/**************************************************************************
- * GLmain.c -- top level sim routines
+ * GLUTmain.c -- top level sim routines
*
* Written by Curtis Olson for OpenGL, started May 1997.
*
**************************************************************************/
-#include <stdio.h>
-
#ifdef WIN32
# include <windows.h>
#endif
-#ifdef GLUT
- #include <GL/glut.h>
- #include "GLUTkey.h"
-#endif
+#include <GL/glut.h>
+#include <stdio.h>
+
+#include "GLUTkey.h"
+#include "fg_init.h"
+#include "views.h"
#include "../constants.h"
+#include "../general.h"
#include "../Aircraft/aircraft.h"
-#include "../Scenery/mesh.h"
-#include "../Scenery/scenery.h"
+#include "../Cockpit/cockpit.h"
+#include "../Joystick/joystick.h"
#include "../Math/fg_geodesy.h"
-#include "../Math/fg_random.h"
#include "../Math/mat3.h"
#include "../Math/polar.h"
+#include "../Scenery/mesh.h"
+#include "../Scenery/scenery.h"
#include "../Time/fg_time.h"
#include "../Time/fg_timer.h"
#include "../Time/sunpos.h"
/* This is a record containing all the info for the aircraft currently
being operated */
-struct aircraft_params current_aircraft;
+struct AIRCRAFT current_aircraft;
+
+/* This is a record containing global housekeeping information */
+struct GENERAL general;
+
+/* This is a record containing current weather info */
+struct WEATHER current_weather;
+
+/* This is a record containing current view parameters */
+struct VIEW current_view;
/* view parameters */
static GLfloat win_ratio = 1.0;
/* sun direction */
-static GLfloat sun_vec[4] = {1.0, 0.0, 0.0, 0.0 };
+/* static GLfloat sun_vec[4] = {1.0, 0.0, 0.0, 0.0 }; */
+
+/* if the 4th field is 0.0, this specifies a direction ... */
+/* clear color (sky) */
+static GLfloat fgClearColor[4] = {0.60, 0.60, 0.90, 1.0};
+/* fog color */
+static GLfloat fgFogColor[4] = {0.65, 0.65, 0.85, 1.0};
/* temporary hack */
/* extern struct mesh *mesh_ptr; */
/* pointer to scenery structure */
/* static GLint scenery, runway; */
-/* Another hack */
-double fogDensity = 60000.0; /* in meters */
-double view_offset = 0.0;
-double goal_view_offset = 0.0;
-
-/* Another hack */
-#define DEFAULT_TIMER_HZ 20
-#define DEFAULT_MULTILOOP 6
-#define DEFAULT_MODEL_HZ (DEFAULT_TIMER_HZ * DEFAULT_MULTILOOP)
-
double Simtime;
/* Another hack */
int use_signals = 0;
+/* Yet another hack. This one used by the HUD code. Michele */
+int show_hud;
+
/**************************************************************************
* fgInitVisuals() -- Initialize various GL/view parameters
**************************************************************************/
static void fgInitVisuals() {
- /* if the 4th field is 0.0, this specifies a direction ... */
- static GLfloat fogColor[4] = {0.65, 0.65, 0.85, 1.0};
-
+ struct fgTIME *t;
+ struct WEATHER *w;
+
+ t = &cur_time_params;
+ w = ¤t_weather;
+
glEnable( GL_DEPTH_TEST );
/* glFrontFace(GL_CW); */
glEnable( GL_CULL_FACE );
to unit length after transformation. See glNormal. */
glEnable( GL_NORMALIZE );
- glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
+ glLightfv( GL_LIGHT0, GL_POSITION, t->sun_vec );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
glEnable( GL_FOG );
glFogi (GL_FOG_MODE, GL_LINEAR);
/* glFogf (GL_FOG_START, 1.0); */
- glFogf (GL_FOG_END, fogDensity);
- glFogfv (GL_FOG_COLOR, fogColor);
- /* glFogf (GL_FOG_DENSITY, fogDensity); */
+ glFogf (GL_FOG_END, w->visibility);
+ glFogfv (GL_FOG_COLOR, fgFogColor);
+ /* glFogf (GL_FOG_DENSITY, w->visibility); */
/* glHint (GL_FOG_HINT, GL_FASTEST); */
