1 // main.cxx -- top level sim routines
3 // Written by Curtis Olson for OpenGL, started May 1997.
5 // Copyright (C) 1997 - 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 #define MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
31 #ifdef FG_MATH_EXCEPTION_CLASH
41 #include <simgear/xgl/xgl.h>
51 #ifdef HAVE_SYS_STAT_H
52 # include <sys/stat.h> /* for stat() */
56 # include <unistd.h> /* for stat() */
59 #include <plib/pu.h> // plib include
60 #include <plib/ssg.h> // plib include
62 #ifdef ENABLE_AUDIO_SUPPORT
63 # include <plib/sl.h> // plib include
64 # include <plib/sm.h> // plib include
67 #include <simgear/constants.h> // for VERSION
68 #include <simgear/debug/logstream.hxx>
69 #include <simgear/math/fg_geodesy.hxx>
70 #include <simgear/math/polar3d.hxx>
71 #include <simgear/math/fg_random.h>
72 #include <simgear/misc/fgpath.hxx>
74 #include <Include/general.hxx>
76 #include <Aircraft/aircraft.hxx>
77 #include <Ephemeris/ephemeris.hxx>
79 #include <Autopilot/newauto.hxx>
80 #include <Cockpit/cockpit.hxx>
81 #include <Cockpit/radiostack.hxx>
82 #include <Cockpit/steam.hxx>
84 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
86 #include <Joystick/joystick.hxx>
88 #include <NetworkOLK/network.h>
90 #include <Objects/materialmgr.hxx>
91 #include <Scenery/scenery.hxx>
92 #include <Scenery/tilemgr.hxx>
93 #include <Sky/sky.hxx>
94 #include <Time/event.hxx>
95 #include <Time/fg_time.hxx>
96 #include <Time/fg_timer.hxx>
97 #include <Time/sunpos.hxx>
99 #ifndef FG_OLD_WEATHER
100 # include <WeatherCM/FGLocalWeatherDatabase.h>
102 # include <Weather/weather.hxx>
106 #include "fg_init.hxx"
108 #include "keyboard.hxx"
109 #include "options.hxx"
110 #include "splash.hxx"
114 // -dw- use custom sioux settings so I can see output window
117 # include <sioux.h> // settings for output window
119 # include <console.h>
123 // This is a record containing a bit of global housekeeping information
126 // Specify our current idle function state. This is used to run all
127 // our initializations out of the glutIdleLoop() so that we can get a
128 // splash screen up and running right away.
129 static int idle_state = 0;
130 static int global_multi_loop;
135 // Global structures for the Audio library
136 #ifdef ENABLE_AUDIO_SUPPORT
137 slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
138 slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
139 slScheduler *audio_sched;
140 smMixer *audio_mixer;
147 ssgRoot *scene = NULL;
148 ssgBranch *terrain = NULL;
149 ssgSelector *penguin_sel = NULL;
150 ssgTransform *penguin_pos = NULL;
152 #ifdef FG_NETWORK_OLK
153 ssgSelector *fgd_sel = NULL;
154 ssgTransform *fgd_pos = NULL;
158 // current fdm/position used for view
159 FGInterface cur_view_fdm;
166 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
168 { 1.0f, 0.0f, 0.0f, 0.0f },
169 { 0.0f, 0.0f, -1.0f, 0.0f },
170 { 0.0f, 1.0f, 0.0f, 0.0f },
171 { 0.0f, 0.0f, 0.0f, 1.0f }
174 // The following defines flight gear options. Because glutlib will also
175 // want to parse its own options, those options must not be included here
176 // or they will get parsed by the main program option parser. Hence case
177 // is significant for any option added that might be in conflict with
180 // glutlib parses for:
182 // -direct (invalid in Win32)
186 // -indirect (invalid in Win32)
189 // Note that glutlib depends upon strings while this program's
190 // option parser wants only initial characters followed by numbers
195 ssgSimpleState *default_state;
196 ssgSimpleState *hud_and_panel;
197 ssgSimpleState *menus;
199 void fgBuildRenderStates( void ) {
200 default_state = new ssgSimpleState;
201 default_state->disable( GL_TEXTURE_2D );
202 default_state->enable( GL_CULL_FACE );
203 default_state->enable( GL_COLOR_MATERIAL );
204 default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
205 default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
206 default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
207 default_state->disable( GL_BLEND );
208 default_state->disable( GL_ALPHA_TEST );
209 default_state->disable( GL_LIGHTING );
211 hud_and_panel = new ssgSimpleState;
212 hud_and_panel->disable( GL_CULL_FACE );
213 hud_and_panel->disable( GL_TEXTURE_2D );
214 hud_and_panel->disable( GL_LIGHTING );
215 hud_and_panel->enable( GL_BLEND );
217 menus = new ssgSimpleState;
218 menus->disable( GL_CULL_FACE );
219 menus->disable( GL_TEXTURE_2D );
220 menus->enable( GL_BLEND );
224 // fgInitVisuals() -- Initialize various GL/view parameters
225 void fgInitVisuals( void ) {
228 l = &cur_light_params;
230 #ifndef GLUT_WRONG_VERSION
231 // Go full screen if requested ...
