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flightgear/src/Main/main.cxx
curt 3ecf1b8dce Autopilot "class-ification". 
Separated out gui parts of autopilot control from the actual autopilot code.
2000-04-30 06:51:49 +00:00

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// 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.
//
// $Id$
#define MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#ifdef FG_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> // plib include
#include <plib/ssg.h> // plib include
#ifdef ENABLE_AUDIO_SUPPORT
# include <plib/sl.h> // plib include
# include <plib/sm.h> // plib include
#endif
#include <simgear/constants.h> // for VERSION
#include <simgear/debug/logstream.hxx>
#include <simgear/math/fg_geodesy.hxx>
#include <simgear/math/polar3d.hxx>
#include <simgear/math/fg_random.h>
#include <simgear/misc/fgpath.hxx>
#include <Include/general.hxx>
#include <Aircraft/aircraft.hxx>
#include <Ephemeris/ephemeris.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <Cockpit/steam.hxx>
#include <FDM/UIUCModel/uiuc_aircraft.h>
#include <FDM/UIUCModel/uiuc_aircraftdir.h>
#include <GUI/gui.h>
#include <Joystick/joystick.hxx>
#ifdef FG_NETWORK_OLK
#include <NetworkOLK/network.h>
#endif
#include <Objects/materialmgr.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Sky/sky.hxx>
#include <Time/event.hxx>
#include <Time/fg_time.hxx>
#include <Time/fg_timer.hxx>
#include <Time/sunpos.hxx>
#ifndef FG_OLD_WEATHER
# include <WeatherCM/FGLocalWeatherDatabase.h>
#else
# include <Weather/weather.hxx>
#endif
#include "fg_init.hxx"
#include "fg_io.hxx"
#include "keyboard.hxx"
#include "options.hxx"
#include "splash.hxx"
#include "views.hxx"
// -dw- use custom sioux settings so I can see output window
#ifdef MACOS
# ifndef FG_NDEBUG
# include <sioux.h> // settings for output window
# endif
# include <console.h>
#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 int global_multi_loop;
// Another hack
int use_signals = 0;
// Global structures for the Audio library
#ifdef ENABLE_AUDIO_SUPPORT
slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
slScheduler *audio_sched;
smMixer *audio_mixer;
slSample *s1;
slSample *s2;
#endif
// ssg variables
ssgRoot *scene = NULL;
ssgBranch *terrain = NULL;
ssgSelector *penguin_sel = NULL;
ssgTransform *penguin_pos = NULL;
#ifdef FG_NETWORK_OLK
ssgSelector *fgd_sel = NULL;
ssgTransform *fgd_pos = NULL;
//sgMat4 sgTUX;
#endif
// current fdm/position used for view
FGInterface cur_view_fdm;
// Sky structures
FGEphemeris *ephem;
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 flight gear 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->disable( GL_TEXTURE_2D );
default_state->enable( GL_CULL_FACE );
default_state->disable( GL_COLOR_MATERIAL );
default_state->disable( GL_BLEND );
default_state->disable( GL_ALPHA_TEST );
default_state->disable( GL_LIGHTING );
default_state->setMaterial( GL_AMBIENT_AND_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
hud_and_panel = new ssgSimpleState;
hud_and_panel->disable( GL_CULL_FACE );
hud_and_panel->disable( GL_TEXTURE_2D );
hud_and_panel->disable( GL_LIGHTING );
menus = new ssgSimpleState;
menus->disable( GL_CULL_FACE );
menus->disable( GL_TEXTURE_2D );
menus->enable( GL_BLEND );
}
// 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 ( current_options.get_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 ( (current_options.get_fog() == 1) ||
(current_options.get_shading() == 0) ) {
// if fastest fog requested, or if flat shading force fastest
glHint ( GL_FOG_HINT, GL_FASTEST );
} else if ( current_options.get_fog() == 2 ) {
glHint ( GL_FOG_HINT, GL_NICEST );
}
if ( current_options.get_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 ) {
fgLIGHT *l = &cur_light_params;
FGTime *t = FGTime::cur_time_params;
// FGView *v = &current_view;
static double last_visibility = -9999;
static bool in_puff = false;
static double puff_length = 0;
static double puff_progression = 0;
const double ramp_up = 0.15;
const double ramp_down = 0.15;
