20.0, 10.0, SG_CLOUD_CIRRUS );
1549 // Initialize MagVar model
1550 SGMagVar *magvar = new SGMagVar();
1551 globals->set_mag( magvar );
1554 terrain = new ssgBranch;
1555 terrain->setName( "Terrain" );
1556 scene->addKid( terrain );
1559 ground = new ssgBranch;
1560 ground->setName( "Ground Lighting" );
1561 lighting->addKid( ground );
1563 airport = new ssgBranch;
1564 airport->setName( "Airport Lighting" );
1565 lighting->addKid( airport );
1567 // temporary visible aircraft "own ship"
1568 acmodel_selector = new ssgSelector;
1569 acmodel_pos = new ssgTransform;
1571 // Get the model location, and load textures from the same
1572 // directory. Use an absolute path for the model to avoid
1573 // incompatibilities in different versions of PLIB.
1574 string acmodel_path =
1575 fgGetString("/sim/model/path", "Models/Geometry/glider.ac");
1576 SGPath full_model = globals->get_fg_root();
1577 full_model.append(acmodel_path);
1578 // this should be redundant...
1579 ssgModelPath( (char *)full_model.dir().c_str() );
1580 ssgTexturePath( (char *)full_model.dir().c_str() );
1581 ssgEntity *acmodel_obj = ssgLoad( (char *)full_model.c_str() );
1583 // find moving parts (if this is an MDL model)
1584 flaps_selector = (ssgSelector*)fgFindNode( acmodel_obj, "FLAPS" );
1585 prop_selector = (ssgSelector*)fgFindNode( acmodel_obj, "PROP" );
1587 acmodel_npropsettings = 0;
1588 if (prop_selector != NULL) {
1589 for (ssgEntity* kid = prop_selector->getKid(0); kid != NULL;
1590 kid = prop_selector->getNextKid()) {
1591 int prop_low, prop_high;
1592 if ( sscanf(kid->getName(), "PROP_%d_%d",
1593 &prop_low, &prop_high) == 2 ) {
1594 prop_low = (int)((float)prop_low * (5000.0f / 32767.0f));
1595 prop_high = (int)((float)prop_high * (5000.0f / 32767.0f));
1596 acmodel_proprpms[acmodel_npropsettings][0] = prop_low ;
1597 acmodel_proprpms[acmodel_npropsettings][1] = prop_high;
1598 acmodel_npropsettings++;
1600 SG_LOG( SG_GENERAL, SG_INFO, "PROPELLER SETTING " << prop_low <<
1606 // align the model properly for FGFS
1607 ssgTransform *acmodel_align = new ssgTransform;
1608 acmodel_align->addKid(acmodel_obj);
1612 float h_rot = fgGetFloat("/sim/model/h-rotation", 0.0);
1613 float p_rot = fgGetFloat("/sim/model/p-rotation", 0.0);
1614 float r_rot = fgGetFloat("/sim/model/r-rotation", 0.0);
1615 float x_off = fgGetFloat("/sim/model/x-offset", 0.0);
1616 float y_off = fgGetFloat("/sim/model/y-offset", 0.0);
1617 float z_off = fgGetFloat("/sim/model/z-offset", 0.0);
1618 sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
1619 sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
1620 sgMultMat4(res_matrix, off_matrix, rot_matrix);
1621 acmodel_align->setTransform(res_matrix);
1623 acmodel_pos->addKid( acmodel_align );
1624 acmodel_selector->addKid( acmodel_pos );
1625 //ssgFlatten( acmodel_obj );
1626 //ssgStripify( acmodel_selector );
1627 acmodel_selector->clrTraversalMaskBits( SSGTRAV_HOT );
1628 scene->addKid( acmodel_selector );
1630 // $$$ begin - added VS Renganthan 17 Oct 2K
1632 // $$$ end - added VS Renganthan 17 Oct 2K
1634 #ifdef FG_NETWORK_OLK
1635 // Do the network intialization
1636 if ( fgGetBool("/sim/networking/network-olk") ) {
1637 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1641 // build our custom render states
1642 fgBuildRenderStates();
1644 // pass control off to the master GLUT event handler
1647 // we never actually get here ... but to avoid compiler warnings,
1653 // $$$ end - added VS Renganathan, 15 Oct 2K
1654 // - added Venky , 12 Nov 2K
1656 void fgLoadDCS(void) {
1658 ssgEntity *ship_obj = NULL;
1661 char obj_filename[25];
1663 for ( int k = 0; k < 32; k++ ) {
1667 SGPath tile_path( globals->get_fg_root());
1668 tile_path.append( "Scenery" );
1669 tile_path.append( "Objects.txt" );
1670 sg_gzifstream in( tile_path.str() );
1671 if ( ! in.is_open() ) {
1672 SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: " << tile_path.str() );
1675 SGPath modelpath( globals->get_fg_root() );
1676 modelpath.append( "Models" );
1677 modelpath.append( "Geometry" );
1679 SGPath texturepath( globals->get_fg_root() );
1680 texturepath.append( "Models" );
1681 texturepath.append( "Textures" );
1683 ssgModelPath( (char *)modelpath.c_str() );
1684 ssgTexturePath( (char *)texturepath.c_str() );
1686 ship_sel = new ssgSelector;
1689 while ( ! in.eof() ) {
1691 if ( in.get( c ) && c == '#' ) {
1695 in >> obj_filename >> obj_lat[objc] >> obj_lon[objc] >> obj_alt[objc];
1696 /* cout << endl << obj_filename << " " << obj_lat[objc] << " " << obj_lon[objc] << " " << obj_alt[objc] << endl;
1697 int chj=getchar();*/
1699 obj_lon[objc] *=SGD_DEGREES_TO_RADIANS;
1700 obj_lat[objc] *=SGD_DEGREES_TO_RADIANS;
1702 ship_pos[objc] = new ssgTransform;
1704 // type "repeat" in objects.txt to load one more
1705 // instance of the last object.
