easyxml.cxx: add missing endXML visitor call

testEasyXML.cxx: beef it up
Vivian MEAZZA: add support for aircraft radar signatures
2007-06-29 10:46:52 +00:00 · 2007-06-24 08:09:07 +00:00 · 2007-06-23 16:48:01 +00:00 · 2007-06-21 21:46:21 +00:00 · 2007-06-19 18:22:32 +00:00 · 2007-06-19 18:11:06 +00:00
230 changed files with 17732 additions and 10873 deletions
@@ -4,7 +4,7 @@ EXTRA_DIST = \
 	DoxygenMain.cxx \
 	README.MSVC \
 	README.zlib \
-        projects \
+	projects \
 	SimGear.dsp \
 	SimGear.dsw

@@ -556,21 +556,6 @@ SOURCE=.\simgear\math\vector.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\math\fastmath.cxx
-
-!IF  "$(CFG)" == "SimGear - Win32 Release"
-
-# PROP Intermediate_Dir "Release\Lib_sgmath"
-
-!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
-
-# PROP Intermediate_Dir "Debug\Lib_sgmath"
-
-!ENDIF 
-
-# End Source File
-# Begin Source File
-
 SOURCE=.\simgear\math\SGGeodesy.cxx

 !IF  "$(CFG)" == "SimGear - Win32 Release"
@@ -1184,21 +1169,6 @@ SOURCE=.\simgear\scene\model\animation.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\scene\model\custtrans.cxx
-
-!IF  "$(CFG)" == "SimGear - Win32 Release"
-
-# PROP Intermediate_Dir "Release\Lib_sgmodel"
-
-!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
-
-# PROP Intermediate_Dir "Debug\Lib_sgmodel"
-
-!ENDIF 
-
-# End Source File
-# Begin Source File
-
 SOURCE=.\simgear\scene\model\location.cxx

 !IF  "$(CFG)" == "SimGear - Win32 Release"
@@ -1244,7 +1214,7 @@ SOURCE=.\simgear\scene\model\modellib.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\scene\model\personality.cxx
+SOURCE=.\simgear\scene\model\persparam.cxx

 !IF  "$(CFG)" == "SimGear - Win32 Release"

@@ -1289,7 +1259,7 @@ SOURCE=.\simgear\scene\model\placementtrans.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\scene\model\shadowvolume.cxx
+SOURCE=.\simgear\scene\model\shadanim.cxx

 !IF  "$(CFG)" == "SimGear - Win32 Release"

@@ -1304,7 +1274,7 @@ SOURCE=.\simgear\scene\model\shadowvolume.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\scene\model\shadanim.cxx
+SOURCE=.\simgear\scene\model\SGMaterialAnimation.cxx

 !IF  "$(CFG)" == "SimGear - Win32 Release"

@@ -1549,6 +1519,40 @@ SOURCE=.\simgear\scene\tgdb\userdata.cxx

 !ENDIF 

+# End Source File
+# End Group
+# Begin Group "Lib_sgutil"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\simgear\scene\util\SGStateAttributeVisitor.cxx
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgutil"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgutil"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\simgear\scene\util\SGTextureStateAttributeVisitor.cxx
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgutil"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgutil"
+
+!ENDIF 
+
 # End Source File
 # End Group
 # Begin Group "Lib_sgscreen"
@@ -1805,6 +1809,36 @@ SOURCE=.\simgear\structure\subsystem_mgr.cxx

 !ENDIF 

+# End Source File
+# Begin Source File
+
+SOURCE=.\simgear\structure\SGAtomic.cxx
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgstructure"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgstructure"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\simgear\structure\SGBinding.cxx
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgstructure"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgstructure"
+
+!ENDIF 
+
 # End Source File
 # End Group
 # Begin Group "Lib_sgtiming"
@@ -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.
@@ -119,6 +119,14 @@ if test "x$with_plib" != "x" ; then
    EXTRA_DIRS="${EXTRA_DIRS} $with_plib"
 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} $with_osg"
+fi
+
 dnl Determine an extra directories to add to include/lib search paths
 case "${host}" in
 *-apple-darwin* | *-*-cygwin* | *-*-mingw32*)
@@ -261,10 +269,10 @@ OPENAL_OK="no"
 case "${host}" in
 *-*-cygwin* | *-*-mingw32*)
    dnl CygWin under Windoze.
-    INCLUDES="$INCLUDES -I/usr/local/include"
+    INCLUDES="$INCLUDES -I/usr/local/include/"
    LIBS="$LIBS -L/usr/local/lib"
-    AC_SEARCH_LIBS(alGenBuffers, openal32)
-    AC_SEARCH_LIBS(alutInit, [ openal32 ALut ] )
+    AC_SEARCH_LIBS(alGenBuffers, [ openal32 openal ] )
+    AC_SEARCH_LIBS(alutInit, [ openal32 ALut alut ] )
    LIBS="$LIBS -lwinmm -ldsound -ldxguid -lole32"
    openal_LIBS="$LIBS"
    OPENAL_OK="$ac_cv_search_alGenBuffers"
@@ -430,6 +438,7 @@ AC_CONFIG_FILES([ \
 	simgear/scene/model/Makefile \
 	simgear/scene/sky/Makefile \
 	simgear/scene/tgdb/Makefile \
+	simgear/scene/util/Makefile \
 	simgear/screen/Makefile \
 	simgear/serial/Makefile \
 	simgear/sound/Makefile \
@@ -0,0 +1,4 @@
+Debug
+Release
+SimGear.ncb
+SimGear.suo
@@ -0,0 +1,21 @@
+Microsoft Visual Studio Solution File, Format Version 8.00
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimGear", "SimGear.vcproj", "{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfiguration) = preSolution
+		Debug = Debug
+		Release = Release
+	EndGlobalSection
+	GlobalSection(ProjectConfiguration) = postSolution
+		{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}.Debug.ActiveCfg = Debug|Win32
+		{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}.Debug.Build.0 = Debug|Win32
+		{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}.Release.ActiveCfg = Release|Win32
+		{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}.Release.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddIns) = postSolution
+	EndGlobalSection
+EndGlobal
@@ -41,11 +41,11 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="../..;../../..;../../Simgear;../../../AL/include;&quot;../../../zlib-1.2.3&quot;;&quot;../../../Pre-built.2/include&quot;"
-				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;HAVE_CONFIG_H;ENABLE_THREADS;_CRT_SECURE_NO_DEPRECATE;_CONST_CORRECT_OVERLOADS;NOMINMAX;_USE_MATH_DEFINES"
+				AdditionalIncludeDirectories="../..;../../..;$(ProgramFiles)/OpenThreads/include;$(ProgramFiles)/OpenSceneGraph/include;../../Simgear;../../../3rdparty/include"
+				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;HAVE_CONFIG_H;ENABLE_THREADS;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;_CONST_CORRECT_OVERLOADS;NOMINMAX;_USE_MATH_DEFINES"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
-				RuntimeLibrary="1"
+				RuntimeLibrary="3"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
 				Detect64BitPortabilityProblems="false"
@@ -103,11 +103,11 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="2"
-				AdditionalIncludeDirectories="../..;../../..;../../Simgear;../../../AL/include;&quot;../../../zlib-1.2.3&quot;;&quot;../../../Pre-built.2/include&quot;"
-				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;HAVE_CONFIG_H;ENABLE_THREADS;_CRT_SECURE_NO_DEPRECATE;_CONST_CORRECT_OVERLOADS;NOMINMAX;_USE_MATH_DEFINES"
+				AdditionalIncludeDirectories="../..;../../..;$(ProgramFiles)/OpenThreads/include;$(ProgramFiles)/OpenSceneGraph/include;../../Simgear;../../../3rdparty/include"
+				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;HAVE_CONFIG_H;ENABLE_THREADS;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;_CONST_CORRECT_OVERLOADS;NOMINMAX;_USE_MATH_DEFINES"
 				StringPooling="true"
 				MinimalRebuild="true"
-				RuntimeLibrary="0"
+				RuntimeLibrary="2"
 				FloatingPointModel="2"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
@@ -215,10 +215,6 @@
 				RelativePath="..\..\simgear\magvar\coremag.hxx"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\custtrans.hxx"
-				>
-			</File>
 			<File
 				RelativePath="..\..\simgear\nasal\data.h"
 				>
@@ -247,10 +243,6 @@
 				RelativePath="..\..\simgear\screen\extensions.hxx"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\math\fastmath.hxx"
-				>
-			</File>
 			<File
 				RelativePath="..\..\simgear\timing\geocoord.h"
 				>
@@ -511,6 +503,26 @@
 				RelativePath="..\..\simgear\math\sg_types.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\structure\SGAtomic.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\structure\SGBinding.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\math\SGCMath.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGDebugDrawCallback.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGEnlargeBoundingBox.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGGeoc.hxx"
 				>
@@ -531,10 +543,18 @@
 				RelativePath="..\..\simgear\math\SGLimits.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGMaterialAnimation.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGMath.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\math\SGMathFwd.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGMatrix.hxx"
 				>
@@ -543,6 +563,18 @@
 				RelativePath="..\..\simgear\math\SGMisc.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGNodeMasks.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\tgdb\SGOceanTile.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGOffsetTransform.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGQuat.hxx"
 				>
@@ -555,18 +587,54 @@
 				RelativePath="..\..\simgear\structure\SGReferenced.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGRotateTransform.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGScaleTransform.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGSceneFeatures.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGSceneUserData.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\structure\SGSharedPtr.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGStateAttributeVisitor.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\misc\sgstream.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGTextureStateAttributeVisitor.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\threads\SGThread.hxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGTranslateTransform.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGUpdateVisitor.hxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\tgdb\SGVasiDrawable.hxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGVec3.hxx"
 				>
@@ -583,20 +651,6 @@
 				RelativePath="..\..\simgear\scene\model\shadowvolume.hxx"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\simgear_config.h"
-				>
-				<FileConfiguration
-					Name="Debug|Win32"
-					>
-					<Tool
-						Name="VCCustomBuildTool"
-						Description=""
-						CommandLine=""
-						Outputs=""
-					/>
-				</FileConfiguration>
-			</File>
 			<File
 				RelativePath="..\..\simgear\scene\sky\sky.hxx"
 				>
@@ -761,6 +815,10 @@
 				RelativePath="..\..\simgear\scene\sky\bbcache.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\nasal\bitslib.c"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\ephemeris\celestialBody.cxx"
 				>
@@ -793,10 +851,6 @@
 				RelativePath="..\..\simgear\magvar\coremag.cxx"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\custtrans.cxx"
-				>
-			</File>
 			<File
 				RelativePath="..\..\simgear\scene\sky\dome.cxx"
 				>
@@ -821,10 +875,6 @@
 				RelativePath="..\..\simgear\screen\extensions.cxx"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\math\fastmath.cxx"
-				>
-			</File>
 			<File
 				RelativePath="..\..\simgear\nasal\gc.c"
 				>
@@ -858,11 +908,11 @@
 				>
 			</File>
 			<File
-				RelativePath="..\..\simgear\ephemeris\jupiter.cxx"
+				RelativePath="..\..\simgear\nasal\iolib.c"
 				>
 			</File>
 			<File
-				RelativePath="..\..\simgear\scene\tgdb\leaf.cxx"
+				RelativePath="..\..\simgear\ephemeris\jupiter.cxx"
 				>
 			</File>
 			<File
@@ -970,7 +1020,7 @@
 				>
 			</File>
 			<File
-				RelativePath="..\..\simgear\scene\model\personality.cxx"
+				RelativePath="..\..\simgear\scene\model\persparam.cxx"
 				>
 			</File>
 			<File
@@ -1057,18 +1107,70 @@
 				RelativePath="..\..\simgear\timing\sg_time.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\structure\SGBinding.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGEnlargeBoundingBox.cxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\SGGeodesy.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGMaterialAnimation.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\tgdb\SGOceanTile.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGOffsetTransform.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGRotateTransform.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGScaleTransform.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGSceneFeatures.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGSceneUserData.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGStateAttributeVisitor.cxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\misc\sgstream.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SGTextureStateAttributeVisitor.cxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\threads\SGThread.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGTranslateTransform.cxx"
+				>
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\tgdb\SGVasiDrawable.cxx"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\model\shadanim.cxx"
 				>
@@ -1077,10 +1179,6 @@
 				RelativePath="..\..\simgear\screen\shader.cpp"
 				>
 			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\shadowvolume.cxx"
-				>
-			</File>
 			<File
 				RelativePath="..\..\simgear\scene\sky\sky.cxx"
 				>
@@ -1137,6 +1235,10 @@
 				RelativePath="..\..\simgear\nasal\thread-win32.c"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\nasal\threadlib.c"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\timing\timestamp.cxx"
 				>
@@ -1157,6 +1259,10 @@
 				RelativePath="..\..\simgear\scene\tgdb\userdata.cxx"
 				>
 			</File>
+			<File
+				RelativePath="..\..\simgear\nasal\utf8lib.c"
+				>
+			</File>
 			<File
 				RelativePath="..\..\simgear\nasal\vector.c"
 				>
@@ -1214,6 +1320,28 @@
 				>
 			</File>
 		</Filter>
+		<File
+			RelativePath="..\..\simgear\simgear_config.h-msvc71"
+			>
+			<FileConfiguration
+				Name="Debug|Win32"
+				>
+				<Tool
+					Name="VCCustomBuildTool"
+					CommandLine="copy &quot;$(InputPath)&quot;  &quot;$(InputDir)\$(InputName).h&quot;&#x0D;&#x0A;"
+					Outputs="&quot;${InputDir}\$(InputName).h&quot;"
+				/>
+			</FileConfiguration>
+			<FileConfiguration
+				Name="Release|Win32"
+				>
+				<Tool
+					Name="VCCustomBuildTool"
+					CommandLine="copy &quot;$(InputPath)&quot;  &quot;$(InputDir)\$(InputName).h&quot;&#x0D;&#x0A;"
+					Outputs="${InputDir}\$(InputName).h"
+				/>
+			</FileConfiguration>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>
@@ -7,7 +7,7 @@ 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
@@ -34,4 +34,4 @@ SUBDIRS = \
 	$(SGTHREAD_DIR) \
 	timing

-DIST_SUBDIRS = $(SUBDIRS) compatibility threads
+DIST_SUBDIRS = $(SUBDIRS) compatibility
@@ -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] );
@@ -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;
@@ -31,6 +31,7 @@

 #include <simgear/compiler.h>
 #include <simgear/constants.h>
+#include <simgear/math/SGMath.hxx>

 #ifdef SG_HAVE_STD_INCLUDES
 #  include <cmath>
@@ -133,6 +134,13 @@ 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 +154,6 @@ 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 +168,13 @@ 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
@@ -252,7 +262,24 @@ 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.

    /**
@@ -230,6 +230,7 @@

 #    define isnan _isnan
 #    define snprintf _snprintf
+#    define copysign _copysign

 #    pragma warning(disable: 4786) // identifier was truncated to '255' characters
 #    pragma warning(disable: 4244) // conversion from double to float
@@ -128,6 +128,12 @@
 /** Knots to Miles per second */
 #define SG_KT_TO_MPS        0.5144444444444444444

+/** Feet per second to Knots */
+#define SG_FPS_TO_KT        0.5924838012958962841
+
+/** Knots to Feet per second */
+#define SG_KT_TO_FPS        1.6878098571011956874
+
 /** Miles per second to Miles per hour */
 #define SG_MPS_TO_MPH       2.2369362920544020312

@@ -25,6 +25,9 @@
 logstream *global_logstream = NULL;

 bool            logbuf::logging_enabled = true;
+#ifdef _MSC_VER
+   bool         logbuf::has_console = true;
+#endif
 sgDebugClass    logbuf::logClass        = SG_NONE;
 sgDebugPriority logbuf::logPriority     = SG_INFO;
 streambuf*      logbuf::sbuf            = NULL;
@@ -139,6 +139,10 @@ public:
     */
    void set_sb( streambuf* sb );

+#ifdef _MSC_VER
+    static void has_no_console() { has_console = false; }
+#endif
+
 protected:

    /** sync/flush */
@@ -154,6 +158,9 @@ private:
    static streambuf* sbuf;

    static bool logging_enabled;
+#ifdef _MSC_VER
+    static bool has_console;
+#endif
    static sgDebugClass logClass;
    static sgDebugPriority logPriority;

@@ -184,7 +191,6 @@ inline logbuf::int_type
 logbuf::overflow( int c )
 {
 #ifdef _MSC_VER
-    static bool has_console = false;
    if ( logging_enabled ) {
        if ( !has_console ) {
            AllocConsole();
@@ -24,6 +24,9 @@
 * @file metar.cxx
 * Interface for encoded Meteorological Aerodrome Reports (METAR).
 */
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif

 #include <string>
 #include <time.h>
@@ -744,6 +747,14 @@ 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
@@ -833,7 +844,7 @@ 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')
@@ -1,6 +1,9 @@
 // Visual environment helper class
 //
 // Written by Harald JOHNSEN, started April 2005.
+// Minor changes/additions by Vivian Meazza Apr- May 2007
+//
+// Ported to OSG by Tim Moore Jun 2007
 //
 // Copyright (C) 2005  Harald JOHNSEN - hjohnsen@evc.net
 //
@@ -23,7 +26,6 @@
 #  include <simgear_config.h>
 #endif

-#include <plib/sg.h>
 #include <simgear/constants.h>
 #include <simgear/structure/SGReferenced.hxx>
 #include <simgear/structure/SGSharedPtr.hxx>
@@ -190,6 +192,8 @@ SGEnviro::SGEnviro() :
 }

 SGEnviro::~SGEnviro(void) {
+  // OSGFIXME
+  return;
 	list_of_lightning::iterator iLightning;
 	for( iLightning = lightnings.begin() ; iLightning != lightnings.end() ; iLightning++ ) {
 		delete (*iLightning);
@@ -198,6 +202,8 @@ 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)
@@ -320,13 +326,15 @@ 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() );
 	}
 }

-void SGEnviro::callback_cloud(float heading, float alt, float radius, int family, float dist, int cloudId) {
+void SGEnviro::callback_cloud(float bearing, float alt, float radius, int family, float dist, int cloudId) {
 	// send data to wx radar
 	// compute turbulence
 	// draw precipitation
@@ -398,9 +406,10 @@ 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 ) );
+		radarEcho.push_back( SGWxRadarEcho ( bearing, alt, radius, dist, 0.0 , LWC, false, cloudId, false ) );

 	// NB:data valid only from cockpit view

@@ -413,7 +422,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int family
 		orig.setlon(last_lon * SG_DEGREES_TO_RADIANS );
 		orig.setelev(0.0);
 		dist = sgSqrt(dist);
-		dest = calc_gc_lon_lat(orig, heading, dist);
+		dest = calc_gc_lon_lat(orig, bearing, dist);
 		lon = dest.lon() * SG_RADIANS_TO_DEGREES;
 		lat = dest.lat() * SG_RADIANS_TO_DEGREES;
 		addLightning( lon, lat, alt );
@@ -441,6 +450,8 @@ list_of_SGWxRadarEcho *SGEnviro::get_radar_echo(void) {

 // 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;
@@ -489,6 +500,8 @@ 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;
@@ -558,6 +571,8 @@ void SGEnviro::set_soundMgr(SGSoundMgr *mgr) {
 }

 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);
@@ -580,6 +595,8 @@ 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;
@@ -627,6 +644,8 @@ 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 ;
@@ -652,6 +671,8 @@ 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;
@@ -676,10 +697,12 @@ 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 );
@@ -691,7 +714,7 @@ void SGLightning::lt_Render(void) {

 	glTranslatef( ax, ay, -sgEnviro.last_alt );

-	sgEnviro.radarEcho.push_back( SGWxRadarEcho ( course, 0.0, 0.0, dist, age, true, 0 ) );
+	sgEnviro.radarEcho.push_back( SGWxRadarEcho ( course, 0.0, 0.0, dist, 0.0, age, true, 0, false ) );

 	for( int n = 0 ; n < nb_tree ; n++ ) {
        if( lt_tree[n].prev < 0 )
@@ -737,6 +760,8 @@ 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);
@@ -744,6 +769,8 @@ 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 )
@@ -1,6 +1,9 @@
 // Visual environment helper class
 //
 // Written by Harald JOHNSEN, started April 2005.
+// Minor changes/additions by Vivian Meazza Apr- May 2007
+//
+// Ported to OSG by Tim Moore Jun 2007
 //
 // Copyright (C) 2005  Harald JOHNSEN - hjohnsen@evc.net
 //
@@ -22,6 +25,8 @@
 #ifndef _VISUAL_ENVIRO_HXX
 #define _VISUAL_ENVIRO_HXX

+#include <plib/sg.h>
+
 #include <simgear/compiler.h>
 #include STL_STRING
 #include <vector>
@@ -38,23 +43,32 @@ class SGSoundMgr;
 */
 class SGWxRadarEcho {
 public:
-	SGWxRadarEcho(float _heading, float _alt, float _radius, float _dist, double _LWC, bool _lightning, int _cloudId) :
+	SGWxRadarEcho(float _bearing, float _alt, float _radius, float _dist, float _heading,
+			double _LWC, bool _lightning, int _cloudId, bool _aircraft) :
+	  bearing (_bearing),
 	  heading( _heading ),
 	  alt ( _alt ),
 	  radius ( _radius ),
 	  dist ( _dist ),
 	  LWC ( _LWC ),
 	  lightning ( _lightning ),
+	  aircraft ( _aircraft ),
 	  cloudId ( _cloudId )
 	{}

-	/** the heading in radian is versus north */
-	float heading;
+	/** the heading and bearing in radian are versus north */
+	float bearing, heading;
 	float alt, radius, dist;
+
 	/** 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;
+
+	/** if true then this data is for an aircraft  */
+	bool aircraft;
+
 	/** Unique identifier of cloud */
 	int cloudId;
 };
@@ -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) );
 }

@@ -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 +157,7 @@ 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; }

    /** @return the numbers of defined stars. */
    inline int getNumStars() const { return stars->getNumStars(); }
@@ -167,7 +169,7 @@ public:
     * third is the magnitude.
     * @returns star array
     */
-    inline sgdVec3 *getStars() { return stars->getStars(); }
+    inline SGVec3d *getStars() { return stars->getStars(); }
 };


@@ -25,6 +25,7 @@
 #endif

 #include <simgear/debug/logstream.hxx>
+#include <simgear/misc/sg_path.hxx>
 #include <simgear/misc/sgstream.hxx>

 #include "stardata.hxx"
@@ -34,16 +35,9 @@
 #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;
 }
@@ -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;
 };


@@ -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",
@@ -174,7 +174,7 @@ 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 +280,13 @@ 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 +322,7 @@ 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;
 	}
@@ -407,7 +407,7 @@ 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 +447,7 @@ 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 +481,8 @@ 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 +509,11 @@ 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 +545,7 @@ 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 +610,6 @@ 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;
@@ -738,9 +732,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
    sgWriteShort( 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
@@ -749,12 +742,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
    sgWriteShort( 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
@@ -764,7 +752,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
    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);
@@ -777,9 +765,7 @@ bool SGBinObject::write_bin( const string& base, const string& name,
    sgWriteShort( 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
@@ -1042,7 +1028,6 @@ 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 +1069,7 @@ 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 +1077,7 @@ 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 +1085,7 @@ 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 +1111,13 @@ 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 +1162,13 @@ 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 );
 		}
 	    }

@@ -89,13 +89,13 @@ 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 +125,51 @@ 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; }
@@ -1,3 +1,7 @@
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
+
 #include <simgear/compiler.h>

 #include <unistd.h>
@@ -23,6 +23,19 @@
 //
 // Put in some bullet-proofing to handle magnetic and geographic poles.
 // 3/28/2000 EAW
+//
+// Updated coefficient arrays to use the current WMM2005 model,
+// (valid between 2005.0 and 2010.0)
+// Also removed unused variables and corrected earth radii constants
+// to the values for WGS84 and WMM2005.
+// Reference:
+//     McLean, S., S. Macmillan, S. Maus, V. Lesur, A.
+//     Thomson, and D. Dater, December 2004, The
+//     US/UK World Magnetic Model for 2005-2010,
+//     NOAA Technical Report NESDIS/NGDC-1.
+//
+// 25/10/2006  Wim Van Hoydonck -- wim.van.hoydonck@gmail.com
+//

 //  The routine uses a spherical harmonic expansion of the magnetic
 // potential up to twelfth order, together with its time variation, as
@@ -75,74 +88,72 @@


 static const double pi = 3.14159265358979;
-static const double a = 6378.16;	/* major radius (km) IAU66 ellipsoid */
-static const double f = 1.0 / 298.25;	/* inverse flattening IAU66 ellipsoid */
-static const double b = 6378.16 * (1.0 -1.0 / 298.25 );
-/* minor radius b=a*(1-f) */
-static const double r_0 = 6371.2;	/* "mean radius" for spherical harmonic expansion */
+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  */

-static double gnm_wmm2000[13][13] =
+static double gnm_wmm2005[13][13] =
 {
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-29616.0, -1722.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-2266.7, 3070.2, 1677.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {1322.4, -2291.5, 1255.9, 724.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {932.1, 786.3, 250.6, -401.5, 106.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-211.9, 351.6, 220.8, -134.5, -168.8, -13.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {73.8, 68.2, 74.1, -163.5, -3.8, 17.1, -85.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {77.4, -73.9, 2.2, 35.7, 7.3, 5.2, 8.4, -1.5, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {23.3, 7.3, -8.5, -6.6, -16.9, 8.6, 4.9, -7.8, -7.6, 0.0, 0.0, 0.0, 0.0},
-    {5.7, 8.5, 2.0, -9.8, 7.6, -7.0, -2.0, 9.2, -2.2, -6.6, 0.0, 0.0, 0.0},
-    {-2.2, -5.7, 1.6, -3.7, -0.6, 4.1, 2.2, 2.2, 4.6, 2.3, 0.1, 0.0, 0.0},
-    {3.3, -1.1, -2.4, 2.6, -1.3, -1.7, -0.6, 0.4, 0.7, -0.3, 2.3, 4.2, 0.0},
-    {-1.5, -0.2, -0.3, 0.5, 0.2, 0.9, -1.4, 0.6, -0.6, -1.0, -0.3, 0.3, 0.4},
+    {-29556.8, -1671.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-2340.6, 3046.9, 1657.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {1335.4, -2305.1, 1246.7, 674.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {919.8, 798.1, 211.3, -379.4, 100.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-227.4, 354.6, 208.7, -136.5, -168.3, -14.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {73.2, 69.7, 76.7, -151.2, -14.9, 14.6, -86.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {80.1, -74.5, -1.4, 38.5, 12.4, 9.5, 5.7, 1.8, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {24.9, 7.7, -11.6, -6.9, -18.2, 10.0, 9.2, -11.6, -5.2, 0.0, 0.0, 0.0, 0.0},
+    {5.6, 9.9, 3.5, -7.0, 5.1, -10.8, -1.3, 8.8, -6.7, -9.1, 0.0, 0.0, 0.0},
+    {-2.3, -6.3, 1.6, -2.6, 0.0, 3.1, 0.4, 2.1, 3.9, -0.1, -2.3, 0.0, 0.0},
+    {2.8, -1.6, -1.7, 1.7, -0.1, 0.1, -0.7, 0.7, 1.8, 0.0, 1.1, 4.1, 0.0},
+    {-2.4, -0.4, 0.2, 0.8, -0.3, 1.1, -0.5, 0.4, -0.3, -0.3, -0.1, -0.3, -0.1},
 };

-static double hnm_wmm2000[13][13]=
+static double hnm_wmm2005[13][13]=
 {
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 5194.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -2484.8, -467.9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -224.7, 293.0, -486.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 273.3, -227.9, 120.9, -302.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 42.0, 173.8, -135.0, -38.6, 105.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -17.4, 61.2, 63.2, -62.9, 0.2, 43.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -62.3, -24.5, 8.9, 23.4, 15.0, -27.6, -7.8, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 12.4, -20.8, 8.4, -21.2, 15.5, 9.1, -15.5, -5.4, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -20.4, 13.9, 12.0, -6.2, -8.6, 9.4, 5.0, -8.4, 3.2, 0.0, 0.0, 0.0},
-    {0.0, 0.9, -0.7, 3.9, 4.8, -5.3, -1.0, -2.4, 1.3, -2.3, -6.4, 0.0, 0.0},
-    {0.0, -1.5, 0.7, -1.1, -2.3, 1.3, -0.6, -2.8, -1.6, -0.1, -1.9, 1.4, 0.0},
-    {0.0, -1.0, 0.7, 2.2, -2.5, -0.2, 0.0, -0.2, 0.0, 0.2, -0.9, -0.2, 1.0},
+    {0.0, 5079.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -2594.7, -516.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -199.9, 269.3, -524.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 281.5, -226.0, 145.8, -304.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 42.4, 179.8, -123.0, -19.5, 103.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -20.3, 54.7, 63.6, -63.4, -0.1, 50.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -61.5, -22.4, 7.2, 25.4, 11.0, -26.4, -5.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 11.2, -21.0, 9.6, -19.8, 16.1, 7.7, -12.9, -0.2, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -20.1, 12.9, 12.6, -6.7, -8.1, 8.0, 2.9, -7.9, 6.0, 0.0, 0.0, 0.0},
+    {0.0, 2.4, 0.2, 4.4, 4.8, -6.5, -1.1, -3.4, -0.8, -2.3, -7.9, 0.0, 0.0},
+    {0.0, 0.3, 1.2, -0.8, -2.5, 0.9, -0.6, -2.7, -0.9, -1.3, -2.0, -1.2, 0.0},
+    {0.0, -0.4, 0.3, 2.4, -2.6, 0.6, 0.3, 0.0, 0.0, 0.3, -0.9, -0.4, 0.8},
 };

-static double gtnm_wmm2000[13][13]=
+static double gtnm_wmm2005[13][13]=
 {
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {14.7, 11.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-13.6, -0.7, -1.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.3, -4.3, 0.9, -8.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-1.6, 0.9, -7.6, 2.2, -3.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-0.9, -0.2, -2.5, -2.7, -0.9, 1.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {1.2, 0.2, 1.7, 1.6, -0.1, -0.3, 0.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-0.4, -0.8, -0.2, 1.1, 0.4, 0.0, -0.2, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {-0.3, 0.6, -0.8, 0.3, -0.2, 0.5, 0.0, -0.6, 0.1, 0.0, 0.0, 0.0, 0.0},
+    {8.0, 10.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-15.1, -7.8, -0.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.4, -2.6, -1.2, -6.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-2.5, 2.8, -7.0, 6.2, -3.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-2.8, 0.7, -3.2, -1.1, 0.1, -0.8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {-0.7, 0.4, -0.3, 2.3, -2.1, -0.6, 1.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.2, -0.1, -0.3, 1.1, 0.6, 0.5, -0.4, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.1, 0.3, -0.4, 0.3, -0.3, 0.2, 0.4, -0.7, 0.4, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
 };

-static double htnm_wmm2000[13][13]=
+static double htnm_wmm2005[13][13]=
 {
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -20.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -21.5, -9.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 6.4, -1.3, -13.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 2.3, 0.7, 3.7, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 0.0, 2.1, 2.3, 3.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -0.3, -1.7, -0.9, -1.0, -0.1, 1.9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, 1.4, 0.2, 0.7, 0.4, -0.3, -0.8, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
-    {0.0, -0.5, 0.1, -0.2, 0.0, 0.1, -0.1, 0.3, 0.2, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -20.9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -23.2, -14.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 5.0, -7.0, -0.6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 2.2, 1.6, 5.8, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 0.0, 1.7, 2.1, 4.8, -1.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -0.6, -1.9, -0.4, -0.5, -0.3, 0.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, 0.6, 0.4, 0.2, 0.3, -0.8, -0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
+    {0.0, -0.2, 0.1, 0.3, 0.4, 0.1, -0.2, 0.4, 0.4, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
@@ -186,8 +197,8 @@ double calc_magvar( double lat, double lon, double h, long dat, double* field )
 {
    /* output field B_r,B_th,B_phi,B_x,B_y,B_z */
    int n,m;
-    /* reference dates */
-    long date0_wmm2000 = yymmdd_to_julian_days(0,1,1);
+    /* reference date for current model is 1 januari 2005 */
+    long date0_wmm2005 = yymmdd_to_julian_days(5,1,1);

    double yearfrac,sr,r,theta,c,s,psi,fn,fn_0,B_r,B_theta,B_phi,X,Y,Z;
    double sinpsi, cospsi, inv_s;
@@ -272,13 +283,14 @@ double calc_magvar( double lat, double lon, double h, long dat, double* field )
 	}
    }

-    /* compute gnm, hnm at dat */
-    /* WMM2000 */
-    yearfrac = (dat - date0_wmm2000) / 365.25;
+    /* compute Gauss coefficients gnm and hnm of degree n and order m for the desired time
+       achieved by adjusting the coefficients at time t0 for linear secular variation */
+    /* WMM2005 */
+    yearfrac = (dat - date0_wmm2005) / 365.25;
    for ( n = 1; n <= nmax; n++ ) {
 	for ( m = 0; m <= nmax; m++ ) {
-	    gnm[n][m] = gnm_wmm2000[n][m] + yearfrac * gtnm_wmm2000[n][m];
-	    hnm[n][m] = hnm_wmm2000[n][m] + yearfrac * htnm_wmm2000[n][m];
+	    gnm[n][m] = gnm_wmm2005[n][m] + yearfrac * gtnm_wmm2005[n][m];
+	    hnm[n][m] = hnm_wmm2005[n][m] + yearfrac * htnm_wmm2005[n][m];
 	}
    }

@@ -340,7 +352,7 @@ double SGMagVarOrig( double lat, double lon, double h, long dat, double* field )
    /* output field B_r,B_th,B_phi,B_x,B_y,B_z */
    int n,m;
    /* reference dates */
-    long date0_wmm2000 = yymmdd_to_julian_days(0,1,1);
+    long date0_wmm2005 = yymmdd_to_julian_days(5,1,1);

    double yearfrac,sr,r,theta,c,s,psi,fn,B_r,B_theta,B_phi,X,Y,Z;

@@ -397,12 +409,12 @@ double SGMagVarOrig( double lat, double lon, double h, long dat, double* field )
    }

    /* compute gnm, hnm at dat */
-    /* WMM2000 */
-    yearfrac = (dat - date0_wmm2000) / 365.25;
+    /* WMM2005 */
+    yearfrac = (dat - date0_wmm2005) / 365.25;
    for ( n = 1; n <= nmax; n++ ) {
 	for ( m = 0; m <= nmax; m++ ) {
-	    gnm[n][m] = gnm_wmm2000[n][m] + yearfrac * gtnm_wmm2000[n][m];
-	    hnm[n][m] = hnm_wmm2000[n][m] + yearfrac * htnm_wmm2000[n][m];
+	    gnm[n][m] = gnm_wmm2005[n][m] + yearfrac * gtnm_wmm2005[n][m];
+	    hnm[n][m] = hnm_wmm2005[n][m] + yearfrac * htnm_wmm2005[n][m];
 	}
    }

@@ -1,12 +1,13 @@
 includedir = @includedir@/math

-noinst_PROGRAMS = SGMathTest
-check_PROGRAMS  = SGMathTest
+check_PROGRAMS  = SGMathTest SGGeometryTest
 TESTS           = $(check_PROGRAMS)

 SGMathTest_SOURCES = SGMathTest.cxx
 SGMathTest_LDADD = libsgmath.a $(base_LIBS)

+SGGeometryTest_SOURCES = SGGeometryTest.cxx
+SGGeometryTest_LDADD = libsgmath.a $(base_LIBS)

 lib_LIBRARIES = libsgmath.a

@@ -20,20 +21,28 @@ include_HEADERS = \
 	sg_random.h \
 	sg_types.hxx \
 	vector.hxx \
-	fastmath.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 \
-	SGVec4.hxx \
-	SGVec3.hxx
-
-
-EXTRA_DIST = linintp2.h linintp2.inl sphrintp.h sphrintp.inl
+	SGRay.hxx \
+	SGSphere.hxx \
+	SGTriangle.hxx \
+	SGVec2.hxx \
+	SGVec3.hxx \
+	SGVec4.hxx

 libsgmath_a_SOURCES = \
 	interpolater.cxx \
@@ -42,7 +51,6 @@ libsgmath_a_SOURCES = \
 	sg_geodesy.cxx \
 	sg_random.c \
 	vector.cxx \
-	fastmath.cxx \
 	SGGeodesy.cxx

 INCLUDES = -I$(top_srcdir)
@@ -0,0 +1,107 @@
+// 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())
+  { }
+  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; }
+
+  // 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; }
+
+  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
+  {
+    SGVec3d 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
@@ -0,0 +1,31 @@
+// 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 SGCMath_H
+#define SGCMath_H
+
+#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
@@ -27,12 +27,6 @@ class SGGeoc {
 public:
  /// Default constructor, initializes the instance to lat = lon = lat = 0
  SGGeoc(void);
-  /// Initialize from a cartesian vector assumed to be in meters
-  /// Note that this conversion is relatively expensive to compute
-  SGGeoc(const SGVec3<double>& cart);
-  /// Initialize from a geodetic position
-  /// Note that this conversion is relatively expensive to compute
-  SGGeoc(const SGGeod& geod);

  /// Factory from angular values in radians and radius in ft
  static SGGeoc fromRadFt(double lon, double lat, double radius);
@@ -42,6 +36,13 @@ public:
  static SGGeoc fromRadM(double lon, double lat, double radius);
  /// Factory from angular values in degrees and radius in m
  static SGGeoc fromDegM(double lon, double lat, double radius);
+  /// 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
+  static SGGeoc fromCart(const SGVec3<double>& cart);
+  /// Factory to convert position from a geodetic position
+  /// Note that this conversion is relatively expensive to compute
+  static SGGeoc fromGeod(const SGGeod& geod);

  /// Return the geocentric longitude in radians
  double getLongitudeRad(void) const;
@@ -103,20 +104,6 @@ SGGeoc::SGGeoc(double lon, double lat, double radius) :
 {
 }

-inline
-SGGeoc::SGGeoc(const SGVec3<double>& cart)
-{
-  SGGeodesy::SGCartToGeoc(cart, *this);
-}
-
-inline
-SGGeoc::SGGeoc(const SGGeod& geod)
-{
-  SGVec3<double> cart;
-  SGGeodesy::SGGeodToCart(geod, cart);
-  SGGeodesy::SGCartToGeoc(cart, *this);
-}
-
 inline
 SGGeoc
 SGGeoc::fromRadFt(double lon, double lat, double radius)
@@ -165,6 +152,26 @@ SGGeoc::fromDegM(double lon, double lat, double radius)
 #endif
 }

+inline
+SGGeoc
+SGGeoc::fromCart(const SGVec3<double>& cart)
+{
+  SGGeoc geoc;
+  SGGeodesy::SGCartToGeoc(cart, geoc);
+  return geoc;
+}
+
+inline
+SGGeoc
+SGGeoc::fromGeod(const SGGeod& geod)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeodToCart(geod, cart);
+  SGGeoc geoc;
+  SGGeodesy::SGCartToGeoc(cart, geoc);
+  return geoc;
+}
+
 inline
 double
 SGGeoc::getLongitudeRad(void) const
@@ -27,12 +27,6 @@ class SGGeod {
 public:
  /// Default constructor, initializes the instance to lat = lon = elev = 0
  SGGeod(void);
-  /// Initialize from a cartesian vector assumed to be in meters
-  /// Note that this conversion is relatively expensive to compute
-  SGGeod(const SGVec3<double>& cart);
-  /// Initialize from a geocentric position
-  /// Note that this conversion is relatively expensive to compute
-  SGGeod(const SGGeoc& geoc);

  /// Factory from angular values in radians and elevation is 0
  static SGGeod fromRad(double lon, double lat);
@@ -46,6 +40,13 @@ 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 to convert position from a cartesian position assumed to be
+  /// in wgs84 measured in meters
+  /// Note that this conversion is relatively expensive to compute
+  static SGGeod fromCart(const SGVec3<double>& cart);
+  /// Factory to convert position from a geocentric position
+  /// Note that this conversion is relatively expensive to compute
+  static SGGeod fromGeoc(const SGGeoc& geoc);

  /// Return the geodetic longitude in radians
  double getLongitudeRad(void) const;
@@ -107,20 +108,6 @@ SGGeod::SGGeod(double lon, double lat, double elevation) :
 {
 }

-inline
-SGGeod::SGGeod(const SGVec3<double>& cart)
-{
-  SGGeodesy::SGCartToGeod(cart, *this);
-}
-
-inline
-SGGeod::SGGeod(const SGGeoc& geoc)
-{
-  SGVec3<double> cart;
-  SGGeodesy::SGGeocToCart(geoc, cart);
-  SGGeodesy::SGCartToGeod(cart, *this);
-}
-
 inline
 SGGeod
 SGGeod::fromRad(double lon, double lat)
@@ -191,6 +178,26 @@ SGGeod::fromDegM(double lon, double lat, double elevation)
 #endif
 }

+inline
+SGGeod
+SGGeod::fromCart(const SGVec3<double>& cart)
+{
+  SGGeod geod;
+  SGGeodesy::SGCartToGeod(cart, geod);
+  return geod;
+}
+
+inline
+SGGeod
+SGGeod::fromGeoc(const SGGeoc& geoc)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeocToCart(geoc, cart);
+  SGGeod geod;
+  SGGeodesy::SGCartToGeod(cart, geod);
+  return geod;
+}
+
 inline
 double
 SGGeod::getLongitudeRad(void) const
@@ -18,12 +18,6 @@
 #ifndef SGGeodesy_H
 #define SGGeodesy_H

