Merge branch 'jmt/ref_ptr-conv' into next

Modified Files:
	simgear/screen/Makefile.am

Doxyfile

@@ -22,7 +22,7 @@ PROJECT_NAME           = SimGear
 # This could be handy for archiving the generated documentation or 
 # if some version control system is used.
 
-PROJECT_NUMBER         = 0.3.10
+PROJECT_NUMBER         = 1.9.0
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
 # base path where the generated documentation will be put. 

Makefile.am

@@ -2,12 +2,11 @@ EXTRA_DIST = \
 	acinclude.m4 \
 	autogen.sh \
 	DoxygenMain.cxx \
-	project/VC8 \
-	README.MSVC \
 	README.zlib \
-        projects \
-	SimGear.dsp \
-	SimGear.dsw
+	README.plib \
+	README.OpenAL \
+	README.OSG \
+	projects
 
 SUBDIRS	= simgear
 

NEWS

@@ -1,3 +1,15 @@
+Version 1.9.0
+* Thu Dec 18 15:12:15 CST 2008
+
+
+Version 1.8.6
+* Mon Dec  1 14:02:47 CST 2008
+
+
+Version 1.8.5
+* October 30, 2008 (source code snapshot release)
+
+
 New in 0.3.10
 * April 5, 2006
 

README.MSVC

@@ -1,24 +0,0 @@
-This document describes how to build SimGear using the supplied workspace and
-project files.  
-
-Unpack the SimGear source file into your work directory.  This creates a new
-subdirectory called SimGear-X.Y.Z.  Rename this to SimGear.  Before we can
-build SimGear you must unpack and build the third party libraries metakit and
-zlib.  Sources for these are included in the SimGear/src-libs directory.
-Unpack these into the top level SimGear directory.  At this point your
-directory structure should look something like this:
-
-<work_dir>/
-  SimGear/
-    metakit-x.y.z/
-    simgear/
-    src-libs/
-    zlib-x.y.z/
-
-Now open the SimGear workspace.  This workspace file contains projects for
-building metakit(mklib), SimGear and zlib.  Select each project as the active
-project and build all.  Order is unimportant since there are no dependencies
-between the projects.
-
-The workspace and project files are generated by a perl script with extra
-input from the am2dsp.cfg file.

README.OSG

@@ -0,0 +1,27 @@
+[This file is mirrored in both the FlightGear and SimGear packages.]
+
+You *must* have OpenSceneGraph (OSG) installed to build this version of 
+FlightGear.
+
+Notice that FlightGear 1.9.0 requires at least version 2.7.8. Using earlier 
+versions of OSG will yield serious rendering bugs. 
+
+You can get the latest version of OSG from:
+
+http://www.openscenegraph.org/
+
+Build notes:
+
+Unzip the file OpenSceneGraph-x.x.zip and install using the following
+commands:
+
+unzip OpenSceneGraph-x.x
+cd OpenSceneGraph
+ccmake .
+
+[ While running ccmake: press 'c' to configure, press 'c' once more, and
+  then press 'g' to generate and exit ]
+
+make 
+sudo make install
+

README.OpenAL

@@ -3,10 +3,27 @@
 You *must* have the development components of OpenAL installed on your system
 to build FlightGear!"  You can get a copy here:
 
-    http://www.openal.org
+      http://connect.creativelabs.com/openal/default.aspx
 
 Build notes:
 
-The OpenAL developers do not make "versioned" releases so we recommend that
-you pull the latest version via anonymous CVS (follow the instructions at
-the OpenAL web site) and build/install that.
+You can download a versioned release of the openal library from 
+http://www.openal.org/downloads.html. Download the openal source,
+release 0.0.8 (dated February 11, 2006) and run:  
+tar xjvf openal-soft-1.5.304.tar.bz2
+cd openal-soft-1.5.304/
+ccmake .
+
+[ While running ccmake: press 'c' to configure, press 'c' once more, and
+  then press 'g' to generate and exit ]
+
+
+The alut library is also required, but comes separately in the package
+freelut-1.1.0.tar.gz. This package can be downloaded from the same page
+(http://connect.creativelabs.com/openal/default.aspx). Download and run:
+tar xzvf freelut-1.1.0.tar.gz
+cd freealut-1.1.0
+./configure
+make
+sudo make install
+

README.plib

@@ -1,6 +1,6 @@
 [This file is mirrored in both the FlightGear and SimGear packages.]
 
-You *must* have plib version 1.6.0 or later installed on your system
+You *must* have plib version 1.8.5 or later installed on your system
 to build FlightGear!"  Flight Gear is no longer compatible with the
 earlier versions of the library.
 
@@ -14,3 +14,19 @@ You should be able to just run "./configure" to configure the package
 and use all of plib's defaults.  Then run "make" followed by "make
 install".  By default, plib installs itself into /usr so if you don't
 like this, be sure to specify an alternate prefix such as --prefix=/usr/local
+
+As of this writing (2007-11-18), many linux distributions are shipped with a 
+working version of plib, so chances are that this library is already 
+installed. It should be noted, that currently plib version no longer compiles
+using recent versions of gcc (confirmed on version gcc 4.1.2, as shipped with 
+SuSe 10.2). As a workaround, it is possible to either use plib SVN. Run the 
+following commands: 
+
+
+svn co https://plib.svn.sourceforge.net/svnroot/plib/trunk plib
+cd plib
+./autogen.sh
+./configure
+make
+make install
+

SimGear.dsw

@@ -1,29 +0,0 @@
-Microsoft Developer Studio Workspace File, Format Version 6.00
-# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
-
-###############################################################################
-
-Project: "SimGear"=".\SimGear.dsp" - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Global:
-
-Package=<5>
-{{{
-}}}
-
-Package=<3>
-{{{
-}}}
-
-###############################################################################
-

Thanks

@@ -47,6 +47,18 @@ Jean-Francois Doue
   http://www.animats.com/simpleppp/ftp/public_html/topics/developers.html
 
 
+Melchior Franz
+  METAR parser and fetcher. "material" animation (based on Jim Wilsons's
+  "emission" animation). Debugging and extension of property listener
+  features. Addition of removeChildren.
+
+
+Mathias Froehlich
+  Reworked and cleaned up large parts of the infrastructure, of math
+  files, animations and rendering in preparation of a transition to
+  the OSG library. Added new handlers for shared and referenced objects.
+
+
 Bruce Finney <bfinney@gte.net>
   MSVC5 compatibility.
 
@@ -71,6 +83,10 @@ Bruce Jackson of NASA <e.b.jackson@larc.nasa.gov>
   http://dcb.larc.nasa.gov/www/DCBStaff/ebj/ebj.html
 
 
+Maik Justus
+  Fixed an old bug in the SGPropertyNode class.
+
+
 Richard Kaszeta <bofh@me.umn.edu>
   Contributed screen buffer to ppm screen shot routine.
   Rich has also helped in the early development of the Flight Gear "altitude 
@@ -90,6 +106,11 @@ David Megginson <david@megginson.com>
   SimGear property manager/registry
 
 
+Tim Moore
+  Ported the (chrome) "shader" animation to OSG, and helped with porting
+  the "material" animation.
+
+
 Curt Olson http://www.flightgear.org/~curt/
   Curt is responsible for overall project and source code management.
   He has his hands in many of the areas.
@@ -99,7 +120,7 @@ Petter Reinholdtsen <pere@games.no>
   Incorporated the Gnu automake/autoconf system (with libtool).
   This should streamline and standardize the build process for all
   Unix-like platforms.  It should have little effect on IDE type 
-  environments since the don't use the Unix make system.
+  environments since these don't use the Unix make system.
 
 
 Paul Schlyter <pausch@saaf.se>  

acinclude.m4

@@ -6,19 +6,25 @@ dnl
 AC_DEFUN([wi_EXTRA_IDIR], [
 incdir="$1"
 if test -r $incdir ; then
-	case "$CPPFLAGS" in
-		*-I${incdir}*)
-			# echo "   + already had $incdir" 1>&6
-			;;
-		*)
-			if test "$CPPFLAGS" = "" ; then
-				CPPFLAGS="-I$incdir"
-			else
-				CPPFLAGS="$CPPFLAGS -I$incdir"
-			fi
-			echo "   + found $incdir" 1>&6
-			;;
-	esac
+    already=""
+    for CPPflag in $CPPFLAGS ; do
+	if test  "_$CPPflag" = "_-I${incdir}" ; then 
+            already=yes
+            break
+        fi
+    done
+    if test -n "$already" ; then
+        echo "   + already had -I$incdir" 1>&AS_MESSAGE_LOG_FD
+    else
+        if test "$CPPFLAGS" = "" ; then
+                CPPFLAGS="-I$incdir"
+        else
+                CPPFLAGS="$CPPFLAGS -I$incdir"
+        fi
+        echo "   + added -I$incdir" 1>&AS_MESSAGE_LOG_FD
+    fi
+else 
+    echo "   + IDIR is not accessible: '$myincdir'" 1>&AS_MESSAGE_LOG_FD
 fi
 ])
 dnl
@@ -28,19 +34,25 @@ dnl
 AC_DEFUN([wi_EXTRA_LDIR], [
 mylibdir="$1"
 if test -r $mylibdir ; then
-	case "$LDFLAGS" in
-		*-L${mylibdir}*)
-			# echo "   + already had $mylibdir" 1>&6
-			;;
-		*)
-			if test "$LDFLAGS" = "" ; then
-				LDFLAGS="-L$mylibdir"
-			else
-				LDFLAGS="$LDFLAGS -L$mylibdir"
-			fi
-			echo "   + found $mylibdir" 1>&6
-			;;
-	esac
+    already=""
+    for LDflag in $LDFLAGS ; do
+	if test  "_$LDflag" = "_-L${mylibdir}" ; then 
+            already=yes
+            break
+        fi
+    done
+    if test -n "$already" ; then
+        echo "   + already had -L$mylibdir" 1>&AS_MESSAGE_LOG_FD
+    else
+        if test "$LDFLAGS" = "" ; then
+                LDFLAGS="-L$mylibdir"
+        else
+                LDFLAGS="$LDFLAGS -L$mylibdir"
+        fi
+        echo "   + added -L$mylibdir" 1>&AS_MESSAGE_LOG_FD
+    fi
+else 
+    echo "   + LDIR is not accessible: '$mylibdir'" 1>&AS_MESSAGE_LOG_FD
 fi
 ])
 dnl
@@ -50,12 +62,9 @@ dnl
 AC_DEFUN([wi_EXTRA_PDIR], [
 progdir="$1"
 if test -r $progdir ; then
-	case "$PATH" in
-		*:${progdir}*)
-			# echo "   + already had $progdir" 1>&6
-			;;
-		*${progdir}:*)
-			# echo "   + already had $progdir" 1>&6
+	case ":$PATH:" in
+		*:${progdir}:*)
+			echo "   + already had $progdir in \$PATH" 1>&AS_MESSAGE_LOG_FD
 			;;
 		*)
 			if test "$PATH" = "" ; then
@@ -63,9 +72,11 @@ if test -r $progdir ; then
 			else
 				PATH="$PATH:$progdir"
 			fi
-			echo "   + found $progdir" 1>&6
+			echo "   + appended $progdir to \$PATH" 1>&AS_MESSAGE_LOG_FD
 			;;
 	esac
+else 
+       echo "   + PDIR is not accessible: '$progdir'" 1>&AS_MESSAGE_LOG_FD
 fi
 ])
 dnl
@@ -89,23 +100,32 @@ if test "$subexdirs" = "" ; then
 	subexdirs="-"
 fi
 for subexdir in $subexdirs ; do
-if test "$subexdir" = "-" ; then
-	subexdir=""
-else
-	subexdir="/$subexdir"
-fi
-for exdir in $exdirs ; do
-	if test "$exdir" != "/usr" || test "$subexdir" != ""; then
-		incdir="${exdir}/include${subexdir}"
-		wi_EXTRA_IDIR($incdir)
+    if test "$subexdir" = "-" ; then
+            subexdir=""
+    else
+            subexdir="/$subexdir"
+    fi
+    for exdir in $exdirs ; do
+        if test "$exdir" != "/usr" || test "$subexdir" != ""; then
+            incdir="${exdir}/include${subexdir}"
+            wi_EXTRA_IDIR($incdir)
 
-		mylibdir="${exdir}/lib${subexdir}"
-		wi_EXTRA_LDIR($mylibdir)
+dnl On 64-bit machines, if lib64/ exists and is not identical to lib/
+dnl then it should be listed here, listed ahead of lib/.
+            mylibdir64="${exdir}/lib64${subexdir}"
+            mylibdir32="${exdir}/lib${subexdir}"
 
-		progdir="${exdir}/bin${subexdir}"
-		wi_EXTRA_PDIR($progdir)
-	fi
-done
+            if test "x86_64" = $(uname -m) \
+              -a ! ${mylibdir64} -ef ${mylibdir32} ; then
+                wi_EXTRA_LDIR($mylibdir64)
+            fi
+
+            wi_EXTRA_LDIR($mylibdir32)
+
+            progdir="${exdir}/bin${subexdir}"
+            wi_EXTRA_PDIR($progdir)
+        fi
+    done
 done
 ])
 dnl
@@ -413,3 +433,274 @@ AC_DEFUN([AC_SG_SET_COMPILER],
 ##       CFLAGS=
      ;;
    esac])
+
+pushdef([AC_PROG_INSTALL],
+[
+  dnl our own version, testing for a -p flag
+  popdef([AC_PROG_INSTALL])
+  dnl as AC_PROG_INSTALL works as it works we first have
+  dnl to save if the user didn't specify INSTALL, as the
+  dnl autoconf one overwrites INSTALL and we have no chance to find
+  dnl out afterwards
+  AC_PROG_INSTALL
+
+    # OK, user hasn't given any INSTALL, autoconf found one for us
+    # now we test, if it supports the -p flag
+    AC_MSG_CHECKING(for -p flag to install)
+    rm -f confinst.$$.* > /dev/null 2>&1
+    echo "Testtest" > confinst.$$.orig
+    ac_res=no
+    if ${INSTALL} -p confinst.$$.orig confinst.$$.new > /dev/null 2>&1 ; then
+      if test -f confinst.$$.new ; then
+        # OK, -p seems to do no harm to install
+        INSTALL="${INSTALL} -p"
+        ac_res=yes
+      fi
+    fi
+    rm -f confinst.$$.*
+    AC_MSG_RESULT($ac_res)
+  dnl the following tries to resolve some signs and wonders coming up
+  dnl with different autoconf/automake versions
+  dnl e.g.:
+  dnl  *automake 1.4 install-strip sets A_M_INSTALL_PROGRAM_FLAGS to -s
+  dnl   and has INSTALL_PROGRAM = @INSTALL_PROGRAM@ $(A_M_INSTALL_PROGRAM_FLAGS)
+  dnl   it header-vars.am, so there the actual INSTALL_PROGRAM gets the -s
+  dnl  *automake 1.4a (and above) use INSTALL_STRIP_FLAG and only has
+  dnl   INSTALL_PROGRAM = @INSTALL_PROGRAM@ there, but changes the
+  dnl   install-@DIR@PROGRAMS targets to explicitly use that flag
+  dnl  *autoconf 2.13 is dumb, and thinks it can use INSTALL_PROGRAM as
+  dnl   INSTALL_SCRIPT, which breaks with automake <= 1.4
+  dnl  *autoconf >2.13 (since 10.Apr 1999) has not that failure
+  dnl to clean up that mess we:
+  dnl  +set INSTALL_PROGRAM to use INSTALL_STRIP_FLAG
+  dnl   which cleans KDE's program with automake > 1.4;
+  dnl  +set INSTALL_SCRIPT to only use INSTALL, to clean up autoconf's problems
+  dnl   with automake<=1.4
+  dnl  note that dues to this sometimes two '-s' flags are used
+    INSTALL_PROGRAM='${INSTALL} $(INSTALL_STRIP_FLAG)'
+    INSTALL_SCRIPT='${INSTALL}'
+])dnl
+
+# ===========================================================================
+#             http://autoconf-archive.cryp.to/ax_boost_base.html
+# ===========================================================================
+#
+# SYNOPSIS
+#
+#   AX_BOOST_BASE([MINIMUM-VERSION])
+#
+# DESCRIPTION
+#
+#   Test for the Boost C++ libraries of a particular version (or newer)
+#
+#   If no path to the installed boost library is given the macro searchs
+#   under /usr, /usr/local, /opt and /opt/local and evaluates the
+#   $BOOST_ROOT environment variable. Further documentation is available at
+#   <http://randspringer.de/boost/index.html>.
+#
+#   This macro calls:
+#
+#     AC_SUBST(BOOST_CPPFLAGS) / AC_SUBST(BOOST_LDFLAGS)
+#
+#   And sets:
+#
+#     HAVE_BOOST
+#
+# LAST MODIFICATION
+#
+#   2008-04-12
+#
+# COPYLEFT
+#
+#   Copyright (c) 2008 Thomas Porschberg <thomas@randspringer.de>
+#
+#   Copying and distribution of this file, with or without modification, are
+#   permitted in any medium without royalty provided the copyright notice
+#   and this notice are preserved.
+
+AC_DEFUN([AX_BOOST_BASE],
+[
+AC_ARG_WITH([boost],
+	AS_HELP_STRING([--with-boost@<:@=DIR@:>@], [use boost (default is yes) - it is possible to specify the root directory for boost (optional)]),
+	[
+    if test "$withval" = "no"; then
+		want_boost="no"
+    elif test "$withval" = "yes"; then
+        want_boost="yes"
+        ac_boost_path=""
+    else
+	    want_boost="yes"
+        ac_boost_path="$withval"
+	fi
+    ],
+    [want_boost="yes"])
+
+
+AC_ARG_WITH([boost-libdir],
+        AS_HELP_STRING([--with-boost-libdir=LIB_DIR],
+        [Force given directory for boost libraries. Note that this will overwrite library path detection, so use this parameter only if default library detection fails and you know exactly where your boost libraries are located.]),
+        [
+        if test -d $withval
+        then
+                ac_boost_lib_path="$withval"
+        else
+                AC_MSG_ERROR(--with-boost-libdir expected directory name)
+        fi
+        ],
+        [ac_boost_lib_path=""]
+)
+
+if test "x$want_boost" = "xyes"; then
+	boost_lib_version_req=ifelse([$1], ,1.20.0,$1)
+	boost_lib_version_req_shorten=`expr $boost_lib_version_req : '\([[0-9]]*\.[[0-9]]*\)'`
+	boost_lib_version_req_major=`expr $boost_lib_version_req : '\([[0-9]]*\)'`
+	boost_lib_version_req_minor=`expr $boost_lib_version_req : '[[0-9]]*\.\([[0-9]]*\)'`
+	boost_lib_version_req_sub_minor=`expr $boost_lib_version_req : '[[0-9]]*\.[[0-9]]*\.\([[0-9]]*\)'`
+	if test "x$boost_lib_version_req_sub_minor" = "x" ; then
+		boost_lib_version_req_sub_minor="0"
+    	fi
+	WANT_BOOST_VERSION=`expr $boost_lib_version_req_major \* 100000 \+  $boost_lib_version_req_minor \* 100 \+ $boost_lib_version_req_sub_minor`
+	AC_MSG_CHECKING(for boostlib >= $boost_lib_version_req)
+	succeeded=no
+
+	dnl first we check the system location for boost libraries
+	dnl this location ist chosen if boost libraries are installed with the --layout=system option
+	dnl or if you install boost with RPM
+	if test "$ac_boost_path" != ""; then
+		BOOST_LDFLAGS="-L$ac_boost_path/lib"
+		BOOST_CPPFLAGS="-I$ac_boost_path/include"
+	else
+		for ac_boost_path_tmp in /usr /usr/local /opt /opt/local ; do
+			if test -d "$ac_boost_path_tmp/include/boost" && test -r "$ac_boost_path_tmp/include/boost"; then
+				BOOST_LDFLAGS="-L$ac_boost_path_tmp/lib"
+				BOOST_CPPFLAGS="-I$ac_boost_path_tmp/include"
+				break;
+			fi
+		done
+	fi
+
+    dnl overwrite ld flags if we have required special directory with
+    dnl --with-boost-libdir parameter
+    if test "$ac_boost_lib_path" != ""; then
+       BOOST_LDFLAGS="-L$ac_boost_lib_path"
+    fi
+
+	CPPFLAGS_SAVED="$CPPFLAGS"
+	CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
+	export CPPFLAGS
+
+	LDFLAGS_SAVED="$LDFLAGS"
+	LDFLAGS="$LDFLAGS $BOOST_LDFLAGS"
+	export LDFLAGS
+
+	AC_LANG_PUSH(C++)
+     	AC_COMPILE_IFELSE([AC_LANG_PROGRAM([[
+	@%:@include <boost/version.hpp>
+	]], [[
+	#if BOOST_VERSION >= $WANT_BOOST_VERSION
+	// Everything is okay
+	#else
+	#  error Boost version is too old
+	#endif
+	]])],[
+        AC_MSG_RESULT(yes)
+	succeeded=yes
+	found_system=yes
+       	],[
+       	])
+	AC_LANG_POP([C++])
+
+
+
+	dnl if we found no boost with system layout we search for boost libraries
+	dnl built and installed without the --layout=system option or for a staged(not installed) version
+	if test "x$succeeded" != "xyes"; then
+		_version=0
+		if test "$ac_boost_path" != ""; then
+			if test -d "$ac_boost_path" && test -r "$ac_boost_path"; then
+				for i in `ls -d $ac_boost_path/include/boost-* 2>/dev/null`; do
+					_version_tmp=`echo $i | sed "s#$ac_boost_path##" | sed 's/\/include\/boost-//' | sed 's/_/./'`
+					V_CHECK=`expr $_version_tmp \> $_version`
+					if test "$V_CHECK" = "1" ; then
+						_version=$_version_tmp
+					fi
+					VERSION_UNDERSCORE=`echo $_version | sed 's/\./_/'`
+					BOOST_CPPFLAGS="-I$ac_boost_path/include/boost-$VERSION_UNDERSCORE"
+				done
+			fi
+		else
+			for ac_boost_path in /usr /usr/local /opt /opt/local ; do
+				if test -d "$ac_boost_path" && test -r "$ac_boost_path"; then
+					for i in `ls -d $ac_boost_path/include/boost-* 2>/dev/null`; do
+						_version_tmp=`echo $i | sed "s#$ac_boost_path##" | sed 's/\/include\/boost-//' | sed 's/_/./'`
+						V_CHECK=`expr $_version_tmp \> $_version`
+						if test "$V_CHECK" = "1" ; then
+							_version=$_version_tmp
+	               					best_path=$ac_boost_path
+						fi
+					done
+				fi
+			done
+
+			VERSION_UNDERSCORE=`echo $_version | sed 's/\./_/'`
+			BOOST_CPPFLAGS="-I$best_path/include/boost-$VERSION_UNDERSCORE"
+            if test "$ac_boost_lib_path" = ""
+            then
+               BOOST_LDFLAGS="-L$best_path/lib"
+            fi
+
+	    		if test "x$BOOST_ROOT" != "x"; then
+				if test -d "$BOOST_ROOT" && test -r "$BOOST_ROOT" && test -d "$BOOST_ROOT/stage/lib" && test -r "$BOOST_ROOT/stage/lib"; then
+					version_dir=`expr //$BOOST_ROOT : '.*/\(.*\)'`
+					stage_version=`echo $version_dir | sed 's/boost_//' | sed 's/_/./g'`
+			        	stage_version_shorten=`expr $stage_version : '\([[0-9]]*\.[[0-9]]*\)'`
+					V_CHECK=`expr $stage_version_shorten \>\= $_version`
+                    if test "$V_CHECK" = "1" -a "$ac_boost_lib_path" = "" ; then
+						AC_MSG_NOTICE(We will use a staged boost library from $BOOST_ROOT)
+						BOOST_CPPFLAGS="-I$BOOST_ROOT"
+						BOOST_LDFLAGS="-L$BOOST_ROOT/stage/lib"
+					fi
+				fi
+	    		fi
+		fi
+
+		CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
+		export CPPFLAGS
+		LDFLAGS="$LDFLAGS $BOOST_LDFLAGS"
+		export LDFLAGS
+
+		AC_LANG_PUSH(C++)
+	     	AC_COMPILE_IFELSE([AC_LANG_PROGRAM([[
+		@%:@include <boost/version.hpp>
+		]], [[
+		#if BOOST_VERSION >= $WANT_BOOST_VERSION
+		// Everything is okay
+		#else
+		#  error Boost version is too old
+		#endif
+		]])],[
+        	AC_MSG_RESULT(yes)
+		succeeded=yes
+		found_system=yes
+       		],[
+	       	])
+		AC_LANG_POP([C++])
+	fi
+
+	if test "$succeeded" != "yes" ; then
+		if test "$_version" = "0" ; then
+			AC_MSG_ERROR([[We could not detect the boost libraries (version $boost_lib_version_req_shorten or higher). If you have a staged boost library (still not installed) please specify \$BOOST_ROOT in your environment and do not give a PATH to --with-boost option.  If you are sure you have boost installed, then check your version number looking in <boost/version.hpp>. See http://randspringer.de/boost for more documentation.]])
+		else
+			AC_MSG_ERROR([Your boost libraries seems to old (version $_version).])
+		fi
+	else
+		AC_SUBST(BOOST_CPPFLAGS)
+		AC_SUBST(BOOST_LDFLAGS)
+		AC_DEFINE(HAVE_BOOST,,[define if the Boost library is available])
+	fi
+
+        CPPFLAGS="$CPPFLAGS_SAVED"
+       	LDFLAGS="$LDFLAGS_SAVED"
+fi
+
+])

configure.ac

@@ -8,7 +8,7 @@ dnl Require at least automake 2.52
 AC_PREREQ(2.52)
 
 dnl Initialize the automake stuff
-AM_INIT_AUTOMAKE(SimGear, 0.3.10)
+AM_INIT_AUTOMAKE(SimGear, 2.0.0)
 
 dnl Specify KAI C++ compiler and flags.
 dnl Borrowed with slight modification from blitz distribution.
@@ -24,17 +24,25 @@ AC_ARG_WITH(cxx,
   esac
 ])
 
-echo CXX = $CXX
-echo CC = $CC
+AC_MSG_CHECKING([CXX])
+AC_MSG_RESULT([$CXX])
+AC_MSG_CHECKING([CC])
+AC_MSG_RESULT([$CC])
 
 dnl Checks for programs.
 AC_PROG_MAKE_SET
 AC_PROG_CC
 AC_PROG_CPP
 AC_PROG_CXX
+AC_PROG_CXXCPP
 AC_PROG_RANLIB
 AC_PROG_INSTALL
 AC_PROG_LN_S
+AX_BOOST_BASE([1.37.0])
+
+if test "x$BOOST_CPPFLAGS" != "x-I/usr/include" ; then
+   CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
+fi
 
 dnl set the $host variable based on local machine/os
 AC_CANONICAL_HOST
@@ -119,6 +127,35 @@ if test "x$with_plib" != "x" ; then
     EXTRA_DIRS="${EXTRA_DIRS} $with_plib"
 fi
 
+AC_ARG_WITH(plib_framework, [ --with-plib-framework=PREFIX      Specify the prefix path to PLIB.framework ])
+
+if test "x$with_plib_framework" != "x"; then
+    echo "plib framework prefix is $with_plib_framework"
+fi
+
+# specify the osg location
+AC_ARG_WITH(osg, [  --with-osg=PREFIX       Specify the prefix path to osg])
+
+if test "x$with_osg" != "x" ; then
+    echo "osg prefix is $with_osg"
+    EXTRA_DIRS="${EXTRA_DIRS} $with_osg"
+fi
+
+AC_ARG_WITH(osg_framework, [ --with-osg-framework=PREFIX      Specify the prefix path to OSG.framework ])
+
+if test "x$with_osg_framework" != "x"; then
+    echo "osg framework prefix is $with_osg_framework"
+    CPPFLAGS = "$CPPFLAGS -F$with-osg-framework"
+    export DYLD_FRAMEWORK_PATH="$DYLD_FRAMEWORK_PATH:$with_osg_framework"
+fi
+
+dnl specifying OpenAL.framework (for user provided OpenAL.framework / ALUT)
+AC_ARG_WITH(openal_framework, [ --with-openal-framework=PREFIX    Speicfy the prefix path to OpenAL.framework ])
+
+if test "x$with_openal_framework" != "x"; then
+    echo "OpenAL framework prefix is $with_openal_framework"
+fi
+
 dnl Determine an extra directories to add to include/lib search paths
 case "${host}" in
 *-apple-darwin* | *-*-cygwin* | *-*-mingw32*)
@@ -188,6 +225,7 @@ LIBS=""
 
 dnl check for some default libraries
 AC_SEARCH_LIBS(cos, m)
+AC_SEARCH_LIBS(clock_gettime, rt)
 
 base_LIBS="$LIBS"
 
@@ -258,16 +296,18 @@ LIBS="$base_LIBS"
 
 dnl check for OpenAL libraries
 OPENAL_OK="no"
+ALUT_OK="no"
 case "${host}" in
 *-*-cygwin* | *-*-mingw32*)
     dnl CygWin under Windoze.
     INCLUDES="$INCLUDES -I/usr/local/include/"
     LIBS="$LIBS -L/usr/local/lib"
-    AC_SEARCH_LIBS(alGenBuffers, [ openal32 openal ] )
+    AC_SEARCH_LIBS(alGenBuffers, [ openal32 openal 'openal -ldsound -lwinmm' ] )
     AC_SEARCH_LIBS(alutInit, [ openal32 ALut alut ] )
     LIBS="$LIBS -lwinmm -ldsound -ldxguid -lole32"
     openal_LIBS="$LIBS"
     OPENAL_OK="$ac_cv_search_alGenBuffers"
+    ALUT_OK="$ac_cv_search_alutInit"
     ;;
 
 *-apple-darwin*)
@@ -275,8 +315,54 @@ case "${host}" in
 
     LIBS="$LIBS -framework IOKit -framework OpenAL"
     openal_LIBS="$LIBS"
-    # not sure how to test if OpenAL exists on MacOS (does it come by default?)
     OPENAL_OK="yes"
+    ALUT_OK="no"
+
+    if test "x$with_openal_lib" != "x"; then
+        echo "libopenal is not supported on Mac OS platform."
+        openal_LIBS=""
+    fi
+    OPENAL_OK="yes"
+    # Looking for alut.h, if found assume that it is a part of
+    # the OpenAL package.
+    AC_CHECK_HEADERS([OpenAL/alut.h],[ALUT_OK="yes"])
+
+
+    dnl Thank you Christian Bauer from SheepSaver
+    dnl Modified by Tatsuhiro Nishioka for accepting a given framework path
+    dnl AC_CHECK_FRAMEWORK($1=NAME, $2=INCLUDES, $3=FRAMEWORK_PATH) ; $3 is optional
+    AC_DEFUN([AC_CHECK_FRAMEWORK], [
+    AS_VAR_PUSHDEF([ac_Framework], [ac_cv_framework_$1])dnl
+    AC_CACHE_CHECK([whether compiler supports framework $1],
+        ac_Framework, [
+        saved_LIBS="$LIBS"
+        FRAMEWORKS="$FRAMEWORKS -framework $1"
+        if test "$3" = ""; then
+            FRAMEWORKS="$FRAMEWORKS $ADD2LD"
+        elif test "`echo $FRAMEWORKS | grep -- -F$3`" = ""; then
+            FRAMEWORKS="$FRAMEWORKS -F$3"
+            CXXFLAGS="$CXXFLAGS -F$3"
+            CCFLAGS="$CCFLAGS -F$3"
+            dnl This is needed for AC_TRY_LINK when a framework path is specified
+            export DYLD_FRAMEWORK_PATH="${DYLD_FRAMEWORK_PATH}:$3"
+        fi
+        AC_TRY_LINK(
+        [$2], [],
+        [AS_VAR_SET(ac_Framework, yes)], [AS_VAR_SET(ac_Framework, no); LIBS="$saved_LIBS"]
+        )
+    ])
+    AS_IF([test AS_VAR_GET(ac_Framework) = yes],
+        [AC_DEFINE(AS_TR_CPP(HAVE_FRAMEWORK_$1), 1, [Define if framework $1 is available.])]
+    )
+    AS_VAR_POPDEF([ac_Framework])dnl
+    ])
+
+    dnl Check for OpenAL.framework when --with-openal-framework is specified
+    dnl Of cource OpenAL.framework needs to have alut.h 
+    if test "x$with_openal_framework" != "x"; then
+      AC_CHECK_FRAMEWORK(OpenAL, [#include <OpenAL/alut.h>], $with_openal_framework)
+    fi
+
     ;;
 
 *)
@@ -287,6 +373,7 @@ case "${host}" in
     AC_SEARCH_LIBS(alGenBuffers, openal)
     AC_SEARCH_LIBS(alutInit, [ alut openal ] )
     OPENAL_OK="$ac_cv_search_alGenBuffers"
+    ALUT_OK="$ac_cv_search_alutInit"
     openal_LIBS="$LIBS"
     LIBS=$save_LIBS
     ;;
@@ -304,6 +391,19 @@ if test "$OPENAL_OK" == "no"; then
     exit
 fi
 
+if test "$ALUT_OK" == "no"; then
+    echo
+    echo "You *must* have the alut library installed on your system to build"
+    echo "SimGear!"
+    echo
+    echo "Please see README.OpenAL for more details."
+    echo
+    echo "configure aborted."
+    exit
+fi
+
+
+
 LIBS="$base_LIBS"
 
 AC_SUBST(base_LIBS)
@@ -319,30 +419,49 @@ AM_CONDITIONAL(EXTGL_NEEDED, test "x$ac_cv_header_windows_h" = "xyes")
 # The following are C++ items that need to be tested for with the c++
 # compiler
 
+CXXCPP="g++ -E"
 AC_LANG_PUSH(C++)
 
 dnl Check for "plib" without which we cannot go on
+case ${host} in 
+*-apple-darwin*)
+    # Check PLIB framework availability when with-plib-framework is specified 
+    if test "x$with_plib_framework" != "x"; then
+        AC_CHECK_FRAMEWORK(PLIB, [#include <plib/ul.h>], $with_plib_framework)
+        plib_FRAMEWORK="$FRAMEWORKS"
+        FRAMEWORKS=""
+        AC_SUBST(plib_FRAMEWORK)
+    fi
+    ;;
+esac
+AM_CONDITIONAL(HAVE_FRAMEWORK_PLIB, test "x$ac_cv_framework_PLIB" != "x")
+
 AC_CHECK_HEADER(plib/ul.h)
-if test "x$ac_cv_header_plib_ul_h" != "xyes"; then
+
+AC_CHECK_LIB(plibul,ulInit)
+if test "x$ac_cv_header_plib_ul_h" != "xyes" \
+  -o "x$ac_cv_lib_plibul_ulInit" != "xyes" ; then
     echo
     echo "You *must* have the plib library installed on your system to build"
     echo "SimGear!"
     echo
+    echo "     LIBS: '$LIBS'"
+    echo "  LDFLAGS: '$LDFLAGS'"
+    echo " CPPFLAGS: '$CPPFLAGS'"
+    echo
     echo "Please see README.plib for more details."
     echo
     echo "configure aborted."
     exit
 fi
 
-AC_MSG_CHECKING([for plib 1.8.4 or newer])
+AC_MSG_CHECKING([for plib 1.8.5 or newer])
 AC_TRY_RUN([
 #include <plib/ul.h>
 
-#define MIN_PLIB_VERSION 184
+#define MIN_PLIB_VERSION 185
 
 int main() {
-    int major, minor, micro;
-
     if ( PLIB_VERSION < MIN_PLIB_VERSION ) {
 	 return -1;
     }
@@ -353,12 +472,86 @@ int main() {
 ],
   AC_MSG_RESULT(yes),
   [AC_MSG_RESULT(wrong version);
-   AC_MSG_ERROR([Install plib 1.8.4 or later first...])],
+   AC_MSG_ERROR([Install plib 1.8.5 or later first...])],
   AC_MSG_RESULT(yes)
 )
 
 LIBS="$saved_LIBS"
 
