1 // main.cxx -- top level sim routines
3 // Written by Curtis Olson for OpenGL, started May 1997.
5 // Copyright (C) 1997 - 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 #define MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
31 #ifdef FG_MATH_EXCEPTION_CLASH
41 #include <simgear/xgl/xgl.h>
51 #ifdef HAVE_SYS_STAT_H
52 # include <sys/stat.h> /* for stat() */
56 # include <unistd.h> /* for stat() */
59 #include <plib/pu.h> // plib include
60 #include <plib/ssg.h> // plib include
62 #ifdef ENABLE_AUDIO_SUPPORT
63 # include <plib/sl.h> // plib include
64 # include <plib/sm.h> // plib include
67 #include <simgear/constants.h> // for VERSION
68 #include <simgear/debug/logstream.hxx>
69 #include <simgear/math/fg_geodesy.hxx>
70 #include <simgear/math/polar3d.hxx>
71 #include <simgear/math/fg_random.h>
72 #include <simgear/misc/fgpath.hxx>
74 #include <Include/general.hxx>
76 #include <Aircraft/aircraft.hxx>
77 #include <Ephemeris/ephemeris.hxx>
79 #include <Autopilot/newauto.hxx>
80 #include <Cockpit/cockpit.hxx>
81 #include <Cockpit/radiostack.hxx>
82 #include <Cockpit/steam.hxx>
84 // bfi.hxx has to be included before uiuc_aircraft.h because of nasty
85 // #defines in uiuc_aircraft.h
88 #include <FDM/UIUCModel/uiuc_aircraft.h>
89 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
91 #include <Joystick/joystick.hxx>
93 #include <NetworkOLK/network.h>
95 #include <Objects/materialmgr.hxx>
96 #include <Scenery/scenery.hxx>
97 #include <Scenery/tilemgr.hxx>
98 #include <Sky/sky.hxx>
99 #include <Time/event.hxx>
100 #include <Time/fg_time.hxx>
101 #include <Time/fg_timer.hxx>
102 #include <Time/sunpos.hxx>
104 #ifndef FG_OLD_WEATHER
105 # include <WeatherCM/FGLocalWeatherDatabase.h>
107 # include <Weather/weather.hxx>
110 #include "fg_init.hxx"
112 #include "keyboard.hxx"
113 #include "options.hxx"
114 #include "splash.hxx"
118 // -dw- use custom sioux settings so I can see output window
121 # include <sioux.h> // settings for output window
123 # include <console.h>
127 // This is a record containing a bit of global housekeeping information
130 // Specify our current idle function state. This is used to run all
131 // our initializations out of the glutIdleLoop() so that we can get a
132 // splash screen up and running right away.
133 static int idle_state = 0;
134 static int global_multi_loop;
139 // Global structures for the Audio library
140 #ifdef ENABLE_AUDIO_SUPPORT
141 slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
142 slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
143 slScheduler *audio_sched;
144 smMixer *audio_mixer;
151 ssgRoot *scene = NULL;
152 ssgBranch *terrain = NULL;
153 ssgSelector *penguin_sel = NULL;
154 ssgTransform *penguin_pos = NULL;
156 #ifdef FG_NETWORK_OLK
157 ssgSelector *fgd_sel = NULL;
158 ssgTransform *fgd_pos = NULL;
162 // current fdm/position used for view
163 FGInterface cur_view_fdm;
170 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
172 { 1.0f, 0.0f, 0.0f, 0.0f },
173 { 0.0f, 0.0f, -1.0f, 0.0f },
174 { 0.0f, 1.0f, 0.0f, 0.0f },
175 { 0.0f, 0.0f, 0.0f, 1.0f }
178 // The following defines flight gear options. Because glutlib will also
179 // want to parse its own options, those options must not be included here
180 // or they will get parsed by the main program option parser. Hence case
181 // is significant for any option added that might be in conflict with
184 // glutlib parses for:
186 // -direct (invalid in Win32)
190 // -indirect (invalid in Win32)
193 // Note that glutlib depends upon strings while this program's
194 // option parser wants only initial characters followed by numbers
199 ssgSimpleState *default_state;
200 ssgSimpleState *hud_and_panel;
201 ssgSimpleState *menus;
203 void fgBuildRenderStates( void ) {
204 default_state = new ssgSimpleState;
205 default_state->disable( GL_TEXTURE_2D );
206 default_state->enable( GL_CULL_FACE );
207 default_state->disable( GL_COLOR_MATERIAL );
208 default_state->disable( GL_BLEND );
209 default_state->disable( GL_ALPHA_TEST );
210 default_state->disable( GL_LIGHTING );
211 default_state->setMaterial( GL_AMBIENT_AND_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
213 hud_and_panel = new ssgSimpleState;
214 hud_and_panel->disable( GL_CULL_FACE );
215 hud_and_panel->disable( GL_TEXTURE_2D );
216 hud_and_panel->disable( GL_LIGHTING );
218 menus = new ssgSimpleState;
219 menus->disable( GL_CULL_FACE );
220 menus->disable( GL_TEXTURE_2D );
221 menus->enable( GL_BLEND );
225 // fgInitVisuals() -- Initialize various GL/view parameters
226 void fgInitVisuals( void ) {
229 l = &cur_light_params;
231 #ifndef GLUT_WRONG_VERSION
232 // Go full screen if requested ...