- glClearColor(0.6, 0.6, 0.9, 1.0);
+ glClearColor(fgClearColor[0], fgClearColor[1], fgClearColor[2],
+ fgClearColor[3]);
}
**************************************************************************/
static void fgUpdateViewParams() {
- struct fgCartesianPoint view_pos /*, alt_up */;
- struct flight_params *f;
- MAT3mat R, TMP, UP, LOCAL, VIEW;
- MAT3vec vec, view_up, forward, view_forward, local_up;
+ struct FLIGHT *f;
+ struct fgTIME *t;
+ struct VIEW *v;
+ double ambient, diffuse, sky;
+ GLfloat color[4] = { 1.0, 1.0, 0.50, 1.0 };
+ GLfloat amb[3], diff[3], fog[4], clear[4];
f = ¤t_aircraft.flight;
+ t = &cur_time_params;
+ v = ¤t_view;
+
+ fgViewUpdate(f, v);
/* Tell GL we are about to modify the projection parameters */
glMatrixMode(GL_PROJECTION);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
- /* calculate view position in current FG view coordinate system */
- view_pos = fgPolarToCart(FG_Longitude, FG_Lat_geocentric,
- FG_Radius_to_vehicle * FEET_TO_METER + 1.0);
- view_pos.x -= scenery.center.x;
- view_pos.y -= scenery.center.y;
- view_pos.z -= scenery.center.z;
-
- printf("View pos = %.4f, %.4f, %.4f\n", view_pos.x, view_pos.y, view_pos.z);
-
- /* Derive the LOCAL aircraft rotation matrix (roll, pitch, yaw) */
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, FG_Phi);
- /* printf("Roll matrix\n"); */
- /* MAT3print(R, stdout); */
-
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- MAT3rotate(TMP, vec, FG_Theta);
- /* printf("Pitch matrix\n"); */
- /* MAT3print(TMP, stdout); */
- MAT3mult(R, R, TMP);
-
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- /* MAT3mult_vec(vec, vec, R); */
- /* MAT3rotate(TMP, vec, FG_Psi - FG_PI_2); */
- MAT3rotate(TMP, vec, -FG_Psi);
- /* printf("Yaw matrix\n");
- MAT3print(TMP, stdout); */
- MAT3mult(LOCAL, R, TMP);
- /* printf("LOCAL matrix\n"); */
- /* MAT3print(LOCAL, stdout); */
-
- /* Derive the local UP transformation matrix based on *geodetic*
- * coordinates */
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3rotate(R, vec, FG_Longitude); /* R = rotate about Z axis */
- /* printf("Longitude matrix\n"); */
- /* MAT3print(R, stdout); */
-
- MAT3_SET_VEC(vec, 0.0, 1.0, 0.0);
- MAT3mult_vec(vec, vec, R);
- MAT3rotate(TMP, vec, -FG_Latitude); /* TMP = rotate about X axis */
- /* printf("Latitude matrix\n"); */
- /* MAT3print(TMP, stdout); */
-
- MAT3mult(UP, R, TMP);
- /* printf("Local up matrix\n"); */
- /* MAT3print(UP, stdout); */
-
- MAT3_SET_VEC(local_up, 1.0, 0.0, 0.0);
- MAT3mult_vec(local_up, local_up, UP);
-
- printf(" Local Up = (%.4f, %.4f, %.4f)\n", local_up[0], local_up[1],
- local_up[2]);
-
- /* Alternative method to Derive local up vector based on
- * *geodetic* coordinates */
- /* alt_up = fgPolarToCart(FG_Longitude, FG_Latitude, 1.0); */
- /* printf(" Alt Up = (%.4f, %.4f, %.4f)\n",
- alt_up.x, alt_up.y, alt_up.z); */
-
- /* Derive the VIEW matrix */
- MAT3mult(VIEW, LOCAL, UP);
- /* printf("VIEW matrix\n"); */
- /* MAT3print(VIEW, stdout); */
-
- /* generate the current up, forward, and fwrd-view vectors */
- MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
- MAT3mult_vec(view_up, vec, VIEW);
-
- MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
- MAT3mult_vec(forward, vec, VIEW);
- printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
- forward[2]);
-
- MAT3rotate(TMP, view_up, view_offset);
- MAT3mult_vec(view_forward, forward, TMP);
-
- gluLookAt(view_pos.x, view_pos.y, view_pos.z,
- view_pos.x + view_forward[0], view_pos.y + view_forward[1],
- view_pos.z + view_forward[2],