+# OpenSceneGraph
+case "${host}" in
+*-apple-darwin*)
+    if test "x$with_osg_framework" != "x"; then
+#       AC_CHECK_FRAMEWORK(osgViewer, [#include <osgViewer/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgGA, [#include <osgGA/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgText, [#include <osgText/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgFX, [#include <osgFX/AnisotropicLighting>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgUtil, [#include <osgUtil/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgDB, [#include <osgDB/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgSim, [#include <osgSim/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osgParticle, [#include <osgParticle/Version>], $with_osg_framework)
+#       AC_CHECK_FRAMEWORK(osg, [#include <osg/Version>], $with_osg_framework)
+#       osg_FRAMEWORKS="$FRAMEWORKS"
+#       FRAMEWORKS=""
+#       AC_SUBST(osg_FRAMEWORKS)
+        AC_CHECK_FRAMEWORK(OpenThreads, [#include <OpenThreads/Version>], $with_osg_framework)
+        openthreads_FRAMEWORK="$FRAMEWORKS"
+        FRAMEWORKS=""
+        AC_SUBST(openthreads_FRAMEWORK)
+    else
+        dnl
+        dnl This is needed when osg dynamic libs are specified 
+        dnl instead of OSG frameworks on Mac OS X
+        dnl
+        AC_CHECK_LIB(OpenThreads,OpenThreadsGetVersion)
+    fi
+    ;;
+*)
+    if test "x$enable_osgdebug" = "xyes"; then
+        AC_CHECK_LIB(OpenThreadsd,OpenThreadsGetVersion)
+    else
+        AC_CHECK_LIB(OpenThreads,OpenThreadsGetVersion)
+    fi
+    ;;
+esac
+
+AM_CONDITIONAL(HAVE_FRAMEWORK_OSG, test "x$ac_cv_framework_osg" != "x")
+
+AC_CHECK_HEADER(osg/Version)
+
+if test "x$ac_cv_header_osg_Version" != "xyes" -o "x$ac_cv_lib_OpenThreads_OpenThreadsGetVersion" != "xyes"; then
+  if test "x$ac_cv_framework_osg" != "xyes"; then
+    echo
+    echo "You *must* have the OpenThreads library installed on your system"
+    echo "to build this version of SimGear!"
+    echo "   Maybe you need to specify --with-osg=DIR."
+    echo "   Maybe you need to specify some LDFLAGS to help the linker."
+    echo
+    echo "     LIBS: '$LIBS'"
+    echo "  LDFLAGS: '$LDFLAGS'"
+    echo " CPPFLAGS: '$CPPFLAGS'"
+    echo
+    echo "Please see README.OSG for more details."
+    echo
+    echo "configure aborted."
+    exit
+  fi
+fi
+
+AC_CHECK_HEADER(boost/version.hpp)
+if test "x$ac_cv_header_boost_version_hpp" != "xyes"; then
+    echo
+    echo "You *must* have the Boost library installed on your system"
+    echo "to build this version of SimGear!"
+    echo
+    echo "     LIBS: '$LIBS'"
+    echo "  LDFLAGS: '$LDFLAGS'"
+    echo " CPPFLAGS: '$CPPFLAGS'"
+    echo
+    echo "configure aborted."
+    exit
+fi
+
 AC_LANG_POP
 
 dnl Check for system installed zlib
@@ -426,10 +619,12 @@ AC_CONFIG_FILES([ \
 	simgear/props/Makefile \
 	simgear/route/Makefile \
 	simgear/scene/Makefile \
+	simgear/scene/bvh/Makefile \
 	simgear/scene/material/Makefile \
 	simgear/scene/model/Makefile \
 	simgear/scene/sky/Makefile \
 	simgear/scene/tgdb/Makefile \
+	simgear/scene/util/Makefile \
 	simgear/screen/Makefile \
 	simgear/serial/Makefile \
 	simgear/sound/Makefile \

projects/VC8/SimGear.sln

@@ -1,20 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 9.00
-# Visual C++ Express 2005
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimGear", "SimGear.vcproj", "{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}"
-EndProject
-Global
-	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|Win32 = Debug|Win32
-		Release|Win32 = Release|Win32
-	EndGlobalSection
-	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Debug|Win32.ActiveCfg = Debug|Win32
-		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Debug|Win32.Build.0 = Debug|Win32
-		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Release|Win32.ActiveCfg = Release|Win32
-		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Release|Win32.Build.0 = Release|Win32
-	EndGlobalSection
-	GlobalSection(SolutionProperties) = preSolution
-		HideSolutionNode = FALSE
-	EndGlobalSection
-EndGlobal

projects/VC90/.cvsignore

@@ -0,0 +1,5 @@
+SimGear.ncb
+SimGear.suo
+*.user
+Win32
+x64

simgear/Makefile.am

@@ -1,16 +1,10 @@
-if HAVE_THREADS
-SGTHREAD_DIR = threads
-else
-SGTHREAD_DIR = 
-endif
-
 # METAR_DIRS =
 METAR_DIRS = environment
 
-EXTRA_DIST = simgear_config.h.vc5 version.h.in
+EXTRA_DIST = simgear_config.h.vc5 simgear_config.h-msvc71 version.h.in
 
 include_HEADERS = \
-	compiler.h constants.h sg_inlines.h sg_traits.hxx version.h
+	compiler.h constants.h sg_inlines.h version.h
 
 SUBDIRS = \
 	$(compatibility_DIR) \
@@ -31,7 +25,7 @@ SUBDIRS = \
 	screen \
 	serial \
 	sound \
-	$(SGTHREAD_DIR) \
+	threads \
 	timing
 
-DIST_SUBDIRS = $(SUBDIRS) compatibility threads
+DIST_SUBDIRS = $(SUBDIRS) compatibility

simgear/bucket/Makefile.am

@@ -11,7 +11,7 @@ libsgbucket_a_SOURCES = newbucket.cxx
 # testbucket_SOURCES = testbucket.cxx
 
 # testbucket_LDADD = \
-# 	$(top_builddir)/bucket/libsgbucket.a \
+# 	libsgbucket.a \
 # 	$(top_builddir)/misc/libsgmisc.a
 
 INCLUDES = -I$(top_srcdir)

simgear/bucket/newbucket.cxx

@@ -44,6 +44,9 @@ SGBucket::SGBucket(const double dlon, const double dlat) {
     set_bucket(dlon, dlat);
 }
 
+SGBucket::SGBucket(const SGGeod& geod) {
+    set_bucket(geod);
+}
 
 // create an impossible bucket if false
 SGBucket::SGBucket(const bool is_good) {
@@ -73,11 +76,6 @@ SGBucket::SGBucket(const long int bindex) {
 }
 
 
-// default destructor
-SGBucket::~SGBucket() {
-}
-
-
 // Set the bucket params for the specified lat and lon
 void SGBucket::set_bucket( double *lonlat ) {
     set_bucket( lonlat[0], lonlat[1] );
@@ -108,7 +106,7 @@ void SGBucket::set_bucket( double dlon, double dlat ) {
     } else if ( span <= 1.0 ) {
 	x = (int)((dlon - lon) / span);
     } else {
-	if ( (dlon >= 0) || (fabs(diff) < SG_EPSILON) ) {
+	if ( dlon >= 0 ) {
 	    lon = (int)( (int)(lon / span) * span);
 	} else {
 	    // cout << " lon = " << lon 
@@ -135,6 +133,11 @@ void SGBucket::set_bucket( double dlon, double dlat ) {
 }
 
 
+void SGBucket::set_bucket(const SGGeod& geod)
+{
+    set_bucket(geod.getLongitudeDeg(), geod.getLatitudeDeg());
+}
+
 // Build the path name for this bucket
 string SGBucket::gen_base_path() const {
     // long int index;

simgear/bucket/newbucket.hxx

@@ -31,30 +31,12 @@
 
 #include <simgear/compiler.h>
 #include <simgear/constants.h>
+#include <simgear/math/SGMath.hxx>
 
-#ifdef SG_HAVE_STD_INCLUDES
-#  include <cmath>
-#  include <cstdio> // sprintf()
-#else
-#  include <math.h>
-#  include <stdio.h> // sprintf()
-#endif
-
-#include STL_IOSTREAM
-
-// I don't understand ... <math.h> or <cmath> should be included
-// already depending on how you defined SG_HAVE_STD_INCLUDES, but I
-// can go ahead and add this -- CLO
-#ifdef __MWERKS__
-SG_USING_STD(sprintf);
-SG_USING_STD(fabs);
-#endif
-
-#include STL_STRING
-
-SG_USING_STD(string);
-SG_USING_STD(ostream);
-
+#include <cmath>
+#include <cstdio> // sprintf()
+#include <ostream>
+#include <string>
 
 /**
  * standard size of a bucket in degrees (1/8 of a degree)
@@ -113,7 +95,6 @@ static double sg_bucket_span( double l ) {
 class SGBucket {
 
 private:
-    double cx, cy;  // centerpoint (lon, lat) in degrees of bucket
     short lon;        // longitude index (-180 to 179)
     short lat;        // latitude index (-90 to 89)
     char x;          // x subdivision (0 to 7)
@@ -133,6 +114,13 @@ public:
      */
     SGBucket(const double dlon, const double dlat);
 
+    /**
+     * Construct a bucket given a specific location.
+     * @param dlon longitude specified in degrees
+     * @param dlat latitude specified in degrees
+     */
+    SGBucket(const SGGeod& geod);
+
     /** Construct a bucket.
      *  @param is_good if false, create an invalid bucket.  This is
      *  useful * if you are comparing cur_bucket to last_bucket and
@@ -146,11 +134,6 @@ public:
      */
     SGBucket(const long int bindex);
 
-    /**
-     * Default destructor.
-     */
-    ~SGBucket();
-
     /**
      * Reset a bucket to represent a new lat and lon
      * @param dlon longitude specified in degrees
@@ -165,6 +148,13 @@ public:
      */
     void set_bucket( double *lonlat );
 
+    /**
+     * Reset a bucket to represent a new lat and lon
+     * @param dlon longitude specified in degrees
+     * @param dlat latitude specified in degrees
+     */
+    void set_bucket(const SGGeod& geod);
+
     /**
      * Create an impossible bucket.
      * This is useful if you are comparing cur_bucket to last_bucket
@@ -200,18 +190,19 @@ public:
      * string form.
      * @return tile index in string form
      */
-    inline string gen_index_str() const {
+    inline std::string gen_index_str() const {
 	char tmp[20];
-	sprintf(tmp, "%ld", 
-                (((long)lon + 180) << 14) + ((lat + 90) << 6) + (y << 3) + x);
-	return (string)tmp;
+	std::sprintf(tmp, "%ld", 
+                     (((long)lon + 180) << 14) + ((lat + 90) << 6)
+                     + (y << 3) + x);
+	return (std::string)tmp;
     }
 
     /**
      * Build the base path name for this bucket.
      * @return base path in string form
      */
-    string gen_base_path() const;
+    std::string gen_base_path() const;
 
     /**
      * @return the center lon of a tile.
@@ -252,7 +243,24 @@ public:
      * @return the height of the tile in meters.
      */
     double get_height_m() const;
- 
+
+    /**
+     * @return the center of the bucket in geodetic coordinates.
+     */
+    SGGeod get_center() const
+    { return SGGeod::fromDeg(get_center_lon(), get_center_lat()); }
+
+    /**
+     * @return the center of the bucket in geodetic coordinates.
+     */
+    SGGeod get_corner(unsigned num) const
+    {
+        double lonFac = ((num + 1) & 2) ? 0.5 : -0.5;
+        double latFac = ((num    ) & 2) ? 0.5 : -0.5;
+        return SGGeod::fromDeg(get_center_lon() + lonFac*get_width(),
+                               get_center_lat() + latFac*get_height());
+    }
+
     // Informational methods.
 
     /**
@@ -279,10 +287,15 @@ public:
 
     // friends
 
-    friend ostream& operator<< ( ostream&, const SGBucket& );
+    friend std::ostream& operator<< ( std::ostream&, const SGBucket& );
     friend bool operator== ( const SGBucket&, const SGBucket& );
 };
 
+inline bool operator!= (const SGBucket& lhs, const SGBucket& rhs)
+    {
+        return !(lhs == rhs);
+    }
+
 
 /**
  * \relates SGBucket
@@ -313,8 +326,8 @@ void sgBucketDiff( const SGBucket& b1, const SGBucket& b2, int *dx, int *dy );
  * @param out output stream
  * @param b bucket
  */
-inline ostream&
-operator<< ( ostream& out, const SGBucket& b )
+inline std::ostream&
+operator<< ( std::ostream& out, const SGBucket& b )
 {
     return out << b.lon << ":" << b.x << ", " << b.lat << ":" << b.y;
 }

simgear/compiler.h

@@ -23,48 +23,9 @@
  * A set of defines to encapsulate compiler and platform differences.
  * Please refer to the source code for full documentation on this file.
  *
- * Here is a summary of what this file does.
+ * This file is useful to set compiler-specific options in every file - for
+ * example, disabling warnings.
  *
- *  (1)  Defines macros for some STL includes which may be affected
- *       by file name length limitations.
- *
- *  (2)  Defines macros for some features not supported by all C++ compilers.
- *
- *  (3)  Defines 'explicit' as a null macro if the compiler doesn't support
- *       the explicit keyword.
- *
- *  (4)  Defines 'typename' as a null macro if the compiler doesn't support
- *       the typename keyword.
- *
- *  (5)  Defines bool, true and false if the compiler doesn't do so.
- *
- *  (6)  Defines SG_EXPLICIT_FUNCTION_TMPL_ARGS if the compiler
- *       supports calling a function template by providing its template
- *       arguments explicitly.
- *
- *  (7)  Defines SG_NEED_AUTO_PTR if STL doesn't provide auto_ptr<>.
- *
- *  (8)  Defines SG_NO_ARROW_OPERATOR if the compiler is unable
- *       to support operator->() for iterators.
- *
- *  (9)  Defines SG_USE_EXCEPTIONS if the compiler supports exceptions.
- *       Note: no FlightGear code uses exceptions.
- *
- *  (10) Define SG_NAMESPACES if the compiler supports namespaces.
- *
- *  (11) SG_MATH_FN_IN_NAMESPACE_STD -- not used??
- *
- *  (12) Define SG_HAVE_STD if std namespace is supported.
- *
- *  (13) Defines SG_CLASS_PARTIAL_SPECIALIZATION if the compiler 
- *       supports partial specialization of class templates.
- *
- *  (14) Defines SG_HAVE_STD_INCLUDES to use ISO C++ Standard headers.
- *
- *  (15) Defines SG_HAVE_STREAMBUF if <streambuf> of <streambuf.h> are present.
- *
- *  (16) Define SG_MATH_EXCEPTION_CLASH if math.h defines an exception class
- *       that clashes with the one defined in <stdexcept>.
  */
 
 #ifndef _SG_COMPILER_H
@@ -79,157 +40,33 @@
 #define SG_DO_STRINGIZE(X) #X
 
 #ifdef __GNUC__
-#  if __GNUC__ == 2 
-#    if __GNUC_MINOR__ < 8
-
-       // g++-2.7.x
-#      define STL_ALGORITHM  <algorithm>
-#      define STL_FUNCTIONAL <functional>
-#      define STL_IOMANIP    <iomanip.h>
-#      define STL_IOSTREAM   <iostream.h>
-#      define STL_ITERATOR   <iterator.h>
-#      define STL_FSTREAM    <fstream.h>
-#      define STL_STDEXCEPT  <stdexcept>
-#      define STL_STRING     <string>
-#      define STL_STRSTREAM  <strstream.h>
-
-#      define SG_NEED_AUTO_PTR
-#      define SG_NO_DEFAULT_TEMPLATE_ARGS
-#      define SG_INCOMPLETE_FUNCTIONAL
-#      define SG_NO_ARROW_OPERATOR
-
-#    elif __GNUC_MINOR__ >= 8
-
-       // g++-2.8.x and egcs-1.x
-#      define SG_EXPLICIT_FUNCTION_TMPL_ARGS
-#      define SG_NEED_AUTO_PTR
-#      define SG_MEMBER_TEMPLATES
-#      define SG_NAMESPACES
-#      define SG_HAVE_STD
-#      define SG_HAVE_STREAMBUF
-#      define SG_CLASS_PARTIAL_SPECIALIZATION
-
-#      define STL_ALGORITHM  <algorithm>
-#      define STL_FUNCTIONAL <functional>
-#      define STL_IOMANIP    <iomanip>
-#      define STL_IOSTREAM   <iostream>
-#      define STL_ITERATOR   <iterator>
-#      define STL_FSTREAM    <fstream>
-#      define STL_STDEXCEPT  <stdexcept>
-#      define STL_STRING     <string>
-#      define STL_STRSTREAM  <strstream>
-
-#    endif
-#  elif __GNUC__ >= 3
-       // g++-3.0.x
-#      define SG_EXPLICIT_FUNCTION_TMPL_ARGS
-#      define SG_NEED_AUTO_PTR
-#      define SG_MEMBER_TEMPLATES
-#      define SG_NAMESPACES
-#      define SG_HAVE_STD
-#      define SG_HAVE_STREAMBUF
-#      define SG_CLASS_PARTIAL_SPECIALIZATION
-#      define SG_HAVE_STD_INCLUDES
-
-#      define STL_ALGORITHM  <algorithm>
-#      define STL_FUNCTIONAL <functional>
-#      define STL_IOMANIP    <iomanip>
-#      define STL_IOSTREAM   <iostream>
-#      define STL_ITERATOR   <iterator>
-#      define STL_FSTREAM    <fstream>
-#      define STL_STDEXCEPT  <stdexcept>
-#      define STL_STRING     <string>
-#      define STL_STRSTREAM  <strstream>
-#  else
-#    error Time to upgrade. GNU compilers < 2.7 not supported
+#  if __GNUC__ < 3
+#    error Time to upgrade. GNU compilers < 3.0 not supported
+#  elif (__GNUC__ == 3) && (__GNUC_MINOR__ < 4)
+#    warning GCC compilers prior to 3.4 are suspect  
 #  endif
 
 #  define SG_COMPILER_STR "GNU C++ version " SG_STRINGIZE(__GNUC__) "." SG_STRINGIZE(__GNUC_MINOR__)
-
 #endif // __GNUC__
 
 /* KAI C++ */
 #if defined(__KCC)
-
-#  define SG_NAMESPACES
-#  define SG_HAVE_STD
-#  define SG_HAVE_STREAMBUF
-#  define SG_HAVE_TRAITS
-#  define SG_HAVE_STD_INCLUDES
-
-#  define STL_ALGORITHM  <algorithm>
-#  define STL_FUNCTIONAL <functional>
-#  define STL_IOMANIP    <iomanip>
-#  define STL_IOSTREAM   <iostream>
-#  define STL_ITERATOR   <iterator>
-#  define STL_FSTREAM    <fstream>
-#  define STL_STDEXCEPT  <stdexcept>
-#  define STL_STRING     <string>
-#  define STL_STRSTREAM  <strstream>
-
 #  define SG_COMPILER_STR "Kai C++ version " SG_STRINGIZE(__KCC_VERSION)
-
 #endif // __KCC
 
-//
-// Metrowerks 
-//
-#if defined(__MWERKS__)
-/*
-  CodeWarrior compiler from Metrowerks, Inc.
-*/
-#  define SG_HAVE_TRAITS
-#  define SG_HAVE_STD_INCLUDES
-#  define SG_HAVE_STD
-#  define SG_NAMESPACES
-
-#  define STL_ALGORITHM  <algorithm>
-#  define STL_FUNCTIONAL <functional>
-#  define STL_IOMANIP    <iomanip>
-#  define STL_IOSTREAM   <iostream>
-#  define STL_ITERATOR   <iterator>
-#  define STL_FSTREAM    <fstream>
-#  define STL_STDEXCEPT  <stdexcept>
-#  define STL_STRING     <string>
-
-// Temp:
-#  define bcopy(from, to, n) memcpy(to, from, n)
-
-// -rp- please use FG_MEM_COPY everywhere !
-// #define FG_MEM_COPY(to,from,n) memcpy(to, from, n)
-
-// -dw- currently used glut has no game mode stuff
-#  define GLUT_WRONG_VERSION
-
-#  define SG_COMPILER_STR "Metrowerks CodeWarrior C++ version " SG_STRINGIZE(__MWERKS__)
-
-#endif // __MWERKS__
-
 //
 // Microsoft compilers.
 //
 #ifdef _MSC_VER
 #  define bcopy(from, to, n) memcpy(to, from, n)
-#  define FG_MEM_COPY(to,from,n) memcpy(to, from, n)
 
 #  if _MSC_VER >= 1200  // msvc++ 6.0 or greater
-#    define SG_NAMESPACES
-#    define SG_HAVE_STD
-#    define SG_HAVE_STD_INCLUDES
-#    define SG_HAVE_STREAMBUF
-
-#    define STL_ALGORITHM  <algorithm>
-#    define STL_FUNCTIONAL <functional>
-#    define STL_IOMANIP    <iomanip>
-#    define STL_IOSTREAM   <iostream>
-#    define STL_ITERATOR   <iterator>
-#    define STL_FSTREAM    <fstream>
-#    define STL_STDEXCEPT  <stdexcept>
-#    define STL_STRING     <string>
-#    define STL_STRSTREAM  <strstream>
-
 #    define isnan _isnan
 #    define snprintf _snprintf
+#    if _MSC_VER < 1500
+#      define vsnprintf _vsnprintf
+#    endif
+#    define copysign _copysign
 
 #    pragma warning(disable: 4786) // identifier was truncated to '255' characters
 #    pragma warning(disable: 4244) // conversion from double to float
@@ -243,79 +80,23 @@
 
 #endif // _MSC_VER
 
-#ifdef __BORLANDC__
-# if defined(HAVE_SGI_STL_PORT)
-
-// Use quotes around long file names to get around Borland's include hackery
-
-#  define STL_ALGORITHM  "algorithm"
-#  define STL_FUNCTIONAL "functional"
-
-#  define SG_MATH_EXCEPTION_CLASH
-
-# else
-
-#  define STL_ALGORITHM  <algorithm>
-#  define STL_FUNCTIONAL <functional>
-#  define STL_IOMANIP    <iomanip>
-#  define STL_STDEXCEPT  <stdexcept>
-#  define STL_STRSTREAM  <strstream>
-
-#  define SG_INCOMPLETE_FUNCTIONAL
-
-# endif // HAVE_SGI_STL_PORT
-
-#  define STL_IOSTREAM   <iostream>
-#  define STL_ITERATOR   <iterator>
-#  define STL_FSTREAM    <fstream>
-#  define STL_STRING     <string>
-#  define SG_NO_DEFAULT_TEMPLATE_ARGS
-#  define SG_NAMESPACES
-// #  define SG_HAVE_STD
-
-#  define SG_COMPILER_STR "Borland C++ version " SG_STRINGIZE(__BORLANDC__)
-
-#endif // __BORLANDC__
-
 //
 // Native SGI compilers
 //
 
 #if defined ( sgi ) && !defined( __GNUC__ )
-#  define SG_HAVE_NATIVE_SGI_COMPILERS
+# if (_COMPILER_VERSION < 740)
+#  error Need MipsPro 7.4.0 or higher now
+# endif
 
-#  define SG_EXPLICIT_FUNCTION_TMPL_ARGS
-#  define SG_CLASS_PARTIAL_SPECIALIZATION
-#  define SG_NEED_AUTO_PTR
-#  define SG_MEMBER_TEMPLATES
-#  define SG_NAMESPACES
-#  define SG_HAVE_STD
-#  define SG_HAVE_STREAMBUF
-#  define SG_HAVE_TRAITS
-#  define SG_HAVE_STD_INCLUDES
-
-#  define STL_ALGORITHM  <algorithm>
-#  define STL_FUNCTIONAL <functional>
-#  define STL_IOMANIP    <iomanip>
-#  define STL_IOSTREAM   <iostream>
-#  define STL_ITERATOR   <iterator>
-#  define STL_FSTREAM    <fstream>
-#  define STL_STDEXCEPT  <stdexcept>
-#if (_COMPILER_VERSION < 740)
-#  define STL_STRING     <irix_string>
-#else
-#  define STL_STRING     <string>
-#endif
-#  define STL_STRSTREAM  <strstream>
+#define SG_HAVE_NATIVE_SGI_COMPILERS
 
 #pragma set woff 1001,1012,1014,1116,1155,1172,1174
 #pragma set woff 1401,1460,1551,1552,1681
 
 #ifdef __cplusplus
-#pragma set woff 1682,3303
-#if (_COMPILER_VERSION >= 740)
-#  pragma set woff 3624
-#endif
+# pragma set woff 1682,3303
+# pragma set woff 3624
 #endif
 
 #  define SG_COMPILER_STR "SGI MipsPro compiler version " SG_STRINGIZE(_COMPILER_VERSION)
@@ -345,24 +126,7 @@
 // Intel C++ Compiler
 //
 #if defined(__ICC) || defined (__ECC)
-#  define SG_NAMESPACES
-#  define SG_HAVE_STD
-#  define SG_HAVE_STREAMBUF
-#  define SG_HAVE_TRAITS
-#  define SG_HAVE_STD_INCLUDES
-
-#  define STL_ALGORITHM  <algorithm>
-#  define STL_FUNCTIONAL <functional>
-#  define STL_IOMANIP    <iomanip>
-#  define STL_IOSTREAM   <iostream>
-#  define STL_ITERATOR   <iterator>
-#  define STL_FSTREAM    <fstream>
-#  define STL_STDEXCEPT  <stdexcept>
-#  define STL_STRING     <string>
-#  define STL_STRSTREAM  <strstream>
-
 #  define SG_COMPILER_STR "Intel C++ version " SG_STRINGIZE(__ICC)
-
 #endif // __ICC
 
 //
@@ -370,19 +134,31 @@
 //
 
 #ifdef __APPLE__
-#  define SG_GL_H <OpenGL/gl.h>
-#  define SG_GLX_H <AGL/agl.h>
-#  define SG_GLU_H <OpenGL/glu.h>
-#  define SG_GLEXT_H <OpenGL/glext.h>
-#  define SG_GLUT_H <GLUT/glut.h>
-
+#  ifdef __GNUC__
+#    if ( __GNUC__ > 3 ) || ( __GNUC__ == 3 && __GNUC_MINOR__ >= 3 )
 inline int (isnan)(double r) { return !(r <= 0 || r >= 0); }
-#else
-#  define SG_GL_H <GL/gl.h>
-#  define SG_GLX_H <GL/glx.h>
-#  define SG_GLU_H <GL/glu.h>
-#  define SG_GLEXT_H <GL/glext.h>
-#  define SG_GLUT_H <GL/glut.h>
+#    else
+    // any C++ header file undefines isinf and isnan
+    // so this should be included before <iostream>
+    // the functions are STILL in libm (libSystem on mac os x)
+extern "C" int (isnan)(double);
+extern "C" int (isinf)(double);
+#    endif
+#  else
+inline int (isnan)(double r) { return !(r <= 0 || r >= 0); }
+#  endif
+#endif
+
+#if defined (__FreeBSD__)
+#  if __FreeBSD_version < 500000
+     extern "C" {
+       inline int isnan(double r) { return !(r <= 0 || r >= 0); }
+     }
+#  endif
+#endif
+
+#if defined (__CYGWIN__)
+#  include <ieeefp.h>		// isnan
 #endif
 
 
@@ -390,81 +166,5 @@ inline int (isnan)(double r) { return !(r <= 0 || r >= 0); }
 // No user modifiable definitions beyond here.
 //
 
-#ifdef SG_NEED_EXPLICIT
-#  define explicit
-#endif
-
-#ifdef SG_NEED_TYPENAME
-#  define typename
-#endif
-
-#ifdef SG_NEED_MUTABLE
-#  define mutable
-#endif
-
-#ifdef SG_NEED_BOOL
-   typedef int bool;
-#  define true 1
-#  define false 0
-#endif
-
-#ifdef SG_EXPLICIT_FUNCTION_TMPL_ARGS
-#  define SG_NULL_TMPL_ARGS <>
-#else
-#  define SG_NULL_TMPL_ARGS
-#endif
-
-#ifdef SG_CLASS_PARTIAL_SPECIALIZATION
-# define SG_TEMPLATE_NULL template<>
-#else
-# define SG_TEMPLATE_NULL
-#endif
-
-// SG_NO_NAMESPACES is a hook so that users can disable namespaces
-// without having to edit library headers.
-#if defined(SG_NAMESPACES) && !defined(SG_NO_NAMESPACES)
-#   define SG_NAMESPACE(X) namespace X {
-#   define SG_NAMESPACE_END }
-#   define SG_USING_NAMESPACE(X) using namespace X
-# else
-#   define SG_NAMESPACE(X)
-#   define SG_NAMESPACE_END
-#   define SG_USING_NAMESPACE(X)
-#endif
-
-/** \def SG_USING_STD(x)
- *  Expands to using std::x if SG_HAVE_STD is defined 
- */
-# ifdef SG_HAVE_STD
-#  define SG_USING_STD(X) using std::X
-#  define STD std
-# else
-#  define SG_USING_STD(X) 
-#  define STD
-# endif
-
-// Additional <functional> implementation from SGI STL 3.11
-// Adapter function objects: pointers to member functions
-#ifdef SG_INCOMPLETE_FUNCTIONAL
-
-template <class _Ret, class _Tp>
-class const_mem_fun_ref_t
-#ifndef __BORLANDC__
-    : public unary_function<_Tp,_Ret>
-#endif // __BORLANDC__
-{
-public:
-  explicit const_mem_fun_ref_t(_Ret (_Tp::*__pf)() const) : _M_f(__pf) {}
-  _Ret operator()(const _Tp& __r) const { return (__r.*_M_f)(); }
-private:
-  _Ret (_Tp::*_M_f)() const;
-};
-
-template <class _Ret, class _Tp>
-inline const_mem_fun_ref_t<_Ret,_Tp> mem_fun_ref(_Ret (_Tp::*__f)() const)
-  { return const_mem_fun_ref_t<_Ret,_Tp>(__f); }
-
-#endif // SG_INCOMPLETE_FUNCTIONAL
-
 #endif // _SG_COMPILER_H
 

simgear/constants.h

@@ -31,14 +31,8 @@
 
 #include <simgear/compiler.h>
 
-#ifdef SG_HAVE_STD_INCLUDES
-#  include <cmath>
-#else
-#  ifdef SG_MATH_EXCEPTION_CLASH
-#    define exception C_exception
-#  endif
-#  include <math.h>
-#endif
+#include <cmath>
+
 
 #include <plib/sg.h>
 
@@ -75,6 +69,8 @@
  *  6378.165 but this is probably close enough */
 #define SG_EARTH_RAD 6378.155
 
+// Maximum terrain elevation from sea level
+#define SG_MAX_ELEVATION_M 9000.0
 
 // Earth parameters for WGS 84, taken from LaRCsim/ls_constants.h
 
@@ -122,10 +118,10 @@
 /** Nautical Miles to Radians */
 #define SG_RAD_TO_NM        3437.7467707849392526
 
-/** Miles per second to Knots */
+/** meters per second to Knots */
 #define SG_MPS_TO_KT        1.9438444924406046432
 
-/** Knots to Miles per second */
+/** Knots to meters per second */
 #define SG_KT_TO_MPS        0.5144444444444444444
 
 /** Feet per second to Knots */
@@ -134,16 +130,16 @@
 /** Knots to Feet per second */
 #define SG_KT_TO_FPS        1.6878098571011956874
 
-/** Miles per second to Miles per hour */
+/** meters per second to Miles per hour */
 #define SG_MPS_TO_MPH       2.2369362920544020312
 
-/** Miles per hour to Miles per second */
+/** meetrs per hour to Miles per second */
 #define SG_MPH_TO_MPS       0.44704
 
 /** Meters per second to Kilometers per hour */
 #define SG_MPS_TO_KMH       3.6
 
-/** Kilometers per hour to Miles per second */
+/** Kilometers per hour to meters per second */
 #define SG_KMH_TO_MPS       0.2777777777777777778
 
 /** Pascal to Inch Mercury */

simgear/debug/logstream.cxx

@@ -20,18 +20,31 @@
 //
 // $Id$
 
+#include <iostream>
+
 #include "logstream.hxx"
 
-logstream *global_logstream = NULL;
+logstream *logstream::global_logstream = 0;
 
 bool            logbuf::logging_enabled = true;
-#ifdef _MSC_VER
+#ifdef _WIN32
    bool         logbuf::has_console = true;
 #endif
 sgDebugClass    logbuf::logClass        = SG_NONE;
 sgDebugPriority logbuf::logPriority     = SG_INFO;
 streambuf*      logbuf::sbuf            = NULL;
 
+namespace {
+struct ignore_me
+{
+    ignore_me()
+    {
+        logstream::initGlobalLogstream();
+    }
+};
+static ignore_me im;
+}
+
 logbuf::logbuf()
 {
 //     if ( sbuf == NULL )
@@ -90,3 +103,12 @@ logstream::setLogLevels( sgDebugClass c, sgDebugPriority p )
     logbuf::set_log_level( c, p );
 }
 
+logstream *
+logstream::initGlobalLogstream()
+{
+    // Force initialization of cerr.
+    static std::ios_base::Init initializer;
+    if( !global_logstream )
+        global_logstream = new logstream(std::cerr);
+    return global_logstream;
+}

simgear/debug/logstream.hxx

@@ -27,29 +27,18 @@
 
 #include <simgear/compiler.h>
 
-#ifdef _MSC_VER
+#ifdef _WIN32
 #  include <windows.h>
 #endif
 
-#ifdef SG_HAVE_STD_INCLUDES
-# include <streambuf>
-# include <iostream>
-#else
-# include <iostream.h>
-# include <simgear/sg_traits.hxx>
-#endif
+#include <streambuf>
+#include <ostream>
+#include <cstdio>
 
 #include <simgear/debug/debug_types.h>
 
-SG_USING_STD(streambuf);
-SG_USING_STD(ostream);
-SG_USING_STD(cout);
-SG_USING_STD(cerr);
-SG_USING_STD(endl);
-
-#ifdef __MWERKS__
-SG_USING_STD(iostream);
-#endif
+using std::streambuf;
+using std::ostream;
 
 //
 // TODO:
@@ -67,17 +56,10 @@ SG_USING_STD(iostream);
 #ifdef SG_NEED_STREAMBUF_HACK
 class logbuf : public __streambuf
 #else
-class logbuf : public streambuf
+class logbuf : public std::streambuf
 #endif
 {
 public:
-
-#ifndef SG_HAVE_STD_INCLUDES
-    typedef char_traits<char>           traits_type;
-    typedef char_traits<char>::int_type int_type;
-    // typedef char_traits<char>::pos_type pos_type;
-    // typedef char_traits<char>::off_type off_type;
-#endif
     // logbuf( streambuf* sb ) : sbuf(sb) {}
     /** Constructor */
     logbuf();
@@ -97,6 +79,8 @@ public:
      */
     void set_log_state( sgDebugClass c, sgDebugPriority p );
 
+    bool would_log( sgDebugClass c, sgDebugPriority p ) const;
+
     /**
      * Set the global logging level.
      * @param c debug class
@@ -137,9 +121,9 @@ public:
      * Set the stream buffer
      * @param sb stream buffer
      */
-    void set_sb( streambuf* sb );
+    void set_sb( std::streambuf* sb );
 
-#ifdef _MSC_VER
+#ifdef _WIN32
     static void has_no_console() { has_console = false; }
 #endif
 
@@ -155,10 +139,10 @@ protected:
 private:
 
     // The streambuf used for actual output. Defaults to cerr.rdbuf().
-    static streambuf* sbuf;
+    static std::streambuf* sbuf;
 
     static bool logging_enabled;
-#ifdef _MSC_VER
+#ifdef _WIN32
     static bool has_console;
 #endif
     static sgDebugClass logClass;
@@ -174,11 +158,7 @@ private:
 inline int
 logbuf::sync()
 {
-#ifdef SG_HAVE_STD_INCLUDES
 	return sbuf->pubsync();
-#else
-	return sbuf->sync();
-#endif
 }
 
 inline void
@@ -187,10 +167,16 @@ logbuf::set_log_state( sgDebugClass c, sgDebugPriority p )
     logging_enabled = ((c & logClass) != 0 && p >= logPriority);
 }
 
+inline bool
+logbuf::would_log( sgDebugClass c, sgDebugPriority p ) const
+{
+    return ((c & logClass) != 0 && p >= logPriority);
+}
+
 inline logbuf::int_type
 logbuf::overflow( int c )
 {
-#ifdef _MSC_VER
+#ifdef _WIN32
     if ( logging_enabled ) {
         if ( !has_console ) {
             AllocConsole();
@@ -238,23 +224,23 @@ struct logstream_base
 /**
  * Class to manage the debug logging stream.
  */
-class logstream : private logstream_base, public ostream
+class logstream : private logstream_base, public std::ostream
 {
 public:
     /**
      * The default is to send messages to cerr.
      * @param out output stream
      */
-    logstream( ostream& out )
+    logstream( std::ostream& out )
 	// : logstream_base(out.rdbuf()),
 	: logstream_base(),
-	  ostream(&lbuf) { lbuf.set_sb(out.rdbuf());}
+	  std::ostream(&lbuf) { lbuf.set_sb(out.rdbuf());}
 
     /**
      * Set the output stream
      * @param out output stream
      */
-    void set_output( ostream& out ) { lbuf.set_sb( out.rdbuf() ); }
+    void set_output( std::ostream& out ) { lbuf.set_sb( out.rdbuf() ); }
 
     /**
      * Set the global log class and priority level.
@@ -263,22 +249,29 @@ public:
      */
     void setLogLevels( sgDebugClass c, sgDebugPriority p );
 
+    bool would_log(  sgDebugClass c, sgDebugPriority p ) const
+    {
+        return lbuf.would_log( c, p );
+    };
+
     /**
      * Output operator to capture the debug level and priority of a message.
      * @param l log level
      */
-    inline ostream& operator<< ( const loglevel& l );
+    inline std::ostream& operator<< ( const loglevel& l );
+    friend logstream& sglog();
+    static logstream *initGlobalLogstream();
+protected:
+    static logstream *global_logstream;
 };
 
-inline ostream&
+inline std::ostream&
 logstream::operator<< ( const loglevel& l )
 {
     lbuf.set_log_state( l.logClass, l.logPriority );
     return *this;
 }
 
-extern logstream *global_logstream;
-
 /**
  * \relates logstream
  * Return the one and only logstream instance.
@@ -289,22 +282,7 @@ extern logstream *global_logstream;
 inline logstream&
 sglog()
 {
-  if (global_logstream == NULL) {
-
-#ifdef __APPLE__
-    /**
-     * There appears to be a bug in the C++ runtime in Mac OS X that
-     * will crash if certain funtions are called (in this case
-     * cerr.rdbuf()) during static initialization of a class. This
-     * print statement is hack to kick the library in the pants so it
-     * won't crash when cerr.rdbuf() is first called -DW 
-     **/
-    cout << "Using Mac OS X hack for initializing C++ stdio..." << endl;
-#endif    
-    global_logstream = new logstream (cerr);
-  }
-    
-  return *global_logstream;
+    return *logstream::initGlobalLogstream();
 }
 
 
@@ -316,12 +294,15 @@ sglog()
  */
 #ifdef FG_NDEBUG
 # define SG_LOG(C,P,M)
-#elif defined( __MWERKS__ )
-# define SG_LOG(C,P,M) ::sglog() << ::loglevel(C,P) << M << std::endl
 #else
-# define SG_LOG(C,P,M) sglog() << loglevel(C,P) << M << endl
+# define SG_LOG(C,P,M) do {                     \
+	logstream& __tmplogstreamref(sglog());                      \
+	if(__tmplogstreamref.would_log(C,P)) {                      \
+        __tmplogstreamref << loglevel(C,P) << M << std::endl; } \
+	} while(0)
 #endif
 
