Merge branch 'ehofman/sound'

These patches fixes minor bug in addition to providing --with-openal-framework and --with-cocoa-framework.
Now you can use your own version of OpenAL.framework for selecting various audio output device.
Plus, you can build FG/SG on Snow Leopard with cocoa configuration.

SimGear.dsw

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

acinclude.m4

@@ -671,7 +671,7 @@ if test "x$want_boost" = "xyes"; then
 		if test "$_version" = "0" ; then
 			AC_MSG_ERROR([[We could not detect the boost libraries (version $boost_lib_version_req_shorten or higher). If you have a staged boost library (still not installed) please specify \$BOOST_ROOT in your environment and do not give a PATH to --with-boost option.  If you are sure you have boost installed, then check your version number looking in <boost/version.hpp>. See http://randspringer.de/boost for more documentation.]])
 		else
-			AC_MSG_NOTICE([Your boost libraries seems to old (version $_version).])
+			AC_MSG_ERROR([Your boost libraries seems to old (version $_version).])
 		fi
 	else
 		AC_SUBST(BOOST_CPPFLAGS)

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, 1.9.0)
+AM_INIT_AUTOMAKE(SimGear, 1.9.1)
 
 dnl Specify KAI C++ compiler and flags.
 dnl Borrowed with slight modification from blitz distribution.
@@ -37,7 +37,7 @@ AC_PROG_CXX
 AC_PROG_RANLIB
 AC_PROG_INSTALL
 AC_PROG_LN_S
-AX_BOOST_BASE([1.34.0])
+AX_BOOST_BASE([1.37.0])
 
 if test "x$BOOST_CPPFLAGS" != "x-I/usr/include" ; then
    CPPFLAGS="$CPPFLAGS $BOOST_CPPFLAGS"
@@ -126,6 +126,12 @@ if test "x$with_plib" != "x" ; then
     EXTRA_DIRS="${EXTRA_DIRS} $with_plib"
 fi
 
+AC_ARG_WITH(plib_framework, [ --with-plib-framework=PREFIX      Specify the prefix path to PLIB.framework ])
+
+if test "x$with_plib_framework" != "x"; then
+    echo "plib framework prefix is $with_plib_framework"
+fi
+
 # specify the osg location
 AC_ARG_WITH(osg, [  --with-osg=PREFIX       Specify the prefix path to osg])
 
@@ -134,6 +140,21 @@ if test "x$with_osg" != "x" ; then
     EXTRA_DIRS="${EXTRA_DIRS} $with_osg"
 fi
 
+AC_ARG_WITH(osg_framework, [ --with-osg-framework=PREFIX      Specify the prefix path to OSG.framework ])
+
+if test "x$with_osg_framework" != "x"; then
+    echo "osg framework prefix is $with_osg_framework"
+    CPPFLAGS = "$CPPFLAGS -F$with-osg-framework"
+    export DYLD_FRAMEWORK_PATH="$DYLD_FRAMEWORK_PATH:$with_osg_framework"
+fi
+
+dnl specifying OpenAL.framework (for user provided OpenAL.framework / ALUT)
+AC_ARG_WITH(openal_framework, [ --with-openal-framework=PREFIX    Speicfy the prefix path to OpenAL.framework ])
+
+if test "x$with_openal_framework" != "x"; then
+    echo "OpenAL framework prefix is $with_openal_framework"
+fi
+
 dnl Determine an extra directories to add to include/lib search paths
 case "${host}" in
 *-apple-darwin* | *-*-cygwin* | *-*-mingw32*)
@@ -203,6 +224,7 @@ LIBS=""
 
 dnl check for some default libraries
 AC_SEARCH_LIBS(cos, m)
+AC_SEARCH_LIBS(clock_gettime, rt)
 
 base_LIBS="$LIBS"
 
@@ -292,9 +314,54 @@ case "${host}" in
 
     LIBS="$LIBS -framework IOKit -framework OpenAL"
     openal_LIBS="$LIBS"
-    # not sure how to test if OpenAL exists on MacOS (does it come by default?)
     OPENAL_OK="yes"
-    ALUT_OK="yes"
+    ALUT_OK="no"
+
+    if test "x$with_openal_lib" != "x"; then
+        echo "libopenal is not supported on Mac OS platform."
+        openal_LIBS=""
+    fi
+    OPENAL_OK="yes"
+    # Looking for alut.h, if found assume that it is a part of
+    # the OpenAL package.
+    AC_CHECK_HEADERS([OpenAL/alut.h],[ALUT_OK="yes"])
+
+
+    dnl Thank you Christian Bauer from SheepSaver
+    dnl Modified by Tatsuhiro Nishioka for accepting a given framework path
+    dnl AC_CHECK_FRAMEWORK($1=NAME, $2=INCLUDES, $3=FRAMEWORK_PATH) ; $3 is optional
+    AC_DEFUN([AC_CHECK_FRAMEWORK], [
+    AS_VAR_PUSHDEF([ac_Framework], [ac_cv_framework_$1])dnl
+    AC_CACHE_CHECK([whether compiler supports framework $1],
+        ac_Framework, [
+        saved_LIBS="$LIBS"
+        FRAMEWORKS="$FRAMEWORKS -framework $1"
+        if test "$3" = ""; then
+            FRAMEWORKS="$FRAMEWORKS $ADD2LD"
+        elif test "`echo $FRAMEWORKS | grep -- -F$3`" = ""; then
+            FRAMEWORKS="$FRAMEWORKS -F$3"
+            CXXFLAGS="$CXXFLAGS -F$3"
+            CCFLAGS="$CCFLAGS -F$3"
+            dnl This is needed for AC_TRY_LINK when a framework path is specified
+            export DYLD_FRAMEWORK_PATH="${DYLD_FRAMEWORK_PATH}:$3"
+        fi
+        AC_TRY_LINK(
+        [$2], [],
+        [AS_VAR_SET(ac_Framework, yes)], [AS_VAR_SET(ac_Framework, no); LIBS="$saved_LIBS"]
+        )
+    ])
+    AS_IF([test AS_VAR_GET(ac_Framework) = yes],
+        [AC_DEFINE(AS_TR_CPP(HAVE_FRAMEWORK_$1), 1, [Define if framework $1 is available.])]
+    )
+    AS_VAR_POPDEF([ac_Framework])dnl
+    ])
+
+    dnl Check for OpenAL.framework when --with-openal-framework is specified
+    dnl Of cource OpenAL.framework needs to have alut.h 
+    if test "x$with_openal_framework" != "x"; then
+      AC_CHECK_FRAMEWORK(OpenAL, [#include <OpenAL/alut.h>], $with_openal_framework)
+    fi
+
     ;;
 
 *)
@@ -351,9 +418,23 @@ AM_CONDITIONAL(EXTGL_NEEDED, test "x$ac_cv_header_windows_h" = "xyes")
 # The following are C++ items that need to be tested for with the c++
 # compiler
 
+CXXCPP="g++ -E"
 AC_LANG_PUSH(C++)
 
 dnl Check for "plib" without which we cannot go on
+case ${host} in 
+*-apple-darwin*)
+    # Check PLIB framework availability when with-plib-framework is specified 
+    if test "x$with_plib_framework" != "x"; then
+        AC_CHECK_FRAMEWORK(PLIB, [#include <plib/ul.h>], $with_plib_framework)
+        plib_FRAMEWORK="$FRAMEWORKS"
+        FRAMEWORKS=""
+        AC_SUBST(plib_FRAMEWORK)
+    fi
+    ;;
+esac
+AM_CONDITIONAL(HAVE_FRAMEWORK_PLIB, test "x$ac_cv_framework_PLIB" != "x")
+
 AC_CHECK_HEADER(plib/ul.h)
 if test "x$ac_cv_header_plib_ul_h" != "xyes"; then
     echo
@@ -373,8 +454,6 @@ AC_TRY_RUN([
 #define MIN_PLIB_VERSION 185
 
 int main() {
-    int major, minor, micro;
-
     if ( PLIB_VERSION < MIN_PLIB_VERSION ) {
 	 return -1;
     }
@@ -391,8 +470,40 @@ int main() {
 
 LIBS="$saved_LIBS"
 
+# OpenSceneGraph
+case "${host}" in
+*-apple-darwin*)
+    if test "x$with_osg_framework" != "x"; then
+        AC_CHECK_FRAMEWORK(osgViewer, [#include <osgViewer/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgGA, [#include <osgGA/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgText, [#include <osgText/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgFX, [#include <osgFX/AnisotropicLighting>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgUtil, [#include <osgUtil/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgDB, [#include <osgDB/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgSim, [#include <osgSim/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osgParticle, [#include <osgParticle/Version>], $with_osg_framework)
+        AC_CHECK_FRAMEWORK(osg, [#include <osg/Version>], $with_osg_framework)
+        osg_FRAMEWORKS="$FRAMEWORKS"
+        FRAMEWORKS=""
+        AC_SUBST(osg_FRAMEWORKS)
+        AC_CHECK_FRAMEWORK(OpenThreads, [#include <OpenThreads/Version>], $with_osg_framework)
+        openthreads_FRAMEWORK="$FRAMEWORKS"
+        FRAMEWORKS=""
+        AC_SUBST(openthreads_FRAMEWORK)
+    else
+        dnl
+        dnl This is needed when osg dynamic libs are specified 
+        dnl instead of OSG frameworks on Mac OS X
+        dnl
+        LDFLAGS="$LDFLAGS -L$with_osg"
+    fi
+    ;;
+esac
+AM_CONDITIONAL(HAVE_FRAMEWORK_OSG, test "x$ac_cv_framework_osg" != "x")
+
 AC_CHECK_HEADER(osg/Version)
 if test "x$ac_cv_header_osg_Version" != "xyes"; then
+  if test "x$ac_cv_framework_osg" != "xyes"; then
     echo
     echo "You *must* have the OpenSceneGraph support library installed on your system"
     echo "to build this version of SimGear!"
@@ -401,6 +512,7 @@ if test "x$ac_cv_header_osg_Version" != "xyes"; then
     echo
     echo "configure aborted."
     exit
+  fi
 fi
 
