#include <math.h>
#include <stdio.h>
#include <stdlib.h>
-#include <signal.h> /* for timer routines */
-#include <sys/time.h> /* for timer routines */
+
#ifdef GLUT
#include <GL/glut.h>
#include "GLTKkey.h"
#endif
-#include "../aircraft/aircraft.h"
-#include "../scenery/scenery.h"
+#include "../Aircraft/aircraft.h"
+#include "../Scenery/scenery.h"
+#include "../mat3/mat3.h"
+#include "../Timer/fg_timer.h"
+
+
+#define DEG_TO_RAD 0.017453292
+#define RAD_TO_DEG 57.29577951
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846 /* pi */
+#endif
+
+#ifndef PI2
+#define PI2 (M_PI + M_PI)
+#endif
+
+
+#ifndef M_PI_2
+#define M_PI_2 1.57079632679489661923 /* pi/2 */
+#endif
/* This is a record containing all the info for the aircraft currently
being operated */
/* view parameters */
static GLfloat win_ratio = 1.0;
+/* sun direction */
+static GLfloat sun_vec[4] = {-3.0, 1.0, 2.0, 0.0 };
+
/* temporary hack */
extern struct mesh *mesh_ptr;
/* Function prototypes */
GLint fgSceneryCompile();
static void fgSceneryDraw();
-/* pointer to terrain mesh structure */
-static GLint mesh;
+
+/* pointer to scenery structure */
+static GLint scenery, runway;
/* Another hack */
double fogDensity = 2000.0;
+double view_offset = 0.0;
+double goal_view_offset = 0.0;
/* Another hack */
-#define DEFAULT_MODEL_HZ 20
+#define DEFAULT_TIMER_HZ 20
+#define DEFAULT_MULTILOOP 6
+#define DEFAULT_MODEL_HZ (DEFAULT_TIMER_HZ * DEFAULT_MULTILOOP)
+
double Simtime;
-int Overrun;
-int model_dt;
+
+/* Another hack */
+int use_signals = 0;
/**************************************************************************
static void fgInitVisuals() {
/* if the 4th field is 0.0, this specifies a direction ... */
- static GLfloat sun_vec[4] = {3.0, 1.0, 3.0, 0.0 };
- static GLfloat color[4] = { 0.3, 0.7, 0.2, 1.0 };
static GLfloat fogColor[4] = {0.65, 0.65, 0.85, 1.0};
glEnable( GL_DEPTH_TEST );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
- glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, color );
glShadeModel( GL_FLAT ); /* glShadeModel( GL_SMOOTH ); */
glEnable( GL_FOG );
**************************************************************************/
static void fgUpdateViewParams() {
+ double pos_x, pos_y, pos_z;
struct flight_params *f;
+ MAT3mat R, TMP;
+ MAT3vec vec, up, forward, fwrd_view;
f = ¤t_aircraft.flight;
/* Tell GL we are about to modify the projection parameters */
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
- gluPerspective(45.0, 1.0/win_ratio, 1.0, 6000.0);
+ gluPerspective(45.0, 1.0/win_ratio, 0.01, 6000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
- gluLookAt(f->pos_x, f->pos_y, f->pos_z,
- f->pos_x + cos(f->Psi), f->pos_y + sin(f->Psi), f->pos_z,
- 0.0, 0.0, 1.0);
+
+ /* calculate position in arc seconds */
+ pos_x = (FG_Longitude * RAD_TO_DEG) * 3600.0;
+ pos_y = (FG_Latitude * RAD_TO_DEG) * 3600.0;
+ pos_z = FG_Altitude * 0.01; /* (Convert feet to aproximate arcsecs) */
+
+ printf("*** pos_z = %.2f\n", pos_z);
+
+ /* build current rotation matrix */
+ MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
+ 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, 0.0, 0.0, -1.0);
+ /* MAT3mult_vec(vec, vec, R); */
+ /* MAT3rotate(TMP, vec, M_PI + M_PI_2 + FG_Psi + view_offset); */
+ MAT3rotate(TMP, vec, FG_Psi - M_PI_2);
+ /* printf("Yaw matrix\n");
+ MAT3print(TMP, stdout); */
+ MAT3mult(R, R, TMP);
+
+ /* MAT3print(R, stdout); */
+