233 if ( current_options.get_fullscreen() ) {
238 // If enabled, normal vectors specified with glNormal are scaled
239 // to unit length after transformation. See glNormal.
240 // glEnable( GL_NORMALIZE );
242 glEnable( GL_LIGHTING );
243 glEnable( GL_LIGHT0 );
244 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
247 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
248 ssgGetLight( 0 ) -> setPosition( sunpos );
250 // glFogi (GL_FOG_MODE, GL_LINEAR);
251 glFogi (GL_FOG_MODE, GL_EXP2);
252 if ( (current_options.get_fog() == 1) ||
253 (current_options.get_shading() == 0) ) {
254 // if fastest fog requested, or if flat shading force fastest
255 glHint ( GL_FOG_HINT, GL_FASTEST );
256 } else if ( current_options.get_fog() == 2 ) {
257 glHint ( GL_FOG_HINT, GL_NICEST );
259 if ( current_options.get_wireframe() ) {
261 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
264 // This is the default anyways, but it can't hurt
265 glFrontFace ( GL_CCW );
268 // glEnable(GL_POINT_SMOOTH);
269 // glEnable(GL_LINE_SMOOTH);
270 // glEnable(GL_POLYGON_SMOOTH);
274 // Update all Visuals (redraws anything graphics related)
275 void fgRenderFrame( void ) {
279 fgLIGHT *l = &cur_light_params;
280 FGTime *t = FGTime::cur_time_params;
281 // FGView *v = ¤t_view;
282 static double last_visibility = -9999;
283 static bool in_puff = false;
284 static double puff_length = 0;
285 static double puff_progression = 0;
286 const double ramp_up = 0.15;
287 const double ramp_down = 0.15;
290 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
291 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
292 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
293 // GLfloat mat_shininess[] = { 10.0 };
294 GLbitfield clear_mask;
296 if ( idle_state != 1000 ) {
297 // still initializing, draw the splash screen
298 if ( current_options.get_splash_screen() == 1 ) {
302 // idle_state is now 1000 meaning we've finished all our
303 // initializations and are running the main loop, so this will
304 // now work without seg faulting the system.
306 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
307 // FG_Altitude * FEET_TO_METER);
309 // this is just a temporary hack, to make me understand Pui
310 // timerText -> setLabel (ctime (&t->cur_time));
313 // update view volume parameters
314 // cout << "before pilot_view update" << endl;
315 pilot_view.UpdateViewParams(*cur_fdm_state);
316 // cout << "after pilot_view update" << endl;
317 current_view.UpdateViewParams(cur_view_fdm);
319 // set the sun position
320 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
322 clear_mask = GL_DEPTH_BUFFER_BIT;
323 if ( current_options.get_wireframe() ) {
324 clear_mask |= GL_COLOR_BUFFER_BIT;
326 if ( current_options.get_panel_status() ) {
327 // we can't clear the screen when the panel is active
328 } else if ( current_options.get_skyblend() ) {
329 if ( current_options.get_textures() ) {
330 // glClearColor(black[0], black[1], black[2], black[3]);
331 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
332 l->adj_fog_color[2], l->adj_fog_color[3]);
333 clear_mask |= GL_COLOR_BUFFER_BIT;
336 glClearColor(l->sky_color[0], l->sky_color[1],
337 l->sky_color[2], l->sky_color[3]);
338 clear_mask |= GL_COLOR_BUFFER_BIT;
340 glClear( clear_mask );
342 // Tell GL we are switching to model view parameters
344 // I really should create a derived ssg node or use a call
345 // back or something so that I can draw the sky within the
346 // ssgCullandDraw() function, but for now I just mimic what
347 // ssg does to set up the model view matrix
348 glMatrixMode(GL_MODELVIEW);
350 ssgSetCamera( current_view.VIEW );
353 sgMat4 vm_tmp, view_mat;
354 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
355 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
356 sgPreMultMat4( view_mat, vm_tmp ) ;
357 glLoadMatrixf( (float *)view_mat );
360 // set the opengl state to known default values
361 default_state->force();
364 if ( current_options.get_skyblend() ) {
367 current_view.get_view_pos().x(),
368 current_view.get_view_pos().y(),
369 current_view.get_view_pos().z() );
372 sgSetVec3( zero_elev,
373 current_view.get_cur_zero_elev().x(),
374 current_view.get_cur_zero_elev().y(),
375 current_view.get_cur_zero_elev().z() );
377 /* cout << "thesky->repaint() sky_color = "
378 << cur_light_params.sky_color[0] << " "
379 << cur_light_params.sky_color[1] << " "
380 << cur_light_params.sky_color[2] << " "
381 << cur_light_params.sky_color[3] << endl;
383 << cur_light_params.fog_color[0] << " "
384 << cur_light_params.fog_color[1] << " "
385 << cur_light_params.fog_color[2] << " "
386 << cur_light_params.fog_color[3] << endl;
387 cout << " sun_angle = " << cur_light_params.sun_angle
388 << " moon_angle = " << cur_light_params.moon_angle
390 thesky->repaint( cur_light_params.sky_color,
391 cur_light_params.adj_fog_color,
392 cur_light_params.sun_angle,
393 cur_light_params.moon_angle,
394 ephem->getNumPlanets(), ephem->getPlanets(),
395 ephem->getNumStars(), ephem->getStars() );
397 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