+#define SG_ORIGIN __FILE__ ":" SG_STRINGIZE(__LINE__)
 
 #endif // _LOGSTREAM_H
 

simgear/debug/logtest.cxx

@@ -1,5 +1,5 @@
 #include <string>
-#include "Debug/logstream.hxx"
+#include <simgear/debug/logstream.hxx>
 
 class Test {
 

simgear/environment/Makefile.am

@@ -2,8 +2,8 @@ includedir = @includedir@/environment
 
 lib_LIBRARIES = libsgenvironment.a
 
-include_HEADERS = metar.hxx visual_enviro.hxx
+include_HEADERS = metar.hxx visual_enviro.hxx precipitation.hxx
 
-libsgenvironment_a_SOURCES = metar.cxx visual_enviro.cxx
+libsgenvironment_a_SOURCES = metar.cxx visual_enviro.cxx precipitation.cxx
 
 INCLUDES = -I$(top_srcdir)

simgear/environment/metar.cxx

@@ -159,7 +159,7 @@ void SGMetar::useCurrentDate()
 {
 	struct tm now;
 	time_t now_sec = time(0);
-#if defined( _MSC_VER ) || defined ( __MINGW32__ )
+#ifdef _WIN32
 	now = *gmtime(&now_sec);
 #else
 	gmtime_r(&now_sec, &now);
@@ -493,7 +493,6 @@ bool SGMetar::scanVisibility()
 		distance = i;
 	} else {
 // M?(\d{1,2}|\d{1,2}/\d{1,2}|\d{1,2} \d{1,2}/\d{1,2})(SM|KM)
-		modifier = 0;
 		if (*m == 'M')
 			m++, modifier = SGMetarVisibility::LESS_THAN;
 
@@ -747,6 +746,14 @@ bool SGMetar::scanSkyCondition()
 	int i;
 	SGMetarCloud cl;
 
+	if (!strncmp(m, "//////", 6)) {
+		m += 6;
+		if (!scanBoundary(&m))
+			return false;
+		_m = m;
+		return true;
+	}
+
 	if (!strncmp(m, "CLR", i = 3)				// clear
 			|| !strncmp(m, "SKC", i = 3)		// sky clear
 			|| !strncmp(m, "NSC", i = 3)		// no significant clouds
@@ -836,7 +843,7 @@ bool SGMetar::scanTemperature()
 		return false;
 	if (!scanBoundary(&m)) {
 		if (!strncmp(m, "XX", 2))	// not spec compliant!
-			m += 2, sign = 0;
+			m += 2, sign = 0, dew = temp;
 		else {
 			sign = 1;
 			if (*m == 'M')
@@ -1174,7 +1181,7 @@ const struct Token *SGMetar::scanToken(char **str, const struct Token *list)
 {
 	const struct Token *longest = 0;
 	int maxlen = 0, len;
-	char *s;
+	const char *s;
 	for (int i = 0; (s = list[i].id); i++) {
 		len = strlen(s);
 		if (!strncmp(s, *str, len) && len > maxlen) {

simgear/environment/metar.hxx

@@ -29,16 +29,16 @@
 
 #include <simgear/constants.h>
 
-SG_USING_STD(vector);
-SG_USING_STD(map);
-SG_USING_STD(string);
+using std::vector;
+using std::map;
+using std::string;
 
 const double SGMetarNaN = -1E20;
 #define NaN SGMetarNaN
 
 struct Token {
-	char	*id;
-	char	*text;
+	const char *id;
+	const char *text;
 };
 
 
@@ -130,25 +130,21 @@ protected:
 class SGMetarCloud {
 	friend class SGMetar;
 public:
-	SGMetarCloud() :
-		_coverage(-1),
-		_altitude(NaN),
-		_type(0),
-		_type_long(0) {}
+	SGMetarCloud() : _coverage(-1), _altitude(NaN), _type(0), _type_long(0) {}
 
 	void set(double alt, int cov = -1);
 
-	inline int	getCoverage()		const { return _coverage; }
-	inline double	getAltitude_m()		const { return _altitude; }
-	inline double	getAltitude_ft()	const { return _altitude == NaN ? NaN : _altitude * SG_METER_TO_FEET; }
-	inline char	*getTypeString()	const { return _type; }
-	inline char	*getTypeLongString()	const { return _type_long; }
+	inline int getCoverage() const { return _coverage; }
+	inline double getAltitude_m() const { return _altitude; }
+	inline double getAltitude_ft() const { return _altitude == NaN ? NaN : _altitude * SG_METER_TO_FEET; }
+	inline const char *getTypeString() const { return _type; }
+	inline const char *getTypeLongString() const { return _type_long; }
 
 protected:
-	int	_coverage;		// quarters: 0 -> clear ... 4 -> overcast
-	double	_altitude;		// 1000 m
-	char	*_type;			// CU
-	char	*_type_long;		// cumulus
+	int _coverage;          // quarters: 0 -> clear ... 4 -> overcast
+	double _altitude;       // 1000 m
+	const char *_type;      // CU
+	const char *_type_long; // cumulus
 };
 
 

simgear/environment/precipitation.cxx

@@ -0,0 +1,195 @@
+/**
+ * @file precipitation.cxx
+ * @author Nicolas VIVIEN
+ * @date 2008-02-10
+ *
+ * @note Copyright (C) 2008 Nicolas VIVIEN
+ *
+ * @brief Precipitation effects to draw rain and snow.
+ *
+ * @par Licences
+ *   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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ */
+
+#include "precipitation.hxx"
+#include "visual_enviro.hxx"
+
+#include <simgear/constants.h>
+#include <osg/ClipNode>
+
+/**
+ * @brief SGPrecipitation constructor
+ *
+ * Build a new OSG object from osgParticle.
+ */
+SGPrecipitation::SGPrecipitation() :
+    _freeze(false), _snow_intensity(0.0), _rain_intensity(0.0), _clip_distance(5.0)
+{
+    _precipitationEffect = new osgParticle::PrecipitationEffect;
+}
+
+
+/**
+ * @brief Build and add the object "precipitationEffect"
+ *
+ * This function permits you to create an object precipitationEffect and initialize it.
+ * I define by default the color of water (for raining)
+ */
+osg::Group* SGPrecipitation::build(void)
+{
+    osg::Group* group = new osg::Group;
+
+    _precipitationEffect->snow(0);	
+    _precipitationEffect->rain(0);	
+
+    if (_clip_distance!=0.0)
+    {    
+        osg::ref_ptr<osg::ClipNode> clipNode = new osg::ClipNode;
+        clipNode->addClipPlane( new osg::ClipPlane( 0 ) );
+        clipNode->getClipPlane(0)->setClipPlane( 0.0, 0.0, -1.0, -_clip_distance );
+        clipNode->setReferenceFrame(osg::ClipNode::ABSOLUTE_RF);
+        clipNode->addChild(_precipitationEffect.get());
+
+        group->addChild(clipNode.get());
+    }
+    else
+    {
+        group->addChild(_precipitationEffect.get());
+    }
+
+    return group;
+}
+
+
+/**
+ * @brief Define the snow intensity
+ *
+ * This function permits you to define and change the snow intensity
+ * The param 'intensity' is normed (0 to 1).
+ */
+void SGPrecipitation::setSnowIntensity(float intensity)
+{
+    if (this->_snow_intensity < intensity-0.001)
+        this->_snow_intensity += 0.001;
+    else if (this->_snow_intensity > intensity+0.001)
+        this->_snow_intensity -= 0.001;
+    else
+        this->_snow_intensity = intensity;
+}
+
+
+/**
+ * @brief Define the rain intensity
+ *
+ * This function permits you to define and change the rain intensity
+ * The param 'intensity' is normed (0 to 1).
+ */
+void SGPrecipitation::setRainIntensity(float intensity)
+{
+    if (this->_rain_intensity < intensity-0.001)
+        this->_rain_intensity += 0.001;
+    else if (this->_rain_intensity > intensity+0.001)
+        this->_rain_intensity -= 0.001;
+    else
+        this->_rain_intensity = intensity;
+}
+
+
+/** 
+ * @brief Freeze the rain to snow
+ * 
+ * @param freeze Boolean 
+ * 
+ * This function permits you to turn off the rain to snow.
+ */
+void SGPrecipitation::setFreezing(bool freeze)
+{
+    this->_freeze = freeze;
+}
+
+
+/**
+ * @brief Define the wind direction and speed
+ *
+ * This function permits you to define and change the wind direction
+ * 
+ * After apply the MatrixTransform to the osg::Precipitation object,
+ * x points full south... From wind heading and speed, we can calculate
+ * the wind vector.
+ */
+void SGPrecipitation::setWindProperty(double heading, double speed)
+{
+    double x, y, z;
+
+    heading = (heading + 180) * SGD_DEGREES_TO_RADIANS;
+    speed = speed * SG_FEET_TO_METER;
+
+    x = -cos(heading) * speed;
+    y = sin(heading) * speed;
+    z = 0;
+
+    this->_wind_vec = osg::Vec3(x, y, z);
+}
+
+
+/**
+ * @brief Update the precipitation effects
+ *
+ * This function permits you to update the precipitation effects.
+ * Be careful, if snow and rain intensity are greater than '0', snow effect
+ * will be first.
+ *
+ * The settings come from the osgParticule/PrecipitationEffect.cpp exemple.
+ */
+bool SGPrecipitation::update(void)
+{
+    if (this->_freeze) {
+        if (this->_rain_intensity > 0) 
+            this->_snow_intensity = this->_rain_intensity;
+    }
+
+    bool enabled = sgEnviro.get_precipitation_enable_state();
+    if (enabled && this->_snow_intensity > 0) {
+        _precipitationEffect->setWind(_wind_vec);
+        _precipitationEffect->setParticleSpeed( -0.75f - 0.25f*_snow_intensity);
+		
+        _precipitationEffect->setParticleSize(0.02f + 0.03f*_snow_intensity);
+        _precipitationEffect->setMaximumParticleDensity(_snow_intensity * 7.2f);
+        _precipitationEffect->setCellSize(osg::Vec3(5.0f / (0.25f+_snow_intensity), 5.0f / (0.25f+_snow_intensity), 5.0f));
+		
+        _precipitationEffect->setNearTransition(25.f);
+        _precipitationEffect->setFarTransition(100.0f - 60.0f*sqrtf(_snow_intensity));
+		
+        _precipitationEffect->setParticleColor(osg::Vec4(0.85, 0.85, 0.85, 1.0) - osg::Vec4(0.1, 0.1, 0.1, 1.0) * _snow_intensity);
+    } else if (enabled && this->_rain_intensity > 0) {
+        _precipitationEffect->setWind(_wind_vec);
+        _precipitationEffect->setParticleSpeed( -2.0f + -5.0f*_rain_intensity);
+		
+        _precipitationEffect->setParticleSize(0.01 + 0.02*_rain_intensity);
+        _precipitationEffect->setMaximumParticleDensity(_rain_intensity * 7.5f);
+        _precipitationEffect->setCellSize(osg::Vec3(5.0f / (0.25f+_rain_intensity), 5.0f / (0.25f+_rain_intensity), 5.0f));
+		
+        _precipitationEffect->setNearTransition(25.f);
+        _precipitationEffect->setFarTransition(100.0f - 60.0f*sqrtf(_rain_intensity));
+		
+        _precipitationEffect->setParticleColor( osg::Vec4(0x7A, 0xCE, 0xFF, 0x80));
+    } else {
+        _precipitationEffect->snow(0);	
+        _precipitationEffect->rain(0);	
+    }
+
+    return true;
+}

simgear/environment/precipitation.hxx

@@ -0,0 +1,61 @@
+/**
+ * @file precipitation.hxx
+ * @author Nicolas VIVIEN
+ * @date 2008-02-10
+ *
+ * @note Copyright (C) 2008 Nicolas VIVIEN
+ *
+ * @brief Precipitation effects to draw rain and snow.
+ *
+ * @par Licences
+ *   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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ */
+
+#ifndef _PRECIPITATION_HXX
+#define _PRECIPITATION_HXX
+
+#include <osg/Group>
+#include <osg/Referenced>
+#include <osgParticle/PrecipitationEffect>
+
+
+class SGPrecipitation : public osg::Referenced
+{
+private:
+    bool _freeze;
+
+    float _snow_intensity;
+    float _rain_intensity;
+    float _clip_distance;
+	
+    int _wind_dir;
+    osg::Vec3 _wind_vec;
+	
+    osg::ref_ptr<osgParticle::PrecipitationEffect> _precipitationEffect;
+
+public:
+    SGPrecipitation();
+    virtual ~SGPrecipitation() {}
+    osg::Group* build(void);
+    bool update(void);
+	
+    void setWindProperty(double, double);
+    void setFreezing(bool);
+    void setRainIntensity(float);
+    void setSnowIntensity(float);
+};
+
+#endif

simgear/environment/visual_enviro.cxx

@@ -30,7 +30,7 @@
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/math/point3d.hxx>
 #include <simgear/math/polar3d.hxx>
-#include <simgear/sound/soundmgr_openal.hxx>
+#include <simgear/sound/sample_group.hxx>
 #include <simgear/scene/sky/cloudfield.hxx>
 #include <simgear/scene/sky/newcloud.hxx>
 #include <simgear/props/props.hxx>
@@ -38,7 +38,7 @@
 
 #include <vector>
 
-SG_USING_STD(vector);
+using std::vector;
 
 
 typedef struct {
@@ -175,7 +175,7 @@ SGEnviro::SGEnviro() :
 	lightning_enable_state(false),
 	elapsed_time(0.0),
 	dt(0.0),
-	soundMgr(NULL),
+	sampleGroup(NULL),
 	snd_active(false),
 	snd_dist(0.0),
 	min_time_before_lt(0.0),
@@ -189,6 +189,10 @@ SGEnviro::SGEnviro() :
 }
 
 SGEnviro::~SGEnviro(void) {
+	if (sampleGroup) delete sampleGroup;
+
+  // OSGFIXME
+  return;
 	list_of_lightning::iterator iLightning;
 	for( iLightning = lightnings.begin() ; iLightning != lightnings.end() ; iLightning++ ) {
 		delete (*iLightning);
@@ -197,10 +201,10 @@ SGEnviro::~SGEnviro(void) {
 }
 
 void SGEnviro::startOfFrame( sgVec3 p, sgVec3 up, double lon, double lat, double alt, double delta_time) {
+  // OSGFIXME
+  return;
 	view_in_cloud = false;
 	// ask the impostor cache to do some cleanup
-	if(SGNewCloud::cldCache)
-		SGNewCloud::cldCache->startNewFrame();
 	last_cloud_turbulence = cloud_turbulence;
 	cloud_turbulence = 0.0;
 	elapsed_time += delta_time;
@@ -251,43 +255,10 @@ void SGEnviro::set_view_in_cloud(bool incloud) {
 	view_in_cloud = incloud;
 }
 
-int SGEnviro::get_CacheResolution(void) const {
-	return SGCloudField::get_CacheResolution();
-}
-
-int SGEnviro::get_clouds_CacheSize(void) const {
-	return SGCloudField::get_CacheSize();
-}
-float SGEnviro::get_clouds_visibility(void) const {
-	return SGCloudField::get_CloudVis();
-}
-float SGEnviro::get_clouds_density(void) const {
-	return SGCloudField::get_density();
-}
-bool SGEnviro::get_clouds_enable_state(void) const {
-	return SGCloudField::get_enable3dClouds();
-}
-
 bool SGEnviro::get_turbulence_enable_state(void) const {
 	return turbulence_enable_state;
 }
 
-void SGEnviro::set_CacheResolution(int resolutionPixels) {
-	SGCloudField::set_CacheResolution(resolutionPixels);
-}
-
-void SGEnviro::set_clouds_CacheSize(int sizeKb) {
-	SGCloudField::set_CacheSize(sizeKb);
-}
-void SGEnviro::set_clouds_visibility(float distance) {
-	SGCloudField::set_CloudVis(distance);
-}
-void SGEnviro::set_clouds_density(float density) {
-	SGCloudField::set_density(density);
-}
-void SGEnviro::set_clouds_enable_state(bool enable) {
-	SGCloudField::set_enable3dClouds(enable);
-}
 void SGEnviro::set_turbulence_enable_state(bool enable) {
 	turbulence_enable_state = enable;
 }
@@ -319,12 +290,14 @@ void SGEnviro::set_lightning_enable_state(bool enable) {
 }
 
 void SGEnviro::setLight(sgVec4 adj_fog_color) {
+  // OSGFIXME
+  return;
 	sgCopyVec4( fog_color, adj_fog_color );
 	if( false ) {
 	//    ssgGetLight( 0 ) -> setColour( GL_DIFFUSE, l->scene_diffuse() );
 	}
 }
-
+#if 0
 void SGEnviro::callback_cloud(float heading, float alt, float radius, int family, float dist, int cloudId) {
 	// send data to wx radar
 	// compute turbulence
@@ -397,6 +370,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int family
 			LWC = 0.29*2.0;
 			break;
 	}
+
 	// add to the list for the wxRadar instrument
 	if( LWC > 0.0 )
 		radarEcho.push_back( SGWxRadarEcho ( heading, alt, radius, dist, LWC, false, cloudId ) );
@@ -434,12 +408,16 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int family
 		}
 }
 
+#endif
+
 list_of_SGWxRadarEcho *SGEnviro::get_radar_echo(void) {
 	return &radarEcho;
 }
 
 // precipitation rendering code
 void SGEnviro::DrawCone2(float baseRadius, float height, int slices, bool down, double rain_norm, double speed) {
+  // OSGFIXME
+  return;
 	sgVec3 light;
 	sgAddVec3( light, fog_color, min_light );
 	float da = SG_PI * 2.0f / (float) slices;
@@ -488,6 +466,8 @@ void SGEnviro::DrawCone2(float baseRadius, float height, int slices, bool down,
 }
 
 void SGEnviro::drawRain(double pitch, double roll, double heading, double hspeed, double rain_norm) {
+  // OSGFIXME
+  return;
 
 #if 0
 	static int debug_period = 0;
@@ -552,11 +532,13 @@ void SGEnviro::drawRain(double pitch, double roll, double heading, double hspeed
 
 }
 
-void SGEnviro::set_soundMgr(SGSoundMgr *mgr) {
-	soundMgr = mgr;
+void SGEnviro::set_sampleGroup(SGSampleGroup *sgr) {
+	sampleGroup = sgr;
 }
 
 void SGEnviro::drawPrecipitation(double rain_norm, double snow_norm, double hail_norm, double pitch, double roll, double heading, double hspeed) {
+  // OSGFIXME
+  return;
 	if( precipitation_enable_state && rain_norm > 0.0)
 	  if( precipitation_max_alt >= last_alt )
 		drawRain(pitch, roll, heading, hspeed, rain_norm);
@@ -579,6 +561,8 @@ SGLightning::~SGLightning() {
 
 // lightning rendering code
 void SGLightning::lt_build_tree_branch(int tree_nr, Point3D &start, float energy, int nbseg, float segsize) {
+  // OSGFIXME
+  return;
 
 	sgVec3 dir, newdir;
 	int nseg = 0;
@@ -626,13 +610,15 @@ void SGLightning::lt_build_tree_branch(int tree_nr, Point3D &start, float energy
 }
 
 void SGLightning::lt_build(void) {
+  // OSGFIXME
+  return;
     Point3D top;
     nb_tree = 0;
     top[PX] = 0 ;
     top[PY] = alt;
     top[PZ] = 0;
     lt_build_tree_branch(0, top, 1.0, 50, top[PY] / 8.0);
-	if( ! sgEnviro.soundMgr )
+	if( ! sgEnviro.sampleGroup )
 		return;
 	Point3D start( sgEnviro.last_lon*SG_DEGREES_TO_RADIANS, sgEnviro.last_lat*SG_DEGREES_TO_RADIANS, 0.0 );
 	Point3D dest( lon*SG_DEGREES_TO_RADIANS, lat*SG_DEGREES_TO_RADIANS, 0.0 );
@@ -651,6 +637,8 @@ void SGLightning::lt_build(void) {
 
 
 void SGLightning::lt_Render(void) {
+  // OSGFIXME
+  return;
 	float flash = 0.5;
 	if( fmod(sgEnviro.elapsed_time*100.0, 100.0) > 50.0 )
 		flash = sg_random() * 0.75f + 0.25f;
@@ -675,10 +663,12 @@ void SGLightning::lt_Render(void) {
 	glDisable( GL_FOG );
 	glPushMatrix();
 	sgMat4 modelview, tmp;
-    ssgGetModelviewMatrix( modelview );
+    // OSGFIXME
+//     ssgGetModelviewMatrix( modelview );
 	sgCopyMat4( tmp, sgEnviro.transform );
     sgPostMultMat4( tmp, modelview );
-    ssgLoadModelviewMatrix( tmp );
+    // OSGFIXME
+//     ssgLoadModelviewMatrix( tmp );
 
     Point3D start( sgEnviro.last_lon*SG_DEGREES_TO_RADIANS, sgEnviro.last_lat*SG_DEGREES_TO_RADIANS, 0.0 );
     Point3D dest( lon*SG_DEGREES_TO_RADIANS, lat*SG_DEGREES_TO_RADIANS, 0.0 );
@@ -736,6 +726,8 @@ void SGLightning::lt_Render(void) {
 }
 
 void SGEnviro::addLightning(double lon, double lat, double alt) {
+  // OSGFIXME
+  return;
 	if( lightnings.size() > 10)
 		return;
 	SGLightning *lt= new SGLightning(lon, lat, alt);
@@ -743,9 +735,11 @@ void SGEnviro::addLightning(double lon, double lat, double alt) {
 }
 
 void SGEnviro::drawLightning(void) {
+  // OSGFIXME
+  return;
 	list_of_lightning::iterator iLightning;
 	// play 'thunder' for lightning
-	if( snd_active )
+	if( snd_active ) {
 		if( !snd_playing ) {
 			// wait until sound has reached us
 			snd_timer += dt;
@@ -759,20 +753,21 @@ void SGEnviro::drawLightning(void) {
 				double ax = 0.0, ay = 0.0;
 				ax = cos(course) * dist;
 				ay = sin(course) * dist;
-				SGSharedPtr<SGSoundSample> snd = soundMgr->find("thunder");
+				SGSharedPtr<SGSoundSample> snd = sampleGroup->find("thunder");
 				if( snd ) {
-					ALfloat pos[3]={ax, ay, -sgEnviro.last_alt };
-					snd->set_source_pos(pos);
+					SGVec3d pos = SGVec3d(ax, ay, -sgEnviro.last_alt);
+					snd->set_position(pos);
 					snd->play_once();
 				}
 			}
 		} else {
-			if( !soundMgr->is_playing("thunder") ) {
+			if( !sampleGroup->is_playing("thunder") ) {
 				snd_active = false;
 				snd_playing = false;
 			}
 		}
 
+	}
 	if( ! lightning_enable_state )
 		return;
 

simgear/environment/visual_enviro.hxx

@@ -25,14 +25,14 @@
 #include <plib/sg.h>
 
 #include <simgear/compiler.h>
-#include STL_STRING
+#include <string>
 #include <vector>
 
-SG_USING_STD(vector);
-SG_USING_STD(string);
+using std::vector;
+using std::string;
 
 class SGLightning;
-class SGSoundMgr;
+class SGSampleGroup;
 
 /**
  * Simulate some echo on a weather radar.
@@ -40,7 +40,8 @@ class SGSoundMgr;
  */
 class SGWxRadarEcho {
 public:
-	SGWxRadarEcho(float _heading, float _alt, float _radius, float _dist, double _LWC, bool _lightning, int _cloudId) :
+	SGWxRadarEcho(float _heading, float _alt, float _radius, float _dist,
+			double _LWC, bool _lightning, int _cloudId ) :
 	  heading( _heading ),
 	  alt ( _alt ),
 	  radius ( _radius ),
@@ -56,7 +57,7 @@ public:
 	/** reflectivity converted to liquid water content. */
 	double LWC;
 	/** if true then this data is for a lightning else it is for water echo. */
-	bool   lightning;
+	bool lightning;
 	/** Unique identifier of cloud */
 	int cloudId;
 };
@@ -83,7 +84,7 @@ private:
 	sgVec4	fog_color;
 	sgMat4 transform;
 	double last_lon, last_lat, last_alt;
-	SGSoundMgr	*soundMgr;
+	SGSampleGroup	*sampleGroup;
 	bool		snd_active, snd_playing;
 	double		snd_timer, snd_wait, snd_pos_lat, snd_pos_lon, snd_dist;
 	double		min_time_before_lt;
@@ -124,6 +125,7 @@ public:
 
 	void endOfFrame(void);
 
+#if 0
     /**
      * Whenever a cloud is drawn we check his 'impact' on the environment.
      * @param heading direction of cloud in radians
@@ -133,7 +135,7 @@ public:
      * @param dist  squared dist to cloud in meters
      */
 	void callback_cloud(float heading, float alt, float radius, int family, float dist, int cloudId);
-
+#endif
 	void drawRain(double pitch, double roll, double heading, double hspeed, double rain_norm);
     /**
      * Draw rain or snow precipitation around the viewer.
@@ -241,7 +243,7 @@ public:
      * Forward the sound manager instance to be able to play samples.
      * @param mgr a running sound manager
      */
-	void set_soundMgr(SGSoundMgr *mgr);
+	void set_sampleGroup(SGSampleGroup *sgr);
 
 	void setFOV( float w, float h );
 	void getFOV( float &w, float &h );

simgear/ephemeris/celestialBody.cxx

@@ -24,9 +24,6 @@
 
 #include <simgear/debug/logstream.hxx>
 
-#ifdef SG_MATH_EXCEPTION_CLASH
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "celestialBody.hxx"

simgear/ephemeris/ephemeris.cxx

@@ -31,7 +31,7 @@
 
 
 // Constructor
-SGEphemeris::SGEphemeris( const string &path ) {
+SGEphemeris::SGEphemeris( const std::string &path ) {
     our_sun = new Star;
     moon = new MoonPos;
     mercury = new Mercury;
@@ -42,9 +42,8 @@ SGEphemeris::SGEphemeris( const string &path ) {
     uranus = new Uranus;
     neptune = new Neptune;
     nplanets = 7;
-    for ( int i = 0; i < nplanets; ++i ) {
-        sgdSetVec3( planets[i], 0.0, 0.0, 0.0 );
-    }
+    for ( int i = 0; i < nplanets; ++i )
+      planets[i] = SGVec3d::zeros();
     stars = new SGStarData( SGPath(path) );
 }
 

simgear/ephemeris/ephemeris.hxx

@@ -29,8 +29,7 @@
 #ifndef _EPHEMERIS_HXX
 #define _EPHEMERIS_HXX
 
-
-#include <plib/sg.h>
+#include <string>
 
 #include <simgear/ephemeris/star.hxx>
 #include <simgear/ephemeris/moonpos.hxx>
@@ -43,6 +42,9 @@
 #include <simgear/ephemeris/neptune.hxx>
 #include <simgear/ephemeris/stardata.hxx>
 
+#include <simgear/math/SGMath.hxx>
+#include <simgear/misc/sg_path.hxx>
+
 
 /** Ephemeris class
  *
@@ -83,7 +85,7 @@ class SGEphemeris {
     // planets[i][1] = Declination
     // planets[i][2] = Magnitude
     int nplanets;
-    sgdVec3 planets[7];
+    SGVec3d planets[7];
 
     SGStarData *stars;
 
@@ -95,7 +97,7 @@ public:
      * calling the constructor you need to provide a path pointing to
      * your star database file.
      * @param path path to your star database */
-    SGEphemeris( const string &path );
+    SGEphemeris( const std::string &path );
 
     /** Destructor */
     ~SGEphemeris( void );
@@ -155,7 +157,8 @@ public:
      * the second is the declination, and the third is the magnitude.
      * @return planets array
      */
-    inline sgdVec3 *getPlanets() { return planets; }
+    inline SGVec3d *getPlanets() { return planets; }
+    inline const SGVec3d *getPlanets() const { return planets; }
 
     /** @return the numbers of defined stars. */
     inline int getNumStars() const { return stars->getNumStars(); }
@@ -167,7 +170,8 @@ public:
      * third is the magnitude.
      * @returns star array
      */
-    inline sgdVec3 *getStars() { return stars->getStars(); }
+    inline SGVec3d *getStars() { return stars->getStars(); }
+    inline const SGVec3d *getStars() const { return stars->getStars(); }
 };
 
 

simgear/ephemeris/jupiter.cxx

@@ -22,10 +22,6 @@
  * $Id$
  **************************************************************************/
 
-
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "jupiter.hxx"

simgear/ephemeris/mars.cxx

@@ -22,9 +22,6 @@
  * $Id$
  **************************************************************************/
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "mars.hxx"

simgear/ephemeris/mercury.cxx

@@ -22,9 +22,6 @@
  * $Id$
  **************************************************************************/
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "mercury.hxx"

simgear/ephemeris/moonpos.cxx

@@ -27,9 +27,6 @@
 
 #include <simgear/debug/logstream.hxx>
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 // #include <FDM/flight.hxx>

simgear/ephemeris/saturn.cxx

@@ -22,9 +22,6 @@
  * $Id$
  **************************************************************************/
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "saturn.hxx"

simgear/ephemeris/star.cxx

@@ -22,10 +22,6 @@
  * $Id$
  **************************************************************************/
 
-
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include <simgear/debug/logstream.hxx>

simgear/ephemeris/stardata.cxx

@@ -25,25 +25,19 @@
 #endif
 
 #include <simgear/debug/logstream.hxx>
+#include <simgear/misc/sg_path.hxx>
 #include <simgear/misc/sgstream.hxx>
 
 #include "stardata.hxx"
 
 #if defined (_MSC_VER)
-  SG_USING_STD(getline);
+  using std::getline;
 #endif
 
 // Constructor
-SGStarData::SGStarData() :
-    nstars(0)
+SGStarData::SGStarData( const SGPath& path )
 {
-}
-
-SGStarData::SGStarData( SGPath path ) :
-    nstars(0)
-{
-    data_path = SGPath( path );
-    load();
+    load(path);
 }
 
 
@@ -52,31 +46,28 @@ SGStarData::~SGStarData() {
 }
 
 
-bool SGStarData::load() {
+bool SGStarData::load( const SGPath& path ) {
 
-    // -dw- avoid local data > 32k error by dynamic allocation of the
-    // array, problem for some compilers
-    stars = new sgdVec3[SG_MAX_STARS];
+    _stars.clear();
 
-     // build the full path name to the stars data base file
-    data_path.append( "stars" );
-    SG_LOG( SG_ASTRO, SG_INFO, "  Loading stars from " << data_path.str() );
+    // build the full path name to the stars data base file
+    SGPath tmp = path;
+    tmp.append( "stars" );
+    SG_LOG( SG_ASTRO, SG_INFO, "  Loading stars from " << tmp.str() );
 
-    sg_gzifstream in( data_path.str() );
+    sg_gzifstream in( tmp.str() );
     if ( ! in.is_open() ) {
 	SG_LOG( SG_ASTRO, SG_ALERT, "Cannot open star file: "
-		<< data_path.str() );
-	exit(-1);
+		<< tmp.str() );
+        return false;
     }
 
     double ra, dec, mag;
     char c;
     string name;
 
-    nstars = 0;
-
     // read in each line of the file
-    while ( ! in.eof() && nstars < SG_MAX_STARS ) {
+    while ( ! in.eof() ) {
 	in >> skipcomment;
 
         getline( in, name, ',' );
@@ -116,13 +107,10 @@ bool SGStarData::load() {
 	in >> mag;
 
 	// cout << " star data = " << ra << " " << dec << " " << mag << endl;
-
-	sgdSetVec3( stars[nstars], ra, dec, mag );
-
-	++nstars;
+        _stars.push_back(SGVec3d(ra, dec, mag));
     }
 
-    SG_LOG( SG_ASTRO, SG_INFO, "  Loaded " << nstars << " stars" );
+    SG_LOG( SG_ASTRO, SG_INFO, "  Loaded " << _stars.size() << " stars" );
 
     return true;
 }

simgear/ephemeris/stardata.hxx

@@ -24,37 +24,28 @@
 #ifndef _SG_STARDATA_HXX
 #define _SG_STARDATA_HXX
 
+#include <vector>
+#include <simgear/math/SGMath.hxx>
 
-#include <plib/sg.h>
-
-#include <simgear/misc/sg_path.hxx>
-
-
-#define SG_MAX_STARS 850
-
+class SGPath;
 
 class SGStarData {
-
-    int nstars;
-    sgdVec3 *stars;
-    
-    SGPath data_path;
-
 public:
-
     // Constructor
-    SGStarData();
-    SGStarData( SGPath path );
+    SGStarData( const SGPath& path );
 
     // Destructor
     ~SGStarData();
 
     // load the stars database
-    bool load();
+    bool load( const SGPath& path );
 
     // stars
-    inline int getNumStars() const { return nstars; }
-    inline sgdVec3 *getStars() { return stars; }
+    inline int getNumStars() const { return _stars.size(); }
+    inline SGVec3d *getStars() { return &(_stars[0]); }
+
+private:
+    std::vector<SGVec3d> _stars;
 };
 
 

simgear/ephemeris/uranus.cxx

@@ -22,9 +22,6 @@
  * $Id$
  **************************************************************************/
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "uranus.hxx"

simgear/ephemeris/venus.cxx

@@ -22,9 +22,6 @@
  * $Id$
  **************************************************************************/
 
-#ifdef __BORLANDC__
-#  define exception c_exception
-#endif
 #include <math.h>
 
 #include "venus.hxx"

simgear/io/Makefile.am

@@ -26,41 +26,59 @@ noinst_PROGRAMS = decode_binobj socktest lowtest tcp_server tcp_client
 
 tcp_server_SOURCES = tcp_server.cxx
 
+if HAVE_FRAMEWORK_PLIB
+tcp_server_LDFLAGS = $(plib_FRAMEWORK)
+else
+tcp_server_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 tcp_server_LDADD = \
-	$(top_builddir)/simgear/io/libsgio.a \
+	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+	$(tcp_server_PLIB_LIBS) -lz \
 	$(network_LIBS) \
 	$(base_LIBS)
 
 tcp_client_SOURCES = tcp_client.cxx
 
+if HAVE_FRAMEWORK_PLIB
+tcp_client_LDFLAGS = $(plib_FRAMEWORK)
+else
+tcp_client_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 tcp_client_LDADD = \
-	$(top_builddir)/simgear/io/libsgio.a \
+	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+	$(tcp_client_PLIB_LIBS) -lz \
 	$(network_LIBS) \
 	$(base_LIBS)
 
 socktest_SOURCES = socktest.cxx
 
+if HAVE_FRAMEWORK_PLIB
+socktest_LDFLAGS = $(plib_FRAMEWORK)
+else
+socktest_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 socktest_LDADD = \
-	$(top_builddir)/simgear/io/libsgio.a \
+	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+        $(socktest_PLIB_LIBS) -lz \
 	$(network_LIBS) \
-	$(base_LIBS)
+	$(base_LIBS) 
 
 lowtest_SOURCES = lowtest.cxx
 
 lowtest_LDADD = \
-	$(top_builddir)/simgear/io/libsgio.a \
+	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
@@ -69,7 +87,7 @@ lowtest_LDADD = \
 decode_binobj_SOURCES = decode_binobj.cxx
 
 decode_binobj_LDADD = \
-	$(top_builddir)/simgear/io/libsgio.a \
+	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \

simgear/io/decode_binobj.cxx

@@ -5,12 +5,12 @@
 #include <simgear/compiler.h>
 
 #include <unistd.h>
-#include STL_IOSTREAM
+#include <iostream>
 
 #include "sg_binobj.hxx"
 
-SG_USING_STD(cout);
-SG_USING_STD(endl);
+using std::cout;
+using std::endl;
 
 
 int main( int argc, char **argv ) {
@@ -37,14 +37,14 @@ int main( int argc, char **argv ) {
            obj.get_gbs_radius());
     cout << endl;
 
-    point_list nodes = obj.get_wgs84_nodes();
+    std::vector<SGVec3d> nodes = obj.get_wgs84_nodes();
     cout << "# vertex list" << endl;
     for ( i = 0; i < (int)nodes.size(); ++i ) {
         printf("v %.5f %.5f %.5f\n", nodes[i].x(), nodes[i].y(), nodes[i].z() );
     }
     cout << endl;
 
-    point_list normals = obj.get_normals();
+    std::vector<SGVec3f> normals = obj.get_normals();
     cout << "# vertex normal list" << endl;
     for ( i = 0; i < (int)normals.size(); ++i ) {
         printf("vn %.5f %.5f %.5f\n",
@@ -52,7 +52,7 @@ int main( int argc, char **argv ) {
     }
     cout << endl;
 
-    point_list texcoords = obj.get_texcoords();
+    std::vector<SGVec2f> texcoords = obj.get_texcoords();
     cout << "# texture coordinate list" << endl;
     for ( i = 0; i < (int)texcoords.size(); ++i ) {
         printf("vt %.5f %.5f\n",

simgear/io/iochannel.hxx

@@ -32,11 +32,11 @@
 
 // #include "protocol.hxx"
 
-#include STL_STRING
+#include <string>
 #include <vector>
 
-SG_USING_STD(vector);
-SG_USING_STD(string);
+using std::vector;
+using std::string;
 