1707 if ( strcmp(obj_filename,"repeat") != 0) {
1708 ship_obj = ssgLoadOBJ( obj_filename );
1711 if ( ship_obj != NULL ) {
1712 ship_pos[objc]->addKid( ship_obj ); // add object to transform node
1713 ship_sel->addKid( ship_pos[objc] ); // add transform node to selector
1715 SG_LOG( SG_TERRAIN, SG_ALERT, "Cannot open file: "
1721 if (in.eof()) break;
1725 SG_LOG ( SG_TERRAIN, SG_ALERT, "Finished object processing." );
1727 ship_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1728 scene->addKid( ship_sel ); //add selector node to root node
1735 void fgUpdateDCS (void) {
1737 // double eye_lat,eye_lon,eye_alt;
1738 // static double obj_head;
1739 double sl_radius,obj_latgc;
1740 // float nresultmat[4][4];
1741 // sgMat4 Trans,rothead,rotlon,rot180,rotlat,resultmat1,resultmat2,resultmat3;
1744 // Instantaneous Geodetic Lat/Lon/Alt of moving object
1745 FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
1747 // Deck should be the first object in objects.txt in case of fdm=ada
1749 if (fgGetString("/sim/flight-model") == "ada") {
1750 obj_lon[0] = fdm->get_aux5()*SGD_DEGREES_TO_RADIANS;
1751 obj_lat[0] = fdm->get_aux6()*SGD_DEGREES_TO_RADIANS;
1752 obj_alt[0] = fdm->get_aux7();
1755 for ( int m = 0; m < objc; m++ ) {
1756 //cout << endl << obj_lat[m]*SGD_RADIANS_TO_DEGREES << " " << obj_lon[m]*SGD_RADIANS_TO_DEGREES << " " << obj_alt[m] << " " << objc << endl;
1759 //Geodetic to Geocentric angles for rotation
1760 sgGeodToGeoc(obj_lat[m],obj_alt[m],&sl_radius,&obj_latgc);
1762 //moving object gbs-posn in cartesian coords
1763 Point3D obj_posn = Point3D( obj_lon[m],obj_lat[m],obj_alt[m]);
1764 Point3D obj_pos = sgGeodToCart( obj_posn );
1766 // Translate moving object w.r.t eye
1767 Point3D Objtrans = obj_pos-scenery.center;
1772 // rotate dynamic objects for lat,lon & alt and other motion about its axes
1775 sgMakeTransMat4( sgTRANS, bz[0],bz[1],bz[2]);
1777 sgVec3 ship_fwd,ship_rt,ship_up;
1778 sgSetVec3( ship_fwd, 1.0, 0.0, 0.0);//east,roll
1779 sgSetVec3( ship_rt, 0.0, 1.0, 0.0);//up,pitch
1780 sgSetVec3( ship_up, 0.0, 0.0, 1.0); //north,yaw
1782 sgMat4 sgROT_lon, sgROT_lat, sgROT_hdg;
1783 sgMakeRotMat4( sgROT_lon, obj_lon[m]*SGD_RADIANS_TO_DEGREES, ship_up );
1784 sgMakeRotMat4( sgROT_lat, 90-obj_latgc*SGD_RADIANS_TO_DEGREES, ship_rt );
1785 sgMakeRotMat4( sgROT_hdg, 180.0, ship_up );
1788 sgCopyMat4( sgTUX, sgROT_hdg );
1789 sgPostMultMat4( sgTUX, sgROT_lat );
1790 sgPostMultMat4( sgTUX, sgROT_lon );
1791 sgPostMultMat4( sgTUX, sgTRANS );
1794 sgSetCoord(&shippos, sgTUX );
1795 ship_pos[m]->setTransform( &shippos );
1797 if ( ship_sel != NULL ) {
1798 ship_sel->select(0xFFFFFFFF);
1802 // $$$ end - added VS Renganathan, 15 Oct 2K
1803 // added Venky , 12 Nov 2K