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
335 changed files with 24192 additions and 12305 deletions
--- a/5
+++ b/5
@@ -22,7 +22,7 @@ PROJECT_NAME           = SimGear
 # This could be handy for archiving the generated documentation or 
 # if some version control system is used.

-PROJECT_NUMBER         = 0.3.9
+PROJECT_NUMBER         = 0.3.10

 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
 # base path where the generated documentation will be put. 
@@ -303,16 +303,19 @@ INPUT                  = \
 	simgear/compiler.h \
 	simgear/constants.h \
 	simgear/debug \
+	simgear/environment \
 	simgear/ephemeris \
 	simgear/io \
 	simgear/magvar \
 	simgear/math \
 	simgear/misc \
+	simgear/nasal \
        simgear/props \
 	simgear/route \
 	simgear/scene \
 	simgear/screen \
 	simgear/serial \
+	simgear/structure \
 	simgear/sg_inlines.h \
 	simgear/sg_traits.hxx \
        simgear/sound \
--- a/Makefile.am
+++ b/Makefile.am
@@ -4,13 +4,15 @@ EXTRA_DIST = \
 	DoxygenMain.cxx \
 	README.MSVC \
 	README.zlib \
+	projects \
 	SimGear.dsp \
 	SimGear.dsw

-SUBDIRS	= src-libs simgear
+SUBDIRS	= simgear

 dist-hook:
 	(cd $(top_srcdir); $(HOME)/Projects/FlightGear/admin/am2dsp.pl)
+	rm -rf `find $(distdir)/projects -name CVS`

 #
 # Rule to build RPM distribution package
--- a/28
+++ b/28
@@ -1,3 +1,31 @@
+New in 0.3.10
+* April 5, 2006
+
+* Add a small accessor function to expose local timezone offset.
+* Improved exception handling and made output more helpful in various places.
+* Better pbuffer runtime detection.
+* Add directory creation capability to file/path library.
+* Added a basic reference counting class to improve robustness of
+  memory management in places.  Use this for all scenegraph
+  references, sgmaterial references, sgmatmodel references, and
+  sgsoundsample references.
+* Add support for point sprites.
+* Updates to rain cone rendering.
+* Add a new vector library and integrate that with improved coordinate
+  system conversion code.
+* Mutex locking and cleanup improvements in the threading abstraction
+  library.
+* Add MacOS RenderTexture support.
+* Add a Nasal based io libarary that is not activated by default.
+* Added a set of MS-VC8 project files.
+
+* Various platform related bug fixes.
+* Various compiler related bug/warning fixes.
+* Clean up some things that triggered valgrind warnings.
+* Fix a Nasal cmp() bug.
+* Removed ancient version of zlib from distribution.
+
+
 New in 0.3.9
 * November 17, 2005

--- a/README.zlib
+++ b/README.zlib
@@ -1,173 +1,8 @@
-For your convenience and allowed by zlib's license terms:
-http://www.gzip.org/zlib/zlib_license.html a copy of the zlib source
-is bundled with SimGear in $(top_srcdir)/src-libs/.  You must have
-zlib installed before you can build SimGear.
+zlib is prerequisite for compiling SimGear and FlightGear.  You can fetch
+the latest version of zlib from:

- Most linux distributions have a zlib package.  For linux
-  developers, we recommend ysou install your distributions package
-  rather than building from source.
+    http://www.zlib.net

- Cygwin installs zlib automatically.
+Most modern unix distributions (and cygwin) come with a version of zlib
+already installed or available to install as a package.

- For developers on most other platforms, you will have to build
-  zlib from source and install it yourself.  For your convenience a
-  tar ball of the zlib source is included with the simgear source
-  distribution.  Untar the zlib source, and follow the included
-  build and installation instructions.
-
-Once zlib is installed you can return to configuring and building
-Simgear.
-
-We now send you to the official zlib README ... 
-
-
-=============================================================================
-
-
-zlib 1.1.4 is a general purpose data compression library.  All the code
-is thread safe.  The data format used by the zlib library
-is described by RFCs (Request for Comments) 1950 to 1952 in the files 
-http://www.ietf.org/rfc/rfc1950.txt (zlib format), rfc1951.txt (deflate
-format) and rfc1952.txt (gzip format). These documents are also available in
-other formats from ftp://ftp.uu.net/graphics/png/documents/zlib/zdoc-index.html
-
-All functions of the compression library are documented in the file zlib.h
-(volunteer to write man pages welcome, contact jloup@gzip.org). A usage
-example of the library is given in the file example.c which also tests that
-the library is working correctly. Another example is given in the file
-minigzip.c. The compression library itself is composed of all source files
-except example.c and minigzip.c.
-
-To compile all files and run the test program, follow the instructions
-given at the top of Makefile. In short "make test; make install"
-should work for most machines. For Unix: "./configure; make test; make install"
-For MSDOS, use one of the special makefiles such as Makefile.msc.
-For VMS, use Make_vms.com or descrip.mms.
-
-Questions about zlib should be sent to <zlib@gzip.org>, or to
-Gilles Vollant <info@winimage.com> for the Windows DLL version.
-The zlib home page is http://www.zlib.org or http://www.gzip.org/zlib/
-Before reporting a problem, please check this site to verify that
-you have the latest version of zlib; otherwise get the latest version and
-check whether the problem still exists or not.
-
-PLEASE read the zlib FAQ http://www.gzip.org/zlib/zlib_faq.html
-before asking for help.
-
-Mark Nelson <markn@ieee.org> wrote an article about zlib for the Jan. 1997
-issue of  Dr. Dobb's Journal; a copy of the article is available in
-http://dogma.net/markn/articles/zlibtool/zlibtool.htm
-
-The changes made in version 1.1.4 are documented in the file ChangeLog.
-The only changes made since 1.1.3 are bug corrections:
-
- ZFREE was repeated on same allocation on some error conditions.
-  This creates a security problem described in
-  http://www.zlib.org/advisory-2002-03-11.txt
- Returned incorrect error (Z_MEM_ERROR) on some invalid data
- Avoid accesses before window for invalid distances with inflate window
-  less than 32K.
- force windowBits > 8 to avoid a bug in the encoder for a window size
-  of 256 bytes. (A complete fix will be available in 1.1.5).
-
-The beta version 1.1.5beta includes many more changes. A new official
-version 1.1.5 will be released as soon as extensive testing has been
-completed on it.
-
-
-Unsupported third party contributions are provided in directory "contrib".
-
-A Java implementation of zlib is available in the Java Development Kit
-http://www.javasoft.com/products/JDK/1.1/docs/api/Package-java.util.zip.html
-See the zlib home page http://www.zlib.org for details.
-
-A Perl interface to zlib written by Paul Marquess <pmarquess@bfsec.bt.co.uk>
-is in the CPAN (Comprehensive Perl Archive Network) sites
-http://www.cpan.org/modules/by-module/Compress/
-
-A Python interface to zlib written by A.M. Kuchling <amk@magnet.com>
-is available in Python 1.5 and later versions, see
-http://www.python.org/doc/lib/module-zlib.html
-
-A zlib binding for TCL written by Andreas Kupries <a.kupries@westend.com>
-is availlable at http://www.westend.com/~kupries/doc/trf/man/man.html
-
-An experimental package to read and write files in .zip format,
-written on top of zlib by Gilles Vollant <info@winimage.com>, is
-available at http://www.winimage.com/zLibDll/unzip.html
-and also in the contrib/minizip directory of zlib.
-
-
-Notes for some targets:
-
- To build a Windows DLL version, include in a DLL project zlib.def, zlib.rc
-  and all .c files except example.c and minigzip.c; compile with -DZLIB_DLL
-  The zlib DLL support was initially done by Alessandro Iacopetti and is
-  now maintained by Gilles Vollant <info@winimage.com>. Check the zlib DLL
-  home page at http://www.winimage.com/zLibDll
-
-  From Visual Basic, you can call the DLL functions which do not take
-  a structure as argument: compress, uncompress and all gz* functions.
-  See contrib/visual-basic.txt for more information, or get
-  http://www.tcfb.com/dowseware/cmp-z-it.zip
-
- For 64-bit Irix, deflate.c must be compiled without any optimization.
-  With -O, one libpng test fails. The test works in 32 bit mode (with
-  the -n32 compiler flag). The compiler bug has been reported to SGI.
-
- zlib doesn't work with gcc 2.6.3 on a DEC 3000/300LX under OSF/1 2.1   
-  it works when compiled with cc.
-
- on Digital Unix 4.0D (formely OSF/1) on AlphaServer, the cc option -std1
-  is necessary to get gzprintf working correctly. This is done by configure.
-
- zlib doesn't work on HP-UX 9.05 with some versions of /bin/cc. It works
-  with other compilers. Use "make test" to check your compiler.
-
- gzdopen is not supported on RISCOS, BEOS and by some Mac compilers.
-
- For Turbo C the small model is supported only with reduced performance to
-  avoid any far allocation; it was tested with -DMAX_WBITS=11 -DMAX_MEM_LEVEL=3
-
- For PalmOs, see http://www.cs.uit.no/~perm/PASTA/pilot/software.html
-  Per Harald Myrvang <perm@stud.cs.uit.no>
-
-
-Acknowledgments:
-
-  The deflate format used by zlib was defined by Phil Katz. The deflate
-  and zlib specifications were written by L. Peter Deutsch. Thanks to all the
-  people who reported problems and suggested various improvements in zlib;
-  they are too numerous to cite here.
-
-Copyright notice:
-
- (C) 1995-2002 Jean-loup Gailly and Mark Adler
-
-  This software is provided 'as-is', without any express or implied
-  warranty.  In no event will the authors be held liable for any damages
-  arising from the use of this software.
-
-  Permission is granted to anyone to use this software for any purpose,
-  including commercial applications, and to alter it and redistribute it
-  freely, subject to the following restrictions:
-
-  1. The origin of this software must not be misrepresented; you must not
-     claim that you wrote the original software. If you use this software
-     in a product, an acknowledgment in the product documentation would be
-     appreciated but is not required.
-  2. Altered source versions must be plainly marked as such, and must not be
-     misrepresented as being the original software.
-  3. This notice may not be removed or altered from any source distribution.
-
-  Jean-loup Gailly        Mark Adler
-  jloup@gzip.org          madler@alumni.caltech.edu
-
-If you use the zlib library in a product, we would appreciate *not*
-receiving lengthy legal documents to sign. The sources are provided
-for free but without warranty of any kind.  The library has been
-entirely written by Jean-loup Gailly and Mark Adler; it does not
-include third-party code.
-
-If you redistribute modified sources, we would appreciate that you include
-in the file ChangeLog history information documenting your changes.
--- a/SimGear.dsp
+++ b/SimGear.dsp
@@ -35,7 +35,7 @@ RSC=rc.exe
 # PROP Output_Dir "Release"
 # PROP Intermediate_Dir "Release"
 # PROP Target_Dir ""
-# ADD CPP /nologo /W3 /GX /O2 /D "NDEBUG" /D "WIN32" /D "_MBCS" /FD /c  /MT /I "." /I ".." /I ".\SimGear" /I ".\SimGear\metakit-2.4.3\include" /I "..\SimGear\zlib-1.1.4" /D "HAVE_CONFIG_H"
+# ADD CPP /nologo /W3 /GX /O2 /D "NDEBUG" /D "WIN32" /D "_MBCS" /FD /c  /MT /I "." /I ".." /I ".\SimGear" /I "..\zlib-1.2.3" /I "..\OpenAL 1.0 Software Development Kit\include" /D "_USE_MATH_DEFINES" /D "_CRT_SECURE_NO_DEPRECATE" /D "HAVE_CONFIG_H"
 # ADD RSC /l 0x409 /d "NDEBUG"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
@@ -51,7 +51,7 @@ LINK32=link.exe -lib
 # PROP Output_Dir "Debug"
 # PROP Intermediate_Dir "Debug"
 # PROP Target_Dir ""
-# ADD CPP /nologo /W3 /GX /ZI /Od /D "_DEBUG" /D "WIN32" /D "_MBCS" /FR /FD /GZ /c  /MT /I "." /I ".." /I ".\SimGear" /I ".\SimGear\metakit-2.4.3\include" /I "..\SimGear\zlib-1.1.4" /D "HAVE_CONFIG_H"
+# ADD CPP /nologo /W3 /GX /ZI /Od /D "_DEBUG" /D "WIN32" /D "_MBCS" /FR /FD /GZ /c  /MTd /I "." /I ".." /I ".\SimGear" /I "..\zlib-1.2.3" /I "..\OpenAL 1.0 Software Development Kit\include" /D "_USE_MATH_DEFINES" /D "_CRT_SECURE_NO_DEPRECATE" /D "HAVE_CONFIG_H"
 # ADD RSC /l 0x409 /d "_DEBUG"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
@@ -556,7 +556,7 @@ SOURCE=.\simgear\math\vector.cxx
 # End Source File
 # Begin Source File

-SOURCE=.\simgear\math\fastmath.cxx
+SOURCE=.\simgear\math\SGGeodesy.cxx

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

@@ -853,6 +853,51 @@ SOURCE=.\simgear\nasal\mathlib.c
 # End Source File
 # Begin Source File

+SOURCE=.\simgear\nasal\iolib.c
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgnasal"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgnasal"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\simgear\nasal\iolib.h
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgnasal"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgnasal"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
+SOURCE=.\simgear\nasal\bitslib.c
+
+!IF  "$(CFG)" == "SimGear - Win32 Release"
+
+# PROP Intermediate_Dir "Release\Lib_sgnasal"
+
+!ELSEIF  "$(CFG)" == "SimGear - Win32 Debug"
+
+# PROP Intermediate_Dir "Debug\Lib_sgnasal"
+
+!ENDIF 
+
+# End Source File
+# Begin Source File
+
 SOURCE=.\simgear\nasal\misc.c

 !IF  "$(CFG)" == "SimGear - Win32 Release"
@@ -1124,21 +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"
@@ -1184,7 +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"

@@ -1229,7 +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"

@@ -1244,7 +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"

@@ -1489,6 +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"
@@ -1745,6 +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"
--- a/SimGear.dsw
+++ b/SimGear.dsw
@@ -15,30 +15,6 @@ Package=<4>

 ###############################################################################

-Project: "mklib"=".\SimGear\metakit-2.4.3\win\msvc60\mklib.dsp" - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "zlib"=".\SimGear\zlib.dsp" - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
 Global:

 Package=<5>
--- a/21
+++ b/21
@@ -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.
--- a/am2dsp.cfg
+++ b/am2dsp.cfg
@@ -4,14 +4,13 @@ exclude_dir = threads
 include_path = .
 include_path = ..
 include_path = .\SimGear
-include_path = .\SimGear\metakit-2.4.3\include
-include_path = ..\SimGear\zlib-1.1.4
+include_path = ..\zlib-1.2.3
+include_path = "..\OpenAL 1.0 Software Development Kit\include"

+define = _USE_MATH_DEFINES
+define = _CRT_SECURE_NO_DEPRECATE
 define = HAVE_CONFIG_H

-add_project = .\SimGear\metakit-2.4.3\win\msvc60\mklib.dsp,mklib
-add_project = .\SimGear\zlib.dsp,zlib
-
 # Rule to create simgear_config.h
 add_source_file = SOURCE=.\simgear\simgear_config.h.vc5\
 \
--- a/configure.ac
+++ b/configure.ac
@@ -8,7 +8,7 @@ dnl Require at least automake 2.52
 AC_PREREQ(2.52)

 dnl Initialize the automake stuff
-AM_INIT_AUTOMAKE(SimGear, 0.3.9)
+AM_INIT_AUTOMAKE(SimGear, 0.3.10)

 dnl Specify KAI C++ compiler and flags.
 dnl Borrowed with slight modification from blitz distribution.
@@ -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*)
@@ -250,6 +258,9 @@ case "${host}" in

 esac

+AC_SEARCH_LIBS(glutGetModifiers, [ glut glut32 freeglut ], have_glut=yes, have_glut=no)
+AM_CONDITIONAL(HAVE_GLUT, test "x$have_glut" = "xyes")
+
 opengl_LIBS="$LIBS"
 LIBS="$base_LIBS"

@@ -258,10 +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"
@@ -387,6 +398,7 @@ fi
 dnl Checks for typedefs, structures, and compiler characteristics.
 AC_C_CONST
 AC_TYPE_SIZE_T
+AC_TYPE_MODE_T
 AC_HEADER_TIME
 AC_STRUCT_TM

@@ -405,7 +417,6 @@ AM_CONFIG_HEADER(simgear/simgear_config.h)
 AC_CONFIG_FILES([ \
 	Makefile \
 	SimGear.spec \
-	src-libs/Makefile \
 	simgear/Makefile \
 	simgear/version.h \
 	simgear/compatibility/Makefile \
@@ -427,6 +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 \
--- a/projects/VC7.1/.cvsignore
+++ b/projects/VC7.1/.cvsignore
@@ -0,0 +1,4 @@
+Debug
+Release
+SimGear.ncb
+SimGear.suo
--- a/projects/VC7.1/SimGear.sln
+++ b/projects/VC7.1/SimGear.sln
@@ -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
--- a/projects/VC7.1/SimGear.vcproj
+++ b/projects/VC7.1/SimGear.vcproj
--- a/projects/VC8/SimGear.sln
+++ b/projects/VC8/SimGear.sln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual C++ Express 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimGear", "SimGear.vcproj", "{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Debug|Win32.ActiveCfg = Debug|Win32
+		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Debug|Win32.Build.0 = Debug|Win32
+		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Release|Win32.ActiveCfg = Release|Win32
+		{952B5B5B-7FC8-4AE9-A664-333322BEEEB0}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
--- a/projects/VC8/SimGear.vcproj
+++ b/projects/VC8/SimGear.vcproj
--- a/simgear/Makefile.am
+++ b/simgear/Makefile.am
@@ -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
--- a/simgear/bucket/newbucket.cxx
+++ b/simgear/bucket/newbucket.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
@@ -45,6 +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) {
@@ -74,11 +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] );
@@ -136,6 +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;
--- a/simgear/bucket/newbucket.hxx
+++ b/simgear/bucket/newbucket.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
@@ -32,6 +31,7 @@

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

 #ifdef SG_HAVE_STD_INCLUDES
 #  include <cmath>
@@ -115,10 +115,10 @@ class SGBucket {

 private:
    double cx, cy;  // centerpoint (lon, lat) in degrees of bucket
-    int lon;        // longitude index (-180 to 179)
-    int lat;        // latitude index (-90 to 89)
-    int x;          // x subdivision (0 to 7)
-    int y;          // y subdivision (0 to 7)
+    short lon;        // longitude index (-180 to 179)
+    short lat;        // latitude index (-90 to 89)
+    char x;          // x subdivision (0 to 7)
+    char y;          // y subdivision (0 to 7)

 public:

@@ -134,6 +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
@@ -147,11 +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
@@ -166,6 +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
@@ -253,7 +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.

