444 lines
12 KiB
C
444 lines
12 KiB
C
/**************************************************************************
|
|
* GLmain.c -- top level sim routines
|
|
*
|
|
* Written by Curtis Olson for OpenGL, started May 1997.
|
|
*
|
|
* Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
|
|
*
|
|
* 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.
|
|
*
|
|
* $Id$
|
|
* (Log is kept at end of this file)
|
|
**************************************************************************/
|
|
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <signal.h> /* for timer routines */
|
|
|
|
#if defined(__WATCOMC__) || defined(__MSC__)
|
|
# include <time.h>
|
|
#else
|
|
# include <sys/time.h>
|
|
#endif
|
|
|
|
#ifdef GLUT
|
|
#include <GL/glut.h>
|
|
#include "GLUTkey.h"
|
|
#elif MESA_TK
|
|
/* assumes -I/usr/include/mesa in compile command */
|
|
#include "gltk.h"
|
|
#include "GLTKkey.h"
|
|
#endif
|
|
|
|
#include "../aircraft/aircraft.h"
|
|
#include "../scenery/scenery.h"
|
|
|
|
#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
|
|
#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
|
|
|
|
#define FG_DEG_2_LON(DEG) ((DEG) * M_PI / 180.0)
|
|
#define FG_DEG_2_LAT(DEG) (-1.0 * (DEG) * M_PI / 180.0)
|
|
|
|
/* This is a record containing all the info for the aircraft currently
|
|
being operated */
|
|
struct aircraft_params current_aircraft;
|
|
|
|
/* view parameters */
|
|
static GLfloat win_ratio = 1.0;
|
|
|
|
/* temporary hack */
|
|
extern struct mesh *mesh_ptr;
|
|
/* Function prototypes */
|
|
GLint fgSceneryCompile();
|
|
static void fgSceneryDraw();
|
|
/* pointer to terrain mesh structure */
|
|
static GLint mesh;
|
|
|
|
/* Another hack */
|
|
double fogDensity = 2000.0;
|
|
|
|
/* Another hack */
|
|
#define DEFAULT_MODEL_HZ 20
|
|
#define DEFAULT_MULTILOOP 6
|
|
double Simtime;
|
|
|
|
|
|
/**************************************************************************
|
|
* fgInitVisuals() -- Initialize various GL/view parameters
|
|
**************************************************************************/
|
|
|
|
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 );
|
|
glFrontFace(GL_CW);
|
|
glEnable( GL_CULL_FACE );
|
|
|
|
/* If enabled, normal vectors specified with glNormal are scaled
|
|
to unit length after transformation. See glNormal. */
|
|
glEnable( GL_NORMALIZE );
|
|
|
|
glLightfv( GL_LIGHT0, GL_POSITION, sun_vec );
|
|
glEnable( GL_LIGHTING );
|
|
glEnable( GL_LIGHT0 );
|
|
|
|
glMaterialfv( GL_FRONT, GL_AMBIENT_AND_DIFFUSE, color );
|
|
glShadeModel( GL_FLAT ); /* glShadeModel( GL_SMOOTH ); */
|
|
|
|
glEnable( GL_FOG );
|
|
glFogi (GL_FOG_MODE, GL_LINEAR);
|
|
/* glFogf (GL_FOG_START, 1.0); */
|
|
glFogf (GL_FOG_END, fogDensity);
|
|
glFogfv (GL_FOG_COLOR, fogColor);
|
|
/* glFogf (GL_FOG_DENSITY, fogDensity); */
|
|
/* glHint (GL_FOG_HINT, GL_FASTEST); */
|
|
|
|
glClearColor(0.6, 0.6, 0.9, 1.0);
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Update the view volume, position, and orientation
|
|
**************************************************************************/
|
|
|
|
static void fgUpdateViewParams() {
|
|
double pos_x, pos_y, pos_z;
|
|
struct flight_params *f;
|
|
|