398 << view_pos[1] << " " << view_pos[2] << endl;
399 cout << " zero_elev = " << zero_elev[0] << " "
400 << zero_elev[1] << " " << zero_elev[2]
401 << " lon = " << cur_fdm_state->get_Longitude()
402 << " lat = " << cur_fdm_state->get_Latitude() << endl;
403 cout << " sun_rot = " << cur_light_params.sun_rotation
404 << " gst = " << FGTime::cur_time_params->getGst() << endl;
405 cout << " sun ra = " << ephem->getSunRightAscension()
406 << " sun dec = " << ephem->getSunDeclination()
407 << " moon ra = " << ephem->getMoonRightAscension()
408 << " moon dec = " << ephem->getMoonDeclination() << endl; */
410 thesky->reposition( view_pos, zero_elev,
411 cur_fdm_state->get_Longitude(),
412 cur_fdm_state->get_Latitude(),
413 cur_light_params.sun_rotation,
414 FGTime::cur_time_params->getGst(),
415 ephem->getSunRightAscension(),
416 ephem->getSunDeclination(), 50000.0,
417 ephem->getMoonRightAscension(),
418 ephem->getMoonDeclination(), 50000.0 );
421 glEnable( GL_DEPTH_TEST );
422 if ( current_options.get_fog() > 0 ) {
424 glFogi( GL_FOG_MODE, GL_EXP2 );
425 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
428 // update fog params if visibility has changed
429 #ifndef FG_OLD_WEATHER
430 double cur_visibility = WeatherDatabase->getWeatherVisibility();
432 double cur_visibility = current_weather.get_visibility();
434 double actual_visibility = cur_visibility;
436 if ( current_options.get_clouds() ) {
437 double diff = fabs( cur_fdm_state->get_Altitude() * FEET_TO_METER -
438 current_options.get_clouds_asl() );
439 // cout << "altitude diff = " << diff << endl;
442 // calc chance of entering cloud puff
443 double rnd = fg_random();
444 double chance = rnd * rnd * rnd;
445 if ( chance > 0.95 /* * (diff - 25) / 50.0 */ ) {
448 puff_length = fg_random() * 2.0; // up to 2 seconds
449 } while ( puff_length <= 0.0 );
450 puff_progression = 0.0;
454 actual_visibility = cur_visibility * (diff - 25) / 50.0;
457 // modify actual_visibility based on puff envelope
459 if ( puff_progression <= ramp_up ) {
460 double x = FG_PI_2 * puff_progression / ramp_up;
461 double factor = 1.0 - sin( x );
462 actual_visibility = actual_visibility * factor;
463 } else if ( puff_progression >= ramp_up + puff_length ) {
465 (puff_progression - (ramp_up + puff_length)) /
467 double factor = sin( x );
468 actual_visibility = actual_visibility * factor;
470 actual_visibility = 0.0;
473 /* cout << "len = " << puff_length
475 << " factor = " << factor
476 << " actual_visibility = " << actual_visibility
479 puff_progression += ( global_multi_loop *
480 current_options.get_speed_up() ) /
481 (double)current_options.get_model_hz();
483 /* cout << "gml = " << global_multi_loop
484 << " speed up = " << current_options.get_speed_up()
485 << " hz = " << current_options.get_model_hz() << endl;
488 if ( puff_progression > puff_length + ramp_up + ramp_down) {
493 // never let visibility drop below zero
494 if ( actual_visibility < 0 ) {
495 actual_visibility = 0;
500 // cout << "actual visibility = " << actual_visibility << endl;
502 if ( actual_visibility != last_visibility ) {
503 last_visibility = actual_visibility;
505 // cout << "----> updating fog params" << endl;
507 GLfloat fog_exp_density;
508 GLfloat fog_exp2_density;
511 fog_exp_density = -log(0.01 / actual_visibility);
514 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
516 // Set correct opengl fog density
517 glFogf (GL_FOG_DENSITY, fog_exp2_density);
520 // set lighting parameters
521 glLightfv( GL_LIGHT0, GL_AMBIENT, l->scene_ambient );
522 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
523 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
525 // texture parameters
526 // glEnable( GL_TEXTURE_2D );
527 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
528 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
529 // set base color (I don't think this is doing anything here)
530 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
531 // (GL_FRONT, GL_DIFFUSE, white);
532 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
533 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
536 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
537 ssgGetLight( 0 ) -> setPosition( sunpos );
539 // glMatrixMode( GL_PROJECTION );
541 float fov = current_options.get_fov();
542 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
544 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
547 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
548 // << current_weather.get_visibility() );
551 ssgSetNearFar( 10.0f, 120000.0f );
553 ssgSetNearFar( 0.5f, 120000.0f );
556 if ( current_options.get_view_mode() ==
557 fgOPTIONS::FG_VIEW_PILOT )
560 penguin_sel->select(0);
561 } else if ( current_options.get_view_mode() ==
562 fgOPTIONS::FG_VIEW_FOLLOW )
564 // select view matrix from front of view matrix queue
565 // FGMat4Wrapper tmp = current_view.follow.front();
566 // sgCopyMat4( sgVIEW, tmp.m );
568 // enable TuX and set up his position and orientation
569 penguin_sel->select(1);
572 sgMakeTransMat4( sgTRANS,