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 ( current_options.get_splash_screen() == 1 ) {
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 * FEET_TO_METER);
// this is just a temporary hack, to make me understand Pui
// timerText -> setLabel (ctime (&t->cur_time));
// end of hack
// update view volume parameters
// cout << "before pilot_view update" << endl;
pilot_view.UpdateViewParams(*cur_fdm_state);
// cout << "after pilot_view update" << endl;
current_view.UpdateViewParams(cur_view_fdm);
// set the sun position
glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
clear_mask = GL_DEPTH_BUFFER_BIT;
if ( current_options.get_wireframe() ) {
clear_mask |= GL_COLOR_BUFFER_BIT;
}
if ( current_options.get_panel_status() ) {
// we can't clear the screen when the panel is active
} else if ( current_options.get_skyblend() ) {
if ( current_options.get_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( current_view.VIEW );
/*
sgMat4 vm_tmp, view_mat;
sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
sgPreMultMat4( view_mat, vm_tmp ) ;
glLoadMatrixf( (float *)view_mat );
*/
// set the opengl state to known default values
default_state->force();
// draw sky dome
if ( current_options.get_skyblend() ) {
sgVec3 view_pos;
sgSetVec3( view_pos,
current_view.get_view_pos().x(),
current_view.get_view_pos().y(),
current_view.get_view_pos().z() );
sgVec3 zero_elev;
sgSetVec3( zero_elev,
current_view.get_cur_zero_elev().x(),
current_view.get_cur_zero_elev().y(),
current_view.get_cur_zero_elev().z() );
/* 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,
ephem->getNumPlanets(), ephem->getPlanets(),
ephem->getNumStars(), 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 = " << FGTime::cur_time_params->getGst() << endl;
cout << " sun ra = " << ephem->getSunRightAscension()
<< " sun dec = " << ephem->getSunDeclination()
<< " moon ra = " << ephem->getMoonRightAscension()
<< " moon dec = " << ephem->getMoonDeclination() << endl; */
thesky->reposition( view_pos, zero_elev,
cur_fdm_state->get_Longitude(),
cur_fdm_state->get_Latitude(),
cur_light_params.sun_rotation,
FGTime::cur_time_params->getGst(),
ephem->getSunRightAscension(),
ephem->getSunDeclination(), 50000.0,
ephem->getMoonRightAscension(),
ephem->getMoonDeclination(), 50000.0 );
}
glEnable( GL_DEPTH_TEST );
if ( current_options.get_fog() > 0 ) {
glEnable( GL_FOG );
glFogi( GL_FOG_MODE, GL_EXP2 );
glFogfv( GL_FOG_COLOR, l->adj_fog_color );
}
// update fog params if visibility has changed
#ifndef FG_OLD_WEATHER
double cur_visibility = WeatherDatabase->getWeatherVisibility();
#else
double cur_visibility = current_weather.get_visibility();
#endif
double actual_visibility = cur_visibility;
if ( current_options.get_clouds() ) {
double diff = fabs( cur_fdm_state->get_Altitude() * FEET_TO_METER -
current_options.get_clouds_asl() );
// cout << "altitude diff = " << diff << endl;
if ( diff < 75 ) {
if ( ! in_puff ) {
// calc chance of entering cloud puff
double rnd = fg_random();
double chance = rnd * rnd * rnd;
if ( chance > 0.95 /* * (diff - 25) / 50.0 */ ) {
in_puff = true;
do {
puff_length = fg_random() * 2.0; // up to 2 seconds
} while ( puff_length <= 0.0 );
puff_progression = 0.0;
}
}
actual_visibility = cur_visibility * (diff - 25) / 50.0;
if ( in_puff ) {
// modify actual_visibility based on puff envelope
if ( puff_progression <= ramp_up ) {
double x = FG_PI_2 * puff_progression / ramp_up;
double factor = 1.0 - sin( x );
actual_visibility = actual_visibility * factor;
} else if ( puff_progression >= ramp_up + puff_length ) {
double x = FG_PI_2 *
(puff_progression - (ramp_up + puff_length)) /
ramp_down;
double factor = sin( x );
actual_visibility = actual_visibility * factor;
} else {
actual_visibility = 0.0;
}
/* cout << "len = " << puff_length
<< " x = " << x
<< " factor = " << factor
<< " actual_visibility = " << actual_visibility
<< endl; */
puff_progression += ( global_multi_loop *
current_options.get_speed_up() ) /
(double)current_options.get_model_hz();