    /**
--- a/simgear/compiler.h
+++ b/simgear/compiler.h
@@ -11,10 +11,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 *
@@ -231,6 +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
--- a/simgear/constants.h
+++ b/simgear/constants.h
@@ -14,10 +14,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -32,9 +31,6 @@

 #include <simgear/compiler.h>

-#ifdef _MSC_VER
-#  define  _USE_MATH_DEFINES
-#endif
 #ifdef SG_HAVE_STD_INCLUDES
 #  include <cmath>
 #else
@@ -132,6 +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

--- a/simgear/debug/logstream.cxx
+++ b/simgear/debug/logstream.cxx
@@ -14,10 +14,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -26,6 +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;
--- a/simgear/debug/logstream.hxx
+++ b/simgear/debug/logstream.hxx
@@ -16,10 +16,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -140,6 +139,10 @@ public:
     */
    void set_sb( streambuf* sb );

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

    /** sync/flush */
@@ -155,6 +158,9 @@ private:
    static streambuf* sbuf;

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

@@ -185,7 +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();
@@ -194,7 +199,7 @@ logbuf::overflow( int c )
            freopen("conout$", "w", stderr);
            has_console = true;
        }
-        sbuf->sputc(c);
+        return sbuf->sputc(c);
    }
    else
        return EOF == 0 ? 1: 0;
--- a/simgear/environment/metar.cxx
+++ b/simgear/environment/metar.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -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>
@@ -107,7 +110,7 @@ SGMetar::SGMetar(const string& m, const string& proxy, const string& port,
 	scanType();
 	if (!scanId() || !scanDate()) {
 		delete[] _data;
-		throw sg_io_exception("metar data bogus (" + _url + ')');
+		throw sg_io_exception("metar data bogus ", sg_location(_url));
 	}
 	scanModifier();

@@ -133,7 +136,7 @@ SGMetar::SGMetar(const string& m, const string& proxy, const string& port,

 	if (_grpcount < 4) {
 		delete[] _data;
-		throw sg_io_exception("metar data incomplete (" + _url + ')');
+		throw sg_io_exception("metar data incomplete ", sg_location(_url));
 	}

 	_url = "";
@@ -196,7 +199,7 @@ char *SGMetar::loadData(const char *id, const string& proxy, const string& port,
 	sock->set_timeout(10000);
 	if (!sock->open(SG_IO_OUT)) {
 		delete sock;
-		throw sg_io_exception("cannot connect to " + host);
+		throw sg_io_exception("cannot connect to ", sg_location(host));
 	}

 	string get = "GET ";
@@ -218,7 +221,7 @@ char *SGMetar::loadData(const char *id, const string& proxy, const string& port,
 	while ((i = sock->readline(buf, buflen))) {
 		if (i <= 2 && isspace(buf[0]) && (!buf[1] || isspace(buf[1])))
 			break;
-		if (!strncmp(buf, "X-MetarProxy: ", 9))
+		if (!strncmp(buf, "X-MetarProxy: ", 13))
 			_x_proxy = true;
 	}
 	if (i) {
@@ -233,7 +236,8 @@ char *SGMetar::loadData(const char *id, const string& proxy, const string& port,
 	char *b = buf;
 	scanBoundary(&b);
 	if (*b == '<')
-		throw sg_io_exception("no metar data available from " + _url);
+		throw sg_io_exception("no metar data available from ", 
+				sg_location(_url));

 	char *metar = new char[strlen(b) + 2];	// make room for " \0"
 	strcpy(metar, b);
@@ -608,56 +612,56 @@ bool SGMetar::scanRwyVisRange()


 static const struct Token special[] = {
-	"NSW",	"no significant weather",
-	"VCSH",	"showers in the vicinity",
-	"VCTS",	"thunderstorm in the vicinity",
-	0, 0
+	{ "NSW",  "no significant weather" },
+	{ "VCSH", "showers in the vicinity" },
+	{ "VCTS", "thunderstorm in the vicinity" },
+	{ 0, 0 }
 };


 static const struct Token description[] = {
-	"SH",	"showers of",
-	"TS",	"thunderstorm with",
-	"BC",	"patches of",
-	"BL",	"blowing",
-	"DR",	"low drifting",
-	"FZ",	"freezing",
-	"MI",	"shallow",
-	"PR",	"partial",
-	0, 0
+	{ "SH", "showers of" },
+	{ "TS", "thunderstorm with" },
+	{ "BC", "patches of" },
+	{ "BL", "blowing" },
+	{ "DR", "low drifting" },
+	{ "FZ", "freezing" },
+	{ "MI", "shallow" },
+	{ "PR", "partial" },
+	{ 0, 0 }
 };


 static const struct Token phenomenon[] = {
-	"DZ",	"drizzle",
-	"GR",	"hail",
-	"GS",	"small hail and/or snow pellets",
-	"IC",	"ice crystals",
-	"PE",	"ice pellets",
-	"RA",	"rain",
-	"SG",	"snow grains",
-	"SN",	"snow",
-	"UP",	"unknown precipitation",
-	"BR",	"mist",
-	"DU",	"widespread dust",
-	"SG",	"fog",
-	"SGBR",	"fog bank",
-	"FU",	"smoke",
-	"HZ",	"haze",
-	"PY",	"spray",
-	"SA",	"sand",
-	"VA",	"volcanic ash",
-	"DS",	"duststorm",
-	"FC",	"funnel cloud/tornado waterspout",
-	"PO",	"well-developed dust/sand whirls",
-	"SQ",	"squalls",
-	"SS",	"sandstorm",
-	"UP",	"unknown",	// ... due to failed automatic acquisition
-	0, 0
+	{ "DZ",   "drizzle" },
+	{ "GR",   "hail" },
+	{ "GS",   "small hail and/or snow pellets" },
+	{ "IC",   "ice crystals" },
+	{ "PE",   "ice pellets" },
+	{ "RA",   "rain" },
+	{ "SG",   "snow grains" },
+	{ "SN",   "snow" },
+	{ "UP",   "unknown precipitation" },
+	{ "BR",   "mist" },
+	{ "DU",   "widespread dust" },
+	{ "FG",   "fog" },
+	{ "FGBR", "fog bank" },
+	{ "FU",   "smoke" },
+	{ "HZ",   "haze" },
+	{ "PY",   "spray" },
+	{ "SA",   "sand" },
+	{ "VA",   "volcanic ash" },
+	{ "DS",   "duststorm" },
+	{ "FC",   "funnel cloud/tornado waterspout" },
+	{ "PO",   "well-developed dust/sand whirls" },
+	{ "SQ",   "squalls" },
+	{ "SS",   "sandstorm" },
+	{ "UP",   "unknown" },	// ... due to failed automatic acquisition
+	{ 0, 0 }
 };


-// (+|-|VC)?(NSW|MI|PR|BC|DR|BL|SH|TS|FZ)?((DZ|RA|SN|SG|IC|PE|GR|GS|UP){0,3})(BR|SG|FU|VA|DU|SA|HZ|PY|PO|SQ|FC|SS|DS){0,3}
+// (+|-|VC)?(NSW|MI|PR|BC|DR|BL|SH|TS|FZ)?((DZ|RA|SN|SG|IC|PE|GR|GS|UP){0,3})(BR|FG|FU|VA|DU|SA|HZ|PY|PO|SQ|FC|SS|DS){0,3}
 bool SGMetar::scanWeather()
 {
 	char *m = _m;
@@ -713,26 +717,26 @@ bool SGMetar::scanWeather()


 static const struct Token cloud_types[] = {
-	"AC",	 "altocumulus",
-	"ACC",	 "altocumulus castellanus",
-	"ACSL",	 "altocumulus standing lenticular",
-	"AS",	 "altostratus",
-	"CB",	 "cumulonimbus",
-	"CBMAM", "cumulonimbus mammatus",
-	"CC",	 "cirrocumulus",
-	"CCSL",	 "cirrocumulus standing lenticular",
-	"CI",	 "cirrus",
-	"CS",	 "cirrostratus",
-	"CU",	 "cumulus",
-	"CUFRA", "cumulus fractus",
-	"NS",	 "nimbostratus",
-	"SAC",	 "stratoaltocumulus",		// guessed
-	"SC",	 "stratocumulus",
-	"SCSL",	 "stratocumulus standing lenticular",
-	"ST",	 "stratus",
-	"STFRA", "stratus fractus",
-	"TCU",	 "towering cumulus",
-	0, 0
+	{ "AC",    "altocumulus" },
+	{ "ACC",   "altocumulus castellanus" },
+	{ "ACSL",  "altocumulus standing lenticular" },
+	{ "AS",    "altostratus" },
+	{ "CB",    "cumulonimbus" },
+	{ "CBMAM", "cumulonimbus mammatus" },
+	{ "CC",    "cirrocumulus" },
+	{ "CCSL",  "cirrocumulus standing lenticular" },
+	{ "CI",    "cirrus" },
+	{ "CS",    "cirrostratus" },
+	{ "CU",    "cumulus" },
+	{ "CUFRA", "cumulus fractus" },
+	{ "NS",    "nimbostratus" },
+	{ "SAC",   "stratoaltocumulus" },		// guessed
+	{ "SC",    "stratocumulus" },
+	{ "SCSL",  "stratocumulus standing lenticular" },
+	{ "ST",    "stratus" },
+	{ "STFRA", "stratus fractus" },
+	{ "TCU",   "towering cumulus" },
+	{ 0, 0 }
 };


@@ -743,6 +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
@@ -832,7 +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')
@@ -957,11 +969,13 @@ bool SGMetar::scanRunwayReport()
 			m++;
 		else
 			return false;
+
 		if (*m == '1' || *m == '2' || *m == '5' || *m == '9') {	// extent of deposit
 			r._extent = *m - '0';
 			r._extent_string = runway_deposit_extent[*m - '0'];
 		} else if (*m != '/')
 			return false;
+
 		m++;
 		i = -1;
 		if (!strncmp(m, "//", 2))
@@ -970,7 +984,7 @@ bool SGMetar::scanRunwayReport()
 			return false;

 		if (i == 0)
-			r._depth = 0.5;					// < 1 mm deep (let's say 0.5 :-)
+			r._depth = 0.0005;				// < 1 mm deep (let's say 0.5 :-)
 		else if (i > 0 && i <= 90)
 			r._depth = i / 1000.0;				// i mm deep
 		else if (i >= 92 && i <= 98)
@@ -996,6 +1010,7 @@ bool SGMetar::scanRunwayReport()
 		return false;

 	_runways[id]._deposit = r._deposit;
+	_runways[id]._deposit_string = r._deposit_string;
 	_runways[id]._extent = r._extent;
 	_runways[id]._extent_string = r._extent_string;
 	_runways[id]._depth = r._depth;
@@ -1075,13 +1090,13 @@ bool SGMetar::scanTrendForecast()

 // (BLU|WHT|GRN|YLO|AMB|RED)
 static const struct Token colors[] = {
-	"BLU", "Blue",		// 2500 ft,  8.0 km
-	"WHT", "White",		// 1500 ft,  5.0 km
-	"GRN", "Green",		//  700 ft,  3.7 km
-	"YLO", "Yellow",	//  300 ft,  1.6 km
-	"AMB", "Amber",		//  200 ft,  0.8 km
-	"RED", "Red",		// <200 ft, <0.8 km
-	0, 0
+	{ "BLU", "Blue" },      // 2500 ft,  8.0 km
+	{ "WHT", "White" },     // 1500 ft,  5.0 km
+	{ "GRN", "Green" },     //  700 ft,  3.7 km
+	{ "YLO", "Yellow" },	//  300 ft,  1.6 km
+	{ "AMB", "Amber" },     //  200 ft,  0.8 km
+	{ "RED", "Red" },       // <200 ft, <0.8 km
+	{ 0, 0 }
 };


--- a/simgear/environment/metar.hxx
+++ b/simgear/environment/metar.hxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/environment/visual_enviro.cxx
+++ b/simgear/environment/visual_enviro.cxx
@@ -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
 //
@@ -16,16 +19,16 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 //
-
 #ifdef HAVE_CONFIG_H
 #  include <simgear_config.h>
 #endif

-#include <plib/sg.h>
 #include <simgear/constants.h>
+#include <simgear/structure/SGReferenced.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
 #include <simgear/math/sg_random.h>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/math/point3d.hxx>
@@ -33,6 +36,7 @@
 #include <simgear/sound/soundmgr_openal.hxx>
 #include <simgear/scene/sky/cloudfield.hxx>
 #include <simgear/scene/sky/newcloud.hxx>
+#include <simgear/props/props.hxx>
 #include "visual_enviro.hxx"

 #include <vector>
@@ -50,6 +54,85 @@ typedef struct {
 static float rainpos[MAX_RAIN_SLICE];
 #define MAX_LT_TREE_SEG	400

+#define DFL_MIN_LIGHT 0.35
+sgVec3 SGEnviro::min_light = {DFL_MIN_LIGHT, DFL_MIN_LIGHT, DFL_MIN_LIGHT};
+#define DFL_STREAK_BRIGHT_NEARMOST_LAYER 0.9
+SGfloat SGEnviro::streak_bright_nearmost_layer = DFL_STREAK_BRIGHT_NEARMOST_LAYER;
+#define DFL_STREAK_BRIGHT_FARMOST_LAYER 0.5
+SGfloat SGEnviro::streak_bright_farmost_layer = DFL_STREAK_BRIGHT_FARMOST_LAYER;
+#define DFL_STREAK_PERIOD_MAX 2.5
+SGfloat SGEnviro::streak_period_max = DFL_STREAK_PERIOD_MAX;
+#define DFL_STREAK_PERIOD_CHANGE_PER_KT 0.005
+SGfloat SGEnviro::streak_period_change_per_kt = DFL_STREAK_PERIOD_CHANGE_PER_KT;
+#define DFL_STREAK_PERIOD_MIN 1.0
+SGfloat SGEnviro::streak_period_min = DFL_STREAK_PERIOD_MIN;
+#define DFL_STREAK_LENGTH_MIN 0.03
+SGfloat SGEnviro::streak_length_min = DFL_STREAK_LENGTH_MIN;
+#define DFL_STREAK_LENGTH_CHANGE_PER_KT 0.0005
+SGfloat SGEnviro::streak_length_change_per_kt = DFL_STREAK_LENGTH_CHANGE_PER_KT;
+#define DFL_STREAK_LENGTH_MAX 0.1
+SGfloat SGEnviro::streak_length_max = DFL_STREAK_LENGTH_MAX;
+#define DFL_STREAK_COUNT_MIN 40
+int SGEnviro::streak_count_min = DFL_STREAK_COUNT_MIN;
+#define DFL_STREAK_COUNT_MAX 190
+#if (DFL_STREAK_COUNT_MAX > MAX_RAIN_SLICE)
+#error "Bad default!"
+#endif
+int SGEnviro::streak_count_max = DFL_STREAK_COUNT_MAX;
+#define DFL_CONE_BASE_RADIUS 15.0
+SGfloat SGEnviro::cone_base_radius = DFL_CONE_BASE_RADIUS;
+#define DFL_CONE_HEIGHT 30.0
+SGfloat SGEnviro::cone_height = DFL_CONE_HEIGHT;
+
+
+void SGEnviro::config(const SGPropertyNode* n)
+{
+	if (!n)
+		return;
+
+	const float ml = n->getFloatValue("min-light", DFL_MIN_LIGHT);
+	sgSetVec3(min_light, ml, ml, ml);
+
+	streak_bright_nearmost_layer = n->getFloatValue(
+			"streak-brightness-nearmost-layer",
+			DFL_STREAK_BRIGHT_NEARMOST_LAYER);
+	streak_bright_farmost_layer = n->getFloatValue(
+			"streak-brightness-farmost-layer",
+			DFL_STREAK_BRIGHT_FARMOST_LAYER);
+
+	streak_period_max = n->getFloatValue(
+			"streak-period-max",
+			DFL_STREAK_PERIOD_MAX);
+	streak_period_min = n->getFloatValue(
+			"streak-period-min",
+			DFL_STREAK_PERIOD_MIN);
+	streak_period_change_per_kt = n->getFloatValue(
+			"streak-period-change-per-kt",
+			DFL_STREAK_PERIOD_CHANGE_PER_KT);
+
+	streak_length_max = n->getFloatValue(
+			"streak-length-max",
+			DFL_STREAK_LENGTH_MAX);
+	streak_length_min = n->getFloatValue(
+			"streak-length-min",
+			DFL_STREAK_LENGTH_MIN);
+	streak_length_change_per_kt = n->getFloatValue(
+			"streak-length-change-per-kt",
+			DFL_STREAK_LENGTH_CHANGE_PER_KT);
+
+	streak_count_min = n->getIntValue(
+			"streak-count-min", DFL_STREAK_COUNT_MIN);
+	streak_count_max = n->getIntValue(
+			"streak-count-max", DFL_STREAK_COUNT_MAX);
+	if (streak_count_max > MAX_RAIN_SLICE)
+		streak_count_max = MAX_RAIN_SLICE;
+
+	cone_base_radius = n->getFloatValue(
+			"cone-base-radius", DFL_CONE_BASE_RADIUS);
+	cone_height = n->getFloatValue("cone_height", DFL_CONE_HEIGHT);
+}
+
+
 /**
 * A class to render lightnings.
 */
@@ -84,23 +167,23 @@ static list_of_lightning lightnings;