 AC_CHECK_HEADER(boost/version.hpp)
@@ -480,6 +592,7 @@ AC_CONFIG_FILES([ \
 	simgear/props/Makefile \
 	simgear/route/Makefile \
 	simgear/scene/Makefile \
+	simgear/scene/bvh/Makefile \
 	simgear/scene/material/Makefile \
 	simgear/scene/model/Makefile \
 	simgear/scene/sky/Makefile \

projects/VC7.1/.cvsignore

@@ -1,4 +1,5 @@
 Debug
 Release
 SimGear.ncb
-SimGear.suo
+SimGear.suo
+*.user

projects/VC7.1/SimGear.vcproj

@@ -23,7 +23,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				InlineFunctionExpansion="1"
-				AdditionalIncludeDirectories="..\..;..\..\simgear;..\..\..;..\..\..\install\msvc71\OpenSceneGraph\include;..\..\..\3rdparty\include;&quot;..\..\..\pthreads-w32-2-7-0-release&quot;;..\..\..\boost_1_36_0"
+				AdditionalIncludeDirectories="..\..;..\..\simgear;..\..\..\install\msvc71\OpenSceneGraph\include;..\..\..\3rdparty\include;..\..\..\boost_1_36_0"
 				PreprocessorDefinitions="HAVE_CONFIG_H,NDEBUG,WIN32;_USE_MATH_DEFINES;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS"
 				StringPooling="TRUE"
 				RuntimeLibrary="2"
@@ -75,7 +75,7 @@
 			<Tool
 				Name="VCCLCompilerTool"
 				Optimization="0"
-				AdditionalIncludeDirectories="..\..;..\..\simgear;..\..\..;..\..\..\install\msvc71\OpenSceneGraph\include;..\..\..\3rdparty\include;&quot;..\..\..\pthreads-w32-2-7-0-release&quot;;..\..\..\boost_1_36_0"
+				AdditionalIncludeDirectories="..\..;..\..\simgear;..\..\..\install\msvc71\OpenSceneGraph\include;..\..\..\3rdparty\include;..\..\..\boost_1_36_0"
 				PreprocessorDefinitions="HAVE_CONFIG_H,_DEBUG,WIN32;_USE_MATH_DEFINES;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS"
 				BasicRuntimeChecks="3"
 				RuntimeLibrary="3"
@@ -287,6 +287,9 @@
 		<Filter
 			Name="Lib_sgmath"
 			Filter="">
+			<File
+				RelativePath="..\..\simgear\math\beziercurve.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\math\interpolater.cxx">
 			</File>
@@ -422,9 +425,6 @@
 			<File
 				RelativePath="..\..\simgear\screen\colors.hxx">
 			</File>
-			<File
-				RelativePath="..\..\simgear\screen\colours.h">
-			</File>
 			<File
 				RelativePath="..\..\simgear\screen\extensions.cxx">
 			</File>
@@ -461,12 +461,6 @@
 			<File
 				RelativePath="..\..\simgear\screen\shader.h">
 			</File>
-			<File
-				RelativePath="..\..\simgear\screen\texture.cxx">
-			</File>
-			<File
-				RelativePath="..\..\simgear\screen\texture.hxx">
-			</File>
 			<File
 				RelativePath="..\..\simgear\screen\tr.cxx">
 			</File>
@@ -649,6 +643,15 @@
 		<Filter
 			Name="Lib_sgprops"
 			Filter="">
+			<File
+				RelativePath="..\..\simgear\props\AtomicChangeListener.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\props\AtomicChangeListener.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\props\ExtendedPropertyAdapter.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\props\condition.cxx">
 			</File>
@@ -683,12 +686,6 @@
 			<File
 				RelativePath="..\..\simgear\scene\model\CheckSceneryVisitor.hxx">
 			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\location.cxx">
-			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\location.hxx">
-			</File>
 			<File
 				RelativePath="..\..\simgear\scene\model\model.cxx">
 			</File>
@@ -725,18 +722,18 @@
 			<File
 				RelativePath="..\..\simgear\scene\model\placement.hxx">
 			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\placementtrans.cxx">
-			</File>
-			<File
-				RelativePath="..\..\simgear\scene\model\placementtrans.hxx">
-			</File>
 			<File
 				RelativePath="..\..\simgear\scene\model\SGClipGroup.cxx">
 			</File>
 			<File
 				RelativePath="..\..\simgear\scene\model\SGClipGroup.hxx">
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGInteractionAnimation.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\model\SGInteractionAnimation.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\model\SGMaterialAnimation.cxx">
 			</File>
@@ -811,6 +808,53 @@
 		<Filter
 			Name="Lib_sgmaterial"
 			Filter="">
+			<File
+				RelativePath="..\..\simgear\scene\material\Effect.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Effect.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectBuilder.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectBuilder.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectCullVisitor.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectCullVisitor.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectGeode.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\EffectGeode.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\GLPredicate.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\GLPredicate.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Noise.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Noise.hxx">
+			</File>
+
+			<File
+				RelativePath="..\..\simgear\scene\material\TextureBuilder.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\TextureBuilder.hxx">
+			</File>
+
+			<File
+				RelativePath="..\..\simgear\scene\material\makeEffect.cxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\material\mat.cxx">
 			</File>
@@ -829,6 +873,18 @@
 			<File
 				RelativePath="..\..\simgear\scene\material\matmodel.hxx">
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Pass.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Pass.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Technique.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\material\Technique.hxx">
+			</File>
 		</Filter>
 		<Filter
 			Name="Lib_sgtgdb"
@@ -924,12 +980,6 @@
 			<File
 				RelativePath="..\..\simgear\threads\SGQueue.hxx">
 			</File>
-			<File
-				RelativePath="..\..\simgear\threads\SGThread.cxx">
-			</File>
-			<File
-				RelativePath="..\..\simgear\threads\SGThread.hxx">
-			</File>
 		</Filter>
 		<Filter
 			Name="Lib_sgstructure"
@@ -1130,12 +1180,24 @@
 		<Filter
 			Name="Lib_sgutil"
 			Filter="">
+			<File
+				RelativePath="..\..\simgear\scene\util\CopyOp.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\CopyOp.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\util\NodeAndDrawableVisitor.cxx">
 			</File>
 			<File
 				RelativePath="..\..\simgear\scene\util\NodeAndDrawableVisitor.hxx">
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\PrimitiveUtils.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\PrimitiveUtils.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\util\QuadTreeBuilder.cxx">
 			</File>
@@ -1184,12 +1246,115 @@
 			<File
 				RelativePath="..\..\simgear\scene\util\SGUpdateVisitor.hxx">
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SplicingVisitor.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\SplicingVisitor.hxx">
+			</File>
 			<File
 				RelativePath="..\..\simgear\scene\util\StateAttributeFactory.cxx">
 			</File>
 			<File
 				RelativePath="..\..\simgear\scene\util\StateAttributeFactory.hxx">
 			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\UpdateOnceCallback.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\util\UpdateOnceCallback.hxx">
+			</File>
+		</Filter>
+		<Filter
+			Name="Lib_sgbvh"
+			Filter="">
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHBoundingBoxVisitor.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHDebugCollectVisitor.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHGroup.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHGroup.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHLineGeometry.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHLineGeometry.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHLineSegmentVisitor.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHLineSegmentVisitor.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHMotionTransform.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHMotionTransform.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHNode.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHNode.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticBinary.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticBinary.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticData.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticGeometry.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticGeometry.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticGeometryBuilder.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticLeaf.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticLeaf.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticNode.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticNode.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticTriangle.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHStaticTriangle.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHSubTreeCollector.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHSubTreeCollector.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHTransform.cxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHTransform.hxx">
+			</File>
+			<File
+				RelativePath="..\..\simgear\scene\bvh\BVHVisitor.hxx">
+			</File>
 		</Filter>
 		<File
 			RelativePath="..\..\simgear\simgear_config.h-msvc71">

projects/VC8/SimGear.sln

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

projects/VC90/.cvsignore

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

simgear/bucket/newbucket.cxx

@@ -106,7 +106,7 @@ void SGBucket::set_bucket( double dlon, double dlat ) {
     } else if ( span <= 1.0 ) {
 	x = (int)((dlon - lon) / span);
     } else {
-	if ( (dlon >= 0) || (fabs(diff) < SG_EPSILON) ) {
+	if ( dlon >= 0 ) {
 	    lon = (int)( (int)(lon / span) * span);
 	} else {
 	    // cout << " lon = " << lon 

simgear/bucket/newbucket.hxx

@@ -95,7 +95,6 @@ static double sg_bucket_span( double l ) {
 class SGBucket {
 
 private:
-    double cx, cy;  // centerpoint (lon, lat) in degrees of bucket
     short lon;        // longitude index (-180 to 179)
     short lat;        // latitude index (-90 to 89)
     char x;          // x subdivision (0 to 7)

simgear/compiler.h

@@ -131,9 +131,35 @@
 //
 
 #ifdef __APPLE__
+#  ifdef __GNUC__
+#    if ( __GNUC__ > 3 ) || ( __GNUC__ == 3 && __GNUC_MINOR__ >= 3 )
 inline int (isnan)(double r) { return !(r <= 0 || r >= 0); }
-#else
+#    else
+    // any C++ header file undefines isinf and isnan
+    // so this should be included before <iostream>
+    // the functions are STILL in libm (libSystem on mac os x)
+extern "C" int (isnan)(double);
+extern "C" int (isinf)(double);
+#    endif
+#  else
+inline int (isnan)(double r) { return !(r <= 0 || r >= 0); }
+#  endif
+#endif
 
+#if defined (__FreeBSD__)
+#  if __FreeBSD_version < 500000
+     extern "C" {
+       inline int isnan(double r) { return !(r <= 0 || r >= 0); }
+     }
+#  endif
+#endif
+
+#if defined (__CYGWIN__)
+#  include <ieeefp.h>		// isnan
+#endif
+
+#if defined(__MINGW32__)
+#  define isnan(x) _isnan(x)
 #endif
 
