513 lines
16 KiB
C++
513 lines
16 KiB
C++
//
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// fg_init.cxx -- Flight Gear top level initialization routines
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//
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// Written by Curtis Olson, started August 1997.
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//
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// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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// For BC 5.01 this must be included before OpenGL includes.
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#ifdef FG_MATH_EXCEPTION_CLASH
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# include <math.h>
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#endif
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#include <GL/glut.h>
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#include <XGL/xgl.h>
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#include <stdio.h>
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#include <stdlib.h>
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// work around a stdc++ lib bug in some versions of linux, but doesn't
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// seem to hurt to have this here for all versions of Linux.
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#ifdef linux
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# define _G_NO_EXTERN_TEMPLATES
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#endif
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#include <Include/compiler.h>
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#include STL_STRING
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#include <Debug/logstream.hxx>
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#include <Aircraft/aircraft.hxx>
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#include <Airports/simple.hxx>
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#include <Astro/sky.hxx>
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#include <Astro/stars.hxx>
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#include <Astro/solarsystem.hxx>
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#include <Autopilot/autopilot.hxx>
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#include <Cockpit/cockpit.hxx>
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#include <Include/fg_constants.h>
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#include <Include/general.hxx>
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#include <Joystick/joystick.hxx>
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#include <Math/fg_geodesy.hxx>
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#include <Math/point3d.hxx>
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#include <Math/polar3d.hxx>
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#include <Scenery/scenery.hxx>
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#include <Scenery/tilemgr.hxx>
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#include <Time/event.hxx>
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#include <Time/fg_time.hxx>
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#include <Time/light.hxx>
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#include <Time/sunpos.hxx>
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#include <Time/moonpos.hxx>
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#include <Weather/weather.hxx>
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#include "fg_init.hxx"
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#include "options.hxx"
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#include "views.hxx"
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#include "fg_serial.hxx"
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#if defined(FX) && defined(XMESA)
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#include <GL/xmesa.h>
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#endif
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FG_USING_STD(string);
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extern const char *default_root;
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// Set initial position and orientation
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int fgInitPosition( void ) {
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string id;
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FGInterface *f;
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f = current_aircraft.fdm_state;
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id = current_options.get_airport_id();
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if ( id.length() ) {
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// set initial position from airport id
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fgAIRPORTS airports;
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fgAIRPORT a;
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FG_LOG( FG_GENERAL, FG_INFO,
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"Attempting to set starting position from airport code "
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<< id );
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airports.load("apt_simple");
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if ( ! airports.search( id, &a ) ) {
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FG_LOG( FG_GENERAL, FG_ALERT,
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"Failed to find " << id << " in database." );
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exit(-1);
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} else {
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f->set_Longitude( a.longitude * DEG_TO_RAD );
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f->set_Latitude( a.latitude * DEG_TO_RAD );
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}
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} else {
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// set initial position from default or command line coordinates
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f->set_Longitude( current_options.get_lon() * DEG_TO_RAD );
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f->set_Latitude( current_options.get_lat() * DEG_TO_RAD );
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}
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FG_LOG( FG_GENERAL, FG_INFO,
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"starting altitude is = " << current_options.get_altitude() );
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f->set_Altitude( current_options.get_altitude() * METER_TO_FEET );
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fgFDMSetGroundElevation( current_options.get_flight_model(),
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(f->get_Altitude() - 3.758099) * FEET_TO_METER );
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FG_LOG( FG_GENERAL, FG_INFO,
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"Initial position is: ("
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<< (f->get_Longitude() * RAD_TO_DEG) << ", "
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<< (f->get_Latitude() * RAD_TO_DEG) << ", "
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<< (f->get_Altitude() * FEET_TO_METER) << ")" );
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return(1);
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}
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// General house keeping initializations
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int fgInitGeneral( void ) {
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string root;
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char *mesa_win_state;
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FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
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FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
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root = current_options.get_fg_root();
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if ( ! root.length() ) {
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// No root path set? Then bail ...