573 pilot_view.view_pos.x(),
574 pilot_view.view_pos.y(),
575 pilot_view.view_pos.z() );
578 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
581 sgMakeRotMat4( sgROT, -90.0, ownship_up );
585 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
586 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
588 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
590 sgCopyMat4( sgTUX, sgROT );
591 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
592 sgPostMultMat4( sgTUX, sgTRANS );
595 sgSetCoord( &tuxpos, sgTUX );
596 penguin_pos->setTransform( &tuxpos );
599 # ifdef FG_NETWORK_OLK
600 if ( current_options.get_network_olk() ) {
602 other = head->next; /* put listpointer to start */
603 while ( other != tail) { /* display all except myself */
604 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
605 other->fgd_sel->select(1);
606 sgSetCoord( &fgdpos, other->sgFGD_COORD );
607 other->fgd_pos->setTransform( &fgdpos );
612 // fgd_sel->select(1);
613 // sgCopyMat4( sgTUX, current_view.sgVIEW);
615 // sgSetCoord( &fgdpos, sgFGD_VIEW );
616 // fgd_pos->setTransform( &fgdpos);
620 // ssgSetCamera( current_view.VIEW );
622 // position tile nodes and update range selectors
623 global_tile_mgr.prep_ssg_nodes();
625 // force the default state so ssg can get back on track if
626 // we've changed things elsewhere
627 FGMaterialSlot m_slot;
628 FGMaterialSlot *m_ptr = &m_slot;
629 if ( material_mgr.find( "Default", m_ptr ) ) {
630 m_ptr->get_state()->force();
633 // draw the ssg scene
634 ssgCullAndDraw( scene );
637 // display HUD && Panel
639 glDisable( GL_DEPTH_TEST );
640 // glDisable( GL_CULL_FACE );
641 // glDisable( GL_TEXTURE_2D );
642 hud_and_panel->apply();
645 // We can do translucent menus, so why not. :-)
646 // glEnable ( GL_BLEND ) ;
648 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
650 // glDisable ( GL_BLEND ) ;
652 // glEnable( GL_FOG );
659 // Update internal time dependent calculations (i.e. flight model)
660 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
661 static fdm_state_list fdm_list;
662 // FGInterface fdm_state;
663 fgLIGHT *l = &cur_light_params;
664 FGTime *t = FGTime::cur_time_params;
665 // FGView *v = ¤t_view;
668 // update the flight model
669 if ( multi_loop < 0 ) {
673 if ( !t->getPause() ) {
674 // run Autopilot system
675 current_autopilot->run();
677 // printf("updating flight model x %d\n", multi_loop);
678 /* fgFDMUpdate( current_options.get_flight_model(),
680 multi_loop * current_options.get_speed_up(),
682 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
683 FGSteam::update( multi_loop * current_options.get_speed_up() );
685 // fgFDMUpdate( current_options.get_flight_model(),
686 // fdm_state, 0, remainder );
687 cur_fdm_state->update( 0 );
688 FGSteam::update( 0 );
691 fdm_list.push_back( *cur_fdm_state );
692 while ( fdm_list.size() > 15 ) {
693 fdm_list.pop_front();
696 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
697 cur_view_fdm = *cur_fdm_state;
699 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
700 cur_view_fdm = fdm_list.front();
703 // update the view angle
704 for ( i = 0; i < multi_loop; i++ ) {
705 if ( fabs(current_view.get_goal_view_offset() -
706 current_view.get_view_offset()) < 0.05 )
708 current_view.set_view_offset( current_view.get_goal_view_offset() );
711 // move current_view.view_offset towards current_view.goal_view_offset
712 if ( current_view.get_goal_view_offset() >
713 current_view.get_view_offset() )
715 if ( current_view.get_goal_view_offset() -
716 current_view.get_view_offset() < FG_PI )
718 current_view.inc_view_offset( 0.01 );
720 current_view.inc_view_offset( -0.01 );
723 if ( current_view.get_view_offset() -
724 current_view.get_goal_view_offset() < FG_PI )
726 current_view.inc_view_offset( -0.01 );
728 current_view.inc_view_offset( 0.01 );
731 if ( current_view.get_view_offset() > FG_2PI ) {
732 current_view.inc_view_offset( -FG_2PI );
733 } else if ( current_view.get_view_offset() < 0 ) {
734 current_view.inc_view_offset( FG_2PI );
739 double tmp = -(l->sun_rotation + FG_PI)
740 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
741 while ( tmp < 0.0 ) {
744 while ( tmp > FG_2PI ) {
747 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
748 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
749 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
752 // Update solar system
753 ephem->update( t, cur_fdm_state->get_Latitude() );
755 // Update radio stack model
756 current_radiostack->update( cur_fdm_state->get_Longitude(),
757 cur_fdm_state->get_Latitude(),
758 cur_fdm_state->get_Altitude() * FEET_TO_METER );
762 void fgInitTimeDepCalcs( void ) {
765 // #ifdef HAVE_SETITIMER
766 // fgTimerInit( 1.0 / current_options.get_model_hz(),
767 // fgUpdateTimeDepCalcs );
768 // #endif HAVE_SETITIMER
772 static const double alt_adjust_ft = 3.758099;
773 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
776 // What should we do when we have nothing else to do? Let's get ready
777 // for the next move and update the display?