 SGEnviro sgEnviro;

-SGEnviro::SGEnviro(void) :
+SGEnviro::SGEnviro() :
 	view_in_cloud(false),
-	turbulence_enable_state(false),
 	precipitation_enable_state(true),
+	precipitation_density(100.0),
+	precipitation_max_alt(0.0),
+	turbulence_enable_state(false),
+	last_cloud_turbulence(0.0),
+	cloud_turbulence(0.0),
 	lightning_enable_state(false),
+	elapsed_time(0.0),
+	dt(0.0),
 	soundMgr(NULL),
 	snd_active(false),
 	snd_dist(0.0),
-	last_cloud_turbulence(0.0),
-	cloud_turbulence(0.0),
-	elapsed_time(0.0),
-	dt(0.0),
 	min_time_before_lt(0.0),
 	fov_width(55.0),
-	fov_height(55.0),
-	precipitation_max_alt(0.0),
-	precipitation_density(100.0)
+	fov_height(55.0)

 {
 	for(int i = 0; i < MAX_RAIN_SLICE ; i++)
@@ -109,6 +192,8 @@ SGEnviro::SGEnviro(void) :
 }

 SGEnviro::~SGEnviro(void) {
+  // OSGFIXME
+  return;
 	list_of_lightning::iterator iLightning;
 	for( iLightning = lightnings.begin() ; iLightning != lightnings.end() ; iLightning++ ) {
 		delete (*iLightning);
@@ -117,6 +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)
@@ -239,13 +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 familly, 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
@@ -255,7 +344,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int famill
 	// http://www.pilotfriend.com/flight_training/weather/THUNDERSTORM%20HAZARDS1.htm
 	double turbulence = 0.0;
 	if( dist < radius * radius * 2.25f ) {
-		switch(familly) {
+		switch(family) {
 			case SGNewCloud::CLFamilly_st:
 				turbulence = 0.2;
 				break;
@@ -290,7 +379,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int famill
 	// convert to LWC for radar (experimental)
 	// http://www-das.uwyo.edu/~geerts/cwx/notes/chap08/moist_cloud.html
 	double LWC = 0.0;
-	switch(familly) {
+	switch(family) {
 		case SGNewCloud::CLFamilly_st:
 			LWC = 0.29;
 			break;
@@ -317,14 +406,15 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int famill
 			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

 	// spawn a new lightning
-	if(lightning_enable_state && min_time_before_lt <= 0.0 && (familly == SGNewCloud::CLFamilly_cb) &&
+	if(lightning_enable_state && min_time_before_lt <= 0.0 && (family == SGNewCloud::CLFamilly_cb) &&
 		dist < 15000.0 * 15000.0 && sg_random() > 0.9f) {
 		double lat, lon;
 		Point3D orig, dest;
@@ -332,7 +422,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int famill
 		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 );
@@ -343,7 +433,7 @@ void SGEnviro::callback_cloud(float heading, float alt, float radius, int famill
 //		min_time_before_lt = 5.0;
 	}
 	if( (alt - radius * 0.1) > precipitation_max_alt )
-		switch(familly) {
+		switch(family) {
 			case SGNewCloud::CLFamilly_st:
 			case SGNewCloud::CLFamilly_cu:
 			case SGNewCloud::CLFamilly_cb:
@@ -360,26 +450,27 @@ 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;
-	sgVec3 min_light = {0.35, 0.35, 0.35};
 	sgAddVec3( light, fog_color, min_light );
 	float da = SG_PI * 2.0f / (float) slices;
 	// low number = faster
-	float speedf = 2.5f - speed / 200.0;
-	if( speedf < 1.0f )
-		speedf = 1.0f;
-	float lenf = 0.03f + speed / 2000.0;
-	if( lenf > 0.10f )
-		lenf = 0.10f;
+	float speedf = streak_period_max - speed * streak_period_change_per_kt;
+	if( speedf < streak_period_min )
+		speedf = streak_period_min;
+	float lenf = streak_length_min + speed * streak_length_change_per_kt;
+	if( lenf > streak_length_max )
+		lenf = streak_length_max;
    float t = fmod((float) elapsed_time, speedf) / speedf;
 //	t = 0.1f;
 	if( !down )
 		t = 1.0f - t;
 	float angle = 0.0f;
-	glColor4f(1.0f, 0.7f, 0.7f, 0.9f);
+	//glColor4f(1.0f, 0.7f, 0.7f, 0.9f); // XXX unneeded? overriden below
 	glBegin(GL_LINES);
-	int rainpos_indice = 0;
+	if (slices >  MAX_RAIN_SLICE)
+		slices = MAX_RAIN_SLICE; // should never happen
 	for( int i = 0 ; i < slices ; i++ ) {
 		float x = cos(angle) * baseRadius;
 		float y = sin(angle) * baseRadius;
@@ -387,12 +478,14 @@ void SGEnviro::DrawCone2(float baseRadius, float height, int slices, bool down,
 		sgVec3 dir = {x, -height, y};

 		// rain drops at 2 different speed to simulate depth
-		float t1 = (i & 1 ? t : t + t) + rainpos[rainpos_indice];
+		float t1 = (i & 1 ? t : t + t) + rainpos[i];
 		if(t1 > 1.0f)	t1 -= 1.0f;
 		if(t1 > 1.0f)	t1 -= 1.0f;

 		// distant raindrops are more transparent
-		float c = (i & 1 ? t1 * 0.5f : t1 * 0.9f);
+		float c = t1 * (i & 1 ?
+				streak_bright_farmost_layer
+				: streak_bright_nearmost_layer);
 		glColor4f(c * light[0], c * light[1], c * light[2], c);
 		sgVec3 p1, p2;
 		sgScaleVec3(p1, dir, t1);
@@ -402,13 +495,30 @@ void SGEnviro::DrawCone2(float baseRadius, float height, int slices, bool down,

 		glVertex3f(p1[0], p1[1] + height, p1[2]);
 		glVertex3f(p2[0], p2[1] + height, p2[2]);
-		if( ++rainpos_indice >= MAX_RAIN_SLICE )
-			rainpos_indice = 0;
 	}
 	glEnd();
 }

-void SGEnviro::drawRain(double pitch, double roll, double heading, double speed, double rain_norm) {
+void SGEnviro::drawRain(double pitch, double roll, double heading, double hspeed, double rain_norm) {
+  // OSGFIXME
+  return;
+
+#if 0
+	static int debug_period = 0;
+	if (debug_period++ == 50) {
+		debug_period = 0;
+		cout << "drawRain("
+			<< pitch << ", "
+			<< roll  << ", "
+			<< heading << ", "
+			<< hspeed << ", "
+			<< rain_norm << ");"
+			//" angle = " << angle
+			//<< " raindrop(KTS) = " << raindrop_speed_kts
+			<< endl;
+	}
+#endif
+

 	glBindTexture(GL_TEXTURE_2D, 0);

@@ -419,25 +529,33 @@ void SGEnviro::drawRain(double pitch, double roll, double heading, double speed,
 	glDisable( GL_FOG );
 	glDisable(GL_LIGHTING);

-	int slice_count = (40.0 + rain_norm*150.0)* precipitation_density / 100.0;
+	int slice_count = static_cast<int>(
+			(streak_count_min + rain_norm*(streak_count_max-streak_count_min))
+				* precipitation_density / 100.0);

-	float angle = speed;
-	if( angle > 90.0 )
-		angle = 90.0;
+	// www.wonderquest.com/falling-raindrops.htm says that
+	// Raindrop terminal velocity is 5 to 20mph
+	// Rather than model it accurately (temp, pressure, diameter), and make it
+	// smaller than terminal when closer to the precipitation cloud base,
+	// we interpolate in the 5-20mph range according to rain_norm.
+	double raindrop_speed_kts
+		= (5.0 + rain_norm*15.0) * SG_MPH_TO_MPS * SG_MPS_TO_KT;

+	float angle = atanf(hspeed / raindrop_speed_kts) * SG_RADIANS_TO_DEGREES;
 	glPushMatrix();
-		// TODO:find the real view orientation, not the AC one
-		// the cone rotate with speed
+		// the cone rotate with hspeed
 		angle = -pitch - angle;
+		glRotatef(roll, 0.0, 0.0, 1.0);
+		glRotatef(heading, 0.0, 1.0, 0.0);
 		glRotatef(angle, 1.0, 0.0, 0.0);
-		glRotatef(roll, 0.0, 1.0, 0.0);
-		glRotatef(heading, 0.0, 0.0, 1.0);

 		// up cone
-		DrawCone2(15.0, 30.0, slice_count, true, rain_norm, speed);
+		DrawCone2(cone_base_radius, cone_height, 
+				slice_count, true, rain_norm, hspeed);
 		// down cone (usually not visible)
 		if(angle > 0.0 || heading != 0.0)
-			DrawCone2(15.0, -30.0, slice_count, false, rain_norm, speed);
+			DrawCone2(cone_base_radius, -cone_height, 
+					slice_count, false, rain_norm, hspeed);

 	glPopMatrix();

@@ -452,19 +570,21 @@ void SGEnviro::set_soundMgr(SGSoundMgr *mgr) {
 	soundMgr = mgr;
 }

-void SGEnviro::drawPrecipitation(double rain_norm, double snow_norm, double hail_norm, double pitch, double roll, double heading, double speed) {
+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, speed, rain_norm);
+		drawRain(pitch, roll, heading, hspeed, rain_norm);
 }


 SGLightning::SGLightning(double _lon, double _lat, double _alt) :
+	nb_tree(0),
 	lon(_lon),
 	lat(_lat),
 	alt(_alt),
-	age(1.0 + sg_random() * 4.0),
-	nb_tree(0)
+	age(1.0 + sg_random() * 4.0)
 {
 //	sequence_count = 1 + sg_random() * 5.0;
 	lt_build();
@@ -475,6 +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;
@@ -500,7 +622,7 @@ void SGLightning::lt_build_tree_branch(int tree_nr, Point3D &start, float energy
        nseg++;
 		// add a branch
        if( energy * sg_random() > 0.8f )
-			lt_build_tree_branch(tree_nr + 1, pt, energy * 0.9f, nbseg == 50 ? 10 : nbseg * 0.4f, segsize * 0.7f);
+			lt_build_tree_branch(tree_nr + 1, pt, energy * 0.9f, nbseg == 50 ? 10 : static_cast<int>(nbseg * 0.4f), segsize * 0.7f);

 		if( nb_tree >= MAX_LT_TREE_SEG )
 			return;
@@ -522,6 +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 ;
@@ -547,6 +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;
@@ -555,11 +681,12 @@ void SGLightning::lt_Render(void) {
 	sgVec4 c;

 #define DRAW_SEG() \
-			{glBegin(GL_LINES); \
+			{glColorMaterial(GL_FRONT, GL_EMISSION);  \
+			glDisable(GL_LINE_SMOOTH); glBegin(GL_LINES); \
 				glColor4fv(c); \
                glVertex3f(lt_tree[n].pt[PX], lt_tree[n].pt[PZ], lt_tree[n].pt[PY]); \
                glVertex3f(lt_tree[lt_tree[n].prev].pt[PX], lt_tree[lt_tree[n].prev].pt[PZ], lt_tree[lt_tree[n].prev].pt[PY]); \
-			glEnd();}
+			glEnd(); glEnable(GL_LINE_SMOOTH);}

 	glDepthMask( GL_FALSE );
 	glEnable(GL_BLEND);
@@ -570,10 +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 );
@@ -585,7 +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 )
@@ -631,6 +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);
@@ -638,6 +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 )
@@ -654,7 +787,7 @@ void SGEnviro::drawLightning(void) {
 				double ax = 0.0, ay = 0.0;
 				ax = cos(course) * dist;
 				ay = sin(course) * dist;
-				SGSoundSample *snd = soundMgr->find("thunder");
+				SGSharedPtr<SGSoundSample> snd = soundMgr->find("thunder");
 				if( snd ) {
 					ALfloat pos[3]={ax, ay, -sgEnviro.last_alt };
 					snd->set_source_pos(pos);
--- a/simgear/environment/visual_enviro.hxx
+++ b/simgear/environment/visual_enviro.hxx
@@ -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
 //
@@ -16,12 +19,14 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 //
 #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;
 };
@@ -90,11 +104,31 @@ private:

 	/** a list of all the radar echo. */
 	list_of_SGWxRadarEcho radarEcho;
+	static sgVec3 min_light;
+	static SGfloat streak_bright_nearmost_layer,
+				   streak_bright_farmost_layer,
+				   streak_period_max,
+				   streak_period_change_per_kt,
+				   streak_period_min,
+				   streak_length_min,
+				   streak_length_change_per_kt,
+				   streak_length_max;
+	static int streak_count_min, streak_count_max;
+	static SGfloat cone_base_radius,
+				   cone_height;

 public:
 	SGEnviro();
 	~SGEnviro();

+	/** Read the config from the precipitation rendering config properties.
+	 * @param precip_rendering_cfgNode "/sim/rendering/precipitation" in fg
+	 * Set from whatever info present in the
+	 * subnodes passed, substituting hardwired defaults for missing fields.
+	 * If NULL is given, do nothing.
+	 */
+	void config(const class SGPropertyNode* precip_rendering_cfgNode);
+
    /**
     * Forward a few states used for renderings.
     */
@@ -107,12 +141,12 @@ public:
     * @param heading direction of cloud in radians
     * @param alt asl of cloud in meters
     * @param radius radius of cloud in meters
-     * @param familly cloud familly
+     * @param family cloud family
     * @param dist  squared dist to cloud in meters
     */
-	void callback_cloud(float heading, float alt, float radius, int familly, float dist, int cloudId);
+	void callback_cloud(float heading, float alt, float radius, int family, float dist, int cloudId);

-	void drawRain(double pitch, double roll, double heading, double speed, double rain_norm);
+	void drawRain(double pitch, double roll, double heading, double hspeed, double rain_norm);
    /**
     * Draw rain or snow precipitation around the viewer.
     * @param rain_norm rain normalized intensity given by metar class
@@ -120,10 +154,10 @@ public:
     * @param hail_norm hail normalized intensity given by metar class
     * @param pitch pitch rotation of viewer
     * @param roll roll rotation of viewer
-     * @param speed moving speed of viewer in kt
+     * @param hspeed moving horizontal speed of viewer in kt
     */
 	void drawPrecipitation(double rain_norm, double snow_norm, double hail_norm,
-							double pitch, double roll, double heading, double speed);
+							double pitch, double roll, double heading, double hspeed);

    /**
     * Draw the lightnings spawned by cumulo nimbus.
@@ -186,6 +220,12 @@ public:
 	float get_precipitation_density(void) const;
 	bool get_precipitation_enable_state(void) const;

+	/** 
+	 * Decrease the precipitation density to the given percentage.
+	 * (Only show the given percentage of rain streaks etc.)
+	 * Default precipitation density upon construction is 100.0.
+	 * @param density 0.0 to 100.0
+	 */
 	void set_precipitation_density(float density);
    /**
     * Enable or disable the rendering of precipitation around the viewer.
--- a/simgear/ephemeris/celestialBody.cxx
+++ b/simgear/ephemeris/celestialBody.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/celestialBody.hxx
+++ b/simgear/ephemeris/celestialBody.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
@@ -27,9 +26,9 @@
 #ifndef _CELESTIALBODY_H_
 #define _CELESTIALBODY_H_

-#ifndef __cplusplus                                                          
+#ifndef __cplusplus
 # error This library requires C++
-#endif                                   
+#endif


 #include <simgear/constants.h>
--- a/simgear/ephemeris/ephemeris.cxx
+++ b/simgear/ephemeris/ephemeris.cxx
@@ -15,10 +15,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -32,7 +31,7 @@


 // Constructor
-SGEphemeris::SGEphemeris( const string &path ) {
+SGEphemeris::SGEphemeris( const std::string &path ) {
    our_sun = new Star;
    moon = new MoonPos;
    mercury = new Mercury;
@@ -43,9 +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) );
 }

--- a/simgear/ephemeris/ephemeris.hxx
+++ b/simgear/ephemeris/ephemeris.hxx
@@ -19,10 +19,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -30,8 +29,7 @@
 #ifndef _EPHEMERIS_HXX
 #define _EPHEMERIS_HXX

-
-#include <plib/sg.h>
+#include <string>

 #include <simgear/ephemeris/star.hxx>
 #include <simgear/ephemeris/moonpos.hxx>
@@ -44,6 +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
 *
@@ -84,7 +85,7 @@ class SGEphemeris {
    // planets[i][1] = Declination
    // planets[i][2] = Magnitude
    int nplanets;
-    sgdVec3 planets[7];
+    SGVec3d planets[7];