|
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);
|
|
|
|
glMatrixMode(GL_MODELVIEW);
|
|
glLoadIdentity();
|
|
|
|
pos_x = FG_LAT_2_DEG(FG_Latitude) * 3600.0;
|
|
pos_y = FG_LON_2_DEG(FG_Longitude) * 3600.0;
|
|
pos_z = FG_Altitude;
|
|
|
|
gluLookAt(pos_x, pos_y, pos_z,
|
|
pos_x + cos(FG_Psi), pos_y + sin(FG_Psi), pos_z,
|
|
0.0, 0.0, 1.0);
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Update all Visuals (redraws anything graphics related)
|
|
**************************************************************************/
|
|
|
|
static void fgUpdateVisuals( void ) {
|
|
/* update view volume parameters */
|
|
fgUpdateViewParams();
|
|
|
|
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
|
|
|
|
/* Tell GL we are switching to model view parameters */
|
|
glMatrixMode(GL_MODELVIEW);
|
|
/* glLoadIdentity(); */
|
|
|
|
/* draw terrain mesh */
|
|
fgSceneryDraw();
|
|
|
|
#ifdef GLUT
|
|
glutSwapBuffers();
|
|
#elif MESA_TK
|
|
tkSwapBuffers();
|
|
#endif
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Timer management routines
|
|
**************************************************************************/
|
|
|
|
static struct itimerval t, ot;
|
|
|
|
/* This routine catches the SIGALRM */
|
|
void fgTimerCatch() {
|
|
struct flight_params *f;
|
|
static double lastSimtime = -99.9;
|
|
int Overrun;
|
|
|
|
f = ¤t_aircraft.flight;
|
|
|
|
/* printf("In fgTimerCatch()\n"); */
|
|
|
|
Overrun = (lastSimtime == Simtime);
|
|
|
|
/* add this back in when you get simtime working */
|
|
/* if ( Overrun ) {
|
|
printf("OVERRUN!!!\n");
|
|
} */
|
|
|
|
/* update the flight model */
|
|
fgFlightModelUpdate(FG_LARCSIM, f, DEFAULT_MULTILOOP);
|
|
|
|
lastSimtime = Simtime;
|
|
signal(SIGALRM, fgTimerCatch);
|
|
}
|
|
|
|
/* 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");
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Scenery management routines
|
|
**************************************************************************/
|
|
|
|
static void fgSceneryInit() {
|
|
/* make terrain mesh */
|
|
mesh = fgSceneryCompile();
|
|
}
|
|
|
|
|
|
/* create the terrain mesh */
|
|
GLint fgSceneryCompile() {
|
|
GLint mesh;
|
|
|
|
mesh = mesh2GL(mesh_ptr);
|
|
|
|
return(mesh);
|
|
}
|
|
|
|
|
|
/* draw the terrain mesh */
|
|
static void fgSceneryDraw() {
|
|
glCallList(mesh);
|
|
}
|
|
|
|
|
|
/* 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);
|
|
|
|
fgUpdateVisuals();
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Handle new window size or exposure
|
|
**************************************************************************/
|
|
|
|
static void fgReshape( int width, int height ) {
|
|
/* Do this so we can call fgReshape(0,0) ourselves without having to know
|
|
* what the values of width & height are. */
|
|
if ( (height > 0) && (width > 0) ) {
|
|
win_ratio = (GLfloat) height / (GLfloat) width;
|
|
}
|
|
|
|
/* Inform gl of our view window size */
|
|
glViewport(0, 0, (GLint)width, (GLint)height);
|
|
|
|
fgUpdateViewParams();
|
|
|
|
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
|
|
}
|
|
|
|
|
|
/**************************************************************************
|
|
* Main ...