232 if ( current_options.get_fullscreen() ) {
237 // If enabled, normal vectors specified with glNormal are scaled
238 // to unit length after transformation. See glNormal.
239 // glEnable( GL_NORMALIZE );
241 glEnable( GL_LIGHTING );
242 glEnable( GL_LIGHT0 );
243 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
246 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
247 ssgGetLight( 0 ) -> setPosition( sunpos );
249 // glFogi (GL_FOG_MODE, GL_LINEAR);
250 glFogi (GL_FOG_MODE, GL_EXP2);
251 if ( (current_options.get_fog() == 1) ||
252 (current_options.get_shading() == 0) ) {
253 // if fastest fog requested, or if flat shading force fastest
254 glHint ( GL_FOG_HINT, GL_FASTEST );
255 } else if ( current_options.get_fog() == 2 ) {
256 glHint ( GL_FOG_HINT, GL_NICEST );
258 if ( current_options.get_wireframe() ) {
260 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
263 // This is the default anyways, but it can't hurt
264 glFrontFace ( GL_CCW );
267 // glEnable(GL_POINT_SMOOTH);
268 // glEnable(GL_LINE_SMOOTH);
269 // glEnable(GL_POLYGON_SMOOTH);
273 // Update all Visuals (redraws anything graphics related)
274 void fgRenderFrame( void ) {
278 fgLIGHT *l = &cur_light_params;
279 FGTime *t = FGTime::cur_time_params;
280 // FGView *v = ¤t_view;
281 static double last_visibility = -9999;
284 static bool in_puff = false;
285 static double puff_length = 0;
286 static double puff_progression = 0;
287 const double ramp_up = 0.15;
288 const double ramp_down = 0.15;
292 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
293 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
294 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
295 // GLfloat mat_shininess[] = { 10.0 };
296 GLbitfield clear_mask;
298 if ( idle_state != 1000 ) {
299 // still initializing, draw the splash screen
300 if ( current_options.get_splash_screen() == 1 ) {
304 // idle_state is now 1000 meaning we've finished all our
305 // initializations and are running the main loop, so this will
306 // now work without seg faulting the system.
308 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
309 // FG_Altitude * FEET_TO_METER);
311 // this is just a temporary hack, to make me understand Pui
312 // timerText -> setLabel (ctime (&t->cur_time));
315 // update view volume parameters
316 // cout << "before pilot_view update" << endl;
317 pilot_view.UpdateViewParams(*cur_fdm_state);
318 // cout << "after pilot_view update" << endl;
319 current_view.UpdateViewParams(cur_view_fdm);
321 // set the sun position
322 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
324 clear_mask = GL_DEPTH_BUFFER_BIT;
325 if ( current_options.get_wireframe() ) {
326 clear_mask |= GL_COLOR_BUFFER_BIT;
328 if ( current_options.get_panel_status() ) {
329 // we can't clear the screen when the panel is active
330 } else if ( current_options.get_skyblend() ) {
331 if ( current_options.get_textures() ) {
332 // glClearColor(black[0], black[1], black[2], black[3]);
333 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
334 l->adj_fog_color[2], l->adj_fog_color[3]);
335 clear_mask |= GL_COLOR_BUFFER_BIT;
338 glClearColor(l->sky_color[0], l->sky_color[1],
339 l->sky_color[2], l->sky_color[3]);
340 clear_mask |= GL_COLOR_BUFFER_BIT;
342 glClear( clear_mask );
344 // Tell GL we are switching to model view parameters
346 // I really should create a derived ssg node or use a call
347 // back or something so that I can draw the sky within the
348 // ssgCullAndDraw() function, but for now I just mimic what
349 // ssg does to set up the model view matrix
350 glMatrixMode(GL_MODELVIEW);
352 ssgSetCamera( current_view.VIEW );
355 sgMat4 vm_tmp, view_mat;
356 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
357 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
358 sgPreMultMat4( view_mat, vm_tmp ) ;
359 glLoadMatrixf( (float *)view_mat );
362 // set the opengl state to known default values
363 default_state->force();
365 // update fog params if visibility has changed
366 #ifndef FG_OLD_WEATHER
367 thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
369 thesky->set_visibility( current_weather.get_visibility() );
372 thesky->modify_vis( cur_fdm_state->get_Altitude()
375 ( global_multi_loop *
376 current_options.get_speed_up() ) /
377 (double)current_options.get_model_hz() );
379 double actual_visibility = thesky->get_visibility();
380 // cout << "actual visibility = " << actual_visibility << endl;
382 if ( actual_visibility != last_visibility ) {
383 last_visibility = actual_visibility;
385 // cout << "----> updating fog params" << endl;
387 GLfloat fog_exp_density;
388 GLfloat fog_exp2_density;
391 fog_exp_density = -log(0.01 / actual_visibility);