    SGStarData *stars;

@@ -96,7 +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 );
@@ -156,7 +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(); }
@@ -168,7 +169,7 @@ public:
     * third is the magnitude.
     * @returns star array
     */
-    inline sgdVec3 *getStars() { return stars->getStars(); }
+    inline SGVec3d *getStars() { return stars->getStars(); }
 };


--- a/simgear/ephemeris/jupiter.cxx
+++ b/simgear/ephemeris/jupiter.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/jupiter.hxx
+++ b/simgear/ephemeris/jupiter.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/mars.cxx
+++ b/simgear/ephemeris/mars.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/mars.hxx
+++ b/simgear/ephemeris/mars.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/mercury.cxx
+++ b/simgear/ephemeris/mercury.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/mercury.hxx
+++ b/simgear/ephemeris/mercury.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/moonpos.cxx
+++ b/simgear/ephemeris/moonpos.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/moonpos.hxx
+++ b/simgear/ephemeris/moonpos.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/neptune.cxx
+++ b/simgear/ephemeris/neptune.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/neptune.hxx
+++ b/simgear/ephemeris/neptune.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/pluto.hxx
+++ b/simgear/ephemeris/pluto.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/saturn.cxx
+++ b/simgear/ephemeris/saturn.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/saturn.hxx
+++ b/simgear/ephemeris/saturn.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/star.cxx
+++ b/simgear/ephemeris/star.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/star.hxx
+++ b/simgear/ephemeris/star.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/stardata.cxx
+++ b/simgear/ephemeris/stardata.cxx
@@ -14,10 +14,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -26,6 +25,7 @@
 #endif

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

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


@@ -53,31 +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, ',' );
@@ -117,13 +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;
 }
--- a/simgear/ephemeris/stardata.hxx
+++ b/simgear/ephemeris/stardata.hxx
@@ -14,10 +14,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -25,37 +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;
 };


--- a/simgear/ephemeris/uranus.cxx
+++ b/simgear/ephemeris/uranus.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/uranus.hxx
+++ b/simgear/ephemeris/uranus.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/venus.cxx
+++ b/simgear/ephemeris/venus.cxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/ephemeris/venus.hxx
+++ b/simgear/ephemeris/venus.hxx
@@ -15,10 +15,9 @@
 * 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 Library General Public
- * License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA  02111-1307, USA.
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * $Id$
 **************************************************************************/
--- a/simgear/io/decode_binobj.cxx
+++ b/simgear/io/decode_binobj.cxx
@@ -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",
--- a/simgear/io/iochannel.cxx
+++ b/simgear/io/iochannel.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/iochannel.hxx
+++ b/simgear/io/iochannel.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/lowlevel.cxx
+++ b/simgear/io/lowlevel.cxx
@@ -18,7 +18,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/lowlevel.hxx
+++ b/simgear/io/lowlevel.hxx
@@ -18,7 +18,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 //
--- a/simgear/io/sg_binobj.cxx
+++ b/simgear/io/sg_binobj.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 //
@@ -36,6 +36,7 @@
 #include STL_STRING

 #include <simgear/bucket/newbucket.hxx>
+#include <simgear/misc/sg_path.hxx>

 #include "lowlevel.hxx"
 #include "sg_binobj.hxx"
@@ -45,7 +46,7 @@ SG_USING_STD( string );
 SG_USING_STD( vector );


-enum {
+enum sgObjectTypes {
    SG_BOUNDING_SPHERE = 0,

    SG_VERTEX_LIST = 1,
@@ -58,20 +59,19 @@ enum {
    SG_TRIANGLE_FACES = 10,
    SG_TRIANGLE_STRIPS = 11,
    SG_TRIANGLE_FANS = 12
-} sgObjectTypes;
+};

-enum {
+enum sgIndexTypes {
    SG_IDX_VERTICES =  0x01,
    SG_IDX_NORMALS =   0x02,
    SG_IDX_COLORS =    0x04,
    SG_IDX_TEXCOORDS = 0x08
-} sgIndexTypes;
+};

-enum {
+enum sgPropertyTypes {
    SG_MATERIAL = 0,
    SG_INDEX_TYPES = 1
-} sgPropertyTypes;
-
+};


 class sgSimpleBuffer {
@@ -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;
 		}
 	    }
@@ -612,28 +610,17 @@ 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;

-    string dir = base + "/" + b.gen_base_path();
-    string command = "mkdir -p " + dir;
-#if defined(_MSC_VER) || defined(__MINGW32__)
-    system( (string("mkdir ") + dir).c_str() );
-#else
-    system(command.c_str());
-#endif
-
-    string file = dir + "/" + name + ".gz";
-    cout << "Output file = " << file << endl;
+    SGPath file = base + "/" + b.gen_base_path() + "/" + name + ".gz";
+    file.create_dir( 0755 );
+    cout << "Output file = " << file.str() << endl;

    gzFile fp;
    if ( (fp = gzopen( file.c_str(), "wb9" )) == NULL ) {
-	cout << "ERROR: opening " << file << " for writing!" << endl;
+	cout << "ERROR: opening " << file.str() << " for writing!" << endl;
 	return false;
    }

@@ -745,9 +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
@@ -756,12 +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
@@ -771,7 +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);
@@ -784,9 +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
@@ -858,7 +837,8 @@ bool SGBinObject::write_bin( const string& base, const string& name,
 	    // find next group
 	    material = tri_materials[start];
 	    while ( (end < (int)tri_materials.size()) && 
-		    (material == tri_materials[end]) )
+		    (material == tri_materials[end]) &&
+		    3*(end-start) < 32760 )
 	    {
 		// cout << "end = " << end << endl;
 		end++;
@@ -1048,24 +1028,15 @@ 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;

-    string dir = base + "/" + b.gen_base_path();
-    string command = "mkdir -p " + dir;
-#if defined(_MSC_VER) || defined(__MINGW32__)
-    system( (string("mkdir ") + dir).c_str() );
-#else
-    system(command.c_str());
-#endif
-
-    // string file = dir + "/" + b.gen_index_str();
-    string file = dir + "/" + name;
-    cout << "Output file = " << file << endl;
+    SGPath file = base + "/" + b.gen_base_path() + "/" + name;
+    file.create_dir( 0755 );
+    cout << "Output file = " << file.str() << endl;

    FILE *fp;
    if ( (fp = fopen( file.c_str(), "w" )) == NULL ) {
-	cout << "ERROR: opening " << file << " for writing!" << endl;
+	cout << "ERROR: opening " << file.str() << " for writing!" << endl;
 	return false;
    }

@@ -1098,7 +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() );
    }
@@ -1106,7 +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");
@@ -1114,7 +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");
@@ -1140,13 +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 );
 		}
 	    }

@@ -1191,13 +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 );
 		}
 	    }

@@ -1224,7 +1195,7 @@ bool SGBinObject::write_ascii( const string& base, const string& name,
    // close the file
    fclose(fp);

-    command = "gzip --force --best " + file;
+    string command = "gzip --force --best " + file.str();
    system(command.c_str());

    return true;
--- a/simgear/io/sg_binobj.hxx
+++ b/simgear/io/sg_binobj.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -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; }
--- a/simgear/io/sg_file.cxx
+++ b/simgear/io/sg_file.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_file.hxx
+++ b/simgear/io/sg_file.hxx
@@ -18,7 +18,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_serial.cxx
+++ b/simgear/io/sg_serial.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_serial.hxx
+++ b/simgear/io/sg_serial.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_socket.cxx
+++ b/simgear/io/sg_socket.cxx
@@ -17,10 +17,13 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif

 #include <simgear/compiler.h>

--- a/simgear/io/sg_socket.hxx
+++ b/simgear/io/sg_socket.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_socket_udp.cxx
+++ b/simgear/io/sg_socket_udp.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/sg_socket_udp.hxx
+++ b/simgear/io/sg_socket_udp.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/io/socktest.cxx
+++ b/simgear/io/socktest.cxx
@@ -1,3 +1,7 @@
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
+
 #include <simgear/compiler.h>

 #include <unistd.h>
--- a/simgear/magvar/coremag.cxx
+++ b/simgear/magvar/coremag.cxx
@@ -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
@@ -57,10 +70,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -76,74 +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},
@@ -187,8 +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;
@@ -273,13 +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];
 	}
    }

@@ -341,7 +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;

@@ -398,12 +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];
 	}
    }

--- a/simgear/magvar/coremag.hxx
+++ b/simgear/magvar/coremag.hxx
@@ -26,10 +26,9 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/magvar/magvar.cxx
+++ b/simgear/magvar/magvar.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

--- a/simgear/magvar/magvar.hxx
+++ b/simgear/magvar/magvar.hxx
@@ -19,7 +19,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$

@@ -28,9 +28,9 @@
 #define _MAGVAR_HXX


-#ifndef __cplusplus                                                          
+#ifndef __cplusplus
 # error This library requires C++
-#endif                                   
+#endif


 /**
--- a/simgear/math/.cvsignore
+++ b/simgear/math/.cvsignore
@@ -1,3 +1,4 @@
 .deps
 Makefile
 Makefile.in
+SGMathTest
--- a/simgear/math/Makefile.am
+++ b/simgear/math/Makefile.am
@@ -1,11 +1,19 @@
 includedir = @includedir@/math

+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

 include_HEADERS = \
 	interpolater.hxx \
 	leastsqs.hxx \
-	localconsts.hxx \
 	point3d.hxx \
 	polar3d.hxx \
 	sg_geodesy.hxx \
@@ -13,9 +21,28 @@ include_HEADERS = \
 	sg_random.h \
 	sg_types.hxx \
 	vector.hxx \
-	fastmath.hxx
-
-EXTRA_DIST = linintp2.h linintp2.inl sphrintp.h sphrintp.inl
+	SGBox.hxx \
+	SGCMath.hxx \
+	SGGeoc.hxx \
+	SGGeod.hxx \
+	SGGeodesy.hxx \
+	SGGeometry.hxx \
+	SGGeometryFwd.hxx \
+	SGIntersect.hxx \
+	SGLimits.hxx \
+	SGLineSegment.hxx \
+	SGMatrix.hxx \
+	SGMath.hxx \
+	SGMathFwd.hxx \
+	SGMisc.hxx \
+	SGPlane.hxx \
+	SGQuat.hxx \
+	SGRay.hxx \
+	SGSphere.hxx \
+	SGTriangle.hxx \
+	SGVec2.hxx \
+	SGVec3.hxx \
+	SGVec4.hxx

 libsgmath_a_SOURCES = \
 	interpolater.cxx \
@@ -24,6 +51,6 @@ libsgmath_a_SOURCES = \
 	sg_geodesy.cxx \
 	sg_random.c \
 	vector.cxx \
-	fastmath.cxx
+	SGGeodesy.cxx