|
|
**************************************************************************/
|
|
|
|
int main( int argc, char *argv[] ) {
|
|
struct flight_params *f;
|
|
|
|
f = ¤t_aircraft.flight;
|
|
|
|
/* parse the scenery file */
|
|
parse_scenery(argv[1]);
|
|
|
|
#ifdef GLUT
|
|
/* initialize GLUT */
|
|
glutInit(&argc, argv);
|
|
|
|
/* Define Display Parameters */
|
|
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
|
|
|
|
/* Define initial window size */
|
|
glutInitWindowSize(640, 480);
|
|
|
|
/* Initialize the main window */
|
|
glutCreateWindow("Terrain Demo");
|
|
#elif MESA_TK
|
|
/* Define initial window size */
|
|
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) {
|
|
tkQuit();
|
|
}
|
|
#endif
|
|
|
|
/* setup view parameters, only makes GL calls */
|
|
fgInitVisuals();
|
|
|
|
/* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
|
|
|
|
/* Initial Position */
|
|
FG_Latitude = FG_DEG_2_LAT( -398673.28 / 3600.0 );
|
|
FG_Longitude = FG_DEG_2_LON( 120625.64 / 3600.0 );
|
|
FG_Altitude = 3.758099E+00;
|
|
|
|
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 = 1.391358E-03;
|
|
|
|
/* 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(-335340,162540, 15, 4.38); */
|
|
/* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
|
|
|
|
fgFlightModelInit(FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ);
|
|
|
|
/* build all objects */
|
|
fgSceneryInit();
|
|
|
|
/* initialize timer */
|
|
fgTimerInit( 1.0 / DEFAULT_MODEL_HZ );
|
|
|
|
#ifdef GLUT
|
|
/* call fgReshape() on window resizes */
|
|
glutReshapeFunc( fgReshape );
|
|
|
|
/* call key() on keyboard event */
|
|
glutKeyboardFunc( GLUTkey );
|
|
glutSpecialFunc( GLUTkey );
|
|
|
|
/* call fgMainLoop() whenever there is nothing else to do */
|
|
glutIdleFunc( fgMainLoop );
|
|
|
|
/* draw the scene */
|
|
glutDisplayFunc( fgUpdateVisuals );
|
|
|
|
/* pass control off to the GLUT event handler */
|
|
glutMainLoop();
|
|
#elif MESA_TK
|
|
/* call fgReshape() on expose events */
|
|
tkExposeFunc( fgReshape );
|
|
|
|
/* call fgReshape() on window resizes */
|
|
tkReshapeFunc( fgReshape );
|
|
|
|
/* call key() on keyboard event */
|
|
tkKeyDownFunc( GLTKkey );
|
|
|
|
/* call fgMainLoop() whenever there is nothing else to do */
|
|
tkIdleFunc( fgMainLoop );
|
|
|
|
/* draw the scene */
|
|
tkDisplayFunc( fgUpdateVisuals );
|
|
|
|
/* pass control off to the tk event handler */
|
|
tkExec();
|
|
#endif
|
|
|
|
return(0);
|
|
}
|
|
|
|
|
|
/* $Log$
|
|
/* 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
|
|
* interval.
|
|
*
|
|
* Revision 1.3 1997/05/23 15:40:25 curt
|
|
* Added GNU copyright headers.
|
|
* Fog now works!
|
|
*
|
|
* Revision 1.2 1997/05/23 00:35:12 curt
|
|
* Trying to get fog to work ...
|
|
*
|
|
* Revision 1.1 1997/05/21 15:57:51 curt
|
|
* Renamed due to added GLUT support.
|
|
*
|
|
* Revision 1.3 1997/05/19 18:22:42 curt
|
|
* Parameter tweaking ... starting to stub in fog support.
|
|
*
|
|
* Revision 1.2 1997/05/17 00:17:34 curt
|
|
* Trying to stub in support for standard OpenGL.
|
|
*
|
|
* Revision 1.1 1997/05/16 16:05:52 curt
|
|
* Initial revision.
|
|
*
|
|
*/
|