flightgear/src/Main/main.cxx

// main.cxx -- top level sim routines
//
// Written by Curtis Olson for OpenGL, started May 1997.
//
// Copyright (C) 1997 - 1999  Curtis L. Olson  - curt@flightgear.org
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$


#ifdef HAVE_CONFIG_H
#  include <config.h>
#endif

#ifdef SG_MATH_EXCEPTION_CLASH
#  include <math.h>
#endif

#ifdef HAVE_WINDOWS_H
#  include <windows.h>
#  include <float.h>
#endif

#include <GL/glut.h>
#include <simgear/xgl/xgl.h>

#include <stdio.h>
#include <string.h>
#include <string>

#ifdef HAVE_STDLIB_H
#   include <stdlib.h>
#endif

#ifdef HAVE_SYS_STAT_H
#  include <sys/stat.h>		// for stat()
#endif

#ifdef HAVE_UNISTD_H
#  include <unistd.h>		// for stat()
#endif

#include <plib/pu.h>
#include <plib/ssg.h>

#include <simgear/constants.h>  // for VERSION
#include <simgear/debug/logstream.hxx>
#include <simgear/math/polar3d.hxx>
#include <simgear/math/sg_random.h>
#include <simgear/misc/fgpath.hxx>
#include <simgear/sky/sky.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/timing/lowleveltime.h>

#include <Include/general.hxx>

#include <Aircraft/aircraft.hxx>

#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <Cockpit/steam.hxx>

#include <FDM/UIUCModel/uiuc_aircraftdir.h>
#include <GUI/gui.h>
#include <GUI/sgVec3Slider.hxx>
#include <Joystick/joystick.hxx>
#ifdef FG_NETWORK_OLK
#include <NetworkOLK/network.h>
#endif
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#ifdef ENABLE_AUDIO_SUPPORT
#  include <Sound/soundmgr.hxx>
#  include <Sound/morse.hxx>
#endif
#include <Time/event.hxx>
#include <Time/fg_timer.hxx>
#include <Time/light.hxx>
#include <Time/sunpos.hxx>
#include <Time/tmp.hxx>

// begin - added Venky
//    $$$ begin - added VS Renganathan
#include <simgear/misc/fgstream.hxx>
#include <FDM/flight.hxx>
#include <FDM/ADA.hxx>
void fgLoadDCS (void);
void fgUpdateDCS (void);
ssgSelector *ship_sel=NULL;
// upto 32 instances of a same object can be loaded.
ssgTransform *ship_pos[32];
double obj_lat[32],obj_lon[32],obj_alt[32];
int objc=0;
//    $$$ end - added VS Renganathan
// end - added Venky

#ifndef FG_OLD_WEATHER
#  include <WeatherCM/FGLocalWeatherDatabase.h>
#else
#  include <Weather/weather.hxx>
#endif

#include "version.h"

#include "bfi.hxx"
#include "fg_init.hxx"
#include "fg_io.hxx"
#include "globals.hxx"
#include "keyboard.hxx"
#include "splash.hxx"

#ifdef macintosh
#  include <console.h>		// -dw- for command line dialog
#endif


// This is a record containing a bit of global housekeeping information
FGGeneral general;

// Specify our current idle function state.  This is used to run all
// our initializations out of the glutIdleLoop() so that we can get a
// splash screen up and running right away.
static int idle_state = 0;
static long global_multi_loop;

// attempt to avoid a large bounce at startup
static bool initial_freeze = true;

// forward declaration
void fgReshape( int width, int height );

// Global structures for the Audio library
#ifdef ENABLE_AUDIO_SUPPORT
   static FGSimpleSound *s1;
   static FGSimpleSound *s2;
#endif


// ssg variables
ssgRoot *scene = NULL;
ssgBranch *terrain = NULL;

// aircraft model stuff
ssgSelector *acmodel_selector = NULL;
ssgTransform *acmodel_pos = NULL;
ssgSelector *prop_selector = NULL;
ssgSelector *flaps_selector = NULL;
int acmodel_npropsettings;
int acmodel_proprpms[4][2];  // different propeller settings

ssgRoot *lighting = NULL;
ssgBranch *ground = NULL;
ssgBranch *airport = NULL;

#ifdef FG_NETWORK_OLK
ssgSelector *fgd_sel = NULL;
ssgTransform *fgd_pos = NULL;
#endif

// current fdm/position used for view
FGInterface cur_view_fdm;

// Sky structures
SGSky *thesky;

// hack
sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
{
  {  1.0f,  0.0f,  0.0f,  0.0f },
  {  0.0f,  0.0f, -1.0f,  0.0f },
  {  0.0f,  1.0f,  0.0f,  0.0f },
  {  0.0f,  0.0f,  0.0f,  1.0f }
} ;

// The following defines flightgear options. Because glutlib will also
// want to parse its own options, those options must not be included here
// or they will get parsed by the main program option parser. Hence case
// is significant for any option added that might be in conflict with
// glutlib's parser.
//
// glutlib parses for:
//    -display
//    -direct   (invalid in Win32)
//    -geometry
//    -gldebug
//    -iconized
//    -indirect (invalid in Win32)
//    -synce
//
// Note that glutlib depends upon strings while this program's
// option parser wants only initial characters followed by numbers
// or pathnames.
//


ssgSimpleState *default_state;
ssgSimpleState *hud_and_panel;
ssgSimpleState *menus;

void fgBuildRenderStates( void ) {
    default_state = new ssgSimpleState;
    default_state->ref();
    default_state->disable( GL_TEXTURE_2D );
    default_state->enable( GL_CULL_FACE );
    default_state->enable( GL_COLOR_MATERIAL );
    default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
    default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
    default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
    default_state->disable( GL_BLEND );
    default_state->disable( GL_ALPHA_TEST );
    default_state->disable( GL_LIGHTING );

    hud_and_panel = new ssgSimpleState;
    hud_and_panel->ref();
    hud_and_panel->disable( GL_CULL_FACE );
    hud_and_panel->disable( GL_TEXTURE_2D );
    hud_and_panel->disable( GL_LIGHTING );
    hud_and_panel->enable( GL_BLEND );

    menus = new ssgSimpleState;
    menus->ref();
    menus->disable( GL_CULL_FACE );
    menus->disable( GL_TEXTURE_2D );
    menus->enable( GL_BLEND );
}

// fgFindNode -- a function that finds a named node in an ssg graph
ssgEntity *fgFindNode( ssgEntity *node, const char *name ) {
  if ( node->getName() != NULL && strcmp( name, node->getName() ) == 0 ) {
    return node;
  } else if ( node->isAKindOf( ssgTypeBranch() ) ) {
    ssgEntity *kid = ((ssgBranch*)node)->getKid(0);
    while (kid != NULL) {
      ssgEntity *n = fgFindNode(kid, name);
      if (n != NULL)
	return n;

      kid = ((ssgBranch*)node)->getNextKid();
    }
  }

  return NULL;
}

// fgInitVisuals() -- Initialize various GL/view parameters
void fgInitVisuals( void ) {
    fgLIGHT *l;

    l = &cur_light_params;

#ifndef GLUT_WRONG_VERSION
    // Go full screen if requested ...
    if ( fgGetBool("/sim/startup/fullscreen") ) {
	glutFullScreen();
    }
#endif

    // If enabled, normal vectors specified with glNormal are scaled
    // to unit length after transformation.  See glNormal.
    // glEnable( GL_NORMALIZE );

    glEnable( GL_LIGHTING );
    glEnable( GL_LIGHT0 );
    glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );

    sgVec3 sunpos;
    sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
    ssgGetLight( 0 ) -> setPosition( sunpos );