 INCLUDES = -I$(top_srcdir)
--- a/simgear/math/SGBox.hxx
+++ b/simgear/math/SGBox.hxx
@@ -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
--- a/simgear/math/SGCMath.hxx
+++ b/simgear/math/SGCMath.hxx
@@ -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
--- a/simgear/math/SGGeoc.hxx
+++ b/simgear/math/SGGeoc.hxx
@@ -0,0 +1,302 @@
+// 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 SGGeoc_H
+#define SGGeoc_H
+
+#include <simgear/constants.h>
+ 
+// #define SG_GEOC_NATIVE_DEGREE
+
+/// Class representing a geocentric location
+class SGGeoc {
+public:
+  /// Default constructor, initializes the instance to lat = lon = lat = 0
+  SGGeoc(void);
+
+  /// Factory from angular values in radians and radius in ft
+  static SGGeoc fromRadFt(double lon, double lat, double radius);
+  /// Factory from angular values in degrees and radius in ft
+  static SGGeoc fromDegFt(double lon, double lat, double radius);
+  /// Factory from angular values in radians and radius in m
+  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;
+  /// Set the geocentric longitude from the argument given in radians
+  void setLongitudeRad(double lon);
+
+  /// Return the geocentric longitude in degrees
+  double getLongitudeDeg(void) const;
+  /// Set the geocentric longitude from the argument given in degrees
+  void setLongitudeDeg(double lon);
+
+  /// Return the geocentric latitude in radians
+  double getLatitudeRad(void) const;
+  /// Set the geocentric latitude from the argument given in radians
+  void setLatitudeRad(double lat);
+
+  /// Return the geocentric latitude in degrees
+  double getLatitudeDeg(void) const;
+  /// Set the geocentric latitude from the argument given in degrees
+  void setLatitudeDeg(double lat);
+
+  /// Return the geocentric radius in meters
+  double getRadiusM(void) const;
+  /// Set the geocentric radius from the argument given in meters
+  void setRadiusM(double radius);
+
+  /// Return the geocentric radius in feet
+  double getRadiusFt(void) const;
+  /// Set the geocentric radius from the argument given in feet
+  void setRadiusFt(double radius);
+
+private:
+  /// This one is private since construction is not unique if you do
+  /// not know the units of the arguments, use the factory methods for
+  /// that purpose
+  SGGeoc(double lon, double lat, double radius);
+
+  /// The actual data, angles in degree, radius in meters
+  /// The rationale for storing the values in degrees is that most code places
+  /// in flightgear/terragear use degrees as a nativ input and output value.
+  /// The places where it makes sense to use radians is when we convert
+  /// to other representations or compute rotation matrices. But both tasks
+  /// are computionally intensive anyway and that additional 'toRadian'
+  /// conversion does not hurt too much
+  double _lon;
+  double _lat;
+  double _radius;
+};
+
+inline
+SGGeoc::SGGeoc(void) :
+  _lon(0), _lat(0), _radius(0)
+{
+}
+
+inline
+SGGeoc::SGGeoc(double lon, double lat, double radius) :
+  _lon(lon), _lat(lat), _radius(radius)
+{
+}
+
+inline
+SGGeoc
+SGGeoc::fromRadFt(double lon, double lat, double radius)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return SGGeoc(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
+                radius*SG_FEET_TO_METER);
+#else
+  return SGGeoc(lon, lat, radius*SG_FEET_TO_METER);
+#endif
+}
+
+inline
+SGGeoc
+SGGeoc::fromDegFt(double lon, double lat, double radius)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return SGGeoc(lon, lat, radius*SG_FEET_TO_METER);
+#else
+  return SGGeoc(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
+                radius*SG_FEET_TO_METER);
+#endif
+}
+
+inline
+SGGeoc
+SGGeoc::fromRadM(double lon, double lat, double radius)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return SGGeoc(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
+                radius);
+#else
+  return SGGeoc(lon, lat, radius);
+#endif
+}
+
+inline
+SGGeoc
+SGGeoc::fromDegM(double lon, double lat, double radius)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return SGGeoc(lon, lat, radius);
+#else
+  return SGGeoc(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
+                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
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return _lon*SGD_DEGREES_TO_RADIANS;
+#else
+  return _lon;
+#endif
+}
+
+inline
+void
+SGGeoc::setLongitudeRad(double lon)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  _lon = lon*SGD_RADIANS_TO_DEGREES;
+#else
+  _lon = lon;
+#endif
+}
+
+inline
+double
+SGGeoc::getLongitudeDeg(void) const
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return _lon;
+#else
+  return _lon*SGD_DEGREES_TO_RADIANS;
+#endif
+}
+
+inline
+void
+SGGeoc::setLongitudeDeg(double lon)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  _lon = lon;
+#else
+  _lon = lon*SGD_RADIANS_TO_DEGREES;
+#endif
+}
+
+inline
+double
+SGGeoc::getLatitudeRad(void) const
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return _lat*SGD_DEGREES_TO_RADIANS;
+#else
+  return _lat;
+#endif
+}
+
+inline
+void
+SGGeoc::setLatitudeRad(double lat)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  _lat = lat*SGD_RADIANS_TO_DEGREES;
+#else
+  _lat = lat;
+#endif
+}
+
+inline
+double
+SGGeoc::getLatitudeDeg(void) const
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  return _lat;
+#else
+  return _lat*SGD_DEGREES_TO_RADIANS;
+#endif
+}
+
+inline
+void
+SGGeoc::setLatitudeDeg(double lat)
+{
+#ifdef SG_GEOC_NATIVE_DEGREE
+  _lat = lat;
+#else
+  _lat = lat*SGD_RADIANS_TO_DEGREES;
+#endif
+}
+
+inline
+double
+SGGeoc::getRadiusM(void) const
+{
+  return _radius;
+}
+
+inline
+void
+SGGeoc::setRadiusM(double radius)
+{
+  _radius = radius;
+}
+
+inline
+double
+SGGeoc::getRadiusFt(void) const
+{
+  return _radius*SG_METER_TO_FEET;
+}
+
+inline
+void
+SGGeoc::setRadiusFt(double radius)
+{
+  _radius = radius*SG_FEET_TO_METER;
+}
+
+/// Output to an ostream
+template<typename char_type, typename traits_type>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s, const SGGeoc& g)
+{
+  return s << "lon = " << g.getLongitudeDeg()
+           << ", lat = " << g.getLatitudeDeg()
+           << ", radius = " << g.getRadiusM();
+}
+
+#endif
--- a/simgear/math/SGGeod.hxx
+++ b/simgear/math/SGGeod.hxx
@@ -0,0 +1,329 @@
+// 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 SGGeod_H
+#define SGGeod_H
+
+#include <simgear/constants.h>
+
+// #define SG_GEOD_NATIVE_DEGREE
+
+/// Class representing a geodetic location
+class SGGeod {
+public:
+  /// Default constructor, initializes the instance to lat = lon = elev = 0
+  SGGeod(void);
+
+  /// Factory from angular values in radians and elevation is 0
+  static SGGeod fromRad(double lon, double lat);
+  /// Factory from angular values in degrees and elevation is 0
+  static SGGeod fromDeg(double lon, double lat);
+  /// Factory from angular values in radians and elevation in ft
+  static SGGeod fromRadFt(double lon, double lat, double elevation);
+  /// Factory from angular values in degrees and elevation in ft
+  static SGGeod fromDegFt(double lon, double lat, double elevation);
+  /// Factory from angular values in radians and elevation in m
+  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;
+  /// Set the geodetic longitude from the argument given in radians
+  void setLongitudeRad(double lon);
+
+  /// Return the geodetic longitude in degrees
+  double getLongitudeDeg(void) const;
+  /// Set the geodetic longitude from the argument given in degrees
+  void setLongitudeDeg(double lon);
+
+  /// Return the geodetic latitude in radians
+  double getLatitudeRad(void) const;
+  /// Set the geodetic latitude from the argument given in radians
+  void setLatitudeRad(double lat);
+
+  /// Return the geodetic latitude in degrees
+  double getLatitudeDeg(void) const;
+  /// Set the geodetic latitude from the argument given in degrees
+  void setLatitudeDeg(double lat);
+
+  /// Return the geodetic elevation in meters
+  double getElevationM(void) const;
+  /// Set the geodetic elevation from the argument given in meters
+  void setElevationM(double elevation);
+
+  /// Return the geodetic elevation in feet
+  double getElevationFt(void) const;
+  /// Set the geodetic elevation from the argument given in feet
+  void setElevationFt(double elevation);
+
+private:
+  /// This one is private since construction is not unique if you do
+  /// not know the units of the arguments. Use the factory methods for
+  /// that purpose
+  SGGeod(double lon, double lat, double elevation);
+
+  /// The actual data, angles in degree, elevation in meters
+  /// The rationale for storing the values in degrees is that most code places
+  /// in flightgear/terragear use degrees as a nativ input and output value.
+  /// The places where it makes sense to use radians is when we convert
+  /// to other representations or compute rotation matrices. But both tasks
+  /// are computionally intensive anyway and that additional 'toRadian'
+  /// conversion does not hurt too much
+  double _lon;
+  double _lat;
+  double _elevation;
+};
+
+inline
+SGGeod::SGGeod(void) :
+  _lon(0), _lat(0), _elevation(0)
+{
+}
+
+inline
+SGGeod::SGGeod(double lon, double lat, double elevation) :
+  _lon(lon), _lat(lat), _elevation(elevation)
+{
+}
+
+inline
+SGGeod
+SGGeod::fromRad(double lon, double lat)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES, 0);
+#else
+  return SGGeod(lon, lat, 0);
+#endif
+}
+
+inline
+SGGeod
+SGGeod::fromDeg(double lon, double lat)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon, lat, 0);
+#else
+  return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS, 0);
+#endif
+}
+
+inline
+SGGeod
+SGGeod::fromRadFt(double lon, double lat, double elevation)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
+                elevation*SG_FEET_TO_METER);
+#else
+  return SGGeod(lon, lat, elevation*SG_FEET_TO_METER);
+#endif
+}
+
+inline
+SGGeod
+SGGeod::fromDegFt(double lon, double lat, double elevation)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon, lat, elevation*SG_FEET_TO_METER);
+#else
+  return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
+                elevation*SG_FEET_TO_METER);
+#endif
+}
+
+inline
+SGGeod
+SGGeod::fromRadM(double lon, double lat, double elevation)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon*SGD_RADIANS_TO_DEGREES, lat*SGD_RADIANS_TO_DEGREES,
+                elevation);
+#else
+  return SGGeod(lon, lat, elevation);
+#endif
+}
+
+inline
+SGGeod
+SGGeod::fromDegM(double lon, double lat, double elevation)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return SGGeod(lon, lat, elevation);
+#else
+  return SGGeod(lon*SGD_DEGREES_TO_RADIANS, lat*SGD_DEGREES_TO_RADIANS,
+                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
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return _lon*SGD_DEGREES_TO_RADIANS;
+#else
+  return _lon;
+#endif
+}
+
+inline
+void
+SGGeod::setLongitudeRad(double lon)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  _lon = lon*SGD_RADIANS_TO_DEGREES;
+#else
+  _lon = lon;
+#endif
+}
+
+inline
+double
+SGGeod::getLongitudeDeg(void) const
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return _lon;
+#else
+  return _lon*SGD_RADIANS_TO_DEGREES;
+#endif
+}
+
+inline
+void
+SGGeod::setLongitudeDeg(double lon)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  _lon = lon;
+#else
+  _lon = lon*SGD_DEGREES_TO_RADIANS;
+#endif
+}
+
+inline
+double
+SGGeod::getLatitudeRad(void) const
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return _lat*SGD_DEGREES_TO_RADIANS;
+#else
+  return _lat;
+#endif
+}
+
+inline
+void
+SGGeod::setLatitudeRad(double lat)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  _lat = lat*SGD_RADIANS_TO_DEGREES;
+#else
+  _lat = lat;
+#endif
+}
+
+inline
+double
+SGGeod::getLatitudeDeg(void) const
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  return _lat;
+#else
+  return _lat*SGD_RADIANS_TO_DEGREES;
+#endif
+}
+
+inline
+void
+SGGeod::setLatitudeDeg(double lat)
+{
+#ifdef SG_GEOD_NATIVE_DEGREE
+  _lat = lat;
+#else
+  _lat = lat*SGD_DEGREES_TO_RADIANS;
+#endif
+}
+
+inline
+double
+SGGeod::getElevationM(void) const
+{
+  return _elevation;
+}
+
+inline
+void
+SGGeod::setElevationM(double elevation)
+{
+  _elevation = elevation;
+}
+
+inline
+double
+SGGeod::getElevationFt(void) const
+{
+  return _elevation*SG_METER_TO_FEET;
+}
+
+inline
+void
+SGGeod::setElevationFt(double elevation)
+{
+  _elevation = elevation*SG_FEET_TO_METER;
+}
+
+/// Output to an ostream
+template<typename char_type, typename traits_type>
+inline
+std::basic_ostream<char_type, traits_type>&
+operator<<(std::basic_ostream<char_type, traits_type>& s, const SGGeod& g)
+{
+  return s << "lon = " << g.getLongitudeDeg()
+           << "deg, lat = " << g.getLatitudeDeg()
+           << "deg, elev = " << g.getElevationM()
+           << "m";
+}
+
+#endif
--- a/simgear/math/SGGeodesy.cxx
+++ b/simgear/math/SGGeodesy.cxx
@@ -0,0 +1,157 @@
+// 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 <cmath>
+
+#include "SGMath.hxx"
+
+// These are hard numbers from the WGS84 standard.  DON'T MODIFY
+// unless you want to change the datum.
+#define _EQURAD 6378137.0
+#define _FLATTENING 298.257223563
+
+// These are derived quantities more useful to the code:
+#if 0
+#define _SQUASH (1 - 1/_FLATTENING)
+#define _STRETCH (1/_SQUASH)
+#define _POLRAD (EQURAD * _SQUASH)
+#else
+// High-precision versions of the above produced with an arbitrary
+// precision calculator (the compiler might lose a few bits in the FPU
+// operations).  These are specified to 81 bits of mantissa, which is
+// higher than any FPU known to me:
+#define _SQUASH    0.9966471893352525192801545
+#define _STRETCH   1.0033640898209764189003079
+#define _POLRAD    6356752.3142451794975639668
+#endif
+
+// The constants from the WGS84 standard
+const double SGGeodesy::EQURAD = _EQURAD;
+const double SGGeodesy::iFLATTENING = _FLATTENING;
+const double SGGeodesy::SQUASH = _SQUASH;
+const double SGGeodesy::STRETCH = _STRETCH;
+const double SGGeodesy::POLRAD = _POLRAD;
+
+// additional derived and precomputable ones
+// for the geodetic conversion algorithm
+
+#define E2 fabs(1 - _SQUASH*_SQUASH)
+static double a = _EQURAD;
+static double ra2 = 1/(_EQURAD*_EQURAD);
+static double e = sqrt(E2);
+static double e2 = E2;
+static double e4 = E2*E2;
+
+#undef _EQURAD
+#undef _FLATTENING
+#undef _SQUASH
+#undef _STRETCH
+#undef _POLRAD
+#undef E2
+
+void
+SGGeodesy::SGCartToGeod(const SGVec3<double>& cart, SGGeod& geod)
+{
+  // according to
+  // H. Vermeille,
+  // Direct transformation from geocentric to geodetic ccordinates,
+  // Journal of Geodesy (2002) 76:451-454
+  double X = cart(0);
+  double Y = cart(1);
+  double Z = cart(2);
+  double XXpYY = X*X+Y*Y;
+  double sqrtXXpYY = sqrt(XXpYY);
+  double p = XXpYY*ra2;
+  double q = Z*Z*(1-e2)*ra2;
+  double r = 1/6.0*(p+q-e4);
+  double s = e4*p*q/(4*r*r*r);
+  double t = pow(1+s+sqrt(s*(2+s)), 1/3.0);
+  double u = r*(1+t+1/t);
+  double v = sqrt(u*u+e4*q);
+  double w = e2*(u+v-q)/(2*v);
+  double k = sqrt(u+v+w*w)-w;
+  double D = k*sqrtXXpYY/(k+e2);
+  geod.setLongitudeRad(2*atan2(Y, X+sqrtXXpYY));
+  double sqrtDDpZZ = sqrt(D*D+Z*Z);
+  geod.setLatitudeRad(2*atan2(Z, D+sqrtDDpZZ));
+  geod.setElevationM((k+e2-1)*sqrtDDpZZ/k);
+}
+
+void
+SGGeodesy::SGGeodToCart(const SGGeod& geod, SGVec3<double>& cart)
+{
+  // according to
+  // H. Vermeille,
+  // Direct transformation from geocentric to geodetic ccordinates,
+  // Journal of Geodesy (2002) 76:451-454
+  double lambda = geod.getLongitudeRad();
+  double phi = geod.getLatitudeRad();
+  double h = geod.getElevationM();
+  double sphi = sin(phi);
+  double n = a/sqrt(1-e2*sphi*sphi);
+  double cphi = cos(phi);
+  double slambda = sin(lambda);
+  double clambda = cos(lambda);
+  cart(0) = (h+n)*cphi*clambda;
+  cart(1) = (h+n)*cphi*slambda;
+  cart(2) = (h+n-e2*n)*sphi;
+}
+
+double
+SGGeodesy::SGGeodToSeaLevelRadius(const SGGeod& geod)
+{
+  // this is just a simplified version of the SGGeodToCart function above,
+  // substitute h = 0, take the 2-norm of the cartesian vector and simplify
+  double phi = geod.getLatitudeRad();
+  double sphi = sin(phi);
+  double sphi2 = sphi*sphi;
+  return a*sqrt((1 + (e4 - 2*e2)*sphi2)/(1 - e2*sphi2));
+}
+
+void
+SGGeodesy::SGCartToGeoc(const SGVec3<double>& cart, SGGeoc& geoc)
+{
+  double minVal = SGLimits<double>::min();
+  if (fabs(cart(0)) < minVal && fabs(cart(1)) < minVal)
+    geoc.setLongitudeRad(0);
+  else
+    geoc.setLongitudeRad(atan2(cart(1), cart(0)));
+
+  double nxy = sqrt(cart(0)*cart(0) + cart(1)*cart(1));
+  if (fabs(nxy) < minVal && fabs(cart(2)) < minVal)
+    geoc.setLatitudeRad(0);
+  else
+    geoc.setLatitudeRad(atan2(cart(2), nxy));
+
+  geoc.setRadiusM(norm(cart));
+}
+
+void
+SGGeodesy::SGGeocToCart(const SGGeoc& geoc, SGVec3<double>& cart)
+{
+  double lat = geoc.getLatitudeRad();
+  double lon = geoc.getLongitudeRad();
+  double slat = sin(lat);
+  double clat = cos(lat);
+  double slon = sin(lon);
+  double clon = cos(lon);
+  cart = geoc.getRadiusM()*SGVec3<double>(clat*clon, clat*slon, slat);
+}
--- a/simgear/math/SGGeodesy.hxx