/* cout << "gml = " << global_multi_loop
<< " speed up = " << current_options.get_speed_up()
<< " hz = " << current_options.get_model_hz() << endl;
*/
if ( puff_progression > puff_length + ramp_up + ramp_down) {
in_puff = false;
}
}
// never let visibility drop below zero
if ( actual_visibility < 0 ) {
actual_visibility = 0;
}
}
}
// cout << "actual visibility = " << actual_visibility << endl;
if ( actual_visibility != last_visibility ) {
last_visibility = actual_visibility;
// cout << "----> updating fog params" << endl;
GLfloat fog_exp_density;
GLfloat fog_exp2_density;
// 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;
// Set correct opengl fog density
glFogf (GL_FOG_DENSITY, fog_exp2_density);
}
// set lighting parameters
glLightfv( GL_LIGHT0, GL_AMBIENT, l->scene_ambient );
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 = current_options.get_fov();
ssgSetFOV(fov * current_view.get_win_ratio(), fov);
double agl = current_aircraft.fdm_state->get_Altitude() * 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 ( current_options.get_view_mode() ==
fgOPTIONS::FG_VIEW_PILOT )
{
// disable TuX
penguin_sel->select(0);
} else if ( current_options.get_view_mode() ==
fgOPTIONS::FG_VIEW_FOLLOW )
{
// select view matrix from front of view matrix queue
// FGMat4Wrapper tmp = current_view.follow.front();
// sgCopyMat4( sgVIEW, tmp.m );
// enable TuX and set up his position and orientation
penguin_sel->select(1);
sgMat4 sgTRANS;
sgMakeTransMat4( sgTRANS,
pilot_view.view_pos.x(),
pilot_view.view_pos.y(),
pilot_view.view_pos.z() );
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.VIEW_ROT );
sgPostMultMat4( sgTUX, sgTRANS );
sgCoord tuxpos;
sgSetCoord( &tuxpos, sgTUX );
penguin_pos->setTransform( &tuxpos );
}
# ifdef FG_NETWORK_OLK
if ( current_options.get_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
// ssgSetCamera( current_view.VIEW );
// position tile nodes and update range selectors
global_tile_mgr.prep_ssg_nodes();
// force the default state so ssg can get back on track if
// we've changed things elsewhere
FGMaterialSlot m_slot;
FGMaterialSlot *m_ptr = &m_slot;
if ( material_mgr.find( "Default", m_ptr ) ) {
m_ptr->get_state()->force();
}
// draw the ssg scene
ssgCullAndDraw( scene );
// display HUD && Panel
glDisable( GL_FOG );
glDisable( GL_DEPTH_TEST );
// glDisable( GL_CULL_FACE );
// glDisable( GL_TEXTURE_2D );
hud_and_panel->apply();
fgCockpitUpdate();
// We can do translucent menus, so why not. :-)
// glEnable ( GL_BLEND ) ;
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(int multi_loop, int remainder) {
static fdm_state_list fdm_list;
// FGInterface fdm_state;
fgLIGHT *l = &cur_light_params;
FGTime *t = FGTime::cur_time_params;
// FGView *v = &current_view;
int i;
// update the flight model
if ( multi_loop < 0 ) {
multi_loop = 1;
}
if ( !t->getPause() ) {
// run Autopilot system
current_autopilot->run();
// printf("updating flight model x %d\n", multi_loop);
/* fgFDMUpdate( current_options.get_flight_model(),
fdm_state,
multi_loop * current_options.get_speed_up(),
remainder ); */
cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
FGSteam::update( multi_loop * current_options.get_speed_up() );
} else {
// fgFDMUpdate( current_options.get_flight_model(),
// fdm_state, 0, remainder );
cur_fdm_state->update( 0 );
FGSteam::update( 0 );
}
fdm_list.push_back( *cur_fdm_state );
while ( fdm_list.size() > 15 ) {
fdm_list.pop_front();
}
if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
cur_view_fdm = *cur_fdm_state;
// do nothing
} else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
cur_view_fdm = fdm_list.front();
}
// update the view angle
for ( i = 0; i < multi_loop; i++ ) {
if ( fabs(current_view.get_goal_view_offset() -
current_view.get_view_offset()) < 0.05 )
{
current_view.set_view_offset( current_view.get_goal_view_offset() );
break;
} else {
// move current_view.view_offset towards current_view.goal_view_offset
if ( current_view.get_goal_view_offset() >
current_view.get_view_offset() )
{