- view_up[0], view_up[1], view_up[2]);
-
- glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
+ /* set up our view volume */
+ gluLookAt(v->view_pos.x, v->view_pos.y, v->view_pos.z,
+ v->view_pos.x + v->view_forward[0],
+ v->view_pos.y + v->view_forward[1],
+ v->view_pos.z + v->view_forward[2],
+ v->view_up[0], v->view_up[1], v->view_up[2]);
+
+ /* set the sun position */
+ glLightfv( GL_LIGHT0, GL_POSITION, t->sun_vec );
+
+ /* calculate lighting parameters based on sun's relative angle to
+ * local up */
+ /* ya kind'a have to plot this to see the magic */
+ ambient = 0.4 *
+ pow(2.4, -t->sun_angle*t->sun_angle*t->sun_angle*t->sun_angle / 3.0);
+ diffuse = 0.4 * cos(0.6 * t->sun_angle * t->sun_angle);
+ sky = 0.85 *
+ pow(1.6, -t->sun_angle*t->sun_angle*t->sun_angle*t->sun_angle/2.0)
+ + 0.15;
+
+ if ( ambient < 0.1 ) { ambient = 0.1; }
+ if ( diffuse < 0.0 ) { diffuse = 0.0; }
+
+ if ( sky < 0.0 ) { sky = 0.0; }
+
+ amb[0] = color[0] * ambient;
+ amb[1] = color[1] * ambient;
+ amb[2] = color[2] * ambient;
+
+ diff[0] = color[0] * diffuse;
+ diff[1] = color[1] * diffuse;
+ diff[2] = color[2] * diffuse;
+
+ /* set lighting parameters */
+ glLightfv(GL_LIGHT0, GL_AMBIENT, amb );
+ glLightfv(GL_LIGHT0, GL_DIFFUSE, diff );
+
+ /* set fog color */
+ fog[0] = fgFogColor[0] * (ambient + diffuse);
+ fog[1] = fgFogColor[1] * (ambient + diffuse);
+ fog[2] = fgFogColor[2] * (ambient + diffuse);
+ fog[3] = fgFogColor[3];
+ glFogfv (GL_FOG_COLOR, fog);
+
+ /* set sky color */
+ clear[0] = fgClearColor[0] * sky;
+ clear[1] = fgClearColor[1] * sky;
+ clear[2] = fgClearColor[2] * sky;
+ clear[3] = fgClearColor[3];
+ glClearColor(clear[0], clear[1], clear[2], clear[3]);
}
/* draw scenery */
fgSceneryRender();
+ /* display HUD */
+ if( show_hud )
+ fgCockpitUpdate();
+
#ifdef GLUT
glutSwapBuffers();
#endif
**************************************************************************/
void fgUpdateTimeDepCalcs(int multi_loop) {
- struct flight_params *f;
- struct time_params *t;
+ struct FLIGHT *f;
+ struct fgTIME *t;
+ struct VIEW *v;
int i;
f = ¤t_aircraft.flight;
t = &cur_time_params;
+ v = ¤t_view;
/* update the flight model */
if ( multi_loop < 0 ) {
fgFlightModelUpdate(FG_LARCSIM, f, multi_loop);
/* refresh shared sun position and sun_vec */
- fgUpdateSunPos();
-
- /* the sun position has to be translated just like everything else */
- sun_vec[0] = t->fg_sunpos.x - scenery.center.x;
- sun_vec[1] = t->fg_sunpos.y - scenery.center.y;
- sun_vec[2] = t->fg_sunpos.z - scenery.center.z;
- /* make this a directional light source only */
- sun_vec[3] = 0.0;
+ fgUpdateSunPos(scenery.center);
/* update the view angle */
for ( i = 0; i < multi_loop; i++ ) {
- if ( fabs(goal_view_offset - view_offset) < 0.05 ) {
- view_offset = goal_view_offset;
+ if ( fabs(v->goal_view_offset - v->view_offset) < 0.05 ) {
+ v->view_offset = v->goal_view_offset;
break;
} else {
- /* move view_offset towards goal_view_offset */
- if ( goal_view_offset > view_offset ) {
- if ( goal_view_offset - view_offset < FG_PI ) {
- view_offset += 0.01;
+ /* move v->view_offset towards v->goal_view_offset */
+ if ( v->goal_view_offset > v->view_offset ) {
+ if ( v->goal_view_offset - v->view_offset < FG_PI ) {
+ v->view_offset += 0.01;
} else {
- view_offset -= 0.01;
+ v->view_offset -= 0.01;
}
} else {
- if ( view_offset - goal_view_offset < FG_PI ) {
- view_offset -= 0.01;
+ if ( v->view_offset - v->goal_view_offset < FG_PI ) {
+ v->view_offset -= 0.01;
} else {
- view_offset += 0.01;
+ v->view_offset += 0.01;
}
}
- if ( view_offset > FG_2PI ) {