+++ b/simgear/math/SGGeodesy.hxx
@@ -0,0 +1,50 @@
+// 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 SGGeodesy_H
+#define SGGeodesy_H
+
+class SGGeodesy {
+public:
+  // Hard numbers from the WGS84 standard.
+  static const double EQURAD;
+  static const double iFLATTENING;
+  static const double SQUASH;
+  static const double STRETCH;
+  static const double POLRAD;
+
+  /// Takes a cartesian coordinate data and returns the geodetic
+  /// coordinates.
+  static void SGCartToGeod(const SGVec3<double>& cart, SGGeod& geod);
+  
+  /// Takes a geodetic coordinate data and returns the cartesian
+  /// coordinates.
+  static void SGGeodToCart(const SGGeod& geod, SGVec3<double>& cart);
+  
+  /// Takes a geodetic coordinate data and returns the sea level radius.
+  static double SGGeodToSeaLevelRadius(const SGGeod& geod);
+
+  /// Takes a cartesian coordinate data and returns the geocentric
+  /// coordinates.
+  static void SGCartToGeoc(const SGVec3<double>& cart, SGGeoc& geoc);
+  
+  /// Takes a geocentric coordinate data and returns the cartesian
+  /// coordinates.
+  static void SGGeocToCart(const SGGeoc& geoc, SGVec3<double>& cart);
+};
+
+#endif
--- a/simgear/math/SGGeometry.hxx
+++ b/simgear/math/SGGeometry.hxx
@@ -0,0 +1,38 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGGeometry_HXX
+#define SGGeometry_HXX
+
+// Required ...
+#include "SGMath.hxx"
+
+// Make sure all is defined
+#include "SGGeometryFwd.hxx"
+
+// Geometric primitives we know about
+#include "SGBox.hxx"
+#include "SGSphere.hxx"
+#include "SGRay.hxx"
+#include "SGLineSegment.hxx"
+#include "SGPlane.hxx"
+#include "SGTriangle.hxx"
+
+// Intersection tests
+#include "SGIntersect.hxx"
+
+#endif
--- a/simgear/math/SGGeometryFwd.hxx
+++ b/simgear/math/SGGeometryFwd.hxx
@@ -0,0 +1,51 @@
+// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef SGGeometryFwd_HXX
+#define SGGeometryFwd_HXX
+
+template<typename T>
+class SGBox;
+typedef SGBox<float> SGBoxf;
+typedef SGBox<double> SGBoxd;
+
+template<typename T>
+class SGSphere;
+typedef SGSphere<float> SGSpheref;
+typedef SGSphere<double> SGSphered;
+
+template<typename T>
+class SGRay;
+typedef SGRay<float> SGRayf;
+typedef SGRay<double> SGRayd;
+
+template<typename T>
+class SGLineSegment;
+typedef SGLineSegment<float> SGLineSegmentf;
+typedef SGLineSegment<double> SGLineSegmentd;
+
+template<typename T>
+class SGPlane;
+typedef SGPlane<float> SGPlanef;
+typedef SGPlane<double> SGPlaned;
+
+template<typename T>
+class SGTriangle;
+typedef SGTriangle<float> SGTrianglef;
+typedef SGTriangle<double> SGTriangled;
+
+#endif
--- a/simgear/math/SGGeometryTest.cxx
+++ b/simgear/math/SGGeometryTest.cxx
@@ -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;
+}
--- a/simgear/math/SGIntersect.hxx
+++ b/simgear/math/SGIntersect.hxx
@@ -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
--- a/simgear/math/SGLimits.hxx
+++ b/simgear/math/SGLimits.hxx
@@ -0,0 +1,29 @@
+// 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 SGLimits_H
+#define SGLimits_H
+
+#include <limits>
+
+/// Helper class for epsilon and so on
+/// This is the possible place to hook in for machines not
+/// providing numeric_limits ...
+template<typename T>
+class SGLimits : public std::numeric_limits<T> {};
+
+#endif
--- a/simgear/math/SGLineSegment.hxx
+++ b/simgear/math/SGLineSegment.hxx
@@ -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
--- a/simgear/math/SGMath.hxx
+++ b/simgear/math/SGMath.hxx
@@ -0,0 +1,44 @@
+// 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 SGMath_H
+#define SGMath_H
+
+/// 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 "SGGeoc.hxx"
+#include "SGGeod.hxx"
+#include "SGQuat.hxx"
+#include "SGMatrix.hxx"
+
+#endif
--- a/simgear/math/SGMathFwd.hxx
+++ b/simgear/math/SGMathFwd.hxx
@@ -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
--- a/simgear/math/SGMathTest.cxx
+++ b/simgear/math/SGMathTest.cxx
@@ -0,0 +1,366 @@
+// 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 <plib/sg.h>
+
+#include "SGMath.hxx"
+
+template<typename T>
+bool
+Vec3Test(void)
+{
+  SGVec3<T> v1, v2, v3;
+
+  // Check if the equivalent function works
+  v1 = SGVec3<T>(1, 2, 3);
+  v2 = SGVec3<T>(3, 2, 1);
+  if (equivalent(v1, v2))
+    return false;
+
+  // Check the unary minus operator
+  v3 = SGVec3<T>(-1, -2, -3);
+  if (!equivalent(-v1, v3))
+    return false;
+
+  // Check the unary plus operator
+  v3 = SGVec3<T>(1, 2, 3);
+  if (!equivalent(+v1, v3))
+    return false;
+
+  // Check the addition operator
+  v3 = SGVec3<T>(4, 4, 4);
+  if (!equivalent(v1 + v2, v3))
+    return false;
+
+  // Check the subtraction operator
+  v3 = SGVec3<T>(-2, 0, 2);
+  if (!equivalent(v1 - v2, v3))
+    return false;
+
+  // Check the scaler multiplication operator
+  v3 = SGVec3<T>(2, 4, 6);
+  if (!equivalent(2*v1, v3))
+    return false;
+
+  // Check the dot product
+  if (fabs(dot(v1, v2) - 10) > 10*SGLimits<T>::epsilon())
+    return false;
+
+  // Check the cross product
+  v3 = SGVec3<T>(-4, 8, -4);
+  if (!equivalent(cross(v1, v2), v3))
+    return false;
+
+  // Check the euclidean length
+  if (fabs(14 - length(v1)*length(v1)) > 14*SGLimits<T>::epsilon())
+    return false;
+
+  return true;
+}
+
+template<typename T>
+bool
+QuatTest(void)
+{
+  const SGVec3<T> e1(1, 0, 0);
+  const SGVec3<T> e2(0, 1, 0);
+  const SGVec3<T> e3(0, 0, 1);
+  SGVec3<T> v1, v2;
+  SGQuat<T> q1, q2, q3, q4;
+  // Check a rotation around the x axis
+  q1 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), e1);
+  v1 = SGVec3<T>(1, 2, 3);
+  v2 = SGVec3<T>(1, -2, -3);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+  
+  // Check a rotation around the x axis
+  q1 = SGQuat<T>::fromAngleAxis(0.5*SGMisc<T>::pi(), e1);
+  v2 = SGVec3<T>(1, 3, -2);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+
+  // Check a rotation around the y axis
+  q1 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), e2);
+  v2 = SGVec3<T>(-1, 2, -3);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+  
+  // Check a rotation around the y axis
+  q1 = SGQuat<T>::fromAngleAxis(0.5*SGMisc<T>::pi(), e2);
+  v2 = SGVec3<T>(-3, 2, 1);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+
+  // Check a rotation around the z axis
+  q1 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), e3);
+  v2 = SGVec3<T>(-1, -2, 3);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+
+  // Check a rotation around the z axis
+  q1 = SGQuat<T>::fromAngleAxis(0.5*SGMisc<T>::pi(), e3);
+  v2 = SGVec3<T>(2, -1, 3);
+  if (!equivalent(q1.transform(v1), v2))
+    return false;
+
+  // Now check some successive transforms
+  // We can reuse the prevously tested stuff
+  q1 = SGQuat<T>::fromAngleAxis(0.5*SGMisc<T>::pi(), e1);
+  q2 = SGQuat<T>::fromAngleAxis(0.5*SGMisc<T>::pi(), e2);
+  q3 = q1*q2;
+  v2 = q2.transform(q1.transform(v1));
+  if (!equivalent(q3.transform(v1), v2))
+    return false;
+
+  /// Test from Euler angles
+  float x = 0.2*SGMisc<T>::pi();
+  float y = 0.3*SGMisc<T>::pi();
+  float z = 0.4*SGMisc<T>::pi();
+  q1 = SGQuat<T>::fromAngleAxis(z, e3);
+  q2 = SGQuat<T>::fromAngleAxis(y, e2);
+  q3 = SGQuat<T>::fromAngleAxis(x, e1);
+  v2 = q3.transform(q2.transform(q1.transform(v1)));
+  q4 = SGQuat<T>::fromEulerRad(z, y, x);
+  if (!equivalent(q4.transform(v1), v2))
+    return false;
+
+  /// Test angle axis forward and back transform
+  q1 = SGQuat<T>::fromAngleAxis(0.2*SGMisc<T>::pi(), e1);
+  q2 = SGQuat<T>::fromAngleAxis(0.7*SGMisc<T>::pi(), e2);
+  q3 = q1*q2;
+  SGVec3<T> angleAxis;
+  q1.getAngleAxis(angleAxis);
+  q4 = SGQuat<T>::fromAngleAxis(angleAxis);
+  if (!equivalent(q1, q4))
+    return false;
+  q2.getAngleAxis(angleAxis);
+  q4 = SGQuat<T>::fromAngleAxis(angleAxis);
+  if (!equivalent(q2, q4))
+    return false;
+  q3.getAngleAxis(angleAxis);
+  q4 = SGQuat<T>::fromAngleAxis(angleAxis);
+  if (!equivalent(q3, q4))
+    return false;
+
+  return true;
+}
+
+template<typename T>
+bool
+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;
+  m0.postMultTranslate(v0);
+  m0.postMultRotate(q0);
+
+  // Check the tqo forms of the inverse for that kind of special matrix
+  SGMatrix<T> m1, m2;
+  invert(m1, m0);
+  m2 = transNeg(m0);
+  if (!equivalent(m1, m2))
+    return false;
+
+  // Check matrix multiplication and inversion
+  if (!equivalent(m0*m1, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m1*m0, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m0*m2, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m2*m0, SGMatrix<T>::unit()))
+    return false;
+  
+  return true;
+}
+
+bool
+GeodesyTest(void)
+{
+  // We know that the values are on the order of 1
+  double epsDeg = 10*SGLimits<double>::epsilon();
+  // For the altitude values we need to tolerate relative errors in the order
+  // of the radius
+  double epsM = 1e6*SGLimits<double>::epsilon();
+
+  SGVec3<double> cart0, cart1;
+  SGGeod geod0, geod1;
+  SGGeoc geoc0;
+
+  // create some geodetic position
+  geod0 = SGGeod::fromDegM(30, 20, 17);
+
+  // Test the conversion routines to cartesian coordinates
+  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 = SGGeoc::fromCart(cart0);
+  cart1 = SGVec3<double>::fromGeoc(geoc0);
+  if (!equivalent(cart0, cart1))
+    return false;
+
+  return true;
+}
+
+
+bool
+sgInterfaceTest(void)
+{
+  SGVec3f v3f = SGVec3f::e2();
+  SGVec4f v4f = SGVec4f::e2();
+  SGQuatf qf = SGQuatf::fromEulerRad(1.2, 1.3, -0.4);
+  SGMatrixf mf;
+  mf.postMultTranslate(v3f);
+  mf.postMultRotate(qf);
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGVec3f tv3f;
+  sgVec3 sv3f;
+  sgCopyVec3(sv3f, v3f.sg());
+  sgCopyVec3(tv3f.sg(), sv3f);
+  if (tv3f != v3f)
+    return false;
+  
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGVec4f tv4f;
+  sgVec4 sv4f;
+  sgCopyVec4(sv4f, v4f.sg());
+  sgCopyVec4(tv4f.sg(), sv4f);
+  if (tv4f != v4f)
+    return false;
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGQuatf tqf;
+  sgQuat sqf;
+  sgCopyQuat(sqf, qf.sg());
+  sgCopyQuat(tqf.sg(), sqf);
+  if (tqf != qf)
+    return false;
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGMatrixf tmf;
+  sgMat4 smf;
+  sgCopyMat4(smf, mf.sg());
+  sgCopyMat4(tmf.sg(), smf);
+  if (tmf != mf)
+    return false;
+
+  return true;
+}
+
+bool
+sgdInterfaceTest(void)
+{
+  SGVec3d v3d = SGVec3d::e2();
+  SGVec4d v4d = SGVec4d::e2();
+  SGQuatd qd = SGQuatd::fromEulerRad(1.2, 1.3, -0.4);
+  SGMatrixd md;
+  md.postMultTranslate(v3d);
+  md.postMultRotate(qd);
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGVec3d tv3d;
+  sgdVec3 sv3d;
+  sgdCopyVec3(sv3d, v3d.sg());
+  sgdCopyVec3(tv3d.sg(), sv3d);
+  if (tv3d != v3d)
+    return false;
+  
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGVec4d tv4d;
+  sgdVec4 sv4d;
+  sgdCopyVec4(sv4d, v4d.sg());
+  sgdCopyVec4(tv4d.sg(), sv4d);
+  if (tv4d != v4d)
+    return false;
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGQuatd tqd;
+  sgdQuat sqd;
+  sgdCopyQuat(sqd, qd.sg());
+  sgdCopyQuat(tqd.sg(), sqd);
+  if (tqd != qd)
+    return false;
+
+  // Copy to and from plibs types check if result is equal,
+  // test for exact equality
+  SGMatrixd tmd;
+  sgdMat4 smd;
+  sgdCopyMat4(smd, md.sg());
+  sgdCopyMat4(tmd.sg(), smd);
+  if (tmd != md)
+    return false;
+
+  return true;
+}
+
+int
+main(void)
+{
+  // Do vector tests
+  if (!Vec3Test<float>())
+    return EXIT_FAILURE;
+  if (!Vec3Test<double>())
+    return EXIT_FAILURE;
+
+  // Do quaternion tests
+  if (!QuatTest<float>())
+    return EXIT_FAILURE;
+  if (!QuatTest<double>())
+    return EXIT_FAILURE;
+
+  // Do matrix tests
+  if (!MatrixTest<float>())
+    return EXIT_FAILURE;
+  if (!MatrixTest<double>())
+    return EXIT_FAILURE;
+
+  // Check geodetic/geocentric/cartesian conversions
+  if (!GeodesyTest())
+    return EXIT_FAILURE;
+
+  // Check interaction with sg*/sgd*
+  if (!sgInterfaceTest())
+    return EXIT_FAILURE;
+  if (!sgdInterfaceTest())
+    return EXIT_FAILURE;
+  
+  std::cout << "Successfully passed all tests!" << std::endl;
+  return EXIT_SUCCESS;
+}
--- a/simgear/math/SGMatrix.hxx
+++ b/simgear/math/SGMatrix.hxx
@@ -0,0 +1,612 @@
+// 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 SGMatrix_H
+#define SGMatrix_H
+
+/// Expression templates for poor programmers ... :)
+template<typename T>
+struct TransNegRef;
+
+/// 3D Matrix Class
+template<typename T>
+class SGMatrix {
+public:
+  enum { nCols = 4, nRows = 4, nEnts = 16 };
+  typedef T value_type;
+
+  /// Default constructor. Does not initialize at all.
+  /// If you need them zero initialized, use SGMatrix::zeros()
+  SGMatrix(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 < nEnts; ++i)
+      _data.flat[i] = SGLimits<T>::quiet_NaN();
+#endif
+  }
+  /// Constructor. Initialize by the content of a plain array,
+  /// make sure it has at least 16 elements
+  explicit SGMatrix(const T* data)
+  { for (unsigned i = 0; i < nEnts; ++i) _data.flat[i] = data[i]; }
+
+  /// Constructor, build up a SGMatrix from given elements
+  SGMatrix(T m00, T m01, T m02, T m03,
+           T m10, T m11, T m12, T m13,
+           T m20, T m21, T m22, T m23,
+           T m30, T m31, T m32, T m33)
+  {
+    _data.flat[0] = m00; _data.flat[1] = m10;
+    _data.flat[2] = m20; _data.flat[3] = m30;
+    _data.flat[4] = m01; _data.flat[5] = m11;
+    _data.flat[6] = m21; _data.flat[7] = m31;
+    _data.flat[8] = m02; _data.flat[9] = m12;
+    _data.flat[10] = m22; _data.flat[11] = m32;
+    _data.flat[12] = m03; _data.flat[13] = m13;
+    _data.flat[14] = m23; _data.flat[15] = m33;
+  }
+
+  /// Constructor, build up a SGMatrix from a translation
+  template<typename S>
+  SGMatrix(const SGVec3<S>& trans)
+  { set(trans); }
+
+  /// Constructor, build up a SGMatrix from a rotation and a translation
+  template<typename S>
+  SGMatrix(const SGQuat<S>& quat)
+  { set(quat); }
+
+  /// Copy constructor for a transposed negated matrix
+  SGMatrix(const TransNegRef<T>& tm)
+  { set(tm); }
+
+  /// Set from a tranlation
+  template<typename S>
+  void set(const SGVec3<S>& trans)
+  {
+    _data.flat[0] = 1; _data.flat[4] = 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] = T(trans(1));
+    _data.flat[2] = 0; _data.flat[6] = 0;
+    _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
+  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;
+    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;
+    _data.flat[12] = 0; _data.flat[13] = 0;
+    _data.flat[14] = 0; _data.flat[15] = 1;
+  }
+
+  /// set from a transposed negated matrix
+  void set(const TransNegRef<T>& tm)
+  {
+    const SGMatrix& m = tm.m;
+    _data.flat[0] = m(0,0);
+    _data.flat[1] = m(0,1);
+    _data.flat[2] = m(0,2);
+    _data.flat[3] = m(3,0);
+
+    _data.flat[4] = m(1,0);
+    _data.flat[5] = m(1,1);
+    _data.flat[6] = m(1,2);
+    _data.flat[7] = m(3,1);
+
+    _data.flat[8] = m(2,0);
+    _data.flat[9] = m(2,1);
+    _data.flat[10] = m(2,2);
+    _data.flat[11] = m(3,2);
+
+    // 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(SGVec3<T>(m(0,3), m(1,3), m(2,3)));
+    _data.flat[12] = -t(0);
+    _data.flat[13] = -t(1);
+    _data.flat[14] = -t(2);
+    _data.flat[15] = m(3,3);
+  }
+
+  /// Access by index, the index is unchecked
+  const T& operator()(unsigned i, unsigned j) const
+  { return _data.flat[i + 4*j]; }
+  /// Access by index, the index is unchecked
+  T& operator()(unsigned i, unsigned j)
+  { return _data.flat[i + 4*j]; }
+
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return _data.flat[i]; }
+  /// Access by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return _data.flat[i]; }
+
+  /// Get the data pointer
+  const T* data(void) const
+  { return _data.flat; }
+  /// Get the data pointer
+  T* data(void)
+  { return _data.flat; }
+
+  /// Readonly interface function to ssg's sgMat4/sgdMat4
+  const T (&sg(void) const)[4][4]
+  { return _data.carray; }
+  /// Interface function to ssg's sgMat4/sgdMat4
+  T (&sg(void))[4][4]
+  { return _data.carray; }
+
+  /// Inplace addition
+  SGMatrix& operator+=(const SGMatrix& m)
+  { for (unsigned i = 0; i < nEnts; ++i) _data.flat[i] += m._data.flat[i]; return *this; }
+  /// Inplace subtraction
+  SGMatrix& operator-=(const SGMatrix& m)
+  { for (unsigned i = 0; i < nEnts; ++i) _data.flat[i] -= m._data.flat[i]; return *this; }
+  /// Inplace scalar multiplication
+  template<typename S>
+  SGMatrix& operator*=(S s)
+  { for (unsigned i = 0; i < nEnts; ++i) _data.flat[i] *= s; return *this; }
+  /// Inplace scalar multiplication by 1/s
+  template<typename S>
+  SGMatrix& operator/=(S s)
+  { return operator*=(1/T(s)); }
+  /// 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;
+    tpt(0) = (*this)(0,3);
+    tpt(1) = (*this)(1,3);
+    tpt(2) = (*this)(2,3);
+    for (unsigned i = 0; i < SGMatrix<T>::nCols-1; ++i) {
+      T tmp = pt(i);
+      tpt(0) += tmp*(*this)(0,i);
+      tpt(1) += tmp*(*this)(1,i);
+      tpt(2) += tmp*(*this)(2,i);
+    }
+    return tpt;
+  }
+  SGVec3<T> xformVec(const SGVec3<T>& v) const
+  {
+    SGVec3<T> tv;
+    T tmp = v(0);
+    tv(0) = tmp*(*this)(0,0);
+    tv(1) = tmp*(*this)(1,0);
+    tv(2) = tmp*(*this)(2,0);
+    for (unsigned i = 1; i < SGMatrix<T>::nCols-1; ++i) {
+      T tmp = v(i);