 
 #define SG_IO_MAX_MSG_SIZE 16384

simgear/io/lowlevel.cxx

@@ -55,21 +55,25 @@ void sgWriteChar ( gzFile fd, const char var )
 
 void sgReadFloat ( gzFile fd, float *var )
 {
-    if ( gzread ( fd, var, sizeof(float) ) != sizeof(float) ) {
+    union { float v; uint32_t u; } buf;
+    if ( gzread ( fd, &buf.u, sizeof(float) ) != sizeof(float) ) {
         read_error = true ;
     }
     if ( sgIsBigEndian() ) {
-        sgEndianSwap( (uint32_t *)var);
+        sgEndianSwap( &buf.u );
     }
+    *var = buf.v;
 }
 
 
 void sgWriteFloat ( gzFile fd, const float var )
 {
+    union { float v; uint32_t u; } buf;
+    buf.v = var;
     if ( sgIsBigEndian() ) {
-        sgEndianSwap( (uint32_t *)&var);
+        sgEndianSwap( &buf.u );
     }
-    if ( gzwrite ( fd, (void *)(&var), sizeof(float) ) != sizeof(float) ) {
+    if ( gzwrite ( fd, (void *)(&buf.u), sizeof(float) ) != sizeof(float) ) {
         write_error = true ;
     }
 }
@@ -77,21 +81,25 @@ void sgWriteFloat ( gzFile fd, const float var )
 
 void sgReadDouble ( gzFile fd, double *var )
 {
-    if ( gzread ( fd, var, sizeof(double) ) != sizeof(double) ) {
+    union { double v; uint64_t u; } buf;
+    if ( gzread ( fd, &buf.u, sizeof(double) ) != sizeof(double) ) {
         read_error = true ;
     }
     if ( sgIsBigEndian() ) {
-        sgEndianSwap( (uint64_t *)var);
+        sgEndianSwap( &buf.u );
     }
+    *var = buf.v;
 }
 
 
 void sgWriteDouble ( gzFile fd, const double var )
 {
+    union { double v; uint64_t u; } buf;
+    buf.v = var;
     if ( sgIsBigEndian() ) {
-        sgEndianSwap( (uint64_t *)&var);
+        sgEndianSwap( &buf.u );
     }
-    if ( gzwrite ( fd, (void *)(&var), sizeof(double) ) != sizeof(double) ) {
+    if ( gzwrite ( fd, (void *)(&buf.u), sizeof(double) ) != sizeof(double) ) {
         write_error = true ;
     }
 }

simgear/io/lowtest.cxx

@@ -1,6 +1,6 @@
 #include <simgear/compiler.h>
 
-#include STL_IOSTREAM
+#include <iostream>
 #include "lowlevel.hxx"
 
 
@@ -8,8 +8,8 @@ static const int sgEndianTest = 1;
 #define sgIsLittleEndian (*((char *) &sgEndianTest ) != 0)
 #define sgIsBigEndian    (*((char *) &sgEndianTest ) == 0)
 
-SG_USING_STD(cout);
-SG_USING_STD(endl);
+using std::cout;
+using std::endl;
 
 
 int main() {

simgear/io/sg_binobj.cxx

@@ -33,7 +33,8 @@
 #include <time.h>
 
 #include <vector>
-#include STL_STRING
+#include <string>
+#include <iostream>
 
 #include <simgear/bucket/newbucket.hxx>
 #include <simgear/misc/sg_path.hxx>
@@ -42,9 +43,10 @@
 #include "sg_binobj.hxx"
 
 
-SG_USING_STD( string );
-SG_USING_STD( vector );
-
+using std::string;
+using std::vector;
+using std::cout;
+using std::endl;
 
 enum sgObjectTypes {
     SG_BOUNDING_SPHERE = 0,
@@ -174,7 +176,7 @@ static void read_object( gzFile fp,
     int idx_size;
     bool do_vertices, do_normals, do_colors, do_texcoords;
     int j, k, idx;
-    static sgSimpleBuffer buf( 32768 );  // 32 Kb
+    sgSimpleBuffer buf( 32768 );  // 32 Kb
     char material[256];
 
     // default values
@@ -280,13 +282,13 @@ static void read_object( gzFile fp,
 
 // read a binary file and populate the provided structures.
 bool SGBinObject::read_bin( const string& file ) {
-    Point3D p;
+    SGVec3d p;
     int i, j, k;
     unsigned int nbytes;
-    static sgSimpleBuffer buf( 32768 );  // 32 Kb
+    sgSimpleBuffer buf( 32768 );  // 32 Kb
 
     // zero out structures
-    gbs_center = Point3D( 0 );
+    gbs_center = SGVec3d(0, 0, 0);
     gbs_radius = 0.0;
 
     wgs84_nodes.clear();
@@ -322,7 +324,7 @@ bool SGBinObject::read_bin( const string& file ) {
 	string filegz = file + ".gz";
 	if ( (fp = gzopen( filegz.c_str(), "rb" )) == NULL ) {
             SG_LOG( SG_EVENT, SG_ALERT,
-               "ERROR: opening " << file << " or " << filegz << "for reading!");
+               "ERROR: opening " << file << " or " << filegz << " for reading!");
 
 	    return false;
 	}
@@ -364,18 +366,32 @@ bool SGBinObject::read_bin( const string& file ) {
 #endif
 
     // read number of top level objects
-    short nobjects;
-    sgReadShort( fp, &nobjects );
+    unsigned short nobjects;
+    if ( version >= 7 ) {
+        sgReadUShort( fp, &nobjects );
+    } else {
+        short tmp;
+        sgReadShort( fp, &tmp );
+        nobjects = tmp;
+    }
     // cout << "Total objects to read = " << nobjects << endl;
 
     // read in objects
     for ( i = 0; i < nobjects; ++i ) {
 	// read object header
 	char obj_type;
-	short nproperties, nelements;
+	unsigned short nproperties, nelements;
 	sgReadChar( fp, &obj_type );
-	sgReadShort( fp, &nproperties );
-	sgReadShort( fp, &nelements );
+        if ( version >= 7 ) {
+            sgReadUShort( fp, &nproperties );
+            sgReadUShort( fp, &nelements );
+        } else {
+            short tmp;
+            sgReadShort( fp, &tmp );
+            nproperties = tmp;
+            sgReadShort( fp, &tmp );
+            nelements = tmp;
+        }
 
 	// cout << "object " << i << " = " << (int)obj_type << " props = "
 	//      << nproperties << " elements = " << nelements << endl;
@@ -407,7 +423,7 @@ bool SGBinObject::read_bin( const string& file ) {
 		    sgEndianSwap( (uint64_t *)&(dptr[1]) );
 		    sgEndianSwap( (uint64_t *)&(dptr[2]) );
 		}
-		gbs_center = Point3D( dptr[0], dptr[1], dptr[2] );
+		gbs_center = SGVec3d( dptr[0], dptr[1], dptr[2] );
 		// cout << "Center = " << gbs_center << endl;
 		ptr += sizeof(double) * 3;
 		
@@ -447,7 +463,7 @@ bool SGBinObject::read_bin( const string& file ) {
 			sgEndianSwap( (uint32_t *)&(fptr[1]) );
 			sgEndianSwap( (uint32_t *)&(fptr[2]) );
 		    }
-		    wgs84_nodes.push_back( Point3D(fptr[0], fptr[1], fptr[2]) );
+		    wgs84_nodes.push_back( SGVec3d(fptr[0], fptr[1], fptr[2]) );
 		    fptr += 3;
 		}
 	    }
@@ -481,7 +497,8 @@ bool SGBinObject::read_bin( const string& file ) {
 			sgEndianSwap( (uint32_t *)&(fptr[2]) );
 			sgEndianSwap( (uint32_t *)&(fptr[3]) );
 		    }
-		    colors.push_back( Point3D( fptr[0], fptr[1], fptr[2] ) );
+		    SGVec4f color( fptr[0], fptr[1], fptr[2], fptr[3] );
+		    colors.push_back( color );
 		    fptr += 4;
 		}
 	    }
@@ -508,14 +525,11 @@ bool SGBinObject::read_bin( const string& file ) {
 		int count = nbytes / 3;
 		normals.reserve( count );
 		for ( k = 0; k < count; ++k ) {
-                    sgdVec3 normal;
-                    sgdSetVec3( normal,
-                               (ptr[0]) / 127.5 - 1.0,
-                               (ptr[1]) / 127.5 - 1.0,
-                               (ptr[2]) / 127.5 - 1.0 );
-                    sgdNormalizeVec3( normal );
+                    SGVec3f normal((ptr[0]) / 127.5 - 1.0,
+                                   (ptr[1]) / 127.5 - 1.0,
+                                   (ptr[2]) / 127.5 - 1.0);
 
-		    normals.push_back(Point3D(normal[0], normal[1], normal[2]));
+		    normals.push_back(normalize(normal));
 		    ptr += 3;
 		}
 	    }
@@ -547,7 +561,7 @@ bool SGBinObject::read_bin( const string& file ) {
 			sgEndianSwap( (uint32_t *)&(fptr[0]) );
 			sgEndianSwap( (uint32_t *)&(fptr[1]) );
 		    }
-		    texcoords.push_back( Point3D( fptr[0], fptr[1], 0 ) );
+		    texcoords.push_back( SGVec2f( fptr[0], fptr[1] ) );
 		    fptr += 2;
 		}
 	    }
@@ -612,10 +626,6 @@ bool SGBinObject::read_bin( const string& file ) {
 bool SGBinObject::write_bin( const string& base, const string& name,
 			     const SGBucket& b )
 {
-    Point3D p;
-    sgVec2 t;
-    sgVec3 pt;
-    sgVec4 color;
     int i, j;
     unsigned char idx_mask;
     int idx_size;
@@ -655,7 +665,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     string material;
     int start;
     int end;
-    short nobjects = 0;
+    unsigned short nobjects = 0;
     nobjects++;			// for gbs
     nobjects++;			// for vertices
     nobjects++;			// for colors
@@ -663,7 +673,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     nobjects++;			// for texcoords
 
     // points
-    short npts = 0;
+    unsigned short npts = 0;
     start = 0; end = 1;
     while ( start < (int)pt_materials.size() ) {
 	material = pt_materials[start];
@@ -677,7 +687,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     nobjects += npts;
 
     // tris
-    short ntris = 0;
+    unsigned short ntris = 0;
     start = 0; end = 1;
     while ( start < (int)tri_materials.size() ) {
 	material = tri_materials[start];
@@ -691,7 +701,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     nobjects += ntris;
 
     // strips
-    short nstrips = 0;
+    unsigned short nstrips = 0;
     start = 0; end = 1;
     while ( start < (int)strip_materials.size() ) {
 	material = strip_materials[start];
@@ -705,7 +715,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     nobjects += nstrips;
 
     // fans
-    short nfans = 0;
+    unsigned short nfans = 0;
     start = 0; end = 1;
     while ( start < (int)fan_materials.size() ) {
 	material = fan_materials[start];
@@ -719,12 +729,12 @@ bool SGBinObject::write_bin( const string& base, const string& name,
     nobjects += nfans;
 
     cout << "total top level objects = " << nobjects << endl;
-    sgWriteShort( fp, nobjects );
+    sgWriteUShort( fp, nobjects );
 
     // write bounding sphere
     sgWriteChar( fp, (char)SG_BOUNDING_SPHERE );        // type
-    sgWriteShort( fp, 0 );		                // nproperties
-    sgWriteShort( fp, 1 );		                // nelements
+    sgWriteUShort( fp, 0 );		                // nproperties
+    sgWriteUShort( fp, 1 );		                // nelements
 
     sgWriteUInt( fp, sizeof(double) * 3 + sizeof(float) ); // nbytes
     sgdVec3 center;
@@ -734,37 +744,31 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
     // dump vertex list
     sgWriteChar( fp, (char)SG_VERTEX_LIST );             // type
-    sgWriteShort( fp, 0 );		                 // nproperties
-    sgWriteShort( fp, 1 );		                 // nelements
+    sgWriteUShort( fp, 0 );		                 // nproperties
+    sgWriteUShort( fp, 1 );		                 // nelements
     sgWriteUInt( fp, wgs84_nodes.size() * sizeof(float) * 3 ); // nbytes
     for ( i = 0; i < (int)wgs84_nodes.size(); ++i ) {
-	p = wgs84_nodes[i] - gbs_center;
-	sgSetVec3( pt, p.x(), p.y(), p.z() );
-	sgWriteVec3( fp, pt );
+        SGVec3f p = toVec3f(wgs84_nodes[i] - gbs_center);
+	sgWriteVec3( fp, p.data() );
     }
 
     // dump vertex color list
     sgWriteChar( fp, (char)SG_COLOR_LIST );             // type
-    sgWriteShort( fp, 0 );		                 // nproperties
-    sgWriteShort( fp, 1 );		                 // nelements
+    sgWriteUShort( fp, 0 );		                 // nproperties
+    sgWriteUShort( fp, 1 );		                 // nelements
     sgWriteUInt( fp, colors.size() * sizeof(float) * 4 ); // nbytes
     for ( i = 0; i < (int)colors.size(); ++i ) {
-	p = colors[i];
-        // Right now we have a place holder for color alpha but we
-        // need to update the interface so the calling program can
-        // provide the info.
-	sgSetVec4( color, p.x(), p.y(), p.z(), 1.0 );
-	sgWriteVec4( fp, color );
+	sgWriteVec4( fp, colors[i].data() );
     }
 
     // dump vertex normal list
     sgWriteChar( fp, (char)SG_NORMAL_LIST );            // type
-    sgWriteShort( fp, 0 );		                // nproperties
-    sgWriteShort( fp, 1 );		                // nelements
+    sgWriteUShort( fp, 0 );		                // nproperties
+    sgWriteUShort( fp, 1 );		                // nelements
     sgWriteUInt( fp, normals.size() * 3 );              // nbytes
     char normal[3];
     for ( i = 0; i < (int)normals.size(); ++i ) {
-	p = normals[i];
+        SGVec3f p = normals[i];
 	normal[0] = (unsigned char)((p.x() + 1.0) * 127.5);
 	normal[1] = (unsigned char)((p.y() + 1.0) * 127.5);
 	normal[2] = (unsigned char)((p.z() + 1.0) * 127.5);
@@ -773,13 +777,11 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
     // dump texture coordinates
     sgWriteChar( fp, (char)SG_TEXCOORD_LIST );          // type
-    sgWriteShort( fp, 0 );		                // nproperties
-    sgWriteShort( fp, 1 );		                // nelements
+    sgWriteUShort( fp, 0 );		                // nproperties
+    sgWriteUShort( fp, 1 );		                // nelements
     sgWriteUInt( fp, texcoords.size() * sizeof(float) * 2 ); // nbytes
     for ( i = 0; i < (int)texcoords.size(); ++i ) {
-	p = texcoords[i];
-	sgSetVec2( t, p.x(), p.y() );
-	sgWriteVec2( fp, t );
+	sgWriteVec2( fp, texcoords[i].data() );
     }
 
     // dump point groups if they exist
@@ -800,8 +802,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
 	    // write group headers
 	    sgWriteChar( fp, (char)SG_POINTS );          // type
-	    sgWriteShort( fp, 2 );		         // nproperties
-	    sgWriteShort( fp, end - start );             // nelements
+	    sgWriteUShort( fp, 2 );		         // nproperties
+	    sgWriteUShort( fp, end - start );             // nelements
 
 	    sgWriteChar( fp, (char)SG_MATERIAL );        // property
 	    sgWriteUInt( fp, material.length() );        // nbytes
@@ -820,19 +822,20 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 	    // write strips
 	    for ( i = start; i < end; ++i ) {
 		// nbytes
-		sgWriteUInt( fp, pts_v[i].size() * idx_size * sizeof(short) );
+		sgWriteUInt( fp, pts_v[i].size() * idx_size
+                                 * sizeof(unsigned short) );
 		for ( j = 0; j < (int)pts_v[i].size(); ++j ) {
 		    if ( pts_v.size() ) { 
-			sgWriteShort( fp, (short)pts_v[i][j] );
+			sgWriteUShort( fp, (unsigned short)pts_v[i][j] );
 		    }
 		    if ( pts_n.size() ) { 
-			sgWriteShort( fp, (short)pts_n[i][j] );
+			sgWriteUShort( fp, (unsigned short)pts_n[i][j] );
 		    }
 		    if ( pts_c.size() ) { 
-			sgWriteShort( fp, (short)pts_c[i][j] );
+			sgWriteUShort( fp, (unsigned short)pts_c[i][j] );
 		    }
 		    if ( pts_tc.size() ) { 
-			sgWriteShort( fp, (short)pts_tc[i][j] );
+			sgWriteUShort( fp, (unsigned short)pts_tc[i][j] );
 		    }
 		}
 	    }
@@ -861,8 +864,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
 	    // write group headers
 	    sgWriteChar( fp, (char)SG_TRIANGLE_FACES ); // type
-	    sgWriteShort( fp, 2 );		        // nproperties
-	    sgWriteShort( fp, 1 );                      // nelements
+	    sgWriteUShort( fp, 2 );		        // nproperties
+	    sgWriteUShort( fp, 1 );                      // nelements
 
 	    sgWriteChar( fp, (char)SG_MATERIAL );       // property
 	    sgWriteUInt( fp, material.length() );        // nbytes
@@ -879,22 +882,23 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 	    sgWriteChar( fp, idx_mask );
 
 	    // nbytes
-	    sgWriteUInt( fp, (end - start) * 3 * idx_size * sizeof(short) );
+	    sgWriteUInt( fp, (end - start) * 3 * idx_size
+                             * sizeof(unsigned short) );
 
 	    // write group
 	    for ( i = start; i < end; ++i ) {
 		for ( j = 0; j < 3; ++j ) {
 		    if ( tris_v.size() ) {
-			sgWriteShort( fp, (short)tris_v[i][j] );
+			sgWriteUShort( fp, (unsigned short)tris_v[i][j] );
 		    }
 		    if ( tris_n.size() ) {
-			sgWriteShort( fp, (short)tris_n[i][j] );
+			sgWriteUShort( fp, (unsigned short)tris_n[i][j] );
 		    }
 		    if ( tris_c.size() ) {
-			sgWriteShort( fp, (short)tris_c[i][j] );
+			sgWriteUShort( fp, (unsigned short)tris_c[i][j] );
 		    }
 		    if ( tris_tc.size() ) {
-			sgWriteShort( fp, (short)tris_tc[i][j] );
+			sgWriteUShort( fp, (unsigned short)tris_tc[i][j] );
 		    }
 		}
 	    }
@@ -922,8 +926,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
 	    // write group headers
 	    sgWriteChar( fp, (char)SG_TRIANGLE_STRIPS ); // type
-	    sgWriteShort( fp, 2 );		         // nproperties
-	    sgWriteShort( fp, end - start );             // nelements
+	    sgWriteUShort( fp, 2 );		         // nproperties
+	    sgWriteUShort( fp, end - start );             // nelements
 
 	    sgWriteChar( fp, (char)SG_MATERIAL );        // property
 	    sgWriteUInt( fp, material.length() );        // nbytes
@@ -942,19 +946,20 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 	    // write strips
 	    for ( i = start; i < end; ++i ) {
 		// nbytes
-		sgWriteUInt( fp, strips_v[i].size() * idx_size * sizeof(short));
+		sgWriteUInt( fp, strips_v[i].size() * idx_size
+                                 * sizeof(unsigned short));
 		for ( j = 0; j < (int)strips_v[i].size(); ++j ) {
 		    if ( strips_v.size() ) { 
-			sgWriteShort( fp, (short)strips_v[i][j] );
+			sgWriteUShort( fp, (unsigned short)strips_v[i][j] );
 		    }
 		    if ( strips_n.size() ) { 
-			sgWriteShort( fp, (short)strips_n[i][j] );
+			sgWriteUShort( fp, (unsigned short)strips_n[i][j] );
 		    }
 		    if ( strips_c.size() ) { 
-			sgWriteShort( fp, (short)strips_c[i][j] );
+			sgWriteUShort( fp, (unsigned short)strips_c[i][j] );
 		    }
 		    if ( strips_tc.size() ) { 
-			sgWriteShort( fp, (short)strips_tc[i][j] );
+			sgWriteUShort( fp, (unsigned short)strips_tc[i][j] );
 		    }
 		}
 	    }
@@ -982,8 +987,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 
 	    // write group headers
 	    sgWriteChar( fp, (char)SG_TRIANGLE_FANS );   // type
-	    sgWriteShort( fp, 2 );		         // nproperties
-	    sgWriteShort( fp, end - start );             // nelements
+	    sgWriteUShort( fp, 2 );		         // nproperties
+	    sgWriteUShort( fp, end - start );             // nelements
 
 	    sgWriteChar( fp, (char)SG_MATERIAL );       // property
 	    sgWriteUInt( fp, material.length() );        // nbytes
@@ -1002,19 +1007,20 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 	    // write fans
 	    for ( i = start; i < end; ++i ) {
 		// nbytes
-		sgWriteUInt( fp, fans_v[i].size() * idx_size * sizeof(short) );
+		sgWriteUInt( fp, fans_v[i].size() * idx_size
+                                 * sizeof(unsigned short) );
 		for ( j = 0; j < (int)fans_v[i].size(); ++j ) {
 		    if ( fans_v.size() ) {
-			sgWriteShort( fp, (short)fans_v[i][j] );
+			sgWriteUShort( fp, (unsigned short)fans_v[i][j] );
 		    }
 		    if ( fans_n.size() ) {
-			sgWriteShort( fp, (short)fans_n[i][j] );
+			sgWriteUShort( fp, (unsigned short)fans_n[i][j] );
 		    }
 		    if ( fans_c.size() ) {
-			sgWriteShort( fp, (short)fans_c[i][j] );
+			sgWriteUShort( fp, (unsigned short)fans_c[i][j] );
 		    }
 		    if ( fans_tc.size() ) {
-			sgWriteShort( fp, (short)fans_tc[i][j] );
+			sgWriteUShort( fp, (unsigned short)fans_tc[i][j] );
 		    }
 		}
 	    }
@@ -1042,7 +1048,6 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 bool SGBinObject::write_ascii( const string& base, const string& name,
 			       const SGBucket& b )
 {
-    Point3D p;
     int i, j;
 
     SGPath file = base + "/" + b.gen_base_path() + "/" + name;
@@ -1084,7 +1089,7 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
     // dump vertex list
     fprintf(fp, "# vertex list\n");
     for ( i = 0; i < (int)wgs84_nodes.size(); ++i ) {
-	p = wgs84_nodes[i] - gbs_center;
+        SGVec3d p = wgs84_nodes[i] - gbs_center;
 	
 	fprintf(fp,  "v %.5f %.5f %.5f\n", p.x(), p.y(), p.z() );
     }
@@ -1092,7 +1097,7 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
 
     fprintf(fp, "# vertex normal list\n");
     for ( i = 0; i < (int)normals.size(); ++i ) {
-	p = normals[i];
+        SGVec3f p = normals[i];
 	fprintf(fp,  "vn %.5f %.5f %.5f\n", p.x(), p.y(), p.z() );
     }
     fprintf(fp, "\n");
@@ -1100,7 +1105,7 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
     // dump texture coordinates
     fprintf(fp, "# texture coordinate list\n");
     for ( i = 0; i < (int)texcoords.size(); ++i ) {
-	p = texcoords[i];
+        SGVec2f p = texcoords[i];
 	fprintf(fp,  "vt %.5f %.5f\n", p.x(), p.y() );
     }
     fprintf(fp, "\n");
@@ -1126,13 +1131,13 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
 	    // make a list of points for the group
 	    point_list group_nodes;
 	    group_nodes.clear();
-	    Point3D bs_center;
+	    SGVec3d bs_center;
 	    double bs_radius = 0;
 	    for ( i = start; i < end; ++i ) {
 		for ( j = 0; j < (int)tris_v[i].size(); ++j ) {
-		    group_nodes.push_back( wgs84_nodes[ tris_v[i][j] ] );
-		    bs_center = sgCalcCenter( group_nodes );
-		    bs_radius = sgCalcBoundingRadius( bs_center, group_nodes );
+                    group_nodes.push_back( Point3D::fromSGVec3(wgs84_nodes[ tris_v[i][j] ]) );
+		    bs_center = sgCalcCenter( group_nodes ).toSGVec3d();
+		    bs_radius = sgCalcBoundingRadius( Point3D::fromSGVec3(bs_center), group_nodes );
 		}
 	    }
 
@@ -1177,13 +1182,13 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
 	    // make a list of points for the group
 	    point_list group_nodes;
 	    group_nodes.clear();
-	    Point3D bs_center;
+	    SGVec3d bs_center;
 	    double bs_radius = 0;
 	    for ( i = start; i < end; ++i ) {
 		for ( j = 0; j < (int)strips_v[i].size(); ++j ) {
-		    group_nodes.push_back( wgs84_nodes[ strips_v[i][j] ] );
-		    bs_center = sgCalcCenter( group_nodes );
-		    bs_radius = sgCalcBoundingRadius( bs_center, group_nodes );
+                    group_nodes.push_back( Point3D::fromSGVec3(wgs84_nodes[ strips_v[i][j] ]) );
+		    bs_center = sgCalcCenter( group_nodes ).toSGVec3d();
+		    bs_radius = sgCalcBoundingRadius( Point3D::fromSGVec3(bs_center), group_nodes );
 		}
 	    }
 

simgear/io/sg_binobj.hxx

@@ -33,13 +33,14 @@
 #include <simgear/compiler.h>
 #include <simgear/constants.h>
 #include <simgear/math/sg_types.hxx>
+#include <simgear/math/point3d.hxx>
 #include <simgear/bucket/newbucket.hxx>
 
 #include <stdio.h>
 #include <time.h>
 
 #include <list>
-#include STL_STRING
+#include <string>
 
 
 
@@ -74,9 +75,9 @@ typedef group_list::const_iterator const_group_list_iterator;
  *
  * - prop_typecode: material_name | ???
  *
- * - nelements: SHORT (Gives us 65536 which ought to be enough, right?)
+ * - nelements: USHORT (Gives us 65536 which ought to be enough, right?)
  *
- * - nproperties: SHORT
+ * - nproperties: USHORT
  *
  * - *_typecode: CHAR
  *
@@ -89,13 +90,13 @@ typedef group_list::const_iterator const_group_list_iterator;
 class SGBinObject {
     unsigned short version;
 
-    Point3D gbs_center;
+    SGVec3d gbs_center;
     float gbs_radius;
 
-    point_list wgs84_nodes;	// vertex list
-    point_list colors;		// color list
-    point_list normals;		// normal list
-    point_list texcoords;	// texture coordinate list
+    std::vector<SGVec3d> wgs84_nodes;	// vertex list
+    std::vector<SGVec4f> colors;	// color list
+    std::vector<SGVec3f> normals;	// normal list
+    std::vector<SGVec2f> texcoords;	// texture coordinate list
 
     group_list pts_v;		// points vertex index
     group_list pts_n;		// points normal index
@@ -125,23 +126,51 @@ public:
 
     inline unsigned short get_version() const { return version; }
 
-    inline const Point3D& get_gbs_center() const { return gbs_center; }
-    inline void set_gbs_center( const Point3D& p ) { gbs_center = p; }
+    inline Point3D get_gbs_center() const { return Point3D::fromSGVec3(gbs_center); }
+    inline void set_gbs_center( const Point3D& p ) { gbs_center = p.toSGVec3d(); }
+    inline const SGVec3d& get_gbs_center2() const { return gbs_center; }
+    inline void set_gbs_center( const SGVec3d& p ) { gbs_center = p; }
 
     inline float get_gbs_radius() const { return gbs_radius; }
     inline void set_gbs_radius( float r ) { gbs_radius = r; }
 
-    inline const point_list& get_wgs84_nodes() const { return wgs84_nodes; }
-    inline void set_wgs84_nodes( const point_list& n ) { wgs84_nodes = n; }
+    inline const std::vector<SGVec3d>& get_wgs84_nodes() const
+    { return wgs84_nodes; }
+    inline void set_wgs84_nodes( const std::vector<SGVec3d>& n )
+    { wgs84_nodes = n; }
+    inline void set_wgs84_nodes( const point_list& n )
+    {
+      wgs84_nodes.resize(n.size());
+      for (unsigned i = 0; i < wgs84_nodes.size(); ++i)
+        wgs84_nodes[i] = n[i].toSGVec3d();
+    }
 
-    inline const point_list& get_colors() const { return colors; }
-    inline void set_colors( const point_list& c ) { colors = c; }
+    inline const std::vector<SGVec4f>& get_colors() const { return colors; }
+    inline void set_colors( const std::vector<SGVec4f>& c ) { colors = c; }
+    inline void set_colors( const point_list& c )
+    {
+      colors.resize(c.size());
+      for (unsigned i = 0; i < colors.size(); ++i)
+        colors[i] = SGVec4f(c[i].toSGVec3f(), 1);
+    }
 
-    inline const point_list& get_normals() const { return normals; }
-    inline void set_normals( const point_list& n ) { normals = n; }
+    inline const std::vector<SGVec3f>& get_normals() const { return normals; }
+    inline void set_normals( const std::vector<SGVec3f>& n ) { normals = n; }
+    inline void set_normals( const point_list& n )
+    {
+      normals.resize(n.size());
+      for (unsigned i = 0; i < normals.size(); ++i)
+        normals[i] = n[i].toSGVec3f();
+    }
 
-    inline const point_list& get_texcoords() const { return texcoords; }
-    inline void set_texcoords( const point_list& t ) { texcoords = t; }
+    inline const std::vector<SGVec2f>& get_texcoords() const { return texcoords; }
+    inline void set_texcoords( const std::vector<SGVec2f>& t ) { texcoords = t; }
+    inline void set_texcoords( const point_list& t )
+    {
+      texcoords.resize(t.size());
+      for (unsigned i = 0; i < texcoords.size(); ++i)
+        texcoords[i] = t[i].toSGVec2f();
+    }
 
     inline const group_list& get_pts_v() const { return pts_v; }
     inline void set_pts_v( const group_list& g ) { pts_v = g; }

simgear/io/sg_file.cxx

@@ -23,24 +23,26 @@
 
 #include <simgear/compiler.h>
 
-#include STL_STRING
+#include <string>
 
-#if defined(_MSC_VER) || defined(__MINGW32__)
+#ifdef _WIN32
 #  include <io.h>
 #endif
 
+#include <cstring>
+
 #include <simgear/misc/stdint.hxx>
 #include <simgear/debug/logstream.hxx>
 
 #include "sg_file.hxx"
 
-SG_USING_STD(string);
+using std::string;
 
 
-SGFile::SGFile( const string &file) {
+SGFile::SGFile(const string &file, int repeat_)
+    : file_name(file), fp(-1), eof_flag(true), repeat(repeat_), iteration(0)
+{
     set_type( sgFileType );
-    file_name = file;
-    eof_flag = true;
 }
 
 
@@ -53,7 +55,7 @@ bool SGFile::open( const SGProtocolDir d ) {
     set_dir( d );
 
     if ( get_dir() == SG_IO_OUT ) {
-#if defined(_MSC_VER) || defined(__MINGW32__)
+#ifdef _WIN32
         int mode = 00666;
 #else
         mode_t mode = S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH;
@@ -82,7 +84,20 @@ int SGFile::read( char *buf, int length ) {
     // read a chunk
     ssize_t result = ::read( fp, buf, length );
     if ( length > 0 && result == 0 ) {
-        eof_flag = true;
+        if (repeat < 0 || iteration < repeat - 1) {
+            iteration++;
+            // loop reading the file, unless it is empty
+            off_t fileLen = ::lseek(fp, 0, SEEK_CUR);
+            if (fileLen == 0) {
+                eof_flag = true;
+                return 0;
+            } else {
+                ::lseek(fp, 0, SEEK_SET);
+                return ::read(fp, buf, length);
+            }
+        } else {
+            eof_flag = true;
+        }
     }
     return result;
 }
@@ -96,7 +111,13 @@ int SGFile::readline( char *buf, int length ) {
     // read a chunk
     ssize_t result = ::read( fp, buf, length );
     if ( length > 0 && result == 0 ) {
-        eof_flag = true;
+        if ((repeat < 0 || iteration < repeat - 1) && pos != 0) {
+            iteration++;
+            pos = ::lseek(fp, 0, SEEK_SET);
+            result = ::read(fp, buf, length);
+        } else {
+            eof_flag = true;
+        }
     }
 
     // find the end of line and reset position
@@ -129,7 +150,7 @@ int SGFile::write( const char *buf, const int length ) {
 
 // write null terminated string to a file
 int SGFile::writestring( const char *str ) {
-    int length = strlen( str );
+    int length = std::strlen( str );
     return write( str, length );
 }
 

simgear/io/sg_file.hxx

@@ -44,7 +44,7 @@
 
 #include "iochannel.hxx"
 
-SG_USING_STD(string);
+using std::string;
 
 
 /**
@@ -55,6 +55,10 @@ class SGFile : public SGIOChannel {
     string file_name;
     int fp;
     bool eof_flag;
+    // Number of repetitions to play. -1 means loop infinitely.
+    const int repeat;
+    int iteration;              // number of current repetition,
+                                // starting at 0
 
 public:
 
@@ -64,8 +68,9 @@ public:
      * name. This file is not opened immediately, but instead will be
      * opened when the open() method is called.
      * @param file name of file to open
+     * @param repeat On eof restart at the beginning of the file
      */
-    SGFile( const string& file );
+    SGFile( const string& file, int repeat_ = 1 );
 
     /** Destructor */
     ~SGFile();

simgear/io/sg_serial.cxx

@@ -20,17 +20,19 @@
 //
 // $Id$
 
+#include <cstdlib>
+#include <cstring>
 
 #include <simgear/compiler.h>
 
-#include STL_STRING
+#include <string>
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/serial/serial.hxx>
 
 #include "sg_serial.hxx"
 
-SG_USING_STD(string);
+using std::string;
 
 
 SGSerial::SGSerial( const string& device_name, const string& baud_rate ) :
@@ -57,7 +59,7 @@ bool SGSerial::open( const SGProtocolDir d ) {
 
     // cout << "fd = " << port.fd << endl;
 
-    if ( ! port.set_baud( atoi( baud.c_str() ) ) ) {
+    if ( ! port.set_baud( std::atoi( baud.c_str() ) ) ) {
 	SG_LOG( SG_IO, SG_ALERT, "Error setting baud: " << baud );
 	return false;
     }
@@ -80,7 +82,7 @@ int SGSerial::read( char *buf, int length ) {
     result = port.read_port( buf_ptr, length - save_len );
     
     if ( result + save_len == length ) {
-	strncpy( buf, save_buf, length );
+        std::strncpy( buf, save_buf, length );
 	save_len = 0;
 
 	return length;
@@ -114,7 +116,7 @@ int SGSerial::readline( char *buf, int length ) {
     // we found an end of line
 
     // copy to external buffer
-    strncpy( buf, save_buf, result );
+    std::strncpy( buf, save_buf, result );
     buf[result] = '\0';
     SG_LOG( SG_IO, SG_INFO, "fg_serial line = " << buf );
 
@@ -142,7 +144,7 @@ int SGSerial::write( const char *buf, const int length ) {
 
 // write null terminated string to port
 int SGSerial::writestring( const char *str ) {
-    int length = strlen( str );
+    int length = std::strlen( str );
     return write( str, length );
 }
 

simgear/io/sg_serial.hxx

@@ -36,17 +36,11 @@
 
 #include <string>
 
-// #ifdef SG_HAVE_STD_INCLUDES
-// #  include <ctime>
-// #else
-// #  include <time.h>
-// #endif
-
 #include <simgear/serial/serial.hxx>
 
 #include "iochannel.hxx"
 
-SG_USING_STD(string);
+using std::string;
 
 /**
  * A serial I/O class based on SGIOChannel.

simgear/io/sg_socket.cxx

@@ -31,7 +31,7 @@
 #include <strings.h>
 #endif
 
-#include STL_IOSTREAM
+#include <iostream>
 
 #include <simgear/debug/logstream.hxx>
 

simgear/io/sg_socket.hxx

@@ -34,14 +34,14 @@
 
 #include <simgear/compiler.h>
 
-#include STL_STRING
+#include <string>
 
 #include <simgear/math/sg_types.hxx>
 #include <simgear/io/iochannel.hxx>
 
 #include <plib/netSocket.h>
 
-SG_USING_STD(string);
+using std::string;
 
 #define SG_MAX_SOCKET_QUEUE 32
 

simgear/io/sg_socket_udp.hxx

@@ -36,12 +36,12 @@
 
 #include <simgear/compiler.h>
 
-#include STL_STRING
+#include <string>
 
 #include <simgear/math/sg_types.hxx>
 #include <simgear/io/iochannel.hxx>
 
-SG_USING_STD(string);
+using std::string;
 
 /**
  * A UDP socket I/O class based on SGIOChannel and plib/net.

simgear/io/socktest.cxx

@@ -4,8 +4,13 @@
 
 #include <simgear/compiler.h>
 
+#ifdef _WIN32
+#include <windows.h>
+#define sleep(x) Sleep(x*1000)
+#else
 #include <unistd.h>
-#include STL_IOSTREAM
+#endif
+#include <iostream>
 
 #include "sg_socket.hxx"
 #include "lowlevel.hxx"
@@ -14,8 +19,8 @@ static const int sgEndianTest = 1;
 #define sgIsLittleEndian (*((char *) &sgEndianTest ) != 0)
 #define sgIsBigEndian    (*((char *) &sgEndianTest ) == 0)
 
-SG_USING_STD(cout);
-SG_USING_STD(endl);
+using std::cout;
+using std::endl;
 
 
 int main() {
@@ -44,10 +49,6 @@ int main() {
 	if ( s.readline( buf, 256 ) > 0 ) {
 	    cout << "result = " << buf;
 	}
-#ifdef __MINGW32__
-	Sleep(100);
-#else
 	sleep(1);
-#endif
     }
 }

simgear/io/tcp_client.cxx

@@ -1,5 +1,5 @@
 #include <simgear/compiler.h>
-#include STL_IOSTREAM
+#include <iostream>
 
 #ifdef _WIN32
 #include <windows.h>
@@ -7,6 +7,8 @@
 #include <unistd.h>
 #endif
 
+#include <iostream>
+
 #include <simgear/debug/logstream.hxx>
 
 #include "sg_socket.hxx"
@@ -49,7 +51,7 @@ TcpClient::process()
 
     sprintf( wbuf, "hello world\n" );
     int length = channel->writestring( wbuf );
-    cout << "writestring returned " << length << "\n";
+    std::cout << "writestring returned " << length << "\n";
 
     return true;
 }
@@ -67,7 +69,7 @@ main()
     TcpClient client( "localhost", "5500" );
     if (!client.open())
     {
-	cout << "client open failed\n";
+        std::cout << "client open failed\n";
 	return 0;
     }
 

simgear/io/tcp_server.cxx

@@ -1,17 +1,18 @@
 #include <simgear/compiler.h>
 #include <simgear/debug/logstream.hxx>
-#include STL_STRING
-#include STL_IOSTREAM
+#include <string>
+#include <iostream>
 