    // glFogi (GL_FOG_MODE, GL_LINEAR);
    glFogi (GL_FOG_MODE, GL_EXP2);
    if ( (fgGetString("/sim/rendering/fog") == "disabled") || 
	 (!fgGetBool("/sim/rendering/shading"))) {
	// if fastest fog requested, or if flat shading force fastest
	glHint ( GL_FOG_HINT, GL_FASTEST );
    } else if ( fgGetString("/sim/rendering/fog") == "nicest" ) {
	glHint ( GL_FOG_HINT, GL_NICEST );
    }
    if ( fgGetBool("/sim/rendering/wireframe") ) {
	// draw wire frame
	glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
    }

    // This is the default anyways, but it can't hurt
    glFrontFace ( GL_CCW );

    // Just testing ...
    // glEnable(GL_POINT_SMOOTH);
    // glEnable(GL_LINE_SMOOTH);
    // glEnable(GL_POLYGON_SMOOTH);      
}


// Update all Visuals (redraws anything graphics related)
void fgRenderFrame( void ) {
    // Update the BFI.
    FGBFI::update();

    fgLIGHT *l = &cur_light_params;
    static double last_visibility = -9999;

    static GLfloat fog_exp_density;
    static GLfloat fog_exp2_density;
    static GLfloat fog_exp2_punch_through;
    
    // double angle;
    // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
    // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
    // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
    // GLfloat mat_shininess[] = { 10.0 };
    GLbitfield clear_mask;
    
    if ( idle_state != 1000 ) {
	// still initializing, draw the splash screen
	if ( fgGetBool("/sim/startup/splash-screen") ) {
	    fgSplashUpdate(0.0);
	}
    } else {
	// idle_state is now 1000 meaning we've finished all our
	// initializations and are running the main loop, so this will
	// now work without seg faulting the system.

	// printf("Ground = %.2f  Altitude = %.2f\n", scenery.cur_elev, 
	//        FG_Altitude * SG_FEET_TO_METER);
    
	// this is just a temporary hack, to make me understand Pui
	// timerText -> setLabel (ctime (&t->cur_time));
	// end of hack

	// calculate our current position in cartesian space
	scenery.center = scenery.next_center;
	// printf("scenery center = %.2f %.2f %.2f\n", scenery.center.x(),
	//        scenery.center.y(), scenery.center.z());

	FGViewerRPH *pilot_view =
	    (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );

	pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(), 
				       cur_fdm_state->get_Lat_geocentric(), 
				       cur_fdm_state->get_Altitude() *
				       SG_FEET_TO_METER );
	pilot_view->set_sea_level_radius( cur_fdm_state->
					  get_Sea_level_radius() *
					  SG_FEET_TO_METER ); 
	pilot_view->set_rph( cur_fdm_state->get_Phi(),
			     cur_fdm_state->get_Theta(),
			     cur_fdm_state->get_Psi() );

	FGViewerLookAt *chase_view =
	    (FGViewerLookAt *)globals->get_viewmgr()->get_view( 1 );

	sgVec3 po;		// chase view pilot_offset
	sgVec3 wup;		// chase view world up
	sgSetVec3( po, 0.0, 0.0, 50.0 );
	sgCopyVec3( wup, pilot_view->get_world_up() );
	sgMat4 CXFM;		// chase view + pilot offset xform
	sgMakeRotMat4( CXFM,
		       chase_view->get_view_offset() * SGD_RADIANS_TO_DEGREES -
		       cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES,
		       wup );
	sgVec3 npo;		// new pilot offset after rotation
        sgVec3 *pPO = PilotOffsetGet();
	sgXformVec3( po, *pPO, pilot_view->get_UP() );
	sgXformVec3( npo, po, CXFM );

	chase_view->set_geod_view_pos( cur_fdm_state->get_Longitude(), 
				       cur_fdm_state->get_Lat_geocentric(), 
				       cur_fdm_state->get_Altitude() *
				       SG_FEET_TO_METER );
	chase_view->set_sea_level_radius( cur_fdm_state->
					  get_Sea_level_radius() *
					  SG_FEET_TO_METER );
	chase_view->set_pilot_offset( npo[0], npo[1], npo[2] );
	chase_view->set_view_forward( pilot_view->get_view_pos() ); 
	chase_view->set_view_up( wup );

#if 0
	sgMat4 rph;
	sgCopyMat4( rph, pilot_view->get_VIEW() );
	cout << "RPH Matrix = " << endl;
	int i, j;
	for ( i = 0; i < 4; i++ ) {
	    for ( j = 0; j < 4; j++ ) {
		printf("%10.4f ", rph[i][j]);
	    }
	    cout << endl;
	}

	sgMat4 la;
	sgCopyMat4( la, chase_view->get_VIEW() );
	cout << "LookAt Matrix = " << endl;
	for ( i = 0; i < 4; i++ ) {
	    for ( j = 0; j < 4; j++ ) {
		printf("%10.4f ", la[i][j]);
	    }
	    cout << endl;
	}
#endif

	// update view port
	fgReshape( fgGetInt("/sim/startup/xsize"),
		   fgGetInt("/sim/startup/ysize") );

#if 0
	// swing and a miss

	if ( ! fgPanelVisible() ) {
	    xglViewport( 0, 0 ,
			 (GLint)(fgGetInt("/sim/startup/xsize")),
			 (GLint)(fgGetInt("/sim/startup/ysize")) );
	} else {
	    int view_h =
		int( (current_panel->getViewHeight() -
		      current_panel->getYOffset())
		     * (fgGetInt("/sim/startup/ysize") / 768.0) );
	    glViewport( 0, 
			(GLint)(fgGetInt("/sim/startup/ysize") - view_h),
			(GLint)(fgGetInt("/sim/startup/xsize")),
			(GLint)(view_h) );
	}
#endif

	// set the sun position
	glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );

	clear_mask = GL_DEPTH_BUFFER_BIT;
	if ( fgGetBool("/sim/rendering/wireframe") ) {
	    clear_mask |= GL_COLOR_BUFFER_BIT;
	}

	if ( fgGetBool("/sim/rendering/skyblend") ) {
	    if ( fgGetBool("/sim/rendering/textures") ) {
		// glClearColor(black[0], black[1], black[2], black[3]);
		glClearColor(l->adj_fog_color[0], l->adj_fog_color[1], 
			     l->adj_fog_color[2], l->adj_fog_color[3]);
		clear_mask |= GL_COLOR_BUFFER_BIT;
	    }
	} else {
	    glClearColor(l->sky_color[0], l->sky_color[1], 
			 l->sky_color[2], l->sky_color[3]);
	    clear_mask |= GL_COLOR_BUFFER_BIT;
	}
	glClear( clear_mask );

	// Tell GL we are switching to model view parameters

	// I really should create a derived ssg node or use a call
	// back or something so that I can draw the sky within the
	// ssgCullAndDraw() function, but for now I just mimic what
	// ssg does to set up the model view matrix
	glMatrixMode(GL_MODELVIEW);
	glLoadIdentity();
	ssgSetCamera( (sgVec4 *)globals->get_current_view()->get_VIEW() );

	// set the opengl state to known default values
	default_state->force();

	// update fog params if visibility has changed
#ifndef FG_OLD_WEATHER
	thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
#else
	thesky->set_visibility( current_weather.get_visibility() );
#endif

	thesky->modify_vis( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
			    ( global_multi_loop * 
			      fgGetInt("/sim/speed-up") ) /
			    (double)fgGetInt("/sim/model-hz") );

	double actual_visibility = thesky->get_visibility();
	// cout << "actual visibility = " << actual_visibility << endl;

	if ( actual_visibility != last_visibility ) {
	    last_visibility = actual_visibility;

	    // cout << "----> updating fog params" << endl;
		
	    // for GL_FOG_EXP
	    fog_exp_density = -log(0.01 / actual_visibility);
    