- view_offset -= FG_2PI;
- } else if ( view_offset < 0 ) {
- view_offset += FG_2PI;
+ if ( v->view_offset > FG_2PI ) {
+ v->view_offset -= FG_2PI;
+ } else if ( v->view_offset < 0 ) {
+ v->view_offset += FG_2PI;
}
}
}
static void fgMainLoop( void ) {
static int remainder = 0;
int elapsed, multi_loop;
- double rough_elev;
- struct flight_params *f;
+ double cur_elev;
+ double joy_x, joy_y;
+ int joy_b1, joy_b2;
+ struct FLIGHT *f;
f = ¤t_aircraft.flight;
+ /* Read joystick */
+ /* fgJoystickRead( &joy_x, &joy_y, &joy_b1, &joy_b2 );
+ printf( "Joystick X %f Y %f B1 %d B2 %d\n",
+ joy_x, joy_y, joy_b1, joy_b2 );
+ fgElevSet( -joy_y );
+ fgAileronSet( joy_x ); */
+
+ /* update the weather for our current position */
+ fgWeatherUpdate(FG_Longitude * RAD_TO_ARCSEC,
+ FG_Latitude * RAD_TO_ARCSEC,
+ FG_Altitude * FEET_TO_METER);
+
+ /* Calculate model iterations needed */
elapsed = fgGetTimeInterval();
printf("Time interval is = %d, previous remainder is = %d\n", elapsed,
remainder);
printf("Model iterations needed = %d, new remainder = %d\n", multi_loop,
remainder);
- aircraft_debug(1);
- fgUpdateVisuals();
-
if ( ! use_signals ) {
/* flight model */
fgUpdateTimeDepCalcs(multi_loop);
/* I'm just sticking this here for now, it should probably move
* eventually */
- rough_elev = mesh_altitude(FG_Longitude * RAD_TO_ARCSEC,
+ cur_elev = mesh_altitude(FG_Longitude * RAD_TO_ARCSEC,
FG_Latitude * RAD_TO_ARCSEC);
- printf("Ground elevation is %.2f meters here.\n", rough_elev);
- /* FG_Runway_altitude = rough_elev * METER_TO_FEET; */
+ printf("Ground elevation is %.2f meters here.\n", cur_elev);
+ /* FG_Runway_altitude = cur_elev * METER_TO_FEET; */
- if ( FG_Altitude * FEET_TO_METER < rough_elev + 3.758099) {
+ if ( FG_Altitude * FEET_TO_METER < cur_elev + 3.758099) {
/* set this here, otherwise if we set runway height above our
current height we get a really nasty bounce. */
FG_Runway_altitude = FG_Altitude - 3.758099;
/* now set aircraft altitude above ground */
- FG_Altitude = rough_elev * METER_TO_FEET + 3.758099;
+ FG_Altitude = cur_elev * METER_TO_FEET + 3.758099;
printf("<*> resetting altitude to %.0f meters\n",
FG_Altitude * FEET_TO_METER);
}
- /* update the weather for our current position */
- fgWeatherUpdate(FG_Longitude * RAD_TO_ARCSEC,
- FG_Latitude * RAD_TO_ARCSEC,
- FG_Altitude * FEET_TO_METER);
+ aircraft_debug(1);
+
+ /* redraw display */
+ fgUpdateVisuals();
}
**************************************************************************/
int main( int argc, char *argv[] ) {
- struct flight_params *f;
- double rough_elev;
+ struct FLIGHT *f;
f = ¤t_aircraft.flight;
- printf("Flight Gear: prototype code to test OpenGL, LaRCsim, and VRML\n\n");
-
+ printf("Flight Gear: prototype version %s\n\n", VERSION);
/**********************************************************************
* Initialize the Window/Graphics environment.
glutCreateWindow("Flight Gear");
#endif
- /* seed the random number generater */
- fg_srandom();
+ /* This is the general house keeping init routine */
+ fgInitGeneral();
+
+ /* This is the top level init routine which calls all the other
+ * subsystem initialization routines. If you are adding a
+ * subsystem to flight gear, its initialization call should
+ * located in this routine.*/
+ fgInitSubsystems();
/* setup view parameters, only makes GL calls */
fgInitVisuals();
-
- /****************************************************************
- * The following section sets up the flight model EOM parameters and
- * should really be read in from one or more files.