if ( current_view.get_goal_view_offset() -
current_view.get_view_offset() < FG_PI )
{
current_view.inc_view_offset( 0.01 );
} else {
current_view.inc_view_offset( -0.01 );
}
} else {
if ( current_view.get_view_offset() -
current_view.get_goal_view_offset() < FG_PI )
{
current_view.inc_view_offset( -0.01 );
} else {
current_view.inc_view_offset( 0.01 );
}
}
if ( current_view.get_view_offset() > FG_2PI ) {
current_view.inc_view_offset( -FG_2PI );
} else if ( current_view.get_view_offset() < 0 ) {
current_view.inc_view_offset( FG_2PI );
}
}
}
double tmp = -(l->sun_rotation + FG_PI)
- (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
while ( tmp < 0.0 ) {
tmp += FG_2PI;
}
while ( tmp > FG_2PI ) {
tmp -= FG_2PI;
}
/* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
-(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
l->UpdateAdjFog();
// Update solar system
ephem->update( t, cur_fdm_state->get_Latitude() );
// Update radio stack model
current_radiostack->update( cur_fdm_state->get_Longitude() * RAD_TO_DEG,
cur_fdm_state->get_Latitude() * RAD_TO_DEG,
cur_fdm_state->get_Altitude() * FEET_TO_METER );
}
void fgInitTimeDepCalcs( void ) {
// initialize timer
// #ifdef HAVE_SETITIMER
// fgTimerInit( 1.0 / current_options.get_model_hz(),
// fgUpdateTimeDepCalcs );
// #endif HAVE_SETITIMER
}
static const double alt_adjust_ft = 3.758099;
static const double alt_adjust_m = alt_adjust_ft * 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 ) {
FGTime *t;
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
t = FGTime::cur_time_params;
FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
#ifdef FG_NETWORK_OLK
if ( current_options.get_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 ( current_options.get_control_mode() == fgOPTIONS::FG_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() * FEET_TO_METER,
cur_fdm_state->get_Altitude() * FEET_TO_METER); */
if ( scenery.cur_elev > -9990 ) {
if ( cur_fdm_state->get_Altitude() * 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() * FEET_TO_METER,
scenery.cur_elev + alt_adjust_m - 3.0,
scenery.cur_elev + alt_adjust_m );
fgFDMForceAltitude( current_options.get_flight_model(),
scenery.cur_elev + alt_adjust_m );
FG_LOG( FG_ALL, FG_DEBUG,
"<*> resetting altitude to "
<< cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
}
fgFDMSetGroundElevation( current_options.get_flight_model(),
scenery.cur_elev ); // meters
}
/* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
scenery.cur_elev,
cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
cur_fdm_state->get_Altitude() * FEET_TO_METER); */
// update "time"
t->update( cur_fdm_state->get_Longitude(),
cur_fdm_state->get_Latitude(),
cur_fdm_state->get_Altitude()* FEET_TO_METER );
// 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
if ( ! use_signals ) {
// Calculate model iterations needed for next frame
elapsed += remainder;
global_multi_loop = (int)(((double)elapsed * 0.000001) *
current_options.get_model_hz());
remainder = elapsed - ( (global_multi_loop*1000000) /
current_options.get_model_hz() );
FG_LOG( FG_ALL, FG_DEBUG,
"Model iterations needed = " << global_multi_loop
<< ", new remainder = " << remainder );
// flight model
if ( global_multi_loop > 0 ) {
fgUpdateTimeDepCalcs(global_multi_loop, remainder);
} else {
FG_LOG( FG_ALL, FG_DEBUG,
"Elapsed time is zero ... we're zinging" );
}
}
#if ! defined( MACOS )
// 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();
// Process/manage pending events
global_events.Process();
// Run audio scheduler
#ifdef ENABLE_AUDIO_SUPPORT
if ( current_options.get_sound() && !audio_sched->not_working() ) {
# ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
// note: all these factors are relative to the sample. our
// sample format should really contain a conversion factor so
// that we can get prop speed right for arbitrary samples.
// Note that for normal-size props, there is a point at which
// the prop tips approach the speed of sound; that is a pretty
// strong limit to how fast the prop can go.