394 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
396 // Set correct opengl fog density
397 glFogf (GL_FOG_DENSITY, fog_exp2_density);
400 // update the sky dome
401 if ( current_options.get_skyblend() ) {
404 current_view.get_view_pos().x(),
405 current_view.get_view_pos().y(),
406 current_view.get_view_pos().z() );
409 sgSetVec3( zero_elev,
410 current_view.get_cur_zero_elev().x(),
411 current_view.get_cur_zero_elev().y(),
412 current_view.get_cur_zero_elev().z() );
414 /* cout << "thesky->repaint() sky_color = "
415 << cur_light_params.sky_color[0] << " "
416 << cur_light_params.sky_color[1] << " "
417 << cur_light_params.sky_color[2] << " "
418 << cur_light_params.sky_color[3] << endl;
420 << cur_light_params.fog_color[0] << " "
421 << cur_light_params.fog_color[1] << " "
422 << cur_light_params.fog_color[2] << " "
423 << cur_light_params.fog_color[3] << endl;
424 cout << " sun_angle = " << cur_light_params.sun_angle
425 << " moon_angle = " << cur_light_params.moon_angle
427 thesky->repaint( cur_light_params.sky_color,
428 cur_light_params.adj_fog_color,
429 cur_light_params.sun_angle,
430 cur_light_params.moon_angle,
431 ephem->getNumPlanets(), ephem->getPlanets(),
432 ephem->getNumStars(), ephem->getStars() );
434 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
435 << view_pos[1] << " " << view_pos[2] << endl;
436 cout << " zero_elev = " << zero_elev[0] << " "
437 << zero_elev[1] << " " << zero_elev[2]
438 << " lon = " << cur_fdm_state->get_Longitude()
439 << " lat = " << cur_fdm_state->get_Latitude() << endl;
440 cout << " sun_rot = " << cur_light_params.sun_rotation
441 << " gst = " << FGTime::cur_time_params->getGst() << endl;
442 cout << " sun ra = " << ephem->getSunRightAscension()
443 << " sun dec = " << ephem->getSunDeclination()
444 << " moon ra = " << ephem->getMoonRightAscension()
445 << " moon dec = " << ephem->getMoonDeclination() << endl; */
447 thesky->reposition( view_pos, zero_elev,
448 current_view.get_local_up(),
449 cur_fdm_state->get_Longitude(),
450 cur_fdm_state->get_Latitude(),
451 cur_fdm_state->get_Altitude() * FEET_TO_METER,
452 cur_light_params.sun_rotation,
453 FGTime::cur_time_params->getGst(),
454 ephem->getSunRightAscension(),
455 ephem->getSunDeclination(), 50000.0,
456 ephem->getMoonRightAscension(),
457 ephem->getMoonDeclination(), 50000.0 );
460 glEnable( GL_DEPTH_TEST );
461 if ( current_options.get_fog() > 0 ) {
463 glFogi( GL_FOG_MODE, GL_EXP2 );
464 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
467 // set lighting parameters
468 GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
469 glLightModelfv( GL_LIGHT_MODEL_AMBIENT, l->scene_ambient );
470 glLightfv( GL_LIGHT0, GL_AMBIENT, black );
471 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
472 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
474 // texture parameters
475 // glEnable( GL_TEXTURE_2D );
476 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
477 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
478 // set base color (I don't think this is doing anything here)
479 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
480 // (GL_FRONT, GL_DIFFUSE, white);
481 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
482 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
485 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
486 ssgGetLight( 0 ) -> setPosition( sunpos );
488 // glMatrixMode( GL_PROJECTION );
490 float fov = current_options.get_fov();
491 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
493 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
496 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
497 // << current_weather.get_visibility() );
500 ssgSetNearFar( 10.0f, 120000.0f );
502 ssgSetNearFar( 0.5f, 120000.0f );
505 if ( current_options.get_view_mode() ==
506 fgOPTIONS::FG_VIEW_PILOT )
509 penguin_sel->select(0);
510 } else if ( current_options.get_view_mode() ==
511 fgOPTIONS::FG_VIEW_FOLLOW )
513 // select view matrix from front of view matrix queue
514 // FGMat4Wrapper tmp = current_view.follow.front();
515 // sgCopyMat4( sgVIEW, tmp.m );
517 // enable TuX and set up his position and orientation
518 penguin_sel->select(1);
521 sgMakeTransMat4( sgTRANS,
522 pilot_view.view_pos.x(),
523 pilot_view.view_pos.y(),
524 pilot_view.view_pos.z() );
527 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
530 sgMakeRotMat4( sgROT, -90.0, ownship_up );
534 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
535 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
537 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
539 sgCopyMat4( sgTUX, sgROT );
540 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
541 sgPostMultMat4( sgTUX, sgTRANS );
544 sgSetCoord( &tuxpos, sgTUX );