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FG_LOG( FG_GENERAL, FG_ALERT,
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"Cannot continue without environment variable FG_ROOT"
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<< "being defined." );
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exit(-1);
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}
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FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << root << endl );
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#if defined(FX) && defined(XMESA)
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// initialize full screen flag
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global_fullscreen = false;
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if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
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// Test for the MESA_GLX_FX env variable
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if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
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// test if we are fullscreen mesa/glide
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if ( (mesa_win_state[0] == 'f') ||
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(mesa_win_state[0] == 'F') ) {
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global_fullscreen = true;
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}
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}
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}
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#endif
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return 1;
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}
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// This is the top level init routine which calls all the other
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// initialization routines. If you are adding a subsystem to flight
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// gear, its initialization call should located in this routine.
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// Returns non-zero if a problem encountered.
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int fgInitSubsystems( void )
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{
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FGTime::cur_time_params = new FGTime();
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FGInterface *f; // assigned later
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fgLIGHT *l = &cur_light_params;
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FGTime *t = FGTime::cur_time_params;
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FGView *v = ¤t_view;
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FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
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FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
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// allocates structures so must happen before any of the flight
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// model or control parameters are set
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fgAircraftInit(); // In the future this might not be the case.
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f = current_aircraft.fdm_state;
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// set the initial position
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fgInitPosition();
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// Initialize the Scenery Management subsystem
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if ( fgSceneryInit() ) {
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// Scenery initialized ok.
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
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exit(-1);
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}
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if( fgTileMgrInit() ) {
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// Load the local scenery data
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fgTileMgrUpdate();
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
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exit(-1);
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}
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FG_LOG( FG_GENERAL, FG_DEBUG,
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"Current terrain elevation after tile mgr init " <<
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scenery.cur_elev );
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// Calculate ground elevation at starting point (we didn't have
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// tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
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//
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// calculalate a cartesian point somewhere along the line between
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// the center of the earth and our view position. Doesn't have to
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// be the exact elevation (this is good because we don't know it
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// yet :-)
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// now handled inside of the fgTileMgrUpdate()
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/*
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geod_pos = Point3D( f->get_Longitude(), f->get_Latitude(), 0.0);
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tmp_abs_view_pos = fgGeodToCart(geod_pos);
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FG_LOG( FG_GENERAL, FG_DEBUG,
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"Initial abs_view_pos = " << tmp_abs_view_pos );
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scenery.cur_elev =
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fgTileMgrCurElev( f->get_Longitude(), f->get_Latitude(),
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tmp_abs_view_pos );
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FG_LOG( FG_GENERAL, FG_DEBUG,
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"Altitude after update " << scenery.cur_elev );
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*/
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fgFDMSetGroundElevation( current_options.get_flight_model(),
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scenery.cur_elev );
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// Reset our altitude if we are below ground
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FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << f->get_Altitude() );
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FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
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f->get_Runway_altitude() );
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if ( f->get_Altitude() < f->get_Runway_altitude() + 3.758099) {
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f->set_Altitude( f->get_Runway_altitude() + 3.758099 );
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}
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FG_LOG( FG_GENERAL, FG_INFO,
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"Updated position (after elevation adj): ("
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<< (f->get_Latitude() * RAD_TO_DEG) << ", "
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<< (f->get_Longitude() * RAD_TO_DEG) << ", "
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<< (f->get_Altitude() * FEET_TO_METER) << ")" );
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// We need to calculate a few more values here that would normally
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// be calculated by the FDM so that the v->UpdateViewMath()
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// routine doesn't get hosed.