// multiplication factor is prime pitch control; add some log
// component for verisimilitude
double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
//fprintf(stderr, "pitch1: %f ", pitch);
if (controls.get_throttle(0) > 0.0 || cur_fdm_state->v_rel_wind > 40.0) {
//fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
// only add relative wind and AoA if prop is moving
// or we're really flying at idle throttle
if (pitch < 5.4) { // this needs tuning
// prop tips not breaking sound barrier
pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
} else {
// prop tips breaking sound barrier
pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
}
//fprintf(stderr, "pitch2: %f ", pitch);
//fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
// Angle of Attack next... -x^3(e^x) is my best guess Just
// need to calculate some reasonable scaling factor and
// then clamp it on the positive aoa (neg adj) side
double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
double tmp = 3.0;
double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
if (aoa_adj < -0.8) aoa_adj = -0.8;
pitch += aoa_adj;
//fprintf(stderr, "pitch3: %f ", pitch);
// don't run at absurdly slow rates -- not realistic
// and sounds bad to boot. :-)
if (pitch < 0.8) pitch = 0.8;
}
//fprintf(stderr, "pitch4: %f\n", pitch);
double volume = controls.get_throttle(0) * 1.15 + 0.3 +
log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
// fprintf(stderr, "volume: %f\n", volume);
pitch_envelope.setStep ( 0, 0.01, pitch );
volume_envelope.setStep ( 0, 0.01, volume );
# else
double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
pitch_envelope.setStep ( 0, 0.01, param );
volume_envelope.setStep ( 0, 0.01, param );
# endif // experimental throttle patch
audio_sched -> 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 ( current_options.get_splash_screen() ) {
fgSplashInit();
}
idle_state++;
} else if ( idle_state == 1 ) {
// Start the intro music
#if !defined(WIN32)
if ( current_options.get_intro_music() ) {
string lockfile = "/tmp/mpg123.running";
FGPath mp3file( current_options.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 flight gear, 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();
if ( use_signals ) {
// init timer routines, signals, etc. Arrange for an alarm
// signal to be generated, etc.
fgInitTimeDepCalcs();
}
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 ( current_options.get_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 ( current_options.get_sound() ) {
audio_sched = new slScheduler ( 8000 );
audio_mixer = new smMixer;
audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
audio_sched -> setSafetyMargin ( 1.0 ) ;
FGPath slfile( current_options.get_fg_root() );
slfile.append( "Sounds/wasp.wav" );
s1 = new slSample ( (char *)slfile.c_str() );
FG_LOG( FG_GENERAL, FG_INFO,
"Rate = " << s1 -> getRate()
<< " Bps = " << s1 -> getBps()
<< " Stereo = " << s1 -> getStereo() );
audio_sched -> loopSample ( s1 );
if ( audio_sched->not_working() ) {
// skip
} else {
pitch_envelope.setStep ( 0, 0.01, 0.6 );
volume_envelope.setStep ( 0, 0.01, 0.6 );
audio_sched -> addSampleEnvelope( s1, 0, 0,
&pitch_envelope,
SL_PITCH_ENVELOPE );
audio_sched -> addSampleEnvelope( s1, 0, 1,
&volume_envelope,
SL_VOLUME_ENVELOPE );
}
// strcpy(slfile, path);
// strcat(slfile, "thunder.wav");
// s2 -> loadFile ( slfile );
// s2 -> adjustVolume(0.5);
// audio_sched -> playSample ( s2 );
}
#endif
// sleep(1);
idle_state = 1000;
}
if ( idle_state == 1000 ) {
// We've finished all our initialization steps, from now on we
// run the main loop.
fgMainLoop();
} else {
if ( current_options.get_splash_screen() == 1 ) {
fgSplashUpdate(0.0);
}
}
}
// options.cxx needs to see this for toggle_panel()
// Handle new window size or exposure
void fgReshape( int width, int height ) {
if ( ! current_options.get_panel_status() ) {
current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
glViewport(0, 0 , (GLint)(width), (GLint)(height) );
} else {
current_view.set_win_ratio( (GLfloat) width /
((GLfloat) (height)*0.4232) );
glViewport(0, (GLint)((height)*0.5768), (GLint)(width),
(GLint)((height)*0.4232) );
}
current_view.set_winWidth( width );
current_view.set_winHeight( height );
current_view.force_update_fov_math();
// set these fov to be the same as in fgRenderFrame()
float x_fov = current_options.get_fov();
float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
ssgSetFOV( x_fov, y_fov );
glViewport ( 0, 0, width, height );
float fov = current_options.get_fov();
ssgSetFOV(fov * current_view.get_win_ratio(), fov);
if ( idle_state == 1000 ) {
// yes we've finished all our initializations and are running
// the main loop, so this will now work without seg faulting
// the system.