 

simgear/constants.h

@@ -118,10 +118,10 @@
 /** Nautical Miles to Radians */
 #define SG_RAD_TO_NM        3437.7467707849392526
 
-/** Miles per second to Knots */
+/** meters per second to Knots */
 #define SG_MPS_TO_KT        1.9438444924406046432
 
-/** Knots to Miles per second */
+/** Knots to meters per second */
 #define SG_KT_TO_MPS        0.5144444444444444444
 
 /** Feet per second to Knots */
@@ -130,16 +130,16 @@
 /** Knots to Feet per second */
 #define SG_KT_TO_FPS        1.6878098571011956874
 
-/** Miles per second to Miles per hour */
+/** meters per second to Miles per hour */
 #define SG_MPS_TO_MPH       2.2369362920544020312
 
-/** Miles per hour to Miles per second */
+/** meetrs per hour to Miles per second */
 #define SG_MPH_TO_MPS       0.44704
 
 /** Meters per second to Kilometers per hour */
 #define SG_MPS_TO_KMH       3.6
 
-/** Kilometers per hour to Miles per second */
+/** Kilometers per hour to meters per second */
 #define SG_KMH_TO_MPS       0.2777777777777777778
 
 /** Pascal to Inch Mercury */

simgear/debug/logstream.hxx

@@ -33,6 +33,7 @@
 
 #include <streambuf>
 #include <ostream>
+#include <cstdio>
 
 #include <simgear/debug/debug_types.h>
 

simgear/debug/logtest.cxx

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

simgear/environment/visual_enviro.cxx

@@ -30,7 +30,7 @@
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/math/point3d.hxx>
 #include <simgear/math/polar3d.hxx>
-#include <simgear/sound/soundmgr_openal.hxx>
+#include <simgear/sound/sample_group.hxx>
 #include <simgear/scene/sky/cloudfield.hxx>
 #include <simgear/scene/sky/newcloud.hxx>
 #include <simgear/props/props.hxx>
@@ -175,7 +175,7 @@ SGEnviro::SGEnviro() :
 	lightning_enable_state(false),
 	elapsed_time(0.0),
 	dt(0.0),
-	soundMgr(NULL),
+	sampleGroup(NULL),
 	snd_active(false),
 	snd_dist(0.0),
 	min_time_before_lt(0.0),
@@ -189,6 +189,8 @@ SGEnviro::SGEnviro() :
 }
 
 SGEnviro::~SGEnviro(void) {
+	if (sampleGroup) delete sampleGroup;
+
   // OSGFIXME
   return;
 	list_of_lightning::iterator iLightning;
@@ -530,8 +532,8 @@ void SGEnviro::drawRain(double pitch, double roll, double heading, double hspeed
 
 }
 
-void SGEnviro::set_soundMgr(SGSoundMgr *mgr) {
+void SGEnviro::set_sampleGroup(SGSampleGroup *sgr) {
-	soundMgr = mgr;
+	sampleGroup = sgr;
 }
 
 void SGEnviro::drawPrecipitation(double rain_norm, double snow_norm, double hail_norm, double pitch, double roll, double heading, double hspeed) {
@@ -616,7 +618,7 @@ void SGLightning::lt_build(void) {
     top[PY] = alt;
     top[PZ] = 0;
     lt_build_tree_branch(0, top, 1.0, 50, top[PY] / 8.0);
-	if( ! sgEnviro.soundMgr )
+	if( ! sgEnviro.sampleGroup )
 		return;
 	Point3D start( sgEnviro.last_lon*SG_DEGREES_TO_RADIANS, sgEnviro.last_lat*SG_DEGREES_TO_RADIANS, 0.0 );
 	Point3D dest( lon*SG_DEGREES_TO_RADIANS, lat*SG_DEGREES_TO_RADIANS, 0.0 );
@@ -737,7 +739,7 @@ void SGEnviro::drawLightning(void) {
   return;
 	list_of_lightning::iterator iLightning;
 	// play 'thunder' for lightning
-	if( snd_active )
+	if( snd_active ) {
 		if( !snd_playing ) {
 			// wait until sound has reached us
 			snd_timer += dt;
@@ -751,20 +753,21 @@ void SGEnviro::drawLightning(void) {
 				double ax = 0.0, ay = 0.0;
 				ax = cos(course) * dist;
 				ay = sin(course) * dist;
-				SGSharedPtr<SGSoundSample> snd = soundMgr->find("thunder");
+				SGSharedPtr<SGSoundSample> snd = sampleGroup->find("thunder");
 				if( snd ) {
-					ALfloat pos[3]={ax, ay, -sgEnviro.last_alt };
+					SGVec3d pos = SGVec3d(ax, ay, -sgEnviro.last_alt);
-					snd->set_source_pos(pos);
+					snd->set_position(pos);
 					snd->play_once();
 				}
 			}
 		} else {
-			if( !soundMgr->is_playing("thunder") ) {
+			if( !sampleGroup->is_playing("thunder") ) {
 				snd_active = false;
 				snd_playing = false;
 			}
 		}
 
+	}
 	if( ! lightning_enable_state )
 		return;
 

simgear/environment/visual_enviro.hxx

@@ -32,7 +32,7 @@ using std::vector;
 using std::string;
 
 class SGLightning;
-class SGSoundMgr;
+class SGSampleGroup;
 
 /**
  * Simulate some echo on a weather radar.
@@ -84,7 +84,7 @@ private:
 	sgVec4	fog_color;
 	sgMat4 transform;
 	double last_lon, last_lat, last_alt;
-	SGSoundMgr	*soundMgr;
+	SGSampleGroup	*sampleGroup;
 	bool		snd_active, snd_playing;
 	double		snd_timer, snd_wait, snd_pos_lat, snd_pos_lon, snd_dist;
 	double		min_time_before_lt;
@@ -243,7 +243,7 @@ public:
      * Forward the sound manager instance to be able to play samples.
      * @param mgr a running sound manager
      */
-	void set_soundMgr(SGSoundMgr *mgr);
+	void set_sampleGroup(SGSampleGroup *sgr);
 
 	void setFOV( float w, float h );
 	void getFOV( float &w, float &h );

simgear/ephemeris/ephemeris.hxx

@@ -158,6 +158,7 @@ public:
      * @return planets array
      */
     inline SGVec3d *getPlanets() { return planets; }
+    inline const SGVec3d *getPlanets() const { return planets; }
 
     /** @return the numbers of defined stars. */
     inline int getNumStars() const { return stars->getNumStars(); }
@@ -170,6 +171,7 @@ public:
      * @returns star array
      */
     inline SGVec3d *getStars() { return stars->getStars(); }
+    inline const SGVec3d *getStars() const { return stars->getStars(); }
 };
 
 

simgear/io/Makefile.am

@@ -26,36 +26,54 @@ noinst_PROGRAMS = decode_binobj socktest lowtest tcp_server tcp_client
 
 tcp_server_SOURCES = tcp_server.cxx
 
+if HAVE_FRAMEWORK_PLIB
+tcp_server_LDFLAGS = $(plib_FRAMEWORK)
+else
+tcp_server_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 tcp_server_LDADD = \
 	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+	$(tcp_server_PLIB_LIBS) -lz \
 	$(network_LIBS) \
 	$(base_LIBS)
 
 tcp_client_SOURCES = tcp_client.cxx
 
+if HAVE_FRAMEWORK_PLIB
+tcp_client_LDFLAGS = $(plib_FRAMEWORK)
+else
+tcp_client_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 tcp_client_LDADD = \
 	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+	$(tcp_client_PLIB_LIBS) -lz \
 	$(network_LIBS) \
 	$(base_LIBS)
 
 socktest_SOURCES = socktest.cxx
 
+if HAVE_FRAMEWORK_PLIB
+socktest_LDFLAGS = $(plib_FRAMEWORK)
+else
+socktest_PLIB_LIBS = -lplibnet -lplibul
+endif
+
 socktest_LDADD = \
 	libsgio.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/bucket/libsgbucket.a \
 	$(top_builddir)/simgear/misc/libsgmisc.a \
-	-lplibnet -lplibul -lz \
+        $(socktest_PLIB_LIBS) -lz
 	$(network_LIBS) \
-	$(base_LIBS)
+	$(base_LIBS) 
 
 lowtest_SOURCES = lowtest.cxx
 

simgear/io/lowlevel.cxx

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

simgear/io/sg_binobj.hxx

@@ -33,6 +33,7 @@
 #include <simgear/compiler.h>
 #include <simgear/constants.h>
 #include <simgear/math/sg_types.hxx>
+#include <simgear/math/point3d.hxx>
 #include <simgear/bucket/newbucket.hxx>
 
 #include <stdio.h>

simgear/io/tcp_server.cxx

@@ -12,6 +12,7 @@ class TcpServer
 {
 public:
     TcpServer();
+    ~TcpServer();
     bool open();
     bool process();
     bool close();
@@ -25,6 +26,11 @@ TcpServer::TcpServer()
     channel = new SGSocket( "", "5500", "tcp" );
 }
 
+TcpServer::~TcpServer()
+{
+    delete channel;
+}
+
 bool
 TcpServer::open()
 {

simgear/magvar/Makefile.am

@@ -2,11 +2,9 @@ includedir = @includedir@/magvar
 
 lib_LIBRARIES = libsgmagvar.a
 
-include_HEADERS = magvar.hxx
+include_HEADERS = magvar.hxx coremag.hxx
 
-libsgmagvar_a_SOURCES = \
+libsgmagvar_a_SOURCES = coremag.cxx magvar.cxx
-	coremag.hxx coremag.cxx \
-	magvar.cxx
 
 noinst_PROGRAMS = testmagvar
 

simgear/math/Makefile.am

@@ -4,10 +4,10 @@ check_PROGRAMS  = SGMathTest SGGeometryTest
 TESTS           = $(check_PROGRAMS)
 
 SGMathTest_SOURCES = SGMathTest.cxx
-SGMathTest_LDADD = libsgmath.a $(base_LIBS)
+SGMathTest_LDADD = libsgmath.a -lsgstructure $(base_LIBS)
 