	    // for GL_FOG_EXP2
	    fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
	    fog_exp2_punch_through = sqrt( -log(0.01) ) / 
		( actual_visibility * 1.5 );
	}

	// Set correct opengl fog density
	glFogf (GL_FOG_DENSITY, fog_exp2_density);

	// update the sky dome
	if ( fgGetBool("/sim/rendering/skyblend") ) {
	    /* cout << "thesky->repaint() sky_color = "
		 << cur_light_params.sky_color[0] << " "
		 << cur_light_params.sky_color[1] << " "
		 << cur_light_params.sky_color[2] << " "
		 << cur_light_params.sky_color[3] << endl;
	    cout << "    fog = "
		 << cur_light_params.fog_color[0] << " "
		 << cur_light_params.fog_color[1] << " "
		 << cur_light_params.fog_color[2] << " "
		 << cur_light_params.fog_color[3] << endl;
	    cout << "    sun_angle = " << cur_light_params.sun_angle
		 << "    moon_angle = " << cur_light_params.moon_angle
                 << endl; */
	    thesky->repaint( cur_light_params.sky_color,
			     cur_light_params.adj_fog_color,
			     cur_light_params.sun_angle,
			     cur_light_params.moon_angle,
			     globals->get_ephem()->getNumPlanets(),
			     globals->get_ephem()->getPlanets(),
			     globals->get_ephem()->getNumStars(),
			     globals->get_ephem()->getStars() );
 
	    /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
		 << view_pos[1] << " " << view_pos[2] << endl;
	    cout << "    zero_elev = " << zero_elev[0] << " "
		 << zero_elev[1] << " " << zero_elev[2]
		 << " lon = " << cur_fdm_state->get_Longitude()
		 << " lat = " << cur_fdm_state->get_Latitude() << endl;
	    cout << "    sun_rot = " << cur_light_params.sun_rotation
		 << " gst = " << SGTime::cur_time_params->getGst() << endl;
	    cout << "    sun ra = " << globals->get_ephem()->getSunRightAscension()
		 << " sun dec = " << globals->get_ephem()->getSunDeclination() 
		 << " moon ra = " << globals->get_ephem()->getMoonRightAscension()
		 << " moon dec = " << globals->get_ephem()->getMoonDeclination() << endl; */

	    thesky->reposition( globals->get_current_view()->get_view_pos(),
				globals->get_current_view()->get_zero_elev(),
				globals->get_current_view()->get_world_up(),
				cur_fdm_state->get_Longitude(),
				cur_fdm_state->get_Latitude(),
				cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
				cur_light_params.sun_rotation,
				globals->get_time_params()->getGst(),
				globals->get_ephem()->getSunRightAscension(),
				globals->get_ephem()->getSunDeclination(),
				50000.0,
				globals->get_ephem()->getMoonRightAscension(),
				globals->get_ephem()->getMoonDeclination(),
				50000.0 );
	}

	glEnable( GL_DEPTH_TEST );
	if ( fgGetString("/sim/rendering/fog") != "disabled" ) {
	    glEnable( GL_FOG );
	    glFogi( GL_FOG_MODE, GL_EXP2 );
	    glFogfv( GL_FOG_COLOR, l->adj_fog_color );
	}

	// set lighting parameters
	GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
	glLightModelfv( GL_LIGHT_MODEL_AMBIENT, l->scene_ambient );
	glLightfv( GL_LIGHT0, GL_AMBIENT, black );
	glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
	// glLightfv(GL_LIGHT0, GL_SPECULAR, white );

	// texture parameters
	// glEnable( GL_TEXTURE_2D );
	glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
	glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
	// set base color (I don't think this is doing anything here)
	// glMaterialfv (GL_FRONT, GL_AMBIENT, white);
	//  (GL_FRONT, GL_DIFFUSE, white);
	// glMaterialfv (GL_FRONT, GL_SPECULAR, white);
	// glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);

	sgVec3 sunpos;
	sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
	ssgGetLight( 0 ) -> setPosition( sunpos );

	// glMatrixMode( GL_PROJECTION );
	// glLoadIdentity();
 	float fov = globals->get_current_view()->get_fov();
 	ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());

	double agl = current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER
	    - scenery.cur_elev;

	// FG_LOG( FG_ALL, FG_INFO, "visibility is " 
	//         << current_weather.get_visibility() );
	    
	if ( agl > 10.0 ) {
	    ssgSetNearFar( 10.0f, 120000.0f );
	} else {
	    ssgSetNearFar( 0.5f, 120000.0f );
	}

	if ( globals->get_viewmgr()->get_current() == 0 ) {
	    // disable aircraft model
	    acmodel_selector->select(0);
	} else { 
	    // enable aircraft model and set up its position and orientation
	    acmodel_selector->select(1);

	    FGViewerRPH *pilot_view =
		(FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );

	    sgMat4 sgTRANS;
	    sgMakeTransMat4( sgTRANS, pilot_view->get_view_pos() );

	    sgVec3 ownship_up;
	    sgSetVec3( ownship_up, 0.0, 0.0, 1.0);

	    sgMat4 sgROT;
	    sgMakeRotMat4( sgROT, -90.0, ownship_up );

	    // sgMat4 sgTMP;
	    // sgMat4 sgTUX;
	    // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
	    // sgMultMat4( sgTUX, sgTMP, sgTRANS );

	    // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
	    sgMat4 sgTUX;
	    sgCopyMat4( sgTUX, sgROT );
	    sgPostMultMat4( sgTUX, pilot_view->get_VIEW_ROT() );
	    sgPostMultMat4( sgTUX, sgTRANS );
	
	    sgCoord tuxpos;
	    sgSetCoord( &tuxpos, sgTUX );
	    acmodel_pos->setTransform( &tuxpos );

	    // set up moving parts
	    if (flaps_selector != NULL) {
	      flaps_selector->select( (controls.get_flaps() > 0.5f) ? 1 : 2 );
	    }

	    if (prop_selector != NULL) {
	      int propsel_mask = 0;
	      for (int i = 0; i < acmodel_npropsettings; i++) {
		if (FGBFI::getRPM() >= acmodel_proprpms[i][0] &&
		    FGBFI::getRPM() <= acmodel_proprpms[i][1]) {
		  propsel_mask |= 1 << i;
		}
	      }
	      prop_selector->select(propsel_mask);
	    }
	}

	// $$$ begin - added VS Renganthan 17 Oct 2K
	fgUpdateDCS();
	// $$$ end - added VS Renganthan 17 Oct 2K

# ifdef FG_NETWORK_OLK
	if ( fgGetBool("/sim/networking/network-olk") ) {
	    sgCoord fgdpos;
	    other = head->next;             /* put listpointer to start  */
	    while ( other != tail) {        /* display all except myself */
		if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
		    other->fgd_sel->select(1);
		    sgSetCoord( &fgdpos, other->sgFGD_COORD );
		    other->fgd_pos->setTransform( &fgdpos );
		}
		other = other->next;
	    }

	    // fgd_sel->select(1);
	    // sgCopyMat4( sgTUX, current_view.sgVIEW);
	    // sgCoord fgdpos;
	    // sgSetCoord( &fgdpos, sgFGD_VIEW );
	    // fgd_pos->setTransform( &fgdpos);
	}
# endif

	// position tile nodes and update range selectors
	global_tile_mgr.prep_ssg_nodes();

	if ( fgGetBool("/sim/rendering/skyblend") ) {
	    // draw the sky backdrop
	    thesky->preDraw();
	}

	// draw the ssg scene
	glEnable( GL_DEPTH_TEST );
	ssgCullAndDraw( scene );