-class SGGeoc;
-class SGGeod;
-
-template<typename T>
-class SGVec3;
-
 class SGGeodesy {
 public:
  // Hard numbers from the WGS84 standard.
@@ -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
@@ -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
@@ -0,0 +1,442 @@
+// 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
+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);
+
+    // 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)) {
+          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)) {
+          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;
+
+  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;
+}
@@ -0,0 +1,627 @@
+// 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 SGIntersect_HXX
+#define SGIntersect_HXX
+
+template<typename T>
+inline bool
+intersects(const SGBox<T>& box, const SGSphere<T>& sphere)
+{
+  if (sphere.empty())
+    return false;
+  // Is more or less trivially included in the next tests
+  // if (box.empty())
+  //   return false;
+
+  if (sphere.getCenter().x() < box.getMin().x() - sphere.getRadius())
+    return false;
+  if (sphere.getCenter().y() < box.getMin().y() - sphere.getRadius())
+    return false;
+  if (sphere.getCenter().z() < box.getMin().z() - sphere.getRadius())
+    return false;
+
+  if (box.getMax().x() + sphere.getRadius() < sphere.getCenter().x())
+    return false;
+  if (box.getMax().y() + sphere.getRadius() < sphere.getCenter().y())
+    return false;
+  if (box.getMax().z() + sphere.getRadius() < sphere.getCenter().z())
+    return false;
+
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGSphere<T>& sphere, const SGBox<T>& box)
+{ return intersects(box, sphere); }
+
+
+template<typename T>
+inline bool
+intersects(const SGVec3<T>& v, const SGBox<T>& box)
+{
+  if (v[0] < box.getMin()[0])
+    return false;
+  if (box.getMax()[0] < v[0])
+    return false;
+  if (v[1] < box.getMin()[1])
+    return false;
+  if (box.getMax()[1] < v[1])
+    return false;
+  if (v[2] < box.getMin()[2])
+    return false;
+  if (box.getMax()[2] < v[2])
+    return false;
+  return true;
+}
+template<typename T>
+inline bool
+intersects(const SGBox<T>& box, const SGVec3<T>& v)
+{ return intersects(v, box); }
+
+
+template<typename T>
+inline bool
+intersects(const SGRay<T>& ray, const SGPlane<T>& plane)
+{
+  // We compute the intersection point
+  //   x = origin + \alpha*direction
+  // from the ray origin and non nomalized direction.
+  // For 0 <= \alpha the ray intersects the infinite plane.
+  // The intersection point x can also be written
+  //   x = n*dist + y
+  // where n is the planes normal, dist is the distance of the plane from
+  // the origin in normal direction and y is ana aproriate vector
+  // perpendicular to n.
+  // Equate the x values and take the scalar product with the plane normal n.
+  //   dot(n, origin) + \alpha*dot(n, direction) = dist
+  // We can now compute alpha from the above equation.
+  //   \alpha = (dist - dot(n, origin))/dot(n, direction)
+
+  // The negative numerator for the \alpha expression
+  T num = plane.getPositiveDist();
+  num -= dot(plane.getNormal(), ray.getOrigin());
+  
+  // If the numerator is zero, we have the rays origin included in the plane
+  if (fabs(num) <= SGLimits<T>::min())
+    return true;
+
+  // The denominator for the \alpha expression
+  T den = dot(plane.getNormal(), ray.getDirection());
+
+  // If we get here, we already know that the rays origin is not included
+  // in the plane. Thus if we have a zero denominator we have
+  // a ray paralell to the plane. That is no intersection.
+  if (fabs(den) <= SGLimits<T>::min())
+    return false;
+
+  // We would now compute \alpha = num/den and compare with 0 and 1.
+  // But to avoid that expensive division, check equation multiplied by
+  // the denominator.
+  T alphaDen = copysign(1, den)*num;
+  if (alphaDen < 0)
+    return false;
+
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGPlane<T>& plane, const SGRay<T>& ray)
+{ return intersects(ray, plane); }
+
+template<typename T>
+inline bool
+intersects(SGVec3<T>& dst, const SGRay<T>& ray, const SGPlane<T>& plane)
+{
+  // We compute the intersection point
+  //   x = origin + \alpha*direction
+  // from the ray origin and non nomalized direction.
+  // For 0 <= \alpha the ray intersects the infinite plane.
+  // The intersection point x can also be written
+  //   x = n*dist + y
+  // where n is the planes normal, dist is the distance of the plane from
+  // the origin in normal direction and y is ana aproriate vector
+  // perpendicular to n.
+  // Equate the x values and take the scalar product with the plane normal n.
+  //   dot(n, origin) + \alpha*dot(n, direction) = dist
+  // We can now compute alpha from the above equation.
+  //   \alpha = (dist - dot(n, origin))/dot(n, direction)
+
+  // The negative numerator for the \alpha expression
+  T num = plane.getPositiveDist();
+  num -= dot(plane.getNormal(), ray.getOrigin());
+  
+  // If the numerator is zero, we have the rays origin included in the plane
+  if (fabs(num) <= SGLimits<T>::min()) {
+    dst = ray.getOrigin();
+    return true;
+  }
+
+  // The denominator for the \alpha expression
+  T den = dot(plane.getNormal(), ray.getDirection());
+
+  // If we get here, we already know that the rays origin is not included
+  // in the plane. Thus if we have a zero denominator we have
+  // a ray paralell to the plane. That is no intersection.
+  if (fabs(den) <= SGLimits<T>::min())
+    return false;
+
+  // We would now compute \alpha = num/den and compare with 0 and 1.
+  // But to avoid that expensive division, check equation multiplied by
+  // the denominator.
+  T alpha = num/den;
+  if (alpha < 0)
+    return false;
+
+  dst = ray.getOrigin() + alpha*ray.getDirection();
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(SGVec3<T>& dst, const SGPlane<T>& plane, const SGRay<T>& ray)
+{ return intersects(dst, ray, plane); }
+
+template<typename T>
+inline bool
+intersects(const SGLineSegment<T>& lineSegment, const SGPlane<T>& plane)
+{
+  // We compute the intersection point
+  //   x = origin + \alpha*direction
+  // from the line segments origin and non nomalized direction.
+  // For 0 <= \alpha <= 1 the line segment intersects the infinite plane.
+  // The intersection point x can also be written
+  //   x = n*dist + y
+  // where n is the planes normal, dist is the distance of the plane from
+  // the origin in normal direction and y is ana aproriate vector
+  // perpendicular to n.
+  // Equate the x values and take the scalar product with the plane normal n.
+  //   dot(n, origin) + \alpha*dot(n, direction) = dist
+  // We can now compute alpha from the above equation.
+  //   \alpha = (dist - dot(n, origin))/dot(n, direction)
+
+  // The negative numerator for the \alpha expression
+  T num = plane.getPositiveDist();
+  num -= dot(plane.getNormal(), lineSegment.getOrigin());
+  
+  // If the numerator is zero, we have the lines origin included in the plane
+  if (fabs(num) <= SGLimits<T>::min())
+    return true;
+
+  // The denominator for the \alpha expression
+  T den = dot(plane.getNormal(), lineSegment.getDirection());
+
+  // If we get here, we already know that the lines origin is not included
+  // in the plane. Thus if we have a zero denominator we have
+  // a line paralell to the plane. That is no intersection.
+  if (fabs(den) <= SGLimits<T>::min())
+    return false;
+
+  // We would now compute \alpha = num/den and compare with 0 and 1.
+  // But to avoid that expensive division, compare equations
+  // multiplied by |den|. Note that copysign is usually a compiler intrinsic
+  // that expands in assembler code that not even stalls the cpus pipes.
+  T alphaDen = copysign(1, den)*num;
+  if (alphaDen < 0)
+    return false;
+  if (den < alphaDen)
+    return false;
+
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGPlane<T>& plane, const SGLineSegment<T>& lineSegment)
+{ return intersects(lineSegment, plane); }
+
+template<typename T>
+inline bool
+intersects(SGVec3<T>& dst, const SGLineSegment<T>& lineSegment, const SGPlane<T>& plane)
+{
+  // We compute the intersection point
+  //   x = origin + \alpha*direction
+  // from the line segments origin and non nomalized direction.
+  // For 0 <= \alpha <= 1 the line segment intersects the infinite plane.
+  // The intersection point x can also be written
+  //   x = n*dist + y
+  // where n is the planes normal, dist is the distance of the plane from
+  // the origin in normal direction and y is an aproriate vector
+  // perpendicular to n.
+  // Equate the x values and take the scalar product with the plane normal n.
+  //   dot(n, origin) + \alpha*dot(n, direction) = dist
+  // We can now compute alpha from the above equation.
+  //   \alpha = (dist - dot(n, origin))/dot(n, direction)
+
+  // The negative numerator for the \alpha expression
+  T num = plane.getPositiveDist();
+  num -= dot(plane.getNormal(), lineSegment.getOrigin());
+  
+  // If the numerator is zero, we have the lines origin included in the plane
+  if (fabs(num) <= SGLimits<T>::min()) {
+    dst = lineSegment.getOrigin();
+    return true;
+  }
+
+  // The denominator for the \alpha expression
+  T den = dot(plane.getNormal(), lineSegment.getDirection());
+
+  // If we get here, we already know that the lines origin is not included
+  // in the plane. Thus if we have a zero denominator we have
+  // a line paralell to the plane. That is: no intersection.
+  if (fabs(den) <= SGLimits<T>::min())
+    return false;
+
+  // We would now compute \alpha = num/den and compare with 0 and 1.
+  // But to avoid that expensive division, check equation multiplied by
+  // the denominator. FIXME: shall we do so? or compute like that?
+  T alpha = num/den;
+  if (alpha < 0)
+    return false;
+  if (1 < alpha)
+    return false;
+
+  dst = lineSegment.getOrigin() + alpha*lineSegment.getDirection();
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(SGVec3<T>& dst, const SGPlane<T>& plane, const SGLineSegment<T>& lineSegment)
+{ return intersects(dst, lineSegment, plane); }
+
+
+// Distance of a line segment to a point
+template<typename T>
+inline T
+distSqr(const SGLineSegment<T>& lineSeg, const SGVec3<T>& p)
+{
+  SGVec3<T> ps = p - lineSeg.getStart();
+
+  T psdotdir = dot(ps, lineSeg.getDirection());
+  if (psdotdir <= 0)
+    return dot(ps, ps);
+
+  SGVec3<T> pe = p - lineSeg.getEnd();
+  if (0 <= dot(pe, lineSeg.getDirection()))
+    return dot(pe, pe);
+ 
+  return dot(ps, ps) - psdotdir*psdotdir/dot(lineSeg.getDirection(), lineSeg.getDirection());
+}
+// make it symmetric
+template<typename T>
+inline T
+distSqr(const SGVec3<T>& p, const SGLineSegment<T>& lineSeg)
+{ return distSqr(lineSeg, p); }
+// with sqrt
+template<typename T>
+inline T
+dist(const SGVec3<T>& p, const SGLineSegment<T>& lineSeg)
+{ return sqrt(distSqr(lineSeg, p)); }
+template<typename T>
+inline T
+dist(const SGLineSegment<T>& lineSeg, const SGVec3<T>& p)
+{ return sqrt(distSqr(lineSeg, p)); }
+
+template<typename T>
+inline bool
+intersects(const SGRay<T>& ray, const SGSphere<T>& sphere)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering,
+  // second edition, page 571
+  SGVec3<T> l = sphere.getCenter() - ray.getOrigin();
+  T s = dot(l, ray.getDirection());
+  T l2 = dot(l, l);
+
+  T r2 = sphere.getRadius2();
+  if (s < 0 && l2 > r2)
+    return false;
+
+  T d2 = dot(ray.getDirection(), ray.getDirection());
+  // The original test would read
+  //   T m2 = l2 - s*s/d2;
+  //   if (m2 > r2)
+  //     return false;
+  // but to avoid the expensive division, we multiply by d2
+  T m2 = d2*l2 - s*s;
+  if (m2 > d2*r2)
+    return false;
+
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGSphere<T>& sphere, const SGRay<T>& ray)
+{ return intersects(ray, sphere); }
+
+template<typename T>
+inline bool
+intersects(const SGLineSegment<T>& lineSegment, const SGSphere<T>& sphere)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering,
+  // second edition, page 571
+  SGVec3<T> l = sphere.getCenter() - lineSegment.getStart();
+  T ld = length(lineSegment.getDirection());
+  T s = dot(l, lineSegment.getDirection())/ld;
+  T l2 = dot(l, l);
+
+  T r2 = sphere.getRadius2();
+  if (s < 0 && l2 > r2)
+    return false;
+
+  T m2 = l2 - s*s;
+  if (m2 > r2)
+    return false;
+
+  T q = sqrt(r2 - m2);
+  T t = s - q;
+  if (ld < t)
+    return false;
+  
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGSphere<T>& sphere, const SGLineSegment<T>& lineSegment)
+{ return intersects(lineSegment, sphere); }
+
+
+template<typename T>
+inline bool
+// FIXME do not use that default argument later. Just for development now
+intersects(SGVec3<T>& x, const SGTriangle<T>& tri, const SGRay<T>& ray, T eps = 0)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering
+
+  // Method based on the observation that we are looking for a
+  // point x that can be expressed in terms of the triangle points
+  //  x = v_0 + u*(v_1 - v_0) + v*(v_2 - v_0)
+  // with 0 <= u, v and u + v <= 1.
+  // OTOH it could be expressed in terms of the ray
+  //  x = o + t*d
+  // Now we can compute u, v and t.
+  SGVec3<T> p = cross(ray.getDirection(), tri.getEdge(1));
+
+  T denom = dot(p, tri.getEdge(0));
+  T signDenom = copysign(1, denom);
+
+  SGVec3<T> s = ray.getOrigin() - tri.getBaseVertex();
+  SGVec3<T> q = cross(s, tri.getEdge(0));
+  // Now t would read
+  //   t = 1/denom*dot(q, tri.getEdge(1));
+  // To avoid an expensive division we multiply by |denom|
+  T tDenom = signDenom*dot(q, tri.getEdge(1));
+  if (tDenom < 0)
+    return false;
+  // For line segment we would test against
+  // if (1 < t)
+  //   return false;
+  // with the original t. The multiplied test would read
+  // if (absDenom < tDenom)
+  //   return false;
+  
+  T absDenom = fabs(denom);
+  T absDenomEps = absDenom*eps;
+
+  // T u = 1/denom*dot(p, s);
+  T u = signDenom*dot(p, s);
+  if (u < -absDenomEps)
+    return false;
+  // T v = 1/denom*dot(q, d);
+  // if (v < -eps)
+  //   return false;
+  T v = signDenom*dot(q, ray.getDirection());
+  if (v < -absDenomEps)
+    return false;
+  
+  if (u + v > absDenom + absDenomEps)
+    return false;
+  
+  // return if paralell ??? FIXME what if paralell and in plane?
+  // may be we are ok below than anyway??
+  if (absDenom <= SGLimits<T>::min())
+    return false;
+
+  x = ray.getOrigin();
+  // if we have survived here it could only happen with denom == 0
+  // that the point is already in plane. Then return the origin ...
+  if (SGLimitsd::min() < absDenom)
+    x += (tDenom/absDenom)*ray.getDirection();
+  
+  return true;
+}
+
+template<typename T>
+inline bool
+intersects(const SGTriangle<T>& tri, const SGRay<T>& ray, T eps = 0)
+{
+  // FIXME: for now just wrap the other method. When that has prooven
+  // well optimized, implement that special case
+  SGVec3<T> dummy;
+  return intersects(dummy, tri, ray, eps);
+}
+
+template<typename T>
+inline bool
+// FIXME do not use that default argument later. Just for development now
+intersects(SGVec3<T>& x, const SGTriangle<T>& tri, const SGLineSegment<T>& lineSegment, T eps = 0)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering
+
+  // Method based on the observation that we are looking for a
+  // point x that can be expressed in terms of the triangle points
+  //  x = v_0 + u*(v_1 - v_0) + v*(v_2 - v_0)
+  // with 0 <= u, v and u + v <= 1.
+  // OTOH it could be expressed in terms of the lineSegment
+  //  x = o + t*d
+  // Now we can compute u, v and t.
+  SGVec3<T> p = cross(lineSegment.getDirection(), tri.getEdge(1));
+
+  T denom = dot(p, tri.getEdge(0));
+  T signDenom = copysign(1, denom);
+
+  SGVec3<T> s = lineSegment.getStart() - tri.getBaseVertex();
+  SGVec3<T> q = cross(s, tri.getEdge(0));
+  // Now t would read
+  //   t = 1/denom*dot(q, tri.getEdge(1));
+  // To avoid an expensive division we multiply by |denom|
+  T tDenom = signDenom*dot(q, tri.getEdge(1));
+  if (tDenom < 0)
+    return false;
+  // For line segment we would test against
+  // if (1 < t)
+  //   return false;
+  // with the original t. The multiplied test reads
+  T absDenom = fabs(denom);
+  if (absDenom < tDenom)
+    return false;
+  
+  // take the CPU accuracy in account
+  T absDenomEps = absDenom*eps;
+
+  // T u = 1/denom*dot(p, s);
+  T u = signDenom*dot(p, s);
+  if (u < -absDenomEps)
+    return false;
+  // T v = 1/denom*dot(q, d);
+  // if (v < -eps)
+  //   return false;
+  T v = signDenom*dot(q, lineSegment.getDirection());
+  if (v < -absDenomEps)
+    return false;
+  
+  if (u + v > absDenom + absDenomEps)
+    return false;
+  
+  // return if paralell ??? FIXME what if paralell and in plane?
+  // may be we are ok below than anyway??
+  if (absDenom <= SGLimits<T>::min())
+    return false;
+
+  x = lineSegment.getStart();
+  // if we have survived here it could only happen with denom == 0
+  // that the point is already in plane. Then return the origin ...
+  if (SGLimitsd::min() < absDenom)
+    x += (tDenom/absDenom)*lineSegment.getDirection();
+  
+  return true;
+}
+
+template<typename T>
+inline bool
+intersects(const SGTriangle<T>& tri, const SGLineSegment<T>& lineSegment, T eps = 0)
+{
+  // FIXME: for now just wrap the othr method. When that has prooven
+  // well optimized, implement that special case
+  SGVec3<T> dummy;
+  return intersects(dummy, tri, lineSegment, eps);
+}
+
+
+template<typename T>
+inline bool
+intersects(const SGVec3<T>& v, const SGSphere<T>& sphere)
+{
+  if (sphere.empty())
+    return false;
+  return distSqr(v, sphere.getCenter()) <= sphere.getRadius2();
+}
+template<typename T>
+inline bool
+intersects(const SGSphere<T>& sphere, const SGVec3<T>& v)
+{ return intersects(v, sphere); }
+
+
+template<typename T>
+inline bool
+intersects(const SGBox<T>& box, const SGLineSegment<T>& lineSegment)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering
+
+  SGVec3<T> c = lineSegment.getCenter() - box.getCenter();
+  SGVec3<T> w = 0.5*lineSegment.getDirection();
+  SGVec3<T> v(fabs(w.x()), fabs(w.y()), fabs(w.z()));
+  SGVec3<T> h = 0.5*box.getSize();
+
+  if (fabs(c[0]) > v[0] + h[0])
+    return false;
+  if (fabs(c[1]) > v[1] + h[1])
+    return false;
+  if (fabs(c[2]) > v[2] + h[2])
+    return false;
+
+  if (fabs(c[1]*w[2] - c[2]*w[1]) > h[1]*v[2] + h[2]*v[1])
+    return false;
+  if (fabs(c[0]*w[2] - c[2]*w[0]) > h[0]*v[2] + h[2]*v[0])
+    return false;
+  if (fabs(c[0]*w[1] - c[1]*w[0]) > h[0]*v[1] + h[1]*v[0])
+    return false;
+
+  return true;
+}
+template<typename T>
+inline bool
+intersects(const SGLineSegment<T>& lineSegment, const SGBox<T>& box)
+{ return intersects(box, lineSegment); }
+
+template<typename T>
+inline bool
+intersects(const SGBox<T>& box, const SGRay<T>& ray)
+{
+  // See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering
+
+  for (unsigned i = 0; i < 3; ++i) {
+    T cMin = box.getMin()[i];
+    T cMax = box.getMax()[i];
+
+    T cOrigin = ray.getOrigin()[i];
+
+    T cDir = ray.getDirection()[i];
+    if (fabs(cDir) <= SGLimits<T>::min()) {
+      if (cOrigin < cMin)
+        return false;
+      if (cMax < cOrigin)
+        return false;
+    }
+
+    T nearr = - SGLimits<T>::max();
+    T farr = SGLimits<T>::max();
+
+    T T1 = (cMin - cOrigin) / cDir;
+    T T2 = (cMax - cOrigin) / cDir;
+    if (T1 > T2) std::swap (T1, T2);/* since T1 intersection with near plane */
+    if (T1 > nearr) nearr = T1; /* want largest Tnear */
+    if (T2 < farr) farr = T2; /* want smallest Tfarr */
+    if (nearr > farr) // farr box is missed
+      return false;
+    if (farr < 0) // box is behind ray
+      return false;
+  }
+
+  return true;
+}
+// make it symmetric
+template<typename T>
+inline bool
+intersects(const SGRay<T>& ray, const SGBox<T>& box)
+{ return intersects(box, ray); }
+
+#endif
@@ -26,7 +26,4 @@
 template<typename T>
 class SGLimits : public std::numeric_limits<T> {};

-typedef SGLimits<float> SGLimitsf;
-typedef SGLimits<double> SGLimitsd;
-
 #endif
@@ -0,0 +1,62 @@
+// 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)
+  { }
+
+  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; }
+
+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
@@ -21,15 +21,24 @@
 /// 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"
+
+#include "SGCMath.hxx"
 #include "SGLimits.hxx"
 #include "SGMisc.hxx"
 #include "SGGeodesy.hxx"
+#include "SGVec2.hxx"
 #include "SGVec3.hxx"
 #include "SGVec4.hxx"
-#include "SGQuat.hxx"
-#include "SGMatrix.hxx"
 #include "SGGeoc.hxx"
 #include "SGGeod.hxx"
+#include "SGQuat.hxx"
+#include "SGMatrix.hxx"

 #endif
@@ -0,0 +1,56 @@
+// 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 SGMathFwd_H
+#define SGMathFwd_H
+
+// All forward declarations in case they only need to be declared
+
+class SGGeoc;
+class SGGeod;
+
+template<typename T>
+class SGLimits;
+template<typename T>
+class SGMatrix;
+template<typename T>
+class SGMisc;
+template<typename T>
+class SGQuat;
+template<typename T>
+class SGVec2;
+template<typename T>
+class SGVec3;
+template<typename T>
+class SGVec4;
+
+typedef SGLimits<float> SGLimitsf;
+typedef SGLimits<double> SGLimitsd;
+typedef SGMatrix<float> SGMatrixf;
+typedef SGMatrix<double> SGMatrixd;
+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;
+typedef SGVec4<double> SGVec4d;
+
+#endif
@@ -174,7 +174,9 @@ 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;
+  m0.postMultTranslate(v0);
+  m0.postMultRotate(q0);

  // Check the tqo forms of the inverse for that kind of special matrix
  SGMatrix<T> m1, m2;
@@ -213,16 +215,16 @@ GeodesyTest(void)
  geod0 = SGGeod::fromDegM(30, 20, 17);

  // Test the conversion routines to cartesian coordinates
-  cart0 = geod0;
-  geod1 = cart0;
+  cart0 = SGVec3<double>::fromGeod(geod0);
+  geod1 = SGGeod::fromCart(cart0);
  if (epsDeg < fabs(geod0.getLongitudeDeg() - geod1.getLongitudeDeg()) ||
      epsDeg < fabs(geod0.getLatitudeDeg() - geod1.getLatitudeDeg()) ||
      epsM < fabs(geod0.getElevationM() - geod1.getElevationM()))
    return false;

  // Test the conversion routines to radial coordinates
-  geoc0 = cart0;
-  cart1 = geoc0;
+  geoc0 = SGGeoc::fromCart(cart0);
+  cart1 = SGVec3<double>::fromGeoc(geoc0);
  if (!equivalent(cart0, cart1))
    return false;

@@ -236,7 +238,9 @@ 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 +287,9 @@ 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
@@ -346,8 +352,8 @@ main(void)
    return EXIT_FAILURE;

  // Check geodetic/geocentric/cartesian conversions
-//   if (!GeodesyTest())
-//     return EXIT_FAILURE;
+  if (!GeodesyTest())
+    return EXIT_FAILURE;

  // Check interaction with sg*/sgd*
  if (!sgInterfaceTest())
@@ -22,9 +22,6 @@
 template<typename T>
 struct TransNegRef;

-template<typename T>
-class SGMatrix;
-
 /// 3D Matrix Class
 template<typename T>
 class SGMatrix {
@@ -66,14 +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
@@ -81,39 +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;
@@ -202,6 +181,45 @@ 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 < SGMatrix<T>::nCols-1; ++i)
+      (*this)(i,3) += T(t(i));
+    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)(0,3), (*this)(1,3), (*this)(2,3), (*this)(3,3));
+      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;
@@ -571,18 +589,14 @@ operator<<(std::basic_ostream<char_type, traits_type>& s, const SGMatrix<T>& m)
  return s;
 }

-/// Two classes doing actually the same on different types
-typedef SGMatrix<float> SGMatrixf;
-typedef SGMatrix<double> SGMatrixd;
-
 inline
 SGMatrixf
 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
@@ -591,8 +605,8 @@ 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
@@ -18,12 +18,12 @@
 #ifndef SGMisc_H
 #define SGMisc_H

-#include <cmath>
-
 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)
@@ -36,6 +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())
@@ -51,6 +56,37 @@ 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)
+  { return int(round(v)); }
+
 #ifndef NDEBUG
  /// Returns true if v is a NaN value
  /// Use with care: allways code that you do not need to use that!
@@ -71,7 +107,4 @@ public:
 #endif
 };

-typedef SGMisc<float> SGMiscf;
-typedef SGMisc<double> SGMiscd;
-
 #endif
@@ -0,0 +1,59 @@
+// 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, T dist) :
+    _normal(normal), _dist(dist)
+  { }
+  SGPlane(const SGVec3<T> vertices[3]) :
+    _normal(normalize(cross(vertices[1] - vertices[0],
+                            vertices[2] - vertices[0]))),
+    _dist(-dot(_normal, vertices[0]))
+  { }
+
+  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; }
+
+  /// 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
@@ -18,9 +18,50 @@
 #ifndef SGQuat_H
 #define SGQuat_H

+#ifdef min
+#undef min
+#endif
+
+#ifdef max
+#undef max
+#endif
+
+#include <osg/Quat>
+
+template<typename T>
+struct SGQuatStorage {
+  /// Readonly raw storage interface
+  const T (&data(void) const)[4]
+  { return _data; }
+  /// Readonly raw storage interface
+  T (&data(void))[4]
+  { return _data; }
+
+  void osg() const
+  { }
+
+private:
+  T _data[4];
+};
+
+template<>
+struct SGQuatStorage<double> : public osg::Quat {
+  /// Access raw data by index, the index is unchecked
+  const double (&data(void) const)[4]
+  { return osg::Quat::_v; }
+  /// Access raw data by index, the index is unchecked
+  double (&data(void))[4]
+  { return osg::Quat::_v; }
+
+  const osg::Quat& osg() const
+  { return *this; }
+  osg::Quat& osg()
+  { return *this; }
+};
+
 /// 3D Vector Class
 template<typename T>
-class SGQuat {
+class SGQuat : protected SGQuatStorage<T> {
 public:
  typedef T value_type;

@@ -33,7 +74,7 @@ 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
@@ -42,11 +83,13 @@ 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]; }
+  explicit SGQuat(const osg::Quat& d)
+  { 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)
@@ -87,13 +130,17 @@ 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);
@@ -104,11 +151,50 @@ 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)); }
+  /// Like the above provided for convenience
+  static SGQuat fromLonLat(const SGGeod& geod)
+  { return fromLonLatRad(geod.getLongitudeRad(), geod.getLatitudeRad()); }
+
+  /// Return a quaternion rotation from the earth centered to the
+  /// OpenGL/viewer horizontal local frame from given longitude and latitude.
+  /// This frame matches the usual OpenGL axis directions. That is the target
+  /// frame has an x-axis pointing eastwards, y-axis pointing up and y z-axis
+  /// pointing south.
+  static SGQuat viewHLRad(T lon, T lat)
+  {
+    // That bails down to a 3-2-1 euler sequence lon+pi/2, 0, -lat-pi
+    // what is here is again the hand optimized version ...
+    SGQuat q;
+    T xd2 = -T(0.5)*lat - T(0.5)*SGMisc<T>::pi();
+    T zd2 = T(0.5)*lon + T(0.25)*SGMisc<T>::pi();
+    T Szd2 = sin(zd2);
+    T Sxd2 = sin(xd2);
+    T Czd2 = cos(zd2);
+    T Cxd2 = cos(xd2);
+    q.w() = Cxd2*Czd2;
+    q.x() = Sxd2*Czd2;
+    q.y() = Sxd2*Szd2;
+    q.z() = Cxd2*Szd2;
+    return q;
+  }
+  /// Like the above provided for convenience
+  static SGQuat viewHLDeg(T lon, T lat)
+  { return viewHLRad(SGMisc<T>::deg2rad(lon), SGMisc<T>::deg2rad(lat)); }
+  /// Like the above provided for convenience
+  static SGQuat viewHL(const SGGeod& geod)
+  { return viewHLRad(geod.getLongitudeRad(), geod.getLatitudeRad()); }
+
+  /// Convert a quaternion rotation from the simulation frame
+  /// to the view (OpenGL) frame. That is it just swaps the axis part of
+  /// this current quaternion.
+  /// That proves useful when you want to use the euler 3-2-1 sequence
+  /// for the usual heading/pitch/roll sequence within the context of
+  /// OpenGL/viewer frames.
+  static SGQuat simToView(const SGQuat& q)
+  { return SGQuat(q.y(), -q.z(), -q.x(), q.w()); }

  /// Create a quaternion from the angle axis representation
  static SGQuat fromAngleAxis(T angle, const SGVec3<T>& axis)
@@ -132,14 +218,100 @@ public:
    return fromRealImag(cos(angle2), T(sin(angle2)/nAxis)*axis);
  }

+  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);
+  }
+
+  // FIXME more finegrained error behavour.
+  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+0.5*cosang);
+    if (cos05ang <= 0)
+      cosang = T(0);
+    cos05ang = sqrt(cos05ang);
+    T sig = dot(nto1, cross(nto2, tnv2));
+    T sin05ang = T(0.5-0.5*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;
  }

@@ -150,36 +322,36 @@ 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());
+    T tmp = 2*(x()*z() - w()*y());
    if (tmp < -1)
-      yRad = 0.5*SGMisc<value_type>::pi();
+      yRad = 0.5*SGMisc<T>::pi();
    else if (1 < tmp)
-      yRad = -0.5*SGMisc<value_type>::pi();
+      yRad = -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;
    }
  }
@@ -222,67 +394,66 @@ 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
-  { return _data; }
-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  T* data(void)
-  { return _data; }
+  /// Get the data pointer
+  using SGQuatStorage<T>::data;

  /// Readonly interface function to ssg's sgQuat/sgdQuat
  const T (&sg(void) const)[4]
-  { return _data; }
+  { return data(); }
  /// Interface function to ssg's sgQuat/sgdQuat
  T (&sg(void))[4]
-  { return _data; }
+  { return data(); }
+
+  /// Interface function to osg's Quat*
+  using SGQuatStorage<T>::osg;

  /// 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)
@@ -294,18 +465,18 @@ 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);
  }

@@ -318,7 +489,7 @@ 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;

@@ -331,8 +502,65 @@ public:
  }

 private:
-  /// The actual data
-  T _data[4];
+
+  // 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(0.5+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;
+  }
 };

 /// Unary +, do nothing ...
@@ -552,10 +780,6 @@ std::basic_ostream<char_type, traits_type>&
 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGQuat<T>& v)
 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }

-/// Two classes doing actually the same on different types
-typedef SGQuat<float> SGQuatf;
-typedef SGQuat<double> SGQuatd;
-
 inline
 SGQuatf
 toQuatf(const SGQuatd& v)
@@ -0,0 +1,62 @@
+// 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)
+  { }
+
+  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
@@ -0,0 +1,87 @@
+// 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)
+  { }
+
+  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; }
+
+  const 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;
+  }
+
+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
@@ -0,0 +1,101 @@
+// 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];
+  }
+
+  SGVec3d getCenter() const
+  {
+    SGBoxd box;
+    box.expandBy(_v0);
+    box.expandBy(_v0 + _d[0]);
+    box.expandBy(_v0 + _d[1]);
+    return box.getCenter();
+  }
+
+  // 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;
+  }
+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
@@ -0,0 +1,405 @@
+// 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 SGVec2_H
+#define SGVec2_H
+
+#include <osg/Vec2f>
+#include <osg/Vec2d>
+
+template<typename T>
+struct SGVec2Storage {
+  /// Readonly raw storage interface
+  const T (&data(void) const)[2]
+  { return _data; }
+  /// Readonly raw storage interface
+  T (&data(void))[2]
+  { return _data; }
+
+  void osg() const
+  { }
+
+private:
+  T _data[2];
+};
+
+template<>
+struct SGVec2Storage<float> : public osg::Vec2f {
+  /// Access raw data by index, the index is unchecked
+  const float (&data(void) const)[2]
+  { return osg::Vec2f::_v; }
+  /// Access raw data by index, the index is unchecked
+  float (&data(void))[2]
+  { return osg::Vec2f::_v; }
+
+  const osg::Vec2f& osg() const
+  { return *this; }
+  osg::Vec2f& osg()
+  { return *this; }
+};
+
+template<>
+struct SGVec2Storage<double> : public osg::Vec2d {
+  /// Access raw data by index, the index is unchecked
+  const double (&data(void) const)[2]
+  { return osg::Vec2d::_v; }
+  /// Access raw data by index, the index is unchecked
+  double (&data(void))[2]
+  { return osg::Vec2d::_v; }
+
+  const osg::Vec2d& osg() const
+  { return *this; }
+  osg::Vec2d& osg()
+  { return *this; }
+};
+
+/// 2D Vector Class
+template<typename T>
+class SGVec2 : protected SGVec2Storage<T> {
+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]; }
+  explicit SGVec2(const osg::Vec2f& d)
+  { data()[0] = d[0]; data()[1] = d[1]; }
+  explicit SGVec2(const osg::Vec2d& 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]; }
+
+  /// Get the data pointer
+  using SGVec2Storage<T>::data;
+
+  /// Readonly interface function to ssg's sgVec2/sgdVec2
+  const T (&sg(void) const)[2]
+  { return data(); }
+  /// Interface function to ssg's sgVec2/sgdVec2
+  T (&sg(void))[2]
+  { return data(); }
+
+  /// Interface function to osg's Vec2*
+  using SGVec2Storage<T>::osg;
+
+  /// 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); }
+};
+
+/// 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)
+{ return (1/norm(v))*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); }
+
+#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)); }
+
+#endif
@@ -18,9 +18,58 @@
 #ifndef SGVec3_H
 #define SGVec3_H

+#include <osg/Vec3f>
+#include <osg/Vec3d>
+
+template<typename T>
+struct SGVec3Storage {
+  /// Readonly raw storage interface
+  const T (&data(void) const)[3]
+  { return _data; }
+  /// Readonly raw storage interface
+  T (&data(void))[3]
+  { return _data; }
+
+  void osg() const
+  { }
+
+private:
+  T _data[3];
+};
+
+template<>
+struct SGVec3Storage<float> : public osg::Vec3f {
+  /// Access raw data by index, the index is unchecked
+  const float (&data(void) const)[3]
+  { return osg::Vec3f::_v; }
+  /// Access raw data by index, the index is unchecked
+  float (&data(void))[3]
+  { return osg::Vec3f::_v; }
+
+  const osg::Vec3f& osg() const
+  { return *this; }
+  osg::Vec3f& osg()
+  { return *this; }
+};
+
+template<>
+struct SGVec3Storage<double> : public osg::Vec3d {
+  /// Access raw data by index, the index is unchecked
+  const double (&data(void) const)[3]
+  { return osg::Vec3d::_v; }
+  /// Access raw data by index, the index is unchecked
+  double (&data(void))[3]
+  { return osg::Vec3d::_v; }
+
+  const osg::Vec3d& osg() const
+  { return *this; }
+  osg::Vec3d& osg()
+  { return *this; }
+};
+
 /// 3D Vector Class
 template<typename T>
-class SGVec3 {
+class SGVec3 : protected SGVec3Storage<T> {
 public:
  typedef T value_type;

@@ -33,82 +82,79 @@ 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]; }
-  /// Constructor. Initialize by a geodetic coordinate
-  /// Note that this conversion is relatively expensive to compute
-  SGVec3(const SGGeod& geod)
-  { SGGeodesy::SGGeodToCart(geod, *this); }
-  /// Constructor. Initialize by a geocentric coordinate
-  /// Note that this conversion is relatively expensive to compute
-  SGVec3(const SGGeoc& geoc)
-  { SGGeodesy::SGGeocToCart(geoc, *this); }
+  explicit SGVec3(const T* d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+  explicit SGVec3(const osg::Vec3f& d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+  explicit SGVec3(const osg::Vec3d& 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
-  { return _data; }
-  /// Get the data pointer
-  T* data(void)
-  { return _data; }
+  using SGVec3Storage<T>::data;

  /// Readonly interface function to ssg's sgVec3/sgdVec3
  const T (&sg(void) const)[3]
-  { return _data; }
+  { return data(); }
  /// Interface function to ssg's sgVec3/sgdVec3
  T (&sg(void))[3]
-  { return _data; }
+  { return data(); }
+
+  /// Interface function to osg's Vec3*
+  using SGVec3Storage<T>::osg;

  /// 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)
@@ -125,11 +171,54 @@ public:
  static SGVec3 e3(void)
  { return SGVec3(0, 0, 1); }

-private:
-  /// The actual data
-  T _data[3];
+  /// Constructor. Initialize by a geodetic coordinate
+  /// Note that this conversion is relatively expensive to compute
+  static SGVec3 fromGeod(const SGGeod& geod);
+  /// Constructor. Initialize by a geocentric coordinate
+  /// Note that this conversion is relatively expensive to compute
+  static SGVec3 fromGeoc(const SGGeoc& geoc);
 };

+template<>
+inline
+SGVec3<double>
+SGVec3<double>::fromGeod(const SGGeod& geod)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeodToCart(geod, cart);
+  return cart;
+}
+
+template<>
+inline
+SGVec3<float>
+SGVec3<float>::fromGeod(const SGGeod& geod)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeodToCart(geod, cart);
+  return SGVec3<float>(cart(0), cart(1), cart(2));
+}
+
+template<>
+inline
+SGVec3<double>
+SGVec3<double>::fromGeoc(const SGGeoc& geoc)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeocToCart(geoc, cart);
+  return cart;
+}
+
+template<>
+inline
+SGVec3<float>
+SGVec3<float>::fromGeoc(const SGGeoc& geoc)
+{
+  SGVec3<double> cart;
+  SGGeodesy::SGGeocToCart(geoc, cart);
+  return SGVec3<float>(cart(0), cart(1), cart(2));
+}
+
 /// Unary +, do nothing ...
 template<typename T>
 inline
@@ -172,6 +261,73 @@ 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
@@ -201,6 +357,13 @@ 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
@@ -212,6 +375,31 @@ cross(const SGVec3<T>& v1, const SGVec3<T>& v2)
                   v1(0)*v2(1) - v1(1)*v2(0));
 }

+/// 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);
+  }
+}
+
 /// The euclidean norm of the vector, that is what most people call length
 template<typename T>
 inline
@@ -233,6 +421,43 @@ 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
@@ -257,6 +482,20 @@ equivalent(const SGVec3<T>& v1, const SGVec3<T>& v2)
  return equivalent(v1, v2, tol, tol);
 }

+/// The euclidean distance of the two vectors
+template<typename T>
+inline
+T
+dist(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return norm(v1 - v2); }
+
+/// The squared euclidean distance of the two vectors
+template<typename T>
+inline
+T
+distSqr(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ SGVec3<T> tmp = v1 - v2; return dot(tmp, tmp); }
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -275,10 +514,6 @@ std::basic_ostream<char_type, traits_type>&
 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec3<T>& v)
 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << " ]"; }

-/// Two classes doing actually the same on different types
-typedef SGVec3<float> SGVec3f;
-typedef SGVec3<double> SGVec3d;
-
 inline
 SGVec3f
 toVec3f(const SGVec3d& v)
@@ -18,9 +18,58 @@
 #ifndef SGVec4_H
 #define SGVec4_H

+#include <osg/Vec4f>
+#include <osg/Vec4d>
+
+template<typename T>
+struct SGVec4Storage {
+  /// Readonly raw storage interface
+  const T (&data(void) const)[4]
+  { return _data; }
+  /// Readonly raw storage interface
+  T (&data(void))[4]
+  { return _data; }
+
+  void osg() const
+  { }
+
+private:
+  T _data[4];
+};
+
+template<>
+struct SGVec4Storage<float> : public osg::Vec4f {
+  /// Access raw data by index, the index is unchecked
+  const float (&data(void) const)[4]
+  { return osg::Vec4f::_v; }
+  /// Access raw data by index, the index is unchecked
+  float (&data(void))[4]
+  { return osg::Vec4f::_v; }
+
+  const osg::Vec4f& osg() const
+  { return *this; }
+  osg::Vec4f& osg()
+  { return *this; }
+};
+
+template<>
+struct SGVec4Storage<double> : public osg::Vec4d {
+  /// Access raw data by index, the index is unchecked
+  const double (&data(void) const)[4]
+  { return osg::Vec4d::_v; }
+  /// Access raw data by index, the index is unchecked
+  double (&data(void))[4]
+  { return osg::Vec4d::_v; }
+
+  const osg::Vec4d& osg() const
+  { return *this; }
+  osg::Vec4d& osg()
+  { return *this; }
+};
+
 /// 4D Vector Class
 template<typename T>
-class SGVec4 {
+class SGVec4 : protected SGVec4Storage<T> {
 public:
  typedef T value_type;

@@ -33,82 +82,86 @@ 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]; }
+  explicit SGVec4(const osg::Vec4f& d)
+  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+  explicit SGVec4(const osg::Vec4d& 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
+  using SGVec4Storage<T>::data;

-  /// Get the data pointer, usefull for interfacing with plib's sg*Vec
-  const T* data(void) const
-  { 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
+  /// Readonly interface function to ssg's sgVec4/sgdVec4
  const T (&sg(void) const)[4]
-  { return _data; }
-  /// Interface function to ssg's sgVec3/sgdVec3
+  { return data(); }
+  /// Interface function to ssg's sgVec4/sgdVec4
  T (&sg(void))[4]
-  { return _data; }
+  { return data(); }
+
+  /// Interface function to osg's Vec4*
+  using SGVec4Storage<T>::osg;

  /// 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)
@@ -126,10 +179,6 @@ public:
  { return SGVec4(0, 0, 1, 0); }
  static SGVec4 e4(void)
  { return SGVec4(0, 0, 0, 1); }
-
-private:
-  /// The actual data
-  T _data[4];
 };

 /// Unary +, do nothing ...
@@ -174,6 +223,79 @@ 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
@@ -203,6 +325,13 @@ 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
@@ -224,6 +353,47 @@ 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
@@ -248,6 +418,20 @@ equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2)
  return equivalent(v1, v2, tol, tol);
 }

+/// The euclidean distance of the two vectors
+template<typename T>
+inline
+T
+dist(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return norm(v1 - v2); }
+
+/// The squared euclidean distance of the two vectors
+template<typename T>
+inline
+T
+distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -266,10 +450,6 @@ std::basic_ostream<char_type, traits_type>&
 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec4<T>& v)
 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }

-/// Two classes doing actually the same on different types
-typedef SGVec4<float> SGVec4f;
-typedef SGVec4<double> SGVec4d;
-
 inline
 SGVec4f
 toVec4f(const SGVec4d& v)
@@ -1,291 +0,0 @@
-/*
- * \file fastmath.cxx
- * fast mathematics routines.
- *
- * Refferences:
- *
- * A Fast, Compact Approximation of the Exponential Function
- * Nicol N. Schraudolph
- * IDSIA, Lugano, Switzerland
- * http://www.inf.ethz.ch/~schraudo/pubs/exp.pdf
- *
- * Base-2 exp, Laurent de Soras
- * http://www.musicdsp.org/archive.php?classid=5#106
- *
- * Fast log() Function, by Laurent de Soras:
- * http://www.flipcode.com/cgi-bin/msg.cgi?showThread=Tip-Fastlogfunction&forum=totd&id=-1
- *
- * Sin, Cos, Tan approximation
- * http://www.musicdsp.org/showArchiveComment.php?ArchiveID=115
- *
- * fast floating point power computation:
- * http://playstation2-linux.com/download/adam/power.c
- */
-
-/*
- * $Id$
- */
-
-
-#include <simgear/constants.h>
-
-#include "fastmath.hxx"
-
-/**
- * This function is on avarage 9 times faster than the system exp() function
- * and has an error of about 1.5%
- */
-static union {
-    double d;
-    struct {
-#if BYTE_ORDER == BIG_ENDIAN
-        int i, j;
-#else
-        int j, i;
-#endif
-    } n;
-} _eco;
-
-double fast_exp(double val) {
-    const double a = 1048576/M_LN2;
-    const double b_c = 1072632447; /* 1072693248 - 60801 */
-
-    _eco.n.i = (int)(a*val + b_c);
-
-    return _eco.d;
-}
-
-/*
- * Linear approx. between 2 integer values of val. Uses 32-bit integers.
- * Not very efficient but faster than exp()
- */
-double fast_exp2( const double val )
-{
-    int e;
-    double ret;
-
-    if (val >= 0) {
-        e = int (val);
-        ret = val - (e - 1);
-
-#if BYTE_ORDER == BIG_ENDIAN
-        ((*((int *) &ret)) &= ~(2047 << 20)) += (e + 1023) << 20;
-#else
-        ((*(1 + (int *) &ret)) &= ~(2047 << 20)) += (e + 1023) << 20;
-#endif
-    } else {
-        e = int (val + 1023);
-        ret = val - (e - 1024);
-
-#if BYTE_ORDER == BIG_ENDIAN
-        ((*((int *) &ret)) &= ~(2047 << 20)) += e << 20;
-#else
-        ((*(1 + (int *) &ret)) &= ~(2047 << 20)) += e << 20;
-#endif
-    }
-
-    return ret;
-}
-
-
-/*
- *
- */
-float _fast_log2(const float val)
-{
-    float result, tmp;
-    float mp = 0.346607f;
-
-    result = *(int*)&val;
-    result *= 1.0/(1<<23);
-    result = result - 127;
- 
-    tmp = result - floor(result);
-    tmp = (tmp - tmp*tmp) * mp;
-    return tmp + result;
-}
-
-float _fast_pow2(const float val)
-{
-    float result;
-
-    float mp = 0.33971f;
-    float tmp = val - floor(val);
-    tmp = (tmp - tmp*tmp) * mp;
-
-    result = val + 127 - tmp; 
-    result *= (1<<23);
-    *(int*)&result = (int)result;
-    return result;
-}
-
-
-
-/**
- * While we're on the subject, someone might have use for these as well?
- * Float Shift Left and Float Shift Right. Do what you want with this.
- */
-void fast_BSL(float &x, register unsigned long shiftAmount) {
-
-	*(unsigned long*)&x+=shiftAmount<<23;
-
-}
-
-void fast_BSR(float &x, register unsigned long shiftAmount) {
-
-	*(unsigned long*)&x-=shiftAmount<<23;
-
-}
-
-
-/*
- * fastpow(f,n) gives a rather *rough* estimate of a float number f to the
- * power of an integer number n (y=f^n). It is fast but result can be quite a
- * bit off, since we directly mess with the floating point exponent.
- * 
- * Use it only for getting rough estimates of the values and where precision 
- * is not that important.
- */
-float fast_pow(const float f, const int n)
-{
-    long *lp,l;
-    lp=(long*)(&f);
-    l=*lp;l-=0x3F800000l;l<<=(n-1);l+=0x3F800000l;
-    *lp=l;
-    return f;
-}
-
-float fast_root(const float f, const int n)
-{
-    long *lp,l;
-    lp=(long*)(&f);
-    l=*lp;l-=0x3F800000l;l>>=(n-1);l+=0x3F800000l;
-    *lp=l;
-    return f;
-}
-
-
-/*
- * Code for approximation of cos, sin, tan and inv sin, etc.
- * Surprisingly accurate and very usable.
- *
- * Domain:
- * Sin/Cos    [0, pi/2]
- * Tan        [0,pi/4]
- * InvSin/Cos [0, 1]
- * InvTan     [-1, 1]
- */
-
-float fast_sin(const float val)
-{
-    float fASqr = val*val;
-    float fResult = -2.39e-08f;
-    fResult *= fASqr;
-    fResult += 2.7526e-06f;
-    fResult *= fASqr;
-    fResult -= 1.98409e-04f;
-    fResult *= fASqr;
-    fResult += 8.3333315e-03f;
-    fResult *= fASqr;
-    fResult -= 1.666666664e-01f;
-    fResult *= fASqr;
-    fResult += 1.0f;
-    fResult *= val;
-
-    return fResult;
-}
-
-float fast_cos(const float val)
-{
-    float fASqr = val*val;
-    float fResult = -2.605e-07f;
-    fResult *= fASqr;
-    fResult += 2.47609e-05f;
-    fResult *= fASqr;
-    fResult -= 1.3888397e-03f;
-    fResult *= fASqr;
-    fResult += 4.16666418e-02f;
-    fResult *= fASqr;
-    fResult -= 4.999999963e-01f;
-    fResult *= fASqr;
-    fResult += 1.0f;
-
-    return fResult;  
-}
-
-float fast_tan(const float val)
-{
-    float fASqr = val*val;
-    float fResult = 9.5168091e-03f;
-    fResult *= fASqr;
-    fResult += 2.900525e-03f;
-    fResult *= fASqr;
-    fResult += 2.45650893e-02f;
-    fResult *= fASqr;
-    fResult += 5.33740603e-02f;
-    fResult *= fASqr;
-    fResult += 1.333923995e-01f;
-    fResult *= fASqr;
-    fResult += 3.333314036e-01f;
-    fResult *= fASqr;
-    fResult += 1.0f;
-    fResult *= val;
-
-    return fResult;
-
-}
-
-float fast_asin(float val)
-{
-    float fRoot = sqrt(1.0f-val);
-    float fResult = -0.0187293f;
-    fResult *= val;
-    fResult += 0.0742610f;
-    fResult *= val;
-    fResult -= 0.2121144f;
-    fResult *= val;
-    fResult += 1.5707288f;
-    fResult = SGD_PI_2 - fRoot*fResult;
-
-    return fResult;
-}
-
-float fast_acos(float val)
-{
-    float fRoot = sqrt(1.0f-val);
-    float fResult = -0.0187293f;
-    fResult *= val;
-    fResult += 0.0742610f;
-    fResult *= val;
-    fResult -= 0.2121144f;
-    fResult *= val;
-    fResult += 1.5707288f;
-    fResult *= fRoot;
-
-    return fResult;
-}
-
-float fast_atan(float val)
-{
-    float fVSqr = val*val;
-    float fResult = 0.0028662257f;
-    fResult *= fVSqr;
-    fResult -= 0.0161657367f;
-    fResult *= fVSqr;
-    fResult += 0.0429096138f;
-    fResult *= fVSqr;
-    fResult -= 0.0752896400f;
-    fResult *= fVSqr;
-    fResult += 0.1065626393f;
-    fResult *= fVSqr;
-    fResult -= 0.1420889944f;
-    fResult *= fVSqr;
-    fResult += 0.1999355085f;
-    fResult *= fVSqr;
-    fResult -= 0.3333314528f;
-    fResult *= fVSqr;
-    fResult += 1.0f;
-    fResult *= val;
-
-    return fResult;
-}
@@ -1,116 +0,0 @@
-/*
- * \file fastmath.hxx
- * fast mathematics routines.
- *
- * References:
- *
- * A Fast, Compact Approximation of the Exponential Function
- * Nicol N. Schraudolph
- * IDSIA, Lugano, Switzerland
- * http://www.inf.ethz.ch/~schraudo/pubs/exp.pdf
- *
- * Fast log() Function, by Laurent de Soras:
- * http://www.flipcode.com/cgi-bin/msg.cgi?showThread=Tip-Fastlogfunction&forum=totd&id=-1
- *
- */
-
-/*
- * $Id$
- */
-
-#ifndef _SG_FMATH_HXX
-#define _SG_FMATH_HXX 1
-
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-#include <math.h>
-
-
-double fast_exp(double val);
-double fast_exp2(const double val);
-
-float fast_pow(const float val1, const float val2);
-float fast_log2(const float cal);
-float fast_root(const float f, const int n);
-
-float _fast_pow2(const float cal);
-float _fast_log2(const float val);
-
-float fast_sin(const float val);
-float fast_cos(const float val);
-float fast_tan(const float val);
-float fast_asin(const float val);
-float fast_acos(const float val);
-float fast_atan(const float val);
-
-void fast_BSL(float &x, register unsigned long shiftAmount);
-void fast_BSR(float &x, register unsigned long shiftAmount);
-
-
-inline float fast_log2 (float val)
-{
-    union {
-        float f;
-        int i;
-    } v;
-    v.f = val;
-    const int log_2 = ((v.i >> 23) & 255) - 128;
-    v.i &= ~(255 << 23);
-    v.i += 127 << 23;
-
-    v.f = ((-1.0f/3) * v.f + 2) * v.f - 2.0f/3;   // (1)
-
-    return (v.f + log_2);
-}
-
-
-/**
- * This function is about 3 times faster than the system log() function
- * and has an error of about 0.01%
- */
-inline float fast_log (const float &val)
-{
-   return (fast_log2 (val) * 0.69314718f);
-}
-
-inline float fast_log10 (const float &val)
-{
-   return (fast_log2(val) / 3.321928095f);
-}
-
-
-/**
- * This function is about twice as fast as the system pow(x,y) function
- */
-inline float fast_pow(const float val1, const float val2)
-{
-   return _fast_pow2(val2 * _fast_log2(val1));
-}
-
-
-/*
- * Haven't seen this elsewhere, probably because it is too obvious?
- * Anyway, these functions are intended for 32-bit floating point numbers
- * only and should work a bit faster than the regular ones.
- */
-inline float fast_abs(float f)
-{
-    int i=((*(int*)&f)&0x7fffffff);
-    return (*(float*)&i);
-}
-
-inline float fast_neg(float f)
-{
-    int i=((*(int*)&f)^0x80000000);
-    return (*(float*)&i);
-}
-
-inline int fast_sgn(float f)
-{
-    return 1+(((*(int*)&f)>>31)<<1);
-}
-
-#endif // !_SG_FMATH_HXX
-
@@ -25,12 +25,11 @@

 #include <simgear/compiler.h>

-#include <stdlib.h> // for exit()
-
 #include STL_STRING

 #include <simgear/debug/logstream.hxx>
 #include <simgear/misc/sgstream.hxx>
+#include <simgear/props/props.hxx>

 #include "interpolater.hxx"

@@ -38,22 +37,29 @@ SG_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 +67,7 @@ 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 +75,42 @@ 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);
 }


@@ -35,12 +35,14 @@

 #include <simgear/compiler.h>

-#include <vector>
-SG_USING_STD(vector);
+#include "simgear/structure/SGReferenced.hxx"
+
+#include <map>

 #include STL_STRING
 SG_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;
 };


@@ -1,110 +0,0 @@
-/*
-  WARNING - Do not remove this header.
-
-  This code is a templated version of the 'magic-software' spherical
-  interpolation code by Dave Eberly. The original (un-hacked) code can be
-  obtained from here: http://www.magic-software.com/gr_appr.htm
-  This code is derived from linintp2.h/cpp and sphrintp.h/cpp.
-
-  Dave Eberly says that the conditions for use are:
-
-  * You may distribute the original source code to others at no charge.
-
-  * You may modify the original source code and distribute it to others at
-    no charge. The modified code must be documented to indicate that it is
-    not part of the original package.
-
-  * You may use this code for non-commercial purposes. You may also
-    incorporate this code into commercial packages. However, you may not
-    sell any of your source code which contains my original and/or modified
-    source code. In such a case, you need to factor out my code and freely
-    distribute it.
-
-  * The original code comes with absolutely no warranty and no guarantee is
-    made that the code is bug-free.
-
-  This does not seem incompatible with GPL - so this modified version
-  is hereby placed under GPL along with the rest of FlightGear.
-
-                              Christian Mayer
-*/
-
-#ifndef LININTP2_H
-#define LININTP2_H
-
-template<class T>
-class mgcLinInterp2D
-{
-public:
-    mgcLinInterp2D (int _numPoints, double* x, double* y, T* _f);
-
-    ~mgcLinInterp2D ();
-
-    double XMin () { return xmin; }
-    double XMax () { return xmax; }
-    double XRange () { return xmax-xmin; }
-    double YMin () { return ymin; }
-    double YMax () { return ymax; }
-    double YRange () { return ymax-ymin; }
-
-    int PointCount () { return numPoints; }
-    void GetPoint (int i, double& x, double& y);
-
-    int EdgeCount () { return numEdges; }
-    void GetEdge (int i, double& x0, double& y0, double& x1, double& y1);
-
-    int TriangleCount () { return numTriangles; }
-    void GetTriangle (int i, double& x0, double& y0, double& x1, double& y1,
-        double& x2, double& y2);
-
-    int Evaluate (double x, double y, T& F);
-    
-private:
-    typedef struct
-    {
-        double x, y;
-    }
-    Vertex;
-
-    typedef struct
-    {
-        int vertex[3];  // listed in counterclockwise order
-
-        int adj[3];
-            // adj[0] points to triangle sharing edge (vertex[0],vertex[1])
-            // adj[1] points to triangle sharing edge (vertex[1],vertex[2])
-            // adj[2] points to triangle sharing edge (vertex[2],vertex[0])
-    }
-    Triangle;
-
-    typedef struct 
-    {
-        int vertex[2];
-        int triangle[2];
-        int index[2];
-    } 
-    Edge;
-
-    int numPoints;
-    double** point;
-    double** tmppoint;
-    T* f;
-
-    double xmin, xmax, ymin, ymax;
-
-
-    int numEdges;
-    Edge* edge;
-
-    int numTriangles;
-    Triangle* triangle;
-
-    int Delaunay2D ();
-    void ComputeBarycenter (Vertex& v0, Vertex& v1, Vertex& v2, Vertex& ver, 
-                            double c[3]);
-    int InTriangle (Vertex& v0, Vertex& v1, Vertex& v2, Vertex& test);
-};
-
-#include "linintp2.inl"
-
-#endif
@@ -1,540 +0,0 @@
-/*
-  WARNING - Do not remove this header.
-
-  This code is a templated version of the 'magic-software' spherical
-  interpolation code by Dave Eberly. The original (un-hacked) code can be
-  obtained from here: http://www.magic-software.com/gr_appr.htm
-  This code is derived from linintp2.h/cpp and sphrintp.h/cpp.
-
-  Dave Eberly says that the conditions for use are:
-
-  * You may distribute the original source code to others at no charge.
-
-  * You may modify the original source code and distribute it to others at
-    no charge. The modified code must be documented to indicate that it is
-    not part of the original package.
-
-  * You may use this code for non-commercial purposes. You may also
-    incorporate this code into commercial packages. However, you may not
-    sell any of your source code which contains my original and/or modified
-    source code. In such a case, you need to factor out my code and freely
-    distribute it.
-
-  * The original code comes with absolutely no warranty and no guarantee is
-    made that the code is bug-free.
-
-  This does not seem incompatible with GPL - so this modified version
-  is hereby placed under GPL along with the rest of FlightGear.
-
-                              Christian Mayer
-*/
-
-#include <float.h>
-#include <math.h>
-#include <stdlib.h>
-#include "linintp2.h"
-
-//---------------------------------------------------------------------------
-template<class T>
-mgcLinInterp2D<T>::mgcLinInterp2D (int _numPoints, double* x, double* y, 
-                                   T* _f)
-{
-    if ( (numPoints = _numPoints) < 3 )
-    {
-        point = 0;
-        edge = 0;
-        triangle = 0;
-        numTriangles = 0;
-        return;
-    }
-
-    // cout << "[ 20%] allocating memory                                              \r";
-
-    point = new double*[numPoints];
-    tmppoint = new double*[numPoints+3];
-    f = new T[numPoints];
-    int i;
-    for (i = 0; i < numPoints; i++)
-        point[i] = new double[2];
-    for (i = 0; i < numPoints+3; i++)
-        tmppoint[i] = new double[2];
-    for (i = 0; i < numPoints; i++)
-    {
-        point[i][0] = tmppoint[i][0] = x[i];
-        point[i][1] = tmppoint[i][1] = y[i];
-
-	f[i] = _f[i];
-    }
-
-    // cout << "[ 30%] creating delaunay diagram                                      \r";
-
-    Delaunay2D();
-}
-//---------------------------------------------------------------------------
-template<class T>
-mgcLinInterp2D<T>::~mgcLinInterp2D ()
-{
-    if ( numPoints < 3 )
-        return;
-
-    int i;
-
-    if ( point )
-    {
-        for (i = 0; i < numPoints; i++)
-            delete[] point[i];
-        delete[] point;
-    }
-    if ( tmppoint )
-    {
-        for (i = 0; i < numPoints+3; i++)
-            delete[] tmppoint[i];
-        delete[] tmppoint;
-    }
-
-    delete[] f;
-    delete[] edge;
-    delete[] triangle;
-}
-//---------------------------------------------------------------------------
-template<class T>
-void mgcLinInterp2D<T>::ComputeBarycenter (Vertex& v0, Vertex& v1, Vertex& v2, 
-                                           Vertex& ver, double c[3])
-{
-    double A0 = v0.x-v2.x, B0 = v0.y-v2.y;
-    double A1 = v1.x-v2.x, B1 = v1.y-v2.y;
-    double A2 = ver.x-v2.x, B2 = ver.y-v2.y;
-
-    double m00 = A0*A0+B0*B0, m01 = A0*A1+B0*B1, m11 = A1*A1+B1*B1;
-    double r0 = A2*A0+B2*B0, r1 = A2*A1+B2*B1;
-    double det = m00*m11-m01*m01;
-
-    c[0] = (m11*r0-m01*r1)/det;
-    c[1] = (m00*r1-m01*r0)/det;
-    c[2] = 1-c[0]-c[1];
-}
-//---------------------------------------------------------------------------
-template<class T>
-int mgcLinInterp2D<T>::InTriangle (Vertex& v0, Vertex& v1, Vertex& v2, 
-                                   Vertex& test)
-{
-    const double eps = 1e-08;
-    double tx, ty, nx, ny;
-
-    // test against normal to first edge
-    tx = test.x - v0.x;
-    ty = test.y - v0.y;
-    nx = v0.y - v1.y;
-    ny = v1.x - v0.x;
-    if ( tx*nx + ty*ny < -eps )
-        return 0;
-
-    // test against normal to second edge
-    tx = test.x - v1.x;
-    ty = test.y - v1.y;
-    nx = v1.y - v2.y;
-    ny = v2.x - v1.x;
-    if ( tx*nx + ty*ny < -eps )
-        return 0;
-
-    // test against normal to third edge
-    tx = test.x - v2.x;
-    ty = test.y - v2.y;
-    nx = v2.y - v0.y;
-    ny = v0.x - v2.x;
-    if ( tx*nx + ty*ny < -eps )
-        return 0;
-
-    return 1;
-}
-//---------------------------------------------------------------------------
-template<class T>
-int mgcLinInterp2D<T>::Evaluate (double x, double y, T& F)
-{
-    Vertex ver = { x, y };
-    // determine which triangle contains the target point
-
-    int i; 
-    Vertex v0, v1, v2;
-    for (i = 0; i < numTriangles; i++)
-    {
-        Triangle& t = triangle[i];
-        v0.x = point[t.vertex[0]][0];
-        v0.y = point[t.vertex[0]][1];
-        v1.x = point[t.vertex[1]][0];
-        v1.y = point[t.vertex[1]][1];
-        v2.x = point[t.vertex[2]][0];
-        v2.y = point[t.vertex[2]][1];
-
-        if ( InTriangle(v0,v1,v2,ver) )
-            break;
-    }
-
-    if ( i == numTriangles )  // point is outside interpolation region
-    {
-	return 0;
-    }
-
-    Triangle& t = triangle[i];  // (x,y) is in this triangle
-
-    // compute barycentric coordinates with respect to subtriangle
-    double bary[3];
-    ComputeBarycenter(v0,v1,v2,ver,bary);
-
-    // compute barycentric combination of function values at vertices
-    F = bary[0]*f[t.vertex[0]]+bary[1]*f[t.vertex[1]]+bary[2]*f[t.vertex[2]];
-
-    return 1;
-}
-//---------------------------------------------------------------------------
-template<class T>
-int mgcLinInterp2D<T>::Delaunay2D ()
-{
-    int result;
-
-    const double EPSILON = 1e-12;
-    const int TSIZE = 75;
-    const double RANGE = 10.0;
-
-    xmin = tmppoint[0][0];
-    xmax = xmin;
-    ymin = tmppoint[0][1];
-    ymax = ymin;
-
-    int i;
-    for (i = 0; i < numPoints; i++)
-    {
-        double value = tmppoint[i][0];
-        if ( xmax < value )
-            xmax = value;
-        if ( xmin > value )
-            xmin = value;
-
-        value = tmppoint[i][1];
-        if ( ymax < value )
-            ymax = value;
-        if ( ymin > value )
-            ymin = value;
-    }
-
-    double xrange = xmax-xmin, yrange = ymax-ymin;
-    double maxrange = xrange;
-    if ( maxrange < yrange )
-        maxrange = yrange;
-
-    // need to scale the data later to do a correct triangle count
-    double maxrange2 = maxrange*maxrange;
-
-    // tweak the points by very small random numbers
-    double bgs = EPSILON*maxrange;
-    srand(367);   
-    for (i = 0; i < numPoints; i++) 
-    {
-        tmppoint[i][0] += bgs*(0.5 - rand()/double(RAND_MAX));
-        tmppoint[i][1] += bgs*(0.5 - rand()/double(RAND_MAX));
-    }
-
-    double wrk[2][3] =
-    {
-        { 5*RANGE, -RANGE, -RANGE },
-        { -RANGE, 5*RANGE, -RANGE }
-    };
-    for (i = 0; i < 3; i++)
-    {
-        tmppoint[numPoints+i][0] = xmin+xrange*wrk[0][i];
-        tmppoint[numPoints+i][1] = ymin+yrange*wrk[1][i];
-    }
-
-    int i0, i1, i2, i3, i4, i5, i6, i7, i8, i9, i11;
-    int nts, ii[3];
-    double xx;
-
-    int tsz = 2*TSIZE;
-    int** tmp = new int*[tsz+1];
-    tmp[0] = new int[2*(tsz+1)];
-    for (i0 = 1; i0 < tsz+1; i0++)
-        tmp[i0] = tmp[0] + 2*i0;
-    i1 = 2*(numPoints + 2);
-
-    int* id = new int[i1];
-    for (i0 = 0; i0 < i1; i0++) 
-        id[i0] = i0; 
-
-    int** a3s = new int*[i1];
-    a3s[0] = new int[3*i1];
-    for (i0 = 1; i0 < i1; i0++)
-        a3s[i0] = a3s[0] + 3*i0;
-    a3s[0][0] = numPoints;
-    a3s[0][1] = numPoints+1;
-    a3s[0][2] = numPoints+2;
-
-    double** ccr = new double*[i1];  // circumscribed centers and radii
-    ccr[0] = new double[3*i1];
-    for (i0 = 1; i0 < i1; i0++)
-        ccr[i0] = ccr[0] + 3*i0;
-    ccr[0][0] = 0.0;
-    ccr[0][1] = 0.0;
-    ccr[0][2] = FLT_MAX;
-
-    nts = 1;  // number of triangles
-    i4 = 1;
-
-    // cout << "[ 40%] create triangulation                                     \r";
-
-    // compute triangulation
-    for (i0 = 0; i0 < numPoints; i0++)
-    {  
-        i1 = i7 = -1;
-        i9 = 0;
-        for (i11 = 0; i11 < nts; i11++)
-        {
-            i1++;
-            while ( a3s[i1][0] < 0 ) 
-                i1++;
-            xx = ccr[i1][2];
-            for (i2 = 0; i2 < 2; i2++)
-            {  
-                double z = tmppoint[i0][i2]-ccr[i1][i2];
-                xx -= z*z;
-                if ( xx < 0 ) 
-                    goto Corner3;
-            }
-            i9--;
-            i4--;
-            id[i4] = i1;
-            for (i2 = 0; i2 < 3; i2++)
-            {  
-                ii[0] = 0;
-                if (ii[0] == i2) 
-                    ii[0]++;
-                for (i3 = 1; i3 < 2; i3++)
-                {  
-                    ii[i3] = ii[i3-1] + 1;
-                    if (ii[i3] == i2) 
-                        ii[i3]++;
-                }
-                if ( i7 > 1 )
-                {  
-                    i8 = i7;
-                    for (i3 = 0; i3 <= i8; i3++)
-                    {  
-                        for (i5 = 0; i5 < 2; i5++) 
-                            if ( a3s[i1][ii[i5]] != tmp[i3][i5] ) 
-                                goto Corner1;
-                        for (i6 = 0; i6 < 2; i6++) 
-                            tmp[i3][i6] = tmp[i8][i6];
-                        i7--;
-                        goto Corner2;
-Corner1:;
-                    }
-                }
-                if ( ++i7 > tsz )
-                {
-                    // temporary storage exceeded, increase TSIZE
-                    result = 0;
-                    goto ExitDelaunay;
-                }
-                for (i3 = 0; i3 < 2; i3++) 
-                    tmp[i7][i3] = a3s[i1][ii[i3]];
-Corner2:;
-            }
-            a3s[i1][0] = -1;
-Corner3:;
-        }
-
-        for (i1 = 0; i1 <= i7; i1++)
-        {  
-            for (i2 = 0; i2 < 2; i2++)
-                for (wrk[i2][2] = 0, i3 = 0; i3 < 2; i3++)
-                {  
-                    wrk[i2][i3] = tmppoint[tmp[i1][i2]][i3]-tmppoint[i0][i3];
-                    wrk[i2][2] += 
-                        0.5*wrk[i2][i3]*(tmppoint[tmp[i1][i2]][i3]+
-                        tmppoint[i0][i3]);
-                }
-
-            xx = wrk[0][0]*wrk[1][1]-wrk[1][0]*wrk[0][1];
-            ccr[id[i4]][0] = (wrk[0][2]*wrk[1][1]-wrk[1][2]*wrk[0][1])/xx;
-            ccr[id[i4]][1] = (wrk[0][0]*wrk[1][2]-wrk[1][0]*wrk[0][2])/xx;
-
-            for (ccr[id[i4]][2] = 0, i2 = 0; i2 < 2; i2++) 
-            {  
-                double z = tmppoint[i0][i2]-ccr[id[i4]][i2];
-                ccr[id[i4]][2] += z*z;
-                a3s[id[i4]][i2] = tmp[i1][i2];
-            }
-
-            a3s[id[i4]][2] = i0;
-            i4++;
-            i9++;
-        }
-        nts += i9;
-    }
-
-    // count the number of triangles
-    // cout << "[ 50%] count the number of triangles                                  \r";
-
-    numTriangles = 0;
-    i0 = -1;
-    for (i11 = 0; i11 < nts; i11++)
-    {  
-        i0++;
-        while ( a3s[i0][0] < 0 ) 
-            i0++;
-        if ( a3s[i0][0] < numPoints )
-        {  
-            for (i1 = 0; i1 < 2; i1++) 
-                for (i2 = 0; i2 < 2; i2++) 
-                    wrk[i1][i2] = 
-                        tmppoint[a3s[i0][i1]][i2]-tmppoint[a3s[i0][2]][i2];
-
-            if ( fabs(wrk[0][0]*wrk[1][1]-wrk[0][1]*wrk[1][0]) > EPSILON*maxrange2 )
-                numTriangles++;
-        }
-    }
-
-    // create the triangles
-    // cout << "[ 60%] create the triangles                                         \r";
-
-    triangle = new Triangle[numTriangles];
-
-    numTriangles = 0;
-    i0 = -1;
-    for (i11 = 0; i11 < nts; i11++)
-    {  
-        i0++;
-        while ( a3s[i0][0] < 0 ) 
-            i0++;
-        if ( a3s[i0][0] < numPoints )
-        {  
-            for (i1 = 0; i1 < 2; i1++) 
-                for (i2 = 0; i2 < 2; i2++) 
-                    wrk[i1][i2] = 
-                        tmppoint[a3s[i0][i1]][i2]-tmppoint[a3s[i0][2]][i2];
-            xx = wrk[0][0]*wrk[1][1]-wrk[0][1]*wrk[1][0];
-            if ( fabs(xx) > EPSILON*maxrange2 )
-            {  
-                int delta = xx < 0 ? 1 : 0;
-                Triangle& tri = triangle[numTriangles];
-                tri.vertex[0] = a3s[i0][0];
-                tri.vertex[1] = a3s[i0][1+delta];
-                tri.vertex[2] = a3s[i0][2-delta];
-                tri.adj[0] = -1;
-                tri.adj[1] = -1;
-                tri.adj[2] = -1;
-                numTriangles++;
-            }
-        }
-    }
-
-    // build edge table
-    // cout << "[ 70%] build the edge table                                       \r";
-
-    numEdges = 0;
-    edge = new Edge[3*numTriangles];
-
-    int j, j0, j1;
-    for (i = 0; i < numTriangles; i++)
-    {
-	// if ( (i%500) == 0)
-	    // cout << "[ 7" << 10*i/numTriangles << "%] build the edge table                                       \r";
-
-        Triangle& t = triangle[i];
-
-        for (j0 = 0, j1 = 1; j0 < 3; j0++, j1 = (j1+1)%3)
-        {
-            for (j = 0; j < numEdges; j++)
-            {
-                Edge& e = edge[j];
-                if ( (t.vertex[j0] == e.vertex[0] 
-                   && t.vertex[j1] == e.vertex[1])
-                ||   (t.vertex[j0] == e.vertex[1] 
-                   && t.vertex[j1] == e.vertex[0]) )
-                    break;
-            }
-            if ( j == numEdges )  // add edge to table
-            {
-                edge[j].vertex[0] = t.vertex[j0];
-                edge[j].vertex[1] = t.vertex[j1];
-                edge[j].triangle[0] = i;
-                edge[j].index[0] = j0;
-                edge[j].triangle[1] = -1;
-                numEdges++;
-            }
-            else  // edge already exists, add triangle to table
-            {
-                edge[j].triangle[1] = i;
-                edge[j].index[1] = j0;
-            }
-        }
-    }
-
-    // establish links between adjacent triangles
-    // cout << "[ 80%] establishing links between adjacent triangles                                       \r";
-
-    for (i = 0; i < numEdges; i++)
-    {
-        if ( edge[i].triangle[1] != -1 )
-        {
-            j0 = edge[i].triangle[0];
-            j1 = edge[i].triangle[1];
-            triangle[j0].adj[edge[i].index[0]] = j1;
-            triangle[j1].adj[edge[i].index[1]] = j0;
-        }
-    }
-
-    result = 1;
-
-ExitDelaunay:;
-    delete[] tmp[0];
-    delete[] tmp;
-    delete[] id;
-    delete[] a3s[0];
-    delete[] a3s;
-    delete[] ccr[0];
-    delete[] ccr;
-
-    // cout << "[ 90%] finsishes delauney triangulation                            \r";
-
-    return result;
-}
-//---------------------------------------------------------------------------
-template<class T>
-void mgcLinInterp2D<T>::GetPoint (int i, double& x, double& y)
-{
-    // assumes i is valid [can use PointCount() before passing i]
-    x = point[i][0];
-    y = point[i][1];
-}
-//---------------------------------------------------------------------------
-template<class T>
-void mgcLinInterp2D<T>::GetEdge (int i, double& x0, double& y0, double& x1,
-                                 double& y1)
-{
-    // assumes i is valid [can use EdgeCount() before passing i]
-    int v0 = edge[i].vertex[0], v1 = edge[i].vertex[1];
-
-    x0 = point[v0][0];
-    y0 = point[v0][1];
-    x1 = point[v1][0];
-    y1 = point[v1][1];
-}
-//---------------------------------------------------------------------------
-template<class T>
-void mgcLinInterp2D<T>::GetTriangle (int i, double& x0, double& y0, double& x1,
-                                     double& y1, double& x2, double& y2)
-{
-    // assumes i is valid [can use TriangleCount() before passing i]
-    int v0 = triangle[i].vertex[0];
-    int v1 = triangle[i].vertex[1];
-    int v2 = triangle[i].vertex[2];
-
-    x0 = point[v0][0];
-    y0 = point[v0][1];
-    x1 = point[v1][0];
-    y1 = point[v1][1];
-    x2 = point[v2][0];
-    y2 = point[v2][1];
-}
-//---------------------------------------------------------------------------
-
@@ -97,6 +97,8 @@ 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

@@ -132,6 +134,10 @@ 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?
@@ -239,6 +245,24 @@ 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 +365,21 @@ 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)
@@ -73,10 +73,9 @@ static inline double M0( double e2 ) {
 }


-// given, alt, lat1, lon1, az1 and distance (s), calculate lat2, lon2
+// given, lat1, lon1, az1 and distance (s), calculate lat2, lon2
 // and az2.  Lat, lon, and azimuth are in degrees.  distance in meters
-int geo_direct_wgs_84 ( double alt, double lat1,
-                        double lon1, double az1,
+int geo_direct_wgs_84 ( double lat1, double lon1, double az1,
                        double s, double *lat2, double *lon2,
                        double *az2 )
 {
@@ -160,16 +159,15 @@ int geo_direct_wgs_84 ( double alt, double lat1,
 	double dM = a*M0(e2) - s;
 	double paz = ( phi1 < 0.0 ? 180.0 : 0.0 );
        double zero = 0.0f;
-	return geo_direct_wgs_84( alt, zero, lon1, paz, dM, lat2, lon2, az2 );
+	return geo_direct_wgs_84( zero, lon1, paz, dM, lat2, lon2, az2 );
    } 
 }


-// given alt, lat1, lon1, lat2, lon2, calculate starting and ending
+// given lat1, lon1, lat2, lon2, calculate starting and ending
 // az1, az2 and distance (s).  Lat, lon, and azimuth are in degrees.
 // distance in meters
-int geo_inverse_wgs_84( double alt, double lat1,
-                        double lon1, double lat2,
+int geo_inverse_wgs_84( double lat1, double lon1, double lat2,
 			double lon2, double *az1, double *az2,
                        double *s )
 {
@@ -192,14 +190,14 @@ int geo_inverse_wgs_84( double alt, double lat1,
 	return 0;
    } else if(  fabs(cosphi1) < testv ) {
 	// initial point is polar
-	int k = geo_inverse_wgs_84( alt, lat2,lon2,lat1,lon1, az1,az2,s );
+	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( alt, lat1, lon1, lat1, _lon1, 
+	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;
@@ -211,8 +209,8 @@ int geo_inverse_wgs_84( double alt, double lat1,
    {
 	// Geodesic passes through the pole (antipodal)
 	double s1,s2;
-	geo_inverse_wgs_84( alt, lat1,lon1, lat1,lon2, az1,az2, &s1 );
-	geo_inverse_wgs_84( alt, lat2,lon2, lat1,lon2, az1,az2, &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;
@@ -4,18 +4,6 @@
 #include <simgear/math/point3d.hxx>
 #include "SGMath.hxx"

-// Returns the insersection of the line joining the center of the
-// earth and the specified cylindrical point with the surface of the
-// WGS84 ellipsoid.  Works by finding a normalization constant (in
-// squashed space) that places the squashed point on the surface of
-// the sphere.
-inline double seaLevelRadius(double r, double z)
-{
-    double sr = r * SGGeodesy::SQUASH;
-    double zz = z*z;
-    return SGGeodesy::POLRAD*sqrt((r*r + zz)/(sr*sr + zz));
-}
-
 /** 
 * Convert from geocentric coordinates to geodetic coordinates
 * @param lat_geoc (in) Geocentric latitude, radians, + = North
@@ -56,11 +44,12 @@ inline void sgGeodToGeoc(double lat_geod, double alt,
                         double *sl_radius, double *lat_geoc)
 {
  SGVec3<double> cart;
-  SGGeodesy::SGGeodToCart(SGGeod::fromRadM(0, lat_geod, alt), cart);
+  SGGeod geod = SGGeod::fromRadM(0, lat_geod, alt);
+  SGGeodesy::SGGeodToCart(geod, cart);
  SGGeoc geoc;
  SGGeodesy::SGCartToGeoc(cart, geoc);
  *lat_geoc = geoc.getLatitudeRad();
-  *sl_radius = seaLevelRadius(cart(0), cart(2));
+  *sl_radius = SGGeodesy::SGGeodToSeaLevelRadius(geod);
 }


@@ -130,7 +119,7 @@ inline Point3D sgGeodToCart(const Point3D& geod)
 /**
 * Given a starting position and an offset radial and distance,
 * calculate an ending positon on a wgs84 ellipsoid.
- * @param alt (in) meters
+ * @param alt (in) meters (unused)
 * @param lat1 (in) degrees
 * @param lon1 (in) degrees
 * @param az1 (in) degrees
@@ -139,16 +128,39 @@ inline Point3D sgGeodToCart(const Point3D& geod)
 * @param lon2 (out) degrees
 * @param az2 (out) return course in degrees
 */
-int geo_direct_wgs_84 ( double alt, double lat1,
-                        double lon1, double az1, 
+int geo_direct_wgs_84 ( double lat1, double lon1, double az1, 
 			double s, double *lat2, double *lon2,
                        double *az2 );
+inline int geo_direct_wgs_84 ( double alt, double lat1,
+                        double lon1, double az1, 
+			double s, double *lat2, double *lon2,
+                        double *az2 )
+{ return geo_direct_wgs_84(lat1, lon1, az1, s, lat2, lon2, az2); }

+/**
+ * Given a starting position and an offset radial and distance,
+ * calculate an ending positon on a wgs84 ellipsoid.
+ * @param p1 (in) geodetic position
+ * @param az1 (in) degrees
+ * @param s (in) distance in meters
+ * @param p2 (out) geodetic position
+ * @param az2 (out) return course in degrees
+ */
+inline int geo_direct_wgs_84(const SGGeod& p1, double az1,
+                             double s, SGGeod& p2, double *az2 )
+{
+  double lat2, lon2;
+  int ret = geo_direct_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                              az1, s, &lat2, &lon2, az2);
+  p2.setLatitudeDeg(lat2);
+  p2.setLongitudeDeg(lon2);
+  return ret;
+}

 /**
 * Given an altitude and two sets of (lat, lon) calculate great circle
 * distance between them as well as the starting and ending azimuths.
- * @param alt (in) meters
+ * @param alt (in) meters (unused)
 * @param lat1 (in) degrees
 * @param lon1 (in) degrees
 * @param lat2 (in) degrees
@@ -157,9 +169,31 @@ int geo_direct_wgs_84 ( double alt, double lat1,
 * @param az2 (out) end heading degrees
 * @param s (out) distance meters
 */
-int geo_inverse_wgs_84( double alt, double lat1,
-                        double lon1, double lat2,
+int geo_inverse_wgs_84( double lat1, double lon1, double lat2,
 			double lon2, double *az1, double *az2,
                        double *s );
+inline int geo_inverse_wgs_84( double alt, double lat1,
+                               double lon1, double lat2,
+                               double lon2, double *az1, double *az2,
+                               double *s )
+{ return geo_inverse_wgs_84(lat1, lon1, lat2, lon2, az1, az2, s); }
+
+
+/**
+ * Given an altitude and two sets of (lat, lon) calculate great circle
+ * distance between them as well as the starting and ending azimuths.
+ * @param p1 (in) first position
+ * @param p2 (in) fsecond position
+ * @param az1 (out) start heading degrees
+ * @param az2 (out) end heading degrees
+ * @param s (out) distance meters
+ */
+inline int geo_inverse_wgs_84(const SGGeod& p1, const SGGeod& p2,
+                              double *az1, double *az2, double *s )
+{
+  return geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                            p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                            az1, az2, s);
+}