 SGGeometryTest_SOURCES = SGGeometryTest.cxx
-SGGeometryTest_LDADD = libsgmath.a $(base_LIBS)
+SGGeometryTest_LDADD = libsgmath.a -lsgstructure $(base_LIBS)
 
 lib_LIBRARIES = libsgmath.a
 
@@ -42,7 +42,8 @@ include_HEADERS = \
 	SGTriangle.hxx \
 	SGVec2.hxx \
 	SGVec3.hxx \
-	SGVec4.hxx
+	SGVec4.hxx \
+	beziercurve.hxx
 
 libsgmath_a_SOURCES = \
 	interpolater.cxx \

simgear/math/SGBox.hxx

@@ -25,6 +25,20 @@ public:
     _min(SGLimits<T>::max(), SGLimits<T>::max(), SGLimits<T>::max()),
     _max(-SGLimits<T>::max(), -SGLimits<T>::max(), -SGLimits<T>::max())
   { }
+  SGBox(const SGVec3<T>& pt) :
+    _min(pt),
+    _max(pt)
+  { }
+  SGBox(const SGVec3<T>& min, const SGVec3<T>& max) :
+    _min(min),
+    _max(max)
+  { }
+  template<typename S>
+  explicit SGBox(const SGBox<S>& box) :
+    _min(box.getMin()),
+    _max(box.getMax())
+  { }
+
   void setMin(const SGVec3<T>& min)
   { _min = min; }
   const SGVec3<T>& getMin() const
@@ -35,6 +49,29 @@ public:
   const SGVec3<T>& getMax() const
   { return _max; }
 
+  SGVec3<T> getCorner(unsigned i) const
+  { return SGVec3<T>((i&1) ? _min[0] : _max[0],
+                     (i&2) ? _min[1] : _max[1],
+                     (i&4) ? _min[2] : _max[2]); }
+
+  template<typename S>
+  SGVec3<T> getNearestCorner(const SGVec3<S>& pt) const
+  {
+    SGVec3<T> center = getCenter();
+    return SGVec3<T>((pt[0] <= center[0]) ? _min[0] : _max[0],
+                     (pt[1] <= center[1]) ? _min[1] : _max[1],
+                     (pt[2] <= center[2]) ? _min[2] : _max[2]);
+  }
+  template<typename S>
+  SGVec3<T> getFarestCorner(const SGVec3<S>& pt) const
+  {
+    SGVec3<T> center = getCenter();
+    return SGVec3<T>((pt[0] > center[0]) ? _min[0] : _max[0],
+                     (pt[1] > center[1]) ? _min[1] : _max[1],
+                     (pt[2] > center[2]) ? _min[2] : _max[2]);
+  }
+
+
   // Only works for floating point types
   SGVec3<T> getCenter() const
   { return T(0.5)*(_min + _max); }
@@ -42,6 +79,8 @@ public:
   // Only valid for nonempty boxes
   SGVec3<T> getSize() const
   { return _max - _min; }
+  SGVec3<T> getHalfSize() const
+  { return T(0.5)*getSize(); }
 
   T getVolume() const
   {
@@ -83,7 +122,7 @@ public:
   // Note that this only works if the box is nonmepty
   unsigned getBroadestAxis() const
   {
-    SGVec3d size = getSize();
+    SGVec3<T> size = getSize();
     if (size[1] <= size[0] && size[2] <= size[0])
       return 0;
     else if (size[2] <= size[1])
@@ -92,6 +131,18 @@ public:
       return 2;
   }
 
+  // Note that this only works if the box is nonmepty
+  unsigned getSmallestAxis() const
+  {
+    SGVec3<T> size = getSize();
+    if (size[1] >= size[0] && size[2] >= size[0])
+      return 0;
+    else if (size[2] >= size[1])
+      return 1;
+    else
+      return 2;
+  }
+
 private:
   SGVec3<T> _min;
   SGVec3<T> _max;

simgear/math/SGGeod.cxx

@@ -17,22 +17,24 @@
 
 #include "SGMath.hxx"
 
-osg::Matrix SGGeod::makeSimulationFrameRelative()
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+
+osg::Matrix SGGeod::makeSimulationFrameRelative() const
 {
     SGQuatd hlOr = SGQuatd::fromLonLat(*this);
-    return osg::Matrix(hlOr.osg());
+    return osg::Matrix(toOsg(hlOr));
 }
 
-osg::Matrix SGGeod::makeSimulationFrame()
+osg::Matrix SGGeod::makeSimulationFrame() const
 {
     osg::Matrix result(makeSimulationFrameRelative());
     SGVec3d coord;
     SGGeodesy::SGGeodToCart(*this, coord);
-    result.setTrans(coord.osg());
+    result.setTrans(toOsg(coord));
     return result;
 }
 
-osg::Matrix SGGeod::makeZUpFrameRelative()
+osg::Matrix SGGeod::makeZUpFrameRelative() const
 {
     osg::Matrix result(makeSimulationFrameRelative());
     // 180 degree rotation around Y axis
@@ -41,11 +43,13 @@ osg::Matrix SGGeod::makeZUpFrameRelative()
     return result;
 }
 
-osg::Matrix SGGeod::makeZUpFrame()
+osg::Matrix SGGeod::makeZUpFrame() const
 {
     osg::Matrix result(makeZUpFrameRelative());
     SGVec3d coord;
     SGGeodesy::SGGeodToCart(*this, coord);
-    result.setTrans(coord.osg());
+    result.setTrans(toOsg(coord));
     return result;
 }
+
+#endif

simgear/math/SGGeod.hxx

@@ -20,7 +20,9 @@
 
 #include <simgear/constants.h>
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
 #include <osg/Matrix>
+#endif
 
 // #define SG_GEOD_NATIVE_DEGREE
 
@@ -42,6 +44,10 @@ public:
   static SGGeod fromRadM(double lon, double lat, double elevation);
   /// Factory from angular values in degrees and elevation in m
   static SGGeod fromDegM(double lon, double lat, double elevation);
+  /// Factory from an other SGGeod and a different elevation in m
+  static SGGeod fromGeodM(const SGGeod& geod, double elevation);
+  /// Factory from an other SGGeod and a different elevation in ft
+  static SGGeod fromGeodFt(const SGGeod& geod, double elevation);
   /// Factory to convert position from a cartesian position assumed to be
   /// in wgs84 measured in meters
   /// Note that this conversion is relatively expensive to compute
@@ -80,25 +86,27 @@ public:
   /// Set the geodetic elevation from the argument given in feet
   void setElevationFt(double elevation);
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
   // Create a local coordinate frame in the earth-centered frame of
   // reference. X points north, Z points down.
   // makeSimulationFrameRelative() only includes rotation.
-    
+  osg::Matrix makeSimulationFrameRelative() const;
-  osg::Matrix makeSimulationFrameRelative();
+  osg::Matrix makeSimulationFrame() const;
-  osg::Matrix makeSimulationFrame();    
 
   // Create a Z-up local coordinate frame in the earth-centered frame
   // of reference. This is what scenery models, etc. expect.
   // makeZUpFrameRelative() only includes rotation.
-  osg::Matrix makeZUpFrameRelative();
+  osg::Matrix makeZUpFrameRelative() const;
-  osg::Matrix makeZUpFrame();    
+  osg::Matrix makeZUpFrame() const;
+#endif
 private:
   /// This one is private since construction is not unique if you do
   /// not know the units of the arguments. Use the factory methods for
   /// that purpose
   SGGeod(double lon, double lat, double elevation);
 
-  /// The actual data, angles in degree, elevation in meters
+  //// FIXME: wrong comment!
+  /// The actual data, angles in degrees, elevation in meters
   /// The rationale for storing the values in degrees is that most code places
   /// in flightgear/terragear use degrees as a nativ input and output value.
   /// The places where it makes sense to use radians is when we convert
@@ -192,6 +200,20 @@ SGGeod::fromDegM(double lon, double lat, double elevation)
 #endif
 }
 
+inline
+SGGeod
+SGGeod::fromGeodM(const SGGeod& geod, double elevation)
+{
+  return SGGeod(geod._lon, geod._lat, elevation);
+}
+
+inline
+SGGeod
+SGGeod::fromGeodFt(const SGGeod& geod, double elevation)
+{
+  return SGGeod(geod._lon, geod._lat, elevation*SG_FEET_TO_METER);
+}
+
 inline
 SGGeod
 SGGeod::fromCart(const SGVec3<double>& cart)

simgear/math/SGGeodesy.cxx

@@ -21,6 +21,7 @@
 
 #include <cmath>
 
+#include <simgear/structure/exception.hxx>
 #include "SGMath.hxx"
 
 // These are hard numbers from the WGS84 standard.  DON'T MODIFY
@@ -56,7 +57,7 @@ const double SGGeodesy::POLRAD = _POLRAD;
 #define E2 fabs(1 - _SQUASH*_SQUASH)
 static double a = _EQURAD;
 static double ra2 = 1/(_EQURAD*_EQURAD);
-static double e = sqrt(E2);
+//static double e = sqrt(E2);
 static double e2 = E2;
 static double e4 = E2*E2;
 