	// change state for lighting here

	// draw lighting
	// Set punch through fog density
	glFogf (GL_FOG_DENSITY, fog_exp2_punch_through);

	ssgCullAndDraw( lighting );

	if ( fgGetBool("/sim/rendering/skyblend") ) {
	    // draw the sky cloud layers
	    thesky->postDraw( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
	}

	// display HUD && Panel
	glDisable( GL_FOG );
	glDisable( GL_DEPTH_TEST );
	// glDisable( GL_CULL_FACE );
	// glDisable( GL_TEXTURE_2D );

	// update the controls subsystem
	controls.update();

	hud_and_panel->apply();
	fgCockpitUpdate();

	// update the panel subsystem
	if (current_panel != 0)
	  current_panel->update();

	// We can do translucent menus, so why not. :-)
	menus->apply();
	glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
	puDisplay();
	// glDisable ( GL_BLEND ) ;

	// glEnable( GL_FOG );
    }

    glutSwapBuffers();
}


// Update internal time dependent calculations (i.e. flight model)
void fgUpdateTimeDepCalcs() {
    static bool inited = false;

    fgLIGHT *l = &cur_light_params;
    int i;

    long multi_loop = 1;

    if ( !globals->get_freeze() && !initial_freeze ) {
	// conceptually, this could be done for each fdm instance ...

	if ( !inited ) {
	    cur_fdm_state->stamp();
	    inited = true;
	}

	SGTimeStamp current;
	current.stamp();
	long elapsed = current - cur_fdm_state->get_time_stamp();
	cur_fdm_state->set_time_stamp( current );
	elapsed += cur_fdm_state->get_remainder();
	// cout << "elapsed = " << elapsed << endl;
	// cout << "dt = " << cur_fdm_state->get_delta_t() << endl;
	multi_loop = (long)(((double)elapsed * 0.000001) /
			       cur_fdm_state->get_delta_t() );
	cur_fdm_state->set_multi_loop( multi_loop );
	long remainder = elapsed - ( (multi_loop*1000000) *
				     cur_fdm_state->get_delta_t() );
	cur_fdm_state->set_remainder( remainder );
	// cout << "remainder = " << remainder << endl;

	// chop max interations to something reasonable if the sim was
	// delayed for an excesive amount of time
	if ( multi_loop > 2.0 / cur_fdm_state->get_delta_t() ) {
	    multi_loop = (int)(2.0 / cur_fdm_state->get_delta_t());
	    cur_fdm_state->set_remainder( 0 );
	}

	// cout << "multi_loop = " << multi_loop << endl;
	for ( i = 0; i < multi_loop * fgGetInt("/sim/speed-up"); ++i ) {
	    // run Autopilot system
	    current_autopilot->run();

	    // update autopilot
	    cur_fdm_state->update( 1 );
	}
	FGSteam::update( multi_loop * fgGetInt("/sim/speed-up") );
    } else {
	cur_fdm_state->update( 0 );
	FGSteam::update( 0 );

	if ( global_tile_mgr.queue_size() == 0 ) {
	    initial_freeze = false;
	}
    }

    if ( fgGetString("/sim/view-mode") == "pilot" ) {
	cur_view_fdm = *cur_fdm_state;
	// do nothing
    }

    // update the view angle
    FGViewer *v = globals->get_current_view();
    for ( i = 0; i < multi_loop; i++ ) {
	if ( fabs(v->get_goal_view_offset() - v->get_view_offset()) < 0.05 ) {
	    v->set_view_offset( v->get_goal_view_offset() );
	    break;
	} else {
	    // move current_view.view_offset towards
	    // current_view.goal_view_offset
	    if ( v->get_goal_view_offset() > v->get_view_offset() )
            {
		if ( v->get_goal_view_offset() - v->get_view_offset() < SGD_PI ){
		    v->inc_view_offset( 0.01 );
		} else {
		    v->inc_view_offset( -0.01 );
		}
	    } else {
		if ( v->get_view_offset() - v->get_goal_view_offset() < SGD_PI ){
		    v->inc_view_offset( -0.01 );
		} else {
		    v->inc_view_offset( 0.01 );
		}
	    }
	    if ( v->get_view_offset() > SGD_2PI ) {
		v->inc_view_offset( -SGD_2PI );
	    } else if ( v->get_view_offset() < 0 ) {
		v->inc_view_offset( SGD_2PI );
	    }
	}
    }

    double tmp = -(l->sun_rotation + SGD_PI) 
	- (cur_fdm_state->get_Psi() -
	   globals->get_current_view()->get_view_offset() );
    while ( tmp < 0.0 ) {
	tmp += SGD_2PI;
    }
    while ( tmp > SGD_2PI ) {
	tmp -= SGD_2PI;
    }
    /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
	   FG_Psi * SGD_RADIANS_TO_DEGREES, current_view.view_offset * SGD_RADIANS_TO_DEGREES, 
	   -(l->sun_rotation+SGD_PI) * SGD_RADIANS_TO_DEGREES, tmp * SGD_RADIANS_TO_DEGREES); */
    l->UpdateAdjFog();

    // Update solar system
    globals->get_ephem()->update( globals->get_time_params()->getMjd(),
				  globals->get_time_params()->getLst(),
				  cur_fdm_state->get_Latitude() );

    // Update radio stack model
    current_radiostack->update();
}


void fgInitTimeDepCalcs( void ) {
    // initialize timer

    // #ifdef HAVE_SETITIMER
    //   fgTimerInit( 1.0 / fgGetInt("/sim/model-hz"), 
    //                fgUpdateTimeDepCalcs );
    // #endif HAVE_SETITIMER
}


static const double alt_adjust_ft = 3.758099;
static const double alt_adjust_m = alt_adjust_ft * SG_FEET_TO_METER;


// What should we do when we have nothing else to do?  Let's get ready
// for the next move and update the display?
static void fgMainLoop( void ) {
    static long remainder = 0;
    long elapsed;
#ifdef FANCY_FRAME_COUNTER
    int i;
    double accum;
#else
    static time_t last_time = 0;
    static int frames = 0;
#endif // FANCY_FRAME_COUNTER

    SGTime *t = globals->get_time_params();

    FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
    FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");

#ifdef FG_NETWORK_OLK
    if ( fgGetBool("/sim/networking/network-olk") ) {
	if ( net_is_registered == 0 ) {	     // We first have to reg. to fgd
	    // printf("FGD: Netupdate\n");
	    fgd_send_com( "A", FGFS_host);   // Send Mat4 data
	    fgd_send_com( "B", FGFS_host);   // Recv Mat4 data
	}
    }
#endif

#if defined( ENABLE_PLIB_JOYSTICK )
    // Read joystick and update control settings
    if ( fgGetString("/sim/control-mode") == "joystick" )
    {
	fgJoystickRead();
    }
#elif defined( ENABLE_GLUT_JOYSTICK )
    // Glut joystick support works by feeding a joystick handler
    // function to glut.  This is taken care of once in the joystick
    // init routine and we don't have to worry about it again.
#endif

#ifdef FG_OLD_WEATHER
    current_weather.Update();
#endif

    // Fix elevation.  I'm just sticking this here for now, it should
    // probably move eventually

    /* printf("Before - ground = %.2f  runway = %.2f  alt = %.2f\n",
	   scenery.cur_elev,
	   cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
	   cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */

    if ( scenery.cur_elev > -9990 ) {
	if ( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER < 
	     (scenery.cur_elev + alt_adjust_m - 3.0) ) {
	    // now set aircraft altitude above ground
	    printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n", 
		   cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
		   scenery.cur_elev + alt_adjust_m - 3.0,
		   scenery.cur_elev + alt_adjust_m );
	    fgFDMForceAltitude( fgGetString("/sim/flight-model"), 
				scenery.cur_elev + alt_adjust_m );

	    FG_LOG( FG_ALL, FG_DEBUG, 
		    "<*> resetting altitude to " 
		    << cur_fdm_state->get_Altitude() * SG_FEET_TO_METER
		    << " meters" );
	}
    }