- ****************************************************************/
-
- /* Globe Aiport, AZ */
- FG_Runway_altitude = 3234.5;
- FG_Runway_latitude = 120070.41;
- FG_Runway_longitude = -398391.28;
- FG_Runway_heading = 102.0 * DEG_TO_RAD;
-
- /* Initial Position at GLOBE airport */
- FG_Latitude = ( 120070.41 / 3600.0 ) * DEG_TO_RAD;
- FG_Longitude = ( -398391.28 / 3600.0 ) * DEG_TO_RAD;
- FG_Altitude = FG_Runway_altitude + 3.758099;
-
- /* Initial Position north of the city of Globe */
- /* FG_Latitude = ( 120625.64 / 3600.0 ) * DEG_TO_RAD; */
- /* FG_Longitude = ( -398673.28 / 3600.0 ) * DEG_TO_RAD; */
- /* FG_Altitude = 0.0 + 3.758099; */
-
- printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude,
- FG_Longitude, FG_Altitude);
-
- /* Initial Velocity */
- FG_V_north = 0.0 /* 7.287719E+00 */;
- FG_V_east = 0.0 /* 1.521770E+03 */;
- FG_V_down = 0.0 /* -1.265722E-05 */;
-
- /* Initial Orientation */
- FG_Phi = -2.658474E-06;
- FG_Theta = 7.401790E-03;
- FG_Psi = 270.0 * DEG_TO_RAD;
- /* FG_Psi = 0.0 * DEG_TO_RAD; */
-
- /* Initial Angular B rates */
- FG_P_body = 7.206685E-05;
- FG_Q_body = 0.000000E+00;
- FG_R_body = 9.492658E-05;
-
- FG_Earth_position_angle = 0.000000E+00;
-
- /* Mass properties and geometry values */
- FG_Mass = 8.547270E+01;
- FG_I_xx = 1.048000E+03;
- FG_I_yy = 3.000000E+03;
- FG_I_zz = 3.530000E+03;
- FG_I_xz = 0.000000E+00;
-
- /* CG position w.r.t. ref. point */
- FG_Dx_cg = 0.000000E+00;
- FG_Dy_cg = 0.000000E+00;
- FG_Dz_cg = 0.000000E+00;
-
- /* Set initial position and slew parameters */
- /* fgSlewInit(-398391.3, 120070.41, 244, 3.1415); */ /* GLOBE Airport */
- /* fgSlewInit(-335340,162540, 15, 4.38); */
- /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
-
- /* Initialize the Scenery Management system */
- fgSceneryInit();
-
- /* Tell the Scenery Management system where we are so it can load
- * the correct scenery data */
- fgSceneryUpdate(FG_Latitude, FG_Longitude, FG_Altitude);
-
- /* I'm just sticking this here for now, it should probably move
- * eventually */
- rough_elev = mesh_altitude(FG_Longitude * RAD_TO_DEG * 3600.0,
- FG_Latitude * RAD_TO_DEG * 3600.0);
- printf("Ground elevation is %.2f meters here.\n", rough_elev);
- if ( rough_elev > -9990.0 ) {
- FG_Runway_altitude = rough_elev * METER_TO_FEET;
- }
-
- if ( FG_Altitude < FG_Runway_altitude ) {
- FG_Altitude = FG_Runway_altitude + 3.758099;
- }
- /* end of thing that I just stuck in that I should probably move */
-
- /* Initialize the flight model data structures base on above values */
- fgFlightModelInit( FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ );
-
if ( use_signals ) {
/* init timer routines, signals, etc. Arrange for an alarm
signal to be generated, etc. */
fgInitTimeDepCalcs();
}
- /* Initialize the weather modeling subsystem */
- fgWeatherInit();
-
- /**********************************************************************
+ /**********************************************************************
* Initialize the Event Handlers.
**********************************************************************/
/* $Log$
-/* Revision 1.6 1997/08/13 20:24:56 curt
-/* Changes due to changing sunpos interface.
+/* Revision 1.13 1997/09/04 02:17:34 curt
+/* Shufflin' stuff.
/*
+ * Revision 1.12 1997/08/27 21:32:24 curt
+ * Restructured view calculation code. Added stars.
+ *
+ * Revision 1.11 1997/08/27 03:30:16 curt
+ * Changed naming scheme of basic shared structures.
+ *
+ * Revision 1.10 1997/08/25 20:27:22 curt
+ * Merged in initial HUD and Joystick code.
+ *
+ * Revision 1.9 1997/08/22 21:34:39 curt
+ * Doing a bit of reorganizing and house cleaning.
+ *
+ * Revision 1.8 1997/08/19 23:55:03 curt
+ * Worked on better simulating real lighting.
+ *
+ * Revision 1.7 1997/08/16 12:22:38 curt
+ * Working on improving the lighting/shading.
+ *
+ * Revision 1.6 1997/08/13 20:24:56 curt
+ * Changes due to changing sunpos interface.
+ *
* Revision 1.5 1997/08/06 21:08:32 curt
* Sun position now *really* works (I think) ... I still have sun time warping
* code in place, probably should remove it soon.
projects / flightgear.git / blobdiff