@@ -78,11 +79,30 @@ SGGeodesy::SGCartToGeod(const SGVec3<double>& cart, SGGeod& geod)
   double Y = cart(1);
   double Z = cart(2);
   double XXpYY = X*X+Y*Y;
+  if( XXpYY + Z*Z < 25 ) {
+    // This function fails near the geocenter region, so catch that special case here.
+    // Define the innermost sphere of small radius as earth center and return the 
+    // coordinates 0/0/-EQURAD. It may be any other place on geoide's surface,
+    // the Northpole, Hawaii or Wentorf. This one was easy to code ;-)
+    geod.setLongitudeRad( 0.0 );
+    geod.setLongitudeRad( 0.0 );
+    geod.setElevationM( -EQURAD );
+    return;
+  }
+    
   double sqrtXXpYY = sqrt(XXpYY);
   double p = XXpYY*ra2;
   double q = Z*Z*(1-e2)*ra2;
   double r = 1/6.0*(p+q-e4);
   double s = e4*p*q/(4*r*r*r);
+/* 
+  s*(2+s) is negative for s = [-2..0]
+  slightly negative values for s due to floating point rounding errors
+  cause nan for sqrt(s*(2+s))
+  We can probably clamp the resulting parable to positive numbers
+*/
+  if( s >= -2.0 && s <= 0.0 )
+    s = 0.0;
   double t = pow(1+s+sqrt(s*(2+s)), 1/3.0);
   double u = r*(1+t+1/t);
   double v = sqrt(u*u+e4*q);
@@ -314,7 +334,7 @@ static int _geo_inverse_wgs_84( double lat1, double lon1, double lat2,
     double sinphi2 = sin(phi2), cosphi2 = cos(phi2);
 	
     if( (fabs(lat1-lat2) < testv && 
-	 ( fabs(lon1-lon2) < testv) || fabs(lat1-90.0) < testv ) )
+	 ( fabs(lon1-lon2) < testv)) || (fabs(lat1-90.0) < testv ) )
     {	
 	// TWO STATIONS ARE IDENTICAL : SET DISTANCE & AZIMUTHS TO ZERO */
 	*az1 = 0.0; *az2 = 0.0; *s = 0.0;
@@ -423,6 +443,40 @@ SGGeodesy::inverse(const SGGeod& p1, const SGGeod& p2, double& course1,
   return ret == 0;
 }
 
+double
+SGGeodesy::courseDeg(const SGGeod& p1, const SGGeod& p2)
+{
+  double course1, course2, distance;
+  int r = _geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                                p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                                &course1, &course2, &distance);
+  if (r != 0) {
+    throw sg_exception("SGGeodesy::courseDeg, unable to compute course");
+  }
+  
+  return course1;
+}
+
+double
+SGGeodesy::distanceM(const SGGeod& p1, const SGGeod& p2)
+{
+  double course1, course2, distance;
+  int r = _geo_inverse_wgs_84(p1.getLatitudeDeg(), p1.getLongitudeDeg(),
+                                p2.getLatitudeDeg(), p2.getLongitudeDeg(),
+                                &course1, &course2, &distance);
+  if (r != 0) {
+    throw sg_exception("SGGeodesy::distanceM, unable to compute distance");
+  }
+  
+  return distance;
+}
+
+double
+SGGeodesy::distanceNm(const SGGeod& from, const SGGeod& to)
+{
+  return distanceM(from, to) * SG_METER_TO_NM;
+}
+
 /// Geocentric routines
 
 void
@@ -486,7 +540,7 @@ SGGeodesy::courseRad(const SGGeoc& from, const SGGeoc& to)
 }
 
 double
-SGGeodesy::distanceM(const SGGeoc& from, const SGGeoc& to)
+SGGeodesy::distanceRad(const SGGeoc& from, const SGGeoc& to)
 {
   // d = 2*asin(sqrt((sin((lat1-lat2)/2))^2 +
   //            cos(lat1)*cos(lat2)*(sin((lon1-lon2)/2))^2))
@@ -496,5 +550,12 @@ SGGeodesy::distanceM(const SGGeoc& from, const SGGeoc& to)
   double tmp2 = sin(0.5*(from.getLongitudeRad() - to.getLongitudeRad()));
   double square = tmp1*tmp1 + cosLatFrom*cosLatTo*tmp2*tmp2;
   double s = SGMiscd::min(sqrt(SGMiscd::max(square, 0)), 1);
-  return 2 * asin(s) * SG_RAD_TO_NM * SG_NM_TO_METER;
+  return 2 * asin(s);
+}
+
+
+double
+SGGeodesy::distanceM(const SGGeoc& from, const SGGeoc& to)
+{
+  return distanceRad(from, to) * SG_RAD_TO_NM * SG_NM_TO_METER;
 }

simgear/math/SGGeodesy.hxx

@@ -53,10 +53,15 @@ public:
   static bool inverse(const SGGeod& p1, const SGGeod& p2, double& course1,
                       double& course2, double& distance);
 
+  static double courseDeg(const SGGeod& from, const SGGeod& to);
+  static double distanceM(const SGGeod& from, const SGGeod& to);
+  static double distanceNm(const SGGeod& from, const SGGeod& to);
+    
   // Geocentric course/distance computation
   static void advanceRadM(const SGGeoc& geoc, double course, double distance,
                           SGGeoc& result);
   static double courseRad(const SGGeoc& from, const SGGeoc& to);
+  static double distanceRad(const SGGeoc& from, const SGGeoc& to);
   static double distanceM(const SGGeoc& from, const SGGeoc& to);
 };
 

simgear/math/SGGeometryTest.cxx

@@ -31,6 +31,102 @@ SGVec3<T> rndVec3(void)
   return SGVec3<T>(sg_random(), sg_random(), sg_random());
 }
 
+template<typename T>
+bool
+TriangleClosestPointIntersectionTest(void)
+{
+  unsigned nTests = 100000;
+  unsigned failedCount = 0;
+  for (unsigned i = 0; i < nTests; ++i) {
+      // test triangle
+      SGTriangle<T> triangle(rndVec3<T>(), rndVec3<T>(), rndVec3<T>());
+      T triangleEps = 100*SGLimits<T>::epsilon();
+
+      // generate random point in the triangle
+      T u = 4*sg_random() - 2;
+      T v = 4*sg_random() - 2;
+      if (1 < u + v) {
+        v = T(0.5)*(v + 1 - u);
+        u = 1 - v;
+      }
+      u = SGMisc<T>::clip(u, 0, 1);
+      v = SGMisc<T>::clip(v, 0, 1);
+
+      SGVec3<T> testClosest;
+      testClosest = triangle.getBaseVertex();
+      testClosest += u*triangle.getEdge(0) + v*triangle.getEdge(1);
+
+      SGVec3<T> n = triangle.getNormal();
+      SGVec3<T> e0 = triangle.getEdge(0);
+      SGVec3<T> e1 = triangle.getEdge(1);
+
+      // The normals to the edges
+      SGVec3<T> a0 = cross(e0, n);
+      SGVec3<T> a1 = cross(e1 - e0, n);
+      SGVec3<T> a2 = cross(n, e1);
+
+      SGVec3<T> testPoint = testClosest;
+      // Ok, if we are at some edge, go perpandicular to the triangle away
+      if (u == 0) {
+        if (v == 0) {
+          testPoint += sg_random()*a0 + sg_random()*a2;
+        } else if (v == 1) {
+          testPoint += sg_random()*a1 + sg_random()*a2;
+        } else {
+          testPoint += sg_random()*a2;
+        }
+      } else if (u == 1) {
+        testPoint += sg_random()*a0 + sg_random()*a1;
+      } else {
+        if (v == 0) {
+          testPoint += sg_random()*a0;
+        } else if (u + v == 1) {
+          testPoint += sg_random()*a1;
+        }
+      }
+      testPoint += (2*sg_random() - 1)*n;
+
+      // Test the closest point function
+      SGVec3<T> closest = closestPoint(triangle, testPoint);
+      if (!equivalent(closest, testClosest, triangleEps)) {
+        std::cout << "Failed closest point test #" << i
+                  << ": not equivalent!\nu = "
+                  << u << ", v = " << v
+                  << "\ntestPoint = " << testPoint
+                  << ", testClosest = " << testClosest
+                  << ", closest = " << closest << "\n"
+                  << triangle << std::endl;
+        ++failedCount;
+      }
+
+      // Test the triangle sphere intersection
+      SGSphere<T> sphere(testPoint, sg_random());
+      bool exactIntersection = intersects(sphere, testClosest);
+//       bool exactIntersection = intersects(sphere, closest);
+      bool sphereTriangleIntersection = intersects(sphere, triangle);
+    
+      if (sphereTriangleIntersection != exactIntersection) {
+        std::cout << "Failed triangle sphere intersection test #" << i
+                  << ": not equivalent!\nu = "
+                  << u << ", v = " << v
+                  << "\ntestPoint = " << testPoint
+                  << ", testClosest = " << testClosest
+                  << ", closest = " << closest << "\n"
+                  << triangle << std::endl;
+        ++failedCount;
+      }
+  }
+
+  if (nTests < 100*failedCount) {
+    std::cout << "Failed box line intersection tests: " << failedCount
+              << " tests out of " << nTests
+              << " went wrong. Abort!" << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
 template<typename T>
 bool
 TriangleLineIntersectionTest(void)
@@ -44,6 +140,8 @@ TriangleLineIntersectionTest(void)
     
     SGTriangle<T> tri(v0, v1, v2);
 
+    T triangleEps = 100*SGLimits<T>::epsilon();
+
     // generate random coeficients
     T u = 4*sg_random() - 2;
     T v = 4*sg_random() - 2;
@@ -59,7 +157,7 @@ TriangleLineIntersectionTest(void)
     
     if (intersects(isectres, tri, lineSegment)) {
       if (0 <= u && 0 <= v && u+v <= 1 && 0 <= t && t <= 1) {
-        if (!equivalent(isectres, isectpt)) {
+        if (!equivalent(isectres, isectpt, triangleEps)) {
           std::cout << "Failed line segment intersection test #" << i
                     << ": not equivalent!\nu = "
                     << u << ", v = " << v << ", t = " << t
@@ -87,7 +185,7 @@ TriangleLineIntersectionTest(void)
     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)) {
+        if (!equivalent(isectres, isectpt, triangleEps)) {
           std::cout << "Failed ray intersection test #" << i
                     << ": not equivalent!\nu = "
                     << u << ", v = " << v << ", t = " << t
@@ -422,6 +520,13 @@ main(void)
             << "Some of these tests can fail due to roundoff problems...\n"
             << "Dont worry if only a few of them fail..." << std::endl;
 