    /* printf("Adjustment - ground = %.2f  runway = %.2f  alt = %.2f\n",
	   scenery.cur_elev,
	   cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
	   cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */

    // update "time"
    if ( globals->get_warp_delta() != 0 ) {
	globals->inc_warp( globals->get_warp_delta() );
    }

    t->update( cur_fdm_state->get_Longitude(),
	       cur_fdm_state->get_Latitude(),
	       globals->get_warp() );

    if ( globals->get_warp_delta() != 0 ) {
	fgUpdateSkyAndLightingParams();
    }

    // update magvar model
    globals->get_mag()->update( cur_fdm_state->get_Longitude(),
				cur_fdm_state->get_Latitude(),
				cur_fdm_state->get_Altitude()* SG_FEET_TO_METER,
				globals->get_time_params()->getJD() );

    // Get elapsed time (in usec) for this past frame
    elapsed = fgGetTimeInterval();
    FG_LOG( FG_ALL, FG_DEBUG, 
	    "Elapsed time interval is = " << elapsed 
	    << ", previous remainder is = " << remainder );

    // Calculate frame rate average
#ifdef FANCY_FRAME_COUNTER
    /* old fps calculation */
    if ( elapsed > 0 ) {
        double tmp;
        accum = 0.0;
        for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
            tmp = general.get_frame(i);
            accum += tmp;
            // printf("frame[%d] = %.2f\n", i, g->frames[i]);
            general.set_frame(i+1,tmp);
        }
        tmp = 1000000.0 / (float)elapsed;
        general.set_frame(0,tmp);
        // printf("frame[0] = %.2f\n", general.frames[0]);
        accum += tmp;
        general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
        // printf("ave = %.2f\n", general.frame_rate);
    }
#else
    if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
	general.set_frame_rate( frames );
	FG_LOG( FG_ALL, FG_DEBUG, 
		"--> Frame rate is = " << general.get_frame_rate() );
	frames = 0;
    }
    last_time = t->get_cur_time();
    ++frames;
#endif

    // Run flight model

    // Calculate model iterations needed for next frame
    elapsed += remainder;

    global_multi_loop = (long)(((double)elapsed * 0.000001) * 
			      fgGetInt("/sim/model-hz"));
    remainder = elapsed - ( (global_multi_loop*1000000) / 
			    fgGetInt("/sim/model-hz") );
    FG_LOG( FG_ALL, FG_DEBUG, 
	    "Model iterations needed = " << global_multi_loop
	    << ", new remainder = " << remainder );
	
    // chop max interations to something reasonable if the sim was
    // delayed for an excesive amount of time
    if ( global_multi_loop > 2.0 * fgGetInt("/sim/model-hz") ) {
	global_multi_loop = (int)(2.0 * fgGetInt("/sim/model-hz") );
	remainder = 0;
    }

    // flight model
    if ( global_multi_loop > 0 ) {
	fgUpdateTimeDepCalcs();
    } else {
	FG_LOG( FG_ALL, FG_DEBUG, 
		"Elapsed time is zero ... we're zinging" );
    }

#if ! defined( macintosh )
    // Do any I/O channel work that might need to be done
    fgIOProcess();
#endif

    // see if we need to load any new scenery tiles
    global_tile_mgr.update( cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES,
			    cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES );

    // Process/manage pending events
    global_events.Process();

    // Run audio scheduler
#ifdef ENABLE_AUDIO_SUPPORT
    if ( fgGetBool("/sim/sound") && globals->get_soundmgr()->is_working() ) {
	if ( fgGetString("/sim/aircraft") == "c172" ) {
	    // pitch corresponds to rpm
	    // volume corresponds to manifold pressure

	    // cout << "AUDIO working = "
	    //      << globals->get_soundmgr()->is_working() << endl;

	    double rpm_factor;
	    if ( cur_fdm_state->get_engine(0) != NULL ) {
		rpm_factor = cur_fdm_state->get_engine(0)->get_RPM() / 2500.0;
	    } else {
		rpm_factor = 1.0;
	    }
	    // cout << "rpm = " << cur_fdm_state->get_engine(0)->get_RPM()
	    //      << endl;

	    double pitch = 0.3 + rpm_factor * 3.0;
	
	    // don't run at absurdly slow rates -- not realistic
	    // and sounds bad to boot.  :-)
	    if (pitch < 0.7) { pitch = 0.7; }
	    if (pitch > 5.0) { pitch = 5.0; }

	    double mp_factor;
	    if ( cur_fdm_state->get_engine(0) != NULL ) {
		mp_factor = 
		    cur_fdm_state->get_engine(0)->get_Manifold_Pressure() / 100;
	    } else {
		mp_factor = 0.3;
	    }
	    /* cout << "mp = " 
	         << cur_fdm_state->get_engine(0)->get_Manifold_Pressure()
	         << endl; */

	    double volume = 0.15 + mp_factor / 2.0;

	    if ( volume < 0.15 ) { volume = 0.15; }
	    if ( volume > 0.5 ) { volume = 0.5; }
	    // cout << "volume = " << volume << endl;

	    s1->set_pitch( pitch );
	    s1->set_volume( volume );
	} else {
	    double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
	    s1->set_pitch( param );
	    s1->set_volume( param );
	}

	globals->get_soundmgr()->update();
    }
#endif

    // redraw display
    fgRenderFrame();

    FG_LOG( FG_ALL, FG_DEBUG, "" );
}


// This is the top level master main function that is registered as
// our idle funciton
//

// The first few passes take care of initialization things (a couple
// per pass) and once everything has been initialized fgMainLoop from
// then on.

static void fgIdleFunction ( void ) {
    // printf("idle state == %d\n", idle_state);

    if ( idle_state == 0 ) {
	// Initialize the splash screen right away
	if ( fgGetBool("/sim/startup/splash-screen") ) {
	    fgSplashInit();
	}
	
	idle_state++;
    } else if ( idle_state == 1 ) {
	// Start the intro music
#if !defined(WIN32)
	if ( fgGetBool("/sim/startup/intro-music") ) {
	    string lockfile = "/tmp/mpg123.running";
	    FGPath mp3file( globals->get_fg_root() );
	    mp3file.append( "Sounds/intro.mp3" );

	    string command = "(touch " + lockfile + "; mpg123 "
		+ mp3file.str() + "> /dev/null 2>&1; /bin/rm "
		+ lockfile + ") &";
	    FG_LOG( FG_GENERAL, FG_INFO, 
		    "Starting intro music: " << mp3file.str() );
	    system ( command.c_str() );
	}
#endif

	idle_state++;
    } else if ( idle_state == 2 ) {
	// These are a few miscellaneous things that aren't really
	// "subsystems" but still need to be initialized.