 #include "sg_socket.hxx"
 
-SG_USING_STD(string);
-SG_USING_STD(cout);
+using std::string;
+using std::cout;
 
 class TcpServer
 {
 public:
     TcpServer();
+    ~TcpServer();
     bool open();
     bool process();
     bool close();
@@ -25,6 +26,11 @@ TcpServer::TcpServer()
     channel = new SGSocket( "", "5500", "tcp" );
 }
 
+TcpServer::~TcpServer()
+{
+    delete channel;
+}
+
 bool
 TcpServer::open()
 {

simgear/magvar/Makefile.am

@@ -2,18 +2,16 @@ includedir = @includedir@/magvar
 
 lib_LIBRARIES = libsgmagvar.a
 
-include_HEADERS = magvar.hxx
+include_HEADERS = magvar.hxx coremag.hxx
 
-libsgmagvar_a_SOURCES = \
-	coremag.hxx coremag.cxx \
-	magvar.cxx
+libsgmagvar_a_SOURCES = coremag.cxx magvar.cxx
 
 noinst_PROGRAMS = testmagvar
 
 testmagvar_SOURCES = testmagvar.cxx
 
 testmagvar_LDADD = \
-	$(top_builddir)/simgear/magvar/libsgmagvar.a \
+	libsgmagvar.a \
 	$(base_LIBS)
 
 INCLUDES = -I$(top_srcdir)

simgear/magvar/coremag.cxx

@@ -86,8 +86,6 @@
 
 #include "coremag.hxx"
 
-
-static const double pi = 3.14159265358979;
 static const double a = 6378.137;       /* semi-major axis (equatorial radius) of WGS84 ellipsoid */
 static const double b = 6356.7523142;   /* semi-minor axis referenced to the WGS84 ellipsoid */
 static const double r_0 = 6371.2;	/* standard Earth magnetic reference radius  */
@@ -325,7 +323,7 @@ double calc_magvar( double lat, double lon, double h, long dat, double* field )
     }
 
     /* Find geodetic field components: */
-    psi = theta - ((pi / 2.0) - lat);
+    psi = theta - ((M_PI / 2.0) - lat);
     sinpsi = sin(psi);
     cospsi = cos(psi);
     X = -B_theta * cospsi - B_r * sinpsi;

simgear/magvar/magvar.cxx

@@ -24,6 +24,7 @@
 #include <math.h>
 
 #include <simgear/magvar/magvar.hxx>
+#include <simgear/math/SGMath.hxx>
 
 #include "coremag.hxx"
 #include "magvar.hxx"
@@ -47,6 +48,12 @@ void SGMagVar::update( double lon, double lat, double alt_m, double jd ) {
     magdip = atan(field[5]/sqrt(field[3]*field[3]+field[4]*field[4]));
 }
 
+void SGMagVar::update( const SGGeod& geod, double jd ) {
+
+  update(geod.getLongitudeDeg(), geod.getLatitudeDeg(),
+    geod.getElevationM(), jd);
+}
+
 
 double sgGetMagVar( double lon, double lat, double alt_m, double jd ) {
     // cout << "lat = " << lat << " lon = " << lon << " elev = " << alt_m

simgear/magvar/magvar.hxx

@@ -33,6 +33,9 @@
 #endif
 
 
+// forward decls
+class SGGeod;
+
 /**
  * Magnetic variation wrapper class.
  *
@@ -78,6 +81,11 @@ public:
      */
     void update( double lon, double lat, double alt_m, double jd );
 
+    /**
+     * overloaded variant taking an SGGeod to specify position
+     */
+    void update( const SGGeod& geod, double jd );
+
     /** @return the current magnetic variation in radians. */
     double get_magvar() const { return magvar; }
 

simgear/math/Makefile.am

@@ -1,11 +1,13 @@
 includedir = @includedir@/math
 
-check_PROGRAMS  = SGMathTest
+check_PROGRAMS  = SGMathTest SGGeometryTest
 TESTS           = $(check_PROGRAMS)
 
 SGMathTest_SOURCES = SGMathTest.cxx
-SGMathTest_LDADD = libsgmath.a $(base_LIBS)
+SGMathTest_LDADD = libsgmath.a -lsgstructure $(base_LIBS)
 
+SGGeometryTest_SOURCES = SGGeometryTest.cxx
+SGGeometryTest_LDADD = libsgmath.a -lsgstructure $(base_LIBS)
 
 lib_LIBRARIES = libsgmath.a
 
@@ -15,31 +17,40 @@ include_HEADERS = \
 	point3d.hxx \
 	polar3d.hxx \
 	sg_geodesy.hxx \
-	sg_memory.h \
 	sg_random.h \
 	sg_types.hxx \
 	vector.hxx \
+	Math.hxx \
+	SGBox.hxx \
 	SGCMath.hxx \
 	SGGeoc.hxx \
 	SGGeod.hxx \
 	SGGeodesy.hxx \
+	SGGeometry.hxx \
+	SGGeometryFwd.hxx \
+	SGIntersect.hxx \
 	SGLimits.hxx \
+	SGLineSegment.hxx \
 	SGMatrix.hxx \
 	SGMath.hxx \
 	SGMathFwd.hxx \
 	SGMisc.hxx \
+	SGPlane.hxx \
 	SGQuat.hxx \
+	SGRay.hxx \
+	SGSphere.hxx \
+	SGTriangle.hxx \
+	SGVec2.hxx \
+	SGVec3.hxx \
 	SGVec4.hxx \
-	SGVec3.hxx
-
+	beziercurve.hxx
 
 libsgmath_a_SOURCES = \
 	interpolater.cxx \
 	leastsqs.cxx \
-	polar3d.cxx \
-	sg_geodesy.cxx \
 	sg_random.c \
 	vector.cxx \
+	SGGeod.cxx \
 	SGGeodesy.cxx
 
 INCLUDES = -I$(top_srcdir)

simgear/math/Math.hxx

@@ -0,0 +1,23 @@
+#ifndef SIMGEAR_MATH_MATH_HXX
+#define SIMGEAR_MATH_MATH_HXX 1
+namespace simgear
+{
+namespace math
+{
+/** Linear interpolation between two values.
+ */
+template<typename T>
+inline T lerp(const T& x, const T& y, double alpha)
+{
+    return x * (1.0 - alpha) + y * alpha;
+}
+
+template<typename T>
+inline T lerp(const T& x, const T& y, float alpha)
+{
+    return x * (1.0f - alpha) + y * alpha;
+}
+
+}
+}
+#endif

simgear/math/SGBox.hxx

@@ -0,0 +1,166 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGBox_H
+#define SGBox_H
+
+template<typename T>
+class SGBox {
+public:
+  SGBox() :
+    _min(SGLimits<T>::max(), SGLimits<T>::max(), SGLimits<T>::max()),
+    _max(-SGLimits<T>::max(), -SGLimits<T>::max(), -SGLimits<T>::max())
+  { }
+  SGBox(const SGVec3<T>& pt) :
+    _min(pt),
+    _max(pt)
+  { }
+  SGBox(const SGVec3<T>& min, const SGVec3<T>& max) :
+    _min(min),
+    _max(max)
+  { }
+  template<typename S>
+  explicit SGBox(const SGBox<S>& box) :
+    _min(box.getMin()),
+    _max(box.getMax())
+  { }
+
+  void setMin(const SGVec3<T>& min)
+  { _min = min; }
+  const SGVec3<T>& getMin() const
+  { return _min; }
+
+  void setMax(const SGVec3<T>& max)
+  { _max = max; }
+  const SGVec3<T>& getMax() const
+  { return _max; }
+
+  SGVec3<T> getCorner(unsigned i) const
+  { return SGVec3<T>((i&1) ? _min[0] : _max[0],
+                     (i&2) ? _min[1] : _max[1],
+                     (i&4) ? _min[2] : _max[2]); }
+
+  template<typename S>
+  SGVec3<T> getNearestCorner(const SGVec3<S>& pt) const
+  {
+    SGVec3<T> center = getCenter();
+    return SGVec3<T>((pt[0] <= center[0]) ? _min[0] : _max[0],
+                     (pt[1] <= center[1]) ? _min[1] : _max[1],
+                     (pt[2] <= center[2]) ? _min[2] : _max[2]);
+  }
+  template<typename S>
+  SGVec3<T> getFarestCorner(const SGVec3<S>& pt) const
+  {
+    SGVec3<T> center = getCenter();
+    return SGVec3<T>((pt[0] > center[0]) ? _min[0] : _max[0],
+                     (pt[1] > center[1]) ? _min[1] : _max[1],
+                     (pt[2] > center[2]) ? _min[2] : _max[2]);
+  }
+
+  // return the closest point to pt still in the box
+  template<typename S>
+  SGVec3<T> getClosestPoint(const SGVec3<S>& pt) const
+  {
+    return SGVec3<T>((pt[0] < _min[0]) ? _min[0] : ((_max[0] < pt[0]) ? _max[0] : T(pt[0])),
+                     (pt[1] < _min[1]) ? _min[1] : ((_max[1] < pt[1]) ? _max[1] : T(pt[1])),
+                     (pt[2] < _min[2]) ? _min[2] : ((_max[2] < pt[2]) ? _max[2] : T(pt[2])));
+  }
+
+  // Only works for floating point types
+  SGVec3<T> getCenter() const
+  { return T(0.5)*(_min + _max); }
+
+  // Only valid for nonempty boxes
+  SGVec3<T> getSize() const
+  { return _max - _min; }
+  SGVec3<T> getHalfSize() const
+  { return T(0.5)*getSize(); }
+
+  T getVolume() const
+  {
+    if (empty())
+      return 0;
+    return (_max[0] - _min[0])*(_max[1] - _min[1])*(_max[2] - _min[2]);
+  }
+
+  const bool empty() const
+  { return !valid(); }
+
+  bool valid() const
+  {
+    if (_max[0] < _min[0])
+      return false;
+    if (_max[1] < _min[1])
+      return false;
+    if (_max[2] < _min[2])
+      return false;
+    return true;
+  }
+
+  void clear()
+  {
+    _min[0] = SGLimits<T>::max();
+    _min[1] = SGLimits<T>::max();
+    _min[2] = SGLimits<T>::max();
+    _max[0] = -SGLimits<T>::max();
+    _max[1] = -SGLimits<T>::max();
+    _max[2] = -SGLimits<T>::max();
+  }
+
+  void expandBy(const SGVec3<T>& v)
+  { _min = min(_min, v); _max = max(_max, v); }
+
+  void expandBy(const SGBox<T>& b)
+  { _min = min(_min, b._min); _max = max(_max, b._max); }
+
+  // Note that this only works if the box is nonmepty
+  unsigned getBroadestAxis() const
+  {
+    SGVec3<T> size = getSize();
+    if (size[1] <= size[0] && size[2] <= size[0])
+      return 0;
+    else if (size[2] <= size[1])
+      return 1;
+    else
+      return 2;
+  }
+
+  // Note that this only works if the box is nonmepty
+  unsigned getSmallestAxis() const
+  {
+    SGVec3<T> size = getSize();
+    if (size[1] >= size[0] && size[2] >= size[0])
+      return 0;
+    else if (size[2] >= size[1])
+      return 1;
+    else
+      return 2;
+  }
+
+private:
+  SGVec3<T> _min;
+  SGVec3<T> _max;
+};
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s, const SGBox<T>& box)
+{ return s << "min = " << box.getMin() << ", max = " << box.getMax(); }
+
+#endif

simgear/math/SGCMath.hxx

@@ -20,12 +20,6 @@
 
 #include <simgear/compiler.h>
 
-#ifdef SG_HAVE_STD_INCLUDES
-// We have cmath from the standard c++ lib available
 #include <cmath>
-#else
-// We only have math.h with the c89 double functions.
-#include <math.h>
-#endif
 
 #endif

simgear/math/SGGeoc.hxx

@@ -74,6 +74,13 @@ public:
   /// Set the geocentric radius from the argument given in feet
   void setRadiusFt(double radius);
 
+  SGGeoc advanceRadM(double course, double distance) const;
+  static double courseRad(const SGGeoc& from, const SGGeoc& to);
+  static double courseDeg(const SGGeoc& from, const SGGeoc& to);
+  static double distanceM(const SGGeoc& from, const SGGeoc& to);
+
+  // Compare two geocentric positions for equality
+  bool operator == ( const SGGeoc & other ) const;
 private:
   /// This one is private since construction is not unique if you do
   /// not know the units of the arguments, use the factory methods for
@@ -201,7 +208,7 @@ SGGeoc::getLongitudeDeg(void) const
 #ifdef SG_GEOC_NATIVE_DEGREE
   return _lon;
 #else
-  return _lon*SGD_DEGREES_TO_RADIANS;
+  return _lon*SGD_RADIANS_TO_DEGREES;
 #endif
 }
 
@@ -212,7 +219,7 @@ SGGeoc::setLongitudeDeg(double lon)
 #ifdef SG_GEOC_NATIVE_DEGREE
   _lon = lon;
 #else
-  _lon = lon*SGD_RADIANS_TO_DEGREES;
+  _lon = lon*SGD_DEGREES_TO_RADIANS;
 #endif
 }
 
@@ -245,7 +252,7 @@ SGGeoc::getLatitudeDeg(void) const
 #ifdef SG_GEOC_NATIVE_DEGREE
   return _lat;
 #else
-  return _lat*SGD_DEGREES_TO_RADIANS;
+  return _lat*SGD_RADIANS_TO_DEGREES;
 #endif
 }
 
@@ -256,7 +263,7 @@ SGGeoc::setLatitudeDeg(double lat)
 #ifdef SG_GEOC_NATIVE_DEGREE
   _lat = lat;
 #else
-  _lat = lat*SGD_RADIANS_TO_DEGREES;
+  _lat = lat*SGD_DEGREES_TO_RADIANS;
 #endif
 }
 
@@ -288,6 +295,45 @@ SGGeoc::setRadiusFt(double radius)
   _radius = radius*SG_FEET_TO_METER;
 }
 
+inline
+SGGeoc
+SGGeoc::advanceRadM(double course, double distance) const
+{
+  SGGeoc result;
+  SGGeodesy::advanceRadM(*this, course, distance, result);
+  return result;
+}
+
+inline
+double
+SGGeoc::courseRad(const SGGeoc& from, const SGGeoc& to)
+{
+  return SGGeodesy::courseRad(from, to);
+}
+
+inline
+double
+SGGeoc::courseDeg(const SGGeoc& from, const SGGeoc& to)
+{
+  return SGMiscd::rad2deg(courseRad(from, to));
+}
+
+inline
+double
+SGGeoc::distanceM(const SGGeoc& from, const SGGeoc& to)
+{
+  return SGGeodesy::distanceM(from, to);
+}
+
+inline
+bool
+SGGeoc::operator == ( const SGGeoc & other ) const
+{
+  return _lon == other._lon &&
+         _lat == other._lat &&
+         _radius == other._radius;
+}
+
 /// Output to an ostream
 template<typename char_type, typename traits_type>
 inline

simgear/math/SGGeod.cxx

@@ -0,0 +1,55 @@
+// Copyright (C) 2008  Tim Moore timoore@redhat.com
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "SGMath.hxx"
+
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+
+osg::Matrix SGGeod::makeSimulationFrameRelative() const
+{
+    SGQuatd hlOr = SGQuatd::fromLonLat(*this);
+    return osg::Matrix(toOsg(hlOr));
+}
+
+osg::Matrix SGGeod::makeSimulationFrame() const
+{
+    osg::Matrix result(makeSimulationFrameRelative());
+    SGVec3d coord;
+    SGGeodesy::SGGeodToCart(*this, coord);
+    result.setTrans(toOsg(coord));
+    return result;
+}
+
+osg::Matrix SGGeod::makeZUpFrameRelative() const
+{
+    osg::Matrix result(makeSimulationFrameRelative());
+    // 180 degree rotation around Y axis
+    osg::Quat flip(0.0, 1.0, 0.0, 0.0);
+    result.preMult(osg::Matrix(flip));
+    return result;
+}
+
+osg::Matrix SGGeod::makeZUpFrame() const
+{
+    osg::Matrix result(makeZUpFrameRelative());
+    SGVec3d coord;
+    SGGeodesy::SGGeodToCart(*this, coord);
+    result.setTrans(toOsg(coord));
+    return result;
+}
+
+#endif

simgear/math/SGGeod.hxx

@@ -20,6 +20,10 @@
 
 #include <simgear/constants.h>
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Matrix>
+#endif
+
 // #define SG_GEOD_NATIVE_DEGREE
 
 /// Class representing a geodetic location
@@ -40,6 +44,10 @@ public:
   static SGGeod fromRadM(double lon, double lat, double elevation);
   /// Factory from angular values in degrees and elevation in m
   static SGGeod fromDegM(double lon, double lat, double elevation);
+  /// Factory from an other SGGeod and a different elevation in m
+  static SGGeod fromGeodM(const SGGeod& geod, double elevation);
+  /// Factory from an other SGGeod and a different elevation in ft
+  static SGGeod fromGeodFt(const SGGeod& geod, double elevation);
   /// Factory to convert position from a cartesian position assumed to be
   /// in wgs84 measured in meters
   /// Note that this conversion is relatively expensive to compute
@@ -78,13 +86,30 @@ public:
   /// Set the geodetic elevation from the argument given in feet
   void setElevationFt(double elevation);
 
+  // Compare two geodetic positions for equality
+  bool operator == ( const SGGeod & other ) const;
+
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+  // Create a local coordinate frame in the earth-centered frame of
+  // reference. X points north, Z points down.
+  // makeSimulationFrameRelative() only includes rotation.
+  osg::Matrix makeSimulationFrameRelative() const;
+  osg::Matrix makeSimulationFrame() const;
+
+  // Create a Z-up local coordinate frame in the earth-centered frame
+  // of reference. This is what scenery models, etc. expect.
+  // makeZUpFrameRelative() only includes rotation.
+  osg::Matrix makeZUpFrameRelative() const;
+  osg::Matrix makeZUpFrame() const;
+#endif
 private:
   /// This one is private since construction is not unique if you do
   /// not know the units of the arguments. Use the factory methods for
   /// that purpose
   SGGeod(double lon, double lat, double elevation);
 
-  /// The actual data, angles in degree, elevation in meters
+  //// FIXME: wrong comment!
+  /// The actual data, angles in degrees, elevation in meters
   /// The rationale for storing the values in degrees is that most code places
   /// in flightgear/terragear use degrees as a nativ input and output value.
   /// The places where it makes sense to use radians is when we convert
@@ -178,6 +203,20 @@ SGGeod::fromDegM(double lon, double lat, double elevation)
 #endif
 }
 
+inline
+SGGeod
+SGGeod::fromGeodM(const SGGeod& geod, double elevation)
+{
+  return SGGeod(geod._lon, geod._lat, elevation);
+}
+
+inline
+SGGeod
+SGGeod::fromGeodFt(const SGGeod& geod, double elevation)
+{
+  return SGGeod(geod._lon, geod._lat, elevation*SG_FEET_TO_METER);
+}
+
 inline
 SGGeod
 SGGeod::fromCart(const SGVec3<double>& cart)
@@ -314,6 +353,15 @@ SGGeod::setElevationFt(double elevation)
   _elevation = elevation*SG_FEET_TO_METER;
 }
 
+inline
+bool
+SGGeod::operator == ( const SGGeod & other ) const
+{
+  return _lon == other._lon &&
+         _lat == other._lat &&
+         _elevation == other._elevation;
+}
+
 /// Output to an ostream
 template<typename char_type, typename traits_type>
 inline

simgear/math/SGGeodesy.cxx

@@ -21,6 +21,7 @@
 
 #include <cmath>
 
+#include <simgear/structure/exception.hxx>
 #include "SGMath.hxx"
 
 // These are hard numbers from the WGS84 standard.  DON'T MODIFY
@@ -56,7 +57,7 @@ const double SGGeodesy::POLRAD = _POLRAD;
 #define E2 fabs(1 - _SQUASH*_SQUASH)
 static double a = _EQURAD;
 static double ra2 = 1/(_EQURAD*_EQURAD);
-static double e = sqrt(E2);
+//static double e = sqrt(E2);
 static double e2 = E2;
 static double e4 = E2*E2;
 
@@ -78,11 +79,30 @@ SGGeodesy::SGCartToGeod(const SGVec3<double>& cart, SGGeod& geod)
   double Y = cart(1);
   double Z = cart(2);
   double XXpYY = X*X+Y*Y;
+  if( XXpYY + Z*Z < 25 ) {
+    // This function fails near the geocenter region, so catch that special case here.
+    // Define the innermost sphere of small radius as earth center and return the 
+    // coordinates 0/0/-EQURAD. It may be any other place on geoide's surface,
+    // the Northpole, Hawaii or Wentorf. This one was easy to code ;-)
+    geod.setLongitudeRad( 0.0 );
+    geod.setLongitudeRad( 0.0 );
+    geod.setElevationM( -EQURAD );
+    return;
+  }
+    
   double sqrtXXpYY = sqrt(XXpYY);
   double p = XXpYY*ra2;
   double q = Z*Z*(1-e2)*ra2;
   double r = 1/6.0*(p+q-e4);
   double s = e4*p*q/(4*r*r*r);
+/* 
+  s*(2+s) is negative for s = [-2..0]
+  slightly negative values for s due to floating point rounding errors
+  cause nan for sqrt(s*(2+s))
+  We can probably clamp the resulting parable to positive numbers
+*/
+  if( s >= -2.0 && s <= 0.0 )
+    s = 0.0;
   double t = pow(1+s+sqrt(s*(2+s)), 1/3.0);
   double u = r*(1+t+1/t);
   double v = sqrt(u*u+e4*q);
@@ -155,3 +175,387 @@ SGGeodesy::SGGeocToCart(const SGGeoc& geoc, SGVec3<double>& cart)
   double clon = cos(lon);
   cart = geoc.getRadiusM()*SGVec3<double>(clat*clon, clat*slon, slat);
 }
+
+// Notes:
+//
+// The XYZ/cartesian coordinate system in use puts the X axis through
+// zero lat/lon (off west Africa), the Z axis through the north pole,
+// and the Y axis through 90 degrees longitude (in the Indian Ocean).
+//
+// All latitude and longitude values are in radians.  Altitude is in
+// meters, with zero on the WGS84 ellipsoid.
+//
+// The code below makes use of the notion of "squashed" space.  This
+// is a 2D cylindrical coordinate system where the radius from the Z
+// axis is multiplied by SQUASH; the earth in this space is a perfect
+// circle with a radius of POLRAD.
+
+////////////////////////////////////////////////////////////////////////
+//
+// Direct and inverse distance functions 
+//
+// Proceedings of the 7th International Symposium on Geodetic
+// Computations, 1985
+//
+// "The Nested Coefficient Method for Accurate Solutions of Direct and
+// Inverse Geodetic Problems With Any Length"
+//
+// Zhang Xue-Lian
+// pp 747-763
+//
+// modified for FlightGear to use WGS84 only -- Norman Vine
+
+static inline double M0( double e2 ) {
+    //double e4 = e2*e2;
+  return SGMiscd::pi()*0.5*(1.0 - e2*( 1.0/4.0 + e2*( 3.0/64.0 + 
+						  e2*(5.0/256.0) )));
+}
+
+
+// given, lat1, lon1, az1 and distance (s), calculate lat2, lon2
+// and az2.  Lat, lon, and azimuth are in degrees.  distance in meters
+static int _geo_direct_wgs_84 ( double lat1, double lon1, double az1,
+                        double s, double *lat2, double *lon2,
+                        double *az2 )
+{
+    double a = SGGeodesy::EQURAD, rf = SGGeodesy::iFLATTENING;
+    double testv = 1.0E-10;
+    double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
+    double b = a*(1.0-f);
+    double e2 = f*(2.0-f);
+    double phi1 = SGMiscd::deg2rad(lat1), lam1 = SGMiscd::deg2rad(lon1);
+    double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
+    double azm1 = SGMiscd::deg2rad(az1);
+    double sinaz1 = sin(azm1), cosaz1 = cos(azm1);
+	
+	
+    if( fabs(s) < 0.01 ) {	// distance < centimeter => congruency
+	*lat2 = lat1;
+	*lon2 = lon1;
+	*az2 = 180.0 + az1;
+	if( *az2 > 360.0 ) *az2 -= 360.0;
+	return 0;
+    } else if( SGLimitsd::min() < fabs(cosphi1) ) {	// non-polar origin
+	// u1 is reduced latitude
+	double tanu1 = sqrt(1.0-e2)*sinphi1/cosphi1;
+	double sig1 = atan2(tanu1,cosaz1);
+	double cosu1 = 1.0/sqrt( 1.0 + tanu1*tanu1 ), sinu1 = tanu1*cosu1;
+	double sinaz =  cosu1*sinaz1, cos2saz = 1.0-sinaz*sinaz;
+	double us = cos2saz*e2/(1.0-e2);
+
+	// Terms
+	double	ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/16384.0,
+	    tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0,
+	    tc = 0;
+
+	// FIRST ESTIMATE OF SIGMA (SIG)
+	double first = s/(b*ta);  // !!
+	double sig = first;
+	double c2sigm, sinsig,cossig, temp,denom,rnumer, dlams, dlam;
+	do {
+	    c2sigm = cos(2.0*sig1+sig);
+	    sinsig = sin(sig); cossig = cos(sig);
+	    temp = sig;
+	    sig = first + 
+		tb*sinsig*(c2sigm+tb*(cossig*(-1.0+2.0*c2sigm*c2sigm) - 
+				      tb*c2sigm*(-3.0+4.0*sinsig*sinsig)
+				      *(-3.0+4.0*c2sigm*c2sigm)/6.0)
+			   /4.0);
+	} while( fabs(sig-temp) > testv);
+
+	// LATITUDE OF POINT 2
+	// DENOMINATOR IN 2 PARTS (TEMP ALSO USED LATER)
+	temp = sinu1*sinsig-cosu1*cossig*cosaz1;
+	denom = (1.0-f)*sqrt(sinaz*sinaz+temp*temp);
+
+	// NUMERATOR
+	rnumer = sinu1*cossig+cosu1*sinsig*cosaz1;
+	*lat2 = SGMiscd::rad2deg(atan2(rnumer,denom));
+
+	// DIFFERENCE IN LONGITUDE ON AUXILARY SPHERE (DLAMS )
+	rnumer = sinsig*sinaz1;
+	denom = cosu1*cossig-sinu1*sinsig*cosaz1;
+	dlams = atan2(rnumer,denom);
+
+	// TERM C
+	tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
+
+	// DIFFERENCE IN LONGITUDE
+	dlam = dlams-(1.0-tc)*f*sinaz*(sig+tc*sinsig*
+				       (c2sigm+
+					tc*cossig*(-1.0+2.0*
+						   c2sigm*c2sigm)));
+	*lon2 = SGMiscd::rad2deg(lam1+dlam);
+	if (*lon2 > 180.0  ) *lon2 -= 360.0;
+	if (*lon2 < -180.0 ) *lon2 += 360.0;
+
+	// AZIMUTH - FROM NORTH
+	*az2 = SGMiscd::rad2deg(atan2(-sinaz,temp));
+	if ( fabs(*az2) < testv ) *az2 = 0.0;
+	if( *az2 < 0.0) *az2 += 360.0;
+	return 0;
+    } else {			// phi1 == 90 degrees, polar origin
+	double dM = a*M0(e2) - s;
+	double paz = ( phi1 < 0.0 ? 180.0 : 0.0 );
+        double zero = 0.0f;
+	return _geo_direct_wgs_84( zero, lon1, paz, dM, lat2, lon2, az2 );
+    } 
+}
+
+bool
+SGGeodesy::direct(const SGGeod& p1, double course1,
+                  double distance, SGGeod& p2, double& course2)
+{
+  double lat2, lon2;
+  int ret = _geo_direct_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                               course1, distance, &lat2, &lon2, &course2);
+  p2.setLatitudeDeg(lat2);
+  p2.setLongitudeDeg(lon2);
+  p2.setElevationM(0);
+  return ret == 0;
+}
+
+// given lat1, lon1, lat2, lon2, calculate starting and ending
+// az1, az2 and distance (s).  Lat, lon, and azimuth are in degrees.
+// distance in meters
+static int _geo_inverse_wgs_84( double lat1, double lon1, double lat2,
+			double lon2, double *az1, double *az2,
+                        double *s )
+{
+    double a = SGGeodesy::EQURAD, rf = SGGeodesy::iFLATTENING;
+    int iter=0;
+    double testv = 1.0E-10;
+    double f = ( rf > 0.0 ? 1.0/rf : 0.0 );
+    double b = a*(1.0-f);
+    // double e2 = f*(2.0-f); // unused in this routine
+    double phi1 = SGMiscd::deg2rad(lat1), lam1 = SGMiscd::deg2rad(lon1);
+    double sinphi1 = sin(phi1), cosphi1 = cos(phi1);
+    double phi2 = SGMiscd::deg2rad(lat2), lam2 = SGMiscd::deg2rad(lon2);
+    double sinphi2 = sin(phi2), cosphi2 = cos(phi2);
+	
+    if( (fabs(lat1-lat2) < testv && 
+	 ( fabs(lon1-lon2) < testv)) || (fabs(lat1-90.0) < testv ) )
+    {	
+	// TWO STATIONS ARE IDENTICAL : SET DISTANCE & AZIMUTHS TO ZERO */
+	*az1 = 0.0; *az2 = 0.0; *s = 0.0;
+	return 0;
+    } else if(  fabs(cosphi1) < testv ) {
+	// initial point is polar
+	int k = _geo_inverse_wgs_84( lat2,lon2,lat1,lon1, az1,az2,s );
+	k = k; // avoid compiler error since return result is unused
+	b = *az1; *az1 = *az2; *az2 = b;
+	return 0;
+    } else if( fabs(cosphi2) < testv ) {
+	// terminal point is polar
+        double _lon1 = lon1 + 180.0f;
+	int k = _geo_inverse_wgs_84( lat1, lon1, lat1, _lon1, 
+				    az1, az2, s );
+	k = k; // avoid compiler error since return result is unused
+	*s /= 2.0;
+	*az2 = *az1 + 180.0;
+	if( *az2 > 360.0 ) *az2 -= 360.0; 
+	return 0;
+    } else if( (fabs( fabs(lon1-lon2) - 180 ) < testv) && 
+	       (fabs(lat1+lat2) < testv) ) 
+    {
+	// Geodesic passes through the pole (antipodal)
+	double s1,s2;
+	_geo_inverse_wgs_84( lat1,lon1, lat1,lon2, az1,az2, &s1 );
+	_geo_inverse_wgs_84( lat2,lon2, lat1,lon2, az1,az2, &s2 );
+	*az2 = *az1;
+	*s = s1 + s2;
+	return 0;
+    } else {
+	// antipodal and polar points don't get here
+	double dlam = lam2 - lam1, dlams = dlam;
+	double sdlams,cdlams, sig,sinsig,cossig, sinaz,
+	    cos2saz, c2sigm;
+	double tc,temp, us,rnumer,denom, ta,tb;
+	double cosu1,sinu1, sinu2,cosu2;
+
+	// Reduced latitudes
+	temp = (1.0-f)*sinphi1/cosphi1;
+	cosu1 = 1.0/sqrt(1.0+temp*temp);
+	sinu1 = temp*cosu1;
+	temp = (1.0-f)*sinphi2/cosphi2;
+	cosu2 = 1.0/sqrt(1.0+temp*temp);
+	sinu2 = temp*cosu2;
+    
+	do {
+	    sdlams = sin(dlams), cdlams = cos(dlams);
+	    sinsig = sqrt(cosu2*cosu2*sdlams*sdlams+
+			  (cosu1*sinu2-sinu1*cosu2*cdlams)*
+			  (cosu1*sinu2-sinu1*cosu2*cdlams));
+	    cossig = sinu1*sinu2+cosu1*cosu2*cdlams;
+	    
+	    sig = atan2(sinsig,cossig);
+	    sinaz = cosu1*cosu2*sdlams/sinsig;
+	    cos2saz = 1.0-sinaz*sinaz;
+	    c2sigm = (sinu1 == 0.0 || sinu2 == 0.0 ? cossig : 
+		      cossig-2.0*sinu1*sinu2/cos2saz);
+	    tc = f*cos2saz*(4.0+f*(4.0-3.0*cos2saz))/16.0;
+	    temp = dlams;
+	    dlams = dlam+(1.0-tc)*f*sinaz*
+		(sig+tc*sinsig*
+		 (c2sigm+tc*cossig*(-1.0+2.0*c2sigm*c2sigm)));
+	    if (fabs(dlams) > SGMiscd::pi() && iter++ > 50) {
+		return iter;
+	    }
+	} while ( fabs(temp-dlams) > testv);
+
+	us = cos2saz*(a*a-b*b)/(b*b); // !!
+	// BACK AZIMUTH FROM NORTH
+	rnumer = -(cosu1*sdlams);
+	denom = sinu1*cosu2-cosu1*sinu2*cdlams;
+	*az2 = SGMiscd::rad2deg(atan2(rnumer,denom));
+	if( fabs(*az2) < testv ) *az2 = 0.0;
+	if(*az2 < 0.0) *az2 += 360.0;
+
+	// FORWARD AZIMUTH FROM NORTH
+	rnumer = cosu2*sdlams;
+	denom = cosu1*sinu2-sinu1*cosu2*cdlams;
+	*az1 = SGMiscd::rad2deg(atan2(rnumer,denom));
+	if( fabs(*az1) < testv ) *az1 = 0.0;
+	if(*az1 < 0.0) *az1 += 360.0;
+
+	// Terms a & b
+	ta = 1.0+us*(4096.0+us*(-768.0+us*(320.0-175.0*us)))/
+	    16384.0;
+	tb = us*(256.0+us*(-128.0+us*(74.0-47.0*us)))/1024.0;
+
+	// GEODETIC DISTANCE
+	*s = b*ta*(sig-tb*sinsig*
+		   (c2sigm+tb*(cossig*(-1.0+2.0*c2sigm*c2sigm)-tb*
+			       c2sigm*(-3.0+4.0*sinsig*sinsig)*
+			       (-3.0+4.0*c2sigm*c2sigm)/6.0)/
+		    4.0));
+	return 0;
+    }
+}
+
+bool
+SGGeodesy::inverse(const SGGeod& p1, const SGGeod& p2, double& course1,
+                   double& course2, double& distance)
+{
+  int ret = _geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                                p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                                &course1, &course2, &distance);
+  return ret == 0;
+}
+
+double
+SGGeodesy::courseDeg(const SGGeod& p1, const SGGeod& p2)
+{
+  double course1, course2, distance;
+  int r = _geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                                p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                                &course1, &course2, &distance);
+  if (r != 0) {
+    throw sg_exception("SGGeodesy::courseDeg, unable to compute course");
+  }
+  
+  return course1;
+}
+
+double
+SGGeodesy::distanceM(const SGGeod& p1, const SGGeod& p2)
+{
+  double course1, course2, distance;
+  int r = _geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                                p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                                &course1, &course2, &distance);
+  if (r != 0) {
+    throw sg_exception("SGGeodesy::distanceM, unable to compute distance");
+  }
+  
+  return distance;
+}
+
+double
+SGGeodesy::distanceNm(const SGGeod& from, const SGGeod& to)
+{
+  return distanceM(from, to) * SG_METER_TO_NM;
+}
+
+/// Geocentric routines
+
+void
+SGGeodesy::advanceRadM(const SGGeoc& geoc, double course, double distance,
+                       SGGeoc& result)
+{
+  result.setRadiusM(geoc.getRadiusM());
+
+  // lat=asin(sin(lat1)*cos(d)+cos(lat1)*sin(d)*cos(tc))
+  // IF (cos(lat)=0)
+  //   lon=lon1      // endpoint a pole
+  // ELSE
+  //   lon=mod(lon1-asin(sin(tc)*sin(d)/cos(lat))+pi,2*pi)-pi
+  // ENDIF
+  
+  distance *= SG_METER_TO_NM * SG_NM_TO_RAD;
+  
+  double sinDistance = sin(distance);
+  double cosDistance = cos(distance);
+
+  double sinLat = sin(geoc.getLatitudeRad()) * cosDistance +
+    cos(geoc.getLatitudeRad()) * sinDistance * cos(course);
+  sinLat = SGMiscd::clip(sinLat, -1, 1);
+  result.setLatitudeRad(asin(sinLat));
+  double cosLat = cos(result.getLatitudeRad());
+  
+  
+  if (cosLat <= SGLimitsd::min()) {
+    // endpoint a pole
+    result.setLongitudeRad(geoc.getLongitudeRad());
+  } else {
+    double tmp = SGMiscd::clip(sin(course) * sinDistance / cosLat, -1, 1);
+    double lon = SGMiscd::normalizeAngle(geoc.getLongitudeRad() - asin( tmp ));
+    result.setLongitudeRad(lon);
+  }
+}
+
+double
+SGGeodesy::courseRad(const SGGeoc& from, const SGGeoc& to)
+{
+  double diffLon = to.getLongitudeRad() - from.getLongitudeRad();
+
+  double sinLatFrom = sin(from.getLatitudeRad());
+  double cosLatFrom = cos(from.getLatitudeRad());
+
+  double sinLatTo = sin(to.getLatitudeRad());
+  double cosLatTo = cos(to.getLatitudeRad());
+
+  double x = cosLatTo*sin(diffLon);
+  double y = cosLatFrom*sinLatTo - sinLatFrom*cosLatTo*cos(diffLon);
+
+  // guard atan2 returning NaN's
+  if (fabs(x) <= SGLimitsd::min() && fabs(y) <= SGLimitsd::min())
+    return 0;
+
+  double c = atan2(x, y);
+  if (c >= 0)
+    return SGMiscd::twopi() - c;
+  else
+    return -c;
+}
+
+double
+SGGeodesy::distanceRad(const SGGeoc& from, const SGGeoc& to)
+{
+  // d = 2*asin(sqrt((sin((lat1-lat2)/2))^2 +
+  //            cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
+  double cosLatFrom = cos(from.getLatitudeRad());
+  double cosLatTo = cos(to.getLatitudeRad());
+  double tmp1 = sin(0.5*(from.getLatitudeRad() - to.getLatitudeRad()));
+  double tmp2 = sin(0.5*(from.getLongitudeRad() - to.getLongitudeRad()));
+  double square = tmp1*tmp1 + cosLatFrom*cosLatTo*tmp2*tmp2;
+  double s = SGMiscd::min(sqrt(SGMiscd::max(square, 0)), 1);
+  return 2 * asin(s);
+}
+
+
+double
+SGGeodesy::distanceM(const SGGeoc& from, const SGGeoc& to)
+{
+  return distanceRad(from, to) * SG_RAD_TO_NM * SG_NM_TO_METER;
+}

simgear/math/SGGeodesy.hxx

@@ -45,6 +45,24 @@ public:
   /// Takes a geocentric coordinate data and returns the cartesian
   /// coordinates.
   static void SGGeocToCart(const SGGeoc& geoc, SGVec3<double>& cart);
+
+  // Geodetic course/distance computation
+  static bool direct(const SGGeod& p1, double course1,
+                     double distance, SGGeod& p2, double& course2);
+
+  static bool inverse(const SGGeod& p1, const SGGeod& p2, double& course1,
+                      double& course2, double& distance);
+
+  static double courseDeg(const SGGeod& from, const SGGeod& to);
+  static double distanceM(const SGGeod& from, const SGGeod& to);
+  static double distanceNm(const SGGeod& from, const SGGeod& to);
+    
+  // Geocentric course/distance computation
+  static void advanceRadM(const SGGeoc& geoc, double course, double distance,
+                          SGGeoc& result);
+  static double courseRad(const SGGeoc& from, const SGGeoc& to);
+  static double distanceRad(const SGGeoc& from, const SGGeoc& to);
+  static double distanceM(const SGGeoc& from, const SGGeoc& to);
 };
 