545 penguin_pos->setTransform( &tuxpos );
548 # ifdef FG_NETWORK_OLK
549 if ( current_options.get_network_olk() ) {
551 other = head->next; /* put listpointer to start */
552 while ( other != tail) { /* display all except myself */
553 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
554 other->fgd_sel->select(1);
555 sgSetCoord( &fgdpos, other->sgFGD_COORD );
556 other->fgd_pos->setTransform( &fgdpos );
561 // fgd_sel->select(1);
562 // sgCopyMat4( sgTUX, current_view.sgVIEW);
564 // sgSetCoord( &fgdpos, sgFGD_VIEW );
565 // fgd_pos->setTransform( &fgdpos);
569 // ssgSetCamera( current_view.VIEW );
571 // position tile nodes and update range selectors
572 global_tile_mgr.prep_ssg_nodes();
574 // force the default state so ssg can get back on track if
575 // we've changed things elsewhere (this is now handled
578 // FGMaterialSlot m_slot;
579 // FGMaterialSlot *m_ptr = &m_slot;
580 // if ( material_mgr.find( "Default", m_ptr ) ) {
581 // m_ptr->get_state()->force();
584 // draw the sky backdrop
585 thesky->draw_background();
587 // draw the ssg scene
588 ssgCullAndDraw( scene );
590 // draw the sky cloud layers
591 thesky->draw_scene( cur_fdm_state->get_Altitude() * FEET_TO_METER );
593 // display HUD && Panel
595 glDisable( GL_DEPTH_TEST );
596 // glDisable( GL_CULL_FACE );
597 // glDisable( GL_TEXTURE_2D );
598 hud_and_panel->apply();
601 // We can do translucent menus, so why not. :-)
602 // glEnable ( GL_BLEND ) ;
604 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
606 // glDisable ( GL_BLEND ) ;
608 // glEnable( GL_FOG );
615 // Update internal time dependent calculations (i.e. flight model)
616 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
617 static fdm_state_list fdm_list;
618 // FGInterface fdm_state;
619 fgLIGHT *l = &cur_light_params;
620 FGTime *t = FGTime::cur_time_params;
621 // FGView *v = ¤t_view;
624 // update the flight model
625 if ( multi_loop < 0 ) {
629 if ( !t->getPause() ) {
630 // run Autopilot system
631 current_autopilot->run();
633 // printf("updating flight model x %d\n", multi_loop);
634 /* fgFDMUpdate( current_options.get_flight_model(),
636 multi_loop * current_options.get_speed_up(),
638 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
639 FGSteam::update( multi_loop * current_options.get_speed_up() );
641 // fgFDMUpdate( current_options.get_flight_model(),
642 // fdm_state, 0, remainder );
643 cur_fdm_state->update( 0 );
644 FGSteam::update( 0 );
647 fdm_list.push_back( *cur_fdm_state );
648 while ( fdm_list.size() > 15 ) {
649 fdm_list.pop_front();
652 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
653 cur_view_fdm = *cur_fdm_state;
655 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
656 cur_view_fdm = fdm_list.front();
659 // update the view angle
660 for ( i = 0; i < multi_loop; i++ ) {
661 if ( fabs(current_view.get_goal_view_offset() -
662 current_view.get_view_offset()) < 0.05 )
664 current_view.set_view_offset( current_view.get_goal_view_offset() );
667 // move current_view.view_offset towards current_view.goal_view_offset
668 if ( current_view.get_goal_view_offset() >
669 current_view.get_view_offset() )
671 if ( current_view.get_goal_view_offset() -
672 current_view.get_view_offset() < FG_PI )
674 current_view.inc_view_offset( 0.01 );
676 current_view.inc_view_offset( -0.01 );
679 if ( current_view.get_view_offset() -
680 current_view.get_goal_view_offset() < FG_PI )
682 current_view.inc_view_offset( -0.01 );
684 current_view.inc_view_offset( 0.01 );
687 if ( current_view.get_view_offset() > FG_2PI ) {
688 current_view.inc_view_offset( -FG_2PI );
689 } else if ( current_view.get_view_offset() < 0 ) {
690 current_view.inc_view_offset( FG_2PI );
695 double tmp = -(l->sun_rotation + FG_PI)
696 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
697 while ( tmp < 0.0 ) {
700 while ( tmp > FG_2PI ) {
703 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
704 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
705 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
708 // Update solar system
709 ephem->update( t, cur_fdm_state->get_Latitude() );
711 // Update radio stack model
712 current_radiostack->update( cur_fdm_state->get_Longitude(),
713 cur_fdm_state->get_Latitude(),
714 cur_fdm_state->get_Altitude() * FEET_TO_METER );
718 void fgInitTimeDepCalcs( void ) {
721 // #ifdef HAVE_SETITIMER
722 // fgTimerInit( 1.0 / current_options.get_model_hz(),
723 // fgUpdateTimeDepCalcs );
724 // #endif HAVE_SETITIMER
728 static const double alt_adjust_ft = 3.758099;
729 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
732 // What should we do when we have nothing else to do? Let's get ready
733 // for the next move and update the display?
