Clean up placementtrans a bit.

Modified Files:
 	simgear/scene/model/placement.cxx
 	simgear/scene/model/placementtrans.cxx
	simgear/scene/model/placementtrans.hxx

simgear/scene/model/placement.cxx

@@ -10,8 +10,7 @@
 #include <simgear/compiler.h>
 
 #include <simgear/scene/util/SGSceneUserData.hxx>
-
-#include "placementtrans.hxx"
+#include <simgear/scene/util/SGUpdateVisitor.hxx>
 
 #include "placement.hxx"
 
@@ -54,10 +53,9 @@ SGModelPlacement::update()
   // The orientation, composed from the horizontal local orientation and the
   // orientation wrt the horizontal local frame
   SGQuatd orient = SGQuatd::fromLonLat(_position);
-  orient *= SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
+  orient *= SGQuatd::fromRealImag(0, SGVec3d(0, 1, 0));
   orient *= SGQuatd::fromYawPitchRollDeg(-_heading_deg, _pitch_deg, -_roll_deg);
-  SGMatrixd rotation(inverse(orient));
-  _transform->setTransform(position, rotation);
+  _transform->setTransform(position, orient);
 }
 
 bool
@@ -150,8 +148,7 @@ SGModelPlacement::setBodyLinearVelocity(const SGVec3d& linear)
   SGSceneUserData* userData;
   userData = SGSceneUserData::getOrCreateSceneUserData(_transform);
   SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity();
-  SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
-  vel->linear = orientation.backTransform(linear);
+  vel->linear = SGVec3d(-linear[0], linear[1], -linear[2]);
 }
 
 void
@@ -160,8 +157,7 @@ SGModelPlacement::setBodyAngularVelocity(const SGVec3d& angular)
   SGSceneUserData* userData;
   userData = SGSceneUserData::getOrCreateSceneUserData(_transform);
   SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity();
-  SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
-  vel->angular = orientation.backTransform(angular);
+  vel->angular = SGVec3d(-angular[0], angular[1], -angular[2]);
 }
 
 // end of model.cxx

simgear/scene/model/placementtrans.cxx

@@ -64,10 +64,7 @@ public:
 
 SGPlacementTransform::SGPlacementTransform(void) :
   _placement_offset(0, 0, 0),
-  _rotation(1, 0, 0, 0,
-            0, 1, 0, 0,
-            0, 0, 1, 0,
-            0, 0, 0, 1)
+  _rotation(SGQuatd::unit())
 {
   setUpdateCallback(new UpdateCallback);
 }
@@ -89,18 +86,13 @@ bool
 SGPlacementTransform::computeLocalToWorldMatrix(osg::Matrix& matrix,
                                                 osg::NodeVisitor*) const
 {
-  osg::Matrix t;
-  for (int i = 0; i < 3; ++i) {
-    for (int j = 0; j < 3; ++j) {
-      t(j, i) = _rotation(i, j);
-    }
-    t(3, i) = _placement_offset(i);
+  if (_referenceFrame == RELATIVE_RF) {
+    matrix.preMultTranslate(_placement_offset.osg());
+    matrix.preMultRotate(_rotation.osg());
+  } else {
+    matrix.makeRotate(_rotation.osg());
+    matrix.postMultTranslate(_placement_offset.osg());
   }
-  
-  if (_referenceFrame == RELATIVE_RF)
-    matrix.preMult(t);
-  else
-    matrix = t;
   return true;
 }
 
@@ -108,19 +100,13 @@ bool
 SGPlacementTransform::computeWorldToLocalMatrix(osg::Matrix& matrix,
                                                 osg::NodeVisitor*) const
 {
-  osg::Matrix t;
-  for (int i = 0; i < 3; ++i) {
-    for (int j = 0; j < 3; ++j) {
-      t(j, i) = _rotation(i, j);
-    }
-    t(3, i) = _placement_offset(i);
+  if (_referenceFrame == RELATIVE_RF) {
+    matrix.postMultTranslate(-_placement_offset.osg());
+    matrix.postMultRotate(inverse(_rotation).osg());
+  } else {
+    matrix.makeRotate(inverse(_rotation).osg());
+    matrix.preMultTranslate(-_placement_offset.osg());
   }
-  t = osg::Matrix::inverse(t);
-
-  if (_referenceFrame == RELATIVE_RF)
-    matrix.postMult(t);
-  else
-    matrix = t;
   return true;
 }
 