 #endif // _SG_GEODESY_HXX
@@ -1,78 +0,0 @@
-/*
-  WARNING - Do not remove this header.
-
-  This code is a templated version of the 'magic-software' spherical
-  interpolation code by Dave Eberly. The original (un-hacked) code can be
-  obtained from here: http://www.magic-software.com/gr_appr.htm
-  This code is derived from linintp2.h/cpp and sphrintp.h/cpp.
-
-  Dave Eberly says that the conditions for use are:
-
-  * You may distribute the original source code to others at no charge.
-
-  * You may modify the original source code and distribute it to others at
-    no charge. The modified code must be documented to indicate that it is
-    not part of the original package.
-
-  * You may use this code for non-commercial purposes. You may also
-    incorporate this code into commercial packages. However, you may not
-    sell any of your source code which contains my original and/or modified
-    source code. In such a case, you need to factor out my code and freely
-    distribute it.
-
-  * The original code comes with absolutely no warranty and no guarantee is
-    made that the code is bug-free.
-
-  This does not seem incompatible with GPL - so this modified version
-  is hereby placed under GPL along with the rest of FlightGear.
-
-                              Christian Mayer
-*/
-
-#ifndef SPHRINTP_H
-#define SPHRINTP_H
-
-#include "linintp2.h"
-#include <plib/sg.h>
-
-template<class T>
-class SphereInterpolate
-{
-public:
-    SphereInterpolate (int n, const double* x, const double* y,
-	const double* z, const T* f);
-    SphereInterpolate (int n, const sgVec2* p, const T* f);
-   
-    ~SphereInterpolate ();
-    
-    void GetSphericalCoords (const double x, const double y, const double z,
-	double& thetaAngle, double& phiAngle) const;
-    
-    int Evaluate (const double x, const double y, const double z, T& f) const;
-    int Evaluate (const double thetaAngle, const double phiAngle, T& f) const;
-
-    T Evaluate(const sgVec2& p) const
-    {
-	T retval;
-	Evaluate(p[1], p[0], retval);
-	return retval;
-    }
- 
-    T Evaluate(const sgVec3& p) const
-    {
-	T retval;
-	Evaluate(p[1], p[0], retval);
-	return retval;
-    }
-
-protected:
-    int numPoints;
-    double* theta;
-    double* phi;
-    T* func;
-    mgcLinInterp2D<T>* pInterp;
-};
-
-#include "sphrintp.inl"
-
-#endif
@@ -1,172 +0,0 @@
-/*
-  WARNING - Do not remove this header.
-
-  This code is a templated version of the 'magic-software' spherical
-  interpolation code by Dave Eberly. The original (un-hacked) code can be
-  obtained from here: http://www.magic-software.com/gr_appr.htm
-  This code is derived from linintp2.h/cpp and sphrintp.h/cpp.
-
-  Dave Eberly says that the conditions for use are:
-
-  * You may distribute the original source code to others at no charge.
-
-  * You may modify the original source code and distribute it to others at
-    no charge. The modified code must be documented to indicate that it is
-    not part of the original package.
-
-  * You may use this code for non-commercial purposes. You may also
-    incorporate this code into commercial packages. However, you may not
-    sell any of your source code which contains my original and/or modified
-    source code. In such a case, you need to factor out my code and freely
-    distribute it.
-
-  * The original code comes with absolutely no warranty and no guarantee is
-    made that the code is bug-free.
-
-  This does not seem incompatible with GPL - so this modified version
-  is hereby placed under GPL along with the rest of FlightGear.
-
-                              Christian Mayer
-*/
-
-#include <math.h>
-#include "sphrintp.h"
-
-static const double PI = 4.0*atan(1.0);
-static const double TWOPI = 2.0*PI;
-
-//---------------------------------------------------------------------------
-template<class T>
-SphereInterpolate<T>::SphereInterpolate (int n, const double* x,
-				         const double* y, const double* z,
-				         const T* f)
-{
-    // Assumes (x[i],y[i],z[i]) is unit length for all 0 <= i < n.
-    // For complete spherical coverage, include the two antipodal points
-    // (0,0,1,f(0,0,1)) and (0,0,-1,f(0,0,-1)) in the data set.
-    
-    // cout << "Initialising spherical interpolator.\n";
-    // cout << "[  0%] Allocating memory                                           \r";
-
-    theta = new double[3*n];
-    phi = new double[3*n];
-    func = new T[3*n];
-    
-    // convert data to spherical coordinates
-    int i;
-    T empty;
-
-    for (i = 0; i < n; i++)
-    {
-	GetSphericalCoords(x[i],y[i],z[i],theta[i],phi[i]);
-	func[i] = f[i];
-    }
-    
-    // use periodicity to get wrap-around in the Delaunay triangulation
-    // cout << "[ 10%] copying vertices for wrap-around\r";
-    int j, k;
-    for (i = 0, j = n, k = 2*n; i < n; i++, j++, k++)
-    {
-	theta[j] = theta[i]+TWOPI;
-	theta[k] = theta[i]-TWOPI;
-	phi[j] = phi[i];
-	phi[k] = phi[i];
-	func[j] = func[i];
-	func[k] = func[i];
-    }
-    
-    pInterp = new mgcLinInterp2D<T>(3*n,theta,phi,func);
-
-    // cout << "[100%] Finished initialising spherical interpolator.                   \n";
-}
-
-template<class T>
-SphereInterpolate<T>::SphereInterpolate (int n, const sgVec2* p, const T* f)
-{
-    // Assumes (x[i],y[i],z[i]) is unit length for all 0 <= i < n.
-    // For complete spherical coverage, include the two antipodal points
-    // (0,0,1,f(0,0,1)) and (0,0,-1,f(0,0,-1)) in the data set.
-    // cout << "Initialising spherical interpolator.\n";
-    // cout << "[  0%] Allocating memory                                           \r";
-
-    theta = new double[3*n];
-    phi = new double[3*n];
-    func = new T[3*n];
-
-    // convert data to spherical coordinates
-    // cout << "[ 10%] copying vertices for wrap-around                              \r";
-
-    int i, j, k;
-    for (i = 0, j = n, k = 2*n; i < n; i++, j++, k++)
-    {
-	phi[i] = p[i][0];
-	theta[i] = p[i][1];
-	func[i] = f[i];
-
-	// use periodicity to get wrap-around in the Delaunay triangulation
-	phi[j] = phi[i];
-	phi[k] = phi[i];
-	theta[j] = theta[i]+TWOPI;
-	theta[k] = theta[i]-TWOPI;
-	func[j] = func[i];
-	func[k] = func[i];
-    }
-    
-    pInterp = new mgcLinInterp2D<T>(3*n,theta,phi,func);
-
-    // cout << "[100%] Finished initialising spherical interpolator.                   \n";
-}
-//---------------------------------------------------------------------------
-template<class T>
-SphereInterpolate<T>::~SphereInterpolate ()
-{
-    delete pInterp;
-    delete[] theta;
-    delete[] phi;
-    delete[] func;
-}
-//---------------------------------------------------------------------------
-template<class T>
-void SphereInterpolate<T>::GetSphericalCoords (const double x, const double y, const double z,
-					       double& thetaAngle,
-					       double& phiAngle) const
-{
-    // Assumes (x,y,z) is unit length.  Returns -PI <= thetaAngle <= PI
-    // and 0 <= phiAngle <= PI.
-    
-    if ( z < 1.0f )
-    {
-	if ( z > -1.0f )
-	{
-	    thetaAngle = atan2(y,x);
-	    phiAngle = acos(z);
-	}
-	else
-	{
-	    thetaAngle = -PI;
-	    phiAngle = PI;
-	}
-    }
-    else
-    {
-	thetaAngle = -PI;
-	phiAngle = 0.0f;
-    }
-}
-//---------------------------------------------------------------------------
-template<class T>
-int SphereInterpolate<T>::Evaluate (const double x, const double y, const double z, T& f) const 
-{
-    // assumes (x,y,z) is unit length
-    
-    double thetaAngle, phiAngle;
-    GetSphericalCoords(x,y,z,thetaAngle,phiAngle);
-    return pInterp->Evaluate(thetaAngle,phiAngle,f);
-}
-//---------------------------------------------------------------------------
-template<class T>
-int SphereInterpolate<T>::Evaluate (const double thetaAngle, const double phiAngle, T& f) const 
-{
-    return pInterp->Evaluate(thetaAngle,phiAngle,f);
-}
-//---------------------------------------------------------------------------
@@ -195,6 +195,8 @@ bool SGPath::exists() const {

 void SGPath::create_dir( mode_t mode ) {
    string_list dirlist = sgPathSplit(dir());
+    if ( dirlist.empty() )
+        return;
    string path = dirlist[0];
    string_list path_elements = sgPathBranchSplit(path);
    bool absolute = !path.empty() && path[0] == sgDirPathSep;
@@ -2,26 +2,12 @@ includedir = @includedir@/nasal

 lib_LIBRARIES = libsgnasal.a

-include_HEADERS = nasal.h
+include_HEADERS = nasal.h naref.h

-libsgnasal_a_SOURCES = \
-	code.c code.h \
-	codegen.c \
-        data.h \
-	gc.c \
-	hash.c \
-	lex.c \
-	lib.c \
-	mathlib.c \
-	iolib.c \
-	iolib.h \
-	bitslib.c \
-	misc.c \
-	nasal.h \
-	parse.c parse.h \
-	string.c \
-	vector.c \
-	thread-posix.c \
-	thread-win32.c
+libsgnasal_a_SOURCES = bitslib.c code.c code.h codegen.c data.h gc.c	\
+                       hash.c iolib.c iolib.h lex.c lib.c mathlib.c	\
+                       misc.c naref.h nasal.h parse.c parse.h string.c	\
+                       thread-posix.c thread-win32.c threadlib.c	\
+                       utf8lib.c vector.c

 INCLUDES = -I$(top_srcdir)
@@ -5,10 +5,10 @@
 // bits (i.e. an unsigned int).  Using a 64 bit integer would stretch
 // that beyond what is representable in the double result, but
 // requires portability work.
-
-#define BIT(s,l,n) s[l-1-((n)>>3)] & (1<<((n)&7))
-#define CLRB(s,l,n) s[l-1-((n)>>3)] &= ~(1<<((n)&7))
-#define SETB(s,l,n) s[l-1-((n)>>3)] |= 1<<((n)&7)
+#define MSK(n) (1 << (7 - ((n) & 7)))
+#define BIT(s,l,n) s[(n)>>3] & MSK(n)
+#define CLRB(s,l,n) s[(n)>>3] &= ~MSK(n)
+#define SETB(s,l,n) s[(n)>>3] |= MSK(n)

 static unsigned int fld(naContext c, unsigned char* s,
                        int slen, int bit, int flen)
@@ -32,7 +32,7 @@ static void setfld(naContext c, unsigned char* s, int slen,

 static naRef dofld(naContext c, int argc, naRef* args, int sign)
 {
-    struct naStr* s = argc > 0 ? args[0].ref.ptr.str : 0;
+    struct naStr* s = argc > 0 ? PTR(args[0]).str : 0;
    int bit = argc > 1 ? (int)naNumValue(args[1]).num : -1;
    int len = argc > 2 ? (int)naNumValue(args[2]).num : -1;
    unsigned int f;
@@ -56,7 +56,7 @@ static naRef f_fld(naContext c, naRef me, int argc, naRef* args)

 static naRef f_setfld(naContext c, naRef me, int argc, naRef* args)
 {
-    struct naStr* s = argc > 0 ? args[0].ref.ptr.str : 0;
+    struct naStr* s = argc > 0 ? PTR(args[0]).str : 0;
    int bit = argc > 1 ? (int)naNumValue(args[1]).num : -1;
    int len = argc > 2 ? (int)naNumValue(args[2]).num : -1;
    naRef val = argc > 3 ? naNumValue(args[3]) : naNil();
@@ -73,22 +73,15 @@ static naRef f_buf(naContext c, naRef me, int argc, naRef* args)
    return naStr_buf(naNewString(c), (int)len.num);
 }

-static struct func { char* name; naCFunction func; } funcs[] = {
+static naCFuncItem funcs[] = {
    { "sfld", f_sfld },
    { "fld", f_fld },
    { "setfld", f_setfld },
    { "buf", f_buf },
+    { 0 }
 };

-naRef naBitsLib(naContext c)
+naRef naInit_bits(naContext c)
 {
-    naRef namespace = naNewHash(c);
-    int i, n = sizeof(funcs)/sizeof(struct func);
-    for(i=0; i<n; i++) {
-        naRef code = naNewCCode(c, funcs[i].func);
-        naRef name = naStr_fromdata(naNewString(c),
-                                    funcs[i].name, strlen(funcs[i].name));
-        naHash_set(namespace, name, naNewFunc(c, code));
-    }
-    return namespace;
+    return naGenLib(c, funcs);
 }
@@ -1,11 +1,14 @@
+#include <stdio.h>
+#include <stdarg.h>
+#include <string.h>
 #include "nasal.h"
 #include "code.h"

 ////////////////////////////////////////////////////////////////////////
 // Debugging stuff. ////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////
-//#define DEBUG_NASAL
-#if !defined(DEBUG_NASAL)
+//#define INTERPRETER_DUMP
+#if !defined(INTERPRETER_DUMP)
 # define DBG(expr) /* noop */
 #else
 # define DBG(expr) expr
@@ -17,21 +20,44 @@ void printOpDEBUG(int ip, int op);
 void printStackDEBUG(struct Context* ctx);
 ////////////////////////////////////////////////////////////////////////

+#ifdef _MSC_VER
+#define vsnprintf _vsnprintf
+#endif
+
 struct Globals* globals = 0;

 static naRef bindFunction(struct Context* ctx, struct Frame* f, naRef code);

 #define ERR(c, msg) naRuntimeError((c),(msg))
-void naRuntimeError(struct Context* c, char* msg)
-{ 
-    c->error = msg;
+void naRuntimeError(struct Context* c, const char* fmt, ...)
+{
+    va_list ap;
+    va_start(ap, fmt);
+    vsnprintf(c->error, sizeof(c->error), fmt, ap);
+    va_end(ap);
    longjmp(c->jumpHandle, 1);
 }

+void naRethrowError(naContext subc)
+{
+    strncpy(subc->callParent->error, subc->error, sizeof(subc->error));
+    subc->callParent->dieArg = subc->dieArg;
+    longjmp(subc->callParent->jumpHandle, 1);
+}
+
+#define END_PTR ((void*)1)
+#define IS_END(r) (IS_REF((r)) && PTR((r)).obj == END_PTR)
+static naRef endToken()
+{
+    naRef r;
+    SETPTR(r, END_PTR);
+    return r;
+}
+
 static int boolify(struct Context* ctx, naRef r)
 {
    if(IS_NUM(r)) return r.num != 0;
-    if(IS_NIL(r)) return 0;
+    if(IS_NIL(r) || IS_END(r)) return 0;
    if(IS_STR(r)) {
        double d;
        if(naStr_len(r) == 0) return 0;
@@ -65,7 +91,9 @@ static int checkVec(struct Context* ctx, naRef vec, naRef idx)
 {
    int i = (int)numify(ctx, idx);
    if(i < 0) i += naVec_size(vec);
-    if(i < 0 || i >= naVec_size(vec)) ERR(ctx, "vector index out of bounds");
+    if(i < 0 || i >= naVec_size(vec))
+        naRuntimeError(ctx, "vector index %d out of bounds (size: %d)",
+                       i, naVec_size(vec));
    return i;
 }

@@ -73,7 +101,9 @@ static int checkStr(struct Context* ctx, naRef str, naRef idx)
 {
    int i = (int)numify(ctx, idx);
    if(i < 0) i += naStr_len(str);
-    if(i < 0 || i >= naStr_len(str)) ERR(ctx, "string index out of bounds");
+    if(i < 0 || i >= naStr_len(str))
+        naRuntimeError(ctx, "string index %d out of bounds (size: %d)",
+                       i, naStr_len(str));
    return i;
 }

@@ -82,8 +112,7 @@ static naRef containerGet(struct Context* ctx, naRef box, naRef key)
    naRef result = naNil();
    if(!IS_SCALAR(key)) ERR(ctx, "container index not scalar");
    if(IS_HASH(box)) {
-        if(!naHash_get(box, key, &result))
-            ERR(ctx, "undefined value in container");
+        naHash_get(box, key, &result);
    } else if(IS_VEC(box)) {
        result = naVec_get(box, checkVec(ctx, box, key));
    } else if(IS_STR(box)) {
@@ -100,7 +129,7 @@ static void containerSet(struct Context* ctx, naRef box, naRef key, naRef val)
    else if(IS_HASH(box)) naHash_set(box, key, val);
    else if(IS_VEC(box))  naVec_set(box, checkVec(ctx, box, key), val);
    else if(IS_STR(box)) {
-        if(box.ref.ptr.str->hashcode)
+        if(PTR(box).str->hashcode)
            ERR(ctx, "cannot change immutable string");
        naStr_data(box)[checkStr(ctx, box, key)] = (char)numify(ctx, val);
    } else ERR(ctx, "insert into non-container");
@@ -128,7 +157,8 @@ static void initContext(struct Context* c)
    c->callParent = 0;
    c->callChild = 0;
    c->dieArg = naNil();
-    c->error = 0;
+    c->error[0] = 0;
+    c->userData = 0;
 }

 static void initGlobals()
@@ -191,47 +221,46 @@ struct Context* naNewContext()
    return c;
 }

+struct Context* naSubContext(struct Context* super)
+{
+    struct Context* ctx = naNewContext();
+    if(super->callChild) naFreeContext(super->callChild);
+    ctx->callParent = super;
+    super->callChild = ctx;
+    return ctx;
+}
+
 void naFreeContext(struct Context* c)
 {
    c->ntemps = 0;
+    if(c->callChild) naFreeContext(c->callChild);
+    if(c->callParent) c->callParent->callChild = 0;
    LOCK();
    c->nextFree = globals->freeContexts;
    globals->freeContexts = c;
    UNLOCK();
 }

-#if 0
-/*
- * This is the original code which might not work properly on all
- * platforms since it allows one to work on the same variable in one
- * statement without the prior knowledge how this will behave.
- * 
- * e.g. ctx->opStack[ctx->opTop++] = ctx->opStack[ctx->opTop-1];
- *                        ^^^^^                        ^^^^^
- */
-# define PUSH(r) do { \
+// Note that opTop is incremented separately, to avoid situations
+// where the "r" expression also references opTop.  The SGI compiler
+// is known to have issues with such code.
+#define PUSH(r) do { \
    if(ctx->opTop >= MAX_STACK_DEPTH) ERR(ctx, "stack overflow"); \
-    ctx->opStack[ctx->opTop++] = r; \
+    ctx->opStack[ctx->opTop] = r; \
+    ctx->opTop++;                 \
    } while(0)

-#else
-
-# define PUSH(r)  _PUSH((ctx), (r))
-void _PUSH(struct Context* ctx, naRef r) {
-   if(ctx->opTop >= MAX_STACK_DEPTH) ERR(ctx, "stack overflow");
-    ctx->opStack[ctx->opTop++] = r;
-}
-#endif
-
 static void setupArgs(naContext ctx, struct Frame* f, naRef* args, int nargs)
 {
    int i;
-    struct naCode* c = f->func.ref.ptr.func->code.ref.ptr.code;
+    struct naCode* c = PTR(PTR(f->func).func->code).code;

    // Set the argument symbols, and put any remaining args in a vector
-    if(nargs < c->nArgs) ERR(ctx, "not enough arguments to function call");
+    if(nargs < c->nArgs)
+        naRuntimeError(ctx, "too few function args (have %d need %d)",
+            nargs, c->nArgs);
    for(i=0; i<c->nArgs; i++)
-        naHash_newsym(f->locals.ref.ptr.hash,
+        naHash_newsym(PTR(f->locals).hash,
                      &c->constants[c->argSyms[i]], &args[i]);
    args += c->nArgs;
    nargs -= c->nArgs;
@@ -239,7 +268,7 @@ static void setupArgs(naContext ctx, struct Frame* f, naRef* args, int nargs)
        naRef val = nargs > 0 ? args[i] : c->constants[c->optArgVals[i]];
        if(IS_CODE(val))
            val = bindFunction(ctx, &ctx->fStack[ctx->fTop-2], val);
-        naHash_newsym(f->locals.ref.ptr.hash, &c->constants[c->optArgSyms[i]], 
+        naHash_newsym(PTR(f->locals).hash, &c->constants[c->optArgSyms[i]], 
                      &val);
    }
    args += c->nOptArgs;
@@ -247,12 +276,12 @@ static void setupArgs(naContext ctx, struct Frame* f, naRef* args, int nargs)
        naRef argsv = naNewVector(ctx);
        naVec_setsize(argsv, nargs > 0 ? nargs : 0);
        for(i=0; i<nargs; i++)
-            argsv.ref.ptr.vec->rec->array[i] = *args++;
-        naHash_newsym(f->locals.ref.ptr.hash, &c->restArgSym, &argsv);
+            PTR(argsv).vec->rec->array[i] = *args++;
+        naHash_newsym(PTR(f->locals).hash, &c->restArgSym, &argsv);
    }
 }

-struct Frame* setupFuncall(struct Context* ctx, int nargs, int mcall, int tail)
+static struct Frame* setupFuncall(struct Context* ctx, int nargs, int mcall)
 {
    naRef *frame;
    struct Frame* f;
@@ -263,20 +292,20 @@ struct Frame* setupFuncall(struct Context* ctx, int nargs, int mcall, int tail)
    if(!IS_FUNC(frame[0]))
        ERR(ctx, "function/method call invoked on uncallable object");

-    // Just do native calls right here, and don't touch the stack
-    // frames; return the current one (unless it's a tail call!).
-    if(frame[0].ref.ptr.func->code.ref.ptr.obj->type == T_CCODE) {
+    ctx->opFrame = ctx->opTop - (nargs + 1 + mcall);
+
+    // Just do native calls right here
+    if(PTR(PTR(frame[0]).func->code).obj->type == T_CCODE) {
        naRef obj = mcall ? frame[-1] : naNil();
-        naCFunction fp = frame[0].ref.ptr.func->code.ref.ptr.ccode->fptr;
+        naCFunction fp = PTR(PTR(frame[0]).func->code).ccode->fptr;
        naRef result = (*fp)(ctx, obj, nargs, frame + 1);
-        ctx->opTop -= nargs + 1 + mcall;
+        ctx->opTop = ctx->opFrame;
        PUSH(result);
        return &(ctx->fStack[ctx->fTop-1]);
    }
    
-    if(tail) ctx->fTop--;
-    else if(ctx->fTop >= MAX_RECURSION) ERR(ctx, "call stack overflow");
-
+    if(ctx->fTop >= MAX_RECURSION) ERR(ctx, "call stack overflow");
+    
    // Note: assign nil first, otherwise the naNew() can cause a GC,
    // which will now (after fTop++) see the *old* reference as a
    // markable value!
@@ -285,7 +314,7 @@ struct Frame* setupFuncall(struct Context* ctx, int nargs, int mcall, int tail)
    f->locals = naNewHash(ctx);
    f->func = frame[0];
    f->ip = 0;
-    f->bp = ctx->opTop - (nargs + 1 + mcall);
+    f->bp = ctx->opFrame;

    if(mcall)
        naHash_set(f->locals, globals->meRef, frame[-1]);
@@ -297,29 +326,35 @@ struct Frame* setupFuncall(struct Context* ctx, int nargs, int mcall, int tail)
    return f;
 }

-static naRef evalAndOr(struct Context* ctx, int op, naRef ra, naRef rb)
-{
-    int a = boolify(ctx, ra);
-    int b = boolify(ctx, rb);
-    int result;
-    if(op == OP_AND) result = a && b ? 1 : 0;
-    else             result = a || b ? 1 : 0;
-    return naNum(result);
-}
-
 static naRef evalEquality(int op, naRef ra, naRef rb)
 {
    int result = naEqual(ra, rb);
    return naNum((op==OP_EQ) ? result : !result);
 }

+static naRef evalCat(naContext ctx, naRef l, naRef r)
+{
+    if(IS_VEC(l) && IS_VEC(r)) {
+        int i, ls = naVec_size(l), rs = naVec_size(r);
+        naRef v = naNewVector(ctx);
+        naVec_setsize(v, ls + rs);
+        for(i=0; i<ls; i+=1) naVec_set(v, i, naVec_get(l, i));
+        for(i=0; i<rs; i+=1) naVec_set(v, i+ls, naVec_get(r, i));
+        return v;
+    } else {
+        naRef a = stringify(ctx, l);
+        naRef b = stringify(ctx, r);
+        return naStr_concat(naNewString(ctx), a, b);
+    }
+}
+
 // When a code object comes out of the constant pool and shows up on
 // the stack, it needs to be bound with the lexical context.
 static naRef bindFunction(struct Context* ctx, struct Frame* f, naRef code)
 {
    naRef result = naNewFunc(ctx, code);
-    result.ref.ptr.func->namespace = f->locals;
-    result.ref.ptr.func->next = f->func;
+    PTR(result).func->namespace = f->locals;
+    PTR(result).func->next = f->func;
    return result;
 }

@@ -327,7 +362,7 @@ static int getClosure(struct naFunc* c, naRef sym, naRef* result)
 {
    while(c) {
        if(naHash_get(c->namespace, sym, result)) return 1;
-        c = c->next.ref.ptr.func;
+        c = PTR(c->next).func;
    }
    return 0;
 }
@@ -336,8 +371,8 @@ static naRef getLocal2(struct Context* ctx, struct Frame* f, naRef sym)
 {
    naRef result;
    if(!naHash_get(f->locals, sym, &result))
-        if(!getClosure(f->func.ref.ptr.func, sym, &result))
-            ERR(ctx, "undefined symbol");
+        if(!getClosure(PTR(f->func).func, sym, &result))
+            naRuntimeError(ctx, "undefined symbol: %s", naStr_data(sym));
    return result;
 }

@@ -345,14 +380,14 @@ static void getLocal(struct Context* ctx, struct Frame* f,
                     naRef* sym, naRef* out)
 {
    struct naFunc* func;
-    struct naStr* str = sym->ref.ptr.str;
-    if(naHash_sym(f->locals.ref.ptr.hash, str, out))
+    struct naStr* str = PTR(*sym).str;
+    if(naHash_sym(PTR(f->locals).hash, str, out))
        return;
-    func = f->func.ref.ptr.func;
-    while(func && func->namespace.ref.ptr.hash) {
-        if(naHash_sym(func->namespace.ref.ptr.hash, str, out))
+    func = PTR(f->func).func;
+    while(func && PTR(func->namespace).hash) {
+        if(naHash_sym(PTR(func->namespace).hash, str, out))
            return;
-        func = func->next.ref.ptr.func;
+        func = PTR(func->next).func;
    }
    // Now do it again using the more general naHash_get().  This will
    // only be necessary if something has created the value in the
@@ -363,7 +398,7 @@ static void getLocal(struct Context* ctx, struct Frame* f,

 static int setClosure(naRef func, naRef sym, naRef val)
 {
-    struct naFunc* c = func.ref.ptr.func;
+    struct naFunc* c = PTR(func).func;
    if(c == 0) { return 0; }
    else if(naHash_tryset(c->namespace, sym, val)) { return 1; }
    else { return setClosure(c->next, sym, val); }
@@ -379,39 +414,52 @@ static naRef setSymbol(struct Frame* f, naRef sym, naRef val)
    return val;
 }

-// Recursively descend into the parents lists
-static int getMember(struct Context* ctx, naRef obj, naRef fld,
-                     naRef* result, int count)
+// Funky API: returns null to indicate no member, an empty string to
+// indicate success, or a non-empty error message.  Works this way so
+// we can generate smart error messages without throwing them with a
+// longjmp -- this gets called under naMember_get() from C code.
+static const char* getMember_r(naRef obj, naRef field, naRef* out, int count)
 {
+    int i;
    naRef p;
-    if(--count < 0) ERR(ctx, "too many parents");
-    if(!IS_HASH(obj)) ERR(ctx, "non-objects have no members");
-    if(naHash_get(obj, fld, result)) {
-        return 1;
-    } else if(naHash_get(obj, globals->parentsRef, &p)) {
-        if(IS_VEC(p)) {
-            int i;
-            struct VecRec* v = p.ref.ptr.vec->rec;
-            for(i=0; i<v->size; i++)
-                if(getMember(ctx, v->array[i], fld, result, count))
-                    return 1;
-        } else
-            ERR(ctx, "parents field not vector");
+    struct VecRec* pv;
+    if(--count < 0) return "too many parents";
+    if(!IS_HASH(obj)) return 0;
+    if(naHash_get(obj, field, out)) return "";
+    if(!naHash_get(obj, globals->parentsRef, &p)) return 0;
+    if(!IS_VEC(p)) return "object \"parents\" field not vector";
+    pv = PTR(p).vec->rec;
+    for(i=0; i<pv->size; i++) {
+        const char* err = getMember_r(pv->array[i], field, out, count);
+        if(err) return err; /* either an error or success */
    }
    return 0;
 }

+static void getMember(struct Context* ctx, naRef obj, naRef fld,
+                      naRef* result, int count)
+{
+    const char* err = getMember_r(obj, fld, result, count);
+    if(!err)   naRuntimeError(ctx, "No such member: %s", naStr_data(fld));
+    if(err[0]) naRuntimeError(ctx, err);
+}
+
+int naMember_get(naRef obj, naRef field, naRef* out)
+{
+    const char* err = getMember_r(obj, field, out, 64);
+    return err && !err[0];
+}
+
 // OP_EACH works like a vector get, except that it leaves the vector
-// and index on the stack, increments the index after use, and pops
-// the arguments and pushes a nil if the index is beyond the end.
+// and index on the stack, increments the index after use, and
+// pushes a nil if the index is beyond the end.
 static void evalEach(struct Context* ctx, int useIndex)
 {
    int idx = (int)(ctx->opStack[ctx->opTop-1].num);
    naRef vec = ctx->opStack[ctx->opTop-2];
-    if(!IS_VEC(vec)) naRuntimeError(ctx, "foreach enumeration of non-vector");
-    if(!vec.ref.ptr.vec->rec || idx >= vec.ref.ptr.vec->rec->size) {
-        ctx->opTop -= 2; // pop two values
-        PUSH(naNil());
+    if(!IS_VEC(vec)) ERR(ctx, "foreach enumeration of non-vector");
+    if(!PTR(vec).vec->rec || idx >= PTR(vec).vec->rec->size) {
+        PUSH(endToken());
        return;
    }
    ctx->opStack[ctx->opTop-1].num = idx+1; // modify in place
@@ -423,13 +471,16 @@ static void evalEach(struct Context* ctx, int useIndex)
 #define POP() ctx->opStack[--ctx->opTop]
 #define STK(n) (ctx->opStack[ctx->opTop-(n)])
 #define FIXFRAME() f = &(ctx->fStack[ctx->fTop-1]); \
-                   cd = f->func.ref.ptr.func->code.ref.ptr.code;
+    cd = PTR(PTR(f->func).func->code).code;
 static naRef run(struct Context* ctx)
 {
    struct Frame* f;
    struct naCode* cd;
    int op, arg;
-    naRef a, b, c;
+    naRef a, b;
+
+    ctx->dieArg = naNil();
+    ctx->error[0] = 0;

    FIXFRAME();

@@ -455,8 +506,7 @@ static naRef run(struct Context* ctx)
 #define BINOP(expr) do { \
    double l = IS_NUM(STK(2)) ? STK(2).num : numify(ctx, STK(2)); \
    double r = IS_NUM(STK(1)) ? STK(1).num : numify(ctx, STK(1)); \
-    STK(2).ref.reftag = ~NASAL_REFTAG; \
-    STK(2).num = expr; \
+    SETNUM(STK(2), expr);                                         \
    ctx->opTop--; } while(0)

        case OP_PLUS:  BINOP(l + r);         break;
@@ -467,24 +517,15 @@ static naRef run(struct Context* ctx)
        case OP_LTE:   BINOP(l <= r ? 1 : 0); break;
        case OP_GT:    BINOP(l >  r ? 1 : 0); break;
        case OP_GTE:   BINOP(l >= r ? 1 : 0); break;
-
 #undef BINOP

        case OP_EQ: case OP_NEQ:
            STK(2) = evalEquality(op, STK(2), STK(1));
            ctx->opTop--;
            break;
-        case OP_AND: case OP_OR:
-            STK(2) = evalAndOr(ctx, op, STK(2), STK(1));
-            ctx->opTop--;
-            break;
        case OP_CAT:
-            // stringify can call the GC, so don't take stuff of the stack!
-            a = stringify(ctx, ctx->opStack[ctx->opTop-1]);
-            b = stringify(ctx, ctx->opStack[ctx->opTop-2]);
-            c = naStr_concat(naNewString(ctx), b, a);
-            ctx->opTop -= 2;
-            PUSH(c);
+            STK(2) = evalCat(ctx, STK(2), STK(1));
+            ctx->opTop -= 1;
            break;
        case OP_NEG:
            STK(1) = naNum(-numify(ctx, STK(1)));
@@ -506,6 +547,9 @@ static naRef run(struct Context* ctx)
        case OP_PUSHNIL:
            PUSH(naNil());
            break;
+        case OP_PUSHEND:
+            PUSH(endToken());
+            break;
        case OP_NEWVEC:
            PUSH(naNewVector(ctx));
            break;
@@ -535,8 +579,7 @@ static naRef run(struct Context* ctx)
            ctx->opTop--;
            break;
        case OP_MEMBER:
-            if(!getMember(ctx, STK(1), CONSTARG(), &STK(1), 64))
-                ERR(ctx, "no such member");
+            getMember(ctx, STK(1), CONSTARG(), &STK(1), 64);
            break;
        case OP_SETMEMBER:
            if(!IS_HASH(STK(3))) ERR(ctx, "non-objects have no members");
@@ -563,15 +606,29 @@ static naRef run(struct Context* ctx)
            f->ip = cd->byteCode[f->ip];
            DBG(printf("   [Jump to: %d]\n", f->ip);)
            break;
-        case OP_JIFNIL:
+        case OP_JIFEND:
            arg = ARG();
-            if(IS_NIL(STK(1))) {
+            if(IS_END(STK(1))) {
                ctx->opTop--; // Pops **ONLY** if it's nil!
                f->ip = arg;
                DBG(printf("   [Jump to: %d]\n", f->ip);)
            }
            break;
+        case OP_JIFTRUE:
+            arg = ARG();
+            if(boolify(ctx, STK(1))) {
+                f->ip = arg;
+                DBG(printf("   [Jump to: %d]\n", f->ip);)
+            }
+            break;
        case OP_JIFNOT:
+            arg = ARG();
+            if(!boolify(ctx, STK(1))) {
+                f->ip = arg;
+                DBG(printf("   [Jump to: %d]\n", f->ip);)
+            }
+            break;
+        case OP_JIFNOTPOP:
            arg = ARG();
            if(!boolify(ctx, POP())) {
                f->ip = arg;
@@ -579,23 +636,17 @@ static naRef run(struct Context* ctx)
            }
            break;
        case OP_FCALL:
-            f = setupFuncall(ctx, ARG(), 0, 0);
-            cd = f->func.ref.ptr.func->code.ref.ptr.code;
-            break;
-        case OP_FTAIL:
-            f = setupFuncall(ctx, ARG(), 0, 1);
-            cd = f->func.ref.ptr.func->code.ref.ptr.code;
+            f = setupFuncall(ctx, ARG(), 0);
+            cd = PTR(PTR(f->func).func->code).code;
            break;
        case OP_MCALL:
-            f = setupFuncall(ctx, ARG(), 1, 0);
-            cd = f->func.ref.ptr.func->code.ref.ptr.code;
-            break;
-        case OP_MTAIL:
-            f = setupFuncall(ctx, ARG(), 1, 1);
-            cd = f->func.ref.ptr.func->code.ref.ptr.code;
+            f = setupFuncall(ctx, ARG(), 1);
+            cd = PTR(PTR(f->func).func->code).code;
            break;
        case OP_RETURN:
            a = STK(1);
+            ctx->dieArg = naNil();
+            if(ctx->callChild) naFreeContext(ctx->callChild);
            if(--ctx->fTop <= 0) return a;
            ctx->opTop = f->bp + 1; // restore the correct opstack frame!
            STK(1) = a;
@@ -609,13 +660,16 @@ static naRef run(struct Context* ctx)
            break;
        case OP_MARK: // save stack state (e.g. "setjmp")
            if(ctx->markTop >= MAX_MARK_DEPTH)
-                naRuntimeError(ctx, "mark stack overflow");
+                ERR(ctx, "mark stack overflow");
            ctx->markStack[ctx->markTop++] = ctx->opTop;
            break;
        case OP_UNMARK: // pop stack state set by mark
            ctx->markTop--;
            break;
        case OP_BREAK: // restore stack state (FOLLOW WITH JMP!)
+            ctx->opTop = ctx->markStack[ctx->markTop-1];
+            break;
+        case OP_BREAK2: // same, but also pop the mark stack
            ctx->opTop = ctx->markStack[--ctx->markTop];
            break;
        default:
@@ -636,48 +690,55 @@ void naSave(struct Context* ctx, naRef obj)
    naVec_append(globals->save, obj);
 }

-// FIXME: handle ctx->callParent
 int naStackDepth(struct Context* ctx)
 {
-    return ctx->fTop;
+    return ctx ? ctx->fTop + naStackDepth(ctx->callChild): 0;
+}
+
+static int findFrame(naContext ctx, naContext* out, int fn)
+{
+    int sd = naStackDepth(ctx->callChild);
+    if(fn < sd) return findFrame(ctx->callChild, out, fn);
+    *out = ctx;
+    return ctx->fTop - 1 - (fn - sd);
 }

-// FIXME: handle ctx->callParent
 int naGetLine(struct Context* ctx, int frame)
 {
-    struct Frame* f = &ctx->fStack[ctx->fTop-1-frame];
-    naRef func = f->func;
-    int ip = f->ip;
-    if(IS_FUNC(func) && IS_CODE(func.ref.ptr.func->code)) {
-        struct naCode* c = func.ref.ptr.func->code.ref.ptr.code;
+    struct Frame* f;
+    frame = findFrame(ctx, &ctx, frame);
+    f = &ctx->fStack[frame];
+    if(IS_FUNC(f->func) && IS_CODE(PTR(f->func).func->code)) {
+        struct naCode* c = PTR(PTR(f->func).func->code).code;
        unsigned short* p = c->lineIps + c->nLines - 2;
-        while(p >= c->lineIps && p[0] > ip)
+        while(p >= c->lineIps && p[0] > f->ip)
            p -= 2;
        return p[1];
    }
    return -1;
 }

-// FIXME: handle ctx->callParent
 naRef naGetSourceFile(struct Context* ctx, int frame)
 {
-    naRef f = ctx->fStack[ctx->fTop-1-frame].func;
-    f = f.ref.ptr.func->code;
-    return f.ref.ptr.code->srcFile;
+    naRef f;
+    frame = findFrame(ctx, &ctx, frame);
+    f = ctx->fStack[frame].func;
+    f = PTR(f).func->code;
+    return PTR(f).code->srcFile;
 }

 char* naGetError(struct Context* ctx)
 {
    if(IS_STR(ctx->dieArg))
-        return (char*)ctx->dieArg.ref.ptr.str->data;
-    return ctx->error;
+        return (char*)PTR(ctx->dieArg).str->data;
+    return ctx->error[0] ? ctx->error : 0;
 }

 naRef naBindFunction(naContext ctx, naRef code, naRef closure)
 {
    naRef func = naNewFunc(ctx, code);
-    func.ref.ptr.func->namespace = closure;
-    func.ref.ptr.func->next = naNil();
+    PTR(func).func->namespace = closure;
+    PTR(func).func->next = naNil();
    return func;
 }

@@ -685,8 +746,8 @@ naRef naBindToContext(naContext ctx, naRef code)
 {
    naRef func = naNewFunc(ctx, code);
    struct Frame* f = &ctx->fStack[ctx->fTop-1];
-    func.ref.ptr.func->namespace = f->locals;
-    func.ref.ptr.func->next = f->func;
+    PTR(func).func->namespace = f->locals;
+    PTR(func).func->next = f->func;
    return func;
 }

@@ -695,7 +756,7 @@ naRef naCall(naContext ctx, naRef func, int argc, naRef* args,
 {
    int i;
    naRef result;
-    if(!ctx->callParent) naModLock(ctx);
+    if(!ctx->callParent) naModLock();

    // We might have to allocate objects, which can call the GC.  But
    // the call isn't on the Nasal stack yet, so the GC won't find our
@@ -706,22 +767,28 @@ naRef naCall(naContext ctx, naRef func, int argc, naRef* args,
    naTempSave(ctx, obj);
    naTempSave(ctx, locals);

-    if(IS_CCODE(func.ref.ptr.func->code)) {
-        naCFunction fp = func.ref.ptr.func->code.ref.ptr.ccode->fptr;
-        result = (*fp)(ctx, obj, argc, args);
+    // naRuntimeError() calls end up here:
+    if(setjmp(ctx->jumpHandle)) {
        if(!ctx->callParent) naModUnlock(ctx);
+        return naNil();
+    }
+
+    if(IS_CCODE(PTR(func).func->code)) {
+        naCFunction fp = PTR(PTR(func).func->code).ccode->fptr;
+        result = (*fp)(ctx, obj, argc, args);
+        if(!ctx->callParent) naModUnlock();
        return result;
    }

    if(IS_NIL(locals))
        locals = naNewHash(ctx);
-    if(!IS_FUNC(func))
-        func = naNewFunc(ctx, func); // bind bare code objects
+    if(!IS_FUNC(func)) {
+        func = naNewFunc(ctx, func);
+        PTR(func).func->namespace = locals;
+    }
    if(!IS_NIL(obj))
        naHash_set(locals, globals->meRef, obj);

-    ctx->dieArg = naNil();
-
    ctx->opTop = ctx->markTop = 0;
    ctx->fTop = 1;
    ctx->fStack[0].func = func;
@@ -729,18 +796,42 @@ naRef naCall(naContext ctx, naRef func, int argc, naRef* args,
    ctx->fStack[0].ip = 0;
    ctx->fStack[0].bp = ctx->opTop;

-    setupArgs(ctx, ctx->fStack, args, argc);
-
-    // Return early if an error occurred.  It will be visible to the
-    // caller via naGetError().
-    ctx->error = 0;
-    if(setjmp(ctx->jumpHandle)) {
-        if(!ctx->callParent) naModUnlock(ctx);
-        return naNil();
-    }
+    if(args) setupArgs(ctx, ctx->fStack, args, argc);

    result = run(ctx);
    if(!ctx->callParent) naModUnlock(ctx);
    return result;
 }

+naRef naContinue(naContext ctx)
+{
+    naRef result;
+    if(!ctx->callParent) naModLock();
+
+    ctx->dieArg = naNil();
+    ctx->error[0] = 0;
+
+    if(setjmp(ctx->jumpHandle)) {
+        if(!ctx->callParent) naModUnlock(ctx);
+        else naRethrowError(ctx);
+        return naNil();
+    }
+
+    // Wipe off the old function arguments, and push the expected
+    // result (either the result of our subcontext, or a synthesized
+    // nil if the thrown error was from an extension function or
+    // in-script die() call) before re-running the code from the
+    // instruction following the error.
+    ctx->opTop = ctx->opFrame;
+    PUSH(ctx->callChild ? naContinue(ctx->callChild) : naNil());
+
+    // Getting here means the child completed successfully.  But
+    // because its original C stack was longjmp'd out of existence,
+    // there is no one left to free the context, so we have to do it.
+    // This is fragile, but unfortunately required.
+    if(ctx->callChild) naFreeContext(ctx->callChild);
+
+    result = run(ctx);
+    if(!ctx->callParent) naModUnlock();
+    return result;
+}
@@ -10,19 +10,23 @@
 #define MAX_MARK_DEPTH 128

 // Number of objects (per pool per thread) asked for using naGC_get().
-// Testing with fib.nas shows that this gives the best performance,
-// without too much per-thread overhead.
-#define OBJ_CACHE_SZ 128
+// The idea is that contexts can "cache" allocations to prevent thread
+// contention on the global pools.  But in practice this interacts
+// very badly with small subcontext calls, which grab huge numbers of
+// cached objects and don't use them, causing far more collections
+// than necessary.  Just leave it at 1 pending a rework of the
+// collector synchronization.
+#define OBJ_CACHE_SZ 1

 enum {    
-    OP_AND, OP_OR, OP_NOT, OP_MUL, OP_PLUS, OP_MINUS, OP_DIV, OP_NEG,
+    OP_NOT, OP_MUL, OP_PLUS, OP_MINUS, OP_DIV, OP_NEG,
    OP_CAT, OP_LT, OP_LTE, OP_GT, OP_GTE, OP_EQ, OP_NEQ, OP_EACH,
-    OP_JMP, OP_JMPLOOP, OP_JIFNOT, OP_JIFNIL, OP_FCALL, OP_MCALL, OP_RETURN,
-    OP_PUSHCONST, OP_PUSHONE, OP_PUSHZERO, OP_PUSHNIL, OP_POP,
+    OP_JMP, OP_JMPLOOP, OP_JIFNOTPOP, OP_JIFEND, OP_FCALL, OP_MCALL,
+    OP_RETURN, OP_PUSHCONST, OP_PUSHONE, OP_PUSHZERO, OP_PUSHNIL, OP_POP,
    OP_DUP, OP_XCHG, OP_INSERT, OP_EXTRACT, OP_MEMBER, OP_SETMEMBER,
    OP_LOCAL, OP_SETLOCAL, OP_NEWVEC, OP_VAPPEND, OP_NEWHASH, OP_HAPPEND,
-    OP_MARK, OP_UNMARK, OP_BREAK, OP_FTAIL, OP_MTAIL, OP_SETSYM, OP_DUP2,
-    OP_INDEX
+    OP_MARK, OP_UNMARK, OP_BREAK, OP_SETSYM, OP_DUP2, OP_INDEX, OP_BREAK2,
+    OP_PUSHEND, OP_JIFTRUE, OP_JIFNOT
 };

 struct Frame {
@@ -69,6 +73,7 @@ struct Context {
    struct Frame fStack[MAX_RECURSION];
    int fTop;
    naRef opStack[MAX_STACK_DEPTH];
+    int opFrame; // like Frame::bp, but for C functions
    int opTop;
    int markStack[MAX_MARK_DEPTH];
    int markTop;
@@ -86,7 +91,7 @@ struct Context {

    // Error handling
    jmp_buf jumpHandle;
-    char* error;
+    char error[128];
    naRef dieArg;

    // Sub-call lists
@@ -96,6 +101,8 @@ struct Context {
    // Linked list pointers in globals
    struct Context* nextFree;
    struct Context* nextAll;
+
+    void* userData;
 };

 #define globals nasal_globals
@@ -103,11 +110,13 @@ extern struct Globals* globals;

 // Threading low-level functions
 void* naNewLock();
+void naFreeLock(void* lock);
 void naLock(void* lock);
 void naUnlock(void* lock);
 void* naNewSem();
+void naFreeSem(void* sem);
 void naSemDown(void* sem);
-void naSemUpAll(void* sem, int count);
+void naSemUp(void* sem, int count);

 void naCheckBottleneck();

@@ -91,41 +91,6 @@ static int findConstantIndex(struct Parser* p, struct Token* t)
    return internConstant(p, c);
 }