734 static void fgMainLoop( void ) {
736 static long remainder = 0;
738 #ifdef FANCY_FRAME_COUNTER
742 static time_t last_time = 0;
743 static int frames = 0;
744 #endif // FANCY_FRAME_COUNTER
746 t = FGTime::cur_time_params;
748 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
749 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
751 #ifdef FG_NETWORK_OLK
752 if ( current_options.get_network_olk() ) {
753 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
754 // printf("FGD: Netupdate\n");
755 fgd_send_com( "A", FGFS_host); // Send Mat4 data
756 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
761 #if defined( ENABLE_PLIB_JOYSTICK )
762 // Read joystick and update control settings
763 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
766 #elif defined( ENABLE_GLUT_JOYSTICK )
767 // Glut joystick support works by feeding a joystick handler
768 // function to glut. This is taken care of once in the joystick
769 // init routine and we don't have to worry about it again.
772 #ifdef FG_OLD_WEATHER
773 current_weather.Update();
776 // Fix elevation. I'm just sticking this here for now, it should
777 // probably move eventually
779 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
781 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
782 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
784 if ( scenery.cur_elev > -9990 ) {
785 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
786 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
787 // now set aircraft altitude above ground
788 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
789 cur_fdm_state->get_Altitude() * FEET_TO_METER,
790 scenery.cur_elev + alt_adjust_m - 3.0,
791 scenery.cur_elev + alt_adjust_m );
792 fgFDMForceAltitude( current_options.get_flight_model(),
793 scenery.cur_elev + alt_adjust_m );
795 FG_LOG( FG_ALL, FG_DEBUG,
796 "<*> resetting altitude to "
797 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
799 fgFDMSetGroundElevation( current_options.get_flight_model(),
800 scenery.cur_elev ); // meters
803 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
805 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
806 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
809 t->update( cur_fdm_state->get_Longitude(),
810 cur_fdm_state->get_Latitude(),
811 cur_fdm_state->get_Altitude()* FEET_TO_METER );
813 // Get elapsed time (in usec) for this past frame
814 elapsed = fgGetTimeInterval();
815 FG_LOG( FG_ALL, FG_DEBUG,
816 "Elapsed time interval is = " << elapsed
817 << ", previous remainder is = " << remainder );
819 // Calculate frame rate average
820 #ifdef FANCY_FRAME_COUNTER
821 /* old fps calculation */
825 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
826 tmp = general.get_frame(i);
828 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
829 general.set_frame(i+1,tmp);
831 tmp = 1000000.0 / (float)elapsed;
832 general.set_frame(0,tmp);
833 // printf("frame[0] = %.2f\n", general.frames[0]);
835 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
836 // printf("ave = %.2f\n", general.frame_rate);
839 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
840 general.set_frame_rate( frames );
841 FG_LOG( FG_ALL, FG_DEBUG,
842 "--> Frame rate is = " << general.get_frame_rate() );
845 last_time = t->get_cur_time();
850 if ( ! use_signals ) {
851 // Calculate model iterations needed for next frame
852 elapsed += remainder;
854 global_multi_loop = (int)(((double)elapsed * 0.000001) *
855 current_options.get_model_hz());
856 remainder = elapsed - ( (global_multi_loop*1000000) /
857 current_options.get_model_hz() );
858 FG_LOG( FG_ALL, FG_DEBUG,
859 "Model iterations needed = " << global_multi_loop
860 << ", new remainder = " << remainder );
863 if ( global_multi_loop > 0 ) {
864 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
866 FG_LOG( FG_ALL, FG_DEBUG,
867 "Elapsed time is zero ... we're zinging" );
871 #if ! defined( MACOS )
872 // Do any I/O channel work that might need to be done
876 // see if we need to load any new scenery tiles
877 global_tile_mgr.update();
879 // Process/manage pending events
880 global_events.Process();
882 // Run audio scheduler
883 #ifdef ENABLE_AUDIO_SUPPORT
884 if ( current_options.get_sound() && !audio_sched->not_working() ) {
886 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
888 // note: all these factors are relative to the sample. our
889 // sample format should really contain a conversion factor so
890 // that we can get prop speed right for arbitrary samples.