778 static void fgMainLoop( void ) {
780 static long remainder = 0;
782 #ifdef FANCY_FRAME_COUNTER
786 static time_t last_time = 0;
787 static int frames = 0;
788 #endif // FANCY_FRAME_COUNTER
790 t = FGTime::cur_time_params;
792 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
793 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
795 #ifdef FG_NETWORK_OLK
796 if ( current_options.get_network_olk() ) {
797 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
798 // printf("FGD: Netupdate\n");
799 fgd_send_com( "A", FGFS_host); // Send Mat4 data
800 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
805 #if defined( ENABLE_PLIB_JOYSTICK )
806 // Read joystick and update control settings
807 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
810 #elif defined( ENABLE_GLUT_JOYSTICK )
811 // Glut joystick support works by feeding a joystick handler
812 // function to glut. This is taken care of once in the joystick
813 // init routine and we don't have to worry about it again.
816 #ifdef FG_OLD_WEATHER
817 current_weather.Update();
820 // Fix elevation. I'm just sticking this here for now, it should
821 // probably move eventually
823 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
825 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
826 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
828 if ( scenery.cur_elev > -9990 ) {
829 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
830 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
831 // now set aircraft altitude above ground
832 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
833 cur_fdm_state->get_Altitude() * FEET_TO_METER,
834 scenery.cur_elev + alt_adjust_m - 3.0,
835 scenery.cur_elev + alt_adjust_m );
836 fgFDMForceAltitude( current_options.get_flight_model(),
837 scenery.cur_elev + alt_adjust_m );
839 FG_LOG( FG_ALL, FG_DEBUG,
840 "<*> resetting altitude to "
841 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
843 fgFDMSetGroundElevation( current_options.get_flight_model(),
844 scenery.cur_elev ); // meters
847 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
849 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
850 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
853 t->update( cur_fdm_state->get_Longitude(),
854 cur_fdm_state->get_Latitude(),
855 cur_fdm_state->get_Altitude()* FEET_TO_METER );
857 // Get elapsed time (in usec) for this past frame
858 elapsed = fgGetTimeInterval();
859 FG_LOG( FG_ALL, FG_DEBUG,
860 "Elapsed time interval is = " << elapsed
861 << ", previous remainder is = " << remainder );
863 // Calculate frame rate average
864 #ifdef FANCY_FRAME_COUNTER
865 /* old fps calculation */
869 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
870 tmp = general.get_frame(i);
872 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
873 general.set_frame(i+1,tmp);
875 tmp = 1000000.0 / (float)elapsed;
876 general.set_frame(0,tmp);
877 // printf("frame[0] = %.2f\n", general.frames[0]);
879 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
880 // printf("ave = %.2f\n", general.frame_rate);
883 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
884 general.set_frame_rate( frames );
885 FG_LOG( FG_ALL, FG_DEBUG,
886 "--> Frame rate is = " << general.get_frame_rate() );
889 last_time = t->get_cur_time();
894 if ( ! use_signals ) {
895 // Calculate model iterations needed for next frame
896 elapsed += remainder;
898 global_multi_loop = (int)(((double)elapsed * 0.000001) *
899 current_options.get_model_hz());
900 remainder = elapsed - ( (global_multi_loop*1000000) /
901 current_options.get_model_hz() );
902 FG_LOG( FG_ALL, FG_DEBUG,
903 "Model iterations needed = " << global_multi_loop
904 << ", new remainder = " << remainder );
907 if ( global_multi_loop > 0 ) {
908 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
910 FG_LOG( FG_ALL, FG_DEBUG,
911 "Elapsed time is zero ... we're zinging" );
915 #if ! defined( MACOS )
916 // Do any I/O channel work that might need to be done
920 // see if we need to load any new scenery tiles
921 global_tile_mgr.update();
923 // Process/manage pending events
924 global_events.Process();
926 // Run audio scheduler
927 #ifdef ENABLE_AUDIO_SUPPORT
928 if ( current_options.get_sound() && !audio_sched->not_working() ) {
930 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
932 // note: all these factors are relative to the sample. our
933 // sample format should really contain a conversion factor so
934 // that we can get prop speed right for arbitrary samples.