-static int lastExprInBlock(struct Token* t)
-{
-    if(!t->parent) return 1;
-    if(t->parent->type == TOK_TOP || t->parent->type == TOK_LCURL) return 1;
-    if(t->parent->type == TOK_SEMI)
-        if(!t->next || t->next->type == TOK_EMPTY)
-            return 1;
-    return 0;
-}
-
-// Returns true if the node is in "tail context" -- either a child of
-// a return, the last child of a func block, or else the
-// last child of an if/elsif/if that is itself in tail context.
-static int tailContext(struct Token* t)
-{
-    if(t->parent && t->parent->type == TOK_RETURN)
-        return 1;
-    else if(!lastExprInBlock(t))
-        return 0;
-
-    // Walk up the tree.  It is ok to see semicolons, else's, elsifs
-    // and curlies.  If we reach the top or a func, then we are in
-    // tail context.  If we hit an if, then we are in tail context
-    // only if the "if" node is.
-    while((t = t->parent) != 0)
-        switch(t->type) {
-        case TOK_SEMI: case TOK_LCURL: break;
-        case TOK_ELSE: case TOK_ELSIF: break;
-        case TOK_TOP:  case TOK_FUNC:  return 1;
-        case TOK_IF:                   return tailContext(t);
-        default:                       return 0;
-        }
-    return 0;
-}
-
 static int genScalarConstant(struct Parser* p, struct Token* t)
 {
    // These opcodes are for special-case use in other constructs, but
@@ -145,7 +110,7 @@ static int genScalarConstant(struct Parser* p, struct Token* t)

 static int genLValue(struct Parser* p, struct Token* t, int* cidx)
 {
-    if(t->type == TOK_LPAR) {
+    if(t->type == TOK_LPAR && t->rule != PREC_SUFFIX) {
        return genLValue(p, LEFT(t), cidx); // Handle stuff like "(a) = 1"
    } else if(t->type == TOK_SYMBOL) {
        *cidx = genScalarConstant(p, t);
@@ -187,6 +152,15 @@ static void genEqOp(int op, struct Parser* p, struct Token* t)
 static int defArg(struct Parser* p, struct Token* t)
 {
    if(t->type == TOK_LPAR) return defArg(p, RIGHT(t));
+    if(t->type == TOK_MINUS && RIGHT(t) && 
+       RIGHT(t)->type == TOK_LITERAL && !RIGHT(t)->str)
+    {
+        /* default arguments are constants, but "-1" parses as two
+         * tokens, so we have to subset the expression generator for that
+         * case */
+        RIGHT(t)->num *= -1;
+        return defArg(p, RIGHT(t));
+    }
    return findConstantIndex(p, t);
 }

@@ -293,8 +267,6 @@ static void genFuncall(struct Parser* p, struct Token* t)
        genExpr(p, LEFT(t));
    }
    if(RIGHT(t)) nargs = genList(p, RIGHT(t), 0);
-    if(tailContext(t))
-        op = op == OP_FCALL ? OP_FTAIL : OP_MTAIL;
    emitImmediate(p, op, nargs);
 }

@@ -334,15 +306,12 @@ static void fixJumpTarget(struct Parser* p, int spot)

 static void genShortCircuit(struct Parser* p, struct Token* t)
 {
-    int jumpNext, jumpEnd, isAnd = (t->type == TOK_AND);
+    int end;
    genExpr(p, LEFT(t));
-    if(isAnd) emit(p, OP_NOT);
-    jumpNext = emitJump(p, OP_JIFNOT);
-    emit(p, isAnd ? OP_PUSHNIL : OP_PUSHONE);
-    jumpEnd = emitJump(p, OP_JMP);
-    fixJumpTarget(p, jumpNext);
+    end = emitJump(p, t->type == TOK_AND ? OP_JIFNOT : OP_JIFTRUE);
+    emit(p, OP_POP);
    genExpr(p, RIGHT(t));
-    fixJumpTarget(p, jumpEnd);
+    fixJumpTarget(p, end);
 }


@@ -350,7 +319,7 @@ static void genIf(struct Parser* p, struct Token* tif, struct Token* telse)
 {
    int jumpNext, jumpEnd;
    genExpr(p, tif->children); // the test
-    jumpNext = emitJump(p, OP_JIFNOT);
+    jumpNext = emitJump(p, OP_JIFNOTPOP);
    genExprList(p, tif->children->next->children); // the body
    jumpEnd = emitJump(p, OP_JMP);
    fixJumpTarget(p, jumpNext);
@@ -374,7 +343,7 @@ static void genQuestion(struct Parser* p, struct Token* t)
    if(!RIGHT(t) || RIGHT(t)->type != TOK_COLON)
        naParseError(p, "invalid ?: expression", t->line);
    genExpr(p, LEFT(t)); // the test
-    jumpNext = emitJump(p, OP_JIFNOT);
+    jumpNext = emitJump(p, OP_JIFNOTPOP);
    genExpr(p, LEFT(RIGHT(t))); // the "if true" expr
    jumpEnd = emitJump(p, OP_JMP);
    fixJumpTarget(p, jumpNext);
@@ -420,7 +389,7 @@ static void genForWhile(struct Parser* p, struct Token* init,
    pushLoop(p, label);
    loopTop = p->cg->codesz;
    genExpr(p, test);
-    jumpEnd = emitJump(p, OP_JIFNOT);
+    jumpEnd = emitJump(p, OP_JIFNOTPOP);
    genLoop(p, body, update, label, loopTop, jumpEnd);
 }

@@ -480,17 +449,19 @@ static void genForEach(struct Parser* p, struct Token* t)
    vec = RIGHT(h);
    body = RIGHT(t)->children;

-    pushLoop(p, label);
    genExpr(p, vec);
    emit(p, OP_PUSHZERO);
+    pushLoop(p, label);
    loopTop = p->cg->codesz;
    emit(p, t->type == TOK_FOREACH ? OP_EACH : OP_INDEX);
-    jumpEnd = emitJump(p, OP_JIFNIL);
+    jumpEnd = emitJump(p, OP_JIFEND);
    assignOp = genLValue(p, elem, &dummy);
    emit(p, OP_XCHG);
    emit(p, assignOp);
    emit(p, OP_POP);
    genLoop(p, body, 0, label, loopTop, jumpEnd);
+    emit(p, OP_POP); // Pull off the vector and index
+    emit(p, OP_POP);
 }

 static int tokMatch(struct Token* a, struct Token* b)
@@ -518,9 +489,9 @@ static void genBreakContinue(struct Parser* p, struct Token* t)
    bp = p->cg->loops[p->cg->loopTop - levels].breakIP;
    cp = p->cg->loops[p->cg->loopTop - levels].contIP;
    for(i=0; i<levels; i++)
-        emit(p, OP_BREAK);
+        emit(p, (i<levels-1) ? OP_BREAK2 : OP_BREAK);
    if(t->type == TOK_BREAK)
-        emit(p, OP_PUSHNIL); // breakIP is always a JIFNOT/JIFNIL!
+        emit(p, OP_PUSHEND); // breakIP is always a JIFNOTPOP/JIFEND!
    emitImmediate(p, OP_JMP, t->type == TOK_BREAK ? bp : cp);
 }

@@ -542,6 +513,8 @@ static void newLineEntry(struct Parser* p, int line)
 static void genExpr(struct Parser* p, struct Token* t)
 {
    int i, dummy;
+    if(!t) naParseError(p, "parse error", -1); // throw line -1...
+    p->errLine = t->line;                      // ...to use this one instead
    if(t->line != p->cg->lastLine)
        newLineEntry(p, t->line);
    p->cg->lastLine = t->line;
@@ -611,7 +584,7 @@ static void genExpr(struct Parser* p, struct Token* t)
    case TOK_MINUS:
        if(BINARY(t)) {
            genBinOp(OP_MINUS,  p, t);  // binary subtraction
-        } else if(RIGHT(t)->type == TOK_LITERAL && !RIGHT(t)->str) {
+        } else if(RIGHT(t) && RIGHT(t)->type == TOK_LITERAL && !RIGHT(t)->str) {
            RIGHT(t)->num *= -1;        // Pre-negate constants
            genScalarConstant(p, RIGHT(t));
        } else {
@@ -625,7 +598,7 @@ static void genExpr(struct Parser* p, struct Token* t)
        break;
    case TOK_DOT:
        genExpr(p, LEFT(t));
-        if(RIGHT(t)->type != TOK_SYMBOL)
+        if(!RIGHT(t) || RIGHT(t)->type != TOK_SYMBOL)
            naParseError(p, "object field not symbol", RIGHT(t)->line);
        emitImmediate(p, OP_MEMBER, findConstantIndex(p, RIGHT(t)));
        break;
@@ -656,7 +629,7 @@ static void genExpr(struct Parser* p, struct Token* t)

 static void genExprList(struct Parser* p, struct Token* t)
 {
-    if(t->type == TOK_SEMI) {
+    if(t && t->type == TOK_SEMI) {
        genExpr(p, LEFT(t));
        if(RIGHT(t) && RIGHT(t)->type != TOK_EMPTY) {
            emit(p, OP_POP);
@@ -690,7 +663,7 @@ naRef naCodeGen(struct Parser* p, struct Token* block, struct Token* arglist)

    // Now make a code object
    codeObj = naNewCode(p->context);
-    code = codeObj.ref.ptr.code;
+    code = PTR(codeObj).code;

    // Parse the argument list, if any
    code->restArgSym = globals->argRef;
@@ -3,30 +3,86 @@

 #include "nasal.h"

+#if defined(NASAL_NAN64)
+
+// On 64 bit systems, Nasal non-numeric references are stored with a
+// bitmask that sets the top 16 bits.  As a double, this is a
+// signalling NaN that cannot itself be produced by normal numerics
+// code.  The pointer value can be reconstructed if (and only if) we
+// are guaranteed that all memory that can be pointed to by a naRef
+// (i.e. all memory returned by naAlloc) lives in the bottom 48 bits
+// of memory.  Linux on x86_64, Win64, Solaris and Irix all have such
+// policies with address spaces:
+//
+// http://msdn.microsoft.com/library/en-us/win64/win64/virtual_address_space.asp
+// http://docs.sun.com/app/docs/doc/816-5138/6mba6ua5p?a=view
+// http://techpubs.sgi.com/library/tpl/cgi-bin/getdoc.cgi/
+//  ...   0650/bks/SGI_Developer/books/T_IRIX_Prog/sgi_html/ch01.html
+//
+// In the above, MS guarantees 44 bits of process address space, SGI
+// 40, and Sun 43 (Solaris *does* place the stack in the "negative"
+// address space at 0xffff..., but we don't care as naRefs will never
+// point there).  Linux doesn't document this rigorously, but testing
+// shows that it allows 47 bits of address space (and current x86_64
+// implementations are limited to 48 bits of virtual space anyway). So
+// we choose 48 as the conservative compromise.
+
+#define REFMAGIC ((1UL<<48) - 1)
+
+#define _ULP(r) ((unsigned long long)((r).ptr))
+#define REFPTR(r) (_ULP(r) & REFMAGIC)
+#define IS_REF(r) ((_ULP(r) & ~REFMAGIC) == ~REFMAGIC)
+
+// Portability note: this cast from a pointer type to naPtr (a union)
+// is not defined in ISO C, it's a GCC extention that doesn't work on
+// (at least) either the SUNWspro or MSVC compilers.  Unfortunately,
+// fixing this would require abandoning the naPtr union for a set of
+// PTR_<type>() macros, which is a ton of work and a lot of extra
+// code.  And as all enabled 64 bit platforms are gcc anyway, and the
+// 32 bit fallback code works in any case, this is acceptable for now.
+#define PTR(r) ((naPtr)((struct naObj*)(_ULP(r) & REFMAGIC)))
+
+#define SETPTR(r, p) ((r).ptr = (void*)((unsigned long long)p | ~REFMAGIC))
+#define SETNUM(r, n) ((r).num = n)
+
+#else
+
+// On 32 bit systems where the pointer is half the width of the
+// double, we store a special magic number in the structure to make
+// the double a NaN.  This must appear in the top bits of the double,
+// which is why the structure layout is endianness-dependent.
+
+#define NASAL_REFTAG 0x7ff56789 // == 2,146,789,257 decimal
+#define IS_REF(r) ((r).ref.reftag == NASAL_REFTAG)
+#define PTR(r) ((r).ref.ptr)
+
+#define SETPTR(r, p) ((r).ref.ptr.obj = (void*)p, (r).ref.reftag = NASAL_REFTAG)
+#define SETNUM(r, n) ((r).ref.reftag = ~NASAL_REFTAG, (r).num = n)
+
+#endif /* platform stuff */
+
 enum { T_STR, T_VEC, T_HASH, T_CODE, T_FUNC, T_CCODE, T_GHOST,
       NUM_NASAL_TYPES }; // V. important that this come last!

-#define IS_REF(r) ((r).ref.reftag == NASAL_REFTAG)
-#define IS_NUM(r) ((r).ref.reftag != NASAL_REFTAG)
-#define IS_OBJ(r) (IS_REF((r)) && (r).ref.ptr.obj != 0)
-//#define IS_OBJ(r) (IS_REF((r)) && (r).ref.ptr.obj != 0 && (((r).ref.ptr.obj->type == 123) ? *(int*)0 : 1))
-#define IS_NIL(r) (IS_REF((r)) && (r).ref.ptr.obj == 0)
-#define IS_STR(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_STR)
-#define IS_VEC(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_VEC)
-#define IS_HASH(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_HASH)
-#define IS_CODE(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_CODE)
-#define IS_FUNC(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_FUNC)
-#define IS_CCODE(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_CCODE)
-#define IS_GHOST(r) (IS_OBJ((r)) && (r).ref.ptr.obj->type == T_GHOST)
+#define IS_NUM(r) (!IS_REF(r))
+#define IS_OBJ(r) (IS_REF(r) && PTR(r).obj != 0)
+#define IS_NIL(r) (IS_REF(r) && PTR(r).obj == 0)
+#define IS_STR(r) (IS_OBJ(r) && PTR(r).obj->type == T_STR)
+#define IS_VEC(r) (IS_OBJ(r) && PTR(r).obj->type == T_VEC)
+#define IS_HASH(r) (IS_OBJ(r) && PTR(r).obj->type == T_HASH)
+#define IS_CODE(r) (IS_OBJ(r) && PTR(r).obj->type == T_CODE)
+#define IS_FUNC(r) (IS_OBJ(r) && PTR(r).obj->type == T_FUNC)
+#define IS_CCODE(r) (IS_OBJ(r) && PTR(r).obj->type == T_CCODE)
+#define IS_GHOST(r) (IS_OBJ(r) && PTR(r).obj->type == T_GHOST)
 #define IS_CONTAINER(r) (IS_VEC(r)||IS_HASH(r))
-#define IS_SCALAR(r) (IS_NUM((r)) || IS_STR((r)))
+#define IS_SCALAR(r) (IS_NUM(r) || IS_STR(r))
 #define IDENTICAL(a, b) (IS_REF(a) && IS_REF(b) \
-                         && a.ref.ptr.obj == b.ref.ptr.obj)
+                         && PTR(a).obj == PTR(b).obj)

-#define MUTABLE(r) (IS_STR(r) && (r).ref.ptr.str->hashcode == 0)
+#define MUTABLE(r) (IS_STR(r) && PTR(r).str->hashcode == 0)

 // This is a macro instead of a separate struct to allow compilers to
-// avoid padding.  GCC on x86, at least, will always padd the size of
+// avoid padding.  GCC on x86, at least, will always pad the size of
 // an embedded struct up to 32 bits.  Doing it this way allows the
 // implementing objects to pack in 16 bits worth of data "for free".
 #define GC_HEADER \
@@ -2,7 +2,7 @@
 #include "data.h"
 #include "code.h"

-#define MIN_BLOCK_SIZE 256
+#define MIN_BLOCK_SIZE 32

 static void reap(struct naPool* p);
 static void mark(naRef r);
@@ -27,7 +27,7 @@ static void marktemps(struct Context* c)
    int i;
    naRef r = naNil();
    for(i=0; i<c->ntemps; i++) {
-        r.ref.ptr.obj = c->temps[i];
+        SETPTR(r, c->temps[i]);
        mark(r);
    }
 }
@@ -108,7 +108,7 @@ static void bottleneck()
    if(g->waitCount >= g->nThreads - 1) {
        freeDead();
        if(g->needGC) garbageCollect();
-        if(g->waitCount) naSemUpAll(g->sem, g->waitCount);
+        if(g->waitCount) naSemUp(g->sem, g->waitCount);
        g->bottleneck = 0;
    }
 }
@@ -130,34 +130,21 @@ static void naCode_gcclean(struct naCode* o)

 static void naGhost_gcclean(struct naGhost* g)
 {
-    if(g->ptr) g->gtype->destroy(g->ptr);
+    if(g->ptr && g->gtype->destroy) g->gtype->destroy(g->ptr);
    g->ptr = 0;
 }

 static void freeelem(struct naPool* p, struct naObj* o)
 {
-    // Free any intrinsic (i.e. non-garbage collected) storage the
-    // object might have
+    // Clean up any intrinsic storage the object might have...
    switch(p->type) {
-    case T_STR:
-        naStr_gcclean((struct naStr*)o);
-        break;
-    case T_VEC:
-        naVec_gcclean((struct naVec*)o);
-        break;
-    case T_HASH:
-        naHash_gcclean((struct naHash*)o);
-        break;
-    case T_CODE:
-        naCode_gcclean((struct naCode*)o);
-        break;
-    case T_GHOST:
-        naGhost_gcclean((struct naGhost*)o);
-        break;
+    case T_STR:   naStr_gcclean  ((struct naStr*)  o); break;
+    case T_VEC:   naVec_gcclean  ((struct naVec*)  o); break;
+    case T_HASH:  naHash_gcclean ((struct naHash*) o); break;
+    case T_CODE:  naCode_gcclean ((struct naCode*) o); break;
+    case T_GHOST: naGhost_gcclean((struct naGhost*)o); break;
    }
-
-    // And add it to the free list
-    p->free[p->nfree++] = o;
+    p->free[p->nfree++] = o;  // ...and add it to the free list
 }

 static void newBlock(struct naPool* p, int need)
@@ -227,7 +214,7 @@ struct naObj** naGC_get(struct naPool* p, int n, int* nout)
 static void markvec(naRef r)
 {
    int i;
-    struct VecRec* vr = r.ref.ptr.vec->rec;
+    struct VecRec* vr = PTR(r).vec->rec;
    if(!vr) return;
    for(i=0; i<vr->size; i++)
        mark(vr->array[i]);
@@ -236,7 +223,7 @@ static void markvec(naRef r)
 static void markhash(naRef r)
 {
    int i;
-    struct HashRec* hr = r.ref.ptr.hash->rec;
+    struct HashRec* hr = PTR(r).hash->rec;
    if(!hr) return;
    for(i=0; i < (1<<hr->lgalloced); i++) {
        struct HashNode* hn = hr->table[i];
@@ -257,22 +244,22 @@ static void mark(naRef r)
    if(IS_NUM(r) || IS_NIL(r))
        return;

-    if(r.ref.ptr.obj->mark == 1)
+    if(PTR(r).obj->mark == 1)
        return;

-    r.ref.ptr.obj->mark = 1;
-    switch(r.ref.ptr.obj->type) {
+    PTR(r).obj->mark = 1;
+    switch(PTR(r).obj->type) {
    case T_VEC: markvec(r); break;
    case T_HASH: markhash(r); break;
    case T_CODE:
-        mark(r.ref.ptr.code->srcFile);
-        for(i=0; i<r.ref.ptr.code->nConstants; i++)
-            mark(r.ref.ptr.code->constants[i]);
+        mark(PTR(r).code->srcFile);
+        for(i=0; i<PTR(r).code->nConstants; i++)
+            mark(PTR(r).code->constants[i]);
        break;
    case T_FUNC:
-        mark(r.ref.ptr.func->code);
-        mark(r.ref.ptr.func->namespace);
-        mark(r.ref.ptr.func->next);
+        mark(PTR(r).func->code);
+        mark(PTR(r).func->namespace);
+        mark(PTR(r).func->next);
        break;
    }
 }
@@ -283,7 +270,6 @@ static void reap(struct naPool* p)
 {
    struct Block* b;
    int elem, freesz, total = poolsize(p);
-    p->nfree = 0;
    freesz = total < MIN_BLOCK_SIZE ? MIN_BLOCK_SIZE : total;
    freesz = (3 * freesz / 2) + (globals->nThreads * OBJ_CACHE_SZ);
    if(p->freesz < freesz) {
@@ -292,6 +278,9 @@ static void reap(struct naPool* p)
        p->free = p->free0 = naAlloc(sizeof(void*) * p->freesz);
    }

+    p->nfree = 0;
+    p->free = p->free0;
+
    for(b = p->blocks; b; b = b->next)
        for(elem=0; elem < b->size; elem++) {
            struct naObj* o = (struct naObj*)(b->block + elem * p->elemsz);
@@ -300,6 +289,8 @@ static void reap(struct naPool* p)
            o->mark = 0;
        }

+    p->freetop = p->nfree;
+
    // allocs of this type until the next collection
    globals->allocCount += total/2;
    
@@ -312,7 +303,6 @@ static void reap(struct naPool* p)
        if(need > 0)
            newBlock(p, need);
    }
-    p->freetop = p->nfree;
 }

 // Does the swap, returning the old value
@@ -3,9 +3,7 @@

 #define MIN_HASH_SIZE 4

-#define EQUAL(a, b) (((a).ref.reftag == (b).ref.reftag \
-                      && (a).ref.ptr.obj == (b).ref.ptr.obj) \
-                     || naEqual(a, b))
+#define EQUAL(a, b) (IDENTICAL(a, b) || naEqual(a, b))

 #define HASH_MAGIC 2654435769u

@@ -28,15 +26,15 @@ static unsigned int hashcode(naRef r)
        // 2*sizeof(int).
        unsigned int* p = (unsigned int*)&(r.num);
        return p[0] ^ p[1];
-    } else if(r.ref.ptr.str->hashcode) {
-        return r.ref.ptr.str->hashcode;
+    } else if(PTR(r).str->hashcode) {
+        return PTR(r).str->hashcode;
    } else {
        // This is Daniel Bernstein's djb2 hash function that I found
        // on the web somewhere.  It appears to work pretty well.
        unsigned int i, hash = 5831;
-        for(i=0; i<r.ref.ptr.str->len; i++)
-            hash = (hash * 33) ^ r.ref.ptr.str->data[i];
-        r.ref.ptr.str->hashcode = hash;
+        for(i=0; i<PTR(r).str->len; i++)
+            hash = (hash * 33) ^ PTR(r).str->data[i];
+        PTR(r).str->hashcode = hash;
        return hash;
    }
 }
@@ -49,7 +47,7 @@ static unsigned int hashcolumn(struct HashRec* h, naRef key)
    return (HASH_MAGIC * hashcode(key)) >> (32 - h->lgalloced);
 }

-static struct HashRec* hashrealloc(struct naHash* hash)
+static struct HashRec* resize(struct naHash* hash)
 {
    struct HashRec *h, *h0 = hash->rec;
    int lga, cols, need = h0 ? h0->size - h0->dels : MIN_HASH_SIZE;
@@ -90,7 +88,7 @@ int naHash_sym(struct naHash* hash, struct naStr* sym, naRef* out)
        int col = (HASH_MAGIC * sym->hashcode) >> (32 - h->lgalloced);
        struct HashNode* hn = h->table[col];
        while(hn) {
-            if(hn->key.ref.ptr.str == sym) {
+            if(PTR(hn->key).str == sym) {
                *out = hn->val;
                return 1;
            }
@@ -103,25 +101,32 @@ int naHash_sym(struct naHash* hash, struct naStr* sym, naRef* out)
 static struct HashNode* find(struct naHash* hash, naRef key)
 {
    struct HashRec* h = hash->rec;
-    if(h) {
-        struct HashNode* hn = h->table[hashcolumn(h, key)];
-        while(hn) {
-            if(EQUAL(key, hn->key))
-                return hn;
-            hn = hn->next;
-        }
-    }
+    struct HashNode* hn;
+    if(!h) return 0;
+    for(hn = h->table[hashcolumn(h, key)]; hn; hn = hn->next)
+        if(EQUAL(key, hn->key))
+            return hn;
    return 0;
 }

 // Make a temporary string on the stack
-static void tmpStr(naRef* out, struct naStr* str, char* key)
+static void tmpStr(naRef* out, struct naStr* str, const char* key)
 {
    str->len = 0;
+    str->type = T_STR;
    str->data = (unsigned char*)key;
+    str->hashcode = 0;
    while(key[str->len]) str->len++;
    *out = naNil();
-    out->ref.ptr.str = str;
+    SETPTR(*out, str);
+}
+
+int naMember_cget(naRef obj, const char* field, naRef* out)
+{
+    naRef key;
+    struct naStr str;
+    tmpStr(&key, &str, field);
+    return naMember_get(obj, key, out);
 }

 naRef naHash_cget(naRef hash, char* key)
@@ -145,7 +150,7 @@ void naHash_cset(naRef hash, char* key, naRef val)
 int naHash_get(naRef hash, naRef key, naRef* out)
 {
    if(IS_HASH(hash)) {
-        struct HashNode* n = find(hash.ref.ptr.hash, key);
+        struct HashNode* n = find(PTR(hash).hash, key);
        if(n) { *out = n->val; return 1; }
    }
    return 0;
@@ -155,7 +160,7 @@ int naHash_get(naRef hash, naRef key, naRef* out)
 int naHash_tryset(naRef hash, naRef key, naRef val)
 {
    if(IS_HASH(hash)) {
-        struct HashNode* n = find(hash.ref.ptr.hash, key);
+        struct HashNode* n = find(PTR(hash).hash, key);
        if(n) n->val = val;
        return n != 0;
    }
@@ -171,8 +176,8 @@ void naHash_newsym(struct naHash* hash, naRef* sym, naRef* val)
    int col;
    struct HashRec* h = hash->rec;
    while(!h || h->size >= 1<<h->lgalloced)
-        h = hashrealloc(hash);
-    col = (HASH_MAGIC * sym->ref.ptr.str->hashcode) >> (32 - h->lgalloced);
+        h = resize(hash);
+    col = (HASH_MAGIC * PTR(*sym).str->hashcode) >> (32 - h->lgalloced);
    INSERT(h, *sym, *val, col);
 }

@@ -195,10 +200,10 @@ void naHash_set(naRef hash, naRef key, naRef val)
    struct HashRec* h;
    struct HashNode* n;
    if(!IS_HASH(hash)) return;
-    if((n = find(hash.ref.ptr.hash, key))) { n->val = val; return; }
-    h = hash.ref.ptr.hash->rec;
+    if((n = find(PTR(hash).hash, key))) { n->val = val; return; }
+    h = PTR(hash).hash->rec;
    while(!h || h->size >= 1<<h->lgalloced)
-        h = hashrealloc(hash.ref.ptr.hash);
+        h = resize(PTR(hash).hash);
    col = hashcolumn(h, key);
    INSERT(h, key, val, hashcolumn(h, key));
    chkcycle(h->table[col], h->size - h->dels);
@@ -206,7 +211,7 @@ void naHash_set(naRef hash, naRef key, naRef val)

 void naHash_delete(naRef hash, naRef key)
 {
-    struct HashRec* h = hash.ref.ptr.hash->rec;
+    struct HashRec* h = PTR(hash).hash->rec;
    int col;
    struct HashNode *last=0, *hn;
    if(!IS_HASH(hash) || !h) return;
@@ -227,7 +232,7 @@ void naHash_delete(naRef hash, naRef key)
 void naHash_keys(naRef dst, naRef hash)
 {
    int i;
-    struct HashRec* h = hash.ref.ptr.hash->rec;
+    struct HashRec* h = PTR(hash).hash->rec;
    if(!IS_HASH(hash) || !h) return;
    for(i=0; i<(1<<h->lgalloced); i++) {
        struct HashNode* hn = h->table[i];
@@ -240,7 +245,7 @@ void naHash_keys(naRef dst, naRef hash)

 int naHash_size(naRef hash)
 {
-    struct HashRec* h = hash.ref.ptr.hash->rec;
+    struct HashRec* h = PTR(hash).hash->rec;
    if(!IS_HASH(hash) || !h) return 0;
    return h->size - h->dels;
 }
@@ -11,7 +11,7 @@ naGhostType naIOGhostType = { ghostDestroy };

 static struct naIOGhost* ioghost(naRef r)
 {
-    if(naGhost_type(r) == &naIOGhostType)
+    if(naGhost_type(r) == &naIOGhostType && IOGHOST(r)->handle)
        return naGhost_ptr(r);
    return 0;
 }
@@ -32,9 +32,9 @@ static naRef f_read(naContext c, naRef me, int argc, naRef* args)
    naRef len = argc > 2 ? naNumValue(args[2]) : naNil();
    if(!g || !MUTABLE(str) || !IS_NUM(len))
        naRuntimeError(c, "bad argument to read()");
-    if(str.ref.ptr.str->len < (int)len.num)
+    if(PTR(str).str->len < (int)len.num)
        naRuntimeError(c, "string not big enough for read");
-    return naNum(g->type->read(c, g->handle, (char*)str.ref.ptr.str->data,
+    return naNum(g->type->read(c, g->handle, (char*)PTR(str).str->data,
                               (int)len.num));
 }

@@ -44,8 +44,8 @@ static naRef f_write(naContext c, naRef me, int argc, naRef* args)
    naRef str = argc > 1 ? args[1] : naNil();
    if(!g || !IS_STR(str))
        naRuntimeError(c, "bad argument to write()");
-    return naNum(g->type->write(c, g->handle, (char*)str.ref.ptr.str->data,
-                                str.ref.ptr.str->len));
+    return naNum(g->type->write(c, g->handle, (char*)PTR(str).str->data,
+                                PTR(str).str->len));
 }

 static naRef f_seek(naContext c, naRef me, int argc, naRef* args)
@@ -113,7 +113,8 @@ static int iotell(naContext c, void* f)

 static void iodestroy(void* f)
 {
-    ioclose(0, f);
+    if(f != stdin && f != stdout && f != stderr)
+        ioclose(0, f);
 }

 struct naIOType naStdIOType = { ioclose, ioread, iowrite, ioseek,
@@ -133,8 +134,8 @@ static naRef f_open(naContext c, naRef me, int argc, naRef* args)
    naRef file = argc > 0 ? naStringValue(c, args[0]) : naNil();
    naRef mode = argc > 1 ? naStringValue(c, args[1]) : naNil();
    if(!IS_STR(file)) naRuntimeError(c, "bad argument to open()");
-    f = fopen((char*)file.ref.ptr.str->data,
-              IS_STR(mode) ? (const char*)mode.ref.ptr.str->data : "r");
+    f = fopen((char*)PTR(file).str->data,
+              IS_STR(mode) ? (const char*)PTR(mode).str->data : "rb");
    if(!f) naRuntimeError(c, strerror(errno));
    return naIOGhost(c, f);
 }
@@ -169,7 +170,8 @@ static naRef f_readln(naContext ctx, naRef me, int argc, naRef* args)
        if(c == '\r') {
            char c2 = getcguard(ctx, g->handle, buf);
            if(c2 != EOF && c2 != '\n')
-                ungetc(c2, g->handle);
+                if(EOF == ungetc(c2, g->handle))
+                    break;
            break;
        }
        buf[i++] = c;
@@ -186,7 +188,7 @@ static naRef f_stat(naContext ctx, naRef me, int argc, naRef* args)
    struct stat s;
    naRef result, path = argc > 0 ? naStringValue(ctx, args[0]) : naNil();
    if(!IS_STR(path)) naRuntimeError(ctx, "bad argument to stat()");
-    if(stat((char*)path.ref.ptr.str->data, &s) < 0) {
+    if(stat((char*)PTR(path).str->data, &s) < 0) {
        if(errno == ENOENT) return naNil();
        naRuntimeError(ctx, strerror(errno));
    }
@@ -199,7 +201,7 @@ static naRef f_stat(naContext ctx, naRef me, int argc, naRef* args)
    return result;
 }

-static struct func { char* name; naCFunction func; } funcs[] = {
+static naCFuncItem funcs[] = {
    { "close", f_close },
    { "read", f_read },
    { "write", f_write },
@@ -208,26 +210,17 @@ static struct func { char* name; naCFunction func; } funcs[] = {
    { "open", f_open },
    { "readln", f_readln },
    { "stat", f_stat },
+    { 0 }
 };

-static void setsym(naContext c, naRef hash, char* sym, naRef val)
+naRef naInit_io(naContext c)
 {
-    naRef name = naStr_fromdata(naNewString(c), sym, strlen(sym));
-    naHash_set(hash, naInternSymbol(name), val);
-}
-
-naRef naIOLib(naContext c)
-{
-    naRef ns = naNewHash(c);
-    int i, n = sizeof(funcs)/sizeof(struct func);
-    for(i=0; i<n; i++)
-        setsym(c, ns, funcs[i].name,
-               naNewFunc(c, naNewCCode(c, funcs[i].func)));
-    setsym(c, ns, "SEEK_SET", naNum(SEEK_SET));
-    setsym(c, ns, "SEEK_CUR", naNum(SEEK_CUR));
-    setsym(c, ns, "SEEK_END", naNum(SEEK_END));
-    setsym(c, ns, "stdin", naIOGhost(c, stdin));
-    setsym(c, ns, "stdout", naIOGhost(c, stdout));
-    setsym(c, ns, "stderr", naIOGhost(c, stderr));
+    naRef ns = naGenLib(c, funcs);
+    naAddSym(c, ns, "SEEK_SET", naNum(SEEK_SET));
+    naAddSym(c, ns, "SEEK_CUR", naNum(SEEK_CUR));
+    naAddSym(c, ns, "SEEK_END", naNum(SEEK_END));
+    naAddSym(c, ns, "stdin", naIOGhost(c, stdin));
+    naAddSym(c, ns, "stdout", naIOGhost(c, stdout));
+    naAddSym(c, ns, "stderr", naIOGhost(c, stderr));
    return ns;
 }
@@ -109,7 +109,20 @@ static int lineEnd(struct Parser* p, int line)
 static void newToken(struct Parser* p, int pos, int type,
                     char* str, int slen, double num)
 {
-    struct Token* tok;
+    struct Token *tok, *last = p->tree.lastChild;
+
+    /* Adjacent string literals get concatenated */
+    if(type == TOK_LITERAL && str) {
+        if(last && last->type == TOK_LITERAL) {
+            int i, len1 = last->strlen;
+            char* str2 = naParseAlloc(p, len1 + slen);
+            for(i=0; i<len1; i++) str2[i] = last->str[i];
+            for(i=0; i<slen; i++) str2[i+len1] = str[i];
+            last->str = str2;
+            last->strlen += slen;
+            return;
+        }
+    }

    tok = naParseAlloc(p, sizeof(struct Token));
    tok->type = type;
@@ -119,17 +132,18 @@ static void newToken(struct Parser* p, int pos, int type,
    tok->num = num;
    tok->parent = &p->tree;
    tok->next = 0;
-    tok->prev = p->tree.lastChild;
+    tok->prev = last;
    tok->children = 0;
    tok->lastChild = 0;

    // Context sensitivity hack: a "-" following a binary operator of
-    // higher precedence (MUL and DIV, basically) must be a unary
-    // negation.  Needed to get precedence right in the parser for
-    // expressiong like "a * -2"
-    if(type == TOK_MINUS && tok->prev)
-        if(tok->prev->type == TOK_MUL || tok->prev->type == TOK_DIV)
+    // equal or higher precedence must be a unary negation.  Needed to
+    // get precedence right in the parser for expressiong like "a * -2"
+    if(type == TOK_MINUS && tok->prev) {
+        int pt = tok->prev->type;
+        if(pt==TOK_PLUS||pt==TOK_MINUS||pt==TOK_CAT||pt==TOK_MUL||pt==TOK_DIV)
            tok->type = type = TOK_NEG;
+    }

    if(!p->tree.children) p->tree.children = tok;
    if(p->tree.lastChild) p->tree.lastChild->next = tok;
@@ -179,6 +193,7 @@ static void dqEscape(char* buf, int len, int index, struct Parser* p,
    case 'n': *cOut = '\n'; break;
    case 't': *cOut = '\t'; break;
    case '\\': *cOut = '\\'; break;
+    case '`': *cOut = '`'; break;
    case 'x':
        if(len < 4) error(p, "unterminated string", index);
        *cOut = (char)((hexc(buf[2], p, index)<<4) | hexc(buf[3], p, index));
@@ -191,11 +206,12 @@ static void dqEscape(char* buf, int len, int index, struct Parser* p,
    }
 }

-// FIXME: should handle UTF8 too
 static void charLiteral(struct Parser* p, int index, char* s, int len)
 {
-    if(len != 1) error(p, "character constant not single character", index);
-    newToken(p, index, TOK_LITERAL, 0, 0, *s);
+    int n, c;
+    c = naLexUtf8C(s, len, &n);
+    if(c < 0 || n != len) error(p, "invalid utf8 character constant", index);
+    newToken(p, index, TOK_LITERAL, 0, 0, c);
 }

 // Read in a string literal
@@ -317,6 +333,7 @@ static int tryLexemes(struct Parser* p, int index, int* lexemeOut)
    return best;
 }

+#define ISNUM(c) ((c) >= '0' && (c) <= '9')
 void naLex(struct Parser* p)
 {
    int i = 0;
@@ -338,7 +355,8 @@ void naLex(struct Parser* p)
            i = lexStringLiteral(p, i, c);
            break;
        default:
-            if(c >= '0' && c <= '9') i = lexNumLiteral(p, i);
+            if(ISNUM(c) || (c == '.' && (i+1)<p->len && ISNUM(p->buf[i+1])))
+                i = lexNumLiteral(p, i);
            else handled = 0;
        }

@@ -5,6 +5,7 @@
 #include <string.h>

 #ifdef _MSC_VER // sigh...
+#define snprintf _snprintf
 #define vsnprintf _vsnprintf
 #endif

@@ -14,9 +15,14 @@
 #define NEWSTR(c, s, l) naStr_fromdata(naNewString(c), s, l)
 #define NEWCSTR(c, s) NEWSTR(c, s, strlen(s))

-static naRef size(naContext c, naRef me, int argc, naRef* args)
+// Generic argument error, assumes that the symbol "c" is a naContext,
+// and that the __FUNCTION__ string is of the form "f_NASALSYMBOL".
+#define ARGERR() \
+    naRuntimeError(c, "bad/missing argument to %s()", (__FUNCTION__ + 2))
+
+static naRef f_size(naContext c, naRef me, int argc, naRef* args)
 {
-    if(argc == 0) return naNil();
+    if(argc == 0) ARGERR();
    if(naIsString(args[0])) return naNum(naStr_len(args[0]));
    if(naIsVector(args[0])) return naNum(naVec_size(args[0]));
    if(naIsHash(args[0])) return naNum(naHash_size(args[0]));
@@ -24,41 +30,37 @@ static naRef size(naContext c, naRef me, int argc, naRef* args)
    return naNil();
 }

-static naRef keys(naContext c, naRef me, int argc, naRef* args)
+static naRef f_keys(naContext c, naRef me, int argc, naRef* args)
 {
-    naRef v, h = args[0];
-    if(!naIsHash(h)) return naNil();
+    naRef v, h = argc > 0 ? args[0] : naNil();
+    if(!naIsHash(h)) ARGERR();
    v = naNewVector(c);
    naHash_keys(v, h);
    return v;
 }

-static naRef append(naContext c, naRef me, int argc, naRef* args)
+static naRef f_append(naContext c, naRef me, int argc, naRef* args)
 {
    int i;
-    if(argc < 2) return naNil();
-    if(!naIsVector(args[0])) return naNil();
+    if(argc < 2 || !naIsVector(args[0])) ARGERR();
    for(i=1; i<argc; i++) naVec_append(args[0], args[i]);
    return args[0];
 }

-static naRef pop(naContext c, naRef me, int argc, naRef* args)
+static naRef f_pop(naContext c, naRef me, int argc, naRef* args)
 {
-    if(argc < 1 || !naIsVector(args[0])) return naNil();
+    if(argc < 1 || !naIsVector(args[0])) ARGERR();
    return naVec_removelast(args[0]);
 }

-static naRef setsize(naContext c, naRef me, int argc, naRef* args)
+static naRef f_setsize(naContext c, naRef me, int argc, naRef* args)
 {
-    int sz;
-    if(argc < 2) return naNil();
-    sz = (int)naNumValue(args[1]).num;
-    if(!naIsVector(args[0])) return naNil();
-    naVec_setsize(args[0], sz);
+    if(argc < 2 || !naIsVector(args[0])) ARGERR();
+    naVec_setsize(args[0], (int)naNumValue(args[1]).num);
    return args[0];
 }

-static naRef subvec(naContext c, naRef me, int argc, naRef* args)
+static naRef f_subvec(naContext c, naRef me, int argc, naRef* args)
 {
    int i;
    naRef nlen, result, v = args[0];
@@ -67,8 +69,8 @@ static naRef subvec(naContext c, naRef me, int argc, naRef* args)
    nlen = argc > 2 ? naNumValue(args[2]) : naNil();
    if(!naIsNil(nlen))
        len = (int)nlen.num;
-    if(!naIsVector(v) || start < 0 || start >= naVec_size(v) || len < 0)
-        return naNil();
+    if(!naIsVector(v) || start < 0 || start > naVec_size(v) || len < 0)
+        ARGERR();
    if(naIsNil(nlen) || len > naVec_size(v) - start)
        len = naVec_size(v) - start;
    result = naNewVector(c);
@@ -78,13 +80,14 @@ static naRef subvec(naContext c, naRef me, int argc, naRef* args)
    return result;
 }

-static naRef delete(naContext c, naRef me, int argc, naRef* args)
+static naRef f_delete(naContext c, naRef me, int argc, naRef* args)
 {
-    if(argc > 1 && naIsHash(args[0])) naHash_delete(args[0], args[1]);
-    return naNil();
+    if(argc < 2 || !naIsHash(args[0])) ARGERR();
+    naHash_delete(args[0], args[1]);
+    return args[0];
 }

-static naRef intf(naContext c, naRef me, int argc, naRef* args)
+static naRef f_int(naContext c, naRef me, int argc, naRef* args)
 {
    if(argc > 0) {
        naRef n = naNumValue(args[0]);
@@ -92,15 +95,16 @@ static naRef intf(naContext c, naRef me, int argc, naRef* args)
        if(n.num < 0) n.num = -floor(-n.num);
        else n.num = floor(n.num);
        return n;
-    } else return naNil();
+    } else ARGERR();
+    return naNil();
 }

-static naRef num(naContext c, naRef me, int argc, naRef* args)
+static naRef f_num(naContext c, naRef me, int argc, naRef* args)
 {
    return argc > 0 ? naNumValue(args[0]) : naNil();
 }

-static naRef streq(naContext c, naRef me, int argc, naRef* args)
+static naRef f_streq(naContext c, naRef me, int argc, naRef* args)
 {
    return argc > 1 ? naNum(naStrEqual(args[0], args[1])) : naNil();
 }
@@ -110,7 +114,7 @@ static naRef f_cmp(naContext c, naRef me, int argc, naRef* args)
    char *a, *b;
    int i, alen, blen;
    if(argc < 2 || !naIsString(args[0]) || !naIsString(args[1]))
-        naRuntimeError(c, "bad argument to cmp");
+        ARGERR();
    a = naStr_data(args[0]);
    alen = naStr_len(args[0]);
    b = naStr_data(args[1]);
@@ -122,45 +126,45 @@ static naRef f_cmp(naContext c, naRef me, int argc, naRef* args)
    return naNum(alen == blen ? 0 : (alen < blen ? -1 : 1));
 }