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double sea_level_radius_meters;
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double lat_geoc;
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// Set the FG variables first
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fgGeodToGeoc( f->get_Latitude(), f->get_Altitude(),
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&sea_level_radius_meters, &lat_geoc);
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f->set_Geocentric_Position( lat_geoc, f->get_Longitude(),
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f->get_Altitude() +
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(sea_level_radius_meters * METER_TO_FEET) );
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f->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
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f->set_sin_cos_longitude(f->get_Longitude());
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f->set_sin_cos_latitude(f->get_Latitude());
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f->set_sin_lat_geocentric(sin(lat_geoc));
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f->set_cos_lat_geocentric(cos(lat_geoc));
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// The following section sets up the flight model EOM parameters
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// and should really be read in from one or more files.
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// Initial Velocity
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f->set_Velocities_Local( 0.0, 0.0, 0.0 );
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// Initial Orientation
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f->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
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current_options.get_pitch() * DEG_TO_RAD,
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current_options.get_heading() * DEG_TO_RAD );
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// Initial Angular Body rates
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f->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
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f->set_Earth_position_angle( 0.0 );
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// Mass properties and geometry values
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f->set_Inertias( 8.547270E+01,
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1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
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// CG position w.r.t. ref. point
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f->set_CG_Position( 0.0, 0.0, 0.0 );
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// Initialize the event manager
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global_events.Init();
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// Output event stats every 60 seconds
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global_events.Register( "fgEVENT_MGR::PrintStats()",
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fgMethodCallback<fgEVENT_MGR>( &global_events,
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&fgEVENT_MGR::PrintStats),
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fgEVENT::FG_EVENT_READY, 60000 );
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// Initialize the time dependent variables
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t->init();
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t->update(f);
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// Initialize view parameters
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FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()");
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v->Init();
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FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()");
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v->UpdateViewMath(f);
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FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos());
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v->UpdateWorldToEye(f);
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// Build the solar system
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//fgSolarSystemInit(*t);
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FG_LOG(FG_GENERAL, FG_INFO, "Building SolarSystem");
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SolarSystem::theSolarSystem = new SolarSystem(t);
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// Initialize the Stars subsystem
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if( fgStarsInit() ) {
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// Stars initialized ok.
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Stars initialization!" );
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exit(-1);
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}
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// Initialize the planetary subsystem
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// global_events.Register( "fgPlanetsInit()", fgPlanetsInit,
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// fgEVENT::FG_EVENT_READY, 600000);
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// Initialize the sun's position
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// global_events.Register( "fgSunInit()", fgSunInit,
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// fgEVENT::FG_EVENT_READY, 30000 );
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// Intialize the moon's position
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// global_events.Register( "fgMoonInit()", fgMoonInit,
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// fgEVENT::FG_EVENT_READY, 600000 );
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// register the periodic update of Sun, moon, and planets
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global_events.Register( "ssolsysUpdate", solarSystemRebuild,
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fgEVENT::FG_EVENT_READY, 600000);
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// fgUpdateSunPos() needs a few position and view parameters set
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// so it can calculate local relative sun angle and a few other
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// things for correctly orienting the sky.
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fgUpdateSunPos();
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fgUpdateMoonPos();
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global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
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fgEVENT::FG_EVENT_READY, 60000);
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global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
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fgEVENT::FG_EVENT_READY, 60000);
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// Initialize Lighting interpolation tables
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l->Init();
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// update the lighting parameters (based on sun angle)
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global_events.Register( "fgLight::Update()",
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fgMethodCallback<fgLIGHT>( &cur_light_params,
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&fgLIGHT::Update),
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fgEVENT::FG_EVENT_READY, 30000 );
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// Initialize the weather modeling subsystem
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current_weather.Init();
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// Initialize the Cockpit subsystem
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if( fgCockpitInit( ¤t_aircraft )) {
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// Cockpit initialized ok.