935 // Note that for normal-size props, there is a point at which
936 // the prop tips approach the speed of sound; that is a pretty
937 // strong limit to how fast the prop can go.
939 // multiplication factor is prime pitch control; add some log
940 // component for verisimilitude
942 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
943 //fprintf(stderr, "pitch1: %f ", pitch);
944 if (controls.get_throttle(0) > 0.0 || cur_fdm_state->v_rel_wind > 40.0) {
945 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
946 // only add relative wind and AoA if prop is moving
947 // or we're really flying at idle throttle
948 if (pitch < 5.4) { // this needs tuning
949 // prop tips not breaking sound barrier
950 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
952 // prop tips breaking sound barrier
953 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
955 //fprintf(stderr, "pitch2: %f ", pitch);
956 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
958 // Angle of Attack next... -x^3(e^x) is my best guess Just
959 // need to calculate some reasonable scaling factor and
960 // then clamp it on the positive aoa (neg adj) side
961 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
963 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
964 if (aoa_adj < -0.8) aoa_adj = -0.8;
966 //fprintf(stderr, "pitch3: %f ", pitch);
968 // don't run at absurdly slow rates -- not realistic
969 // and sounds bad to boot. :-)
970 if (pitch < 0.8) pitch = 0.8;
972 //fprintf(stderr, "pitch4: %f\n", pitch);
974 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
975 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
976 // fprintf(stderr, "volume: %f\n", volume);
978 pitch_envelope.setStep ( 0, 0.01, pitch );
979 volume_envelope.setStep ( 0, 0.01, volume );
983 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
984 pitch_envelope.setStep ( 0, 0.01, param );
985 volume_envelope.setStep ( 0, 0.01, param );
987 # endif // experimental throttle patch
989 audio_sched -> update();
996 FG_LOG( FG_ALL, FG_DEBUG, "" );
1000 // This is the top level master main function that is registered as
1001 // our idle funciton
1004 // The first few passes take care of initialization things (a couple
1005 // per pass) and once everything has been initialized fgMainLoop from
1008 static void fgIdleFunction ( void ) {
1009 // printf("idle state == %d\n", idle_state);
1011 if ( idle_state == 0 ) {
1012 // Initialize the splash screen right away
1013 if ( current_options.get_splash_screen() ) {
1018 } else if ( idle_state == 1 ) {
1019 // Start the intro music
1021 if ( current_options.get_intro_music() ) {
1022 string lockfile = "/tmp/mpg123.running";
1023 FGPath mp3file( current_options.get_fg_root() );
1024 mp3file.append( "Sounds/intro.mp3" );
1026 string command = "(touch " + lockfile + "; mpg123 "
1027 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
1029 FG_LOG( FG_GENERAL, FG_INFO,
1030 "Starting intro music: " << mp3file.str() );
1031 system ( command.c_str() );
1036 } else if ( idle_state == 2 ) {
1037 // These are a few miscellaneous things that aren't really
1038 // "subsystems" but still need to be initialized.
1041 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1042 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1047 } else if ( idle_state == 3 ) {
1048 // This is the top level init routine which calls all the
1049 // other subsystem initialization routines. If you are adding
1050 // a subsystem to flight gear, its initialization call should
1051 // located in this routine.
1052 if( !fgInitSubsystems()) {
1053 FG_LOG( FG_GENERAL, FG_ALERT,
1054 "Subsystem initializations failed ..." );
1059 } else if ( idle_state == 4 ) {
1060 // setup OpenGL view parameters
1063 if ( use_signals ) {
1064 // init timer routines, signals, etc. Arrange for an alarm
1065 // signal to be generated, etc.
1066 fgInitTimeDepCalcs();
1070 } else if ( idle_state == 5 ) {
1073 } else if ( idle_state == 6 ) {
1074 // Initialize audio support
1075 #ifdef ENABLE_AUDIO_SUPPORT
1078 if ( current_options.get_intro_music() ) {
1079 // Let's wait for mpg123 to finish
1080 string lockfile = "/tmp/mpg123.running";
1081 struct stat stat_buf;
1083 FG_LOG( FG_GENERAL, FG_INFO,
1084 "Waiting for mpg123 player to finish ..." );
1085 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1086 // file exist, wait ...
