Mathias Fr�hlich:

This patch makes use of the vectors now available in simgear with that past
patch. And using that it simplyfies the carrier code somehow.

- Small additional factory's to the quaternion code are done in the simgear
  part. Also more explicit unit names in the factory functions.
- The flightgear part makes use of them and simplyfies some computations
  especially in the carrier code.
- The data part fixes the coordinate frames I used for the park positions in
  the carrier to match the usual ones. I believed that I had done so, but it
  was definitly different. Also there are more parking positions avaliable now.

simgear/math/SGMathTest.cxx

@@ -126,7 +126,7 @@ QuatTest(void)
   q2 = SGQuat<T>::fromAngleAxis(y, e2);
   q3 = SGQuat<T>::fromAngleAxis(x, e1);
   v2 = q3.transform(q2.transform(q1.transform(v1)));
-  q4 = SGQuat<T>::fromEuler(z, y, x);
+  q4 = SGQuat<T>::fromEulerRad(z, y, x);
   if (!equivalent(q4.transform(v1), v2))
     return false;
 
@@ -219,7 +219,7 @@ sgInterfaceTest(void)
 {
   SGVec3f v3f = SGVec3f::e2();
   SGVec4f v4f = SGVec4f::e2();
-  SGQuatf qf = SGQuatf::fromEuler(1.2, 1.3, -0.4);
+  SGQuatf qf = SGQuatf::fromEulerRad(1.2, 1.3, -0.4);
   SGMatrixf mf(qf, v3f);
 
   // Copy to and from plibs types check if result is equal,
@@ -266,7 +266,7 @@ sgdInterfaceTest(void)
 {
   SGVec3d v3d = SGVec3d::e2();
   SGVec4d v4d = SGVec4d::e2();
-  SGQuatd qd = SGQuatd::fromEuler(1.2, 1.3, -0.4);
+  SGQuatd qd = SGQuatd::fromEulerRad(1.2, 1.3, -0.4);
   SGMatrixd md(qd, v3d);
 
   // Copy to and from plibs types check if result is equal,

simgear/math/SGMisc.hxx

@@ -29,6 +29,11 @@ public:
       return 0;
   }
 
+  static T rad2deg(const T& val)
+  { return val*180/pi(); }
+  static T deg2rad(const T& val)
+  { return val*pi()/180; }
+
 #ifndef NDEBUG
   /// Returns true if v is a NaN value
   /// Use with care: allways code that you do not need to use that!

simgear/math/SGQuat.hxx

@@ -32,7 +32,7 @@ public:
   { return fromRealImag(1, SGVec3<T>(0)); }
 
   /// Return a quaternion from euler angles
-  static SGQuat fromEuler(T z, T y, T x)
+  static SGQuat fromEulerRad(T z, T y, T x)
   {
     SGQuat q;
     T zd2 = T(0.5)*z; T yd2 = T(0.5)*y; T xd2 = T(0.5)*x;
@@ -47,17 +47,32 @@ public:
     return q;
   }
 
+  /// Return a quaternion from euler angles in degrees
+  static SGQuat fromEulerDeg(T z, T y, T x)
+  {
+    return fromEulerRad(SGMisc<T>::deg2rad(z), SGMisc<T>::deg2rad(y),
+                        SGMisc<T>::deg2rad(x));
+  }
+
   /// Return a quaternion from euler angles
   static SGQuat fromYawPitchRoll(T y, T p, T r)
-  { return fromEuler(y, p, r); }
+  { return fromEulerRad(y, p, r); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromYawPitchRollDeg(T y, T p, T r)
+  { return fromEulerDeg(y, p, r); }
 
   /// Return a quaternion from euler angles
   static SGQuat fromHeadAttBank(T h, T a, T b)
-  { return fromEuler(h, a, b); }
+  { return fromEulerRad(h, a, b); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromHeadAttBankDeg(T h, T a, T b)
+  { return fromEulerDeg(h, a, b); }
 
   /// Return a quaternion rotation the the horizontal local frame from given
   /// longitude and latitude
-  static SGQuat fromLonLat(T lon, T lat)
+  static SGQuat fromLonLatRad(T lon, T lat)
   {
     SGQuat q;
     T zd2 = T(0.5)*lon;
@@ -73,6 +88,11 @@ public:
     return q;
   }
 
+  /// Return a quaternion rotation the the horizontal local frame from given
+  /// longitude and latitude
+  static SGQuat fromLonLatDeg(T lon, T lat)
+  { return fromLonLatRad(SGMisc<T>::deg2rad(lon), SGMisc<T>::deg2rad(lat)); }
+
   /// Create a quaternion from the angle axis representation
   static SGQuat fromAngleAxis(T angle, const SGVec3<T>& axis)
   {
@@ -80,6 +100,10 @@ public:
     return fromRealImag(cos(angle2), T(sin(angle2))*axis);
   }
 
+  /// Create a quaternion from the angle axis representation
+  static SGQuat fromAngleAxisDeg(T angle, const SGVec3<T>& axis)
+  { return fromAngleAxis(SGMisc<T>::deg2rad(angle), axis); }
+
   /// Create a quaternion from the angle axis representation where the angle
   /// is stored in the axis' length
   static SGQuat fromAngleAxis(const SGVec3<T>& axis)
@@ -147,9 +171,9 @@ public:
   void getEulerDeg(T& zDeg, T& yDeg, T& xDeg) const
   {
     getEulerRad(zDeg, yDeg, xDeg);
-    zDeg *= 180/SGMisc<value_type>::pi();
-    yDeg *= 180/SGMisc<value_type>::pi();
-    xDeg *= 180/SGMisc<value_type>::pi();
+    zDeg = SGMisc<T>::rad2deg(zDeg);
+    yDeg = SGMisc<T>::rad2deg(yDeg);
+    xDeg = SGMisc<T>::rad2deg(xDeg);
   }
 
   /// write the angle axis representation into the references
@@ -186,6 +210,13 @@ public:
   T& operator()(unsigned i)
   { return _data[i]; }
 
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return _data[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return _data[i]; }
+
   /// Access the x component
   const T& x(void) const
   { return _data[0]; }

simgear/math/SGVec3.hxx

@@ -42,6 +42,13 @@ public:
   T& operator()(unsigned i)
   { return _data[i]; }
 
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return _data[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return _data[i]; }
+
   /// Access the x component
   const T& x(void) const
   { return _data[0]; }

simgear/math/SGVec4.hxx

@@ -35,6 +35,13 @@ public:
   T& operator()(unsigned i)
   { return _data[i]; }
 
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return _data[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return _data[i]; }
+
   /// Access the x component
   const T& x(void) const
   { return _data[0]; }