 #endif

simgear/math/SGGeometry.hxx

@@ -0,0 +1,38 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGGeometry_HXX
+#define SGGeometry_HXX
+
+// Required ...
+#include "SGMath.hxx"
+
+// Make sure all is defined
+#include "SGGeometryFwd.hxx"
+
+// Geometric primitives we know about
+#include "SGBox.hxx"
+#include "SGSphere.hxx"
+#include "SGRay.hxx"
+#include "SGLineSegment.hxx"
+#include "SGPlane.hxx"
+#include "SGTriangle.hxx"
+
+// Intersection tests
+#include "SGIntersect.hxx"
+
+#endif

simgear/math/SGGeometryFwd.hxx

@@ -0,0 +1,51 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGGeometryFwd_HXX
+#define SGGeometryFwd_HXX
+
+template<typename T>
+class SGBox;
+typedef SGBox<float> SGBoxf;
+typedef SGBox<double> SGBoxd;
+
+template<typename T>
+class SGSphere;
+typedef SGSphere<float> SGSpheref;
+typedef SGSphere<double> SGSphered;
+
+template<typename T>
+class SGRay;
+typedef SGRay<float> SGRayf;
+typedef SGRay<double> SGRayd;
+
+template<typename T>
+class SGLineSegment;
+typedef SGLineSegment<float> SGLineSegmentf;
+typedef SGLineSegment<double> SGLineSegmentd;
+
+template<typename T>
+class SGPlane;
+typedef SGPlane<float> SGPlanef;
+typedef SGPlane<double> SGPlaned;
+
+template<typename T>
+class SGTriangle;
+typedef SGTriangle<float> SGTrianglef;
+typedef SGTriangle<double> SGTriangled;
+
+#endif

simgear/math/SGGeometryTest.cxx

@@ -0,0 +1,547 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
+
+#include <cstdlib>
+#include <iostream>
+
+#include "SGGeometry.hxx"
+#include "sg_random.h"
+
+template<typename T>
+SGVec3<T> rndVec3(void)
+{
+  return SGVec3<T>(sg_random(), sg_random(), sg_random());
+}
+
+template<typename T>
+bool
+TriangleClosestPointIntersectionTest(void)
+{
+  unsigned nTests = 100000;
+  unsigned failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+      // test triangle
+      SGTriangle<T> triangle(rndVec3<T>(), rndVec3<T>(), rndVec3<T>());
+      T triangleEps = 100*SGLimits<T>::epsilon();
+
+      // generate random point in the triangle
+      T u = 4*sg_random() - 2;
+      T v = 4*sg_random() - 2;
+      if (1 < u + v) {
+        v = T(0.5)*(v + 1 - u);
+        u = 1 - v;
+      }
+      u = SGMisc<T>::clip(u, 0, 1);
+      v = SGMisc<T>::clip(v, 0, 1);
+
+      SGVec3<T> testClosest;
+      testClosest = triangle.getBaseVertex();
+      testClosest += u*triangle.getEdge(0) + v*triangle.getEdge(1);
+
+      SGVec3<T> n = triangle.getNormal();
+      SGVec3<T> e0 = triangle.getEdge(0);
+      SGVec3<T> e1 = triangle.getEdge(1);
+
+      // The normals to the edges
+      SGVec3<T> a0 = cross(e0, n);
+      SGVec3<T> a1 = cross(e1 - e0, n);
+      SGVec3<T> a2 = cross(n, e1);
+
+      SGVec3<T> testPoint = testClosest;
+      // Ok, if we are at some edge, go perpandicular to the triangle away
+      if (u == 0) {
+        if (v == 0) {
+          testPoint += sg_random()*a0 + sg_random()*a2;
+        } else if (v == 1) {
+          testPoint += sg_random()*a1 + sg_random()*a2;
+        } else {
+          testPoint += sg_random()*a2;
+        }
+      } else if (u == 1) {
+        testPoint += sg_random()*a0 + sg_random()*a1;
+      } else {
+        if (v == 0) {
+          testPoint += sg_random()*a0;
+        } else if (u + v == 1) {
+          testPoint += sg_random()*a1;
+        }
+      }
+      testPoint += (2*sg_random() - 1)*n;
+
+      // Test the closest point function
+      SGVec3<T> closest = closestPoint(triangle, testPoint);
+      if (!equivalent(closest, testClosest, triangleEps)) {
+        std::cout << "Failed closest point test #" << i
+                  << ": not equivalent!\nu = "
+                  << u << ", v = " << v
+                  << "\ntestPoint = " << testPoint
+                  << ", testClosest = " << testClosest
+                  << ", closest = " << closest << "\n"
+                  << triangle << std::endl;
+        ++failedCount;
+      }
+
+      // Test the triangle sphere intersection
+      SGSphere<T> sphere(testPoint, sg_random());
+      bool exactIntersection = intersects(sphere, testClosest);
+//       bool exactIntersection = intersects(sphere, closest);
+      bool sphereTriangleIntersection = intersects(sphere, triangle);
+    
+      if (sphereTriangleIntersection != exactIntersection) {
+        std::cout << "Failed triangle sphere intersection test #" << i
+                  << ": not equivalent!\nu = "
+                  << u << ", v = " << v
+                  << "\ntestPoint = " << testPoint
+                  << ", testClosest = " << testClosest
+                  << ", closest = " << closest << "\n"
+                  << triangle << std::endl;
+        ++failedCount;
+      }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed box line intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+template<typename T>
+bool
+TriangleLineIntersectionTest(void)
+{
+  unsigned nTests = 100000;
+  unsigned failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+    SGVec3<T> v0 = rndVec3<T>();
+    SGVec3<T> v1 = rndVec3<T>();
+    SGVec3<T> v2 = rndVec3<T>();
+    
+    SGTriangle<T> tri(v0, v1, v2);
+
+    T triangleEps = 100*SGLimits<T>::epsilon();
+
+    // generate random coeficients
+    T u = 4*sg_random() - 2;
+    T v = 4*sg_random() - 2;
+    T t = 4*sg_random() - 2;
+
+    SGVec3<T> isectpt = v0 + u*(v1 - v0) + v*(v2 - v0);
+
+    SGLineSegment<T> lineSegment;
+    SGVec3<T> dir = rndVec3<T>();
+
+    SGVec3<T> isectres;
+    lineSegment.set(isectpt - t*dir, isectpt + (1 - t)*dir);
+    
+    if (intersects(isectres, tri, lineSegment)) {
+      if (0 <= u && 0 <= v && u+v <= 1 && 0 <= t && t <= 1) {
+        if (!equivalent(isectres, isectpt, triangleEps)) {
+          std::cout << "Failed line segment intersection test #" << i
+                    << ": not equivalent!\nu = "
+                    << u << ", v = " << v << ", t = " << t
+                    << "\n" << tri << "\n" << lineSegment << std::endl;
+          ++failedCount;
+        }
+      } else {
+        std::cout << "Failed line segment intersection test #" << i
+                  << ": false positive!\nu = "
+                  << u << ", v = " << v << ", t = " << t
+                  << "\n" << tri << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (0 <= u && 0 <= v && u+v <= 1 && 0 <= t && t <= 1) {
+        std::cout << "Failed line segment intersection test #" << i
+                  << ": false negative!\nu = "
+                  << u << ", v = " << v << ", t = " << t
+                  << "\n" << tri << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    }
+
+    SGRay<T> ray;
+    ray.set(isectpt - t*dir, dir);
+    if (intersects(isectres, tri, ray)) {
+      if (0 <= u && 0 <= v && u+v <= 1 && 0 <= t) {
+        if (!equivalent(isectres, isectpt, triangleEps)) {
+          std::cout << "Failed ray intersection test #" << i
+                    << ": not equivalent!\nu = "
+                    << u << ", v = " << v << ", t = " << t
+                    << "\n" << tri << "\n" << ray << std::endl;
+          ++failedCount;
+        }
+      } else {
+        std::cout << "Failed ray intersection test #" << i
+                  << ": false positive!\nu = "
+                  << u << ", v = " << v << ", t = " << t
+                  << "\n" << tri << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (0 <= u && 0 <= v && u+v <= 1 && 0 <= t) {
+        std::cout << "Failed ray intersection test #" << i
+                  << ": false negative !\nu = "
+                  << u << ", v = " << v << ", t = " << t
+                  << "\n" << tri << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed ray intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  /// Some crude handmade test
+  SGVec3<T> v0 = SGVec3<T>(0, 0, 0);
+  SGVec3<T> v1 = SGVec3<T>(1, 0, 0);
+  SGVec3<T> v2 = SGVec3<T>(0, 1, 0);
+
+  SGTriangle<T> tri(v0, v1, v2);
+
+  SGRay<T> ray;
+  ray.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0.1, 0.1, -1));
+  if (!intersects(tri, ray)) {
+    std::cout << "Failed test #1!" << std::endl;
+    return false;
+  }
+
+  ray.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0, 0, -1));
+  if (!intersects(tri, ray)) {
+    std::cout << "Failed test #2!" << std::endl;
+    return false;
+  }
+
+  SGLineSegment<T> lineSegment;
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0.1, 0.1, -1));
+  if (!intersects(tri, lineSegment)) {
+    std::cout << "Failed test #3!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0, 0, -1));
+  if (!intersects(tri, lineSegment)) {
+    std::cout << "Failed test #4!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0, 1, -1));
+  if (!intersects(tri, lineSegment)) {
+    std::cout << "Failed test #5!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(1, 0, -1));
+  if (!intersects(tri, lineSegment)) {
+    std::cout << "Failed test #6!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(1, 1, -1));
+  if (!intersects(tri, lineSegment)) {
+    std::cout << "Failed test #7!" << std::endl;
+    return false;
+  }
+
+  // is exactly in the plane
+  // FIXME: cannot detect that yet ??
+//   lineSegment.set(SGVec3<T>(0, 0, 0), SGVec3<T>(1, 0, 0));
+//   if (!intersects(tri, lineSegment)) {
+//     std::cout << "Failed test #8!" << std::endl;
+//     return false;
+//   }
+
+  // is exactly in the plane
+  // FIXME: cannot detect that yet ??
+//   lineSegment.set(SGVec3<T>(-1, 0, 0), SGVec3<T>(1, 0, 0));
+//   if (!intersects(tri, lineSegment)) {
+//     std::cout << "Failed test #9!" << std::endl;
+//     return false;
+//   }
+
+  // is exactly paralell to the plane
+  // FIXME: cannot detect that yet ??
+//   lineSegment.set(SGVec3<T>(-1, 1, 0), SGVec3<T>(1, 1, 0));
+//   if (intersects(tri, lineSegment)) {
+//     std::cout << "Failed test #10!" << std::endl;
+//     return false;
+//   }
+
+  // should fail since the line segment poins slightly beyond the triangle
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(1, 1, -0.9));
+  if (intersects(tri, lineSegment)) {
+    std::cout << "Failed test #11!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(0, -0.1, -1));
+  if (intersects(tri, lineSegment)) {
+    std::cout << "Failed test #12!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(-0.1, -0.1, -1));
+  if (intersects(tri, lineSegment)) {
+    std::cout << "Failed test #13!" << std::endl;
+    return false;
+  }
+
+  lineSegment.set(SGVec3<T>(0, 0, 1), SGVec3<T>(-0.1, 0, -1));
+  if (intersects(tri, lineSegment)) {
+    std::cout << "Failed test #14!" << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+template<typename T>
+bool
+SphereLineIntersectionTest(void)
+{
+  unsigned nTests = 100000;
+  unsigned failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+    SGVec3<T> center = rndVec3<T>();
+    T radius = 2*sg_random();
+    SGSphere<T> sphere(center, radius);
+
+    SGVec3<T> offset = normalize(rndVec3<T>());
+    T t = 4*sg_random();
+
+    // This one is the point we use to judge if the test should fail or not
+    SGVec3<T> base = center + t*offset;
+
+    SGVec3<T> per = perpendicular(offset);
+    SGVec3<T> start = base + 4*sg_random()*per;
+    SGVec3<T> end = base - 4*sg_random()*per;
+
+    SGLineSegment<T> lineSegment;
+    lineSegment.set(start, end);
+    if (intersects(sphere, lineSegment)) {
+      if (radius < t) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false positive!\nt = " << t << "\n"
+                  << sphere << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (t <= radius) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false negative!\nt = " << t << "\n"
+                  << sphere << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    }
+
+    SGRay<T> ray;
+    ray.set(start, end - start);
+    if (intersects(sphere, ray)) {
+      if (radius < t) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false positive!\nt = " << t << "\n"
+                  << sphere << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (t <= radius) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false negative!\nt = " << t << "\n"
+                  << sphere << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed sphere line intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+    SGVec3<T> center = rndVec3<T>();
+    T radius = 2*sg_random();
+    SGSphere<T> sphere(center, radius);
+
+    SGVec3<T> offset = normalize(rndVec3<T>());
+    T t = 4*sg_random();
+
+    // This one is the point we use to judge if the test should fail or not
+    SGVec3<T> base = center + t*offset;
+
+    SGVec3<T> start = base;
+    SGVec3<T> end = base + 2*sg_random()*offset;
+
+    SGLineSegment<T> lineSegment;
+    lineSegment.set(start, end);
+    if (intersects(sphere, lineSegment)) {
+      if (radius < t) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false positive!\nt = " << t << "\n"
+                  << sphere << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (t <= radius) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false negative!\nt = " << t << "\n"
+                  << sphere << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    }
+
+    SGRay<T> ray;
+    ray.set(start, end - start);
+    if (intersects(sphere, ray)) {
+      if (radius < t) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false positive!\nt = " << t << "\n"
+                  << sphere << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (t <= radius) {
+        std::cout << "Failed sphere line intersection test #" << i
+                  << ": false negative!\nt = " << t << "\n"
+                  << sphere << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed sphere line intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+template<typename T>
+bool
+BoxLineIntersectionTest(void)
+{
+  // ok, bad test case coverage, but better than nothing ...
+
+  unsigned nTests = 100000;
+  unsigned failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+    SGBox<T> box;
+    box.expandBy(rndVec3<T>());
+    box.expandBy(rndVec3<T>());
+
+    SGVec3<T> center = box.getCenter();
+    
+    // This one is the point we use to judge if the test should fail or not
+    SGVec3<T> base = rndVec3<T>();
+    SGVec3<T> dir = base - center;
+
+    SGLineSegment<T> lineSegment;
+    lineSegment.set(base, base + dir);
+    if (intersects(box, lineSegment)) {
+      if (!intersects(box, base)) {
+        std::cout << "Failed box line intersection test #" << i
+                  << ": false positive!\n"
+                  << box << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (intersects(box, base)) {
+        std::cout << "Failed box line intersection test #" << i
+                  << ": false negative!\n"
+                  << box << "\n" << lineSegment << std::endl;
+        ++failedCount;
+      }
+    }
+
+    SGRay<T> ray;
+    ray.set(base, dir);
+    if (intersects(box, ray)) {
+      if (!intersects(box, base)) {
+        std::cout << "Failed box line intersection test #" << i
+                  << ": false positive!\n"
+                  << box << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    } else {
+      if (intersects(box, base)) {
+        std::cout << "Failed box line intersection test #" << i
+                  << ": false negative!\n"
+                  << box << "\n" << ray << std::endl;
+        ++failedCount;
+      }
+    }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed box line intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+int
+main(void)
+{
+  std::cout << "Testing Geometry intersection routines.\n"
+            << "Some of these tests can fail due to roundoff problems...\n"
+            << "Dont worry if only a few of them fail..." << std::endl;
+
+  sg_srandom(17);
+
+  if (!TriangleClosestPointIntersectionTest<float>())
+    return EXIT_FAILURE;
+  if (!TriangleClosestPointIntersectionTest<double>())
+    return EXIT_FAILURE;
+
+  if (!TriangleLineIntersectionTest<float>())
+    return EXIT_FAILURE;
+  if (!TriangleLineIntersectionTest<double>())
+    return EXIT_FAILURE;
+
+  if (!SphereLineIntersectionTest<float>())
+    return EXIT_FAILURE;
+  if (!SphereLineIntersectionTest<double>())
+    return EXIT_FAILURE;
+  
+  if (!BoxLineIntersectionTest<float>())
+    return EXIT_FAILURE;
+  if (!BoxLineIntersectionTest<double>())
+    return EXIT_FAILURE;
+  
+  std::cout << "Successfully passed all tests!" << std::endl;
+  return EXIT_SUCCESS;
+}

simgear/math/SGLineSegment.hxx

@@ -0,0 +1,75 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGLineSegment_H
+#define SGLineSegment_H
+
+template<typename T>
+class SGLineSegment {
+public:
+  SGLineSegment()
+  { }
+  SGLineSegment(const SGVec3<T>& start, const SGVec3<T>& end) :
+    _start(start),
+    _direction(end - start)
+  { }
+  template<typename S>
+  explicit SGLineSegment(const SGLineSegment<S>& lineSegment) :
+    _start(lineSegment.getStart()),
+    _direction(lineSegment.getDirection())
+  { }
+
+  void set(const SGVec3<T>& start, const SGVec3<T>& end)
+  { _start = start; _direction = end - start; }
+
+  const SGVec3<T>& getStart() const
+  { return _start; }
+  SGVec3<T> getEnd() const
+  { return _start + _direction; }
+  const SGVec3<T>& getDirection() const
+  { return _direction; }
+  SGVec3<T> getNormalizedDirection() const
+  { return normalize(getDirection()); }
+
+  SGVec3<T> getCenter() const
+  { return _start + T(0.5)*_direction; }
+
+  SGLineSegment<T> transform(const SGMatrix<T>& matrix) const
+  {
+    SGLineSegment<T> lineSegment;
+    lineSegment._start = matrix.xformPt(_start);
+    lineSegment._direction = matrix.xformVec(_direction);
+    return lineSegment;
+  }
+
+private:
+  SGVec3<T> _start;
+  SGVec3<T> _direction;
+};
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s,
+           const SGLineSegment<T>& lineSegment)
+{
+  return s << "line segment: start = " << lineSegment.getStart()
+           << ", end = " << lineSegment.getEnd();
+}
+
+#endif

simgear/math/SGMath.hxx

@@ -21,6 +21,12 @@
 /// Just include them all
 
 #include <iosfwd>
+// FIXME, make it compile on IRIX
+
+//#include <osg/GL>
+//#undef GLUT_APIENTRY_DEFINED // GL/glut.h undef APIENTRY when this symbol is defined. osg/GL defines it (?).
+                             // This probably would work if we didn't use plib/pu.h that include GL/glut.h 
+                             //  on its side.
 
 #include "SGMathFwd.hxx"
 
@@ -28,6 +34,7 @@
 #include "SGLimits.hxx"
 #include "SGMisc.hxx"
 #include "SGGeodesy.hxx"
+#include "SGVec2.hxx"
 #include "SGVec3.hxx"
 #include "SGVec4.hxx"
 #include "SGGeoc.hxx"

simgear/math/SGMathFwd.hxx

@@ -32,6 +32,8 @@ class SGMisc;
 template<typename T>
 class SGQuat;
 template<typename T>
+class SGVec2;
+template<typename T>
 class SGVec3;
 template<typename T>
 class SGVec4;
@@ -44,6 +46,8 @@ typedef SGMisc<float> SGMiscf;
 typedef SGMisc<double> SGMiscd;
 typedef SGQuat<float> SGQuatf;
 typedef SGQuat<double> SGQuatd;
+typedef SGVec2<float> SGVec2f;
+typedef SGVec2<double> SGVec2d;
 typedef SGVec3<float> SGVec3f;
 typedef SGVec3<double> SGVec3d;
 typedef SGVec4<float> SGVec4f;

simgear/math/SGMathTest.cxx

@@ -174,14 +174,22 @@ MatrixTest(void)
   // Create some test matrix
   SGVec3<T> v0(2, 7, 17);
   SGQuat<T> q0 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), normalize(v0));
-  SGMatrix<T> m0(q0, v0);
+  SGMatrix<T> m0 = SGMatrix<T>::unit();
+  m0.postMultTranslate(v0);
+  m0.postMultRotate(q0);
 
-  // Check the tqo forms of the inverse for that kind of special matrix
-  SGMatrix<T> m1, m2;
-  invert(m1, m0);
-  m2 = transNeg(m0);
+  // Check the three forms of the inverse for that kind of special matrix
+  SGMatrix<T> m1 = SGMatrix<T>::unit();
+  m1.preMultTranslate(-v0);
+  m1.preMultRotate(inverse(q0));
+
+  SGMatrix<T> m2, m3;
+  invert(m2, m0);
+  m3 = transNeg(m0);
   if (!equivalent(m1, m2))
     return false;
+  if (!equivalent(m2, m3))
+    return false;
 
   // Check matrix multiplication and inversion
   if (!equivalent(m0*m1, SGMatrix<T>::unit()))
@@ -192,6 +200,10 @@ MatrixTest(void)
     return false;
   if (!equivalent(m2*m0, SGMatrix<T>::unit()))
     return false;
+  if (!equivalent(m0*m3, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m3*m0, SGMatrix<T>::unit()))
+    return false;
   
   return true;
 }
@@ -200,10 +212,10 @@ bool
 GeodesyTest(void)
 {
   // We know that the values are on the order of 1
-  double epsDeg = 10*SGLimits<double>::epsilon();
+  double epsDeg = 10*360*SGLimits<double>::epsilon();
   // For the altitude values we need to tolerate relative errors in the order
   // of the radius
-  double epsM = 1e6*SGLimits<double>::epsilon();
+  double epsM = 10*6e6*SGLimits<double>::epsilon();
 
   SGVec3<double> cart0, cart1;
   SGGeod geod0, geod1;
@@ -236,7 +248,9 @@ sgInterfaceTest(void)
   SGVec3f v3f = SGVec3f::e2();
   SGVec4f v4f = SGVec4f::e2();
   SGQuatf qf = SGQuatf::fromEulerRad(1.2, 1.3, -0.4);
-  SGMatrixf mf(qf, v3f);
+  SGMatrixf mf;
+  mf.postMultTranslate(v3f);
+  mf.postMultRotate(qf);
 
   // Copy to and from plibs types check if result is equal,
   // test for exact equality
@@ -283,7 +297,9 @@ sgdInterfaceTest(void)
   SGVec3d v3d = SGVec3d::e2();
   SGVec4d v4d = SGVec4d::e2();
   SGQuatd qd = SGQuatd::fromEulerRad(1.2, 1.3, -0.4);
-  SGMatrixd md(qd, v3d);
+  SGMatrixd md;
+  md.postMultTranslate(v3d);
+  md.postMultRotate(qd);
 
   // Copy to and from plibs types check if result is equal,
   // test for exact equality

simgear/math/SGMatrix.hxx

@@ -63,14 +63,13 @@ public:
   }
 
   /// Constructor, build up a SGMatrix from a translation
-  SGMatrix(const SGVec3<T>& trans)
+  template<typename S>
+  SGMatrix(const SGVec3<S>& trans)
   { set(trans); }
 
   /// Constructor, build up a SGMatrix from a rotation and a translation
-  SGMatrix(const SGQuat<T>& quat, const SGVec3<T>& trans)
-  { set(quat, trans); }
-  /// Constructor, build up a SGMatrix from a rotation and a translation
-  SGMatrix(const SGQuat<T>& quat)
+  template<typename S>
+  SGMatrix(const SGQuat<S>& quat)
   { set(quat); }
 
   /// Copy constructor for a transposed negated matrix
@@ -78,39 +77,22 @@ public:
   { set(tm); }
 
   /// Set from a tranlation
-  void set(const SGVec3<T>& trans)
+  template<typename S>
+  void set(const SGVec3<S>& trans)
   {
     _data.flat[0] = 1; _data.flat[4] = 0;
-    _data.flat[8] = 0; _data.flat[12] = -trans(0);
+    _data.flat[8] = 0; _data.flat[12] = T(trans(0));
     _data.flat[1] = 0; _data.flat[5] = 1;
-    _data.flat[9] = 0; _data.flat[13] = -trans(1);
+    _data.flat[9] = 0; _data.flat[13] = T(trans(1));
     _data.flat[2] = 0; _data.flat[6] = 0;
-    _data.flat[10] = 1; _data.flat[14] = -trans(2);
+    _data.flat[10] = 1; _data.flat[14] = T(trans(2));
     _data.flat[3] = 0; _data.flat[7] = 0;
     _data.flat[11] = 0; _data.flat[15] = 1;
   }
 
   /// Set from a scale/rotation and tranlation
-  void set(const SGQuat<T>& quat, const SGVec3<T>& trans)
-  {
-    T w = quat.w(); T x = quat.x(); T y = quat.y(); T z = quat.z();
-    T xx = x*x; T yy = y*y; T zz = z*z;
-    T wx = w*x; T wy = w*y; T wz = w*z;
-    T xy = x*y; T xz = x*z; T yz = y*z;
-    _data.flat[0] = 1-2*(yy+zz); _data.flat[1] = 2*(xy-wz);
-    _data.flat[2] = 2*(xz+wy); _data.flat[3] = 0;
-    _data.flat[4] = 2*(xy+wz); _data.flat[5] = 1-2*(xx+zz);
-    _data.flat[6] = 2*(yz-wx); _data.flat[7] = 0;
-    _data.flat[8] = 2*(xz-wy); _data.flat[9] = 2*(yz+wx);
-    _data.flat[10] = 1-2*(xx+yy); _data.flat[11] = 0;
-    // Well, this one is ugly here, as that xform method on the current
-    // object needs the above data to be already set ...
-    SGVec3<T> t = xformVec(trans);
-    _data.flat[12] = -t(0); _data.flat[13] = -t(1);
-    _data.flat[14] = -t(2); _data.flat[15] = 1;
-  }
-  /// Set from a scale/rotation and tranlation
-  void set(const SGQuat<T>& quat)
+  template<typename S>
+  void set(const SGQuat<S>& quat)
   {
     T w = quat.w(); T x = quat.x(); T y = quat.y(); T z = quat.z();
     T xx = x*x; T yy = y*y; T zz = z*z;
@@ -199,6 +181,52 @@ public:
   /// Inplace matrix multiplication, post multiply
   SGMatrix& operator*=(const SGMatrix<T>& m2);
 
+  template<typename S>
+  SGMatrix& preMultTranslate(const SGVec3<S>& t)
+  {
+    for (unsigned i = 0; i < 3; ++i) {
+      T tmp = T(t(i));
+      if (tmp == 0)
+        continue;
+      (*this)(i,0) += tmp*(*this)(3,0);
+      (*this)(i,1) += tmp*(*this)(3,1);
+      (*this)(i,2) += tmp*(*this)(3,2);
+      (*this)(i,3) += tmp*(*this)(3,3);
+    }
+    return *this;
+  }
+  template<typename S>
+  SGMatrix& postMultTranslate(const SGVec3<S>& t)
+  {
+    SGVec4<T> col3((*this)(0,3), (*this)(1,3), (*this)(2,3), (*this)(3,3));
+    for (unsigned i = 0; i < SGMatrix<T>::nCols-1; ++i) {
+      SGVec4<T> tmp((*this)(0,i), (*this)(1,i), (*this)(2,i), (*this)(3,i));
+      col3 += T(t(i))*tmp;
+    }
+    (*this)(0,3) = col3(0); (*this)(1,3) = col3(1);
+    (*this)(2,3) = col3(2); (*this)(3,3) = col3(3);
+    return *this;
+  }
+
+  SGMatrix& preMultRotate(const SGQuat<T>& r)
+  {
+    for (unsigned i = 0; i < SGMatrix<T>::nCols; ++i) {
+      SGVec3<T> col((*this)(0,i), (*this)(1,i), (*this)(2,i));
+      col = r.transform(col);
+      (*this)(0,i) = col(0); (*this)(1,i) = col(1); (*this)(2,i) = col(2);
+    }
+    return *this;
+  }
+  SGMatrix& postMultRotate(const SGQuat<T>& r)
+  {
+    for (unsigned i = 0; i < SGMatrix<T>::nCols; ++i) {
+      SGVec3<T> col((*this)(i,0), (*this)(i,1), (*this)(i,2));
+      col = r.backTransform(col);
+      (*this)(i,0) = col(0); (*this)(i,1) = col(1); (*this)(i,2) = col(2);
+    }
+    return *this;
+  }
+
   SGVec3<T> xformPt(const SGVec3<T>& pt) const
   {
     SGVec3<T> tpt;
@@ -574,8 +602,8 @@ toMatrixf(const SGMatrixd& m)
 {
   return SGMatrixf((float)m(0,0), (float)m(0,1), (float)m(0,2), (float)m(0,3),
                    (float)m(1,0), (float)m(1,1), (float)m(1,2), (float)m(1,3),
-                   (float)m(3,0), (float)m(2,1), (float)m(2,2), (float)m(2,3),
-                   (float)m(4,0), (float)m(4,1), (float)m(4,2), (float)m(4,3));
+                   (float)m(2,0), (float)m(2,1), (float)m(2,2), (float)m(2,3),
+                   (float)m(3,0), (float)m(3,1), (float)m(3,2), (float)m(3,3));
 }
 
 inline
@@ -584,8 +612,8 @@ toMatrixd(const SGMatrixf& m)
 {
   return SGMatrixd(m(0,0), m(0,1), m(0,2), m(0,3),
                    m(1,0), m(1,1), m(1,2), m(1,3),
-                   m(3,0), m(2,1), m(2,2), m(2,3),
-                   m(4,0), m(4,1), m(4,2), m(4,3));
+                   m(2,0), m(2,1), m(2,2), m(2,3),
+                   m(3,0), m(3,1), m(3,2), m(3,3));
 }
 
 #endif

simgear/math/SGMisc.hxx

@@ -22,6 +22,8 @@ template<typename T>
 class SGMisc {
 public:
   static T pi() { return T(3.1415926535897932384626433832795029L); }
+  static T twopi() { return 2*T(3.1415926535897932384626433832795029L); }
+
   static T min(const T& a, const T& b)
   { return a < b ? a : b; }
   static T min(const T& a, const T& b, const T& c)
@@ -34,6 +36,11 @@ public:
   { return max(max(a, b), c); }
   static T max(const T& a, const T& b, const T& c, const T& d)
   { return max(max(max(a, b), c), d); }
+
+  // clip the value of a to be in the range between and including _min and _max
+  static T clip(const T& a, const T& _min, const T& _max)
+  { return max(_min, min(_max, a)); }
+
   static int sign(const T& a)
   {
     if (a < -SGLimits<T>::min())
@@ -49,6 +56,32 @@ public:
   static T deg2rad(const T& val)
   { return val*pi()/180; }
 
+  // normalize the value to be in a range between [min, max[
+  static T
+  normalizePeriodic(const T& min, const T& max, const T& value)
+  {
+    T range = max - min;
+    if (range < SGLimits<T>::min())
+      return min;
+    T normalized = value - range*floor((value - min)/range);
+    // two security checks that can only happen due to roundoff
+    if (value <= min)
+      return min;
+    if (max <= normalized)
+      return min;
+    return normalized;
+  }
+
+  // normalize the angle to be in a range between [-pi, pi[
+  static T
+  normalizeAngle(const T& angle)
+  { return normalizePeriodic(-pi(), pi(), angle); }
+
+  // normalize the angle to be in a range between [0, 2pi[
+  static T
+  normalizeAngle2(const T& angle)
+  { return normalizePeriodic(0, twopi(), angle); }
+
   static T round(const T& v)
   { return floor(v + T(0.5)); }
   static int roundToInt(const T& v)

simgear/math/SGPlane.hxx

@@ -0,0 +1,74 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGPlane_H
+#define SGPlane_H
+
+template<typename T>
+class SGPlane {
+public:
+  SGPlane()
+  { }
+  SGPlane(const SGVec3<T>& normal, const T& dist) :
+    _normal(normal), _dist(dist)
+  { }
+  SGPlane(const SGVec3<T>& normal, const SGVec3<T>& point) :
+    _normal(normal), _dist(-dot(normal, point))
+  { }
+  SGPlane(const SGVec3<T> vertices[3]) :
+    _normal(normalize(cross(vertices[1] - vertices[0],
+                            vertices[2] - vertices[0]))),
+    _dist(-dot(_normal, vertices[0]))
+  { }
+  SGPlane(const SGVec3<T>& v0, const SGVec3<T>& v1, const SGVec3<T>& v2) :
+    _normal(normalize(cross(v1 - v0, v2 - v0))),
+    _dist(-dot(_normal, v0))
+  { }
+  template<typename S>
+  explicit SGPlane(const SGPlane<S>& plane) :
+    _normal(plane.getNormal()), _dist(plane.getDist())
+  { }
+
+  void setNormal(const SGVec3<T>& normal)
+  { _normal = normal; }
+  const SGVec3<T>& getNormal() const
+  { return _normal; }
+
+  void setDist(const T& dist)
+  { _dist = dist; }
+  const T& getDist() const
+  { return _dist; }
+
+  /// Return a point on the plane 
+  SGVec3<T> getPointOnPlane() const
+  { return -_dist*_normal; }
+
+  /// That is the distance where we measure positive in direction of the normal
+  T getPositiveDist() const
+  { return -_dist; }
+  /// That is the distance where we measure positive in the oposite direction
+  /// of the normal.
+  const T& getNegativeDist() const
+  { return _dist; }
+
+private:
+  // That ordering is important because of one constructor
+  SGVec3<T> _normal;
+  T _dist;
+};
+
+#endif

simgear/math/SGQuat.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -26,8 +26,11 @@
 #undef max
 #endif
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Quat>
+#endif
 
-/// 3D Vector Class
+/// Quaternion Class
 template<typename T>
 class SGQuat {
 public:
@@ -42,7 +45,7 @@ public:
     /// uninitialized values in the debug build very fast ...
 #ifndef NDEBUG
     for (unsigned i = 0; i < 4; ++i)
-      _data[i] = SGLimits<T>::quiet_NaN();
+      data()[i] = SGLimits<T>::quiet_NaN();
 #endif
   }
   /// Constructor. Initialize by the given values
@@ -51,11 +54,11 @@ public:
   /// Constructor. Initialize by the content of a plain array,
   /// make sure it has at least 4 elements
   explicit SGQuat(const T* d)
-  { _data[0] = d[0]; _data[1] = d[1]; _data[2] = d[2]; _data[3] = d[3]; }
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
 
   /// Return a unit quaternion
   static SGQuat unit(void)
-  { return fromRealImag(1, SGVec3<T>(0)); }
+  { return fromRealImag(1, SGVec3<T>(0, 0, 0)); }
 
   /// Return a quaternion from euler angles
   static SGQuat fromEulerRad(T z, T y, T x)
@@ -96,13 +99,17 @@ public:
   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
+  /// Return a quaternion rotation from the earth centered to the
+  /// simulation usual horizontal local frame from given
+  /// longitude and latitude.
+  /// The horizontal local frame used in simulations is the frame with x-axis
+  /// pointing north, the y-axis pointing eastwards and the z axis
+  /// pointing downwards.
   static SGQuat fromLonLatRad(T lon, T lat)
   {
     SGQuat q;
     T zd2 = T(0.5)*lon;
-    T yd2 = T(-0.25)*SGMisc<value_type>::pi() - T(0.5)*lat;
+    T yd2 = T(-0.25)*SGMisc<T>::pi() - T(0.5)*lat;
     T Szd2 = sin(zd2);
     T Syd2 = sin(yd2);
     T Czd2 = cos(zd2);
@@ -113,21 +120,18 @@ public:
     q.z() = Szd2*Cyd2;
     return q;
   }
-
-  /// Return a quaternion rotation the the horizontal local frame from given
-  /// longitude and latitude
+  /// Like the above provided for convenience
   static SGQuat fromLonLatDeg(T lon, T lat)
   { return fromLonLatRad(SGMisc<T>::deg2rad(lon), SGMisc<T>::deg2rad(lat)); }
-
-  /// Return a quaternion rotation the the horizontal local frame from given
-  /// longitude and latitude
+  /// Like the above provided for convenience
   static SGQuat fromLonLat(const SGGeod& geod)
   { return fromLonLatRad(geod.getLongitudeRad(), geod.getLatitudeRad()); }
 