891 // Note that for normal-size props, there is a point at which
892 // the prop tips approach the speed of sound; that is a pretty
893 // strong limit to how fast the prop can go.
895 // multiplication factor is prime pitch control; add some log
896 // component for verisimilitude
898 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
899 //fprintf(stderr, "pitch1: %f ", pitch);
900 // if (controls.get_throttle(0) > 0.0 ||
901 // cur_fdm_state->v_rel_wind > 40.0) {
903 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
904 // only add relative wind and AoA if prop is moving
905 // or we're really flying at idle throttle
906 if (pitch < 5.4) { // this needs tuning
907 // prop tips not breaking sound barrier
908 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
910 // prop tips breaking sound barrier
911 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
913 //fprintf(stderr, "pitch2: %f ", pitch);
914 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
916 // Angle of Attack next... -x^3(e^x) is my best guess Just
917 // need to calculate some reasonable scaling factor and
918 // then clamp it on the positive aoa (neg adj) side
919 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
921 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
922 if (aoa_adj < -0.8) aoa_adj = -0.8;
924 //fprintf(stderr, "pitch3: %f ", pitch);
926 // don't run at absurdly slow rates -- not realistic
927 // and sounds bad to boot. :-)
928 if (pitch < 0.8) pitch = 0.8;
930 // fprintf(stderr, "pitch4: %f\n", pitch);
932 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
933 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
934 // fprintf(stderr, "volume: %f\n", volume);
936 pitch_envelope.setStep ( 0, 0.01, pitch );
937 volume_envelope.setStep ( 0, 0.01, volume );
941 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
942 pitch_envelope.setStep ( 0, 0.01, param );
943 volume_envelope.setStep ( 0, 0.01, param );
945 # endif // experimental throttle patch
947 audio_sched -> update();
954 FG_LOG( FG_ALL, FG_DEBUG, "" );
958 // This is the top level master main function that is registered as
962 // The first few passes take care of initialization things (a couple
963 // per pass) and once everything has been initialized fgMainLoop from
966 static void fgIdleFunction ( void ) {
967 // printf("idle state == %d\n", idle_state);
969 if ( idle_state == 0 ) {
970 // Initialize the splash screen right away
971 if ( current_options.get_splash_screen() ) {
976 } else if ( idle_state == 1 ) {
977 // Start the intro music
979 if ( current_options.get_intro_music() ) {
980 string lockfile = "/tmp/mpg123.running";
981 FGPath mp3file( current_options.get_fg_root() );
982 mp3file.append( "Sounds/intro.mp3" );
984 string command = "(touch " + lockfile + "; mpg123 "
985 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
987 FG_LOG( FG_GENERAL, FG_INFO,
988 "Starting intro music: " << mp3file.str() );
989 system ( command.c_str() );
994 } else if ( idle_state == 2 ) {
995 // These are a few miscellaneous things that aren't really
996 // "subsystems" but still need to be initialized.
999 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1000 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1005 } else if ( idle_state == 3 ) {
1006 // This is the top level init routine which calls all the
1007 // other subsystem initialization routines. If you are adding
1008 // a subsystem to flight gear, its initialization call should
1009 // located in this routine.
1010 if( !fgInitSubsystems()) {
1011 FG_LOG( FG_GENERAL, FG_ALERT,
1012 "Subsystem initializations failed ..." );
1017 } else if ( idle_state == 4 ) {
1018 // setup OpenGL view parameters
1021 if ( use_signals ) {
1022 // init timer routines, signals, etc. Arrange for an alarm
1023 // signal to be generated, etc.
1024 fgInitTimeDepCalcs();
1028 } else if ( idle_state == 5 ) {
1031 } else if ( idle_state == 6 ) {
1032 // Initialize audio support
1033 #ifdef ENABLE_AUDIO_SUPPORT
1036 if ( current_options.get_intro_music() ) {
1037 // Let's wait for mpg123 to finish
1038 string lockfile = "/tmp/mpg123.running";
1039 struct stat stat_buf;
1041 FG_LOG( FG_GENERAL, FG_INFO,
1042 "Waiting for mpg123 player to finish ..." );
1043 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1044 // file exist, wait ...