-static naRef substr(naContext c, naRef me, int argc, naRef* args)
+static naRef f_substr(naContext c, naRef me, int argc, naRef* args)
 {
-    naRef src = argc > 1 ? args[0] : naNil();
-    naRef startR = argc > 1 ? naNumValue(args[1]) : naNil();
-    naRef lenR = argc > 2 ? naNumValue(args[2]) : naNil();
-    int start, len;
-    if(!naIsString(src)) return naNil();
-    if(naIsNil(startR)) return naNil();
-    start = (int)startR.num;
-    if(naIsNil(lenR)) {
-        len = naStr_len(src) - start;
-        if(len < 0) return naNil();
-    } else {
-        lenR = naNumValue(lenR);
-        if(naIsNil(lenR)) return naNil();
-        len = (int)lenR.num;
-    }
+    int start, len, srclen;
+    naRef src = argc > 0 ? args[0] : naNil();
+    naRef startr = argc > 1 ? naNumValue(args[1]) : naNil();
+    naRef lenr = argc > 2 ? naNumValue(args[2]) : naNil();
+    if(!naIsString(src)) ARGERR();
+    if(naIsNil(startr) || !naIsNum(startr)) ARGERR();
+    if(!naIsNil(lenr) && !naIsNum(lenr)) ARGERR();
+    srclen = naStr_len(src);
+    start = (int)startr.num;
+    len = naIsNum(lenr) ? (int)lenr.num : (srclen - start);
+    if(start < 0) start += srclen;
+    if(start < 0) start = len = 0;
+    if(start >= srclen) start = len = 0;
+    if(len < 0) len = 0;
+    if(len > srclen - start) len = srclen - start;
    return naStr_substr(naNewString(c), src, start, len);
 }

 static naRef f_chr(naContext c, naRef me, int argc, naRef* args)
 {
    char chr[1];
-    naRef cr = argc ? naNumValue(args[0]) : naNil();
-    if(IS_NIL(cr)) naRuntimeError(c, "chr argument not string");
+    naRef cr = argc > 0 ? naNumValue(args[0]) : naNil();
+    if(IS_NIL(cr)) ARGERR();
    chr[0] = (char)cr.num;
    return NEWSTR(c, chr, 1);
 }

-static naRef contains(naContext c, naRef me, int argc, naRef* args)
+static naRef f_contains(naContext c, naRef me, int argc, naRef* args)
 {
    naRef hash = argc > 0 ? args[0] : naNil();
    naRef key = argc > 1 ? args[1] : naNil();
-    if(naIsNil(hash) || naIsNil(key)) return naNil();
+    if(naIsNil(hash) || naIsNil(key)) ARGERR();
    if(!naIsHash(hash)) return naNil();
    return naHash_get(hash, key, &key) ? naNum(1) : naNum(0);
 }

-static naRef typeOf(naContext c, naRef me, int argc, naRef* args)
+static naRef f_typeof(naContext c, naRef me, int argc, naRef* args)
 {
    naRef r = argc > 0 ? args[0] : naNil();
    char* t = "unknown";
@@ -171,8 +175,20 @@ static naRef typeOf(naContext c, naRef me, int argc, naRef* args)
    else if(naIsHash(r)) t = "hash";
    else if(naIsFunc(r)) t = "func";
    else if(naIsGhost(r)) t = "ghost";
-    r = NEWCSTR(c, t);
-    return r;
+    return NEWCSTR(c, t);
+}
+
+static naRef f_ghosttype(naContext c, naRef me, int argc, naRef* args)
+{
+    naRef g = argc > 0 ? args[0] : naNil();
+    if(!naIsGhost(g)) return naNil();
+    if(naGhost_type(g)->name) {
+        return NEWCSTR(c, (char*)naGhost_type(g)->name);
+    } else {
+        char buf[32];
+        sprintf(buf, "%p", naGhost_type(g));
+        return NEWCSTR(c, buf);
+    }
 }

 static naRef f_compile(naContext c, naRef me, int argc, naRef* args)
@@ -180,14 +196,24 @@ static naRef f_compile(naContext c, naRef me, int argc, naRef* args)
    int errLine;
    naRef script, code, fname;
    script = argc > 0 ? args[0] : naNil();
-    if(!naIsString(script)) return naNil();
-    fname = NEWCSTR(c, "<compile>");
+    fname = argc > 1 ? args[1] : NEWCSTR(c, "<compile>");
+    if(!naIsString(script) || !naIsString(fname)) return naNil();
    code = naParseCode(c, fname, 1,
                       naStr_data(script), naStr_len(script), &errLine);
-    if(!naIsCode(code)) return naNil(); // FIXME: export error to caller...
+    if(naIsNil(code)) {
+        char buf[256];
+        snprintf(buf, sizeof(buf), "Parse error: %s at line %d",
+                 naGetError(c), errLine);
+        c->dieArg = NEWCSTR(c, buf);
+        naRuntimeError(c, "__die__");
+    }
    return naBindToContext(c, code);
 }

+// FIXME: need a place to save the current IP when we get an error so
+// that it can be reset if we get a die()/naRethrowError() situation
+// later.  Right now, the IP on the stack trace is the line of the
+// die() call, when it should be this one...
 static naRef f_call(naContext c, naRef me, int argc, naRef* args)
 {
    naContext subc;
@@ -199,33 +225,49 @@ static naRef f_call(naContext c, naRef me, int argc, naRef* args)
    if(!IS_HASH(callme)) callme = naNil();
    if(!IS_HASH(callns)) callns = naNil();
    if(!IS_FUNC(args[0]) || (!IS_NIL(callargs) && !IS_VEC(callargs)))
-        naRuntimeError(c, "bad argument to call()");
-    subc = naNewContext();
-    subc->callParent = c;
-    c->callChild = subc;
-    vr = IS_NIL(callargs) ? 0 : callargs.ref.ptr.vec->rec;
+        ARGERR();
+
+    subc = naSubContext(c);
+    vr = IS_NIL(callargs) ? 0 : PTR(callargs).vec->rec;
    result = naCall(subc, args[0], vr ? vr->size : 0, vr ? vr->array : 0,
                    callme, callns);
-    c->callChild = 0;
-    if(argc > 2 && IS_VEC(args[argc-1])) {
-        if(!IS_NIL(subc->dieArg)) naVec_append(args[argc-1], subc->dieArg);
-        else if(naGetError(subc))
-            naVec_append(args[argc-1], NEWCSTR(subc, naGetError(subc)));
+    if(!naGetError(subc)) {
+        naFreeContext(subc);
+        return result;
    }
-    naFreeContext(subc);
-    return result;
+
+    // Error handling. Note that we don't free the subcontext after an
+    // error, in case the user re-throws the same error or calls
+    // naContinue()
+    if(argc <= 2 || !IS_VEC(args[argc-1])) {
+        naRethrowError(subc);
+    } else {
+        int i, sd;
+        naRef errv = args[argc-1];
+        if(!IS_NIL(subc->dieArg)) naVec_append(errv, subc->dieArg);
+        else naVec_append(errv, NEWCSTR(subc, naGetError(subc)));
+        sd = naStackDepth(subc);
+        for(i=0; i<sd; i++) {
+            naVec_append(errv, naGetSourceFile(subc, i));
+            naVec_append(errv, naNum(naGetLine(subc, i)));
+        }
+    }
+    return naNil();
 }

 static naRef f_die(naContext c, naRef me, int argc, naRef* args)
 {
-    c->dieArg = argc > 0 ? args[0] : naNil();
+    naRef darg = argc > 0 ? args[0] : naNil();
+    if(!naIsNil(darg) && c->callChild && IDENTICAL(c->callChild->dieArg, darg))
+        naRethrowError(c->callChild);
+    c->dieArg = darg;
    naRuntimeError(c, "__die__");
    return naNil(); // never executes
 }

 // Wrapper around vsnprintf, iteratively increasing the buffer size
 // until it fits.  Returned buffer should be freed by the caller.
-char* dosprintf(char* f, ...)
+static char* dosprintf(char* f, ...)
 {
    char* buf;
    va_list va;
@@ -251,7 +293,7 @@ char* dosprintf(char* f, ...)
 // all of ANSI C's syntax except for the "length modifier" feature.
 // Note: this does not validate the format character returned in
 // "type". That is the caller's job.
-static char* nextFormat(naContext ctx, char* f, char** out, int* len, char* type)
+static char* nextFormat(naContext c, char* f, char** out, int* len, char* type)
 {
    // Skip to the start of the format string
    while(*f && *f != '%') f++;
@@ -266,44 +308,44 @@ static char* nextFormat(naContext ctx, char* f, char** out, int* len, char* type
        for(p1 = *out + 1; p1 < f; p1++)
            for(p2 = p1+1; p2 < f; p2++)
                if(*p1 == *p2)
-                    naRuntimeError(ctx, "duplicate flag in format string"); }
+                    naRuntimeError(c, "duplicate flag in format string"); }

    while(*f && *f >= '0' && *f <= '9') f++;
    if(*f && *f == '.') f++;
    while(*f && *f >= '0' && *f <= '9') f++;
-    if(!*f) naRuntimeError(ctx, "invalid format string");
+    if(!*f) naRuntimeError(c, "invalid format string");

    *type = *f++;
    *len = f - *out;
    return f;
 }

-#define ERR(m) naRuntimeError(ctx, m)
-#define APPEND(r) result = naStr_concat(naNewString(ctx), result, r)
-static naRef f_sprintf(naContext ctx, naRef me, int argc, naRef* args)
+#define ERR(m) naRuntimeError(c, m)
+#define APPEND(r) result = naStr_concat(naNewString(c), result, r)
+static naRef f_sprintf(naContext c, naRef me, int argc, naRef* args)
 {
    char t, nultmp, *fstr, *next, *fout=0, *s;
    int flen, argn=1;
-    naRef format, arg, result = naNewString(ctx);
+    naRef format, arg, result = naNewString(c);

-    if(argc < 1) ERR("not enough arguments to sprintf");
-    format = naStringValue(ctx, argc > 0 ? args[0] : naNil());
-    if(naIsNil(format)) ERR("bad format string in sprintf");
+    if(argc < 1) ERR("not enough arguments to sprintf()");
+    format = naStringValue(c, argc > 0 ? args[0] : naNil());
+    if(naIsNil(format)) ERR("bad format string in sprintf()");
    s = naStr_data(format);
                               
-    while((next = nextFormat(ctx, s, &fstr, &flen, &t))) {
-        APPEND(NEWSTR(ctx, s, fstr-s)); // stuff before the format string
+    while((next = nextFormat(c, s, &fstr, &flen, &t))) {
+        APPEND(NEWSTR(c, s, fstr-s)); // stuff before the format string
        if(flen == 2 && fstr[1] == '%') {
-            APPEND(NEWSTR(ctx, "%", 1));
+            APPEND(NEWSTR(c, "%", 1));
            s = next;
            continue;
        }
-        if(argn >= argc) ERR("not enough arguments to sprintf");
+        if(argn >= argc) ERR("not enough arguments to sprintf()");
        arg = args[argn++];
        nultmp = fstr[flen]; // sneaky nul termination...
        fstr[flen] = 0;
        if(t == 's') {
-            arg = naStringValue(ctx, arg);
+            arg = naStringValue(c, arg);
            if(naIsNil(arg)) fout = dosprintf(fstr, "nil");
            else             fout = dosprintf(fstr, naStr_data(arg));
        } else {
@@ -320,44 +362,42 @@ static naRef f_sprintf(naContext ctx, naRef me, int argc, naRef* args)
                ERR("invalid sprintf format type");
        }
        fstr[flen] = nultmp;
-        APPEND(NEWSTR(ctx, fout, strlen(fout)));
+        APPEND(NEWSTR(c, fout, strlen(fout)));
        naFree(fout);
        s = next;
    }
-    APPEND(NEWSTR(ctx, s, strlen(s)));
+    APPEND(NEWSTR(c, s, strlen(s)));
    return result;
 }

-// FIXME: handle ctx->callParent frames too!
-static naRef f_caller(naContext ctx, naRef me, int argc, naRef* args)
+// FIXME: needs to honor subcontext list
+static naRef f_caller(naContext c, naRef me, int argc, naRef* args)
 {
    int fidx;
    struct Frame* frame;
    naRef result, fr = argc ? naNumValue(args[0]) : naNum(1);
-    if(IS_NIL(fr)) naRuntimeError(ctx, "non numeric argument to caller()");
+    if(IS_NIL(fr)) ARGERR();
    fidx = (int)fr.num;
-    if(fidx > ctx->fTop - 1) return naNil();
-    frame = &ctx->fStack[ctx->fTop - 1 - fidx];
-    result = naNewVector(ctx);
+    if(fidx > c->fTop - 1) return naNil();
+    frame = &c->fStack[c->fTop - 1 - fidx];
+    result = naNewVector(c);
    naVec_append(result, frame->locals);
    naVec_append(result, frame->func);
-    naVec_append(result, frame->func.ref.ptr.func->code.ref.ptr.code->srcFile);
-    naVec_append(result, naNum(naGetLine(ctx, fidx)));
+    naVec_append(result, PTR(PTR(frame->func).func->code).code->srcFile);
+    naVec_append(result, naNum(naGetLine(c, fidx)));
    return result;
 }

-static naRef f_closure(naContext ctx, naRef me, int argc, naRef* args)
+static naRef f_closure(naContext c, naRef me, int argc, naRef* args)
 {
    int i;
-    naRef func, idx;
    struct naFunc* f;
-    func = argc > 0 ? args[0] : naNil();
-    idx = argc > 1 ? naNumValue(args[1]) : naNil();
-    if(!IS_FUNC(func) || IS_NIL(idx))
-        naRuntimeError(ctx, "bad arguments to closure()");
+    naRef func = argc > 0 ? args[0] : naNil();
+    naRef idx = argc > 1 ? naNumValue(args[1]) : naNum(0);
+    if(!IS_FUNC(func) || IS_NIL(idx)) ARGERR();
    i = (int)idx.num;
-    f = func.ref.ptr.func;
-    while(i > 0 && f) { i--; f = f->next.ref.ptr.func; }
+    f = PTR(func).func;
+    while(i > 0 && f) { i--; f = PTR(f->next).func; }
    if(!f) return naNil();
    return f->namespace;
 }
@@ -377,40 +417,38 @@ static int find(unsigned char* a, int al, unsigned char* s, int sl, int start)
    return -1;
 }

-static naRef f_find(naContext ctx, naRef me, int argc, naRef* args)
+static naRef f_find(naContext c, naRef me, int argc, naRef* args)
 {
    int start = 0;
-    if(argc < 2 || !IS_STR(args[0]) || !IS_STR(args[1]))
-        naRuntimeError(ctx, "bad/missing argument to find");
+    if(argc < 2 || !IS_STR(args[0]) || !IS_STR(args[1])) ARGERR();
    if(argc > 2) start = (int)(naNumValue(args[2]).num);
-    return naNum(find(args[0].ref.ptr.str->data, args[0].ref.ptr.str->len,
-                      args[1].ref.ptr.str->data, args[1].ref.ptr.str->len,
+    return naNum(find(PTR(args[0]).str->data, PTR(args[0]).str->len,
+                      PTR(args[1]).str->data, PTR(args[1]).str->len,
                      start));
 }

-static naRef f_split(naContext ctx, naRef me, int argc, naRef* args)
+static naRef f_split(naContext c, naRef me, int argc, naRef* args)
 {
    int sl, dl, i;
    char *s, *d, *s0;
    naRef result;
-    if(argc < 2 || !IS_STR(args[0]) || !IS_STR(args[1]))
-        naRuntimeError(ctx, "bad/missing argument to split");
+    if(argc < 2 || !IS_STR(args[0]) || !IS_STR(args[1])) ARGERR();
    d = naStr_data(args[0]); dl = naStr_len(args[0]);
    s = naStr_data(args[1]); sl = naStr_len(args[1]);
-    result = naNewVector(ctx);
+    result = naNewVector(c);
    if(dl == 0) { // special case zero-length delimiter
-        for(i=0; i<sl; i++) naVec_append(result, NEWSTR(ctx, s+i, 1));
+        for(i=0; i<sl; i++) naVec_append(result, NEWSTR(c, s+i, 1));
        return result;
    }
    s0 = s;
    for(i=0; i <= sl-dl; i++) {
        if(match((unsigned char*)(s+i), (unsigned char*)d, dl)) {
-            naVec_append(result, NEWSTR(ctx, s0, s+i-s0));
+            naVec_append(result, NEWSTR(c, s0, s+i-s0));
            s0 = s + i + dl;
            i += dl - 1;
        }
    }
-    if(s0 - s <= sl) naVec_append(result, NEWSTR(ctx, s0, s+sl-s0));
+    if(s0 - s <= sl) naVec_append(result, NEWSTR(c, s0, s+sl-s0));
    return result;
 }

@@ -418,12 +456,12 @@ static naRef f_split(naContext ctx, naRef me, int argc, naRef* args)
 // function, which is usually not threadsafe and often of limited
 // precision.  The 5x loop guarantees that we get a full double worth
 // of precision even for 15 bit (Win32...) rand() implementations.
-static naRef f_rand(naContext ctx, naRef me, int argc, naRef* args)
+static naRef f_rand(naContext c, naRef me, int argc, naRef* args)
 {
    int i;
    double r = 0;
    if(argc) {
-        if(!IS_NUM(args[0])) naRuntimeError(ctx, "rand() seed not number");
+        if(!IS_NUM(args[0])) naRuntimeError(c, "rand() seed not number");
        srand((unsigned int)args[0].num);
        return naNil();
    }
@@ -431,36 +469,91 @@ static naRef f_rand(naContext ctx, naRef me, int argc, naRef* args)
    return naNum(r);
 }

-static naRef f_bind(naContext ctx, naRef me, int argc, naRef* args)
+static naRef f_bind(naContext c, naRef me, int argc, naRef* args)
 {
    naRef func = argc > 0 ? args[0] : naNil();
-    naRef hash = argc > 1 ? args[1] : naNewHash(ctx);
+    naRef hash = argc > 1 ? args[1] : naNewHash(c);
    naRef next = argc > 2 ? args[2] : naNil();
    if(!IS_FUNC(func) || (!IS_NIL(next) && !IS_FUNC(next)) || !IS_HASH(hash))
-        naRuntimeError(ctx, "bad argument to bind");
-    func = naNewFunc(ctx, func.ref.ptr.func->code);
-    func.ref.ptr.func->namespace = hash;
-    func.ref.ptr.func->next = next;
+        ARGERR();
+    func = naNewFunc(c, PTR(func).func->code);
+    PTR(func).func->namespace = hash;
+    PTR(func).func->next = next;
    return func;
 }

-struct func { char* name; naCFunction func; };
-static struct func funcs[] = {
-    { "size", size },
-    { "keys", keys }, 
-    { "append", append }, 
-    { "pop", pop }, 
-    { "setsize", setsize }, 
-    { "subvec", subvec }, 
-    { "delete", delete }, 
-    { "int", intf },
-    { "num", num },
-    { "streq", streq },
+/* We use the "SortRec" gadget for two reasons: first, because ANSI
+ * qsort() doesn't give us a mechanism for passing a "context" pointer
+ * to the comparison routine we have to store one in every sorted
+ * record.  Second, using an index into the original vector here
+ * allows us to make the sort stable in the event of a zero returned
+ * from the Nasal comparison function. */
+struct SortData { naContext ctx, subc; struct SortRec* recs;
+                  naRef* elems; int n; naRef fn; };
+struct SortRec { struct SortData* sd; int i; };
+
+static int sortcmp(struct SortRec* a, struct SortRec* b)
+{
+    struct SortData* sd = a->sd;
+    naRef args[2], d;
+    args[0] = sd->elems[a->i];
+    args[1] = sd->elems[b->i];
+    d = naCall(sd->subc, sd->fn, 2, args, naNil(), naNil());
+    if(naGetError(sd->subc)) {
+        naFree(sd->recs);
+        naRethrowError(sd->subc);
+    } else if(!naIsNum(d = naNumValue(d))) {
+        naFree(sd->recs);
+        naRuntimeError(sd->ctx, "sort() comparison returned non-number");
+    }
+    return (d.num > 0) ? 1 : ((d.num < 0) ? -1 : (a->i - b->i));
+}
+
+static naRef f_sort(naContext c, naRef me, int argc, naRef* args)
+{
+    int i;
+    struct SortData sd;
+    naRef out;
+    if(argc != 2 || !naIsVector(args[0]) || !naIsFunc(args[1]))
+        naRuntimeError(c, "bad/missing argument to sort()");
+    sd.subc = naSubContext(c);
+    if(!PTR(args[0]).vec->rec) return naNewVector(c);
+    sd.elems = PTR(args[0]).vec->rec->array;
+    sd.n = PTR(args[0]).vec->rec->size;
+    sd.fn = args[1];
+    sd.recs = naAlloc(sizeof(struct SortRec) * sd.n);
+    for(i=0; i<sd.n; i++) {
+        sd.recs[i].sd = &sd;
+        sd.recs[i].i = i;
+    }
+    qsort(sd.recs, sd.n, sizeof(sd.recs[0]),
+          (int(*)(const void*,const void*))sortcmp);
+    out = naNewVector(c);
+    naVec_setsize(out, sd.n);
+    for(i=0; i<sd.n; i++)
+        PTR(out).vec->rec->array[i] = sd.elems[sd.recs[i].i];
+    naFree(sd.recs);
+    naFreeContext(sd.subc);
+    return out;
+}
+
+static naCFuncItem funcs[] = {
+    { "size", f_size },
+    { "keys", f_keys }, 
+    { "append", f_append }, 
+    { "pop", f_pop }, 
+    { "setsize", f_setsize }, 
+    { "subvec", f_subvec }, 
+    { "delete", f_delete }, 
+    { "int", f_int },
+    { "num", f_num },
+    { "streq", f_streq },
    { "cmp", f_cmp },
-    { "substr", substr },
+    { "substr", f_substr },
    { "chr", f_chr },
-    { "contains", contains },
-    { "typeof", typeOf },
+    { "contains", f_contains },
+    { "typeof", f_typeof },
+    { "ghosttype", f_ghosttype },
    { "compile", f_compile },
    { "call", f_call },
    { "die", f_die },
@@ -471,17 +564,11 @@ static struct func funcs[] = {
    { "split", f_split },
    { "rand", f_rand },
    { "bind", f_bind },
+    { "sort", f_sort },
+    { 0 }
 };

-naRef naStdLib(naContext c)
+naRef naInit_std(naContext c)
 {
-    naRef namespace = naNewHash(c);
-    int i, n = sizeof(funcs)/sizeof(struct func);
-    for(i=0; i<n; i++) {
-        naRef code = naNewCCode(c, funcs[i].func);
-        naRef name = NEWSTR(c, funcs[i].name, strlen(funcs[i].name));
-        name = naInternSymbol(name);
-        naHash_set(namespace, name, naNewFunc(c, code));
-    }
-    return namespace;
+    return naGenLib(c, funcs);
 }
@@ -1,16 +1,32 @@
-
 #include <math.h>
 #include <string.h>

 #include "nasal.h"

+// Toss a runtime error for any NaN or Inf values produced.  Note that
+// this assumes an IEEE 754 format.
+#define VALIDATE(r) (valid(r.num) ? (r) : die(c, __FUNCTION__+2))
+
+static int valid(double d)
+{
+    union { double d; unsigned long long ull; } u;
+    u.d = d;
+    return ((u.ull >> 52) & 0x7ff) != 0x7ff;
+}
+
+static naRef die(naContext c, const char* fn)
+{
+    naRuntimeError(c, "floating point error in math.%s()", fn);
+    return naNil();
+}
+
 static naRef f_sin(naContext c, naRef me, int argc, naRef* args)
 {
    naRef a = naNumValue(argc > 0 ? args[0] : naNil());
    if(naIsNil(a))
        naRuntimeError(c, "non numeric argument to sin()");
    a.num = sin(a.num);
-    return a;
+    return VALIDATE(a);
 }

 static naRef f_cos(naContext c, naRef me, int argc, naRef* args)
@@ -19,7 +35,7 @@ static naRef f_cos(naContext c, naRef me, int argc, naRef* args)
    if(naIsNil(a))
        naRuntimeError(c, "non numeric argument to cos()");
    a.num = cos(a.num);
-    return a;
+    return VALIDATE(a);
 }

 static naRef f_exp(naContext c, naRef me, int argc, naRef* args)
@@ -28,7 +44,7 @@ static naRef f_exp(naContext c, naRef me, int argc, naRef* args)
    if(naIsNil(a))
        naRuntimeError(c, "non numeric argument to exp()");
    a.num = exp(a.num);
-    return a;
+    return VALIDATE(a);
 }

 static naRef f_ln(naContext c, naRef me, int argc, naRef* args)
@@ -37,7 +53,7 @@ static naRef f_ln(naContext c, naRef me, int argc, naRef* args)
    if(naIsNil(a))
        naRuntimeError(c, "non numeric argument to ln()");
    a.num = log(a.num);
-    return a;
+    return VALIDATE(a);
 }

 static naRef f_sqrt(naContext c, naRef me, int argc, naRef* args)
@@ -46,7 +62,7 @@ static naRef f_sqrt(naContext c, naRef me, int argc, naRef* args)
    if(naIsNil(a))
        naRuntimeError(c, "non numeric argument to sqrt()");
    a.num = sqrt(a.num);
-    return a;
+    return VALIDATE(a);
 }

 static naRef f_atan2(naContext c, naRef me, int argc, naRef* args)
@@ -56,37 +72,23 @@ static naRef f_atan2(naContext c, naRef me, int argc, naRef* args)
    if(naIsNil(a) || naIsNil(b))
        naRuntimeError(c, "non numeric argument to atan2()");
    a.num = atan2(a.num, b.num);
-    return a;
+    return VALIDATE(a);
 }

-static struct func { char* name; naCFunction func; } funcs[] = {
+static naCFuncItem funcs[] = {
    { "sin", f_sin },
    { "cos", f_cos },
    { "exp", f_exp },
    { "ln", f_ln },
    { "sqrt", f_sqrt },
    { "atan2", f_atan2 },
+    { 0 }
 };

-naRef naMathLib(naContext c)
+naRef naInit_math(naContext c)
 {
-    naRef name, namespace = naNewHash(c);
-    int i, n = sizeof(funcs)/sizeof(struct func);
-    for(i=0; i<n; i++) {
-        naRef code = naNewCCode(c, funcs[i].func);
-        naRef name = naStr_fromdata(naNewString(c),
-                                    funcs[i].name, strlen(funcs[i].name));
-        naHash_set(namespace, name, naNewFunc(c, code));
-    }
-
-    // Set up constants for math.pi and math.e.  Can't use M_PI or
-    // M_E, becuase those aren't technically part of the C standard.  Sigh.
-    name = naStr_fromdata(naNewString(c), "pi", 2);
-    naHash_set(namespace, name, naNum(3.14159265358979323846));
-
-    name = naStr_fromdata(naNewString(c), "e", 1);
-    name = naInternSymbol(name);
-    naHash_set(namespace, name, naNum(2.7182818284590452354));
-
-    return namespace;
+    naRef ns = naGenLib(c, funcs);
+    naAddSym(c, ns, "pi", naNum(3.14159265358979323846));
+    naAddSym(c, ns, "e", naNum(2.7182818284590452354));
+    return ns;
 }
@@ -23,14 +23,13 @@ void naTempSave(naContext c, naRef r)
        naFree(c->temps);
        c->temps = newtemps;
    }
-    c->temps[c->ntemps++] = r.ref.ptr.obj;
+    c->temps[c->ntemps++] = PTR(r).obj;
 }

 naRef naObj(int type, struct naObj* o)
 {
    naRef r;
-    r.ref.reftag = NASAL_REFTAG;
-    r.ref.ptr.obj = o;
+    SETPTR(r, o);
    o->type = type;
    return r;
 }
@@ -78,23 +77,23 @@ naRef naNew(struct Context* c, int type)
 naRef naNewString(struct Context* c)
 {
    naRef s = naNew(c, T_STR);
-    s.ref.ptr.str->len = 0;
-    s.ref.ptr.str->data = 0;
-    s.ref.ptr.str->hashcode = 0;
+    PTR(s).str->len = 0;
+    PTR(s).str->data = 0;
+    PTR(s).str->hashcode = 0;
    return s;
 }

 naRef naNewVector(struct Context* c)
 {
    naRef r = naNew(c, T_VEC);
-    r.ref.ptr.vec->rec = 0;
+    PTR(r).vec->rec = 0;
    return r;
 }

 naRef naNewHash(struct Context* c)
 {
    naRef r = naNew(c, T_HASH);
-    r.ref.ptr.hash->rec = 0;
+    PTR(r).hash->rec = 0;
    return r;
 }

@@ -106,59 +105,57 @@ naRef naNewCode(struct Context* c)
 naRef naNewCCode(struct Context* c, naCFunction fptr)
 {
    naRef r = naNew(c, T_CCODE);
-    r.ref.ptr.ccode->fptr = fptr;
+    PTR(r).ccode->fptr = fptr;
    return r;
 }

 naRef naNewFunc(struct Context* c, naRef code)
 {
    naRef func = naNew(c, T_FUNC);
-    func.ref.ptr.func->code = code;
-    func.ref.ptr.func->namespace = naNil();
-    func.ref.ptr.func->next = naNil();
+    PTR(func).func->code = code;
+    PTR(func).func->namespace = naNil();
+    PTR(func).func->next = naNil();
    return func;
 }

 naRef naNewGhost(naContext c, naGhostType* type, void* ptr)
 {
    naRef ghost = naNew(c, T_GHOST);
-    ghost.ref.ptr.ghost->gtype = type;
-    ghost.ref.ptr.ghost->ptr = ptr;
+    PTR(ghost).ghost->gtype = type;
+    PTR(ghost).ghost->ptr = ptr;
    return ghost;
 }

 naGhostType* naGhost_type(naRef ghost)
 {
    if(!IS_GHOST(ghost)) return 0;
-    return ghost.ref.ptr.ghost->gtype;
+    return PTR(ghost).ghost->gtype;
 }

 void* naGhost_ptr(naRef ghost)
 {
    if(!IS_GHOST(ghost)) return 0;
-    return ghost.ref.ptr.ghost->ptr;
+    return PTR(ghost).ghost->ptr;
 }

 naRef naNil()
 {
-    naRef r;
-    r.ref.reftag = NASAL_REFTAG;
-    r.ref.ptr.obj = 0;
+    naRef r; 
+    SETPTR(r, 0);
    return r;
 }

 naRef naNum(double num)
 {
    naRef r;
-    r.ref.reftag = ~NASAL_REFTAG;
-    r.num = num;
+    SETNUM(r, num);
    return r;
 }

 int naEqual(naRef a, naRef b)
 {
    double na=0, nb=0;
-    if(IS_REF(a) && IS_REF(b) && a.ref.ptr.obj == b.ref.ptr.obj)
+    if(IS_REF(a) && IS_REF(b) && PTR(a).obj == PTR(b).obj)
        return 1; // Object identity (and nil == nil)
    if(IS_NIL(a) || IS_NIL(b))
        return 0;
@@ -182,10 +179,10 @@ int naStrEqual(naRef a, naRef b)
    int i;
    if(!(IS_STR(a) && IS_STR(b)))
        return 0;
-    if(a.ref.ptr.str->len != b.ref.ptr.str->len)
+    if(PTR(a).str->len != PTR(b).str->len)
        return 0;
-    for(i=0; i<a.ref.ptr.str->len; i++)
-        if(a.ref.ptr.str->data[i] != b.ref.ptr.str->data[i])
+    for(i=0; i<PTR(a).str->len; i++)
+        if(PTR(a).str->data[i] != PTR(b).str->data[i])
            return 0;
    return 1;
 }
@@ -214,3 +211,24 @@ int naIsFunc(naRef r)   { return IS_FUNC(r); }
 int naIsCode(naRef r)   { return IS_CODE(r); }
 int naIsCCode(naRef r)  { return IS_CCODE(r); }
 int naIsGhost(naRef r)  { return IS_GHOST(r); }
+
+void naSetUserData(naContext c, void* p) { c->userData = p; }
+void* naGetUserData(naContext c)
+{
+    if(c->userData) return c->userData;
+    return c->callParent ? naGetUserData(c->callParent) : 0;
+}
+
+void naAddSym(naContext c, naRef ns, char *sym, naRef val)
+{
+    naRef name = naStr_fromdata(naNewString(c), sym, strlen(sym));
+    naHash_set(ns, naInternSymbol(name), val);
+}
+
+naRef naGenLib(naContext c, naCFuncItem *fns)
+{
+    naRef ns = naNewHash(c);
+    for(/**/; fns->name; fns++)
+        naAddSym(c, ns, fns->name, naNewFunc(c, naNewCCode(c, fns->func)));
+    return ns;
+}
@@ -0,0 +1,59 @@
+#ifndef _NAREF_H
+#define _NAREF_H
+
+/* Rather than play elaborate and complicated games with
+ * platform-dependent endianness headers, just detect the platforms we
+ * support.  This list is simpler and smaller, yet still quite
+ * complete. */
+#if (defined(__x86_64) && defined(__linux__)) || defined(__sparcv9)
+/* Win64 and Irix should work with this too, but have not been
+ * tested */
+#   define NASAL_NAN64
+#elif defined(_M_IX86)   || defined(i386)    || defined(__x86_64) || \
+      defined(__ia64__) || defined(_M_IA64) || defined(__ARMEL__) 
+# define NASAL_LE
+#elif defined(__sparc) || defined(__ppc__) ||defined(__PPC) || \
+      defined(__mips) || defined(__ARMEB__)
+# define NASAL_BE
+#else
+# error Unrecognized CPU architecture
+#endif
+
+typedef union {
+    struct naObj* obj;
+    struct naStr* str;
+    struct naVec* vec;
+    struct naHash* hash;
+    struct naCode* code;
+    struct naFunc* func;
+    struct naCCode* ccode;
+    struct naGhost* ghost;
+} naPtr;
+
+#if defined(NASAL_NAN64)
+
+/* On suppoted 64 bit platforms (those where all memory returned from
+ * naAlloc() is guaranteed to lie between 0 and 2^48-1) we union the
+ * double with the pointer, and use fancy tricks (see data.h) to make
+ * sure all pointers are stored as NaNs. */
+typedef union { double num; void* ptr; } naRef;
+
+#elif defined(NASAL_LE) || defined(NASAL_BE)
+
+/* 32 bit layouts (and 64 bit platforms where we haven't tested the
+   trick above) need endianness-dependent ordering to make sure that
+   the reftag lies in the top bits of the double */
+#ifdef NASAL_LE
+typedef struct { naPtr ptr; int reftag; } naRefPart;
+#else /* NASAL_BE */
+typedef struct { int reftag; naPtr ptr; } naRefPart;
+#endif
+
+typedef union {
+    double num;
+    naRefPart ref;
+} naRef;
+
+#endif
+
+#endif // _NAREF_H
@@ -4,73 +4,17 @@
 extern "C" {
 #endif

-#ifndef BYTE_ORDER
+#include "naref.h"

-# if (BSD >= 199103)
-#  include <machine/endian.h>
-# elif defined(__CYGWIN__) || defined(__MINGW32__)
-#  include <sys/param.h>
-# elif defined(linux)
-#  include <endian.h>
-# else
-#  ifndef LITTLE_ENDIAN
-#   define LITTLE_ENDIAN   1234    /* LSB first: i386, vax */
-#  endif
-#  ifndef BIG_ENDIAN
-#   define BIG_ENDIAN      4321    /* MSB first: 68000, ibm, net */
-#  endif
-
-#  if defined(ultrix) || defined(__alpha__) || defined(__alpha) ||  \
-      defined(__i386__) || defined(__i486__) || defined(_X86_) ||   \
-      defined(sun386)
-#   define BYTE_ORDER LITTLE_ENDIAN
-#  else
-#   define BYTE_ORDER BIG_ENDIAN
-#  endif
-# endif /* BSD */
-#endif /* BYTE_ORDER */
-
-#if BYTE_ORDER == BIG_ENDIAN
-# include <limits.h>
-# if (LONG_MAX == 2147483647)
-#  define NASAL_BIG_ENDIAN_32_BIT 1
-# endif
+#if __GNUC__ > 2
+/* This marks the function as having no side effects and depending on
+ * nothing but its arguments, which allows the optimizer to avoid
+ * duplicate calls to naNil(). */
+#define GCC_PURE __attribute__((__pure__))
+#else
+#define GCC_PURE
 #endif

-// This is a nasal "reference".  They are always copied by value, and
-// contain either a pointer to a garbage-collectable nasal object
-// (string, vector, hash) or a floating point number.  Keeping the
-// number here is an optimization to prevent the generation of
-// zillions of tiny "number" object that have to be collected.  Note
-// sneaky hack: on little endian systems, placing reftag after ptr and
-// putting 1's in the top 13 (except the sign bit) bits makes the
-// double value a NaN, and thus unmistakable (no actual number can
-// appear as a reference, and vice versa).  Swap the structure order
-// on 32 bit big-endian systems.  On 64 bit sytems of either
-// endianness, reftag and the double won't be coincident anyway.
-#define NASAL_REFTAG 0x7ff56789 // == 2,146,789,257 decimal
-typedef union {
-    double num;
-    struct {
-#ifdef NASAL_BIG_ENDIAN_32_BIT
-        int reftag; // Big-endian systems need this here!
-#endif
-        union {
-            struct naObj* obj;
-            struct naStr* str;
-            struct naVec* vec;
-            struct naHash* hash;
-            struct naCode* code;
-            struct naFunc* func;
-            struct naCCode* ccode;
-            struct naGhost* ghost;
-        } ptr;
-#ifndef NASAL_BIG_ENDIAN_32_BIT
-        int reftag; // Little-endian and 64 bit systems need this here!
-#endif
-    } ref;
-} naRef;
-
 typedef struct Context* naContext;
    
 // The function signature for an extension function:
@@ -80,7 +24,21 @@ typedef naRef (*naCFunction)(naContext ctx, naRef me, int argc, naRef* args);
 naContext naNewContext();
 void naFreeContext(naContext c);

-// Save this object in the context, preventing it (and objects
+// Use this when making a call to a new context "underneath" a
+// preexisting context on the same stack.  It allows stack walking to
+// see through the boundary, and eliminates the need to release the
+// mod lock (i.e. must be called with the mod lock held!)
+naContext naSubContext(naContext super);
+
+// The naContext supports a user data pointer that can be used to
+// store data specific to an naCall invocation without exposing it to
+// Nasal as a ghost.  FIXME: this API is semi-dangerous, there is no
+// provision for sharing it, nor for validating the source or type of
+// the pointer returned.
+void naSetUserData(naContext c, void* p);
+void* naGetUserData(naContext c) GCC_PURE;
+
+// "Save" this object in the context, preventing it (and objects
 // referenced by it) from being garbage collected.
 void naSave(naContext ctx, naRef obj);

@@ -89,68 +47,98 @@ void naSave(naContext ctx, naRef obj);
 // temporaries to protect them before passing back into a naCall.
 void naTempSave(naContext c, naRef r);

-// Parse a buffer in memory into a code object.
+// Parse a buffer in memory into a code object.  The srcFile parameter
+// is a Nasal string representing the "file" from which the code is
+// read.  The "first line" is typically 1, but is settable for
+// situations where the Nasal code is embedded in another context with
+// its own numbering convetions.  If an error occurs, returns nil and
+// sets the errLine pointer to point to the line at fault.  The string
+// representation of the error can be retrieved with naGetError() on
+// the context.
 naRef naParseCode(naContext c, naRef srcFile, int firstLine,
                  char* buf, int len, int* errLine);

 // Binds a bare code object (as returned from naParseCode) with a
 // closure object (a hash) to act as the outer scope / namespace.
-// FIXME: this API is weak.  It should expose the recursive nature of
-// closures, and allow for extracting the closure and namespace
-// information from function objects.
 naRef naBindFunction(naContext ctx, naRef code, naRef closure);

 // Similar, but it binds to the current context's closure (i.e. the
 // namespace at the top of the current call stack).
 naRef naBindToContext(naContext ctx, naRef code);

-// Call a code or function object with the specifed arguments "on" the
-// specified object and using the specified hash for the local
-// variables.  Any of args, obj or locals may be nil.
-naRef naCall(naContext ctx, naRef func, int argc, naRef* args, naRef obj, naRef locals);
+// Call a code or function object with the specified arguments "on"
+// the specified object and using the specified hash for the local
+// variables.  Passing a null args array skips the parameter variables
+// (e.g. "arg") assignments; to get a zero-length arg instead, pass in
+// argc==0 and a non-null args vector.  The obj or locals parameters
+// may be nil.  Will attempt to acquire the mod lock, so call
+// naModUnlock() first if the lock is already held.
+naRef naCall(naContext ctx, naRef func, int argc, naRef* args,
+             naRef obj, naRef locals);
+
+// As naCall(), but continues execution at the operation after a
+// previous die() call or runtime error.  Useful to do "yield"
+// semantics, leaving the context in a condition where it can be
+// restarted from C code.  Cannot be used currently to restart a
+// failed operation.  Will attempt to acquire the mod lock, so call
+// naModUnlock() first if the lock is already held.
+naRef naContinue(naContext ctx);

 // Throw an error from the current call stack.  This function makes a
 // longjmp call to a handler in naCall() and DOES NOT RETURN.  It is
 // intended for use in library code that cannot otherwise report an
 // error via the return value, and MUST be used carefully.  If in
-// doubt, return naNil() as your error condition.
-void naRuntimeError(naContext ctx, char* msg);
+// doubt, return naNil() as your error condition.  Works like
+// printf().
+void naRuntimeError(naContext c, const char* fmt, ...);

-// Call a method on an object (NOTE: func is a function binding, *not*
-// a code object as returned from naParseCode).
-naRef naMethod(naContext ctx, naRef func, naRef object);
+// "Re-throws" a runtime error caught from the subcontext.  Acts as a
+// naRuntimeError() called on the parent context.  Does not return.
+void naRethrowError(naContext subc);
+
+// Retrieve the specified member from the object, respecting the
+// "parents" array as for "object.field".  Returns zero for missing
+// fields.
+int naMember_get(naRef obj, naRef field, naRef* out);
+int naMember_cget(naRef obj, const char* field, naRef* out);

 // Returns a hash containing functions from the Nasal standard library
 // Useful for passing as a namespace to an initial function call
-naRef naStdLib(naContext c);
+naRef naInit_std(naContext c);

 // Ditto, for other core libraries
-naRef naMathLib(naContext c);
-naRef naBitsLib(naContext c);
-naRef naIOLib(naContext c);
-naRef naRegexLib(naContext c);
-naRef naUnixLib(naContext c);
+naRef naInit_math(naContext c);
+naRef naInit_bits(naContext c);
+naRef naInit_io(naContext c);
+naRef naInit_regex(naContext c);
+naRef naInit_unix(naContext c);
+naRef naInit_thread(naContext c);
+naRef naInit_utf8(naContext c);
+naRef naInit_sqlite(naContext c);
+naRef naInit_readline(naContext c);
+naRef naInit_gtk(naContext ctx);
+naRef naInit_cairo(naContext ctx);

-// Current line number & error message
+// Context stack inspection, frame zero is the "top"
 int naStackDepth(naContext ctx);
 int naGetLine(naContext ctx, int frame);
 naRef naGetSourceFile(naContext ctx, int frame);
 char* naGetError(naContext ctx);

 // Type predicates
-int naIsNil(naRef r);
-int naIsNum(naRef r);
-int naIsString(naRef r);
-int naIsScalar(naRef r);
-int naIsVector(naRef r);
-int naIsHash(naRef r);
-int naIsCode(naRef r);
-int naIsFunc(naRef r);
-int naIsCCode(naRef r);
+int naIsNil(naRef r) GCC_PURE;
+int naIsNum(naRef r) GCC_PURE;
+int naIsString(naRef r) GCC_PURE;
+int naIsScalar(naRef r) GCC_PURE;
+int naIsVector(naRef r) GCC_PURE;
+int naIsHash(naRef r) GCC_PURE;
+int naIsCode(naRef r) GCC_PURE;
+int naIsFunc(naRef r) GCC_PURE;
+int naIsCCode(naRef r) GCC_PURE;