1088 FG_LOG( FG_GENERAL, FG_INFO, ".");
1090 FG_LOG( FG_GENERAL, FG_INFO, "");
1094 if ( current_options.get_sound() ) {
1095 audio_sched = new slScheduler ( 8000 );
1096 audio_mixer = new smMixer;
1097 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1098 audio_sched -> setSafetyMargin ( 1.0 ) ;
1100 FGPath slfile( current_options.get_fg_root() );
1101 slfile.append( "Sounds/wasp.wav" );
1103 s1 = new slSample ( (char *)slfile.c_str() );
1104 FG_LOG( FG_GENERAL, FG_INFO,
1105 "Rate = " << s1 -> getRate()
1106 << " Bps = " << s1 -> getBps()
1107 << " Stereo = " << s1 -> getStereo() );
1108 audio_sched -> loopSample ( s1 );
1110 if ( audio_sched->not_working() ) {
1113 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1114 volume_envelope.setStep ( 0, 0.01, 0.6 );
1116 audio_sched -> addSampleEnvelope( s1, 0, 0,
1118 SL_PITCH_ENVELOPE );
1119 audio_sched -> addSampleEnvelope( s1, 0, 1,
1121 SL_VOLUME_ENVELOPE );
1124 // strcpy(slfile, path);
1125 // strcat(slfile, "thunder.wav");
1126 // s2 -> loadFile ( slfile );
1127 // s2 -> adjustVolume(0.5);
1128 // audio_sched -> playSample ( s2 );
1136 if ( idle_state == 1000 ) {
1137 // We've finished all our initialization steps, from now on we
1138 // run the main loop.
1142 if ( current_options.get_splash_screen() == 1 ) {
1143 fgSplashUpdate(0.0);
1148 // options.cxx needs to see this for toggle_panel()
1149 // Handle new window size or exposure
1150 void fgReshape( int width, int height ) {
1151 if ( ! current_options.get_panel_status() ) {
1152 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1153 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1155 current_view.set_win_ratio( (GLfloat) width /
1156 ((GLfloat) (height)*0.4232) );
1157 glViewport(0, (GLint)((height)*0.5768),
1158 (GLint)(width), (GLint)((height)*0.4232) );
1161 current_view.set_winWidth( width );
1162 current_view.set_winHeight( height );
1163 current_view.force_update_fov_math();
1165 // set these fov to be the same as in fgRenderFrame()
1166 // float x_fov = current_options.get_fov();
1167 // float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1168 // ssgSetFOV( x_fov, y_fov );
1170 // glViewport ( 0, 0, width, height );
1171 float fov = current_options.get_fov();
1172 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1176 if ( idle_state == 1000 ) {
1177 // yes we've finished all our initializations and are running
1178 // the main loop, so this will now work without seg faulting
1180 current_view.UpdateViewParams(cur_view_fdm);
1185 // Initialize GLUT and define a main window
1186 int fgGlutInit( int *argc, char **argv ) {
1188 #if !defined( MACOS )
1189 // GLUT will extract all glut specific options so later on we only
1190 // need wory about our own.
1191 glutInit(argc, argv);
1194 // Define Display Parameters
1195 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1197 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1198 current_options.get_xsize() << "x" << current_options.get_ysize() );
1200 // Define initial window size
1201 glutInitWindowSize( current_options.get_xsize(),
1202 current_options.get_ysize() );
1204 // Initialize windows
1205 if ( current_options.get_game_mode() == 0 ) {
1206 // Open the regular window
1207 glutCreateWindow("Flight Gear");
1208 #ifndef GLUT_WRONG_VERSION
1210 // Open the cool new 'game mode' window
1211 char game_mode_str[256];
1212 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1213 current_options.get_xsize(),
1214 current_options.get_ysize(),
1215 current_options.get_bpp());
1217 FG_LOG( FG_GENERAL, FG_INFO,
1218 "game mode params = " << game_mode_str );
1219 glutGameModeString( game_mode_str );
1220 glutEnterGameMode();
1224 // This seems to be the absolute earliest in the init sequence
1225 // that these calls will return valid info. Too bad it's after
1226 // we've already created and sized out window. :-(
1227 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1228 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1229 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1231 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1234 // try to determine if we should adjust the initial default
1235 // display resolution. The options class defaults (is
1236 // initialized) to 640x480.