+ /* generate the current up, forward, and fwrd-view vectors */
+ MAT3_SET_VEC(vec, 0.0, 0.0, 1.0);
+ MAT3mult_vec(up, vec, R);
+
+ MAT3_SET_VEC(vec, 1.0, 0.0, 0.0);
+ MAT3mult_vec(forward, vec, R);
+ printf("Forward vector is (%.2f,%.2f,%.2f)\n", forward[0], forward[1],
+ forward[2]);
+
+ MAT3rotate(TMP, up, view_offset);
+ MAT3mult_vec(fwrd_view, forward, TMP);
+
+ gluLookAt(pos_x, pos_y, pos_z,
+ pos_x + fwrd_view[0], pos_y + fwrd_view[1], pos_z + fwrd_view[2],
+ up[0], up[1], up[2]);
+
+ glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
}
glMatrixMode(GL_MODELVIEW);
/* glLoadIdentity(); */
- /* draw terrain mesh */
+ /* draw scenery */
fgSceneryDraw();
#ifdef GLUT
/**************************************************************************
- * Timer management routines
+ * Update internal time dependent calculations (i.e. flight model)
**************************************************************************/
-static struct itimerval t, ot;
+void fgUpdateTimeDepCalcs(int multi_loop) {
+ struct flight_params *f;
+ int i;
-/* This routine catches the SIGALRM */
-void fgTimerCatch() {
- static double lastSimtime = -99.9;
+ f = ¤t_aircraft.flight;
- /* printf("In fgTimerCatch()\n"); */
+ /* update the flight model */
+ if ( multi_loop < 0 ) {
+ multi_loop = DEFAULT_MULTILOOP;
+ }
- Overrun = (lastSimtime == Simtime);
+ /* printf("updating flight model x %d\n", multi_loop); */
+ fgFlightModelUpdate(FG_LARCSIM, f, multi_loop);
+
+ for ( i = 0; i < multi_loop; i++ ) {
+ if ( fabs(goal_view_offset - view_offset) < 0.05 ) {
+ view_offset = goal_view_offset;
+ break;
+ } else {
+ /* move view_offset towards goal_view_offset */
+ if ( goal_view_offset > view_offset ) {
+ if ( goal_view_offset - view_offset < M_PI ) {
+ view_offset += 0.01;
+ } else {
+ view_offset -= 0.01;
+ }
+ } else {
+ if ( view_offset - goal_view_offset < M_PI ) {
+ view_offset -= 0.01;
+ } else {
+ view_offset += 0.01;
+ }
+ }
+ if ( view_offset > PI2 ) {
+ view_offset -= PI2;
+ } else if ( view_offset < 0 ) {
+ view_offset += PI2;
+ }
+ }
+ }
+}
- /* if ( Overrun ) {
- printf("OVERRUN!!!\n");
- } */
- lastSimtime = Simtime;
- signal(SIGALRM, fgTimerCatch);
-}
+void fgInitTimeDepCalcs() {
+ /* initialize timer */
+
+#ifdef USE_ITIMER
+ fgTimerInit( 1.0 / DEFAULT_TIMER_HZ, fgUpdateTimeDepCalcs );
+#endif USE_ITIMER
-/* this routine initializes the interval timer to generate a SIGALRM after
- * the specified interval (dt) */
-void fgTimerInit(float dt) {
- int terr;
- int isec;
- float usec;
-
- isec = (int) dt;
- usec = 1000000* (dt - (float) isec);
-
- t.it_interval.tv_sec = isec;
- t.it_interval.tv_usec = usec;
- t.it_value.tv_sec = isec;
- t.it_value.tv_usec = usec;
- /* printf("fgTimerInit() called\n"); */
- fgTimerCatch(); /* set up for SIGALRM signal catch */
- terr = setitimer( ITIMER_REAL, &t, &ot );
- if (terr) perror("Error returned from setitimer");
}
**************************************************************************/
static void fgSceneryInit() {
- /* make terrain mesh */
- mesh = fgSceneryCompile();
+ /* make scenery */
+ scenery = fgSceneryCompile();
+ runway = fgRunwayHack(0.69, 53.07);
}
-/* create the terrain mesh */
+/* create the scenery */
GLint fgSceneryCompile() {
- GLint mesh;
+ GLint scenery;
+
+ scenery = mesh2GL(mesh_ptr);
+
+ return(scenery);
+}
- mesh = mesh2GL(mesh_ptr);
- return(mesh);
+/* hack in a runway */
+GLint fgRunwayHack(double width, double length) {