+  sg_srandom(17);
+
+  if (!TriangleClosestPointIntersectionTest<float>())
+    return EXIT_FAILURE;
+  if (!TriangleClosestPointIntersectionTest<double>())
+    return EXIT_FAILURE;
+
   if (!TriangleLineIntersectionTest<float>())
     return EXIT_FAILURE;
   if (!TriangleLineIntersectionTest<double>())

simgear/math/SGIntersect.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -20,7 +20,21 @@
 
 template<typename T>
 inline bool
-intersects(const SGBox<T>& box, const SGSphere<T>& sphere)
+intersects(const SGSphere<T>& s1, const SGSphere<T>& s2)
+{
+  if (s1.empty())
+    return false;
+  if (s2.empty())
+    return false;
+
+  T dist = s1.getRadius() + s2.getRadius();
+  return distSqr(s1.getCenter(), s2.getCenter()) <= dist*dist;
+}
+
+
+template<typename T1, typename T2>
+inline bool
+intersects(const SGBox<T1>& box, const SGSphere<T2>& sphere)
 {
   if (sphere.empty())
     return false;
@@ -45,15 +59,15 @@ intersects(const SGBox<T>& box, const SGSphere<T>& sphere)
   return true;
 }
 // make it symmetric
-template<typename T>
+template<typename T1, typename T2>
 inline bool
-intersects(const SGSphere<T>& sphere, const SGBox<T>& box)
+intersects(const SGSphere<T1>& sphere, const SGBox<T2>& box)
 { return intersects(box, sphere); }
 
 
-template<typename T>
+template<typename T1, typename T2>
 inline bool
-intersects(const SGVec3<T>& v, const SGBox<T>& box)
+intersects(const SGVec3<T1>& v, const SGBox<T2>& box)
 {
   if (v[0] < box.getMin()[0])
     return false;
@@ -69,9 +83,9 @@ intersects(const SGVec3<T>& v, const SGBox<T>& box)
     return false;
   return true;
 }
-template<typename T>
+template<typename T1, typename T2>
 inline bool
-intersects(const SGBox<T>& box, const SGVec3<T>& v)
+intersects(const SGBox<T1>& box, const SGVec3<T2>& v)
 { return intersects(v, box); }
 
 
@@ -529,13 +543,427 @@ 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
+  // 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, lineSegment, eps);
 }
 
 
+template<typename T>
+inline SGVec3<T>
+closestPoint(const SGTriangle<T>& tri, const SGVec3<T>& p)
+{
+  // This method minimizes the distance function Q(u, v) = || p - x ||
+  // where x is a point in the trialgle given by the vertices v_i
+  //  x = v_0 + u*(v_1 - v_0) + v*(v_2 - v_0)
+  // The theoretical analysis is somehow too long for a comment.
+  // May be it is sufficient to see that this code passes all the tests.
+
+  SGVec3<T> off = tri.getBaseVertex() - p;
+  T a = dot(tri.getEdge(0), tri.getEdge(0));
+  T b = dot(tri.getEdge(0), tri.getEdge(1));
+  T c = dot(tri.getEdge(1), tri.getEdge(1));
+  T d = dot(tri.getEdge(0), off);
+  T e = dot(tri.getEdge(1), off);
+  
+  T det = a*c - b*b;
+
+  T u = b*e - c*d;
+  T v = b*d - a*e;
+
+/*
+  // Regions
+  // \2|
+  //  \|
+  //   |\ 
+  // 3 |0\ 1
+  //----------
+  // 4 | 5 \ 6
+*/
+
+  if (u + v <= det) {
+    if (u < 0) {
+      if (v < 0) {
+        // region 4
+        if (d < 0) {
+          if (a <= -d) {
+            // u = 1;
+            // v = 0;
+            return tri.getBaseVertex() + tri.getEdge(0);
+          } else {
+            u = -d/a;
+            // v = 0;
+            return tri.getBaseVertex() + u*tri.getEdge(0);
+          }
+        } else {
+          if (0 < e) {
+            // u = 0;
+            // v = 0;
+            return tri.getBaseVertex();
+          } else if (c <= -e) {
+            // u = 0;
+            // v = 1;
+            return tri.getBaseVertex() + tri.getEdge(1);
+          } else {
+            // u = 0;
+            v = -e/c;
+            return tri.getBaseVertex() + v*tri.getEdge(1);
+          }
+        }
+      } else {
+        // region 3
+        if (0 <= e) {
+          // u = 0;
+          // v = 0;
+          return tri.getBaseVertex();
+        } else if (c <= -e) {
+          // u = 0;
+          // v = 1;
+          return tri.getBaseVertex() + tri.getEdge(1);
+        } else {
+          // u = 0;
+          v = -e/c;
+          return tri.getBaseVertex() + v*tri.getEdge(1);
+        }
+      }
+    } else if (v < 0) {
+      // region 5
+      if (0 <= d) {
+        // u = 0;
+        // v = 0;
+        return tri.getBaseVertex();
+      } else if (a <= -d) {
+        // u = 1;
+        // v = 0;
+        return tri.getBaseVertex() + tri.getEdge(0);
+      } else {
+        u = -d/a;
+        // v = 0;
+        return tri.getBaseVertex() + u*tri.getEdge(0);
+      }
+    } else {
+      // region 0
+      if (det <= SGLimits<T>::min()) {
+        u = 0;
+        v = 0;
+        return tri.getBaseVertex();
+      } else {
+        T invDet = 1/det;
+        u *= invDet;
+        v *= invDet;
+        return tri.getBaseVertex() + u*tri.getEdge(0) + v*tri.getEdge(1);
+      }
+    }
+  } else {
+    if (u < 0) {
+      // region 2
+      T tmp0 = b + d;
+      T tmp1 = c + e;
+      if (tmp0 < tmp1) {
+        T numer = tmp1 - tmp0;
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 1;
+          // v = 0;
+          return tri.getBaseVertex() + tri.getEdge(0);
+        } else {
+          u = numer/denom;
+          v = 1 - u;
+          return tri.getBaseVertex() + u*tri.getEdge(0) + v*tri.getEdge(1);
+        }
+      } else {
+        if (tmp1 <= 0) {
+          // u = 0;
+          // v = 1;
+          return tri.getBaseVertex() + tri.getEdge(1);
+        } else if (0 <= e) {
+          // u = 0;
+          // v = 0;
+          return tri.getBaseVertex();
+        } else {
+          // u = 0;
+          v = -e/c;
+          return tri.getBaseVertex() + v*tri.getEdge(1);
+        }
+      }
+    } else if (v < 0) {
+      // region 6
+      T tmp0 = b + e;
+      T tmp1 = a + d;
+      if (tmp0 < tmp1) {
+        T numer = tmp1 - tmp0;
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 0;
+          // v = 1;
+          return tri.getBaseVertex() + tri.getEdge(1);
+        } else {
+          v = numer/denom;
+          u = 1 - v;
+          return tri.getBaseVertex() + u*tri.getEdge(0) + v*tri.getEdge(1);
+        }
+      } else {
+        if (tmp1 < 0) {
+          // u = 1;
+          // v = 0;
+          return tri.getBaseVertex() + tri.getEdge(0);
+        } else if (0 <= d) {
+          // u = 0;
+          // v = 0;
+          return tri.getBaseVertex();
+        } else {
+          u = -d/a;
+          // v = 0;
+          return tri.getBaseVertex() + u*tri.getEdge(0);
+        }
+      }
+    } else {
+      // region 1
+      T numer = c + e - b - d;
+      if (numer <= 0) {
+        // u = 0;
+        // v = 1;
+        return tri.getVertex(2);
+      } else {
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 1;
+          // v = 0;
+          return tri.getBaseVertex() + tri.getEdge(0);
+        } else {
+          u = numer/denom;
+          v = 1 - u;
+          return tri.getBaseVertex() + u*tri.getEdge(0) + v*tri.getEdge(1);
+        }
+      }
+    }
+  }
+}
+template<typename T>
+inline SGVec3<T>
+closestPoint(const SGVec3<T>& p, const SGTriangle<T>& tri)
+{ return closestPoint(tri, p); }
+
+template<typename T, typename T2>
+inline bool
+intersects(const SGTriangle<T>& tri, const SGSphere<T2>& sphere)
+{
+  // This method minimizes the distance function Q(u, v) = || p - x ||
+  // where x is a point in the trialgle given by the vertices v_i
+  //  x = v_0 + u*(v_1 - v_0) + v*(v_2 - v_0)
+  // The theoretical analysis is somehow too long for a comment.
+  // May be it is sufficient to see that this code passes all the tests.
+
+  SGVec3<T> off = tri.getBaseVertex() - SGVec3<T>(sphere.getCenter());
+  T baseDist2 = dot(off, off);
+  T a = dot(tri.getEdge(0), tri.getEdge(0));
+  T b = dot(tri.getEdge(0), tri.getEdge(1));
+  T c = dot(tri.getEdge(1), tri.getEdge(1));
+  T d = dot(tri.getEdge(0), off);
+  T e = dot(tri.getEdge(1), off);
+  
+  T det = a*c - b*b;
+
+  T u = b*e - c*d;
+  T v = b*d - a*e;
+
+/*
+  // Regions
+  // \2|
+  //  \|
+  //   |\ 
+  // 3 |0\ 1
+  //----------
+  // 4 | 5 \ 6
+*/
+
+  if (u + v <= det) {
+    if (u < 0) {
+      if (v < 0) {
+        // region 4
+        if (d < 0) {
+          if (a <= -d) {
+            // u = 1;
+            // v = 0;
+            T sqrDist = a + 2*d + baseDist2;
+            return sqrDist <= sphere.getRadius2();
+          } else {
+            u = -d/a;
+            // v = 0;
+            T sqrDist = d*u + baseDist2;
+            return sqrDist <= sphere.getRadius2();
+          }
+        } else {
+          if (0 < e) {
+            // u = 0;
+            // v = 0;
+            return baseDist2 <= sphere.getRadius2();
+          } else if (c <= -e) {
+            // u = 0;
+            // v = 1;
+            T sqrDist = c + 2*e + baseDist2;
+            return sqrDist <= sphere.getRadius2();
+          } else {
+            // u = 0;
+            v = -e/c;
+            T sqrDist = e*v + baseDist2;
+            return sqrDist <= sphere.getRadius2();
+          }
+        }
+      } else {
+        // region 3
+        if (0 <= e) {
+          // u = 0;
+          // v = 0;
+          return baseDist2 <= sphere.getRadius2();
+        } else if (c <= -e) {
+          // u = 0;
+          // v = 1;
+          T sqrDist = c + 2*e + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else {
+          // u = 0;
+          v = -e/c;
+          T sqrDist = e*v + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      }
+    } else if (v < 0) {
+      // region 5
+      if (0 <= d) {
+        // u = 0;
+        // v = 0;
+        return baseDist2 <= sphere.getRadius2();
+      } else if (a <= -d) {
+        // u = 1;
+        // v = 0;
+        T sqrDist = a + 2*d + baseDist2;
+        return sqrDist <= sphere.getRadius2();
+      } else {
+        u = -d/a;
+        // v = 0;
+        T sqrDist = d*u + baseDist2;
+        return sqrDist <= sphere.getRadius2();
+      }
+    } else {
+      // region 0
+      if (det <= SGLimits<T>::min()) {
+        // sqrDist = baseDist2;
+        u = 0;
+        v = 0;
+        return baseDist2 <= sphere.getRadius2();
+      } else {
+        T invDet = 1/det;
+        u *= invDet;
+        v *= invDet;
+        T sqrDist = u*(a*u + b*v + 2*d) + v*(b*u + c*v + 2*e) + baseDist2;
+        return sqrDist <= sphere.getRadius2();
+      }
+    }
+  } else {
+    if (u < 0) {
+      // region 2
+      T tmp0 = b + d;
+      T tmp1 = c + e;
+      if (tmp0 < tmp1) {
+        T numer = tmp1 - tmp0;
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 1;
+          // v = 0;
+          T sqrDist = a + 2*d + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else {
+          u = numer/denom;
+          v = 1 - u;
+          T sqrDist = u*(a*u + b*v + 2*d) + v*(b*u + c*v + 2*e) + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      } else {
+        if (tmp1 <= 0) {
+          // u = 0;
+          // v = 1;
+          T sqrDist = c + 2*e + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else if (0 <= e) {
+          // u = 0;
+          // v = 0;
+          return baseDist2 <= sphere.getRadius2();
+        } else {
+          // u = 0;
+          v = -e/c;
+          T sqrDist = e*v + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      }
+    } else if (v < 0) {
+      // region 6
+      T tmp0 = b + e;
+      T tmp1 = a + d;
+      if (tmp0 < tmp1) {
+        T numer = tmp1 - tmp0;
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 0;
+          // v = 1;
+          T sqrDist = c + 2*e + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else {
+          v = numer/denom;
+          u = 1 - v;
+          T sqrDist = u*(a*u + b*v + 2*d) + v*(b*u + c*v + 2*e)+baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      } else {
+        if (tmp1 < 0) {
+          // u = 1;
+          // v = 0;
+          T sqrDist = a + 2*d + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else if (0 <= d) {
+          // sqrDist = baseDist2;
+          // u = 0;
+          // v = 0;
+          return baseDist2 <= sphere.getRadius2();
+        } else {
+          u = -d/a;
+          // v = 0;
+          T sqrDist = d*u + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      }
+    } else {
+      // region 1
+      T numer = c + e - b - d;
+      if (numer <= 0) {
+        // u = 0;
+        // v = 1;
+        T sqrDist = c + 2*e + baseDist2;
+        return sqrDist <= sphere.getRadius2();
+      } else {
+        T denom = a - 2*b + c;
+        if (denom <= numer) {
+          // u = 1;
+          // v = 0;
+          T sqrDist = a + 2*d + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        } else {
+          u = numer/denom;
+          v = 1 - u;
+          T sqrDist = u*(a*u + b*v + 2*d) + v*(b*u + c*v + 2*e) + baseDist2;
+          return sqrDist <= sphere.getRadius2();
+        }
+      }
+    }
+  }
+}
+template<typename T1, typename T2>
+inline bool
+intersects(const SGSphere<T1>& sphere, const SGTriangle<T2>& tri)
+{ return intersects(tri, sphere); }
+
+
 template<typename T>
 inline bool
 intersects(const SGVec3<T>& v, const SGSphere<T>& sphere)
@@ -557,9 +985,9 @@ 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> w = T(0.5)*lineSegment.getDirection();
   SGVec3<T> v(fabs(w.x()), fabs(w.y()), fabs(w.z()));
-  SGVec3<T> h = 0.5*box.getSize();
+  SGVec3<T> h = T(0.5)*box.getSize();
 