1237 string renderer = general.glRenderer;
1239 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1240 if ( renderer.find( "Glide" ) != string::npos ) {
1241 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1242 if ( renderer.find( "FB/8" ) != string::npos ) {
1243 // probably a voodoo-2
1244 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1245 // probably two SLI'd Voodoo-2's
1246 current_options.set_xsize( 1024 );
1247 current_options.set_ysize( 768 );
1248 FG_LOG( FG_GENERAL, FG_INFO,
1249 "It looks like you have two sli'd voodoo-2's." << endl
1250 << "upgrading your win resolution to 1024 x 768" );
1251 glutReshapeWindow(1024, 768);
1253 // probably a single non-SLI'd Voodoo-2
1254 current_options.set_xsize( 800 );
1255 current_options.set_ysize( 600 );
1256 FG_LOG( FG_GENERAL, FG_INFO,
1257 "It looks like you have a voodoo-2." << endl
1258 << "upgrading your win resolution to 800 x 600" );
1259 glutReshapeWindow(800, 600);
1261 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1262 // probably a voodoo-1, stick with the default
1265 // we have no special knowledge of this card, stick with the default
1273 // Initialize GLUT event handlers
1274 int fgGlutInitEvents( void ) {
1275 // call fgReshape() on window resizes
1276 glutReshapeFunc( fgReshape );
1278 // call GLUTkey() on keyboard event
1279 glutKeyboardFunc( GLUTkey );
1280 glutSpecialFunc( GLUTspecialkey );
1282 // call guiMouseFunc() whenever our little rodent is used
1283 glutMouseFunc ( guiMouseFunc );
1284 glutMotionFunc (guiMotionFunc );
1285 glutPassiveMotionFunc (guiMotionFunc );
1287 // call fgMainLoop() whenever there is
1288 // nothing else to do
1289 glutIdleFunc( fgIdleFunction );
1292 glutDisplayFunc( fgRenderFrame );
1299 int main( int argc, char **argv ) {
1301 #if defined( MACOS )
1302 freopen ("stdout.txt", "w", stdout );
1303 freopen ("stderr.txt", "w", stderr );
1304 argc = ccommand( &argv );
1308 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1311 // set default log levels
1312 fglog().setLogLevels( FG_ALL, FG_INFO );
1314 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1316 // seed the random number generater
1319 // AIRCRAFT defined in uiuc_aircraft.h
1320 // AIRCRAFTDIR defined in uiuc_aircraftdir.h
1321 aircraft_ = new AIRCRAFT;
1322 aircraftdir_ = new AIRCRAFTDIR;
1323 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1325 // Load the configuration parameters
1326 if ( !fgInitConfig(argc, argv) ) {
1327 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1331 // Initialize the Window/Graphics environment.
1332 if( !fgGlutInit(&argc, argv) ) {
1333 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1337 // Initialize the various GLUT Event Handlers.
1338 if( !fgGlutInitEvents() ) {
1339 FG_LOG( FG_GENERAL, FG_ALERT,
1340 "GLUT event handler initialization failed ..." );
1344 // Initialize ssg (from plib). Needs to come before we do any
1345 // other ssg stuff, but after opengl/glut has been initialized.
1348 // Initialize the user interface (we need to do this before
1349 // passing off control to glut and before fgInitGeneral to get our
1354 FGTime::cur_time_params = new FGTime();
1355 // FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1356 // cur_fdm_state->get_Latitude() );
1357 // FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1358 FGTime::cur_time_params->init( 0.0, 0.0 );
1359 FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
1361 // Do some quick general initializations
1362 if( !fgInitGeneral()) {
1363 FG_LOG( FG_GENERAL, FG_ALERT,
1364 "General initializations failed ..." );
1369 // some ssg test stuff (requires data from the plib source
1370 // distribution) specifically from the ssg tux example
1373 FGPath modelpath( current_options.get_fg_root() );
1374 modelpath.append( "Models" );
1375 modelpath.append( "Geometry" );
1377 FGPath texturepath( current_options.get_fg_root() );
1378 texturepath.append( "Models" );
1379 texturepath.append( "Textures" );
1381 ssgModelPath( (char *)modelpath.c_str() );
1382 ssgTexturePath( (char *)texturepath.c_str() );
1385 scene = new ssgRoot;
1386 scene->setName( "Scene" );
1388 // Initialize the sky
1389 FGPath ephem_data_path( current_options.get_fg_root() );
1390 ephem_data_path.append( "Astro" );
1391 ephem = new FGEphemeris( ephem_data_path.c_str() );
1392 ephem->update( FGTime::cur_time_params, 0.0 );
1394 FGPath sky_tex_path( current_options.get_fg_root() );
1395 sky_tex_path.append( "Textures" );
1396 sky_tex_path.append( "Sky" );
1398 thesky->texture_path( sky_tex_path.str() );
1400 ssgBranch *sky = thesky->build( 550.0, 550.0,
1401 ephem->getNumPlanets(),
1402 ephem->getPlanets(), 60000.0,
1403 ephem->getNumStars(),
1404 ephem->getStars(), 60000.0 );
1405 scene->addKid( sky );
1408 terrain = new ssgBranch;
1409 terrain->setName( "Terrain" );
1410 scene->addKid( terrain );
1412 // temporary visible aircraft "own ship"
1413 penguin_sel = new ssgSelector;
1414 penguin_pos = new ssgTransform;
1415 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1416 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1417 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1419 penguin_pos->addKid( tux_obj );
1420 penguin_sel->addKid( penguin_pos );
1421 ssgFlatten( tux_obj );
1422 ssgStripify( penguin_sel );
1423 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1424 scene->addKid( penguin_sel );
1426 #ifdef FG_NETWORK_OLK
1427 // Do the network intialization
1428 if ( current_options.get_network_olk() ) {
1429 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1433 // build our custom render states
1434 fgBuildRenderStates();
1436 // pass control off to the master GLUT event handler
1439 // we never actually get here ... but to avoid compiler warnings,