 // Allocators/generators:
-naRef naNil();
-naRef naNum(double num);
+naRef naNil() GCC_PURE;
+naRef naNum(double num) GCC_PURE;
 naRef naNewString(naContext c);
 naRef naNewVector(naContext c);
 naRef naNewHash(naContext c);
@@ -158,10 +146,10 @@ naRef naNewFunc(naContext c, naRef code);
 naRef naNewCCode(naContext c, naCFunction fptr);

 // Some useful conversion/comparison routines
-int naEqual(naRef a, naRef b);
-int naStrEqual(naRef a, naRef b);
-int naTrue(naRef b);
-naRef naNumValue(naRef n);
+int naEqual(naRef a, naRef b) GCC_PURE;
+int naStrEqual(naRef a, naRef b) GCC_PURE;
+int naTrue(naRef b) GCC_PURE;
+naRef naNumValue(naRef n) GCC_PURE;
 naRef naStringValue(naContext c, naRef n);

 // String utilities:
@@ -192,6 +180,7 @@ void naHash_keys(naRef dst, naRef hash);
 // Ghost utilities:
 typedef struct naGhostType {
    void (*destroy)(void* ghost);
+    const char* name;
 } naGhostType;
 naRef        naNewGhost(naContext c, naGhostType* t, void* ghost);
 naGhostType* naGhost_type(naRef ghost);
@@ -200,18 +189,31 @@ int          naIsGhost(naRef r);

 // Acquires a "modification lock" on a context, allowing the C code to
 // modify Nasal data without fear that such data may be "lost" by the
-// garbage collector (the C stack is not examined in GC!).  This
-// disallows garbage collection until the current thread can be
-// blocked.  The lock should be acquired whenever modifications to
-// Nasal objects are made.  It need not be acquired when only read
-// access is needed.  It MUST NOT be acquired by naCFunction's, as
-// those are called with the lock already held; acquiring two locks
-// for the same thread will cause a deadlock when the GC is invoked.
-// It should be UNLOCKED by naCFunction's when they are about to do
-// any long term non-nasal processing and/or blocking I/O.
+// garbage collector (nasal data the C stack is not examined in GC!).
+// This disallows garbage collection until the current thread can be
+// blocked.  The lock should be acquired whenever nasal objects are
+// being modified.  It need not be acquired when only read access is
+// needed, PRESUMING that the Nasal data being read is findable by the
+// collector (via naSave, for example) and that another Nasal thread
+// cannot or will not delete the reference to the data.  It MUST NOT
+// be acquired by naCFunction's, as those are called with the lock
+// already held; acquiring two locks for the same thread will cause a
+// deadlock when the GC is invoked.  It should be UNLOCKED by
+// naCFunction's when they are about to do any long term non-nasal
+// processing and/or blocking I/O.  Note that naModLock() may need to
+// block to allow garbage collection to occur, and that garbage
+// collection by other threads may be blocked until naModUnlock() is
+// called.  It must also be UNLOCKED by threads that hold a lock
+// already before making a naCall() or naContinue() call -- these
+// functions will attempt to acquire the lock again.
 void naModLock();
 void naModUnlock();

+// Library utilities.  Generate namespaces and add symbols.
+typedef struct { char* name; naCFunction func; } naCFuncItem;
+naRef naGenLib(naContext c, naCFuncItem *funcs);
+void naAddSym(naContext c, naRef ns, char *sym, naRef val);
+
 #ifdef __cplusplus
 } // extern "C"
 #endif
@@ -1,11 +1,10 @@
 #include <setjmp.h>
+#include <string.h>

 #include "parse.h"

 // Static precedence table, from low (loose binding, do first) to high
 // (tight binding, do last).
-enum { PREC_BINARY, PREC_REVERSE, PREC_PREFIX, PREC_SUFFIX };
-
 #define MAX_PREC_TOKS 6
 struct precedence {
    int toks[MAX_PREC_TOKS];
@@ -32,8 +31,10 @@ struct precedence {

 void naParseError(struct Parser* p, char* msg, int line)
 {
+    // Some errors (e.g. code generation of a null pointer) lack a
+    // line number, so we throw -1 and set the line earlier.
+    if(line > 0) p->errLine = line;
    p->err = msg;
-    p->errLine = line;
    longjmp(p->jumpHandle, 1);
 }

@@ -205,11 +206,83 @@ static struct Token* emptyToken(struct Parser* p)
    return t;
 }

+// Synthesize a curly brace token to wrap token t foward to the end of
+// "statement".  FIXME: unify this with the addNewChild(), which does
+// very similar stuff.
+static void embrace(struct Parser* p, struct Token* t)
+{
+    struct Token *b, *end = t;
+    if(!t) return;
+    while(end->next) {
+        if(end->next->type == TOK_SEMI) {
+            // Slurp up the semi, iff it is followed by an else/elsif,
+            // otherwise leave it in place.
+            if(end->next->next) {
+                if(end->next->next->type == TOK_ELSE)  end = end->next;
+                if(end->next->next->type == TOK_ELSIF) end = end->next;
+            }
+            break;
+        }
+        if(end->next->type == TOK_COMMA) break;
+        if(end->next->type == TOK_ELSE) break;
+        if(end->next->type == TOK_ELSIF) break;
+        end = end->next;
+    }
+    b = emptyToken(p);
+    b->type = TOK_LCURL;
+    b->line = t->line;
+    b->parent = t->parent;
+    b->prev = t->prev;
+    b->next = end->next;
+    b->children = t;
+    b->lastChild = end;
+    if(t->prev) t->prev->next = b;
+    else b->parent->children = b;
+    if(end->next) end->next->prev = b;
+    else b->parent->lastChild = b;
+    t->prev = 0;
+    end->next = 0;
+    for(; t; t = t->next)
+        t->parent = b;
+}
+
+#define NEXT(t) (t ? t->next : 0)
+#define TYPE(t) (t ? t->type : -1)
+
+static void fixBracelessBlocks(struct Parser* p, struct Token* t)
+{
+    // Find the end, and march *backward*
+    while(t && t->next) t = t->next;
+    for(/**/; t; t=t->prev) {
+        switch(t->type) {
+        case TOK_FOR: case TOK_FOREACH: case TOK_FORINDEX: case TOK_WHILE:
+        case TOK_IF: case TOK_ELSIF:
+            if(TYPE(NEXT(t)) == TOK_LPAR && TYPE(NEXT(NEXT(t))) != TOK_LCURL)
+                    embrace(p, t->next->next);
+            break;
+        case TOK_ELSE:
+            if(TYPE(NEXT(t)) != TOK_LCURL)
+                embrace(p, t->next);
+            break;
+        case TOK_FUNC:
+            if(TYPE(NEXT(t)) == TOK_LPAR) {
+                if(TYPE(NEXT(NEXT(t))) != TOK_LCURL)
+                    embrace(p, NEXT(NEXT(t)));
+            } else if(TYPE(NEXT(t)) != TOK_LCURL)
+                embrace(p, t->next);
+            break;
+        default:
+            break;
+        }
+    }
+}
+
 // Fixes up parenting for obvious parsing situations, like code blocks
 // being the child of a func keyword, etc...
 static void fixBlockStructure(struct Parser* p, struct Token* start)
 {
    struct Token *t, *c;
+    fixBracelessBlocks(p, start);
    t = start;
    while(t) {
        switch(t->type) {
@@ -287,8 +360,8 @@ static void fixBlockStructure(struct Parser* p, struct Token* start)
                addSemi = 1;
            break;
        }
-        if(t->next && t->next->type == TOK_SEMI)
-            addSemi = 0; // don't bother if it's already there!
+        if(!t->next || t->next->type == TOK_SEMI || t->next->type == TOK_COMMA)
+            addSemi = 0; // don't bother, no need
        if(addSemi) {
            struct Token* semi = emptyToken(p);
            semi->type = TOK_SEMI;
@@ -297,6 +370,7 @@ static void fixBlockStructure(struct Parser* p, struct Token* start)
            semi->prev = t;
            semi->parent = t->parent;
            if(semi->next) semi->next->prev = semi;
+            else semi->parent->lastChild = semi;
            t->next = semi;
            t = semi; // don't bother checking the new one
        }
@@ -455,6 +529,8 @@ static struct Token* parsePrecedence(struct Parser* p,
    if(!top)
        return parsePrecedence(p, start, end, level+1);

+    top->rule = rule;
+
    if(left) {
        left->next = right;
        left->prev = 0;
@@ -508,7 +584,7 @@ naRef naParseCode(struct Context* c, naRef srcFile, int firstLine,
    // Catch parser errors here.
    *errLine = 0;
    if(setjmp(p.jumpHandle)) {
-        c->error = p.err;
+        strncpy(c->error, p.err, sizeof(c->error));
        *errLine = p.errLine;
        return naNil();
    }
@@ -540,5 +616,3 @@ naRef naParseCode(struct Context* c, naRef srcFile, int firstLine,

    return codeObj;
 }
-
-
@@ -19,11 +19,15 @@ enum {
    TOK_FORINDEX
 };

+// Precedence rules
+enum { PREC_BINARY=1, PREC_REVERSE, PREC_PREFIX, PREC_SUFFIX };
+
 struct Token {
    int type;
    int line;
    char* str;
    int strlen;
+    int rule;
    double num;
    struct Token* parent;
    struct Token* next;
@@ -94,6 +98,7 @@ void naParseInit(struct Parser* p);
 void* naParseAlloc(struct Parser* p, int bytes);
 void naParseDestroy(struct Parser* p);
 void naLex(struct Parser* p);
+int naLexUtf8C(char* s, int len, int* used); /* in utf8lib.c */
 naRef naCodeGen(struct Parser* p, struct Token* block, struct Token* arglist);

 void naParse(struct Parser* p);
@@ -14,13 +14,13 @@ static int fromnum(double val, unsigned char* s);
 int naStr_len(naRef s)
 {
    if(!IS_STR(s)) return 0;
-    return s.ref.ptr.str->len;
+    return PTR(s).str->len;
 }

 char* naStr_data(naRef s)
 {
    if(!IS_STR(s)) return 0;
-    return (char*)s.ref.ptr.str->data;
+    return (char*)PTR(s).str->data;
 }

 static void setlen(struct naStr* s, int sz)
@@ -33,24 +33,24 @@ static void setlen(struct naStr* s, int sz)

 naRef naStr_buf(naRef dst, int len)
 {
-    setlen(dst.ref.ptr.str, len);
-    naBZero(dst.ref.ptr.str->data, len);
+    setlen(PTR(dst).str, len);
+    naBZero(PTR(dst).str->data, len);
    return dst;
 }

 naRef naStr_fromdata(naRef dst, char* data, int len)
 {
    if(!IS_STR(dst)) return naNil();
-    setlen(dst.ref.ptr.str, len);
-    memcpy(dst.ref.ptr.str->data, data, len);
+    setlen(PTR(dst).str, len);
+    memcpy(PTR(dst).str->data, data, len);
    return dst;
 }

 naRef naStr_concat(naRef dest, naRef s1, naRef s2)
 {
-    struct naStr* dst = dest.ref.ptr.str;
-    struct naStr* a = s1.ref.ptr.str;
-    struct naStr* b = s2.ref.ptr.str;
+    struct naStr* dst = PTR(dest).str;
+    struct naStr* a = PTR(s1).str;
+    struct naStr* b = PTR(s2).str;
    if(!(IS_STR(s1)&&IS_STR(s2)&&IS_STR(dest))) return naNil();
    setlen(dst, a->len + b->len);
    memcpy(dst->data, a->data, a->len);
@@ -60,8 +60,8 @@ naRef naStr_concat(naRef dest, naRef s1, naRef s2)

 naRef naStr_substr(naRef dest, naRef str, int start, int len)
 {
-    struct naStr* dst = dest.ref.ptr.str;
-    struct naStr* s = str.ref.ptr.str;
+    struct naStr* dst = PTR(dest).str;
+    struct naStr* s = PTR(str).str;
    if(!(IS_STR(dest)&&IS_STR(str))) return naNil();
    if(start + len > s->len) { dst->len = 0; dst->data = 0; return naNil(); }
    setlen(dst, len);
@@ -71,8 +71,8 @@ naRef naStr_substr(naRef dest, naRef str, int start, int len)

 int naStr_equal(naRef s1, naRef s2)
 {
-    struct naStr* a = s1.ref.ptr.str;
-    struct naStr* b = s2.ref.ptr.str;
+    struct naStr* a = PTR(s1).str;
+    struct naStr* b = PTR(s2).str;
    if(a->data == b->data) return 1;
    if(a->len != b->len) return 0;
    if(memcmp(a->data, b->data, a->len) == 0) return 1;
@@ -81,7 +81,7 @@ int naStr_equal(naRef s1, naRef s2)

 naRef naStr_fromnum(naRef dest, double num)
 {
-    struct naStr* dst = dest.ref.ptr.str;
+    struct naStr* dst = PTR(dest).str;
    unsigned char buf[DIGITS+8];
    setlen(dst, fromnum(num, buf));
    memcpy(dst->data, buf, dst->len);
@@ -95,13 +95,13 @@ int naStr_parsenum(char* str, int len, double* result)

 int naStr_tonum(naRef str, double* out)
 {
-    return tonum(str.ref.ptr.str->data, str.ref.ptr.str->len, out);
+    return tonum(PTR(str).str->data, PTR(str).str->len, out);
 }

 int naStr_numeric(naRef str)
 {
    double dummy;
-    return tonum(str.ref.ptr.str->data, str.ref.ptr.str->len, &dummy);
+    return tonum(PTR(str).str->data, PTR(str).str->len, &dummy);
 }

 void naStr_gcclean(struct naStr* str)
@@ -10,6 +10,12 @@ void* naNewLock()
    return lock;
 }

+void naFreeLock(void* lock)
+{
+    pthread_mutex_destroy(lock);
+    naFree(lock);
+}
+
 void naLock(void* lock)
 {
    pthread_mutex_lock((pthread_mutex_t*)lock);
@@ -35,6 +41,14 @@ void* naNewSem()
    return sem;
 }

+void naFreeSem(void* p)
+{
+    struct naSem* sem = p;
+    pthread_mutex_destroy(&sem->lock);
+    pthread_cond_destroy(&sem->cvar);
+    naFree(sem);
+}
+
 void naSemDown(void* sh)
 {
    struct naSem* sem = (struct naSem*)sh;
@@ -45,11 +59,11 @@ void naSemDown(void* sh)
    pthread_mutex_unlock(&sem->lock);
 }

-void naSemUpAll(void* sh, int count)
+void naSemUp(void* sh, int count)
 {
    struct naSem* sem = (struct naSem*)sh;
    pthread_mutex_lock(&sem->lock);
-    sem->count = count;
+    sem->count += count;
    pthread_cond_broadcast(&sem->cvar);
    pthread_mutex_unlock(&sem->lock);
 }
@@ -13,9 +13,11 @@ void* naNewLock()

 void  naLock(void* lock)   { EnterCriticalSection((LPCRITICAL_SECTION)lock); }
 void  naUnlock(void* lock) { LeaveCriticalSection((LPCRITICAL_SECTION)lock); }
+void naFreeLock(void* lock) { free(lock); }
 void* naNewSem()           { return CreateSemaphore(0, 0, MAX_SEM_COUNT, 0); }
 void  naSemDown(void* sem) { WaitForSingleObject((HANDLE)sem, INFINITE); }
-void  naSemUpAll(void* sem, int count) { ReleaseSemaphore(sem, count, 0); }
+void  naSemUp(void* sem, int count) { ReleaseSemaphore(sem, count, 0); }
+void naFreeSem(void* sem) { ReleaseSemaphore(sem, 1, 0); }

 #endif

@@ -0,0 +1,103 @@
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <pthread.h>
+#endif
+
+#include "data.h"
+#include "code.h"
+
+static void lockDestroy(void* lock) { naFreeLock(lock); }
+static naGhostType LockType = { lockDestroy };
+
+static void semDestroy(void* sem) { naFreeSem(sem); }
+static naGhostType SemType = { semDestroy };
+
+typedef struct {
+    naContext ctx;
+    naRef func;
+} ThreadData;
+
+#ifdef _WIN32
+static DWORD WINAPI threadtop(LPVOID param)
+#else
+static void* threadtop(void* param)
+#endif
+{
+    ThreadData* td = param;
+    naCall(td->ctx, td->func, 0, 0, naNil(), naNil());
+    naFreeContext(td->ctx);
+    naFree(td);
+    return 0;
+}
+
+static naRef f_newthread(naContext c, naRef me, int argc, naRef* args)
+{
+    ThreadData *td;
+    if(argc < 1 || !naIsFunc(args[0]))
+        naRuntimeError(c, "bad/missing argument to newthread");
+    td = naAlloc(sizeof(*td));
+    td->ctx = naNewContext();
+    td->func = args[0];
+    naTempSave(td->ctx, td->func);
+#ifdef _WIN32
+    CreateThread(0, 0, threadtop, td, 0, 0);
+#else
+    { pthread_t t; pthread_create(&t, 0, threadtop, td); }
+#endif
+    return naNil();
+}
+
+static naRef f_newlock(naContext c, naRef me, int argc, naRef* args)
+{
+    return naNewGhost(c, &LockType, naNewLock());
+}
+
+static naRef f_lock(naContext c, naRef me, int argc, naRef* args)
+{
+    if(argc > 0 && naGhost_type(args[0]) == &LockType)
+        naLock(naGhost_ptr(args[0]));
+    return naNil();
+}
+
+static naRef f_unlock(naContext c, naRef me, int argc, naRef* args)
+{
+    if(argc > 0 && naGhost_type(args[0]) == &LockType)
+        naUnlock(naGhost_ptr(args[0]));
+    return naNil();
+}
+
+static naRef f_newsem(naContext c, naRef me, int argc, naRef* args)
+{
+    return naNewGhost(c, &SemType, naNewSem());
+}
+
+static naRef f_semdown(naContext c, naRef me, int argc, naRef* args)
+{
+    if(argc > 0 && naGhost_type(args[0]) == &SemType)
+        naSemDown(naGhost_ptr(args[0]));
+    return naNil();
+}
+
+static naRef f_semup(naContext c, naRef me, int argc, naRef* args)
+{
+    if(argc > 0 && naGhost_type(args[0]) == &SemType)
+        naSemUp(naGhost_ptr(args[0]), 1);
+    return naNil();
+}
+
+static naCFuncItem funcs[] = {
+    { "newthread", f_newthread },
+    { "newlock", f_newlock },
+    { "lock", f_lock },
+    { "unlock", f_unlock },
+    { "newsem", f_newsem },
+    { "semdown", f_semdown },
+    { "semup", f_semup },
+    { 0 }
+};
+
+naRef naInit_thread(naContext c)
+{
+    return naGenLib(c, funcs);
+}
@@ -0,0 +1,161 @@
+#include <string.h>
+#include "nasal.h"
+#include "parse.h"
+
+// bytes required to store a given character
+static int cbytes(unsigned int c)
+{
+    static const int NB[] = { 0x7f, 0x07ff, 0xffff, 0x001fffff, 0x03ffffff };
+    int i;
+    for(i=0; i<(sizeof(NB)/sizeof(NB[0])) && c>NB[i]; i++) {}
+    return i+1;
+}
+
+// Returns a byte with the N high order bits set
+#define TOPBITS(n) ((unsigned char)(((signed char)0x80)>>((n)-1)))
+
+// write a utf8 character, return bytes written or zero on error
+static int writec(unsigned int c, unsigned char* s, int len)
+{
+    int i, n = cbytes(c);
+    if(len < n) return 0;
+    for(i=n-1; i>0; i--) {
+        s[i] = 0x80 | (c & 0x3f);
+        c >>= 6;
+    }
+    s[0] = (n > 1 ? TOPBITS(n) : 0) | c;
+    return n;
+}
+
+// read a utf8 character, or -1 on error.
+static int readc(unsigned char* s, int len, int* used)
+{
+    int n, i, c;
+    if(len > 0 && s[0] < 0x80) { *used = 1; return s[0]; }
+    for(n=2; n<7; n++)
+        if((s[0] & TOPBITS(n+1)) == TOPBITS(n))
+            break;
+    if(len < n || n > 6) return -1;
+    c = s[0] & (~TOPBITS(n+1));
+    for(i=1; i<n; i++) {
+        if((s[i] >> 6) != 2) return -1;
+        c = (c << 6) | (s[i] & 0x3f);
+    }
+    if(n != cbytes(c)) return -1;
+    *used = n;
+    return c;
+}
+
+/* Public symbol used by the parser */
+int naLexUtf8C(char* s, int len, int* used)
+{ return readc((void*)s, len, used); }
+
+static unsigned char* nthchar(unsigned char* s, int n, int* len)
+{
+    int i, bytes;
+    for(i=0; *len && i<n; i++) {
+        if(readc(s, *len, &bytes) < 0) return 0;
+        s += bytes; *len -= bytes;
+    }
+    return s;
+}
+
+static naRef f_chstr(naContext ctx, naRef me, int argc, naRef* args)
+{
+    int n;
+    naRef ch;
+    unsigned char buf[6];
+    if(argc < 1 || naIsNil(ch=naNumValue(args[0])))
+        naRuntimeError(ctx, "bad/missing argument to utf8.chstr");
+    n = writec((int)ch.num, buf, sizeof(buf));
+    return naStr_fromdata(naNewString(ctx), (void*)buf, n);
+}
+
+static naRef f_size(naContext c, naRef me, int argc, naRef* args)
+{
+    unsigned char* s;
+    int sz=0, n, len;
+    if(argc < 1 || !naIsString(args[0]))
+        naRuntimeError(c, "bad/missing argument to utf8.strc");
+    s = (void*)naStr_data(args[0]);
+    len = naStr_len(args[0]);
+    while(len > 0) {
+        if(readc(s, len, &n) < 0)
+            naRuntimeError(c, "utf8 encoding error in utf8.size");
+        sz++; len -= n; s += n;
+    }
+    return naNum(sz);
+}
+
+static naRef f_strc(naContext ctx, naRef me, int argc, naRef* args)
+{
+    naRef idx;
+    unsigned char* s;
+    int len, c=0, bytes;
+    if(argc < 2 || !naIsString(args[0]) || naIsNil(idx=naNumValue(args[1])))
+        naRuntimeError(ctx, "bad/missing argument to utf8.strc");
+    len = naStr_len(args[0]);
+    s = nthchar((void*)naStr_data(args[0]), (int)idx.num, &len);
+    if(!s || (c = readc(s, len, &bytes)) < 0)
+        naRuntimeError(ctx, "utf8 encoding error in utf8.strc");
+    return naNum(c);
+}
+
+static naRef f_substr(naContext c, naRef me, int argc, naRef* args)
+{
+    naRef start, end;
+    int len;
+    unsigned char *s, *s2;
+    end = argc > 2 ? naNumValue(args[2]) : naNil();
+    if((argc < 2 || !naIsString(args[0]) || naIsNil(start=naNumValue(args[1])))
+       || (argc > 2 && naIsNil(end)))
+        naRuntimeError(c, "bad/missing argument to utf8.substr");
+    len = naStr_len(args[0]);
+    if(!(s = nthchar((void*)naStr_data(args[0]), (int)start.num, &len)))
+        naRuntimeError(c, "start index overrun in utf8.substr");
+    if(!naIsNil(end)) {
+        if(!(s2 = nthchar(s, (int)end.num, &len)))
+            naRuntimeError(c, "end index overrun in utf8.substr");
+        len = (int)(s2-s);
+    }
+    return naStr_fromdata(naNewString(c), (void*)s, len);
+}
+
+static naRef f_validate(naContext c, naRef me, int argc, naRef* args)
+{
+    naRef result, unkc=naNil();
+    int len, len2, lenout=0, n;
+    unsigned char *s, *s2, *buf;
+    if(argc < 1 || !naIsString(args[0]) ||
+       (argc > 1 && naIsNil(unkc=naNumValue(args[1]))))
+        naRuntimeError(c, "bad/missing argument to utf8.strc");
+    if(naIsNil(unkc)) unkc = naNum('?');
+    len = naStr_len(args[0]);
+    s = (void*)naStr_data(args[0]);
+    len2 = 6*len; // max for ridiculous unkc values
+    s2 = buf = naAlloc(len2);
+    while(len > 0) {
+        int c = readc(s, len, &n);
+        if(c < 0) { c = (int)unkc.num; n = 1; }
+        s += n; len -= n;
+        n = writec(c, s2, len2);
+        s2 += n; len2 -= n; lenout += n;
+    }
+    result = naStr_fromdata(naNewString(c), (char*)buf, lenout);
+    naFree(buf);
+    return result;
+}
+
+static naCFuncItem funcs[] = {
+    { "chstr", f_chstr },
+    { "strc", f_strc },
+    { "substr", f_substr },
+    { "size", f_size },
+    { "validate", f_validate },
+    { 0 }
+};
+
+naRef naInit_utf8(naContext c)
+{
+    return naGenLib(c, funcs);
+}
@@ -13,7 +13,7 @@ static struct VecRec* newvecrec(struct VecRec* old)
    return vr;
 }

-static void vecrealloc(struct naVec* v)
+static void resize(struct naVec* v)
 {
    struct VecRec* vr = newvecrec(v->rec);
    naGC_swapfree((void**)&(v->rec), vr);
@@ -28,7 +28,7 @@ void naVec_gcclean(struct naVec* v)
 naRef naVec_get(naRef v, int i)
 {
    if(IS_VEC(v)) {
-        struct VecRec* r = v.ref.ptr.vec->rec;
+        struct VecRec* r = PTR(v).vec->rec;
        if(r) {
            if(i < 0) i += r->size;
            if(i >= 0 && i < r->size) return r->array[i];
@@ -40,7 +40,7 @@ naRef naVec_get(naRef v, int i)
 void naVec_set(naRef vec, int i, naRef o)
 {
    if(IS_VEC(vec)) {
-        struct VecRec* r = vec.ref.ptr.vec->rec;
+        struct VecRec* r = PTR(vec).vec->rec;
        if(r && i >= r->size) return;
        r->array[i] = o;
    }
@@ -49,7 +49,7 @@ void naVec_set(naRef vec, int i, naRef o)
 int naVec_size(naRef v)
 {
    if(IS_VEC(v)) {
-        struct VecRec* r = v.ref.ptr.vec->rec;
+        struct VecRec* r = PTR(v).vec->rec;
        return r ? r->size : 0;
    }
    return 0;
@@ -58,10 +58,10 @@ int naVec_size(naRef v)
 int naVec_append(naRef vec, naRef o)
 {
    if(IS_VEC(vec)) {
-        struct VecRec* r = vec.ref.ptr.vec->rec;
+        struct VecRec* r = PTR(vec).vec->rec;
        while(!r || r->size >= r->alloced) {
-            vecrealloc(vec.ref.ptr.vec);
-            r = vec.ref.ptr.vec->rec;
+            resize(PTR(vec).vec);
+            r = PTR(vec).vec->rec;
        }
        r->array[r->size] = o;
        return r->size++;
@@ -72,26 +72,25 @@ int naVec_append(naRef vec, naRef o)
 void naVec_setsize(naRef vec, int sz)
 {
    int i;
-    struct VecRec* v = vec.ref.ptr.vec->rec;
+    struct VecRec* v = PTR(vec).vec->rec;
    struct VecRec* nv = naAlloc(sizeof(struct VecRec) + sizeof(naRef) * sz);
    nv->size = sz;
    nv->alloced = sz;
    for(i=0; i<sz; i++)
        nv->array[i] = (v && i < v->size) ? v->array[i] : naNil();
-    naFree(v);
-    vec.ref.ptr.vec->rec = nv;
+    naGC_swapfree((void**)&(PTR(vec).vec->rec), nv);
 }

 naRef naVec_removelast(naRef vec)
 {
    naRef o;
    if(IS_VEC(vec)) {
-        struct VecRec* v = vec.ref.ptr.vec->rec;
+        struct VecRec* v = PTR(vec).vec->rec;
        if(!v || v->size == 0) return naNil();
        o = v->array[v->size - 1];
        v->size--;
        if(v->size < (v->alloced >> 1))
-            vecrealloc(vec.ref.ptr.vec);
+            resize(PTR(vec).vec);
        return o;
    }
    return naNil();
@@ -65,7 +65,6 @@ SGNotCondition::SGNotCondition (SGCondition * condition)

 SGNotCondition::~SGNotCondition ()
 {
-  delete _condition;
 }

 bool
@@ -86,8 +85,6 @@ SGAndCondition::SGAndCondition ()

 SGAndCondition::~SGAndCondition ()
 {
-  for (unsigned int i = 0; i < _conditions.size(); i++)
-    delete _conditions[i];
 }

 bool
@@ -119,8 +116,6 @@ SGOrCondition::SGOrCondition ()

 SGOrCondition::~SGOrCondition ()
 {
-  for (unsigned int i = 0; i < _conditions.size(); i++)
-    delete _conditions[i];
 }

 bool
@@ -398,13 +393,11 @@ SGConditional::SGConditional ()

 SGConditional::~SGConditional ()
 {
-  delete _condition;
 }

 void
 SGConditional::setCondition (SGCondition * condition)
 {
-  delete _condition;
  _condition = condition;
 }

@@ -13,6 +13,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/props/props.hxx>
 #include <simgear/props/props_io.hxx>
+#include <simgear/structure/SGReferenced.hxx>


 ////////////////////////////////////////////////////////////////////////
@@ -28,7 +29,7 @@
 *
 * This class should migrate to somewhere more general.
 */
-class SGCondition
+class SGCondition : public SGReferenced
 {
 public:
  SGCondition ();
@@ -63,12 +64,11 @@ private:
 class SGNotCondition : public SGCondition
 {
 public:
-				// transfer pointer ownership
  SGNotCondition (SGCondition * condition);
  virtual ~SGNotCondition ();
  virtual bool test () const;
 private:
-  SGCondition * _condition;
+  SGSharedPtr<SGCondition> _condition;
 };


@@ -87,7 +87,7 @@ public:
 				// transfer pointer ownership
  virtual void addCondition (SGCondition * condition);
 private:
-  vector<SGCondition *> _conditions;
+  std::vector<SGSharedPtr<SGCondition> > _conditions;
 };


@@ -106,7 +106,7 @@ public:
 				// transfer pointer ownership
  virtual void addCondition (SGCondition * condition);
 private:
-  vector<SGCondition *> _conditions;
+  std::vector<SGSharedPtr<SGCondition> > _conditions;
 };


@@ -146,7 +146,7 @@ private:
 * invoke the test() method whenever it needs to decide whether to
 * active itself, draw itself, and so on.
 */
-class SGConditional
+class SGConditional : public SGReferenced
 {
 public:
  SGConditional ();
@@ -156,7 +156,7 @@ public:
  virtual const SGCondition * getCondition () const { return _condition; }
  virtual bool test () const;
 private:
-  SGCondition * _condition;
+  SGSharedPtr<SGCondition> _condition;
 };


@@ -595,11 +595,11 @@ void
 SGPropertyNode::trace_write () const
 {
 #if PROPS_STANDALONE
-  cerr << "TRACE: Write node " << getPath () << ", value\""
+  cerr << "TRACE: Write node " << getPath () << ", value \""
       << make_string() << '"' << endl;
 #else
-  SG_LOG(SG_GENERAL, SG_INFO, "TRACE: Write node " << getPath()
-	 << ", value\"" << make_string() << '"');
+  SG_LOG(SG_GENERAL, SG_ALERT, "TRACE: Write node " << getPath()
+	 << ", value \"" << make_string() << '"');
 #endif
 }

@@ -613,7 +613,7 @@ SGPropertyNode::trace_read () const
  cerr << "TRACE: Write node " << getPath () << ", value \""
       << make_string() << '"' << endl;
 #else
-  SG_LOG(SG_GENERAL, SG_INFO, "TRACE: Read node " << getPath()
+  SG_LOG(SG_GENERAL, SG_ALERT, "TRACE: Read node " << getPath()
 	 << ", value \"" << make_string() << '"');
 #endif
 }
@@ -756,7 +756,13 @@ SGPropertyNode::~SGPropertyNode ()
    _removedChildren[i]->_parent = 0;
  delete _path_cache;
  clearValue();
-  delete _listeners;
+
+  if (_listeners) {
+    vector<SGPropertyChangeListener*>::iterator it;
+    for (it = _listeners->begin(); it != _listeners->end(); ++it)
+      (*it)->unregister_property(this);
+    delete _listeners;
+  }
 }


@@ -904,6 +910,22 @@ SGPropertyNode::getChildren (const char * name) const
 }


+/**
+ * Remove this node and all children from nodes that link to them
+ * in their path cache.
+ */
+void
+SGPropertyNode::remove_from_path_caches ()
+{
+  for (unsigned int i = 0; i < _children.size(); ++i)
+    _children[i]->remove_from_path_caches();
+
+  for (unsigned int i = 0; i < _linkedNodes.size(); i++)
+    _linkedNodes[i]->erase(this);
+  _linkedNodes.clear();
+}
+
+
 /**
 * Remove child by position.
 */
@@ -921,8 +943,8 @@ SGPropertyNode::removeChild (int pos, bool keep)
  if (keep) {
    _removedChildren.push_back(node);
  }
-  if (_path_cache)
-     _path_cache->erase(node->getName()); // EMH - TODO: Take "index" into account!
+
+  node->remove_from_path_caches();
  node->setAttribute(REMOVED, true);
  node->clearValue();
  fireChildRemoved(node);
@@ -933,7 +955,7 @@ SGPropertyNode::removeChild (int pos, bool keep)
 /**
 * Remove a child node
 */
-SGPropertyNode_ptr 
+SGPropertyNode_ptr
 SGPropertyNode::removeChild (const char * name, int index, bool keep)
 {
  SGPropertyNode_ptr ret;
@@ -961,6 +983,24 @@ SGPropertyNode::removeChildren (const char * name, bool keep)
 }


+/**
+  * Remove a linked node.
+  */
+bool
+SGPropertyNode::remove_linked_node (hash_table * node)
+{
+  for (unsigned int i = 0; i < _linkedNodes.size(); i++) {
+    if (_linkedNodes[i] == node) {
+      vector<hash_table *>::iterator it = _linkedNodes.begin();
+      it += i;
+      _linkedNodes.erase(it);
+      return true;
+    }
+  }
+  return false;
+}
+
+
 const char *
 SGPropertyNode::getDisplayName (bool simplify) const
 {
@@ -2187,23 +2227,31 @@ SGPropertyNode::hash_table::bucket::get_entry (const char * key, bool create)
  }
 }

-void
-SGPropertyNode::hash_table::bucket::erase (const char * key)
+bool
+SGPropertyNode::hash_table::bucket::erase (SGPropertyNode * node)
 {
-  int i;
-  for (i = 0; i < _length; i++) {
-    if (!strcmp(_entries[i]->get_key(), key))
-       break;
-  }
-
-  if (i < _length) {
-    for (++i; i < _length; i++) {
-      _entries[i-1] = _entries[i];
+  for (int i = 0; i < _length; i++) {
+    if (_entries[i]->get_value() == node) {
+      delete _entries[i];
+      for (++i; i < _length; i++) {
+        _entries[i-1] = _entries[i];
+      }
+      _length--;
+      return true;
    }
-     _length--;
  }
+  return false;
 }

+void
+SGPropertyNode::hash_table::bucket::clear (SGPropertyNode::hash_table * owner)
+{
+  for (int i = 0; i < _length; i++) {
+    SGPropertyNode * node = _entries[i]->get_value();
+    if (node)
+      node->remove_linked_node(owner);
+  }
+}

 SGPropertyNode::hash_table::hash_table ()
  : _data_length(0),
@@ -2213,8 +2261,12 @@ SGPropertyNode::hash_table::hash_table ()

 SGPropertyNode::hash_table::~hash_table ()
 {
-  for (unsigned int i = 0; i < _data_length; i++)
-    delete _data[i];
+  for (unsigned int i = 0; i < _data_length; i++) {
+    if (_data[i]) {
+      _data[i]->clear(this);
+      delete _data[i];
+    }
+  }
  delete [] _data;
 }

@@ -2248,17 +2300,17 @@ SGPropertyNode::hash_table::put (const char * key, SGPropertyNode * value)
  }
  entry * e = _data[index]->get_entry(key, true);
  e->set_value(value);
+  value->add_linked_node(this);
 }

-void
-SGPropertyNode::hash_table::erase (const char * key)
+bool
+SGPropertyNode::hash_table::erase (SGPropertyNode * node)
 {
-   if (_data_length == 0)
-    return;
-  unsigned int index = hashcode(key) % _data_length;
-  if (_data[index] == 0)
-    return;
-  _data[index]->erase(key);
+  for (unsigned int i = 0; i < _data_length; i++)
+    if (_data[i] && _data[i]->erase(node))
+      return true;
+
+  return false;
 }

 unsigned int
@@ -2280,12 +2332,8 @@ SGPropertyNode::hash_table::hashcode (const char * key)

 SGPropertyChangeListener::~SGPropertyChangeListener ()
 {
-				// This will come back and remove
-				// the current item each time.  Is
-				// that OK?
-  vector<SGPropertyNode *>::iterator it;
-  for (it = _properties.begin(); it != _properties.end(); it++)
-    (*it)->removeChangeListener(this);
+  for (int i = _properties.size() - 1; i >= 0; i--)
+    _properties[i]->removeChangeListener(this);
 }

 void
@@ -1110,6 +1110,12 @@ public:
  void removeChangeListener (SGPropertyChangeListener * listener);


+  /**
+   * Get the number of listeners.
+   */
+  int nListeners () const { return _listeners ? _listeners->size() : 0; }
+
+
  /**
   * Fire a value change event to all listeners.
   */
@@ -1183,6 +1189,12 @@ private:
  void trace_write () const;


+  /**
+   * Remove this node from all nodes that link to it in their path cache.
+   */
+  void remove_from_path_caches();
+
+
  class hash_table;

  int _index;
@@ -1193,6 +1205,7 @@ private:
  SGPropertyNode * _parent;
  vector<SGPropertyNode_ptr> _children;
  vector<SGPropertyNode_ptr> _removedChildren;
+  vector<hash_table *> _linkedNodes;
  mutable string _path;
  mutable string _buffer;
  hash_table * _path_cache;
@@ -1223,9 +1236,16 @@ private:
  vector <SGPropertyChangeListener *> * _listeners;


+  /**
+    * Register/unregister node that links to this node in its path cache.
+    */
+  void add_linked_node (hash_table * node) { _linkedNodes.push_back(node); }
+  bool remove_linked_node (hash_table * node);
+
+

  /**
-   * A very simple hash table with no remove functionality.
+   * A very simple hash table.
   */
  class hash_table {
  public:
@@ -1243,7 +1263,7 @@ private:
      void set_value (SGPropertyNode * value);
    private:
      string _key;
-      SGSharedPtr<SGPropertyNode>  _value;
+      SGSharedPtr<SGPropertyNode> _value;
    };


@@ -1255,7 +1275,8 @@ private:
      bucket ();
      ~bucket ();
      entry * get_entry (const char * key, bool create = false);
-      void erase(const char * key);
+      bool erase (SGPropertyNode * node);
+      void clear (hash_table * owner);
    private:
      int _length;
      entry ** _entries;
@@ -1267,7 +1288,7 @@ private:
    ~hash_table ();
    SGPropertyNode * get (const char * key);
    void put (const char * key, SGPropertyNode * value);
-    void erase(const char * key);
+    bool erase (SGPropertyNode * node);

  private:
    unsigned int hashcode (const char * key);
@@ -229,6 +229,21 @@ PropsVisitor::startElement (const char * name, const XMLAttributes &atts)
      } catch (sg_io_exception &e) {
 	setException(e);
      }
+
+      const char *omit = atts.getValue("omit-node");
+      if (omit && !strcmp(omit, "y")) {
+        int nChildren = node->nChildren();
+        for (int i = 0; i < nChildren; i++) {
+          SGPropertyNode *src = node->getChild(i);
+          const char *name = src->getName();
+          int index = st.counters[name];
+          st.counters[name]++;
+          SGPropertyNode *dst = st.node->getChild(name, index, true);
+          copyProperties(src, dst);
+        }
+        st.node->removeChild(node->getName(), node->getIndex(), false);
+        node = st.node;
+      }
    }

    const char *type = atts.getValue("type");
@@ -432,11 +447,11 @@ doIndent (ostream &output, int indent)


 static void
-writeAtts (ostream &output, const SGPropertyNode * node)
+writeAtts (ostream &output, const SGPropertyNode * node, bool forceindex)
 {
  int index = node->getIndex();

-  if (index != 0)
+  if (index != 0 || forceindex)
    output << " n=\"" << index << '"';

 #if 0
@@ -484,13 +499,14 @@ writeNode (ostream &output, const SGPropertyNode * node,

  const string name = node->getName();
  int nChildren = node->nChildren();
+  bool node_has_value = false;

 				// If there is a literal value,
 				// write it first.
  if (node->hasValue() && (write_all || node->getAttribute(archive_flag))) {
    doIndent(output, indent);
    output << '<' << name;
-    writeAtts(output, node);
+    writeAtts(output, node, nChildren != 0);
    if (node->isAlias() && node->getAliasTarget() != 0) {
      output << " alias=\"" << node->getAliasTarget()->getPath()
 	     << "\"/>" << endl;
@@ -501,13 +517,14 @@ writeNode (ostream &output, const SGPropertyNode * node,
      writeData(output, node->getStringValue());
      output << "</" << name << '>' << endl;
    }
+    node_has_value = true;
  }

 				// If there are children, write them next.
  if (nChildren > 0) {
    doIndent(output, indent);
    output << '<' << name;
-    writeAtts(output, node);
+    writeAtts(output, node, node_has_value);
    output << '>' << endl;
    for (int i = 0; i < nChildren; i++)
      writeNode(output, node->getChild(i), write_all, indent + INDENT_STEP, archive_flag);
@@ -540,6 +557,9 @@ void
 writeProperties (const string &file, const SGPropertyNode * start_node,
                 bool write_all, SGPropertyNode::Attribute archive_flag)
 {
+  SGPath path(file.c_str());
+  path.create_dir(0777);
+
  ofstream output(file.c_str());
  if (output.good()) {
    writeProperties(output, start_node, write_all, archive_flag);
@@ -19,6 +19,9 @@ waytest_LDADD = \
 	$(top_builddir)/simgear/math/libsgmath.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
+	$(top_builddir)/simgear/props/libsgprops.a \
+	$(top_builddir)/simgear/structure/libsgstructure.a \
+	$(top_builddir)/simgear/xml/libsgxml.a \
 	$(base_LIBS) \
 	-lz

@@ -49,7 +49,7 @@ double SGRoute::distance_off_route( double x, double y ) const {
 	int n1 = current_wp;
 	sgdVec3 p, p0, p1, d;
 	sgdSetVec3( p, x, y, 0.0 );
-	sgdSetVec3( p0, 
+	sgdSetVec3( p0,
 		    route[n0].get_target_lon(), route[n0].get_target_lat(),
 		    0.0 );
 	sgdSetVec3( p1,
@@ -68,3 +68,50 @@ double SGRoute::distance_off_route( double x, double y ) const {
 	return 0;
    }
 }
+
+/** Update the length of the leg ending at waypoint index */
+void SGRoute::update_distance(int index)
+{
+    SGWayPoint& curr = route[ index ];
+    double course, dist;
+
+    if ( index == 0 ) {
+	dist = 0;
+    } else {
+	const SGWayPoint& prev = route[ index - 1 ];
+	curr.CourseAndDistance( prev, &course, &dist );
+    }
+
+    curr.set_distance( dist );
+}
+
+/**
+ * Add waypoint (default), or insert waypoint at position n.
+ * @param wp a waypoint
+ */
+void SGRoute::add_waypoint( const SGWayPoint &wp, int n ) {
+    int size = route.size();
+    if ( n < 0 || n >= size ) {
+        n = size;
+        route.push_back( wp );
+    } else {
+        route.insert( route.begin() + n, 1, wp );
+        // update distance of next leg if not at end of route
+        update_distance( n + 1 );
+    }
+    update_distance( n );
+}
+
+/** Delete waypoint with index n  (last one if n < 0) */
+void SGRoute::delete_waypoint( int n ) {
+    int size = route.size();
+    if ( size == 0 )
+        return;
+    if ( n < 0 || n >= size )
+        n = size - 1;
+
+    route.erase( route.begin() + n );
+    // update distance of next leg if not at end of route
+    if ( n < size - 1 )
+        update_distance( n );
+}
@@ -55,6 +55,8 @@ private:
    route_list route;
    int current_wp;