#ifdef USE_GLIDE
	if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
	    grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
	}
#endif

	idle_state++;
    } else if ( idle_state == 3 ) {
	// This is the top level init routine which calls all the
	// other subsystem initialization routines.  If you are adding
	// a subsystem to flightgear, its initialization call should
	// located in this routine.
	if( !fgInitSubsystems()) {
	    FG_LOG( FG_GENERAL, FG_ALERT,
		    "Subsystem initializations failed ..." );
	    exit(-1);
	}

	idle_state++;
    } else if ( idle_state == 4 ) {
	// setup OpenGL view parameters
	fgInitVisuals();

	idle_state++;
    } else if ( idle_state == 5 ) {

	idle_state++;
    } else if ( idle_state == 6 ) {
	// Initialize audio support
#ifdef ENABLE_AUDIO_SUPPORT

#if !defined(WIN32)
	if ( fgGetBool("/sim/startup/intro-music") ) {
	    // Let's wait for mpg123 to finish
	    string lockfile = "/tmp/mpg123.running";
	    struct stat stat_buf;

	    FG_LOG( FG_GENERAL, FG_INFO, 
		    "Waiting for mpg123 player to finish ..." );
	    while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
		// file exist, wait ...
		sleep(1);
		FG_LOG( FG_GENERAL, FG_INFO, ".");
	    }
	    FG_LOG( FG_GENERAL, FG_INFO, "");
	}
#endif // WIN32

	if ( fgGetBool("/sim/sound") ) {
	    globals->get_soundmgr()->init();

	    s1 = new FGSimpleSound( fgGetString("/sim/sounds/engine",
						"Sounds/wasp.wav") );
	    globals->get_soundmgr()->add( s1, "engine loop" );
	    globals->get_soundmgr()->play_looped( "engine loop" );
	    FG_LOG( FG_GENERAL, FG_INFO,
		    "Rate = " << s1->get_sample()->getRate()
		    << "  Bps = " << s1->get_sample()->getBps()
		    << "  Stereo = " << s1->get_sample()->getStereo() );

	    s2 = new FGSimpleSound( "Sounds/corflaps.wav" );
	    // FGMorse mmm;
	    // mmm.init();
	    // s2 = mmm.make_ident( "JLI" );
	    s2->set_volume( 0.3 );
	    globals->get_soundmgr()->add( s2, "flaps" );
	}
#endif

	// sleep(1);
	idle_state = 1000;

	cout << "Panel visible = " << fgPanelVisible() << endl;
	fgReshape( fgGetInt("/sim/startup/xsize"),
		   fgGetInt("/sim/startup/ysize") );
    } 

    if ( idle_state == 1000 ) {
	// We've finished all our initialization steps, from now on we
	// run the main loop.

	fgMainLoop();
    } else {
	if ( fgGetBool("/sim/startup/splash-screen") ) {
	    fgSplashUpdate(0.0);
	}
    }
}

// options.cxx needs to see this for toggle_panel()
// Handle new window size or exposure
void fgReshape( int width, int height ) {
    // for all views
    for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
	if ( ! fgPanelVisible() || idle_state != 1000 ) {
	    globals->get_viewmgr()->get_view(i)->
		set_win_ratio( (float)height / (float)width );
	} else {
	    int view_h =
		int((current_panel->getViewHeight() -
		     current_panel->getYOffset())
		    * (height / 768.0)) + 1;
	    globals->get_viewmgr()->get_view(i)->
		set_win_ratio( (float)view_h / (float)width );
	}
    }

    if ( ! fgPanelVisible() || idle_state != 1000 ) {
	glViewport(0, 0 , (GLint)(width), (GLint)(height) );
    } else {
        int view_h =
	    int((current_panel->getViewHeight() - current_panel->getYOffset())
		* (height / 768.0)) + 1;
	glViewport(0, (GLint)(height - view_h),
		   (GLint)(width), (GLint)(view_h) );
    }

    fgSetInt("/sim/startup/xsize", width);
    fgSetInt("/sim/startup/ysize", height);

    float fov = globals->get_current_view()->get_fov();
    ssgSetFOV(fov, fov * globals->get_current_view()->get_win_ratio());

    fgHUDReshape();
}


// Initialize GLUT and define a main window
int fgGlutInit( int *argc, char **argv ) {

#if !defined( macintosh )
    // GLUT will extract all glut specific options so later on we only
    // need wory about our own.
    glutInit(argc, argv);
#endif

    // Define Display Parameters
    glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );

    FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
	    fgGetInt("/sim/startup/xsize") << "x"
	    << fgGetInt("/sim/startup/ysize") );

    // Define initial window size
    glutInitWindowSize( fgGetInt("/sim/startup/xsize"),
			fgGetInt("/sim/startup/ysize") );

    // Initialize windows
    if ( !fgGetBool("/sim/startup/game-mode")) {
	// Open the regular window
	glutCreateWindow("FlightGear");
#ifndef GLUT_WRONG_VERSION
    } else {
	// Open the cool new 'game mode' window
	char game_mode_str[256];
	sprintf( game_mode_str, "width=%d height=%d bpp=%d",
		 fgGetInt("/sim/startup/xsize"),
		 fgGetInt("/sim/startup/ysize"),
		 fgGetInt("/sim/rendering/bits-per-pixel"));

	FG_LOG( FG_GENERAL, FG_INFO, 
		"game mode params = " << game_mode_str );
	glutGameModeString( game_mode_str );
	glutEnterGameMode();
#endif
    }

    // This seems to be the absolute earliest in the init sequence
    // that these calls will return valid info.  Too bad it's after
    // we've already created and sized out window. :-(
    general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
    general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
    general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
    FG_LOG( FG_GENERAL, FG_INFO, general.get_glRenderer() );

    GLint tmp;
    glGetIntegerv( GL_MAX_TEXTURE_SIZE, &tmp );
    general.set_glMaxTexSize( tmp );
    FG_LOG ( FG_GENERAL, FG_INFO, "Max texture size = " << tmp );

    glGetIntegerv( GL_DEPTH_BITS, &tmp );
    general.set_glDepthBits( tmp );
    FG_LOG ( FG_GENERAL, FG_INFO, "Depth buffer bits = " << tmp );

    return 1;
}


// Initialize GLUT event handlers
int fgGlutInitEvents( void ) {
    // call fgReshape() on window resizes
    glutReshapeFunc( fgReshape );

    // call GLUTkey() on keyboard event
    glutKeyboardFunc( GLUTkey );
    glutSpecialFunc( GLUTspecialkey );

    // call guiMouseFunc() whenever our little rodent is used
    glutMouseFunc ( guiMouseFunc );
    glutMotionFunc (guiMotionFunc );
    glutPassiveMotionFunc (guiMotionFunc );

    // call fgMainLoop() whenever there is
    // nothing else to do
    glutIdleFunc( fgIdleFunction );

    // draw the scene
    glutDisplayFunc( fgRenderFrame );

    return(1);
}


// Main ...
int main( int argc, char **argv ) {

#if defined( macintosh )
    freopen ("stdout.txt", "w", stdout );
    freopen ("stderr.txt", "w", stderr );
    argc = ccommand( &argv );
#endif

#ifdef HAVE_BC5PLUS
    _control87(MCW_EM, MCW_EM);  /* defined in float.h */
#endif

    // set default log levels
    fglog().setLogLevels( FG_ALL, FG_INFO );

    string version;
#ifdef FLIGHTGEAR_VERSION
    version = FLIGHTGEAR_VERSION;
#else
    version = "unknown version";
#endif
    FG_LOG( FG_GENERAL, FG_INFO, "FlightGear:  Version "
	    << version << endl );

    // Allocate global data structures.  This needs to happen before
    // we parse command line options

    SGPropertyNode *props = new SGPropertyNode;
    globals = new FGGlobals;
    globals->set_props( props );

    // seed the random number generater
    sg_srandom_time();

    SGRoute *route = new SGRoute;
    globals->set_route( route );

#ifdef ENABLE_AUDIO_SUPPORT
    FGSoundMgr *soundmgr = new FGSoundMgr;
    globals->set_soundmgr( soundmgr );
#endif

    FGViewMgr *viewmgr = new FGViewMgr;
    globals->set_viewmgr( viewmgr );

    FGViewerRPH *pv = new FGViewerRPH;
    globals->get_viewmgr()->add_view( pv );

    FGViewerLookAt *chase = new FGViewerLookAt;
    globals->get_viewmgr()->add_view( chase );

    string_list *col = new string_list;
    globals->set_channel_options_list( col );

    // set current view to 0 (first) which is our main pilot view
    globals->set_current_view( globals->get_viewmgr()->get_view( 0 ) );