+ static GLfloat concrete[4] = { 0.5, 0.5, 0.5, 1.0 };
+ static GLfloat line[4] = { 0.9, 0.9, 0.9, 1.0 };
+ int i;
+ int num_lines = 16;
+ float line_len, line_width_2, cur_pos;
+
+ runway = glGenLists(1);
+ glNewList(runway, GL_COMPILE);
+
+ /* draw concrete */
+ glBegin(GL_POLYGON);
+ glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, concrete );
+ glNormal3f(0.0, 0.0, 1.0);
+
+ glVertex3d( 0.0, -width/2.0, 0.0);
+ glVertex3d( 0.0, width/2.0, 0.0);
+ glVertex3d(length, width/2.0, 0.0);
+ glVertex3d(length, -width/2.0, 0.0);
+ glEnd();
+
+ /* draw center line */
+ glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, line );
+ line_len = length / ( 2 * num_lines + 1);
+ printf("line_len = %.3f\n", line_len);
+ line_width_2 = 0.02;
+ cur_pos = line_len;
+ for ( i = 0; i < num_lines; i++ ) {
+ glBegin(GL_POLYGON);
+ glVertex3d( cur_pos, -line_width_2, 0.005);
+ glVertex3d( cur_pos, line_width_2, 0.005);
+ cur_pos += line_len;
+ glVertex3d( cur_pos, line_width_2, 0.005);
+ glVertex3d( cur_pos, -line_width_2, 0.005);
+ cur_pos += line_len;
+ glEnd();
+ }
+
+ glEndList();
+
+ return(runway);
}
-/* draw the terrain mesh */
+/* draw the scenery */
static void fgSceneryDraw() {
- glCallList(mesh);
+ static float z = 32.35;
+
+ glPushMatrix();
+
+ glCallList(scenery);
+
+ printf("*** Drawing runway at %.2f\n", z);
+
+ glTranslatef( -398391.28, 120070.41, 32.35);
+ glRotatef(170.0, 0.0, 0.0, 1.0);
+ glCallList(runway);
+
+ glPopMatrix();
}
/* What should we do when we have nothing else to do? How about get
* ready for the next move?*/
-static void fgMainLoop( void )
-{
- fgSlewUpdate();
- aircraft_debug(1);
+static void fgMainLoop( void ) {
+ static int remainder = 0;
+ int elapsed, multi_loop;
+ elapsed = fgGetTimeInterval();
+ printf("Time interval is = %d, previous remainder is = %d\n", elapsed,
+ remainder);
+ printf("--> Frame rate is = %.2f\n", 1000.0 / (float)elapsed);
+ elapsed += remainder;
+
+ multi_loop = ((float)elapsed * 0.001) * DEFAULT_MODEL_HZ;
+ remainder = elapsed - ((multi_loop*1000) / DEFAULT_MODEL_HZ);
+ printf("Model iterations needed = %d, new remainder = %d\n", multi_loop,
+ remainder);
+
+ aircraft_debug(1);
fgUpdateVisuals();
+
+ if ( ! use_signals ) {
+ fgUpdateTimeDepCalcs(multi_loop);
+ }
}
**************************************************************************/
int main( int argc, char *argv[] ) {
- /* parse the scenery file */
- parse_scenery(argv[1]);
+ struct flight_params *f;
+
+ f = ¤t_aircraft.flight;
+
+ printf("Flight Gear: prototype code to test OpenGL, LaRCsim, and VRML\n\n");
#ifdef GLUT
/* initialize GLUT */
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
/* Define initial window size */
- glutInitWindowSize(640, 400);
+ glutInitWindowSize(640, 480);
/* Initialize the main window */
- glutCreateWindow("Terrain Demo");
+ glutCreateWindow("Flight Gear");
#elif MESA_TK
/* Define initial window size */
- tkInitPosition(0, 0, 640, 400);
+ tkInitPosition(0, 0, 640, 480);
/* Define Display Parameters */
tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
/* Initialize the main window */
- if (tkInitWindow("Terrain Demo") == GL_FALSE) {
+ if (tkInitWindow("Flight Gear") == GL_FALSE) {
tkQuit();
}
#endif
/* setup view parameters, only makes GL calls */
fgInitVisuals();
+ /* 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 */
+ 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;
+