+
   /// Create a quaternion from the angle axis representation
   static SGQuat fromAngleAxis(T angle, const SGVec3<T>& axis)
   {
-    T angle2 = 0.5*angle;
+    T angle2 = T(0.5)*angle;
     return fromRealImag(cos(angle2), T(sin(angle2))*axis);
   }
 
@@ -141,19 +145,107 @@ public:
   {
     T nAxis = norm(axis);
     if (nAxis <= SGLimits<T>::min())
-      return SGQuat(1, 0, 0, 0);
-    T angle2 = 0.5*nAxis;
+      return SGQuat::unit();
+    T angle2 = T(0.5)*nAxis;
     return fromRealImag(cos(angle2), T(sin(angle2)/nAxis)*axis);
   }
 
+  /// Return a quaternion that rotates the from vector onto the to vector.
+  static SGQuat fromRotateTo(const SGVec3<T>& from, const SGVec3<T>& to)
+  {
+    T nfrom = norm(from);
+    T nto = norm(to);
+    if (nfrom <= SGLimits<T>::min() || nto <= SGLimits<T>::min())
+      return SGQuat::unit();
+
+    return SGQuat::fromRotateToNorm((1/nfrom)*from, (1/nto)*to);
+  }
+
+  /// Return a quaternion that rotates v1 onto the i1-th unit vector
+  /// and v2 into a plane that is spanned by the i2-th and i1-th unit vector.
+  static SGQuat fromRotateTo(const SGVec3<T>& v1, unsigned i1,
+                             const SGVec3<T>& v2, unsigned i2)
+  {
+    T nrmv1 = norm(v1);
+    T nrmv2 = norm(v2);
+    if (nrmv1 <= SGLimits<T>::min() || nrmv2 <= SGLimits<T>::min())
+      return SGQuat::unit();
+
+    SGVec3<T> nv1 = (1/nrmv1)*v1;
+    SGVec3<T> nv2 = (1/nrmv2)*v2;
+    T dv1v2 = dot(nv1, nv2);
+    if (fabs(fabs(dv1v2)-1) <= SGLimits<T>::epsilon())
+      return SGQuat::unit();
+
+    // The target vector for the first rotation
+    SGVec3<T> nto1 = SGVec3<T>::zeros();
+    SGVec3<T> nto2 = SGVec3<T>::zeros();
+    nto1[i1] = 1;
+    nto2[i2] = 1;
+
+    // The first rotation can be done with the usual routine.
+    SGQuat q = SGQuat::fromRotateToNorm(nv1, nto1);
+
+    // The rotation axis for the second rotation is the
+    // target for the first one, so the rotation axis is nto1
+    // We need to get the angle.
+
+    // Make nv2 exactly orthogonal to nv1.
+    nv2 = normalize(nv2 - dv1v2*nv1);
+
+    SGVec3<T> tnv2 = q.transform(nv2);
+    T cosang = dot(nto2, tnv2);
+    T cos05ang = T(0.5)+T(0.5)*cosang;
+    if (cos05ang <= 0)
+      cosang = 0;
+    cos05ang = sqrt(cos05ang);
+    T sig = dot(nto1, cross(nto2, tnv2));
+    T sin05ang = T(0.5)-T(0.5)*cosang;
+    if (sin05ang <= 0)
+      sin05ang = 0;
+    sin05ang = copysign(sqrt(sin05ang), sig);
+    q *= SGQuat::fromRealImag(cos05ang, sin05ang*nto1);
+
+    return q;
+  }
+
+
+  // Return a quaternion which rotates the vector given by v
+  // to the vector -v. Other directions are *not* preserved.
+  static SGQuat fromChangeSign(const SGVec3<T>& v)
+  {
+    // The vector from points to the oposite direction than to.
+    // Find a vector perpendicular to the vector to.
+    T absv1 = fabs(v(0));
+    T absv2 = fabs(v(1));
+    T absv3 = fabs(v(2));
+    
+    SGVec3<T> axis;
+    if (absv2 < absv1 && absv3 < absv1) {
+      T quot = v(1)/v(0);
+      axis = (1/sqrt(1+quot*quot))*SGVec3<T>(quot, -1, 0);
+    } else if (absv1 < absv2 && absv3 < absv2) {
+      T quot = v(2)/v(1);
+      axis = (1/sqrt(1+quot*quot))*SGVec3<T>(0, quot, -1);
+    } else if (absv1 < absv3 && absv2 < absv3) {
+      T quot = v(0)/v(2);
+      axis = (1/sqrt(1+quot*quot))*SGVec3<T>(-1, 0, quot);
+    } else {
+      // The all zero case.
+      return SGQuat::unit();
+    }
+
+    return SGQuat::fromRealImag(0, axis);
+  }
+
   /// Return a quaternion from real and imaginary part
   static SGQuat fromRealImag(T r, const SGVec3<T>& i)
   {
     SGQuat q;
     q.w() = r;
-    q.x() = i(0);
-    q.y() = i(1);
-    q.z() = i(2);
+    q.x() = i.x();
+    q.y() = i.y();
+    q.z() = i.z();
     return q;
   }
 
@@ -164,36 +256,36 @@ public:
   /// write the euler angles into the references
   void getEulerRad(T& zRad, T& yRad, T& xRad) const
   {
-    value_type sqrQW = w()*w();
-    value_type sqrQX = x()*x();
-    value_type sqrQY = y()*y();
-    value_type sqrQZ = z()*z();
+    T sqrQW = w()*w();
+    T sqrQX = x()*x();
+    T sqrQY = y()*y();
+    T sqrQZ = z()*z();
 
-    value_type num = 2*(y()*z() + w()*x());
-    value_type den = sqrQW - sqrQX - sqrQY + sqrQZ;
-    if (fabs(den) < SGLimits<value_type>::min() &&
-        fabs(num) < SGLimits<value_type>::min())
+    T num = 2*(y()*z() + w()*x());
+    T den = sqrQW - sqrQX - sqrQY + sqrQZ;
+    if (fabs(den) <= SGLimits<T>::min() &&
+        fabs(num) <= SGLimits<T>::min())
       xRad = 0;
     else
       xRad = atan2(num, den);
     
-    value_type tmp = 2*(x()*z() - w()*y());
-    if (tmp < -1)
-      yRad = 0.5*SGMisc<value_type>::pi();
-    else if (1 < tmp)
-      yRad = -0.5*SGMisc<value_type>::pi();
+    T tmp = 2*(x()*z() - w()*y());
+    if (tmp <= -1)
+      yRad = T(0.5)*SGMisc<T>::pi();
+    else if (1 <= tmp)
+      yRad = -T(0.5)*SGMisc<T>::pi();
     else
       yRad = -asin(tmp);
    
     num = 2*(x()*y() + w()*z()); 
     den = sqrQW + sqrQX - sqrQY - sqrQZ;
-    if (fabs(den) < SGLimits<value_type>::min() &&
-        fabs(num) < SGLimits<value_type>::min())
+    if (fabs(den) <= SGLimits<T>::min() &&
+        fabs(num) <= SGLimits<T>::min())
       zRad = 0;
     else {
-      value_type psi = atan2(num, den);
+      T psi = atan2(num, den);
       if (psi < 0)
-        psi += 2*SGMisc<value_type>::pi();
+        psi += 2*SGMisc<T>::pi();
       zRad = psi;
     }
   }
@@ -211,14 +303,14 @@ public:
   void getAngleAxis(T& angle, SGVec3<T>& axis) const
   {
     T nrm = norm(*this);
-    if (nrm < SGLimits<T>::min()) {
+    if (nrm <= SGLimits<T>::min()) {
       angle = 0;
       axis = SGVec3<T>(0, 0, 0);
     } else {
       T rNrm = 1/nrm;
       angle = acos(SGMisc<T>::max(-1, SGMisc<T>::min(1, rNrm*w())));
       T sAng = sin(angle);
-      if (fabs(sAng) < SGLimits<T>::min())
+      if (fabs(sAng) <= SGLimits<T>::min())
         axis = SGVec3<T>(1, 0, 0);
       else 
         axis = (rNrm/sAng)*imag(*this);
@@ -236,67 +328,60 @@ public:
 
   /// Access by index, the index is unchecked
   const T& operator()(unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access by index, the index is unchecked
   T& operator()(unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access raw data by index, the index is unchecked
   const T& operator[](unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access raw data by index, the index is unchecked
   T& operator[](unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access the x component
   const T& x(void) const
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the x component
   T& x(void)
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the y component
   const T& y(void) const
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the y component
   T& y(void)
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the z component
   const T& z(void) const
-  { return _data[2]; }
+  { return data()[2]; }
   /// Access the z component
   T& z(void)
-  { return _data[2]; }
+  { return data()[2]; }
   /// Access the w component
   const T& w(void) const
-  { return _data[3]; }
+  { return data()[3]; }
   /// Access the w component
   T& w(void)
-  { return _data[3]; }
+  { return data()[3]; }
 
-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  const T* data(void) const
+  /// Get the data pointer
+  const T (&data(void) const)[4]
   { return _data; }
-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  T* data(void)
-  { return _data; }
-
-  /// Readonly interface function to ssg's sgQuat/sgdQuat
-  const T (&sg(void) const)[4]
-  { return _data; }
-  /// Interface function to ssg's sgQuat/sgdQuat
-  T (&sg(void))[4]
+  /// Get the data pointer
+  T (&data(void))[4]
   { return _data; }
 
   /// Inplace addition
   SGQuat& operator+=(const SGQuat& v)
-  { _data[0]+=v(0);_data[1]+=v(1);_data[2]+=v(2);_data[3]+=v(3);return *this; }
+  { data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
   /// Inplace subtraction
   SGQuat& operator-=(const SGQuat& v)
-  { _data[0]-=v(0);_data[1]-=v(1);_data[2]-=v(2);_data[3]-=v(3);return *this; }
+  { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
   /// Inplace scalar multiplication
   template<typename S>
   SGQuat& operator*=(S s)
-  { _data[0] *= s; _data[1] *= s; _data[2] *= s; _data[3] *= s; return *this; }
+  { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
   /// Inplace scalar multiplication by 1/s
   template<typename S>
   SGQuat& operator/=(S s)
@@ -308,18 +393,18 @@ public:
   /// frame rotated with the quaternion
   SGVec3<T> transform(const SGVec3<T>& v) const
   {
-    value_type r = 2/dot(*this, *this);
+    T r = 2/dot(*this, *this);
     SGVec3<T> qimag = imag(*this);
-    value_type qr = real(*this);
+    T qr = real(*this);
     return (r*qr*qr - 1)*v + (r*dot(qimag, v))*qimag - (r*qr)*cross(qimag, v);
   }
   /// Transform a vector from the coordinate frame rotated with the quaternion
   /// to the current coordinate frame
   SGVec3<T> backTransform(const SGVec3<T>& v) const
   {
-    value_type r = 2/dot(*this, *this);
+    T r = 2/dot(*this, *this);
     SGVec3<T> qimag = imag(*this);
-    value_type qr = real(*this);
+    T qr = real(*this);
     return (r*qr*qr - 1)*v + (r*dot(qimag, v))*qimag + (r*qr)*cross(qimag, v);
   }
 
@@ -332,20 +417,79 @@ public:
 
   /// Return the time derivative of the quaternion given the angular velocity
   SGQuat
-  derivative(const SGVec3<T>& angVel)
+  derivative(const SGVec3<T>& angVel) const
   {
     SGQuat deriv;
 
-    deriv.w() = 0.5*(-x()*angVel(0) - y()*angVel(1) - z()*angVel(2));
-    deriv.x() = 0.5*( w()*angVel(0) - z()*angVel(1) + y()*angVel(2));
-    deriv.y() = 0.5*( z()*angVel(0) + w()*angVel(1) - x()*angVel(2));
-    deriv.z() = 0.5*(-y()*angVel(0) + x()*angVel(1) + w()*angVel(2));
+    deriv.w() = T(0.5)*(-x()*angVel(0) - y()*angVel(1) - z()*angVel(2));
+    deriv.x() = T(0.5)*( w()*angVel(0) - z()*angVel(1) + y()*angVel(2));
+    deriv.y() = T(0.5)*( z()*angVel(0) + w()*angVel(1) - x()*angVel(2));
+    deriv.z() = T(0.5)*(-y()*angVel(0) + x()*angVel(1) + w()*angVel(2));
     
     return deriv;
   }
 
 private:
-  /// The actual data
+
+  // Private because it assumes normalized inputs.
+  static SGQuat
+  fromRotateToSmaller90Deg(T cosang,
+                           const SGVec3<T>& from, const SGVec3<T>& to)
+  {
+    // In this function we assume that the angle required to rotate from
+    // the vector from to the vector to is <= 90 deg.
+    // That is done so because of possible instabilities when we rotate more
+    // then 90deg.
+
+    // Note that the next comment does actually cover a *more* *general* case
+    // than we need in this function. That shows that this formula is even
+    // valid for rotations up to 180deg.
+
+    // Because of the signs in the axis, it is sufficient to care for angles
+    // in the interval [-pi,pi]. That means that 0.5*angle is in the interval
+    // [-pi/2,pi/2]. But in that range the cosine is allways >= 0.
+    // So we do not need to care for egative roots in the following equation:
+    T cos05ang = sqrt(T(0.5)+T(0.5)*cosang);
+
+
+    // Now our assumption of angles <= 90 deg comes in play.
+    // For that reason, we know that cos05ang is not zero.
+    // It is even more, we can see from the above formula that 
+    // sqrt(0.5) < cos05ang.
+
+
+    // Compute the rotation axis, that is
+    // sin(angle)*normalized rotation axis
+    SGVec3<T> axis = cross(to, from);
+
+    // We need sin(0.5*angle)*normalized rotation axis.
+    // So rescale with sin(0.5*x)/sin(x).
+    // To do that we use the equation:
+    // sin(x) = 2*sin(0.5*x)*cos(0.5*x)
+    return SGQuat::fromRealImag( cos05ang, (1/(2*cos05ang))*axis);
+  }
+
+  // Private because it assumes normalized inputs.
+  static SGQuat
+  fromRotateToNorm(const SGVec3<T>& from, const SGVec3<T>& to)
+  {
+    // To avoid instabilities with roundoff, we distinguish between rotations
+    // with more then 90deg and rotations with less than 90deg.
+
+    // Compute the cosine of the angle.
+    T cosang = dot(from, to);
+
+    // For the small ones do direct computation
+    if (T(-0.5) < cosang)
+      return SGQuat::fromRotateToSmaller90Deg(cosang, from, to);
+
+    // For larger rotations. first rotate from to -from.
+    // Past that we will have a smaller angle again.
+    SGQuat q1 = SGQuat::fromChangeSign(from);
+    SGQuat q2 = SGQuat::fromRotateToSmaller90Deg(-cosang, -from, to);
+    return q1*q2;
+  }
+
   T _data[4];
 };
 
@@ -545,7 +689,7 @@ interpolate(T t, const SGQuat<T>& src, const SGQuat<T>& dst)
   // need the scales now, if the angle is very small, do linear interpolation
   // to avoid instabilities
   T scale0, scale1;
-  if (fabs(o) < SGLimits<T>::epsilon()) {
+  if (fabs(o) <= SGLimits<T>::epsilon()) {
     scale0 = 1 - t;
     scale1 = t;
   } else {
@@ -576,4 +720,16 @@ SGQuatd
 toQuatd(const SGQuatf& v)
 { return SGQuatd(v(0), v(1), v(2), v(3)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGQuatd
+toSG(const osg::Quat& q)
+{ return SGQuatd(q[0], q[1], q[2], q[3]); }
+
+inline
+osg::Quat
+toOsg(const SGQuatd& q)
+{ return osg::Quat(q[0], q[1], q[2], q[3]); }
+#endif
+
 #endif

simgear/math/SGRay.hxx

@@ -0,0 +1,66 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGRay_H
+#define SGRay_H
+
+template<typename T>
+class SGRay {
+public:
+  SGRay()
+  { }
+  SGRay(const SGVec3<T>& origin, const SGVec3<T>& dir) :
+    _origin(origin), _direction(dir)
+  { }
+  template<typename S>
+  explicit SGRay(const SGRay<S>& ray) :
+    _origin(ray.getOrigin()), _direction(ray.getDirection())
+  { }
+
+  void set(const SGVec3<T>& origin, const SGVec3<T>& dir)
+  { _origin = origin; _direction = dir; }
+
+  void setOrigin(const SGVec3<T>& origin)
+  { _origin = origin; }
+  const SGVec3<T>& getOrigin() const
+  { return _origin; }
+
+  void setDirection(const SGVec3<T>& direction)
+  { _direction = direction; }
+  const SGVec3<T>& getDirection() const
+  { return _direction; }
+
+  SGVec3<T> getNormalizedDirection() const
+  { return normalize(getDirection()); }
+
+private:
+  SGVec3<T> _origin;
+  SGVec3<T> _direction;
+};
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s,
+           const SGRay<T>& ray)
+{
+  return s << "ray: origin = " << ray.getOrigin()
+           << ", direction = " << ray.getDirection();
+}
+
+#endif

simgear/math/SGSphere.hxx

@@ -0,0 +1,151 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGSphere_H
+#define SGSphere_H
+
+template<typename T>
+class SGSphere {
+public:
+  SGSphere() :
+    _radius(-1)
+  { }
+  SGSphere(const SGVec3<T>& center, const T& radius) :
+    _center(center),
+    _radius(radius)
+  { }
+  template<typename S>
+  explicit SGSphere(const SGSphere<S>& sphere) :
+    _center(sphere.getCenter()),
+    _radius(sphere.getRadius())
+  { }
+
+  const SGVec3<T>& getCenter() const
+  { return _center; }
+  void setCenter(const SGVec3<T>& center)
+  { _center = center; }
+
+  const T& getRadius() const
+  { return _radius; }
+  void setRadius(const T& radius)
+  { _radius = radius; }
+  T getRadius2() const
+  { return _radius*_radius; }
+
+  bool empty() const
+  { return !valid(); }
+
+  bool valid() const
+  { return 0 <= _radius; }
+
+  void clear()
+  { _radius = -1; }
+
+  void expandBy(const SGVec3<T>& v)
+  {
+    if (empty()) {
+      _center = v;
+      _radius = 0;
+      return;
+    }
+
+    T dist2 = distSqr(_center, v);
+    if (dist2 <= getRadius2())
+      return;
+
+    T dist = sqrt(dist2);
+    T newRadius = T(0.5)*(_radius + dist);
+    _center += ((newRadius - _radius)/dist)*(v - _center);
+    _radius = newRadius;
+  }
+
+  void expandBy(const SGSphere<T>& s)
+  {
+    if (s.empty())
+      return;
+
+    if (empty()) {
+      _center = s.getCenter();
+      _radius = s.getRadius();
+      return;
+    }
+
+    T dist = length(_center - s.getCenter());
+    if (dist <= SGLimits<T>::min()) {
+      _radius = SGMisc<T>::max(_radius, s._radius);
+      return;
+    }
+
+    // already included
+    if (dist + s.getRadius() <= _radius)
+      return;
+
+    // new one includes all
+    if (dist + _radius <= s.getRadius()) {
+      _center = s.getCenter();
+      _radius = s.getRadius();
+      return;
+    }
+
+    T newRadius = T(0.5)*(_radius + dist + s.getRadius());
+    T ratio = (newRadius - _radius) / dist;
+    _radius = newRadius;
+
+    _center[0] += ratio*(s._center[0] - _center[0]);
+    _center[1] += ratio*(s._center[1] - _center[1]);
+    _center[2] += ratio*(s._center[2] - _center[2]);
+  }
+
+  void expandBy(const SGBox<T>& box)
+  {
+    if (box.empty())
+      return;
+
+    if (empty()) {
+      _center = box.getCenter();
+      _radius = T(0.5)*length(box.getSize());
+      return;
+    }
+
+    SGVec3<T> boxCenter = box.getCenter();
+    SGVec3<T> corner;
+    for (unsigned i = 0; i < 3; ++i) {
+      if (_center[i] < boxCenter[i])
+        corner[i] = box.getMax()[i];
+      else
+        corner[i] = box.getMin()[i];
+    }
+    expandBy(corner);
+  }
+
+private:
+  SGVec3<T> _center;
+  T _radius;
+};
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s,
+           const SGSphere<T>& sphere)
+{
+  return s << "center = " << sphere.getCenter()
+           << ", radius = " << sphere.getRadius();
+}
+
+#endif

simgear/math/SGTriangle.hxx

@@ -0,0 +1,105 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGTriangle_H
+#define SGTrianlge_H
+
+template<typename T>
+class SGTriangle {
+public:
+  SGTriangle()
+  { }
+  SGTriangle(const SGVec3<T>& v0, const SGVec3<T>& v1, const SGVec3<T>& v2)
+  { set(v0, v1, v2); }
+  SGTriangle(const SGVec3<T> v[3])
+  { set(v); }
+
+  void set(const SGVec3<T>& v0, const SGVec3<T>& v1, const SGVec3<T>& v2)
+  {
+    _v0 = v0;
+    _d[0] = v1 - v0;
+    _d[1] = v2 - v0;
+  }
+  void set(const SGVec3<T> v[3])
+  {
+    _v0 = v[0];
+    _d[0] = v[1] - v[0];
+    _d[1] = v[2] - v[0];
+  }
+
+  SGVec3<T> getCenter() const
+  { return _v0 + T(1)/T(3)*(_d[0] + _d[1]); }
+
+  // note that the index is unchecked
+  SGVec3<T> getVertex(unsigned i) const
+  {
+    if (0 < i)
+      return _v0 + _d[i-1];
+    return _v0;
+  }
+  /// return the normalized surface normal
+  SGVec3<T> getNormal() const
+  { return normalize(cross(_d[0], _d[1])); }
+
+  const SGVec3<T>& getBaseVertex() const
+  { return _v0; }
+  void setBaseVertex(const SGVec3<T>& v)
+  { _v0 = v; }
+  const SGVec3<T>& getEdge(unsigned i) const
+  { return _d[i]; }
+  void setEdge(unsigned i, const SGVec3<T>& d)
+  { _d[i] = d; }
+
+  // flip the positive side
+  void flip()
+  {
+    SGVec3<T> tmp = _d[0];
+    _d[0] = _d[1];
+    _d[1] = tmp;
+  }
+
+  SGTriangle<T> transform(const SGMatrix<T>& matrix) const
+  {
+    SGTriangle<T> triangle;
+    triangle._v0 = matrix.xformPt(_v0);
+    triangle._d[0] = matrix.xformVec(_d[0]);
+    triangle._d[1] = matrix.xformVec(_d[1]);
+    return triangle;
+  }
+
+private:
+  /// Store one vertex directly, _d is the offset of the other two
+  /// vertices wrt the base vertex
+  /// For fast intersection tests this format prooves usefull. For that same
+  /// purpose also cache the cross product of the _d[i].
+  SGVec3<T> _v0;
+  SGVec3<T> _d[2];
+};
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s,
+           const SGTriangle<T>& triangle)
+{
+  return s << "triangle: v0 = " << triangle.getVertex(0)
+           << ", v1 = " << triangle.getVertex(1)
+           << ", v2 = " << triangle.getVertex(2);
+}
+
+#endif

simgear/math/SGVec2.hxx

@@ -0,0 +1,397 @@
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library 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
+// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGVec2_H
+#define SGVec2_H
+
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Vec2f>
+#include <osg/Vec2d>
+#endif
+
+/// 2D Vector Class
+template<typename T>
+class SGVec2 {
+public:
+  typedef T value_type;
+
+  /// Default constructor. Does not initialize at all.
+  /// If you need them zero initialized, use SGVec2::zeros()
+  SGVec2(void)
+  {
+    /// Initialize with nans in the debug build, that will guarantee to have
+    /// a fast uninitialized default constructor in the release but shows up
+    /// uninitialized values in the debug build very fast ...
+#ifndef NDEBUG
+    for (unsigned i = 0; i < 2; ++i)
+      data()[i] = SGLimits<T>::quiet_NaN();
+#endif
+  }
+  /// Constructor. Initialize by the given values
+  SGVec2(T x, T y)
+  { data()[0] = x; data()[1] = y; }
+  /// Constructor. Initialize by the content of a plain array,
+  /// make sure it has at least 2 elements
+  explicit SGVec2(const T* d)
+  { data()[0] = d[0]; data()[1] = d[1]; }
+  template<typename S>
+  explicit SGVec2(const SGVec2<S>& d)
+  { data()[0] = d[0]; data()[1] = d[1]; }
+
+  /// Access by index, the index is unchecked
+  const T& operator()(unsigned i) const
+  { return data()[i]; }
+  /// Access by index, the index is unchecked
+  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]; }
+  /// Access the x component
+  T& x(void)
+  { return data()[0]; }
+  /// Access the y component
+  const T& y(void) const
+  { return data()[1]; }
+  /// Access the y component
+  T& y(void)
+  { return data()[1]; }
+
+  /// Access raw data
+  const T (&data(void) const)[2]
+  { return _data; }
+  /// Access raw data
+  T (&data(void))[2]
+  { return _data; }
+
+  /// Inplace addition
+  SGVec2& operator+=(const SGVec2& v)
+  { data()[0] += v(0); data()[1] += v(1); return *this; }
+  /// Inplace subtraction
+  SGVec2& operator-=(const SGVec2& v)
+  { data()[0] -= v(0); data()[1] -= v(1); return *this; }
+  /// Inplace scalar multiplication
+  template<typename S>
+  SGVec2& operator*=(S s)
+  { data()[0] *= s; data()[1] *= s; return *this; }
+  /// Inplace scalar multiplication by 1/s
+  template<typename S>
+  SGVec2& operator/=(S s)
+  { return operator*=(1/T(s)); }
+
+  /// Return an all zero vector
+  static SGVec2 zeros(void)
+  { return SGVec2(0, 0); }
+  /// Return unit vectors
+  static SGVec2 e1(void)
+  { return SGVec2(1, 0); }
+  static SGVec2 e2(void)
+  { return SGVec2(0, 1); }
+
+private:
+  T _data[2];
+};
+
+/// Unary +, do nothing ...
+template<typename T>
+inline
+const SGVec2<T>&
+operator+(const SGVec2<T>& v)
+{ return v; }
+
+/// Unary -, do nearly nothing
+template<typename T>
+inline
+SGVec2<T>
+operator-(const SGVec2<T>& v)
+{ return SGVec2<T>(-v(0), -v(1)); }
+
+/// Binary +
+template<typename T>
+inline
+SGVec2<T>
+operator+(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return SGVec2<T>(v1(0)+v2(0), v1(1)+v2(1)); }
+
+/// Binary -
+template<typename T>
+inline
+SGVec2<T>
+operator-(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return SGVec2<T>(v1(0)-v2(0), v1(1)-v2(1)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGVec2<T>
+operator*(S s, const SGVec2<T>& v)
+{ return SGVec2<T>(s*v(0), s*v(1)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGVec2<T>
+operator*(const SGVec2<T>& v, S s)
+{ return SGVec2<T>(s*v(0), s*v(1)); }
+
+/// multiplication as a multiplicator, that is assume that the first vector
+/// represents a 2x2 diagonal matrix with the diagonal elements in the vector.
+/// Then the result is the product of that matrix times the second vector.
+template<typename T>
+inline
+SGVec2<T>
+mult(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return SGVec2<T>(v1(0)*v2(0), v1(1)*v2(1)); }
+
+/// component wise min
+template<typename T>
+inline
+SGVec2<T>
+min(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{return SGVec2<T>(SGMisc<T>::min(v1(0), v2(0)), SGMisc<T>::min(v1(1), v2(1)));}
+template<typename S, typename T>
+inline
+SGVec2<T>
+min(const SGVec2<T>& v, S s)
+{ return SGVec2<T>(SGMisc<T>::min(s, v(0)), SGMisc<T>::min(s, v(1))); }
+template<typename S, typename T>
+inline
+SGVec2<T>
+min(S s, const SGVec2<T>& v)
+{ return SGVec2<T>(SGMisc<T>::min(s, v(0)), SGMisc<T>::min(s, v(1))); }
+
+/// component wise max
+template<typename T>
+inline
+SGVec2<T>
+max(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{return SGVec2<T>(SGMisc<T>::max(v1(0), v2(0)), SGMisc<T>::max(v1(1), v2(1)));}
+template<typename S, typename T>
+inline
+SGVec2<T>
+max(const SGVec2<T>& v, S s)
+{ return SGVec2<T>(SGMisc<T>::max(s, v(0)), SGMisc<T>::max(s, v(1))); }
+template<typename S, typename T>
+inline
+SGVec2<T>
+max(S s, const SGVec2<T>& v)
+{ return SGVec2<T>(SGMisc<T>::max(s, v(0)), SGMisc<T>::max(s, v(1))); }
+
+/// Scalar dot product
+template<typename T>
+inline
+T
+dot(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return v1(0)*v2(0) + v1(1)*v2(1); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+T
+norm(const SGVec2<T>& v)
+{ return sqrt(dot(v, v)); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+T
+length(const SGVec2<T>& v)
+{ return sqrt(dot(v, v)); }
+
+/// The 1-norm of the vector, this one is the fastest length function we
+/// can implement on modern cpu's
+template<typename T>
+inline
+T
+norm1(const SGVec2<T>& v)
+{ return fabs(v(0)) + fabs(v(1)); }
+
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec2<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1))); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+SGVec2<T>
+normalize(const SGVec2<T>& v)
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec2<T>::zeros();
+  return (1/normv)*v;
+}
+
+/// Return true if exactly the same
+template<typename T>
+inline
+bool
+operator==(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return v1(0) == v2(0) && v1(1) == v2(1); }
+
+/// Return true if not exactly the same
+template<typename T>
+inline
+bool
+operator!=(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return ! (v1 == v2); }
+
+/// Return true if smaller, good for putting that into a std::map
+template<typename T>
+inline
+bool
+operator<(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else return (v1(1) < v2(1));
+}
+
+template<typename T>
+inline
+bool
+operator<=(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else return (v1(1) <= v2(1));
+}
+
+template<typename T>
+inline
+bool
+operator>(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return operator<(v2, v1); }
+
+template<typename T>
+inline
+bool
+operator>=(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return operator<=(v2, v1); }
+
+/// Return true if equal to the relative tolerance tol
+template<typename T>
+inline
+bool
+equivalent(const SGVec2<T>& v1, const SGVec2<T>& v2, T rtol, T atol)
+{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
+
+/// Return true if equal to the relative tolerance tol
+template<typename T>
+inline
+bool
+equivalent(const SGVec2<T>& v1, const SGVec2<T>& v2, T rtol)
+{ return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
+
+/// Return true if about equal to roundoff of the underlying type
+template<typename T>
+inline
+bool
+equivalent(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{
+  T tol = 100*SGLimits<T>::epsilon();
+  return equivalent(v1, v2, tol, tol);
+}
+
+/// The euclidean distance of the two vectors
+template<typename T>
+inline
+T
+dist(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ return norm(v1 - v2); }
+
+/// The squared euclidean distance of the two vectors
+template<typename T>
+inline
+T
+distSqr(const SGVec2<T>& v1, const SGVec2<T>& v2)
+{ SGVec2<T> tmp = v1 - v2; return dot(tmp, tmp); }
+
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec2<T>
+projection(const SGVec2<T>& u, const SGVec2<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
+#ifndef NDEBUG
+template<typename T>
+inline
+bool
+isNaN(const SGVec2<T>& v)
+{
+  return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1));
+}
+#endif
+
+/// Output to an ostream
+template<typename char_type, typename traits_type, typename T>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec2<T>& v)
+{ return s << "[ " << v(0) << ", " << v(1) << " ]"; }
+
+inline
+SGVec2f
+toVec2f(const SGVec2d& v)
+{ return SGVec2f((float)v(0), (float)v(1)); }
+
+inline
+SGVec2d
+toVec2d(const SGVec2f& v)
+{ return SGVec2d(v(0), v(1)); }
+
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec2d
+toSG(const osg::Vec2d& v)
+{ return SGVec2d(v[0], v[1]); }
+
+inline
+SGVec2f
+toSG(const osg::Vec2f& v)
+{ return SGVec2f(v[0], v[1]); }
+
+inline
+osg::Vec2d
+toOsg(const SGVec2d& v)
+{ return osg::Vec2d(v[0], v[1]); }
+
+inline
+osg::Vec2f
+toOsg(const SGVec2f& v)
+{ return osg::Vec2f(v[0], v[1]); }
+
+#endif
+
+#endif

simgear/math/SGVec3.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -18,6 +18,11 @@
 #ifndef SGVec3_H
 #define SGVec3_H
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Vec3f>
+#include <osg/Vec3d>
+#endif
+
 /// 3D Vector Class
 template<typename T>
 class SGVec3 {
@@ -33,74 +38,72 @@ public:
     /// uninitialized values in the debug build very fast ...
 #ifndef NDEBUG
     for (unsigned i = 0; i < 3; ++i)
-      _data[i] = SGLimits<T>::quiet_NaN();
+      data()[i] = SGLimits<T>::quiet_NaN();
 #endif
   }
   /// Constructor. Initialize by the given values
   SGVec3(T x, T y, T z)
-  { _data[0] = x; _data[1] = y; _data[2] = z; }
+  { data()[0] = x; data()[1] = y; data()[2] = z; }
   /// Constructor. Initialize by the content of a plain array,
   /// make sure it has at least 3 elements
-  explicit SGVec3(const T* data)
-  { _data[0] = data[0]; _data[1] = data[1]; _data[2] = data[2]; }
+  explicit SGVec3(const T* d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+  template<typename S>
+  explicit SGVec3(const SGVec3<S>& d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+  explicit SGVec3(const SGVec2<T>& v2, const T& v3 = 0)
+  { data()[0] = v2[0]; data()[1] = v2[1]; data()[2] = v3; }
 
   /// Access by index, the index is unchecked
   const T& operator()(unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access by index, the index is unchecked
   T& operator()(unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access raw data by index, the index is unchecked
   const T& operator[](unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access raw data by index, the index is unchecked
   T& operator[](unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access the x component
   const T& x(void) const
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the x component
   T& x(void)
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the y component
   const T& y(void) const
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the y component
   T& y(void)
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the z component
   const T& z(void) const
-  { return _data[2]; }
+  { return data()[2]; }
   /// Access the z component
   T& z(void)
-  { return _data[2]; }
+  { return data()[2]; }
 
-  /// Get the data pointer
-  const T* data(void) const
+  /// Readonly raw storage interface
+  const T (&data(void) const)[3]
   { return _data; }
-  /// Get the data pointer
-  T* data(void)
-  { return _data; }
-
-  /// Readonly interface function to ssg's sgVec3/sgdVec3
-  const T (&sg(void) const)[3]
-  { return _data; }
-  /// Interface function to ssg's sgVec3/sgdVec3
-  T (&sg(void))[3]
+  /// Readonly raw storage interface
+  T (&data(void))[3]
   { return _data; }
 
   /// Inplace addition
   SGVec3& operator+=(const SGVec3& v)
-  { _data[0] += v(0); _data[1] += v(1); _data[2] += v(2); return *this; }
+  { data()[0] += v(0); data()[1] += v(1); data()[2] += v(2); return *this; }
   /// Inplace subtraction
   SGVec3& operator-=(const SGVec3& v)
-  { _data[0] -= v(0); _data[1] -= v(1); _data[2] -= v(2); return *this; }
+  { data()[0] -= v(0); data()[1] -= v(1); data()[2] -= v(2); return *this; }
   /// Inplace scalar multiplication
   template<typename S>
   SGVec3& operator*=(S s)
-  { _data[0] *= s; _data[1] *= s; _data[2] *= s; return *this; }
+  { data()[0] *= s; data()[1] *= s; data()[2] *= s; return *this; }
   /// Inplace scalar multiplication by 1/s
   template<typename S>
   SGVec3& operator/=(S s)
@@ -125,7 +128,6 @@ public:
   static SGVec3 fromGeoc(const SGGeoc& geoc);
 
 private:
-  /// The actual data
   T _data[3];
 };
 
@@ -211,6 +213,73 @@ SGVec3<T>
 operator*(const SGVec3<T>& v, S s)
 { return SGVec3<T>(s*v(0), s*v(1), s*v(2)); }
 
+/// multiplication as a multiplicator, that is assume that the first vector
+/// represents a 3x3 diagonal matrix with the diagonal elements in the vector.
+/// Then the result is the product of that matrix times the second vector.
+template<typename T>
+inline
+SGVec3<T>
+mult(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return SGVec3<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2)); }
+
+/// component wise min
+template<typename T>
+inline
+SGVec3<T>
+min(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+  return SGVec3<T>(SGMisc<T>::min(v1(0), v2(0)),
+                   SGMisc<T>::min(v1(1), v2(1)),
+                   SGMisc<T>::min(v1(2), v2(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+min(const SGVec3<T>& v, S s)
+{
+  return SGVec3<T>(SGMisc<T>::min(s, v(0)),
+                   SGMisc<T>::min(s, v(1)),
+                   SGMisc<T>::min(s, v(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+min(S s, const SGVec3<T>& v)
+{
+  return SGVec3<T>(SGMisc<T>::min(s, v(0)),
+                   SGMisc<T>::min(s, v(1)),
+                   SGMisc<T>::min(s, v(2)));
+}
+
+/// component wise max
+template<typename T>
+inline
+SGVec3<T>
+max(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+  return SGVec3<T>(SGMisc<T>::max(v1(0), v2(0)),
+                   SGMisc<T>::max(v1(1), v2(1)),
+                   SGMisc<T>::max(v1(2), v2(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+max(const SGVec3<T>& v, S s)
+{
+  return SGVec3<T>(SGMisc<T>::max(s, v(0)),
+                   SGMisc<T>::max(s, v(1)),
+                   SGMisc<T>::max(s, v(2)));
+}
+template<typename S, typename T>
+inline
+SGVec3<T>
+max(S s, const SGVec3<T>& v)
+{
+  return SGVec3<T>(SGMisc<T>::max(s, v(0)),
+                   SGMisc<T>::max(s, v(1)),
+                   SGMisc<T>::max(s, v(2)));
+}
+
 /// Scalar dot product
 template<typename T>
 inline
@@ -240,6 +309,13 @@ T
 norm1(const SGVec3<T>& v)
 { return fabs(v(0)) + fabs(v(1)) + fabs(v(2)); }
 