   if (fabs(c[0]) > v[0] + h[0])
     return false;
@@ -624,4 +1052,26 @@ inline bool
 intersects(const SGRay<T>& ray, const SGBox<T>& box)
 { return intersects(box, ray); }
 
+template<typename T1, typename T2>
+inline bool
+intersects(const SGBox<T1>& box1, const SGBox<T2>& box2)
+{
+  if (box2.getMax()[0] < box1.getMin()[0])
+    return false;
+  if (box1.getMax()[0] < box2.getMin()[0])
+    return false;
+
+  if (box2.getMax()[1] < box1.getMin()[1])
+    return false;
+  if (box1.getMax()[1] < box2.getMin()[1])
+    return false;
+
+  if (box2.getMax()[2] < box1.getMin()[2])
+    return false;
+  if (box1.getMax()[2] < box2.getMin()[2])
+    return false;
+
+  return true;
+}
+
 #endif

simgear/math/SGLineSegment.hxx

@@ -27,6 +27,11 @@ public:
     _start(start),
     _direction(end - start)
   { }
+  template<typename S>
+  explicit SGLineSegment(const SGLineSegment<S>& lineSegment) :
+    _start(lineSegment.getStart()),
+    _direction(lineSegment.getDirection())
+  { }
 
   void set(const SGVec3<T>& start, const SGVec3<T>& end)
   { _start = start; _direction = end - start; }
@@ -43,6 +48,14 @@ public:
   SGVec3<T> getCenter() const
   { return _start + T(0.5)*_direction; }
 
+  SGLineSegment<T> transform(const SGMatrix<T>& matrix) const
+  {
+    SGLineSegment<T> lineSegment;
+    lineSegment._start = matrix.xformPt(_start);
+    lineSegment._direction = matrix.xformVec(_direction);
+    return lineSegment;
+  }
+
 private:
   SGVec3<T> _start;
   SGVec3<T> _direction;

simgear/math/SGMathTest.cxx

@@ -174,16 +174,22 @@ MatrixTest(void)
   // Create some test matrix
   SGVec3<T> v0(2, 7, 17);
   SGQuat<T> q0 = SGQuat<T>::fromAngleAxis(SGMisc<T>::pi(), normalize(v0));
-  SGMatrix<T> m0;
+  SGMatrix<T> m0 = SGMatrix<T>::unit();
   m0.postMultTranslate(v0);
   m0.postMultRotate(q0);
 
-  // Check the tqo forms of the inverse for that kind of special matrix
+  // Check the three forms of the inverse for that kind of special matrix
-  SGMatrix<T> m1, m2;
+  SGMatrix<T> m1 = SGMatrix<T>::unit();
-  invert(m1, m0);
+  m1.preMultTranslate(-v0);
-  m2 = transNeg(m0);
+  m1.preMultRotate(inverse(q0));
+
+  SGMatrix<T> m2, m3;
+  invert(m2, m0);
+  m3 = transNeg(m0);
   if (!equivalent(m1, m2))
     return false;
+  if (!equivalent(m2, m3))
+    return false;
 
   // Check matrix multiplication and inversion
   if (!equivalent(m0*m1, SGMatrix<T>::unit()))
@@ -194,6 +200,10 @@ MatrixTest(void)
     return false;
   if (!equivalent(m2*m0, SGMatrix<T>::unit()))
     return false;
+  if (!equivalent(m0*m3, SGMatrix<T>::unit()))
+    return false;
+  if (!equivalent(m3*m0, SGMatrix<T>::unit()))
+    return false;
   
   return true;
 }
@@ -202,10 +212,10 @@ bool
 GeodesyTest(void)
 {
   // We know that the values are on the order of 1
-  double epsDeg = 10*SGLimits<double>::epsilon();
+  double epsDeg = 10*360*SGLimits<double>::epsilon();
   // For the altitude values we need to tolerate relative errors in the order
   // of the radius
-  double epsM = 1e6*SGLimits<double>::epsilon();
+  double epsM = 10*6e6*SGLimits<double>::epsilon();
 
   SGVec3<double> cart0, cart1;
   SGGeod geod0, geod1;

simgear/math/SGMatrix.hxx

@@ -184,8 +184,15 @@ public:
   template<typename S>
   SGMatrix& preMultTranslate(const SGVec3<S>& t)
   {
-    for (unsigned i = 0; i < SGMatrix<T>::nCols-1; ++i)
+    for (unsigned i = 0; i < 3; ++i) {
-      (*this)(i,3) += T(t(i));
+      T tmp = T(t(i));
+      if (tmp == 0)
+        continue;
+      (*this)(i,0) += tmp*(*this)(3,0);
+      (*this)(i,1) += tmp*(*this)(3,1);
+      (*this)(i,2) += tmp*(*this)(3,2);
+      (*this)(i,3) += tmp*(*this)(3,3);
+    }
     return *this;
   }
   template<typename S>
@@ -193,7 +200,7 @@ public:
   {
     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));
+      SGVec4<T> tmp((*this)(0,i), (*this)(1,i), (*this)(2,i), (*this)(3,i));
       col3 += T(t(i))*tmp;
     }
     (*this)(0,3) = col3(0); (*this)(1,3) = col3(1);

simgear/math/SGPlane.hxx

@@ -23,14 +23,25 @@ class SGPlane {
 public:
   SGPlane()
   { }
-  SGPlane(const SGVec3<T>& normal, T dist) :
+  SGPlane(const SGVec3<T>& normal, const T& dist) :
     _normal(normal), _dist(dist)
   { }
+  SGPlane(const SGVec3<T>& normal, const SGVec3<T>& point) :
+    _normal(normal), _dist(-dot(normal, point))
+  { }
   SGPlane(const SGVec3<T> vertices[3]) :
     _normal(normalize(cross(vertices[1] - vertices[0],
                             vertices[2] - vertices[0]))),
     _dist(-dot(_normal, vertices[0]))
   { }
+  SGPlane(const SGVec3<T>& v0, const SGVec3<T>& v1, const SGVec3<T>& v2) :
+    _normal(normalize(cross(v1 - v0, v2 - v0))),
+    _dist(-dot(_normal, v0))
+  { }
+  template<typename S>
+  explicit SGPlane(const SGPlane<S>& plane) :
+    _normal(plane.getNormal()), _dist(plane.getDist())
+  { }
 
   void setNormal(const SGVec3<T>& normal)
   { _normal = normal; }
@@ -42,6 +53,10 @@ public:
   const T& getDist() const
   { return _dist; }
 