+    void update_distance(int index);
+
 public:

    /** Constructor */
@@ -70,21 +72,10 @@ public:
    }

    /**
-     * Add a waypoint.
+     * Add waypoint (default), or insert waypoint at position n.
     * @param wp a waypoint
     */
-    inline void add_waypoint( const SGWayPoint &wp ) {
-	route.push_back( wp );
-
-	int size = route.size();
-	if ( size > 1 ) {
-	    SGWayPoint next_to_last = route[ size - 2 ];
-	    double tmpd, tmpc;
-	    wp.CourseAndDistance( next_to_last, &tmpc, &tmpd );
-	    route[size - 1].set_distance( tmpd );
-	}
-    }
-
+    void add_waypoint( const SGWayPoint &wp, int n = -1 );
    /**
     * Get the number of waypoints (i.e. route length )
     * @return route length
@@ -146,11 +137,10 @@ public:
    }

    /** Delete the front waypoint */
-    inline void delete_first() {
-	if ( route.size() ) {
-	    route.erase( route.begin() );
-	}
-    }
+    inline void delete_first() { delete_waypoint(0); }
+
+    /** Delete waypoint waypoint with index n  (last one if n < 0) */
+    void delete_waypoint( int n = 0 );

    /**
     * Calculate perpendicular distance from the current route segment
@@ -8,8 +8,20 @@

 SG_USING_STD(cout);
 SG_USING_STD(endl);
- 
-int main() {
+
+void dump_route(const SGRoute& route, const char* message)
+{
+    cout << "Route dump: " << message << endl;
+    for (int i = 0; i < route.size(); i++) {
+        const SGWayPoint wp = route.get_waypoint(i);
+        cout << "\t#" << i << " " << wp.get_id() << " (" << wp.get_target_lat()
+                << ", " << wp.get_target_lon() << ") @" << wp.get_target_alt()
+                << " dist: " << wp.get_distance() << endl;
+    }
+}
+
+int main()
+{
    SGRoute route;

    route.add_waypoint( SGWayPoint(0, 0, 0, SGWayPoint::CARTESIAN, "Start") );
@@ -17,7 +29,8 @@ int main() {
    route.add_waypoint( SGWayPoint(2, 0, 0, SGWayPoint::CARTESIAN, "2") );
    route.add_waypoint( SGWayPoint(2, 2, 0, SGWayPoint::CARTESIAN, "3") );
    route.add_waypoint( SGWayPoint(4, 2, 0, SGWayPoint::CARTESIAN, "4") );
-   
+
+    dump_route(route, "Init");
    route.set_current( 1 );

    cout << "( 0.5, 0 ) = " << route.distance_off_route( 0.5, 0 ) << endl;
@@ -29,5 +42,12 @@ int main() {
    cout << "( 2, 4 ) = " << route.distance_off_route( 2, 4 ) << endl;
    cout << "( 2.5, 4 ) = " << route.distance_off_route( 2.5, 4 ) << endl;

+    SGWayPoint wp2 = route.get_waypoint(2);
+    route.delete_waypoint(2);
+    dump_route(route, "removed WP2");
+
+    route.add_waypoint(wp2, 3);
+    dump_route(route, "added back WP2 after WP3");
+
    return 0;
 }
@@ -1,6 +1,6 @@
 includedir = @includedir@/scene

-SUBDIRS = material model sky tgdb
+SUBDIRS = material model sky tgdb util

 # lib_LIBRARIES = libsgscene.a

@@ -37,12 +37,23 @@ SG_USING_STD(map);
 #  include <math.h>
 #endif

+#include <osg/CullFace>
+#include <osg/Material>
+#include <osg/ShadeModel>
+#include <osg/TexEnv>
+#include <osg/Texture2D>
+#include <osgDB/ReadFile>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/misc/sgstream.hxx>

+#include <simgear/scene/model/model.hxx>
+
 #include "mat.hxx"

+static map<string, osg::ref_ptr<osg::Texture2D> > _tex_cache;
+

 ////////////////////////////////////////////////////////////////////////
 // Constructors and destructor.
@@ -53,7 +64,7 @@ SGMaterial::SGMaterial( const string &fg_root, const SGPropertyNode *props, cons
 {
    init();
    read_properties( fg_root, props, season );
-    build_ssg_state( false );
+    build_state( false );
 }

 SGMaterial::SGMaterial( const string &texpath )
@@ -63,13 +74,13 @@ SGMaterial::SGMaterial( const string &texpath )
    _internal_state st( NULL, texpath, false );
    _status.push_back( st );

-    build_ssg_state( true );
+    build_state( true );
 }

-SGMaterial::SGMaterial( ssgSimpleState *s )
+SGMaterial::SGMaterial( osg::StateSet *s )
 {
    init();
-    set_ssg_state( s );
+    set_state( s );
 }

 SGMaterial::~SGMaterial (void)
@@ -120,6 +131,7 @@ SGMaterial::read_properties( const string &fg_root, const SGPropertyNode * props
    string tname = "unknown.rgb";
    SGPath tpath( fg_root );
    tpath.append("Textures");
+    tpath.append("Terrain");
    tpath.append(tname);
    _internal_state st( NULL, tpath.str(), true );
    _status.push_back( st );
@@ -132,6 +144,13 @@ SGMaterial::read_properties( const string &fg_root, const SGPropertyNode * props
  mipmap = props->getBoolValue("mipmap", true);
  light_coverage = props->getDoubleValue("light-coverage", 0.0);

+  // surface values for use with ground reactions
+  solid = props->getBoolValue("solid", true);
+  friction_factor = props->getDoubleValue("friction-factor", 1.0);
+  rolling_friction = props->getDoubleValue("rolling-friction", 0.02);
+  bumpiness = props->getDoubleValue("bumpiness", 0.0);
+  load_resistance = props->getDoubleValue("load-resistance", 1e30);
+
  // Taken from default values as used in ac3d
  ambient[0] = props->getDoubleValue("ambient/r", 0.2);
  ambient[1] = props->getDoubleValue("ambient/g", 0.2);
@@ -159,6 +178,14 @@ SGMaterial::read_properties( const string &fg_root, const SGPropertyNode * props
    ((SGPropertyNode *)props)->getChildren("object-group");
  for (unsigned int i = 0; i < object_group_nodes.size(); i++)
    object_groups.push_back(new SGMatModelGroup(object_group_nodes[i]));
+
+  // read glyph table for taxi-/runway-signs
+  vector<SGPropertyNode_ptr> glyph_nodes = props->getChildren("glyph");
+  for (unsigned int i = 0; i < glyph_nodes.size(); i++) {
+    const char *name = glyph_nodes[i]->getStringValue("name");
+    if (name)
+      glyphs[name] = new SGMaterialGlyph(glyph_nodes[i]);
+  }
 }


@@ -176,8 +203,16 @@ SGMaterial::init ()
    ysize = 0;
    wrapu = true;
    wrapv = true;
+
    mipmap = true;
    light_coverage = 0.0;
+
+    solid = true;
+    friction_factor = 1;
+    rolling_friction = 0.02;
+    bumpiness = 0;
+    load_resistance = 1e30;
+
    shininess = 1.0;
    for (int i = 0; i < 4; i++) {
        ambient[i]  = (i < 3) ? 0.2 : 1.0;
@@ -198,16 +233,15 @@ SGMaterial::load_texture ( int n )
        if ( !_status[i].texture_loaded ) {
            SG_LOG( SG_GENERAL, SG_INFO, "Loading deferred texture "
                                          << _status[i].texture_path );
-            _status[i].state->setTexture(
-                   (char *)_status[i].texture_path.c_str(),
-                   wrapu, wrapv, mipmap );
+            assignTexture(_status[i].state.get(), _status[i].texture_path,
+                                         wrapu, wrapv, mipmap);
            _status[i].texture_loaded = true;
       }
    }
    return true;
 }

-ssgSimpleState *
+osg::StateSet *
 SGMaterial::get_state (int n) const
 {
    if (_status.size() == 0) {
@@ -215,65 +249,124 @@ SGMaterial::get_state (int n) const
        return NULL;
    }

-    ssgSimpleState *st = (n >= 0) ? _status[n].state
-                                  : _status[_current_ptr].state;
-    ((SGMaterial *)this)->_current_ptr += 1;
+    osg::StateSet *st = (n >= 0) ? _status[n].state.get()
+                             : _status[_current_ptr].state.get();
+    _current_ptr += 1;
    if (_current_ptr >= _status.size())
-        ((SGMaterial *)this)->_current_ptr = 0;
+        _current_ptr = 0;

    return st;
 }


 void 
-SGMaterial::build_ssg_state( bool defer_tex_load )
+SGMaterial::build_state( bool defer_tex_load )
 {
-    GLenum shade_model = GL_SMOOTH;
-    
    for (unsigned int i = 0; i < _status.size(); i++)
    {
-        ssgSimpleState *state = new ssgSimpleState();
+        osg::StateSet *stateSet = new osg::StateSet;
+        stateSet->setUserData(new SGMaterialUserData(this));

        // Set up the textured state
-        state->setShadeModel( shade_model );
-        state->enable( GL_LIGHTING );
-        state->enable ( GL_CULL_FACE ) ;
-        state->enable( GL_TEXTURE_2D );
-        state->disable( GL_BLEND );
-        state->disable( GL_ALPHA_TEST );
+        osg::ShadeModel* shadeModel = new osg::ShadeModel;
+        shadeModel->setMode(osg::ShadeModel::SMOOTH);
+        stateSet->setAttribute(shadeModel);
+
+        osg::CullFace* cullFace = new osg::CullFace;
+        cullFace->setMode(osg::CullFace::BACK);
+        stateSet->setMode(GL_CULL_FACE, osg::StateAttribute::ON);
+        stateSet->setAttribute(cullFace);
+
+        stateSet->setMode(GL_LIGHTING, osg::StateAttribute::ON);

        if ( !defer_tex_load ) {
            SG_LOG(SG_INPUT, SG_INFO, "    " << _status[i].texture_path );
-	    state->setTexture( (char *)_status[i].texture_path.c_str(),
-                                wrapu, wrapv );
+	    assignTexture( stateSet, _status[i].texture_path, wrapu, wrapv);
            _status[i].texture_loaded = true;
        } else {
            _status[i].texture_loaded = false;
        }

-        state->enable( GL_COLOR_MATERIAL );
-        state->setMaterial ( GL_AMBIENT,
-                             ambient[0], ambient[1],
-                             ambient[2], ambient[3] ) ;
-        state->setMaterial ( GL_DIFFUSE,
-                            diffuse[0], diffuse[1],
-                            diffuse[2], diffuse[3] ) ;
-        state->setMaterial ( GL_SPECULAR,
-                            specular[0], specular[1],
-                            specular[2], specular[3] ) ;
-        state->setMaterial ( GL_EMISSION,
-                            emission[0], emission[1],
-                            emission[2], emission[3] ) ;
-        state->setShininess ( shininess );
+        osg::Material* material = new osg::Material;
+        material->setColorMode(osg::Material::AMBIENT_AND_DIFFUSE);
+        material->setAmbient(osg::Material::FRONT_AND_BACK, ambient.osg());
+        material->setDiffuse(osg::Material::FRONT_AND_BACK, diffuse.osg());
+        material->setSpecular(osg::Material::FRONT_AND_BACK, specular.osg());
+        material->setEmission(osg::Material::FRONT_AND_BACK, emission.osg());
+        material->setShininess(osg::Material::FRONT_AND_BACK, shininess );
+        stateSet->setAttribute(material);

-        _status[i].state = state;
+        if (ambient[3] < 1 || diffuse[3] < 1 ||
+            specular[3] < 1 || emission[3] < 1) {
+          stateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
+          stateSet->setMode(GL_BLEND, osg::StateAttribute::ON);
+          stateSet->setMode(GL_ALPHA_TEST, osg::StateAttribute::ON);
+        } else {
+          stateSet->setRenderingHint(osg::StateSet::OPAQUE_BIN);
+          stateSet->setMode(GL_BLEND, osg::StateAttribute::OFF);
+          stateSet->setMode(GL_ALPHA_TEST, osg::StateAttribute::OFF);
+        }
+
+        _status[i].state = stateSet;
    }
 }


-void SGMaterial::set_ssg_state( ssgSimpleState *s )
+void SGMaterial::set_state( osg::StateSet *s )
 {
    _status.push_back( _internal_state( s, "", true ) );
 }

-// end of mat.cxx
+void SGMaterial::assignTexture( osg::StateSet *state, const std::string &fname,
+                 int _wrapu, int _wrapv, int _mipmap )
+{
+   map<string, osg::ref_ptr<osg::Texture2D> >::iterator _tex_cache_iter;
+   _tex_cache_iter = _tex_cache.find(fname);
+   if (_tex_cache_iter == _tex_cache.end())
+   {
+      osg::Texture2D* texture = SGLoadTexture2D(fname, _wrapu, _wrapv,
+                                                mipmap ? -1 : 0);
+	  texture->setMaxAnisotropy( SGGetTextureFilter());
+      state->setTextureAttributeAndModes(0, texture);
+      _tex_cache[fname] = texture;
+   }
+   else
+   {
+      state->setTextureAttributeAndModes(0, _tex_cache_iter->second.get());
+      // cout << "Cache hit: " << fname << endl;
+   }
+   osg::TexEnv* texEnv = new osg::TexEnv;
+   texEnv->setMode(osg::TexEnv::MODULATE);
+   state->setTextureAttributeAndModes(0, texEnv);
+}
+
+SGMaterialGlyph* SGMaterial::get_glyph (const string& name) const
+{
+  map<string, SGSharedPtr<SGMaterialGlyph> >::const_iterator it;
+  it = glyphs.find(name);
+  if (it == glyphs.end())
+    return 0;
+
+  return it->second;
+}
+
+
+////////////////////////////////////////////////////////////////////////
+// SGMaterialGlyph.
+////////////////////////////////////////////////////////////////////////
+
+SGMaterialGlyph::SGMaterialGlyph(SGPropertyNode *p) :
+    _left(p->getDoubleValue("left", 0.0)),
+    _right(p->getDoubleValue("right", 1.0))
+{
+}
+
+void
+SGSetTextureFilter( int max) {
+	SGSceneFeatures::instance()->setTextureFilter( max);
+}
+
+int
+SGGetTextureFilter() {
+	return SGSceneFeatures::instance()->getTextureFilter();
+}
@@ -34,20 +34,26 @@

 #include STL_STRING      // Standard C++ string library
 #include <vector>
+#include <map>

-#include <plib/sg.h>
-#include <plib/ssg.h>
+#include <simgear/math/SGMath.hxx>
+
+#include <osg/ref_ptr>
+#include <osg/StateSet>

 #include <simgear/props/props.hxx>
-#include <simgear/structure/ssgSharedPtr.hxx>
 #include <simgear/structure/SGSharedPtr.hxx>
+#include <simgear/scene/util/SGSceneFeatures.hxx>

 #include "matmodel.hxx"

 SG_USING_STD(string);
 SG_USING_STD(vector);
+SG_USING_STD(map);


+class SGMaterialGlyph;
+
 /**
 * A material in the scene graph.
 *
@@ -86,20 +92,20 @@ public:


  /**
-   * Construct a material around an existing SSG state.
+   * Construct a material around an existing state.
   *
   * This constructor allows the application to create a custom,
   * low-level state for the scene graph and wrap a material around
   * it.  Note: the pointer ownership is transferred to the material.
   *
-   * @param s The SSG state for this material.
+   * @param s The state for this material.
   */
-  SGMaterial( ssgSimpleState *s );
+  SGMaterial( osg::StateSet *s );

  /**
   * Destructor.
   */
-  virtual ~SGMaterial( void );
+  ~SGMaterial( void );



@@ -113,31 +119,30 @@ public:
   * @return true if the texture loaded, false if it was loaded
   * already.
   */
-  virtual bool load_texture (int n = -1);
-
+  bool load_texture (int n = -1);

  /**
   * Get the textured state.
   */
-  virtual ssgSimpleState *get_state (int n = -1) const;
+  osg::StateSet *get_state (int n = -1) const;


  /**
   * Get the number of textures assigned to this material.
   */
-  virtual inline int get_num() const { return _status.size(); }
+  inline int get_num() const { return _status.size(); }


  /**
   * Get the xsize of the texture, in meters.
   */
-  virtual inline double get_xsize() const { return xsize; }
+  inline double get_xsize() const { return xsize; }


  /**
   * Get the ysize of the texture, in meters.
   */
-  virtual inline double get_ysize() const { return ysize; }
+  inline double get_ysize() const { return ysize; }


  /**
@@ -147,22 +152,75 @@ public:
   *
   * @return The area (m^2?) covered by each light.
   */
-  virtual inline double get_light_coverage () const { return light_coverage; }
+  inline double get_light_coverage () const { return light_coverage; }

+  /**
+   * Return if the surface material is solid, if it is not solid, a fluid
+   * can be assumed, that is usually water.
+   */
+  bool get_solid () const { return solid; }
+
+  /**
+   * Get the friction factor for that material
+   */
+  double get_friction_factor () const { return friction_factor; }
+
+  /**
+   * Get the rolling friction for that material
+   */
+  double get_rolling_friction () const { return rolling_friction; }
+
+  /**
+   * Get the bumpines for that material
+   */
+  double get_bumpiness () const { return bumpiness; }
+
+  /**
+   * Get the load resistance
+   */
+  double get_load_resistance () const { return load_resistance; }
+
+  /**
+   * Get the list of names for this material
+   */
+  const vector<string>& get_names() const { return _names; }
+
+  /**
+   * add the given name to the list of names this material is known
+   */
+  void add_name(const string& name) { _names.push_back(name); }

  /**
   * Get the number of randomly-placed objects defined for this material.
   */
-  virtual int get_object_group_count () const { return object_groups.size(); }
-
+  int get_object_group_count () const { return object_groups.size(); }

  /**
   * Get a randomly-placed object for this material.
   */
-  virtual SGMatModelGroup * get_object_group (int index) const {
+  SGMatModelGroup * get_object_group (int index) const {
    return object_groups[index];
  }

+  /**
+   * Return pointer to glyph class, or 0 if it doesn't exist.
+   */
+  SGMaterialGlyph * get_glyph (const string& name) const;
+
+  void set_light_color(const SGVec4f& color)
+  { emission = color; }
+  const SGVec4f& get_light_color() const
+  { return emission; }
+
+  SGVec2f get_tex_coord_scale() const
+  {
+    float tex_width = get_xsize();
+    float tex_height = get_ysize();
+
+    return SGVec2f((0 < tex_width) ? 1000.0f/tex_width : 1.0f,
+                   (0 < tex_height) ? 1000.0f/tex_height : 1.0f);
+  }
+
 protected:


@@ -173,14 +231,14 @@ protected:
  /**
   * Initialization method, invoked by all public constructors.
   */
-  virtual void init();
+  void init();

 protected:

  struct _internal_state {
-     _internal_state( ssgSimpleState *s, const string &t, bool l )
+      _internal_state( osg::StateSet *s, const string &t, bool l )
                  : state(s), texture_path(t), texture_loaded(l) {}
-      ssgSharedPtr<ssgSimpleState> state;
+      osg::ref_ptr<osg::StateSet> state;
      string texture_path;
      bool texture_loaded;
  };
@@ -196,7 +254,7 @@ private:
  vector<_internal_state> _status;

  // Round-robin counter
-  unsigned int _current_ptr;
+  mutable unsigned int _current_ptr;

  // texture size
  double xsize, ysize;
@@ -210,12 +268,33 @@ private:
  // coverage of night lighting.
  double light_coverage;

+  // True if the material is solid, false if it is a fluid
+  bool solid;
+
+  // the friction factor of that surface material
+  double friction_factor;
+
+  // the rolling friction of that surface material
+  double rolling_friction;
+
+  // the bumpiness of that surface material
+  double bumpiness;
+
+  // the load resistance of that surface material
+  double load_resistance;
+
  // material properties
-  sgVec4 ambient, diffuse, specular, emission;
+  SGVec4f ambient, diffuse, specular, emission;
  double shininess;

+  // the list of names for this material. May be empty.
+  vector<string> _names;
+
  vector<SGSharedPtr<SGMatModelGroup> > object_groups;

+  // taxiway-/runway-sign texture elements
+  map<string, SGSharedPtr<SGMaterialGlyph> > glyphs;
+

  ////////////////////////////////////////////////////////////////////
  // Internal constructors and methods.
@@ -224,10 +303,41 @@ private:
  SGMaterial( const string &fg_root, const SGMaterial &mat ); // unimplemented

  void read_properties( const string &fg_root, const SGPropertyNode *props, const char *season );
-  void build_ssg_state( bool defer_tex_load );
-  void set_ssg_state( ssgSimpleState *s );
+  void build_state( bool defer_tex_load );
+  void set_state( osg::StateSet *s );

+  void assignTexture( osg::StateSet *state, const std::string &fname, int _wrapu = TRUE, int _wrapv = TRUE, int _mipmap = TRUE );

 };

+
+class SGMaterialGlyph : public SGReferenced {
+public:
+  SGMaterialGlyph(SGPropertyNode *);
+  inline double get_left() const { return _left; }
+  inline double get_right() const { return _right; }
+  inline double get_width() const { return _right - _left; }
+
+protected:
+  double _left;
+  double _right;
+};
+
+class SGMaterialUserData : public osg::Referenced {
+public:
+  SGMaterialUserData(const SGMaterial* material) :
+    mMaterial(material)
+  {}
+  const SGMaterial* getMaterial() const
+  { return mMaterial; }
+private:
+  SGSharedPtr<const SGMaterial> mMaterial;
+};
+
+void
+SGSetTextureFilter( int max);
+
+int
+SGGetTextureFilter();
+
 #endif // _SG_MAT_HXX 
@@ -42,10 +42,24 @@
 #include <string.h>
 #include STL_STRING

+#include <osg/AlphaFunc>
+#include <osg/BlendFunc>
+#include <osg/CullFace>
+#include <osg/Material>
+#include <osg/Point>
+#include <osg/PointSprite>
+#include <osg/PolygonMode>
+#include <osg/PolygonOffset>
+#include <osg/StateSet>
+#include <osg/TexEnv>
+#include <osg/TexGen>
+#include <osg/Texture2D>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/misc/sgstream.hxx>
 #include <simgear/props/props_io.hxx>
+#include <simgear/scene/tgdb/userdata.hxx>

 #include "mat.hxx"

@@ -54,126 +68,10 @@
 SG_USING_NAMESPACE(std);
 SG_USING_STD(string);

-
 // Constructor
 SGMaterialLib::SGMaterialLib ( void ) {
 }

-
-#if 0 // debugging infrastructure
-static int gen_test_light_map() {
-    static const int env_tex_res = 32;
-    int half_res = env_tex_res / 2;
-    unsigned char env_map[env_tex_res][env_tex_res][4];
-    GLuint tex_name;
-
-    for ( int i = 0; i < env_tex_res; ++i ) {
-        for ( int j = 0; j < env_tex_res; ++j ) {
-            double x = (i - half_res) / (double)half_res;
-            double y = (j - half_res) / (double)half_res;
-            double dist = sqrt(x*x + y*y);
-            if ( dist > 1.0 ) { dist = 1.0; }
-
-            // cout << x << "," << y << " " << (int)(dist * 255) << ","
-            //      << (int)((1.0 - dist) * 255) << endl;
-            env_map[i][j][0] = (int)(dist * 255);
-            env_map[i][j][1] = (int)((1.0 - dist) * 255);
-            env_map[i][j][2] = 0;
-            env_map[i][j][3] = 255;
-        }
-    }
-
-    glPixelStorei( GL_UNPACK_ALIGNMENT, 1 );
-    glGenTextures( 1, &tex_name );
-    glBindTexture( GL_TEXTURE_2D, tex_name );
-  
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
-    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA, env_tex_res, env_tex_res, 0,
-                  GL_RGBA, GL_UNSIGNED_BYTE, env_map);
-
-    return tex_name;
-}
-#endif
-
-
-// generate standard colored directional light environment texture map
-static int gen_standard_dir_light_map( int r, int g, int b, int alpha ) {
-    const int env_tex_res = 32;
-    int half_res = env_tex_res / 2;
-    unsigned char env_map[env_tex_res][env_tex_res][4];
-    GLuint tex_name;
-
-    for ( int i = 0; i < env_tex_res; ++i ) {
-        for ( int j = 0; j < env_tex_res; ++j ) {
-            double x = (i - half_res) / (double)half_res;
-            double y = (j - half_res) / (double)half_res;
-            double dist = sqrt(x*x + y*y);
-            if ( dist > 1.0 ) { dist = 1.0; }
-            double bright = cos( dist * SGD_PI_2 );
-            if ( bright < 0.3 ) { bright = 0.3; }
-            env_map[i][j][0] = r;
-            env_map[i][j][1] = g;
-            env_map[i][j][2] = b;
-            env_map[i][j][3] = (int)(bright * alpha);
-        }
-    }
-
-    glPixelStorei( GL_UNPACK_ALIGNMENT, 1 );
-    glGenTextures( 1, &tex_name );
-    glBindTexture( GL_TEXTURE_2D, tex_name );
-  
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
-    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA, env_tex_res, env_tex_res, 0,
-                  GL_RGBA, GL_UNSIGNED_BYTE, env_map);
-
-    return tex_name;
-}
-
-
-// generate standard colored directional light environment texture map
-static int gen_taxiway_dir_light_map( int r, int g, int b, int alpha ) {
-    const int env_tex_res = 32;
-    int half_res = env_tex_res / 2;
-    unsigned char env_map[env_tex_res][env_tex_res][4];
-    GLuint tex_name;
-
-    for ( int i = 0; i < env_tex_res; ++i ) {
-        for ( int j = 0; j < env_tex_res; ++j ) {
-            double x = (i - half_res) / (double)half_res;
-            double y = (j - half_res) / (double)half_res;
-            double tmp = sqrt(x*x + y*y);
-            double dist = tmp * tmp;
-            if ( dist > 1.0 ) { dist = 1.0; }
-            double bright = sin( dist * SGD_PI_2 );
-            if ( bright < 0.2 ) { bright = 0.2; }
-            env_map[i][j][0] = r;
-            env_map[i][j][1] = g;
-            env_map[i][j][2] = b;
-            env_map[i][j][3] = (int)(bright * alpha);
-        }
-    }
-
-    glPixelStorei( GL_UNPACK_ALIGNMENT, 1 );
-    glGenTextures( 1, &tex_name );
-    glBindTexture( GL_TEXTURE_2D, tex_name );
-  
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
-    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
-    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA, env_tex_res, env_tex_res, 0,
-                  GL_RGBA, GL_UNSIGNED_BYTE, env_map);
-
-    return tex_name;
-}
-
-
 // Load a library of material properties
 bool SGMaterialLib::load( const string &fg_root, const string& mpath, const char *season ) {

@@ -192,13 +90,14 @@ bool SGMaterialLib::load( const string &fg_root, const string& mpath, const char
    for (int i = 0; i < nMaterials; i++) {
        const SGPropertyNode * node = materials.getChild(i);
        if (!strcmp(node->getName(), "material")) {
-            SGSharedPtr<SGMaterial> m = new SGMaterial( fg_root, node, season );
+            SGSharedPtr<SGMaterial> m = new SGMaterial(fg_root, node, season);

            vector<SGPropertyNode_ptr>names = node->getChildren("name");
            for ( unsigned int j = 0; j < names.size(); j++ ) {
                string name = names[j]->getStringValue();
                // cerr << "Material " << name << endl;
                matlib[name] = m;
+                m->add_name(name);
                SG_LOG( SG_TERRAIN, SG_INFO, "  Loading material "
                        << names[j]->getStringValue() );
            }
@@ -208,263 +107,6 @@ bool SGMaterialLib::load( const string &fg_root, const string& mpath, const char
        }
    }

-    // hard coded ground light state
-    ssgSimpleState *gnd_lights = new ssgSimpleState;
-    gnd_lights->disable( GL_TEXTURE_2D );
-    gnd_lights->enable( GL_CULL_FACE );
-    gnd_lights->enable( GL_COLOR_MATERIAL );
-    gnd_lights->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
-    gnd_lights->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
-    gnd_lights->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
-    gnd_lights->enable( GL_BLEND );
-    gnd_lights->disable( GL_ALPHA_TEST );
-    gnd_lights->disable( GL_LIGHTING );
-    matlib["GROUND_LIGHTS"] = new SGMaterial( gnd_lights );
-
-    GLuint tex_name;
-
-    // hard coded runway white light state
-    tex_name = gen_standard_dir_light_map( 235, 235, 195, 255 );
-    ssgSimpleState *rwy_white_lights = new ssgSimpleState();
-    rwy_white_lights->disable( GL_LIGHTING );
-    rwy_white_lights->enable ( GL_CULL_FACE ) ;
-    rwy_white_lights->enable( GL_TEXTURE_2D );
-    rwy_white_lights->enable( GL_BLEND );
-    rwy_white_lights->enable( GL_ALPHA_TEST );
-    rwy_white_lights->enable( GL_COLOR_MATERIAL );
-    rwy_white_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_lights->setTexture( tex_name );
-    matlib["RWY_WHITE_LIGHTS"] = new SGMaterial( rwy_white_lights );
-    // For backwards compatibility ... remove someday
-    matlib["RUNWAY_LIGHTS"] = new SGMaterial( rwy_white_lights );
-    matlib["RWY_LIGHTS"] = new SGMaterial( rwy_white_lights );
-    // end of backwards compatitibilty
-
-    // hard coded runway medium intensity white light state
-    tex_name = gen_standard_dir_light_map( 235, 235, 195, 205 );
-    ssgSimpleState *rwy_white_medium_lights = new ssgSimpleState();
-    rwy_white_medium_lights->disable( GL_LIGHTING );
-    rwy_white_medium_lights->enable ( GL_CULL_FACE ) ;
-    rwy_white_medium_lights->enable( GL_TEXTURE_2D );
-    rwy_white_medium_lights->enable( GL_BLEND );
-    rwy_white_medium_lights->enable( GL_ALPHA_TEST );
-    rwy_white_medium_lights->enable( GL_COLOR_MATERIAL );
-    rwy_white_medium_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_medium_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_medium_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_medium_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_medium_lights->setTexture( tex_name );
-    matlib["RWY_WHITE_MEDIUM_LIGHTS"]
-        = new SGMaterial( rwy_white_medium_lights );
-
-    // hard coded runway low intensity white light state
-    tex_name = gen_standard_dir_light_map( 235, 235, 195, 155 );
-    ssgSimpleState *rwy_white_low_lights = new ssgSimpleState();
-    rwy_white_low_lights->disable( GL_LIGHTING );
-    rwy_white_low_lights->enable ( GL_CULL_FACE ) ;
-    rwy_white_low_lights->enable( GL_TEXTURE_2D );
-    rwy_white_low_lights->enable( GL_BLEND );
-    rwy_white_low_lights->enable( GL_ALPHA_TEST );
-    rwy_white_low_lights->enable( GL_COLOR_MATERIAL );
-    rwy_white_low_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_low_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_white_low_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_low_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_white_low_lights->setTexture( tex_name );
-    matlib["RWY_WHITE_LOW_LIGHTS"]
-        = new SGMaterial( rwy_white_low_lights );
-
-    // hard coded runway yellow light state
-    tex_name = gen_standard_dir_light_map( 235, 215, 20, 255 );
-    ssgSimpleState *rwy_yellow_lights = new ssgSimpleState();
-    rwy_yellow_lights->disable( GL_LIGHTING );
-    rwy_yellow_lights->enable ( GL_CULL_FACE ) ;
-    rwy_yellow_lights->enable( GL_TEXTURE_2D );
-    rwy_yellow_lights->enable( GL_BLEND );
-    rwy_yellow_lights->enable( GL_ALPHA_TEST );
-    rwy_yellow_lights->enable( GL_COLOR_MATERIAL );
-    rwy_yellow_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_lights->setTexture( tex_name );
-    matlib["RWY_YELLOW_LIGHTS"] = new SGMaterial( rwy_yellow_lights );
-
-    // hard coded runway medium intensity yellow light state
-    tex_name = gen_standard_dir_light_map( 235, 215, 20, 205 );
-    ssgSimpleState *rwy_yellow_medium_lights = new ssgSimpleState();
-    rwy_yellow_medium_lights->disable( GL_LIGHTING );
-    rwy_yellow_medium_lights->enable ( GL_CULL_FACE ) ;
-    rwy_yellow_medium_lights->enable( GL_TEXTURE_2D );
-    rwy_yellow_medium_lights->enable( GL_BLEND );
-    rwy_yellow_medium_lights->enable( GL_ALPHA_TEST );
-    rwy_yellow_medium_lights->enable( GL_COLOR_MATERIAL );
-    rwy_yellow_medium_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_medium_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_medium_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_medium_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_medium_lights->setTexture( tex_name );
-    matlib["RWY_YELLOW_MEDIUM_LIGHTS"]
-        = new SGMaterial( rwy_yellow_medium_lights );
-
-    // hard coded runway low intensity yellow light state
-    tex_name = gen_standard_dir_light_map( 235, 215, 20, 155 );
-    ssgSimpleState *rwy_yellow_low_lights = new ssgSimpleState();
-    rwy_yellow_low_lights->disable( GL_LIGHTING );
-    rwy_yellow_low_lights->enable ( GL_CULL_FACE ) ;
-    rwy_yellow_low_lights->enable( GL_TEXTURE_2D );
-    rwy_yellow_low_lights->enable( GL_BLEND );
-    rwy_yellow_low_lights->enable( GL_ALPHA_TEST );
-    rwy_yellow_low_lights->enable( GL_COLOR_MATERIAL );
-    rwy_yellow_low_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_low_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_yellow_low_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_low_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_yellow_low_lights->setTexture( tex_name );
-    matlib["RWY_YELLOW_LOW_LIGHTS"]
-        = new SGMaterial( rwy_yellow_low_lights );
-
-    // hard coded runway red light state
-    tex_name = gen_standard_dir_light_map( 235, 90, 90, 255 );
-    ssgSimpleState *rwy_red_lights = new ssgSimpleState();
-    rwy_red_lights->disable( GL_LIGHTING );
-    rwy_red_lights->enable ( GL_CULL_FACE ) ;
-    rwy_red_lights->enable( GL_TEXTURE_2D );
-    rwy_red_lights->enable( GL_BLEND );
-    rwy_red_lights->enable( GL_ALPHA_TEST );
-    rwy_red_lights->enable( GL_COLOR_MATERIAL );
-    rwy_red_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_lights->setTexture( tex_name );
-    matlib["RWY_RED_LIGHTS"]
-        = new SGMaterial( rwy_red_lights );
-
-    // hard coded medium intensity runway red light state
-    tex_name = gen_standard_dir_light_map( 235, 90, 90, 205 );
-    ssgSimpleState *rwy_red_medium_lights = new ssgSimpleState();
-    rwy_red_medium_lights->disable( GL_LIGHTING );
-    rwy_red_medium_lights->enable ( GL_CULL_FACE ) ;
-    rwy_red_medium_lights->enable( GL_TEXTURE_2D );
-    rwy_red_medium_lights->enable( GL_BLEND );
-    rwy_red_medium_lights->enable( GL_ALPHA_TEST );
-    rwy_red_medium_lights->enable( GL_COLOR_MATERIAL );
-    rwy_red_medium_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_medium_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_medium_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_medium_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_medium_lights->setTexture( tex_name );
-    matlib["RWY_RED_MEDIUM_LIGHTS"]
-        = new SGMaterial( rwy_red_medium_lights );
-
-    // hard coded low intensity runway red light state
-    tex_name = gen_standard_dir_light_map( 235, 90, 90, 155 );
-    ssgSimpleState *rwy_red_low_lights = new ssgSimpleState();
-    rwy_red_low_lights->disable( GL_LIGHTING );
-    rwy_red_low_lights->enable ( GL_CULL_FACE ) ;
-    rwy_red_low_lights->enable( GL_TEXTURE_2D );
-    rwy_red_low_lights->enable( GL_BLEND );
-    rwy_red_low_lights->enable( GL_ALPHA_TEST );
-    rwy_red_low_lights->enable( GL_COLOR_MATERIAL );
-    rwy_red_low_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_low_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_red_low_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_low_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_red_low_lights->setTexture( tex_name );
-    matlib["RWY_RED_LOW_LIGHTS"]
-        = new SGMaterial( rwy_red_low_lights );
-
-    // hard coded runway green light state
-    tex_name = gen_standard_dir_light_map( 20, 235, 20, 255 );
-    ssgSimpleState *rwy_green_lights = new ssgSimpleState();
-    rwy_green_lights->disable( GL_LIGHTING );
-    rwy_green_lights->enable ( GL_CULL_FACE ) ;
-    rwy_green_lights->enable( GL_TEXTURE_2D );
-    rwy_green_lights->enable( GL_BLEND );
-    rwy_green_lights->enable( GL_ALPHA_TEST );
-    rwy_green_lights->enable( GL_COLOR_MATERIAL );
-    rwy_green_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_lights->setTexture( tex_name );
-    matlib["RWY_GREEN_LIGHTS"]
-        = new SGMaterial( rwy_green_lights );
-
-    // hard coded medium intensity runway green light state
-    tex_name = gen_standard_dir_light_map( 20, 235, 20, 205 );
-    ssgSimpleState *rwy_green_medium_lights = new ssgSimpleState();
-    rwy_green_medium_lights->disable( GL_LIGHTING );
-    rwy_green_medium_lights->enable ( GL_CULL_FACE ) ;
-    rwy_green_medium_lights->enable( GL_TEXTURE_2D );
-    rwy_green_medium_lights->enable( GL_BLEND );
-    rwy_green_medium_lights->enable( GL_ALPHA_TEST );
-    rwy_green_medium_lights->enable( GL_COLOR_MATERIAL );
-    rwy_green_medium_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_medium_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_medium_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_medium_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_medium_lights->setTexture( tex_name );
-    matlib["RWY_GREEN_MEDIUM_LIGHTS"]
-        = new SGMaterial( rwy_green_medium_lights );
-
-    // hard coded low intensity runway green light state
-    tex_name = gen_standard_dir_light_map( 20, 235, 20, 155 );
-    ssgSimpleState *rwy_green_low_lights = new ssgSimpleState();
-    rwy_green_low_lights->disable( GL_LIGHTING );
-    rwy_green_low_lights->enable ( GL_CULL_FACE ) ;
-    rwy_green_low_lights->enable( GL_TEXTURE_2D );
-    rwy_green_low_lights->enable( GL_BLEND );
-    rwy_green_low_lights->enable( GL_ALPHA_TEST );
-    rwy_green_low_lights->enable( GL_COLOR_MATERIAL );
-    rwy_green_low_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_low_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_green_low_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_low_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    rwy_green_low_lights->setTexture( tex_name );
-    matlib["RWY_GREEN_LOW_LIGHTS"]
-        = new SGMaterial( rwy_green_low_lights );
-    matlib["RWY_GREEN_TAXIWAY_LIGHTS"]
-        = new SGMaterial( rwy_green_low_lights );
-
-    // hard coded low intensity taxiway blue light state
-    tex_name = gen_taxiway_dir_light_map( 90, 90, 235, 205 );
-    ssgSimpleState *taxiway_blue_low_lights = new ssgSimpleState();
-    taxiway_blue_low_lights->disable( GL_LIGHTING );
-    taxiway_blue_low_lights->enable ( GL_CULL_FACE ) ;
-    taxiway_blue_low_lights->enable( GL_TEXTURE_2D );
-    taxiway_blue_low_lights->enable( GL_BLEND );
-    taxiway_blue_low_lights->enable( GL_ALPHA_TEST );
-    taxiway_blue_low_lights->enable( GL_COLOR_MATERIAL );
-    taxiway_blue_low_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    taxiway_blue_low_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    taxiway_blue_low_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    taxiway_blue_low_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    taxiway_blue_low_lights->setTexture( tex_name );
-    matlib["RWY_BLUE_TAXIWAY_LIGHTS"]
-        = new SGMaterial( taxiway_blue_low_lights );
-
-    // hard coded runway vasi light state
-    tex_name = gen_standard_dir_light_map( 235, 235, 195, 255 );
-    ssgSimpleState *rwy_vasi_lights = new ssgSimpleState();
-    rwy_vasi_lights->disable( GL_LIGHTING );
-    rwy_vasi_lights->enable ( GL_CULL_FACE ) ;
-    rwy_vasi_lights->enable( GL_TEXTURE_2D );
-    rwy_vasi_lights->enable( GL_BLEND );
-    rwy_vasi_lights->enable( GL_ALPHA_TEST );
-    rwy_vasi_lights->enable( GL_COLOR_MATERIAL );
-    rwy_vasi_lights->setMaterial ( GL_AMBIENT, 1.0, 1.0, 1.0, 1.0 );
-    rwy_vasi_lights->setMaterial ( GL_DIFFUSE, 1.0, 1.0, 1.0, 1.0 );
-    rwy_vasi_lights->setMaterial ( GL_SPECULAR, 0.0, 0.0, 0.0, 0.0 );
-    rwy_vasi_lights->setMaterial ( GL_EMISSION, 0.0, 0.0, 0.0, 0.0 );
-    // rwy_vasi_lights->setTexture( gen_vasi_light_map_old() );
-    rwy_vasi_lights->setTexture( tex_name );
-    matlib["RWY_VASI_LIGHTS"] = new SGMaterial( rwy_vasi_lights );
-
    return true;
 }

@@ -491,18 +133,20 @@ bool SGMaterialLib::add_item ( const string &mat_name, const string &full_path )
 	    << mat_name << " (" << full_path << ")");

    matlib[mat_name] = new SGMaterial( full_path );
+    matlib[mat_name]->add_name(mat_name);

    return true;
 }


 // Load a library of material properties
-bool SGMaterialLib::add_item ( const string &mat_name, ssgSimpleState *state )
+bool SGMaterialLib::add_item ( const string &mat_name, osg::StateSet *state )
 {
    matlib[mat_name] = new SGMaterial( state );
+    matlib[mat_name]->add_name(mat_name);

    SG_LOG( SG_TERRAIN, SG_INFO, "  Loading material given a premade "
-	    << "ssgSimpleState = " << mat_name );
+	    << "osg::StateSet = " << mat_name );

    return true;
 }
@@ -538,3 +182,21 @@ void SGMaterialLib::load_next_deferred() {
 	  return;
    }
 }
+
+const SGMaterial*
+SGMaterialLib::findMaterial(const osg::StateSet* stateSet) const
+{
+  if (!stateSet)
+    return 0;
+  
+  const osg::Referenced* base = stateSet->getUserData();
+  if (!base)
+    return 0;
+
+  const SGMaterialUserData* matUserData
+    = dynamic_cast<const SGMaterialUserData*>(base);
+  if (!matUserData)
+    return 0;
+
+  return matUserData->getMaterial();
+}
--- a/Show More
+++ b/Show More