    // Scan the config file(s) and command line options to see if
    // fg_root was specified (ignore all other options for now)
    fgInitFGRoot(argc, argv);

    // Initialize the Aircraft directory to "" (UIUC)
    aircraft_dir = "";

    // Load the configuration parameters
    if ( !fgInitConfig(argc, argv) ) {
	FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
	exit(-1);
    }

    // Initialize the Window/Graphics environment.
    if( !fgGlutInit(&argc, argv) ) {
	FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
	exit(-1);
    }

    // Initialize the various GLUT Event Handlers.
    if( !fgGlutInitEvents() ) {
 	FG_LOG( FG_GENERAL, FG_ALERT, 
 		"GLUT event handler initialization failed ..." );
 	exit(-1);
    }
 
    // Initialize ssg (from plib).  Needs to come before we do any
    // other ssg stuff, but after opengl/glut has been initialized.
    ssgInit();

    // Initialize the user interface (we need to do this before
    // passing off control to glut and before fgInitGeneral to get our
    // fonts !!!
    guiInit();

    // set current_options lon/lat if an airport id is specified
    // cout << "3. airport_id = " << fgGetString("/sim/startup/airport-id") << endl;
    if ( fgGetString("/sim/startup/airport-id").length() ) {
	// fgSetPosFromAirportID( fgGetString("/sim/startup/airport-id") );
	fgSetPosFromAirportIDandHdg( fgGetString("/sim/startup/airport-id"),
				     fgGetDouble("/orientation/heading") );
    }

    // Initialize time
    FGPath zone( globals->get_fg_root() );
    zone.append( "Timezone" );
    SGTime *t = new SGTime( fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS,
			    fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS,
			    zone.str() );

    // Handle potential user specified time offsets
    time_t cur_time = t->get_cur_time();
    time_t currGMT = sgTimeGetGMT( gmtime(&cur_time) );
    time_t systemLocalTime = sgTimeGetGMT( localtime(&cur_time) );
    time_t aircraftLocalTime = 
	sgTimeGetGMT( fgLocaltime(&cur_time, t->get_zonename() ) );

    // Okay, we now have six possible scenarios
    int offset = fgGetInt("/sim/startup/time-offset");
    const string &offset_type = fgGetString("/sim/startup/time-offset-type");
    if (offset_type == "system-offset") {
	globals->set_warp( offset );
    } else if (offset_type == "gmt-offset") {
	globals->set_warp( offset - (currGMT - systemLocalTime) );
    } else if (offset_type == "latitude-offset") {
	globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) );
    } else if (offset_type == "system") {
	globals->set_warp( offset - cur_time );
    } else if (offset_type == "gmt") {
	globals->set_warp( offset - currGMT );
    } else if (offset_type == "latitude") {
	globals->set_warp( offset - (aircraftLocalTime - systemLocalTime) - 
			   cur_time ); 
    } else {
        FG_LOG( FG_GENERAL, FG_ALERT,
		"Unsupported offset type " << offset_type );
	exit( -1 );
    }

    FG_LOG( FG_GENERAL, FG_INFO, "After time init, warp = " 
	    << globals->get_warp() );

    globals->set_warp_delta( 0 );

    t->update( 0.0, 0.0, globals->get_warp() );

    globals->set_time_params( t );

    // Do some quick general initializations
    if( !fgInitGeneral()) {
	FG_LOG( FG_GENERAL, FG_ALERT, 
		"General initializations failed ..." );
	exit(-1);
    }

    FGPath modelpath( globals->get_fg_root() );
    ssgModelPath( (char *)modelpath.c_str() );
  
    // Scene graph root
    scene = new ssgRoot;
    scene->setName( "Scene" );

    lighting = new ssgRoot;
    lighting->setName( "Lighting" );

    // Initialize the sky
    FGPath ephem_data_path( globals->get_fg_root() );
    ephem_data_path.append( "Astro" );
    SGEphemeris *ephem = new SGEphemeris( ephem_data_path.c_str() );
    ephem->update( globals->get_time_params()->getMjd(),
		   globals->get_time_params()->getLst(),
		   0.0 );
    globals->set_ephem( ephem );

    FGPath sky_tex_path( globals->get_fg_root() );
    sky_tex_path.append( "Textures" );
    sky_tex_path.append( "Sky" );
    thesky = new SGSky;
    thesky->texture_path( sky_tex_path.str() );

    thesky->build( 550.0, 550.0,
		   globals->get_ephem()->getNumPlanets(), 
		   globals->get_ephem()->getPlanets(), 60000.0,
		   globals->get_ephem()->getNumStars(),
		   globals->get_ephem()->getStars(), 60000.0 );

    if ( fgGetBool("/environment/clouds/status") ) {
	thesky->add_cloud_layer( 2600.0, 200.0, 50.0, 40000.0,
				 SG_CLOUD_MOSTLY_SUNNY );
	thesky->add_cloud_layer( 6000.0, 20.0, 10.0, 40000.0,
				 SG_CLOUD_CIRRUS );
	// thesky->add_cloud_layer( 1000.0, 200.0, 50.0,
	//                          SG_CLOUD_MOSTLY_SUNNY );
	// thesky->add_cloud_layer( 1800.0, 400.0, 100.0, SG_CLOUD_OVERCAST );
	// thesky->add_cloud_layer( 5000.0, 20.0, 10.0, SG_CLOUD_CIRRUS );
    }

    // Initialize MagVar model
    SGMagVar *magvar = new SGMagVar();
    globals->set_mag( magvar );

    // Terrain branch
    terrain = new ssgBranch;
    terrain->setName( "Terrain" );
    scene->addKid( terrain );

    // Lighting
    ground = new ssgBranch;
    ground->setName( "Ground Lighting" );
    lighting->addKid( ground );

    airport = new ssgBranch;
    airport->setName( "Airport Lighting" );
    lighting->addKid( airport );

    // temporary visible aircraft "own ship"
    acmodel_selector = new ssgSelector;
    acmodel_pos = new ssgTransform;

    string acmodel_path =
	fgGetString("/sim/model/path", "Models/Geometry/glider.ac");

    string full_model = globals->get_fg_root() + "/"
	+ acmodel_path;
    int pos = full_model.rfind("/");
    
    FGPath texturepath( full_model.substr(0, pos) );
    cout << "Texture path = " << texturepath.str() << endl;
    ssgTexturePath( (char *)texturepath.c_str() );

    ssgEntity *acmodel_obj = ssgLoad((char *)(acmodel_path.c_str()));

    // find moving parts (if this is an MDL model)
    flaps_selector = (ssgSelector*)fgFindNode( acmodel_obj, "FLAPS" );
    prop_selector  = (ssgSelector*)fgFindNode( acmodel_obj, "PROP"  );

    acmodel_npropsettings = 0;
    if (prop_selector != NULL) {
      for (ssgEntity* kid = prop_selector->getKid(0); kid != NULL;
	   kid = prop_selector->getNextKid()) {
	int prop_low, prop_high;
	if ( sscanf(kid->getName(), "PROP_%d_%d", 
		    &prop_low, &prop_high) == 2 ) {
	  prop_low  = (int)((float)prop_low  * (5000.0f / 32767.0f));
	  prop_high = (int)((float)prop_high * (5000.0f / 32767.0f));
	  acmodel_proprpms[acmodel_npropsettings][0] = prop_low ;
	  acmodel_proprpms[acmodel_npropsettings][1] = prop_high;
	  acmodel_npropsettings++;

	  FG_LOG( FG_GENERAL, FG_INFO, "PROPELLER SETTING " << prop_low <<
		  " " << prop_high );
	}
      }
    }