+      tv(0) += tmp*(*this)(0,i);
+      tv(1) += tmp*(*this)(1,i);
+      tv(2) += tmp*(*this)(2,i);
+    }
+    return tv;
+  }
+
+  /// Return an all zero matrix
+  static SGMatrix zeros(void)
+  { return SGMatrix(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); }
+
+  /// Return a unit matrix
+  static SGMatrix unit(void)
+  { return SGMatrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); }
+
+private:
+  /// Required to make that alias safe.
+  union Data {
+    T flat[16];
+    T carray[4][4];
+  };
+
+  /// The actual data, the matrix is stored in column major order,
+  /// that matches the storage format of OpenGL
+  Data _data;
+};
+
+/// Class to distinguish between a matrix and the matrix with a transposed
+/// rotational part and a negated translational part
+template<typename T>
+struct TransNegRef {
+  TransNegRef(const SGMatrix<T>& _m) : m(_m) {}
+  const SGMatrix<T>& m;
+};
+
+/// Unary +, do nothing ...
+template<typename T>
+inline
+const SGMatrix<T>&
+operator+(const SGMatrix<T>& m)
+{ return m; }
+
+/// Unary -, do nearly nothing
+template<typename T>
+inline
+SGMatrix<T>
+operator-(const SGMatrix<T>& m)
+{
+  SGMatrix<T> ret;
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    ret[i] = -m[i];
+  return ret;
+}
+
+/// Binary +
+template<typename T>
+inline
+SGMatrix<T>
+operator+(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{
+  SGMatrix<T> ret;
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    ret[i] = m1[i] + m2[i];
+  return ret;
+}
+
+/// Binary -
+template<typename T>
+inline
+SGMatrix<T>
+operator-(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{
+  SGMatrix<T> ret;
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    ret[i] = m1[i] - m2[i];
+  return ret;
+}
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGMatrix<T>
+operator*(S s, const SGMatrix<T>& m)
+{
+  SGMatrix<T> ret;
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    ret[i] = s*m[i];
+  return ret;
+}
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGMatrix<T>
+operator*(const SGMatrix<T>& m, S s)
+{
+  SGMatrix<T> ret;
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    ret[i] = s*m[i];
+  return ret;
+}
+
+/// Vector multiplication
+template<typename T>
+inline
+SGVec4<T>
+operator*(const SGMatrix<T>& m, const SGVec4<T>& v)
+{
+  SGVec4<T> mv;
+  T tmp = v(0);
+  mv(0) = tmp*m(0,0);
+  mv(1) = tmp*m(1,0);
+  mv(2) = tmp*m(2,0);
+  mv(3) = tmp*m(3,0);
+  for (unsigned i = 1; i < SGMatrix<T>::nCols; ++i) {
+    T tmp = v(i);
+    mv(0) += tmp*m(0,i);
+    mv(1) += tmp*m(1,i);
+    mv(2) += tmp*m(2,i);
+    mv(3) += tmp*m(3,i);
+  }
+  return mv;
+}
+
+/// Vector multiplication
+template<typename T>
+inline
+SGVec4<T>
+operator*(const TransNegRef<T>& tm, const SGVec4<T>& v)
+{
+  const SGMatrix<T>& m = tm.m;
+  SGVec4<T> mv;
+  SGVec3<T> v2;
+  T tmp = v(3);
+  mv(0) = v2(0) = -tmp*m(0,3);
+  mv(1) = v2(1) = -tmp*m(1,3);
+  mv(2) = v2(2) = -tmp*m(2,3);
+  mv(3) = tmp*m(3,3);
+  for (unsigned i = 0; i < SGMatrix<T>::nCols - 1; ++i) {
+    T tmp = v(i) + v2(i);
+    mv(0) += tmp*m(i,0);
+    mv(1) += tmp*m(i,1);
+    mv(2) += tmp*m(i,2);
+    mv(3) += tmp*m(3,i);
+  }
+  return mv;
+}
+
+/// Matrix multiplication
+template<typename T>
+inline
+SGMatrix<T>
+operator*(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{
+  SGMatrix<T> m;
+  for (unsigned j = 0; j < SGMatrix<T>::nCols; ++j) {
+    T tmp = m2(0,j);
+    m(0,j) = tmp*m1(0,0);
+    m(1,j) = tmp*m1(1,0);
+    m(2,j) = tmp*m1(2,0);
+    m(3,j) = tmp*m1(3,0);
+    for (unsigned i = 1; i < SGMatrix<T>::nCols; ++i) {
+      T tmp = m2(i,j);
+      m(0,j) += tmp*m1(0,i);
+      m(1,j) += tmp*m1(1,i);
+      m(2,j) += tmp*m1(2,i);
+      m(3,j) += tmp*m1(3,i);
+    }
+  }
+  return m;
+}
+
+/// Inplace matrix multiplication, post multiply
+template<typename T>
+inline
+SGMatrix<T>&
+SGMatrix<T>::operator*=(const SGMatrix<T>& m2)
+{ (*this) = operator*(*this, m2); return *this; }
+
+/// Return a reference to the matrix typed to make sure we use the transposed
+/// negated matrix
+template<typename T>
+inline
+TransNegRef<T>
+transNeg(const SGMatrix<T>& m)
+{ return TransNegRef<T>(m); }
+
+/// Compute the inverse if the matrix src. Store the result in dst.
+/// Return if the matrix is nonsingular. If it is singular dst contains
+/// undefined values
+template<typename T>
+inline
+bool
+invert(SGMatrix<T>& dst, const SGMatrix<T>& src)
+{
+  // Do a LU decomposition with row pivoting and solve into dst
+  SGMatrix<T> tmp = src;
+  dst = SGMatrix<T>::unit();
+
+  for (unsigned i = 0; i < 4; ++i) {
+    T val = tmp(i,i);
+    unsigned ind = i;
+
+    // Find the row with the maximum value in the i-th colum
+    for (unsigned j = i + 1; j < 4; ++j) {
+      if (fabs(tmp(j, i)) > fabs(val)) {
+        ind = j;
+        val = tmp(j, i);
+      }
+    }
+
+    // Do row pivoting
+    if (ind != i) {
+      for (unsigned j = 0; j < 4; ++j) {
+        T t;
+        t = dst(i,j); dst(i,j) = dst(ind,j); dst(ind,j) = t;
+        t = tmp(i,j); tmp(i,j) = tmp(ind,j); tmp(ind,j) = t;
+      }
+    }
+
+    // Check for singularity
+    if (fabs(val) <= SGLimits<T>::min())
+      return false;
+
+    T ival = 1/val;
+    for (unsigned j = 0; j < 4; ++j) {
+      tmp(i,j) *= ival;
+      dst(i,j) *= ival;
+    }
+
+    for (unsigned j = 0; j < 4; ++j) {
+      if (j == i)
+        continue;
+
+      val = tmp(j,i);
+      for (unsigned k = 0; k < 4; ++k) {
+        tmp(j,k) -= tmp(i,k) * val;
+        dst(j,k) -= dst(i,k) * val;
+      }
+    }
+  }
+  return true;
+}
+
+/// The 1-norm of the matrix, this is the largest column sum of
+/// the absolute values of A.
+template<typename T>
+inline
+T
+norm1(const SGMatrix<T>& m)
+{
+  T nrm = 0;
+  for (unsigned i = 0; i < SGMatrix<T>::nRows; ++i) {
+    T sum = fabs(m(i, 0)) + fabs(m(i, 1)) + fabs(m(i, 2)) + fabs(m(i, 3));
+    if (nrm < sum)
+      nrm = sum;
+  }
+  return nrm;
+}
+
+/// The inf-norm of the matrix, this is the largest row sum of
+/// the absolute values of A.
+template<typename T>
+inline
+T
+normInf(const SGMatrix<T>& m)
+{
+  T nrm = 0;
+  for (unsigned i = 0; i < SGMatrix<T>::nCols; ++i) {
+    T sum = fabs(m(0, i)) + fabs(m(1, i)) + fabs(m(2, i)) + fabs(m(3, i));
+    if (nrm < sum)
+      nrm = sum;
+  }
+  return nrm;
+}
+
+/// Return true if exactly the same
+template<typename T>
+inline
+bool
+operator==(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i)
+    if (m1[i] != m2[i])
+      return false;
+  return true;
+}
+
+/// Return true if not exactly the same
+template<typename T>
+inline
+bool
+operator!=(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{ return ! (m1 == m2); }
+
+/// Return true if equal to the relative tolerance tol
+template<typename T>
+inline
+bool
+equivalent(const SGMatrix<T>& m1, const SGMatrix<T>& m2, T rtol, T atol)
+{ return norm1(m1 - m2) < rtol*(norm1(m1) + norm1(m2)) + atol; }
+
+/// Return true if equal to the relative tolerance tol
+template<typename T>
+inline
+bool
+equivalent(const SGMatrix<T>& m1, const SGMatrix<T>& m2, T rtol)
+{ return norm1(m1 - m2) < rtol*(norm1(m1) + norm1(m2)); }
+
+/// Return true if about equal to roundoff of the underlying type
+template<typename T>
+inline
+bool
+equivalent(const SGMatrix<T>& m1, const SGMatrix<T>& m2)
+{
+  T tol = 100*SGLimits<T>::epsilon();
+  return equivalent(m1, m2, tol, tol);
+}
+
+#ifndef NDEBUG
+template<typename T>
+inline
+bool
+isNaN(const SGMatrix<T>& m)
+{
+  for (unsigned i = 0; i < SGMatrix<T>::nEnts; ++i) {
+    if (SGMisc<T>::isNaN(m[i]))
+      return true;
+  }
+  return false;
+}
+#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 SGMatrix<T>& m)
+{
+  s << "[ " << m(0,0) << ", " << m(0,1) << ", " << m(0,2) << ", " << m(0,3) << "\n";
+  s << "  " << m(1,0) << ", " << m(1,1) << ", " << m(1,2) << ", " << m(1,3) << "\n";
+  s << "  " << m(2,0) << ", " << m(2,1) << ", " << m(2,2) << ", " << m(2,3) << "\n";
+  s << "  " << m(3,0) << ", " << m(3,1) << ", " << m(3,2) << ", " << m(3,3) << " ]";
+  return s;
+}
+
+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(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
+SGMatrixd
+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(2,0), m(2,1), m(2,2), m(2,3),
+                   m(3,0), m(3,1), m(3,2), m(3,3));
+}
+
+#endif
--- a/simgear/math/SGMisc.hxx
+++ b/simgear/math/SGMisc.hxx
@@ -0,0 +1,110 @@
+// 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 SGMisc_H
+#define SGMisc_H
+
+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)
+  { return min(min(a, b), c); }
+  static T min(const T& a, const T& b, const T& c, const T& d)
+  { return min(min(min(a, b), c), d); }
+  static T max(const T& a, const T& b)
+  { return a > b ? a : b; }
+  static T max(const T& a, const T& b, const T& c)
+  { 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())
+      return -1;
+    else if (SGLimits<T>::min() < a)
+      return 1;
+    else
+      return 0;
+  }
+
+  static T rad2deg(const T& val)
+  { return val*180/pi(); }
+  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!
+  static bool isNaN(const T& v)
+  {
+#ifdef HAVE_ISNAN
+    return isnan(v);
+#elif defined HAVE_STD_ISNAN
+    return std::isnan(v);
+#else
+    // Use that every compare involving a NaN returns false
+    // But be careful, some usual compiler switches like for example
+    // -fast-math from gcc might optimize that expression to v != v which
+    // behaves exactly like the opposite ...
+    return !(v == v);
+#endif
+  }
+#endif
+};
+
+#endif
--- a/simgear/math/SGPlane.hxx
+++ b/simgear/math/SGPlane.hxx
@@ -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
--- a/simgear/math/SGQuat.hxx
+++ b/simgear/math/SGQuat.hxx
@@ -0,0 +1,793 @@
+// 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 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 : protected SGQuatStorage<T> {
+public:
+  typedef T value_type;
+
+  /// Default constructor. Does not initialize at all.
+  /// If you need them zero initialized, SGQuat::zeros()
+  SGQuat(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 < 4; ++i)
+      data()[i] = SGLimits<T>::quiet_NaN();
+#endif
+  }
+  /// Constructor. Initialize by the given values
+  SGQuat(T _x, T _y, T _z, T _w)
+  { x() = _x; y() = _y; z() = _z; w() = _w; }
+  /// 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]; }
+  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, 0, 0)); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromEulerRad(T z, T y, T x)
+  {
+    SGQuat q;
+    T zd2 = T(0.5)*z; T yd2 = T(0.5)*y; T xd2 = T(0.5)*x;
+    T Szd2 = sin(zd2); T Syd2 = sin(yd2); T Sxd2 = sin(xd2);
+    T Czd2 = cos(zd2); T Cyd2 = cos(yd2); T Cxd2 = cos(xd2);
+    T Cxd2Czd2 = Cxd2*Czd2; T Cxd2Szd2 = Cxd2*Szd2;
+    T Sxd2Szd2 = Sxd2*Szd2; T Sxd2Czd2 = Sxd2*Czd2;
+    q.w() = Cxd2Czd2*Cyd2 + Sxd2Szd2*Syd2;
+    q.x() = Sxd2Czd2*Cyd2 - Cxd2Szd2*Syd2;
+    q.y() = Cxd2Czd2*Syd2 + Sxd2Szd2*Cyd2;
+    q.z() = Cxd2Szd2*Cyd2 - Sxd2Czd2*Syd2;
+    return q;
+  }
+
+  /// Return a quaternion from euler angles in degrees
+  static SGQuat fromEulerDeg(T z, T y, T x)
+  {
+    return fromEulerRad(SGMisc<T>::deg2rad(z), SGMisc<T>::deg2rad(y),
+                        SGMisc<T>::deg2rad(x));
+  }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromYawPitchRoll(T y, T p, T r)
+  { return fromEulerRad(y, p, r); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromYawPitchRollDeg(T y, T p, T r)
+  { return fromEulerDeg(y, p, r); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromHeadAttBank(T h, T a, T b)
+  { return fromEulerRad(h, a, b); }
+
+  /// Return a quaternion from euler angles
+  static SGQuat fromHeadAttBankDeg(T h, T a, T b)
+  { return fromEulerDeg(h, a, b); }
+
+  /// Return a quaternion rotation 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<T>::pi() - T(0.5)*lat;
+    T Szd2 = sin(zd2);
+    T Syd2 = sin(yd2);
+    T Czd2 = cos(zd2);
+    T Cyd2 = cos(yd2);
+    q.w() = Czd2*Cyd2;
+    q.x() = -Szd2*Syd2;
+    q.y() = Czd2*Syd2;
+    q.z() = Szd2*Cyd2;
+    return q;
+  }
+  /// 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)
+  {
+    T angle2 = 0.5*angle;
+    return fromRealImag(cos(angle2), T(sin(angle2))*axis);
+  }
+
+  /// Create a quaternion from the angle axis representation
+  static SGQuat fromAngleAxisDeg(T angle, const SGVec3<T>& axis)
+  { return fromAngleAxis(SGMisc<T>::deg2rad(angle), axis); }
+
+  /// Create a quaternion from the angle axis representation where the angle
+  /// is stored in the axis' length
+  static SGQuat fromAngleAxis(const SGVec3<T>& axis)
+  {
+    T nAxis = norm(axis);
+    if (nAxis <= SGLimits<T>::min())
+      return SGQuat(1, 0, 0, 0);
+    T angle2 = 0.5*nAxis;
+    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.x();
+    q.y() = i.y();
+    q.z() = i.z();
+    return q;
+  }
+
+  /// Return an all zero vector
+  static SGQuat zeros(void)
+  { return SGQuat(0, 0, 0, 0); }
+
+  /// write the euler angles into the references
+  void getEulerRad(T& zRad, T& yRad, T& xRad) const
+  {
+    T sqrQW = w()*w();
+    T sqrQX = x()*x();
+    T sqrQY = y()*y();
+    T sqrQZ = z()*z();
+
+    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);
+    
+    T tmp = 2*(x()*z() - w()*y());
+    if (tmp < -1)
+      yRad = 0.5*SGMisc<T>::pi();
+    else if (1 < tmp)
+      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<T>::min() &&
+        fabs(num) < SGLimits<T>::min())
+      zRad = 0;
+    else {
+      T psi = atan2(num, den);
+      if (psi < 0)
+        psi += 2*SGMisc<T>::pi();
+      zRad = psi;
+    }
+  }
+
+  /// write the euler angles in degrees into the references
+  void getEulerDeg(T& zDeg, T& yDeg, T& xDeg) const
+  {
+    getEulerRad(zDeg, yDeg, xDeg);
+    zDeg = SGMisc<T>::rad2deg(zDeg);
+    yDeg = SGMisc<T>::rad2deg(yDeg);
+    xDeg = SGMisc<T>::rad2deg(xDeg);
+  }
+
+  /// write the angle axis representation into the references
+  void getAngleAxis(T& angle, SGVec3<T>& axis) const
+  {
+    T nrm = norm(*this);
+    if (nrm < SGLimits<T>::min()) {
+      angle = 0;
+      axis = SGVec3<T>(0, 0, 0);
+    } else {
+      T rNrm = 1/nrm;
+      angle = acos(SGMisc<T>::max(-1, SGMisc<T>::min(1, rNrm*w())));
+      T sAng = sin(angle);
+      if (fabs(sAng) < SGLimits<T>::min())
+        axis = SGVec3<T>(1, 0, 0);
+      else 
+        axis = (rNrm/sAng)*imag(*this);
+      angle *= 2;
+    }
+  }
+
+  /// write the angle axis representation into the references
+  void getAngleAxis(SGVec3<T>& axis) const
+  {
+    T angle;
+    getAngleAxis(angle, axis);
+    axis *= angle;
+  }
+
+  /// Access by index, the index is unchecked
+  const T& operator()(unsigned i) const
+  { return data()[i]; }
+  /// Access by index, the index is unchecked
+  T& operator()(unsigned i)
+  { return data()[i]; }
+
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return data()[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return data()[i]; }
+
+  /// Access the x component
+  const T& x(void) const
+  { return data()[0]; }
+  /// Access the x component
+  T& x(void)
+  { return data()[0]; }
+  /// Access the y component
+  const T& y(void) const
+  { return data()[1]; }
+  /// Access the y component
+  T& y(void)
+  { return data()[1]; }
+  /// Access the z component
+  const T& z(void) const
+  { return data()[2]; }
+  /// Access the z component
+  T& z(void)
+  { return data()[2]; }
+  /// Access the w component
+  const T& w(void) const
+  { return data()[3]; }
+  /// Access the w component
+  T& w(void)
+  { return data()[3]; }
+
+  /// Get the data pointer
+  using SGQuatStorage<T>::data;
+
+  /// Readonly interface function to ssg's sgQuat/sgdQuat
+  const T (&sg(void) const)[4]
+  { return data(); }
+  /// Interface function to ssg's sgQuat/sgdQuat
+  T (&sg(void))[4]
+  { 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; }
+  /// 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; }
+  /// Inplace scalar multiplication
+  template<typename S>
+  SGQuat& operator*=(S s)
+  { 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)
+  { return operator*=(1/T(s)); }
+  /// Inplace quaternion multiplication
+  SGQuat& operator*=(const SGQuat& v);
+
+  /// Transform a vector from the current coordinate frame to a coordinate
+  /// frame rotated with the quaternion
+  SGVec3<T> transform(const SGVec3<T>& v) const
+  {
+    T r = 2/dot(*this, *this);
+    SGVec3<T> qimag = imag(*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
+  {
+    T r = 2/dot(*this, *this);
+    SGVec3<T> qimag = imag(*this);
+    T qr = real(*this);
+    return (r*qr*qr - 1)*v + (r*dot(qimag, v))*qimag + (r*qr)*cross(qimag, v);
+  }
+
+  /// Rotate a given vector with the quaternion
+  SGVec3<T> rotate(const SGVec3<T>& v) const
+  { return backTransform(v); }
+  /// Rotate a given vector with the inverse quaternion
+  SGVec3<T> rotateBack(const SGVec3<T>& v) const
+  { return transform(v); }
+
+  /// Return the time derivative of the quaternion given the angular velocity
+  SGQuat
+  derivative(const SGVec3<T>& angVel) const
+  {
+    SGQuat deriv;
+
+    deriv.w() = 0.5*(-x()*angVel(0) - y()*angVel(1) - z()*angVel(2));
+    deriv.x() = 0.5*( w()*angVel(0) - z()*angVel(1) + y()*angVel(2));