current_view.UpdateViewParams(cur_view_fdm);
}
}
// Initialize GLUT and define a main window
int fgGlutInit( int *argc, char **argv ) {
#if !defined( MACOS )
// 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: " <<
current_options.get_xsize() << "x" << current_options.get_ysize() );
// Define initial window size
glutInitWindowSize( current_options.get_xsize(),
current_options.get_ysize() );
// Initialize windows
if ( current_options.get_game_mode() == 0 ) {
// Open the regular window
glutCreateWindow("Flight Gear");
#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=32",
current_options.get_xsize(),
current_options.get_ysize() );
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() );
#if 0
// try to determine if we should adjust the initial default
// display resolution. The options class defaults (is
// initialized) to 640x480.
string renderer = general.glRenderer;
// currently we only know how to deal with Mesa/Glide/Voodoo cards
if ( renderer.find( "Glide" ) != string::npos ) {
FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
if ( renderer.find( "FB/8" ) != string::npos ) {
// probably a voodoo-2
if ( renderer.find( "TMU/SLI" ) != string::npos ) {
// probably two SLI'd Voodoo-2's
current_options.set_xsize( 1024 );
current_options.set_ysize( 768 );
FG_LOG( FG_GENERAL, FG_INFO,
"It looks like you have two sli'd voodoo-2's." << endl
<< "upgrading your win resolution to 1024 x 768" );
glutReshapeWindow(1024, 768);
} else {
// probably a single non-SLI'd Voodoo-2
current_options.set_xsize( 800 );
current_options.set_ysize( 600 );
FG_LOG( FG_GENERAL, FG_INFO,
"It looks like you have a voodoo-2." << endl
<< "upgrading your win resolution to 800 x 600" );
glutReshapeWindow(800, 600);
}
} else if ( renderer.find( "FB/2" ) != string::npos ) {
// probably a voodoo-1, stick with the default
}
} else {
// we have no special knowledge of this card, stick with the default
}
#endif
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( MACOS )
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 );
FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
// seed the random number generater
fg_srandom();
// AIRCRAFT defined in uiuc_aircraft.h
// AIRCRAFTDIR defined in uiuc_aircraftdir.h
aircraft_ = new AIRCRAFT;
aircraftdir_ = new AIRCRAFTDIR;
aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
// 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();
// Initialize time
FGTime::cur_time_params = new FGTime();
// FGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
// cur_fdm_state->get_Latitude() );
// FGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
FGTime::cur_time_params->init( 0.0, 0.0 );
FGTime::cur_time_params->update( 0.0, 0.0, 0.0 );
// Do some quick general initializations
if( !fgInitGeneral()) {
FG_LOG( FG_GENERAL, FG_ALERT,
"General initializations failed ..." );
exit(-1);
}
//
// some ssg test stuff (requires data from the plib source
// distribution) specifically from the ssg tux example
//
FGPath modelpath( current_options.get_fg_root() );
modelpath.append( "Models" );
modelpath.append( "Geometry" );
FGPath texturepath( current_options.get_fg_root() );
texturepath.append( "Models" );
texturepath.append( "Textures" );
ssgModelPath( (char *)modelpath.c_str() );
ssgTexturePath( (char *)texturepath.c_str() );
// Scene graph root
scene = new ssgRoot;
scene->setName( "Scene" );
// Initialize the sky
FGPath ephem_data_path( current_options.get_fg_root() );
ephem_data_path.append( "Astro" );
ephem = new FGEphemeris( ephem_data_path.c_str() );
ephem->update( FGTime::cur_time_params, 0.0 );
FGPath sky_tex_path( current_options.get_fg_root() );
sky_tex_path.append( "Textures" );
sky_tex_path.append( "Sky" );
thesky = new SGSky;
thesky->texture_path( sky_tex_path.str() );
ssgBranch *sky = thesky->build( 550.0, 550.0,
ephem->getNumPlanets(),
ephem->getPlanets(), 60000.0,
ephem->getNumStars(),
ephem->getStars(), 60000.0 );
scene->addKid( sky );
// Terrain branch
terrain = new ssgBranch;
terrain->setName( "Terrain" );
scene->addKid( terrain );
// temporary visible aircraft "own ship"
penguin_sel = new ssgSelector;
penguin_pos = new ssgTransform;
// ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
// ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
penguin_pos->addKid( tux_obj );
penguin_sel->addKid( penguin_pos );
ssgFlatten( tux_obj );
ssgStripify( penguin_sel );
penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
scene->addKid( penguin_sel );
#ifdef FG_NETWORK_OLK
// Do the network intialization
if ( current_options.get_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;
}
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