@@ -132,25 +118,16 @@ namespace {
 bool PlacementTrans_readLocalData(osg::Object& obj, osgDB::Input& fr)
 {
     SGPlacementTransform& trans = static_cast<SGPlacementTransform&>(obj);
-    SGMatrixd rotation(1, 0, 0, 0,
-                       0, 1, 0, 0,
-                       0, 0, 1, 0,
-                       0, 0, 0, 1);
+    SGQuatd rotation = SGQuatd::unit();
     SGVec3d placementOffset(0, 0, 0);
     
-    if (fr[0].matchWord("rotation") && fr[1].isOpenBracket()) {
-        fr += 2;
-        for (int i = 0; i < 3; i++) {
-            SGVec3d scratch;
-            if (!fr.readSequence(scratch.osg()))
-                return false;
-            fr += 3;
-            for (int j = 0; j < 3; j++)
-                rotation(j, i) = scratch[j];
-        }
-        if (fr[0].isCloseBracket())
-            ++fr;
-        else
+    if (fr[0].matchWord("rotation")) {
+        ++fr;
+        osg::Vec4d vec4;
+        if (fr.readSequence(vec4)) {
+            rotation = SGQuatd(vec4[0], vec4[1], vec4[2], vec4[3]);
+            fr += 4;
+        } else
             return false;
     }
     if (fr[0].matchWord("placement")) {
@@ -168,20 +145,14 @@ bool PlacementTrans_writeLocalData(const osg::Object& obj, osgDB::Output& fw)
 {
     const SGPlacementTransform& trans
         = static_cast<const SGPlacementTransform&>(obj);
-    const SGMatrixd& rotation = trans.getRotation();
+    const SGQuatd& rotation = trans.getRotation();
     const SGVec3d& placement = trans.getGlobalPos();
     
-    fw.indent() << "rotation {" << std::endl;
-    fw.moveIn();
-    for (int i = 0; i < 3; i++) {
-        fw.indent();
-        for (int j = 0; j < 3; j++) {
-            fw << rotation(j, i) << " ";
-        }
-        fw << std::endl;
+    fw.indent() << "rotation ";
+    for (int i = 0; i < 4; i++) {
+        fw << rotation(i) << " ";
     }
-    fw.moveOut();
-    fw.indent() << "}" << std::endl;
+    fw << std::endl;
     int prec = fw.precision();
     fw.precision(15);
     fw.indent() << "placement ";

simgear/scene/model/placementtrans.hxx

@@ -45,12 +45,13 @@ public:
   
   void setTransform(const SGVec3d& off)
   { _placement_offset = off; dirtyBound(); }
-  void setTransform(const SGVec3d& off, const SGMatrixd& rot)
+  void setTransform(const SGVec3d& off, const SGQuatd& rot)
   { _placement_offset = off; _rotation = rot; dirtyBound(); }
   
   const SGVec3d& getGlobalPos() const
   { return _placement_offset; }
-  const SGMatrixd& getRotation() const { return _rotation; }
+  const SGQuatd& getRotation() const
+  { return _rotation; }
   
   virtual bool computeLocalToWorldMatrix(osg::Matrix&,osg::NodeVisitor*) const;
   virtual bool computeWorldToLocalMatrix(osg::Matrix&,osg::NodeVisitor*) const;
@@ -67,7 +68,7 @@ private:
   //////////////////////////////////////////////////////////////////
   
   SGVec3d _placement_offset;
-  SGMatrixd _rotation;
+  SGQuatd _rotation;
 };
 
 #endif // _SG_LOCATION_HXX