+    deriv.y() = 0.5*( z()*angVel(0) + w()*angVel(1) - x()*angVel(2));
+    deriv.z() = 0.5*(-y()*angVel(0) + x()*angVel(1) + w()*angVel(2));
+    
+    return deriv;
+  }
+
+private:
+
+  // 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 ...
+template<typename T>
+inline
+const SGQuat<T>&
+operator+(const SGQuat<T>& v)
+{ return v; }
+
+/// Unary -, do nearly nothing
+template<typename T>
+inline
+SGQuat<T>
+operator-(const SGQuat<T>& v)
+{ return SGQuat<T>(-v(0), -v(1), -v(2), -v(3)); }
+
+/// Binary +
+template<typename T>
+inline
+SGQuat<T>
+operator+(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return SGQuat<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2), v1(3)+v2(3)); }
+
+/// Binary -
+template<typename T>
+inline
+SGQuat<T>
+operator-(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return SGQuat<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2), v1(3)-v2(3)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGQuat<T>
+operator*(S s, const SGQuat<T>& v)
+{ return SGQuat<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGQuat<T>
+operator*(const SGQuat<T>& v, S s)
+{ return SGQuat<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
+
+/// Quaterion multiplication
+template<typename T>
+inline
+SGQuat<T>
+operator*(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{
+  SGQuat<T> v;
+  v.x() = v1.w()*v2.x() + v1.x()*v2.w() + v1.y()*v2.z() - v1.z()*v2.y();
+  v.y() = v1.w()*v2.y() - v1.x()*v2.z() + v1.y()*v2.w() + v1.z()*v2.x();
+  v.z() = v1.w()*v2.z() + v1.x()*v2.y() - v1.y()*v2.x() + v1.z()*v2.w();
+  v.w() = v1.w()*v2.w() - v1.x()*v2.x() - v1.y()*v2.y() - v1.z()*v2.z();
+  return v;
+}
+
+/// Now define the inplace multiplication
+template<typename T>
+inline
+SGQuat<T>&
+SGQuat<T>::operator*=(const SGQuat& v)
+{ (*this) = (*this)*v; return *this; }
+
+/// The conjugate of the quaternion, this is also the
+/// inverse for normalized quaternions
+template<typename T>
+inline
+SGQuat<T>
+conj(const SGQuat<T>& v)
+{ return SGQuat<T>(-v(0), -v(1), -v(2), v(3)); }
+
+/// The conjugate of the quaternion, this is also the
+/// inverse for normalized quaternions
+template<typename T>
+inline
+SGQuat<T>
+inverse(const SGQuat<T>& v)
+{ return (1/dot(v, v))*SGQuat<T>(-v(0), -v(1), -v(2), v(3)); }
+
+/// The imagniary part of the quaternion
+template<typename T>
+inline
+T
+real(const SGQuat<T>& v)
+{ return v.w(); }
+
+/// The imagniary part of the quaternion
+template<typename T>
+inline
+SGVec3<T>
+imag(const SGQuat<T>& v)
+{ return SGVec3<T>(v.x(), v.y(), v.z()); }
+
+/// Scalar dot product
+template<typename T>
+inline
+T
+dot(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+T
+norm(const SGQuat<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 SGQuat<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 SGQuat<T>& v)
+{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+SGQuat<T>
+normalize(const SGQuat<T>& q)
+{ return (1/norm(q))*q; }
+
+/// Return true if exactly the same
+template<typename T>
+inline
+bool
+operator==(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
+
+/// Return true if not exactly the same
+template<typename T>
+inline
+bool
+operator!=(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return ! (v1 == v2); }
+
+/// Return true if equal to the relative tolerance tol
+/// Note that this is not the same than comparing quaternions to represent
+/// the same rotation
+template<typename T>
+inline
+bool
+equivalent(const SGQuat<T>& v1, const SGQuat<T>& v2, T tol)
+{ return norm1(v1 - v2) < tol*(norm1(v1) + norm1(v2)); }
+
+/// Return true if about equal to roundoff of the underlying type
+/// Note that this is not the same than comparing quaternions to represent
+/// the same rotation
+template<typename T>
+inline
+bool
+equivalent(const SGQuat<T>& v1, const SGQuat<T>& v2)
+{ return equivalent(v1, v2, 100*SGLimits<T>::epsilon()); }
+
+#ifndef NDEBUG
+template<typename T>
+inline
+bool
+isNaN(const SGQuat<T>& v)
+{
+  return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
+    || SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
+}
+#endif
+
+/// quaternion interpolation for t in [0,1] interpolate between src (=0)
+/// and dst (=1)
+template<typename T>
+inline
+SGQuat<T>
+interpolate(T t, const SGQuat<T>& src, const SGQuat<T>& dst)
+{
+  T cosPhi = dot(src, dst);
+  // need to take the shorter way ...
+  int signCosPhi = SGMisc<T>::sign(cosPhi);
+  // cosPhi must be corrected for that sign
+  cosPhi = fabs(cosPhi);
+
+  // first opportunity to fail - make sure acos will succeed later -
+  // result is correct
+  if (1 <= cosPhi)
+    return dst;
+
+  // now the half angle between the orientations
+  T o = acos(cosPhi);
+
+  // need the scales now, if the angle is very small, do linear interpolation
+  // to avoid instabilities
+  T scale0, scale1;
+  if (fabs(o) < SGLimits<T>::epsilon()) {
+    scale0 = 1 - t;
+    scale1 = t;
+  } else {
+    // note that we can give a positive lower bound for sin(o) here
+    T sino = sin(o);
+    T so = 1/sino;
+    scale0 = sin((1 - t)*o)*so;
+    scale1 = sin(t*o)*so;
+  }
+
+  return scale0*src + signCosPhi*scale1*dst;
+}
+
+/// 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 SGQuat<T>& v)
+{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
+
+inline
+SGQuatf
+toQuatf(const SGQuatd& v)
+{ return SGQuatf((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
+
+inline
+SGQuatd
+toQuatd(const SGQuatf& v)
+{ return SGQuatd(v(0), v(1), v(2), v(3)); }
+
+#endif
--- a/simgear/math/SGRay.hxx
+++ b/simgear/math/SGRay.hxx
@@ -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
--- a/simgear/math/SGSphere.hxx
+++ b/simgear/math/SGSphere.hxx
@@ -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
--- a/simgear/math/SGTriangle.hxx
+++ b/simgear/math/SGTriangle.hxx
@@ -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
--- a/simgear/math/SGVec2.hxx
+++ b/simgear/math/SGVec2.hxx
@@ -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
--- a/simgear/math/SGVec3.hxx
+++ b/simgear/math/SGVec3.hxx
@@ -0,0 +1,527 @@
+// 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 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 : protected SGVec3Storage<T> {
+public:
+  typedef T value_type;
+
+  /// Default constructor. Does not initialize at all.
+  /// If you need them zero initialized, use SGVec3::zeros()
+  SGVec3(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 < 3; ++i)
+      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; }
+  /// Constructor. Initialize by the content of a plain array,
+  /// make sure it has at least 3 elements
+  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]; }
+  /// Access by index, the index is unchecked
+  T& operator()(unsigned i)
+  { return data()[i]; }
+
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return data()[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return data()[i]; }
+
+  /// Access the x component
+  const T& x(void) const
+  { return data()[0]; }
+  /// Access the x component
+  T& x(void)
+  { return data()[0]; }
+  /// Access the y component
+  const T& y(void) const
+  { return data()[1]; }
+  /// Access the y component
+  T& y(void)
+  { return data()[1]; }
+  /// Access the z component
+  const T& z(void) const
+  { return data()[2]; }
+  /// Access the z component
+  T& z(void)
+  { return data()[2]; }
+
+  /// Get the data pointer
+  using SGVec3Storage<T>::data;
+
+  /// Readonly interface function to ssg's sgVec3/sgdVec3
+  const T (&sg(void) const)[3]
+  { return data(); }
+  /// Interface function to ssg's sgVec3/sgdVec3
+  T (&sg(void))[3]
+  { 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; }
+  /// Inplace subtraction
+  SGVec3& operator-=(const SGVec3& v)
+  { 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; }
+  /// Inplace scalar multiplication by 1/s
+  template<typename S>
+  SGVec3& operator/=(S s)
+  { return operator*=(1/T(s)); }
+
+  /// Return an all zero vector
+  static SGVec3 zeros(void)
+  { return SGVec3(0, 0, 0); }
+  /// Return unit vectors
+  static SGVec3 e1(void)
+  { return SGVec3(1, 0, 0); }
+  static SGVec3 e2(void)
+  { return SGVec3(0, 1, 0); }
+  static SGVec3 e3(void)
+  { return SGVec3(0, 0, 1); }
+
+  /// 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
+const SGVec3<T>&
+operator+(const SGVec3<T>& v)
+{ return v; }
+
+/// Unary -, do nearly nothing
+template<typename T>
+inline
+SGVec3<T>
+operator-(const SGVec3<T>& v)
+{ return SGVec3<T>(-v(0), -v(1), -v(2)); }
+
+/// Binary +
+template<typename T>
+inline
+SGVec3<T>
+operator+(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return SGVec3<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2)); }
+
+/// Binary -
+template<typename T>
+inline
+SGVec3<T>
+operator-(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return SGVec3<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGVec3<T>
+operator*(S s, const SGVec3<T>& v)
+{ return SGVec3<T>(s*v(0), s*v(1), s*v(2)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+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
+T
+dot(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+T
+norm(const SGVec3<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 SGVec3<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 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
+SGVec3<T>
+cross(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{
+  return SGVec3<T>(v1(1)*v2(2) - v1(2)*v2(1),
+                   v1(2)*v2(0) - v1(0)*v2(2),
+                   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
+SGVec3<T>
+normalize(const SGVec3<T>& v)
+{ return (1/norm(v))*v; }
+
+/// Return true if exactly the same
+template<typename T>
+inline
+bool
+operator==(const SGVec3<T>& v1, const SGVec3<T>& v2)
+{ return v1(0) == v2(0) && v1(1) == v2(1) && v1(2) == v2(2); }
+
+/// Return true if not exactly the same
+template<typename T>
+inline
+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
+bool
+equivalent(const SGVec3<T>& v1, const SGVec3<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 SGVec3<T>& v1, const SGVec3<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 SGVec3<T>& v1, const SGVec3<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 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
+bool
+isNaN(const SGVec3<T>& v)
+{
+  return SGMisc<T>::isNaN(v(0)) ||
+    SGMisc<T>::isNaN(v(1)) || SGMisc<T>::isNaN(v(2));
+}
+#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 SGVec3<T>& v)
+{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << " ]"; }
+
+inline
+SGVec3f
+toVec3f(const SGVec3d& v)
+{ return SGVec3f((float)v(0), (float)v(1), (float)v(2)); }
+
+inline
+SGVec3d
+toVec3d(const SGVec3f& v)
+{ return SGVec3d(v(0), v(1), v(2)); }
+
+#endif
--- a/simgear/math/SGVec4.hxx
+++ b/simgear/math/SGVec4.hxx
@@ -0,0 +1,463 @@
+// 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 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 : protected SGVec4Storage<T> {
+public:
+  typedef T value_type;
+
+  /// Default constructor. Does not initialize at all.
+  /// If you need them zero initialized, use SGVec4::zeros()
+  SGVec4(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 < 4; ++i)
+      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; }
+  /// 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]; }
+  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]; }
+  /// Access by index, the index is unchecked
+  T& operator()(unsigned i)
+  { return data()[i]; }
+
+  /// Access raw data by index, the index is unchecked
+  const T& operator[](unsigned i) const
+  { return data()[i]; }
+  /// Access raw data by index, the index is unchecked
+  T& operator[](unsigned i)
+  { return data()[i]; }
+
+  /// Access the x component
+  const T& x(void) const
+  { return data()[0]; }
+  /// Access the x component
+  T& x(void)
+  { return data()[0]; }
+  /// Access the y component
+  const T& y(void) const
+  { return data()[1]; }
+  /// Access the y component
+  T& y(void)
+  { return data()[1]; }
+  /// Access the z component
+  const T& z(void) const
+  { return data()[2]; }
+  /// Access the z component
+  T& z(void)
+  { return data()[2]; }
+  /// Access the x component
+  const T& w(void) const
+  { return data()[3]; }
+  /// Access the x component
+  T& w(void)
+  { return data()[3]; }
+
+  /// Get the data pointer
+  using SGVec4Storage<T>::data;
+
+  /// Readonly interface function to ssg's sgVec4/sgdVec4
+  const T (&sg(void) const)[4]
+  { return data(); }
+  /// Interface function to ssg's sgVec4/sgdVec4
+  T (&sg(void))[4]
+  { 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; }
+  /// 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; }
+  /// Inplace scalar multiplication
+  template<typename S>
+  SGVec4& operator*=(S s)
+  { 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)
+  { return operator*=(1/T(s)); }
+
+  /// Return an all zero vector
+  static SGVec4 zeros(void)
+  { return SGVec4(0, 0, 0, 0); }
+  /// Return unit vectors
+  static SGVec4 e1(void)
+  { return SGVec4(1, 0, 0, 0); }
+  static SGVec4 e2(void)
+  { return SGVec4(0, 1, 0, 0); }
+  static SGVec4 e3(void)
+  { return SGVec4(0, 0, 1, 0); }
+  static SGVec4 e4(void)
+  { return SGVec4(0, 0, 0, 1); }
+};
+
+/// Unary +, do nothing ...
+template<typename T>
+inline
+const SGVec4<T>&
+operator+(const SGVec4<T>& v)
+{ return v; }
+
+/// Unary -, do nearly nothing
+template<typename T>
+inline
+SGVec4<T>
+operator-(const SGVec4<T>& v)
+{ return SGVec4<T>(-v(0), -v(1), -v(2), -v(3)); }
+
+/// Binary +
+template<typename T>
+inline
+SGVec4<T>
+operator+(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)); }
+
+/// Binary -
+template<typename T>
+inline
+SGVec4<T>
+operator-(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)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+SGVec4<T>
+operator*(S s, const SGVec4<T>& v)
+{ return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
+
+/// Scalar multiplication
+template<typename S, typename T>
+inline
+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
+T
+dot(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+T
+norm(const SGVec4<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 SGVec4<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 SGVec4<T>& v)
+{ return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
+
+/// The inf-norm of the vector
+template<typename T>
+inline
+T
+normI(const SGVec4<T>& v)
+{ return SGMisc<T>::max(fabs(v(0)), fabs(v(1)), fabs(v(2)), fabs(v(2))); }
+
+/// The euclidean norm of the vector, that is what most people call length
+template<typename T>
+inline
+SGVec4<T>
+normalize(const SGVec4<T>& v)
+{ return (1/norm(v))*v; }
+
+/// Return true if exactly the same
+template<typename T>
+inline
+bool
+operator==(const SGVec4<T>& v1, const SGVec4<T>& v2)
+{ return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
+
+/// Return true if not exactly the same
+template<typename T>
+inline
+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
+bool
+equivalent(const SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 SGVec4<T>& v1, const SGVec4<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 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
+bool
+isNaN(const SGVec4<T>& v)
+{
+  return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
+    || SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
+}
+#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 SGVec4<T>& v)
+{ return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
+
+inline
+SGVec4f
+toVec4f(const SGVec4d& v)
+{ return SGVec4f((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
+
+inline
+SGVec4d
+toVec4d(const SGVec4f& v)
+{ return SGVec4d(v(0), v(1), v(2), v(3)); }
+
+#endif
--- a/simgear/math/fastmath.cxx
+++ b/simgear/math/fastmath.cxx
@@ -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;
-}
--- a/simgear/math/fastmath.hxx
+++ b/simgear/math/fastmath.hxx
@@ -1,117 +0,0 @@
-/*
- * \file fastmath.hxx
- * 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
- *
- * 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
-
-#ifdef _MSC_VER
-#define  _USE_MATH_DEFINES
-#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)
-{
-    int * const  exp_ptr = reinterpret_cast <int *> (&val);
-    int          x = *exp_ptr;
-    const int    log_2 = ((x >> 23) & 255) - 128;
-    x &= ~(255 << 23);
-    x += 127 << 23;
-    *exp_ptr = x;
-
-    val = ((-1.0f/3) * val + 2) * val - 2.0f/3;   // (1)
-
-    return (val + 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
-
--- a/simgear/math/interpolater.cxx
+++ b/simgear/math/interpolater.cxx
@@ -16,22 +16,20 @@
 // 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 Library General Public
-// License along with this library; if not, write to the
-// Free Software Foundation, Inc., 59 Temple Place - Suite 330,
-// Boston, MA  02111-1307, USA.
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$


 #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"

@@ -39,22 +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;
@@ -62,8 +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;
    }
 }

@@ -71,51 +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);
 }


--- a/Show More
+++ b/Show More