1046 FG_LOG( FG_GENERAL, FG_INFO, ".");
1048 FG_LOG( FG_GENERAL, FG_INFO, "");
1052 if ( current_options.get_sound() ) {
1053 audio_sched = new slScheduler ( 8000 );
1054 audio_mixer = new smMixer;
1055 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1056 audio_sched -> setSafetyMargin ( 1.0 ) ;
1058 FGPath slfile( current_options.get_fg_root() );
1059 slfile.append( "Sounds/wasp.wav" );
1061 s1 = new slSample ( (char *)slfile.c_str() );
1062 FG_LOG( FG_GENERAL, FG_INFO,
1063 "Rate = " << s1 -> getRate()
1064 << " Bps = " << s1 -> getBps()
1065 << " Stereo = " << s1 -> getStereo() );
1066 audio_sched -> loopSample ( s1 );
1068 if ( audio_sched->not_working() ) {
1071 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1072 volume_envelope.setStep ( 0, 0.01, 0.6 );
1074 audio_sched -> addSampleEnvelope( s1, 0, 0,
1076 SL_PITCH_ENVELOPE );
1077 audio_sched -> addSampleEnvelope( s1, 0, 1,
1079 SL_VOLUME_ENVELOPE );
1082 // strcpy(slfile, path);
1083 // strcat(slfile, "thunder.wav");
1084 // s2 -> loadFile ( slfile );
1085 // s2 -> adjustVolume(0.5);
1086 // audio_sched -> playSample ( s2 );
1094 if ( idle_state == 1000 ) {
1095 // We've finished all our initialization steps, from now on we
1096 // run the main loop.
1100 if ( current_options.get_splash_screen() == 1 ) {
1101 fgSplashUpdate(0.0);
1106 // options.cxx needs to see this for toggle_panel()
1107 // Handle new window size or exposure
1108 void fgReshape( int width, int height ) {
1109 if ( ! current_options.get_panel_status() ) {
1110 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1111 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1113 current_view.set_win_ratio( (GLfloat) width /
1114 ((GLfloat) (height)*0.4232) );
1115 glViewport(0, (GLint)((height)*0.5768),
1116 (GLint)(width), (GLint)((height)*0.4232) );
1119 current_view.set_winWidth( width );
1120 current_view.set_winHeight( height );
1121 current_view.force_update_fov_math();
1123 // set these fov to be the same as in fgRenderFrame()
1124 // float x_fov = current_options.get_fov();
1125 // float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1126 // ssgSetFOV( x_fov, y_fov );
1128 // glViewport ( 0, 0, width, height );
1129 float fov = current_options.get_fov();
1130 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1134 if ( idle_state == 1000 ) {
1135 // yes we've finished all our initializations and are running
1136 // the main loop, so this will now work without seg faulting
1138 current_view.UpdateViewParams(cur_view_fdm);
1143 // Initialize GLUT and define a main window
1144 int fgGlutInit( int *argc, char **argv ) {
1146 #if !defined( MACOS )
1147 // GLUT will extract all glut specific options so later on we only
1148 // need wory about our own.
1149 glutInit(argc, argv);
1152 // Define Display Parameters
1153 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1155 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1156 current_options.get_xsize() << "x" << current_options.get_ysize() );
1158 // Define initial window size
1159 glutInitWindowSize( current_options.get_xsize(),
1160 current_options.get_ysize() );
1162 // Initialize windows
1163 if ( current_options.get_game_mode() == 0 ) {
1164 // Open the regular window
1165 glutCreateWindow("Flight Gear");
1166 #ifndef GLUT_WRONG_VERSION
1168 // Open the cool new 'game mode' window
1169 char game_mode_str[256];
1170 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1171 current_options.get_xsize(),
1172 current_options.get_ysize(),
1173 current_options.get_bpp());
1175 FG_LOG( FG_GENERAL, FG_INFO,
1176 "game mode params = " << game_mode_str );
1177 glutGameModeString( game_mode_str );
1178 glutEnterGameMode();
1182 // This seems to be the absolute earliest in the init sequence
1183 // that these calls will return valid info. Too bad it's after
1184 // we've already created and sized out window. :-(
1185 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1186 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1187 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1189 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1192 // try to determine if we should adjust the initial default
1193 // display resolution. The options class defaults (is
1194 // initialized) to 640x480.