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Cockpit initialization!" );
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exit(-1);
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}
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// Initialize the "sky"
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fgSkyInit();
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// Initialize the flight model subsystem data structures base on
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// above values
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fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
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1.0 / DEFAULT_MODEL_HZ );
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// I'm just sticking this here for now, it should probably move
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// eventually
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scenery.cur_elev = f->get_Runway_altitude() * FEET_TO_METER;
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if ( f->get_Altitude() < f->get_Runway_altitude() + 3.758099) {
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f->set_Altitude( f->get_Runway_altitude() + 3.758099 );
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}
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FG_LOG( FG_GENERAL, FG_INFO,
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"Updated position (after elevation adj): ("
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<< (f->get_Latitude() * RAD_TO_DEG) << ", "
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<< (f->get_Longitude() * RAD_TO_DEG) << ", "
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<< (f->get_Altitude() * FEET_TO_METER) << ")" );
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// end of thing that I just stuck in that I should probably move
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// Joystick support
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if ( fgJoystickInit() ) {
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// Joystick initialized ok.
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
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}
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// Autopilot init added here, by Jeff Goeke-Smith
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fgAPInit(¤t_aircraft);
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// Initialize serial ports
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#if ! defined( MACOS )
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fgSerialInit();
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#endif
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FG_LOG( FG_GENERAL, FG_INFO, endl);
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return(1);
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}
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void fgReInitSubsystems( void )
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{
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FGInterface *f = current_aircraft.fdm_state;
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// fgLIGHT *l = &cur_light_params;
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// fgTIME *t = &cur_time_params;
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FGView *v = ¤t_view;
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fgInitPosition();
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if( fgTileMgrInit() ) {
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// Load the local scenery data
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fgTileMgrUpdate();
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} else {
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FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
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exit(-1);
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}
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fgFDMSetGroundElevation( current_options.get_flight_model(),
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scenery.cur_elev );
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// Reset our altitude if we are below ground
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FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << f->get_Altitude() );
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FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
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f->get_Runway_altitude() );
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if ( f->get_Altitude() < f->get_Runway_altitude() + 3.758099) {
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f->set_Altitude( f->get_Runway_altitude() + 3.758099 );
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}
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double sea_level_radius_meters;
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double lat_geoc;
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// Set the FG variables first
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fgGeodToGeoc( f->get_Latitude(), f->get_Altitude(),
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&sea_level_radius_meters, &lat_geoc);
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f->set_Geocentric_Position( lat_geoc, f->get_Longitude(),
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f->get_Altitude() +
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(sea_level_radius_meters * METER_TO_FEET) );
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f->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
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f->set_sin_cos_longitude(f->get_Longitude());
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f->set_sin_cos_latitude(f->get_Latitude());
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f->set_sin_lat_geocentric(sin(lat_geoc));
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f->set_cos_lat_geocentric(cos(lat_geoc));
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// The following section sets up the flight model EOM parameters
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// and should really be read in from one or more files.
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// Initial Velocity
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f->set_Velocities_Local( 0.0, 0.0, 0.0 );
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// Initial Orientation
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f->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
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current_options.get_pitch() * DEG_TO_RAD,
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current_options.get_heading() * DEG_TO_RAD );
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// Initial Angular Body rates
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f->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
|
|
|
|
f->set_Earth_position_angle( 0.0 );
|
|
|
|
// Mass properties and geometry values
|
|
f->set_Inertias( 8.547270E+01,
|
|
1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
|
|
|
|
// CG position w.r.t. ref. point
|
|
f->set_CG_Position( 0.0, 0.0, 0.0 );
|
|
|
|
// Initialize view parameters
|
|
FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()");
|
|
v->Init();
|
|
FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()");
|
|
v->UpdateViewMath(f);
|
|
FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos());
|
|
v->UpdateWorldToEye(f);
|
|
|
|
fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
|
|
1.0 / DEFAULT_MODEL_HZ );
|
|
|
|
scenery.cur_elev = f->get_Runway_altitude() * FEET_TO_METER;
|
|
|
|
if ( f->get_Altitude() < f->get_Runway_altitude() + 3.758099) {
|
|
f->set_Altitude( f->get_Runway_altitude() + 3.758099 );
|
|
}
|
|
|
|
controls.reset_all();
|
|
fgAPReset();
|
|
}
|