+ 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 = 282.0 * 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, 120070.4, 244, 3.1415); */ /* GLOBE Airport */
+ /* fgSlewInit(-398391.3, 120070.41, 244, 3.1415); */ /* GLOBE Airport */
/* fgSlewInit(-335340,162540, 15, 4.38); */
- fgSlewInit(-398673.28,120625.64, 53, 4.38);
+ /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
+
+ 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();
+ }
/* build all objects */
- fgSceneryInit();
- /* initialize timer */
- fgTimerInit( 1.0 / DEFAULT_MODEL_HZ );
+ /* parse the scenery file, and build the OpenGL call list */
+ /* this function will eventually move to the scenery management system */
+ if ( strlen(argv[1]) ) {
+ parse_scenery(argv[1]);
+ }
+
+ /* initialize the scenery */
+ fgSceneryInit();
#ifdef GLUT
/* call fgReshape() on window resizes */
/* call key() on keyboard event */
glutKeyboardFunc( GLUTkey );
- glutSpecialFunc( GLUTkey );
+ glutSpecialFunc( GLUTspecialkey );
/* call fgMainLoop() whenever there is nothing else to do */
glutIdleFunc( fgMainLoop );
/* $Log$
-/* Revision 1.5 1997/05/29 02:33:23 curt
-/* Updated to reflect changing interfaces in other "modules."
+/* Revision 1.23 1997/06/26 19:08:33 curt
+/* Restructuring make, adding automatic "make dep" support.
/*
+ * Revision 1.22 1997/06/25 15:39:47 curt
+ * Minor changes to compile with rsxnt/win32.
+ *
+ * Revision 1.21 1997/06/22 21:44:41 curt
+ * Working on intergrating the VRML (subset) parser.
+ *
+ * Revision 1.20 1997/06/21 17:12:53 curt
+ * Capitalized subdirectory names.
+ *
+ * Revision 1.19 1997/06/18 04:10:31 curt
+ * A couple more runway tweaks ...
+ *
+ * Revision 1.18 1997/06/18 02:21:24 curt
+ * Hacked in a runway
+ *
+ * Revision 1.17 1997/06/17 16:51:58 curt
+ * Timer interval stuff now uses gettimeofday() instead of ftime()
+ *
+ * Revision 1.16 1997/06/17 04:19:16 curt
+ * More timer related tweaks with respect to view direction changes.
+ *
+ * Revision 1.15 1997/06/17 03:41:10 curt
+ * Nonsignal based interval timing is now working.
+ * This would be a good time to look at cleaning up the code structure a bit.
+ *
+ * Revision 1.14 1997/06/16 19:32:51 curt
+ * Starting to add general timer support.
+ *
+ * Revision 1.13 1997/06/02 03:40:06 curt
+ * A tiny bit more view tweaking.
+ *
+ * Revision 1.12 1997/06/02 03:01:38 curt
+ * Working on views (side, front, back, transitions, etc.)
+ *
+ * Revision 1.11 1997/05/31 19:16:25 curt
+ * Elevator trim added.
+ *
+ * Revision 1.10 1997/05/31 04:13:52 curt
+ * WE CAN NOW FLY!!!
+ *
+ * Continuing work on the LaRCsim flight model integration.
+ * Added some MSFS-like keyboard input handling.
+ *
+ * Revision 1.9 1997/05/30 19:27:01 curt
+ * The LaRCsim flight model is starting to look like it is working.
+ *
+ * Revision 1.8 1997/05/30 03:54:10 curt
+ * Made a bit more progress towards integrating the LaRCsim flight model.
+ *
+ * Revision 1.7 1997/05/29 22:39:49 curt
+ * Working on incorporating the LaRCsim flight model.
+ *
+ * Revision 1.6 1997/05/29 12:31:39 curt
+ * Minor tweaks, moving towards general flight model integration.
+ *
+ * Revision 1.5 1997/05/29 02:33:23 curt
+ * Updated to reflect changing interfaces in other "modules."
+ *
* Revision 1.4 1997/05/27 17:44:31 curt
* Renamed & rearranged variables and routines. Added some initial simple
* timer/alarm routines so the flight model can be updated on a regular
projects / flightgear.git / blobdiff