1195 string renderer = general.glRenderer;
1197 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1198 if ( renderer.find( "Glide" ) != string::npos ) {
1199 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1200 if ( renderer.find( "FB/8" ) != string::npos ) {
1201 // probably a voodoo-2
1202 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1203 // probably two SLI'd Voodoo-2's
1204 current_options.set_xsize( 1024 );
1205 current_options.set_ysize( 768 );
1206 FG_LOG( FG_GENERAL, FG_INFO,
1207 "It looks like you have two sli'd voodoo-2's." << endl
1208 << "upgrading your win resolution to 1024 x 768" );
1209 glutReshapeWindow(1024, 768);
1211 // probably a single non-SLI'd Voodoo-2
1212 current_options.set_xsize( 800 );
1213 current_options.set_ysize( 600 );
1214 FG_LOG( FG_GENERAL, FG_INFO,
1215 "It looks like you have a voodoo-2." << endl
1216 << "upgrading your win resolution to 800 x 600" );
1217 glutReshapeWindow(800, 600);
1219 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1220 // probably a voodoo-1, stick with the default
1223 // we have no special knowledge of this card, stick with the default
1231 // Initialize GLUT event handlers
1232 int fgGlutInitEvents( void ) {
1233 // call fgReshape() on window resizes
1234 glutReshapeFunc( fgReshape );
1236 // call GLUTkey() on keyboard event
1237 glutKeyboardFunc( GLUTkey );
1238 glutSpecialFunc( GLUTspecialkey );
1240 // call guiMouseFunc() whenever our little rodent is used
1241 glutMouseFunc ( guiMouseFunc );
1242 glutMotionFunc (guiMotionFunc );
1243 glutPassiveMotionFunc (guiMotionFunc );
1245 // call fgMainLoop() whenever there is
1246 // nothing else to do
1247 glutIdleFunc( fgIdleFunction );
1250 glutDisplayFunc( fgRenderFrame );
1257 int main( int argc, char **argv ) {
1259 #if defined( MACOS )
1260 freopen ("stdout.txt", "w", stdout );
1261 freopen ("stderr.txt", "w", stderr );
1262 argc = ccommand( &argv );
1266 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1269 // set default log levels
1270 fglog().setLogLevels( FG_ALL, FG_INFO );
1272 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1274 // seed the random number generater
1277 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1279 // Load the configuration parameters
1280 if ( !fgInitConfig(argc, argv) ) {
1281 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1285 // Initialize the Window/Graphics environment.
1286 if( !fgGlutInit(&argc, argv) ) {
1287 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1291 // Initialize the various GLUT Event Handlers.
1292 if( !fgGlutInitEvents() ) {
1293 FG_LOG( FG_GENERAL, FG_ALERT,
1294 "GLUT event handler initialization failed ..." );
1298 // Initialize ssg (from plib). Needs to come before we do any
1299 // other ssg stuff, but after opengl/glut has been initialized.
1302 // Initialize the user interface (we need to do this before
1303 // passing off control to glut and before fgInitGeneral to get our
1308 FGTime::cur_time_params = new FGTime();
1309 // FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1310 // cur_fdm_state->get_Latitude() );
1311 // FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1312 FGTime::cur_time_params->init( 0.0, 0.0 );
1313 FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
1315 // Do some quick general initializations
1316 if( !fgInitGeneral()) {
1317 FG_LOG( FG_GENERAL, FG_ALERT,
1318 "General initializations failed ..." );
1323 // some ssg test stuff (requires data from the plib source
1324 // distribution) specifically from the ssg tux example
1327 FGPath modelpath( current_options.get_fg_root() );
1328 modelpath.append( "Models" );
1329 modelpath.append( "Geometry" );
1331 FGPath texturepath( current_options.get_fg_root() );
1332 texturepath.append( "Models" );
1333 texturepath.append( "Textures" );
1335 ssgModelPath( (char *)modelpath.c_str() );
1336 ssgTexturePath( (char *)texturepath.c_str() );
1339 scene = new ssgRoot;
1340 scene->setName( "Scene" );
1342 // Initialize the sky
1343 FGPath ephem_data_path( current_options.get_fg_root() );
1344 ephem_data_path.append( "Astro" );
1345 ephem = new FGEphemeris( ephem_data_path.c_str() );
1346 ephem->update( FGTime::cur_time_params, 0.0 );
1348 FGPath sky_tex_path( current_options.get_fg_root() );
1349 sky_tex_path.append( "Textures" );
1350 sky_tex_path.append( "Sky" );
1352 thesky->texture_path( sky_tex_path.str() );
1354 thesky->build( 550.0, 550.0,
1355 ephem->getNumPlanets(),
1356 ephem->getPlanets(), 60000.0,
1357 ephem->getNumStars(),
1358 ephem->getStars(), 60000.0 );
1359 thesky->add_cloud_layer( 1000.0, 200.0, 50.0 );
1360 thesky->add_cloud_layer( 1800.0, 400.0, 100.0 );
1361 thesky->add_cloud_layer( 4000.0, 20.0, 10.0 );
1364 terrain = new ssgBranch;
1365 terrain->setName( "Terrain" );
1366 scene->addKid( terrain );
1368 // temporary visible aircraft "own ship"
1369 penguin_sel = new ssgSelector;
1370 penguin_pos = new ssgTransform;
1371 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1372 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1373 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1375 penguin_pos->addKid( tux_obj );
1376 penguin_sel->addKid( penguin_pos );
1377 ssgFlatten( tux_obj );
1378 ssgStripify( penguin_sel );
1379 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1380 scene->addKid( penguin_sel );
1382 #ifdef FG_NETWORK_OLK
1383 // Do the network intialization
1384 if ( current_options.get_network_olk() ) {
1385 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1389 // build our custom render states
1390 fgBuildRenderStates();
1392 // pass control off to the master GLUT event handler
1395 // we never actually get here ... but to avoid compiler warnings,