    // align the model properly for FGFS
    ssgTransform *acmodel_align = new ssgTransform;
    acmodel_align->addKid(acmodel_obj);
    sgMat4 rot_matrix;
    sgMat4 off_matrix;
    sgMat4 res_matrix;
    float h_rot = fgGetFloat("/sim/model/h-rotation", 0.0);
    float p_rot = fgGetFloat("/sim/model/p-rotation", 0.0);
    float r_rot = fgGetFloat("/sim/model/r-rotation", 0.0);
    float x_off = fgGetFloat("/sim/model/x-offset", 0.0);
    float y_off = fgGetFloat("/sim/model/y-offset", 0.0);
    float z_off = fgGetFloat("/sim/model/z-offset", 0.0);
    sgMakeRotMat4(rot_matrix, h_rot, p_rot, r_rot);
    sgMakeTransMat4(off_matrix, x_off, y_off, z_off);
    sgMultMat4(res_matrix, off_matrix, rot_matrix);
    acmodel_align->setTransform(res_matrix);

    acmodel_pos->addKid( acmodel_align );
    acmodel_selector->addKid( acmodel_pos );
    //ssgFlatten( acmodel_obj );
    //ssgStripify( acmodel_selector );
    acmodel_selector->clrTraversalMaskBits( SSGTRAV_HOT );
    scene->addKid( acmodel_selector );

    // $$$ begin - added VS Renganthan 17 Oct 2K
    fgLoadDCS();
    // $$$ end - added VS Renganthan 17 Oct 2K

#ifdef FG_NETWORK_OLK
    // Do the network intialization
    if ( fgGetBool("/sim/networking/network-olk") ) {
	printf("Multipilot mode %s\n", fg_net_init( scene ) );
    }
#endif

    // build our custom render states
    fgBuildRenderStates();

    // pass control off to the master GLUT event handler
    glutMainLoop();

    // we never actually get here ... but to avoid compiler warnings,
    // etc.
    return 0;
}


// $$$ end - added VS Renganathan, 15 Oct 2K
//         - added Venky         , 12 Nov 2K

void fgLoadDCS(void) {

    ssgEntity *ship_obj = NULL;
    // double bz[3];
    // int j=0;
    char obj_filename[25];

    for (int k=0;k<32;k++)
    {
        ship_pos[k]=NULL;
    }

    FGPath tile_path( globals->get_fg_root());
    tile_path.append( "Scenery" );
    tile_path.append( "Objects.txt" );
    fg_gzifstream in( tile_path.str() );
    if ( ! in.is_open() ) {
	FG_LOG( FG_TERRAIN, FG_ALERT, "Cannot open file: " << tile_path.str() );
    }

    FGPath modelpath( globals->get_fg_root() );
    modelpath.append( "Models" );
    modelpath.append( "Geometry" );
  
    FGPath texturepath( globals->get_fg_root() );
    texturepath.append( "Models" );
    texturepath.append( "Textures" );
 
    ssgModelPath( (char *)modelpath.c_str() );
    ssgTexturePath( (char *)texturepath.c_str() );

    ship_sel = new ssgSelector;

    char c;
    while ( ! in.eof() ) 
    {
       in >> ::skipws;
       if ( in.get( c ) && c == '#' )
       { 
            in >> skipeol;
       }
       else 
       { 
       	in.putback(c);
           	in >> obj_filename >> obj_lat[objc] >> obj_lon[objc] >> obj_alt[objc];
/*       	cout << endl << obj_filename << " " << obj_lat[objc] << " " << obj_lon[objc] <<  " " << obj_alt[objc] << endl;
       	int chj=getchar();*/
                
	      obj_lon[objc] *=SGD_DEGREES_TO_RADIANS;
      	obj_lat[objc] *=SGD_DEGREES_TO_RADIANS;
    
            ship_pos[objc] = new ssgTransform;
       
       
       	// type "repeat" in objects.txt to load one more instance of the last object.

       	if ( strcmp(obj_filename,"repeat") != 0)
                  ship_obj = ssgLoadOBJ( obj_filename );
      
	      if ( ship_obj != NULL ) 
            {
	 		ship_pos[objc]->addKid( ship_obj ); // add object to transform node
		 	ship_sel->addKid( ship_pos[objc] ); // add transform node to selector
			}
       	else
       		FG_LOG( FG_TERRAIN, FG_ALERT, "Cannot open file: " << obj_filename );
            
      	if (in.eof()) break;
            objc++;
         }
     } // while

    ship_sel->clrTraversalMaskBits( SSGTRAV_HOT );
    scene->addKid( ship_sel ); //add selector node to root node
    return;
 }


void fgUpdateDCS (void) {

    // double eye_lat,eye_lon,eye_alt;
    // static double obj_head;
    double sl_radius,obj_latgc;
    // float nresultmat[4][4];
    // sgMat4 Trans,rothead,rotlon,rot180,rotlat,resultmat1,resultmat2,resultmat3;
    double bz[3];

    // Instantaneous Geodetic Lat/Lon/Alt of moving object
    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
    
    // Deck should be the first object in objects.txt in case of fdm=ada

    if (fgGetString("/sim/flight-model") == "ada")
    {
      obj_lon[0] = fdm->get_aux5()*SGD_DEGREES_TO_RADIANS;
      obj_lat[0] = fdm->get_aux6()*SGD_DEGREES_TO_RADIANS;
      obj_alt[0] = fdm->get_aux7();
    }
    
    for (int m=0; m<=objc; m++)
    {
    	//cout << endl <<  obj_lat[m]*SGD_RADIANS_TO_DEGREES << " " << obj_lon[m]*SGD_RADIANS_TO_DEGREES << " " << obj_alt[m] << " " << objc << endl;
	//int v=getchar();

        //Geodetic to Geocentric angles for rotation
	sgGeodToGeoc(obj_lat[m],obj_alt[m],&sl_radius,&obj_latgc);

        //moving object gbs-posn in cartesian coords
        Point3D obj_posn = Point3D( obj_lon[m],obj_lat[m],obj_alt[m]);
        Point3D obj_pos = sgGeodToCart( obj_posn );

        // Translate moving object w.r.t eye
        Point3D Objtrans = obj_pos-scenery.center;
        bz[0]=Objtrans.x();
        bz[1]=Objtrans.y();
        bz[2]=Objtrans.z();

       // rotate dynamic objects for lat,lon & alt and other motion about its axes
	
	sgMat4 sgTRANS;
	sgMakeTransMat4( sgTRANS, bz[0],bz[1],bz[2]);

	sgVec3 ship_fwd,ship_rt,ship_up;
	sgSetVec3( ship_fwd, 1.0, 0.0, 0.0);//east,roll
	sgSetVec3( ship_rt, 0.0, 1.0, 0.0);//up,pitch
	sgSetVec3( ship_up, 0.0, 0.0, 1.0); //north,yaw

	sgMat4 sgROT_lon, sgROT_lat, sgROT_hdg;
	sgMakeRotMat4( sgROT_lon, obj_lon[m]*SGD_RADIANS_TO_DEGREES, ship_up );
	sgMakeRotMat4( sgROT_lat, 90-obj_latgc*SGD_RADIANS_TO_DEGREES, ship_rt );
	sgMakeRotMat4( sgROT_hdg, 180.0, ship_up );
	
	sgMat4 sgTUX;
	sgCopyMat4( sgTUX, sgROT_hdg );
	sgPostMultMat4( sgTUX, sgROT_lat );
	sgPostMultMat4( sgTUX, sgROT_lon );
	sgPostMultMat4( sgTUX, sgTRANS );

	sgCoord shippos;
	sgSetCoord(&shippos, sgTUX );
	ship_pos[m]->setTransform( &shippos );
    }
   if ( ship_sel != NULL ) 
	ship_sel->select(0xFFFFFFFF);
  }

// $$$ end - added VS Renganathan, 15 Oct 2K
//           added Venky         , 12 Nov 2K