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec3<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2))); }
+
 /// Vector cross product
 template<typename T>
 inline
@@ -251,12 +327,43 @@ cross(const SGVec3<T>& v1, const SGVec3<T>& v2)
                    v1(0)*v2(1) - v1(1)*v2(0));
 }
 
-/// The euclidean norm of the vector, that is what most people call length
+/// return any normalized vector perpendicular to v
+template<typename T>
+inline
+SGVec3<T>
+perpendicular(const SGVec3<T>& v)
+{
+  T absv1 = fabs(v(0));
+  T absv2 = fabs(v(1));
+  T absv3 = fabs(v(2));
+
+  if (absv2 < absv1 && absv3 < absv1) {
+    T quot = v(1)/v(0);
+    return (1/sqrt(1+quot*quot))*SGVec3<T>(quot, -1, 0);
+  } else if (absv3 < absv2) {
+    T quot = v(2)/v(1);
+    return (1/sqrt(1+quot*quot))*SGVec3<T>(0, quot, -1);
+  } else if (SGLimits<T>::min() < absv3) {
+    T quot = v(0)/v(2);
+    return (1/sqrt(1+quot*quot))*SGVec3<T>(-1, 0, quot);
+  } else {
+    // the all zero case ...
+    return SGVec3<T>(0, 0, 0);
+  }
+}
+
+/// Construct a unit vector in the given direction.
+/// or the zero vector if the input vector is zero.
 template<typename T>
 inline
 SGVec3<T>
 normalize(const SGVec3<T>& v)
-{ return (1/norm(v))*v; }
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec3<T>::zeros();
+  return (1/normv)*v;
+}
 
 /// Return true if exactly the same
 template<typename T>
@@ -272,6 +379,43 @@ bool
 operator!=(const SGVec3<T>& v1, const SGVec3<T>& v2)
 { return ! (v1 == v2); }
 
+/// Return true if smaller, good for putting that into a std::map
+template<typename T>
+inline
+bool
+operator<(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else if (v1(1) < v2(1)) return true;
+  else if (v2(1) < v1(1)) return false;
+  else return (v1(2) < v2(2));
+}
+
+template<typename T>
+inline
+bool
+operator<=(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else if (v1(1) < v2(1)) return true;
+  else if (v2(1) < v1(1)) return false;
+  else return (v1(2) <= v2(2));
+}
+
+template<typename T>
+inline
+bool
+operator>(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return operator<(v2, v1); }
+
+template<typename T>
+inline
+bool
+operator>=(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return operator<=(v2, v1); }
+
 /// Return true if equal to the relative tolerance tol
 template<typename T>
 inline
@@ -310,6 +454,18 @@ T
 distSqr(const SGVec3<T>& v1, const SGVec3<T>& v2)
 { SGVec3<T> tmp = v1 - v2; return dot(tmp, tmp); }
 
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec3<T>
+projection(const SGVec3<T>& u, const SGVec3<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -338,4 +494,26 @@ SGVec3d
 toVec3d(const SGVec3f& v)
 { return SGVec3d(v(0), v(1), v(2)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec3d
+toSG(const osg::Vec3d& v)
+{ return SGVec3d(v[0], v[1], v[2]); }
+
+inline
+SGVec3f
+toSG(const osg::Vec3f& v)
+{ return SGVec3f(v[0], v[1], v[2]); }
+
+inline
+osg::Vec3d
+toOsg(const SGVec3d& v)
+{ return osg::Vec3d(v[0], v[1], v[2]); }
+
+inline
+osg::Vec3f
+toOsg(const SGVec3f& v)
+{ return osg::Vec3f(v[0], v[1], v[2]); }
+#endif
+
 #endif

simgear/math/SGVec4.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -18,6 +18,11 @@
 #ifndef SGVec4_H
 #define SGVec4_H
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+#include <osg/Vec4f>
+#include <osg/Vec4d>
+#endif
+
 /// 4D Vector Class
 template<typename T>
 class SGVec4 {
@@ -33,82 +38,78 @@ public:
     /// uninitialized values in the debug build very fast ...
 #ifndef NDEBUG
     for (unsigned i = 0; i < 4; ++i)
-      _data[i] = SGLimits<T>::quiet_NaN();
+      data()[i] = SGLimits<T>::quiet_NaN();
 #endif
   }
   /// Constructor. Initialize by the given values
   SGVec4(T x, T y, T z, T w)
-  { _data[0] = x; _data[1] = y; _data[2] = z; _data[3] = w; }
+  { data()[0] = x; data()[1] = y; data()[2] = z; data()[3] = w; }
   /// Constructor. Initialize by the content of a plain array,
   /// make sure it has at least 3 elements
   explicit SGVec4(const T* d)
-  { _data[0] = d[0]; _data[1] = d[1]; _data[2] = d[2]; _data[3] = d[3]; }
-
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+  template<typename S>
+  explicit SGVec4(const SGVec4<S>& d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+  explicit SGVec4(const SGVec3<T>& v3, const T& v4 = 0)
+  { data()[0] = v3[0]; data()[1] = v3[1]; data()[2] = v3[2]; data()[3] = v4; }
 
   /// Access by index, the index is unchecked
   const T& operator()(unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access by index, the index is unchecked
   T& operator()(unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access raw data by index, the index is unchecked
   const T& operator[](unsigned i) const
-  { return _data[i]; }
+  { return data()[i]; }
   /// Access raw data by index, the index is unchecked
   T& operator[](unsigned i)
-  { return _data[i]; }
+  { return data()[i]; }
 
   /// Access the x component
   const T& x(void) const
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the x component
   T& x(void)
-  { return _data[0]; }
+  { return data()[0]; }
   /// Access the y component
   const T& y(void) const
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the y component
   T& y(void)
-  { return _data[1]; }
+  { return data()[1]; }
   /// Access the z component
   const T& z(void) const
-  { return _data[2]; }
+  { return data()[2]; }
   /// Access the z component
   T& z(void)
-  { return _data[2]; }
+  { return data()[2]; }
   /// Access the x component
   const T& w(void) const
-  { return _data[3]; }
+  { return data()[3]; }
   /// Access the x component
   T& w(void)
-  { return _data[3]; }
+  { return data()[3]; }
 
-
-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  const T* data(void) const
+  /// Readonly raw storage interface
+  const T (&data(void) const)[4]
   { return _data; }
-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  T* data(void)
-  { return _data; }
-
-  /// Readonly interface function to ssg's sgVec3/sgdVec3
-  const T (&sg(void) const)[4]
-  { return _data; }
-  /// Interface function to ssg's sgVec3/sgdVec3
-  T (&sg(void))[4]
+  /// Readonly raw storage interface
+  T (&data(void))[4]
   { return _data; }
 
   /// Inplace addition
   SGVec4& operator+=(const SGVec4& v)
-  { _data[0]+=v(0);_data[1]+=v(1);_data[2]+=v(2);_data[3]+=v(3);return *this; }
+  { data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
   /// Inplace subtraction
   SGVec4& operator-=(const SGVec4& v)
-  { _data[0]-=v(0);_data[1]-=v(1);_data[2]-=v(2);_data[3]-=v(3);return *this; }
+  { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
   /// Inplace scalar multiplication
   template<typename S>
   SGVec4& operator*=(S s)
-  { _data[0] *= s; _data[1] *= s; _data[2] *= s; _data[3] *= s; return *this; }
+  { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
   /// Inplace scalar multiplication by 1/s
   template<typename S>
   SGVec4& operator/=(S s)
@@ -128,7 +129,6 @@ public:
   { return SGVec4(0, 0, 0, 1); }
 
 private:
-  /// The actual data
   T _data[4];
 };
 
@@ -174,6 +174,79 @@ SGVec4<T>
 operator*(const SGVec4<T>& v, S s)
 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
 
+/// multiplication as a multiplicator, that is assume that the first vector
+/// represents a 4x4 diagonal matrix with the diagonal elements in the vector.
+/// Then the result is the product of that matrix times the second vector.
+template<typename T>
+inline
+SGVec4<T>
+mult(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return SGVec4<T>(v1(0)*v2(0), v1(1)*v2(1), v1(2)*v2(2), v1(3)*v2(3)); }
+
+/// component wise min
+template<typename T>
+inline
+SGVec4<T>
+min(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+  return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
+                   SGMisc<T>::min(v1(1), v2(1)),
+                   SGMisc<T>::min(v1(2), v2(2)),
+                   SGMisc<T>::min(v1(3), v2(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+min(const SGVec4<T>& v, S s)
+{
+  return SGVec4<T>(SGMisc<T>::min(s, v(0)),
+                   SGMisc<T>::min(s, v(1)),
+                   SGMisc<T>::min(s, v(2)),
+                   SGMisc<T>::min(s, v(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+min(S s, const SGVec4<T>& v)
+{
+  return SGVec4<T>(SGMisc<T>::min(s, v(0)),
+                   SGMisc<T>::min(s, v(1)),
+                   SGMisc<T>::min(s, v(2)),
+                   SGMisc<T>::min(s, v(3)));
+}
+
+/// component wise max
+template<typename T>
+inline
+SGVec4<T>
+max(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+  return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
+                   SGMisc<T>::max(v1(1), v2(1)),
+                   SGMisc<T>::max(v1(2), v2(2)),
+                   SGMisc<T>::max(v1(3), v2(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+max(const SGVec4<T>& v, S s)
+{
+  return SGVec4<T>(SGMisc<T>::max(s, v(0)),
+                   SGMisc<T>::max(s, v(1)),
+                   SGMisc<T>::max(s, v(2)),
+                   SGMisc<T>::max(s, v(3)));
+}
+template<typename S, typename T>
+inline
+SGVec4<T>
+max(S s, const SGVec4<T>& v)
+{
+  return SGVec4<T>(SGMisc<T>::max(s, v(0)),
+                   SGMisc<T>::max(s, v(1)),
+                   SGMisc<T>::max(s, v(2)),
+                   SGMisc<T>::max(s, v(3)));
+}
+
 /// Scalar dot product
 template<typename T>
 inline
@@ -203,12 +276,24 @@ T
 norm1(const SGVec4<T>& v)
 { return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
 
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec4<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
+
 /// The euclidean norm of the vector, that is what most people call length
 template<typename T>
 inline
 SGVec4<T>
 normalize(const SGVec4<T>& v)
-{ return (1/norm(v))*v; }
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec4<T>::zeros();
+  return (1/normv)*v;
+}
 
 /// Return true if exactly the same
 template<typename T>
@@ -224,6 +309,47 @@ bool
 operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
 { return ! (v1 == v2); }
 
+/// Return true if smaller, good for putting that into a std::map
+template<typename T>
+inline
+bool
+operator<(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else if (v1(1) < v2(1)) return true;
+  else if (v2(1) < v1(1)) return false;
+  else if (v1(2) < v2(2)) return true;
+  else if (v2(2) < v1(2)) return false;
+  else return (v1(3) < v2(3));
+}
+
+template<typename T>
+inline
+bool
+operator<=(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{
+  if (v1(0) < v2(0)) return true;
+  else if (v2(0) < v1(0)) return false;
+  else if (v1(1) < v2(1)) return true;
+  else if (v2(1) < v1(1)) return false;
+  else if (v1(2) < v2(2)) return true;
+  else if (v2(2) < v1(2)) return false;
+  else return (v1(3) <= v2(3));
+}
+
+template<typename T>
+inline
+bool
+operator>(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return operator<(v2, v1); }
+
+template<typename T>
+inline
+bool
+operator>=(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return operator<=(v2, v1); }
+
 /// Return true if equal to the relative tolerance tol
 template<typename T>
 inline
@@ -262,6 +388,18 @@ T
 distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
 { SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
 
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec4<T>
+projection(const SGVec4<T>& u, const SGVec4<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -290,4 +428,26 @@ SGVec4d
 toVec4d(const SGVec4f& v)
 { return SGVec4d(v(0), v(1), v(2), v(3)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec4d
+toSG(const osg::Vec4d& v)
+{ return SGVec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+SGVec4f
+toSG(const osg::Vec4f& v)
+{ return SGVec4f(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4d
+toOsg(const SGVec4d& v)
+{ return osg::Vec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4f
+toOsg(const SGVec4f& v)
+{ return osg::Vec4f(v[0], v[1], v[2], v[3]); }
+#endif
+
 #endif

simgear/math/beziercurve.hxx

@@ -0,0 +1,105 @@
+/* -*-c++-*-
+ *
+ * Copyright (C) 2009 Frederic Bouvier
+ *
+ * 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., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#ifndef SIMGEAR_BEZIERCURVE_HXX
+#define SIMGEAR_BEZIERCURVE_HXX 1
+
+#include <list>
+using std::list;
+
+namespace simgear
+{
+  template<class T>
+  class BezierCurve {
+  public:
+    typedef list<T> PointList;
+
+    BezierCurve() : mMaxSubdiv( 3 ) {}
+    BezierCurve( size_t aMaxSubdiv )
+      : mMaxSubdiv( aMaxSubdiv ) {}
+    BezierCurve( const T &p1, const T &p2, const T &p3, size_t aMaxSubdiv = 3 )
+      : mMaxSubdiv( aMaxSubdiv ) {
+        subdivide( p1, p2, p3 );
+      }
+    BezierCurve( const T &p1, const T &p2, const T &p3, const T &p4, size_t aMaxSubdiv = 3 )
+      : mMaxSubdiv( aMaxSubdiv ) {
+        subdivide( p1, p2, p3, p4 );
+      }
+
+    void subdivide( const T &p1, const T &p2, const T &p3 ) {
+      mPointList.clear();
+      mPointList.push_back( p1 );
+      recursiveSubdivide( p1, p2, p3, 1 );
+      mPointList.push_back( p3 );
+    }
+
+    void subdivide( const T &p1, const T &p2, const T &p3, const T &p4 ) {
+      mPointList.clear();
+      mPointList.push_back( p1 );
+      recursiveSubdivide( p1, p2, p3, p4, 1 );
+      mPointList.push_back( p4 );
+    }
+
+    void setMaxSubdiv( size_t aMaxSubdiv ) { mMaxSubdiv = aMaxSubdiv; }
+    void getMaxSubdiv() const { return mMaxSubdiv; }
+    PointList &pointList() { return mPointList; }
+    const PointList &pointList() const { return mPointList; }
+
+  private:
+    T midPoint( const T &p1, const T &p2 ) {
+      return ( p1 + p2 ) / 2;
+    }
+    bool recursiveSubdivide( const T &p1, const T &p2, const T &p3, size_t l ) {
+      if ( l > mMaxSubdiv )
+        return false;
+
+      T p12 = midPoint( p1, p2 ),
+        p23 = midPoint( p2, p3 ),
+        p123 = midPoint( p12, p23 );
+      recursiveSubdivide( p1, p12, p123, l + 1 );
+      mPointList.push_back( p123 );
+      recursiveSubdivide( p123, p23, p3, l + 1 );
+      return true;
+    }
+
+    bool recursiveSubdivide( const T &p1, const T &p2, const T &p3, const T &p4, size_t l ) {
+      if ( l > mMaxSubdiv )
+        return false;
+
+      T p12 = midPoint( p1, p2 ),
+        p23 = midPoint( p2, p3 ),
+        p34 = midPoint( p3, p4 ),
+        p123 = midPoint( p12, p23 ),
+        p234 = midPoint( p23, p34 ),
+        p1234 = midPoint( p123, p234 );
+      recursiveSubdivide( p1, p12, p123, p1234, l + 1 );
+      mPointList.push_back( p1234 );
+      recursiveSubdivide( p1234, p234, p34, p4, l + 1 );
+      return true;
+    }
+
+
+    PointList mPointList;
+    size_t mMaxSubdiv;
+  };
+}
+
+#endif

simgear/math/interpolater.cxx

@@ -22,38 +22,49 @@
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
 
 #include <simgear/compiler.h>
 
-#include <stdlib.h> // for exit()
-
-#include STL_STRING
+#include <string>
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/misc/sgstream.hxx>
+#include <simgear/props/props.hxx>
 
 #include "interpolater.hxx"
 
-SG_USING_STD(string);
+#include <simgear/math/SGMath.hxx>
+
+using std::string;
 
 // Constructor -- starts with an empty table.
 SGInterpTable::SGInterpTable()
-    : size(0)
 {
 }
 
+SGInterpTable::SGInterpTable(const SGPropertyNode* interpolation) 
+{
+    if (!interpolation)
+        return;
+    std::vector<SGPropertyNode_ptr> entries = interpolation->getChildren("entry");
+    for (unsigned i = 0; i < entries.size(); ++i)
+        addEntry(entries[i]->getDoubleValue("ind", 0.0),
+                 entries[i]->getDoubleValue("dep", 0.0));
+}
 
 // Constructor -- loads the interpolation table from the specified
 // file
 SGInterpTable::SGInterpTable( const string& file ) 
-  : size(0)
 {
     SG_LOG( SG_MATH, SG_INFO, "Initializing Interpolator for " << file );
 
     sg_gzifstream in( file );
     if ( !in.is_open() ) {
         SG_LOG( SG_GENERAL, SG_ALERT, "Cannot open file: " << file );
-	exit(-1);
+        return;
     }
 
     in >> skipcomment;
@@ -61,8 +72,7 @@ SGInterpTable::SGInterpTable( const string& file )
       double ind, dep;
       in >> ind >> dep;
       in >> skipws;
-      table.push_back(Entry(ind, dep));
-      size++;
+      _table[ind] = dep;
     }
 }
 
@@ -70,51 +80,42 @@ SGInterpTable::SGInterpTable( const string& file )
 // Add an entry to the table.
 void SGInterpTable::addEntry (double ind, double dep)
 {
-  table.push_back(Entry(ind,dep));
-  size++;
+  _table[ind] = dep;
 }
 
-
 // Given an x value, linearly interpolate the y value from the table
 double SGInterpTable::interpolate(double x) const
 {
-    int i;
-    double y;
-
-    if (size == 0.0) {
-      return 0.0;
-    }
-
-    i = 0;
-
-    while ( (i < size) && (x > table[i].ind) ) {
-	// cout << "  i = " << i << " table[i].ind = " << table[i].ind << endl;
-	// cout << "  size = " << size << endl;
-	i++;
-    }
-
-    // printf ("i = %d ", i);
-
-    if ( i <= 0 ) {
-	SG_LOG( SG_MATH, SG_DEBUG, 
-		"interpolate(): lookup error, x to small = " << x );
-	return table[0].dep;
-    }
-
-    // cout << " table[size-1].ind = " << table[size-1].ind << endl;
-    if ( i >= size ) {
-	SG_LOG( SG_MATH, SG_DEBUG, 
-		"interpolate(): lookup error, x to big = " << x );
-	return table[size-1].dep;
-    }
-
-    // y = y1 + (y0 - y1)(x - x1) / (x0 - x1)
-    y = table[i].dep + 
-	( (table[i-1].dep - table[i].dep) * 
-	  (x - table[i].ind) ) /
-	(table[i-1].ind - table[i].ind);
-
-    return(y);
+  // Empty table??
+  if (_table.empty())
+    return 0;
+  
+  // Find the table bounds for the requested input.
+  Table::const_iterator upBoundIt = _table.upper_bound(x);
+  // points to a value outside the map. That is we are out of range.
+  // use the last entry
+  if (upBoundIt == _table.end())
+    return _table.rbegin()->second;
+  
+  // points to the first key must be lower
+  // use the first entry
+  if (upBoundIt == _table.begin())
+    return upBoundIt->second;
+  
+  // we know that we do not stand at the beginning, so it is safe to do so
+  Table::const_iterator loBoundIt = upBoundIt;
+  --loBoundIt;
+  
+  // Just do linear interpolation.
+  double loBound = loBoundIt->first;
+  double upBound = upBoundIt->first;
+  double loVal = loBoundIt->second;
+  double upVal = upBoundIt->second;
+  
+  // division by zero should not happen since the std::map
+  // has sorted out duplicate entries before. Also since we have a
+  // map, we know that we get different first values for different iterators
+  return loVal + (upVal - loVal)*(x - loBound)/(upBound - loBound);
 }
 
 

simgear/math/interpolater.hxx

@@ -35,12 +35,14 @@
 
 #include <simgear/compiler.h>
 
-#include <vector>
-SG_USING_STD(vector);
+#include <simgear/structure/SGReferenced.hxx>
 
-#include STL_STRING
-SG_USING_STD(string);
+#include <map>
 
+#include <string>
+using std::string;
+
+class SGPropertyNode;
 
 /**
  * A class that provids a simple linear 2d interpolation lookup table.
@@ -48,21 +50,7 @@ SG_USING_STD(string);
  * independant variable must be strictly ascending.  The dependent
  * variable can be anything.
  */
-class SGInterpTable {
-
-    struct Entry
-    {
-      Entry ()
-	: ind(0.0L), dep(0.0L) {}
-      Entry (double independent, double dependent)
-	: ind(independent), dep(dependent) {}
-      double ind;
-      double dep;
-    };
-
-    int size;
-    vector<Entry> table;
-
+class SGInterpTable : public SGReferenced {
 public:
 
     /**
@@ -70,6 +58,13 @@ public:
      */
     SGInterpTable();
 
+    /**
+     * Constructor. Loads the interpolation table from an interpolation
+     * property node.
+     * @param interpolation property node having entry children
+     */
+    SGInterpTable(const SGPropertyNode* interpolation);
+
     /**
      * Constructor. Loads the interpolation table from the specified file.
      * @param file name of interpolation file
@@ -95,6 +90,10 @@ public:
 
     /** Destructor */
     ~SGInterpTable();
+
+private:
+    typedef std::map<double, double> Table;
+    Table _table;
 };
 
 

simgear/math/point3d.hxx

@@ -37,41 +37,21 @@
 
 #include <simgear/compiler.h>
 
-#ifdef SG_MATH_EXCEPTION_CLASH
-# define exception c_exception
-#endif
-
-#ifdef SG_HAVE_STD_INCLUDES
-# include <iostream>
-# include <cassert>
-# include <cmath>
-#else
-# include <iostream.h>
-# include <assert.h>
-# include <math.h>
-#endif
+#include <ostream>
+#include <istream>
+#include <cassert>
+#include <cmath>
 
 #include "SGMath.hxx"
 
-// I don't understand ... <math.h> or <cmath> should be included
-// already depending on how you defined SG_HAVE_STD_INCLUDES, but I
-// can go ahead and add this -- CLO
-#ifdef __MWERKS__
-SG_USING_NAMESPACE(std);
-#endif
-
-SG_USING_STD(ostream);
-SG_USING_STD(istream);
-
-
 const double fgPoint3_Epsilon = 0.0000001;
 
 enum {PX, PY, PZ};		    // axes
 
 // Kludge for msvc++ 6.0 - requires forward decls of friend functions.
 class Point3D;
-istream& operator>> ( istream&, Point3D& );
-ostream& operator<< ( ostream&, const Point3D& );
+std::istream& operator>> ( std::istream&, Point3D& );
+std::ostream& operator<< ( std::ostream&, const Point3D& );
 Point3D operator- (const Point3D& p);	            // -p1
 bool operator== (const Point3D& a, const Point3D& b);  // p1 == p2?
 
@@ -97,6 +77,8 @@ public:
     static Point3D fromSGGeod(const SGGeod& geod);
     static Point3D fromSGGeoc(const SGGeoc& geoc);
     static Point3D fromSGVec3(const SGVec3<double>& cart);
+    static Point3D fromSGVec3(const SGVec3<float>& cart);
+    static Point3D fromSGVec2(const SGVec2<double>& cart);
 
     // Assignment operators
 
@@ -132,11 +114,15 @@ public:
     SGGeod toSGGeod(void) const;
     SGGeoc toSGGeoc(void) const;
 
+    SGVec3d toSGVec3d(void) const;
+    SGVec3f toSGVec3f(void) const;
+    SGVec2f toSGVec2f(void) const;
+
     // friends
     friend Point3D operator - (const Point3D& p);	            // -p1
     friend bool operator == (const Point3D& a, const Point3D& b);  // p1 == p2?
-    friend istream& operator>> ( istream&, Point3D& );
-    friend ostream& operator<< ( ostream&, const Point3D& );
+    friend std::istream& operator>> ( std::istream&, Point3D& );
+    friend std::ostream& operator<< ( std::ostream&, const Point3D& );
 
     // Special functions
     double distance3D(const Point3D& a) const;        // distance between
@@ -145,8 +131,8 @@ public:
 
 
 // input from stream
-inline istream&
-operator >> ( istream& in, Point3D& p)
+inline std::istream&
+operator >> ( std::istream& in, Point3D& p)
 {
     char c;
 
@@ -177,8 +163,8 @@ operator >> ( istream& in, Point3D& p)
     return in;
 }
 
-inline ostream&
-operator<< ( ostream& out, const Point3D& p )
+inline std::ostream&
+operator<< ( std::ostream& out, const Point3D& p )
 {
     return out << p.n[PX] << ", " << p.n[PY] << ", " << p.n[PZ];
 }
@@ -239,6 +225,24 @@ inline Point3D Point3D::fromSGVec3(const SGVec3<double>& cart)
   return pt;
 }
 
+inline Point3D Point3D::fromSGVec3(const SGVec3<float>& cart)
+{
+  Point3D pt;
+  pt.setx(cart.x());
+  pt.sety(cart.y());
+  pt.setz(cart.z());
+  return pt;
+}
+
+inline Point3D Point3D::fromSGVec2(const SGVec2<double>& cart)
+{
+  Point3D pt;
+  pt.setx(cart.x());
+  pt.sety(cart.y());
+  pt.setz(0);
+  return pt;
+}
+
 // ASSIGNMENT OPERATORS
 
 inline Point3D& Point3D::operator = (const Point3D& p)
@@ -341,6 +345,21 @@ inline SGGeoc Point3D::toSGGeoc(void) const
   return geoc;
 }
 
+inline SGVec3d Point3D::toSGVec3d(void) const
+{
+  return SGVec3d(x(), y(), z());
+}
+
+inline SGVec3f Point3D::toSGVec3f(void) const
+{
+  return SGVec3f(x(), y(), z());
+}
+
+inline SGVec2f Point3D::toSGVec2f(void) const
+{
+  return SGVec2f(x(), y());
+}
+
 // FRIENDS
 
 inline Point3D operator - (const Point3D& a)

simgear/math/polar3d.cxx

@@ -1,225 +0,0 @@
-// polar.cxx -- routines to deal with polar math and transformations
-//
-// Written by Curtis Olson, started June 1997.
-//
-// Copyright (C) 1997  Curtis L. Olson  - http://www.flightgear.org/~curt
-//
-// This library is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Library General Public
-// License as published by the Free Software Foundation; either
-// version 2 of the License, or (at your option) any later version.
-//
-// This library 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
-// Library 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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-#ifdef HAVE_CONFIG_H
-#  include <simgear_config.h>
-#endif
-
-#include <math.h>
-
-#include <simgear/constants.h>
-
-#include "polar3d.hxx"
-
-/**
- * Calculate new lon/lat given starting lon/lat, and offset radial, and
- * distance.  NOTE: starting point is specifed in radians, distance is
- * specified in meters (and converted internally to radians)
- * ... assumes a spherical world.
- * @param orig specified in polar coordinates
- * @param course offset radial
- * @param dist offset distance
- * @return destination point in polar coordinates
- */
-Point3D calc_gc_lon_lat( const Point3D& orig, double course,
-                                double dist ) {
-    Point3D result;
-
-    // lat=asin(sin(lat1)*cos(d)+cos(lat1)*sin(d)*cos(tc))
-    // IF (cos(lat)=0)
-    //   lon=lon1      // endpoint a pole
-    // ELSE
-    //   lon=mod(lon1-asin(sin(tc)*sin(d)/cos(lat))+pi,2*pi)-pi
-    // ENDIF
-
-    // printf("calc_lon_lat()  offset.theta = %.2f offset.dist = %.2f\n",
-    //        offset.theta, offset.dist);
-
-    dist *= SG_METER_TO_NM * SG_NM_TO_RAD;
-
-    result.sety( asin( sin(orig.y()) * cos(dist) +
-                       cos(orig.y()) * sin(dist) * cos(course) ) );
-
-    if ( cos(result.y()) < SG_EPSILON ) {
-        result.setx( orig.x() );      // endpoint a pole
-    } else {
-        result.setx(
-            fmod(orig.x() - asin( sin(course) * sin(dist) /
-                                  cos(result.y()) )
-                 + SGD_PI, SGD_2PI) - SGD_PI );
-    }
-
-    return result;
-}
-
-/**
- * Calculate course/dist given two spherical points.
- * @param start starting point
- * @param dest ending point
- * @param course resulting course
- * @param dist resulting distance
- */
-void calc_gc_course_dist( const Point3D& start, const Point3D& dest,
-                                 double *course, double *dist )
-{
-    if ( start == dest) {
-            *dist=0;
-            *course=0;
-            return;
-    }
-    // d = 2*asin(sqrt((sin((lat1-lat2)/2))^2 +
-    //            cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
-    double cos_start_y = cos( start.y() );
-    double tmp1 = sin( (start.y() - dest.y()) * 0.5 );
-    double tmp2 = sin( (start.x() - dest.x()) * 0.5 );
-    double d = 2.0 * asin( sqrt( tmp1 * tmp1 +
-                                 cos_start_y * cos(dest.y()) * tmp2 * tmp2));
-
-    *dist = d * SG_RAD_TO_NM * SG_NM_TO_METER;
-
-#if 1
-    double c1 = atan2(
-                cos(dest.y())*sin(dest.x()-start.x()),
-                cos(start.y())*sin(dest.y())-
-                sin(start.y())*cos(dest.y())*cos(dest.x()-start.x()));
-    if (c1 >= 0)
-      *course = SGD_2PI-c1;
-    else
-      *course = -c1;
-#else
-    // We obtain the initial course, tc1, (at point 1) from point 1 to
-    // point 2 by the following. The formula fails if the initial
-    // point is a pole. We can special case this with:
-    //
-    // IF (cos(lat1) < EPS)   // EPS a small number ~ machine precision
-    //   IF (lat1 > 0)
-    //     tc1= pi        //  starting from N pole
-    //   ELSE
-    //     tc1= 0         //  starting from S pole
-    //   ENDIF
-    // ENDIF
-    //
-    // For starting points other than the poles:
-    //
-    // IF sin(lon2-lon1)<0
-    //   tc1=acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)))
-    // ELSE
-    //   tc1=2*pi-acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)))
-    // ENDIF
-
-    // if ( cos(start.y()) < SG_EPSILON ) {
-    // doing it this way saves a transcendental call
-    double sin_start_y = sin( start.y() );
-    if ( fabs(1.0-sin_start_y) < SG_EPSILON ) {
-        // EPS a small number ~ machine precision
-        if ( start.y() > 0 ) {
-            *course = SGD_PI;   // starting from N pole
-        } else {
-            *course = 0;        // starting from S pole
-        }
-    } else {
-        // For starting points other than the poles:
-        // double tmp3 = sin(d)*cos_start_y);
-        // double tmp4 = sin(dest.y())-sin(start.y())*cos(d);
-        // double tmp5 = acos(tmp4/tmp3);
-
-        // Doing this way gaurentees that the temps are
-        // not stored into memory
-        double tmp5 = acos( (sin(dest.y()) - sin_start_y * cos(d)) /
-                            (sin(d) * cos_start_y) );
-
-        // if ( sin( dest.x() - start.x() ) < 0 ) {
-        // the sin of the negative angle is just the opposite sign
-        // of the sin of the angle  so tmp2 will have the opposite
-        // sign of sin( dest.x() - start.x() )
-        if ( tmp2 >= 0 ) {
-            *course = tmp5;
-        } else {
-            *course = SGD_2PI - tmp5;
-        }
-    }
-#endif
-}
-
-
-#if 0
-/**
- * Calculate course/dist given two spherical points.
- * @param start starting point
- * @param dest ending point
- * @param course resulting course
- * @param dist resulting distance
- */
-void calc_gc_course_dist( const Point3D& start, const Point3D& dest,
-                                 double *course, double *dist ) {
-    // d = 2*asin(sqrt((sin((lat1-lat2)/2))^2 +
-    //            cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
-    double tmp1 = sin( (start.y() - dest.y()) / 2 );
-    double tmp2 = sin( (start.x() - dest.x()) / 2 );
-    double d = 2.0 * asin( sqrt( tmp1 * tmp1 +
-                                 cos(start.y()) * cos(dest.y()) * tmp2 * tmp2));
-    // We obtain the initial course, tc1, (at point 1) from point 1 to
-    // point 2 by the following. The formula fails if the initial
-    // point is a pole. We can special case this with:
-    //
-    // IF (cos(lat1) < EPS)   // EPS a small number ~ machine precision
-    //   IF (lat1 > 0)
-    //     tc1= pi        //  starting from N pole
-    //   ELSE
-    //     tc1= 0         //  starting from S pole
-    //   ENDIF
-    // ENDIF
-    //
-    // For starting points other than the poles:
-    //
-    // IF sin(lon2-lon1)<0
-    //   tc1=acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)))
-    // ELSE
-    //   tc1=2*pi-acos((sin(lat2)-sin(lat1)*cos(d))/(sin(d)*cos(lat1)))
-    // ENDIF
-
-    double tc1;
-
-    if ( cos(start.y()) < SG_EPSILON ) {
-        // EPS a small number ~ machine precision
-        if ( start.y() > 0 ) {
-            tc1 = SGD_PI;        // starting from N pole
-        } else {
-            tc1 = 0;            // starting from S pole
-        }
-    }
-
-    // For starting points other than the poles:
-
-    double tmp3 = sin(d)*cos(start.y());
-    double tmp4 = sin(dest.y())-sin(start.y())*cos(d);
-    double tmp5 = acos(tmp4/tmp3);
-    if ( sin( dest.x() - start.x() ) < 0 ) {
-         tc1 = tmp5;
-    } else {
-         tc1 = SGD_2PI - tmp5;
-    }
-
-    *course = tc1;
-    *dist = d * SG_RAD_TO_NM * SG_NM_TO_METER;
-}
-#endif // 0

simgear/math/polar3d.hxx

@@ -32,56 +32,9 @@
 # error This library requires C++
 #endif
 
-
-#include <simgear/constants.h>
 #include <simgear/math/point3d.hxx>
-
 #include "SGMath.hxx"
 
-/** 
- * Find the Altitude above the Ellipsoid (WGS84) given the Earth
- * Centered Cartesian coordinate vector Distances are specified in
- * meters.
- * @param cp point specified in cartesian coordinates
- * @return altitude above the (wgs84) earth in meters
- */
-inline double sgGeodAltFromCart(const Point3D& p)
-{
-  SGGeod geod;
-  SGGeodesy::SGCartToGeod(SGVec3<double>(p.x(), p.y(), p.z()), geod);
-  return geod.getElevationM();
-}
-
-
-/**
- * Convert a polar coordinate to a cartesian coordinate.  Lon and Lat
- * must be specified in radians.  The SG convention is for distances
- * to be specified in meters
- * @param p point specified in polar coordinates
- * @return the same point in cartesian coordinates
- */
-inline Point3D sgPolarToCart3d(const Point3D& p)
-{
-  SGVec3<double> cart;
-  SGGeodesy::SGGeocToCart(SGGeoc::fromRadM(p.lon(), p.lat(), p.radius()), cart);
-  return Point3D::fromSGVec3(cart);
-}
-
-
-/**
- * Convert a cartesian coordinate to polar coordinates (lon/lat
- * specified in radians.  Distances are specified in meters.
- * @param cp point specified in cartesian coordinates
- * @return the same point in polar coordinates
- */
-inline Point3D sgCartToPolar3d(const Point3D& p)
-{
-  SGGeoc geoc;
-  SGGeodesy::SGCartToGeoc(SGVec3<double>(p.x(), p.y(), p.z()), geoc);
-  return Point3D::fromSGGeoc(geoc);
-}
-
-
 /**
  * Calculate new lon/lat given starting lon/lat, and offset radial, and
  * distance.  NOTE: starting point is specifed in radians, distance is
@@ -92,7 +45,8 @@ inline Point3D sgCartToPolar3d(const Point3D& p)
  * @param dist offset distance
  * @return destination point in polar coordinates
  */
-Point3D calc_gc_lon_lat( const Point3D& orig, double course, double dist );
+inline Point3D calc_gc_lon_lat(const Point3D& orig, double course, double dist)
+{ return Point3D::fromSGGeoc(orig.toSGGeoc().advanceRadM(course, dist)); }
 
 
 /**
@@ -102,20 +56,14 @@ Point3D calc_gc_lon_lat( const Point3D& orig, double course, double dist );
  * @param course resulting course
  * @param dist resulting distance
  */
-void calc_gc_course_dist( const Point3D& start, const Point3D& dest, 
-                                 double *course, double *dist );
-
-#if 0
-/**
- * Calculate course/dist given two spherical points.
- * @param start starting point
- * @param dest ending point
- * @param course resulting course
- * @param dist resulting distance
- */
-void calc_gc_course_dist( const Point3D& start, const Point3D& dest, 
-				 double *course, double *dist );
-#endif // 0
+inline void calc_gc_course_dist( const Point3D& start, const Point3D& dest, 
+                                 double *course, double *dist )
+{
+  SGGeoc gs = start.toSGGeoc();
+  SGGeoc gd = dest.toSGGeoc();
+  *course = SGGeoc::courseRad(gs, gd);
+  *dist = SGGeoc::distanceM(gs, gd);
+}
 
 #endif // _POLAR3D_HXX