+  /// Return a point on the plane 
+  SGVec3<T> getPointOnPlane() const
+  { return -_dist*_normal; }
+
   /// That is the distance where we measure positive in direction of the normal
   T getPositiveDist() const
   { return -_dist; }

simgear/math/SGQuat.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -26,42 +26,13 @@
 #undef max
 #endif
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
 #include <osg/Quat>
+#endif
 
+/// Quaternion Class
 template<typename T>
-struct SGQuatStorage {
+class SGQuat {
-  /// 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;
 
@@ -84,8 +55,6 @@ public:
   /// 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)
@@ -158,48 +127,11 @@ public:
   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;
+    T angle2 = T(0.5)*angle;
     return fromRealImag(cos(angle2), T(sin(angle2))*axis);
   }
 
@@ -213,34 +145,36 @@ public:
   {
     T nAxis = norm(axis);
     if (nAxis <= SGLimits<T>::min())
-      return SGQuat(1, 0, 0, 0);
+      return SGQuat::unit();
-    T angle2 = 0.5*nAxis;
+    T angle2 = T(0.5)*nAxis;
     return fromRealImag(cos(angle2), T(sin(angle2)/nAxis)*axis);
   }
 
+  /// Return a quaternion that rotates the from vector onto the to vector.
   static SGQuat fromRotateTo(const SGVec3<T>& from, const SGVec3<T>& to)
   {
     T nfrom = norm(from);
     T nto = norm(to);
-    if (nfrom < SGLimits<T>::min() || nto < SGLimits<T>::min())
+    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.
+  /// Return a quaternion that rotates v1 onto the i1-th unit vector
+  /// and v2 into a plane that is spanned by the i2-th and i1-th unit vector.
   static SGQuat fromRotateTo(const SGVec3<T>& v1, unsigned i1,
                              const SGVec3<T>& v2, unsigned i2)
   {
     T nrmv1 = norm(v1);
     T nrmv2 = norm(v2);
-    if (nrmv1 < SGLimits<T>::min() || nrmv2 < SGLimits<T>::min())
+    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())
+    if (fabs(fabs(dv1v2)-1) <= SGLimits<T>::epsilon())
       return SGQuat::unit();
 
     // The target vector for the first rotation
@@ -261,12 +195,12 @@ public:
 
     SGVec3<T> tnv2 = q.transform(nv2);
     T cosang = dot(nto2, tnv2);
-    T cos05ang = T(0.5+0.5*cosang);
+    T cos05ang = T(0.5)+T(0.5)*cosang;
     if (cos05ang <= 0)
-      cosang = T(0);
+      cosang = 0;
     cos05ang = sqrt(cos05ang);
     T sig = dot(nto1, cross(nto2, tnv2));
-    T sin05ang = T(0.5-0.5*cosang);
+    T sin05ang = T(0.5)-T(0.5)*cosang;
     if (sin05ang <= 0)
       sin05ang = 0;
     sin05ang = copysign(sqrt(sin05ang), sig);
@@ -329,24 +263,24 @@ public:
 
     T num = 2*(y()*z() + w()*x());
     T den = sqrQW - sqrQX - sqrQY + sqrQZ;
-    if (fabs(den) < SGLimits<T>::min() &&
+    if (fabs(den) <= SGLimits<T>::min() &&
-        fabs(num) < 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)
+    if (tmp <= -1)
-      yRad = 0.5*SGMisc<T>::pi();
+      yRad = T(0.5)*SGMisc<T>::pi();
-    else if (1 < tmp)
+    else if (1 <= tmp)
-      yRad = -0.5*SGMisc<T>::pi();
+      yRad = -T(0.5)*SGMisc<T>::pi();
     else
       yRad = -asin(tmp);
    
     num = 2*(x()*y() + w()*z()); 
     den = sqrQW + sqrQX - sqrQY - sqrQZ;
-    if (fabs(den) < SGLimits<T>::min() &&
+    if (fabs(den) <= SGLimits<T>::min() &&
-        fabs(num) < SGLimits<T>::min())
+        fabs(num) <= SGLimits<T>::min())
       zRad = 0;
     else {
       T psi = atan2(num, den);
@@ -369,14 +303,14 @@ public:
   void getAngleAxis(T& angle, SGVec3<T>& axis) const
   {
     T nrm = norm(*this);
-    if (nrm < SGLimits<T>::min()) {
+    if (nrm <= SGLimits<T>::min()) {
       angle = 0;
       axis = SGVec3<T>(0, 0, 0);
     } else {
       T rNrm = 1/nrm;
       angle = acos(SGMisc<T>::max(-1, SGMisc<T>::min(1, rNrm*w())));
       T sAng = sin(angle);
-      if (fabs(sAng) < SGLimits<T>::min())
+      if (fabs(sAng) <= SGLimits<T>::min())
         axis = SGVec3<T>(1, 0, 0);
       else 
         axis = (rNrm/sAng)*imag(*this);
@@ -432,17 +366,11 @@ public:
   { return data()[3]; }
 
   /// Get the data pointer
-  using SGQuatStorage<T>::data;
+  const T (&data(void) const)[4]
-
+  { return _data; }
-  /// Readonly interface function to ssg's sgQuat/sgdQuat
+  /// Get the data pointer
-  const T (&sg(void) const)[4]
+  T (&data(void))[4]
-  { return data(); }
+  { 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)
@@ -493,10 +421,10 @@ public:
   {
     SGQuat deriv;
 
-    deriv.w() = 0.5*(-x()*angVel(0) - y()*angVel(1) - z()*angVel(2));
+    deriv.w() = T(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.x() = T(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.y() = T(0.5)*( z()*angVel(0) + w()*angVel(1) - x()*angVel(2));
-    deriv.z() = 0.5*(-y()*angVel(0) + x()*angVel(1) + w()*angVel(2));
+    deriv.z() = T(0.5)*(-y()*angVel(0) + x()*angVel(1) + w()*angVel(2));
     
     return deriv;
   }
@@ -521,7 +449,7 @@ private:
     // 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);
+    T cos05ang = sqrt(T(0.5)+T(0.5)*cosang);
 
 
     // Now our assumption of angles <= 90 deg comes in play.
@@ -561,6 +489,8 @@ private:
     SGQuat q2 = SGQuat::fromRotateToSmaller90Deg(-cosang, -from, to);
     return q1*q2;
   }
+
+  T _data[4];
 };
 
 /// Unary +, do nothing ...
@@ -759,7 +689,7 @@ interpolate(T t, const SGQuat<T>& src, const SGQuat<T>& dst)
   // need the scales now, if the angle is very small, do linear interpolation
   // to avoid instabilities
   T scale0, scale1;
-  if (fabs(o) < SGLimits<T>::epsilon()) {
+  if (fabs(o) <= SGLimits<T>::epsilon()) {
     scale0 = 1 - t;
     scale1 = t;
   } else {
@@ -790,4 +720,16 @@ SGQuatd
 toQuatd(const SGQuatf& v)
 { return SGQuatd(v(0), v(1), v(2), v(3)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGQuatd
+toSG(const osg::Quat& q)
+{ return SGQuatd(q[0], q[1], q[2], q[3]); }
+
+inline
+osg::Quat
+toOsg(const SGQuatd& q)
+{ return osg::Quat(q[0], q[1], q[2], q[3]); }
+#endif
+
 #endif

simgear/math/SGRay.hxx

@@ -26,6 +26,10 @@ public:
   SGRay(const SGVec3<T>& origin, const SGVec3<T>& dir) :
     _origin(origin), _direction(dir)
   { }
+  template<typename S>
+  explicit SGRay(const SGRay<S>& ray) :
+    _origin(ray.getOrigin()), _direction(ray.getDirection())
+  { }
 
   void set(const SGVec3<T>& origin, const SGVec3<T>& dir)
   { _origin = origin; _direction = dir; }

simgear/math/SGSphere.hxx

@@ -28,6 +28,11 @@ public:
     _center(center),
     _radius(radius)
   { }
+  template<typename S>
+  explicit SGSphere(const SGSphere<S>& sphere) :
+    _center(sphere.getCenter()),
+    _radius(sphere.getRadius())
+  { }
 
   const SGVec3<T>& getCenter() const
   { return _center; }
@@ -41,7 +46,7 @@ public:
   T getRadius2() const
   { return _radius*_radius; }
 
-  const bool empty() const
+  bool empty() const
   { return !valid(); }
 
   bool valid() const
@@ -68,6 +73,65 @@ public:
     _radius = newRadius;
   }
 
+  void expandBy(const SGSphere<T>& s)
+  {
+    if (s.empty())
+      return;
+
+    if (empty()) {
+      _center = s.getCenter();
+      _radius = s.getRadius();
+      return;
+    }
+
+    T dist = length(_center - s.getCenter());
+    if (dist <= SGLimits<T>::min()) {
+      _radius = SGMisc<T>::max(_radius, s._radius);
+      return;
+    }
+
+    // already included
+    if (dist + s.getRadius() <= _radius)
+      return;
+
+    // new one includes all
+    if (dist + _radius <= s.getRadius()) {
+      _center = s.getCenter();
+      _radius = s.getRadius();
+      return;
+    }
+
+    T newRadius = T(0.5)*(_radius + dist + s.getRadius());
+    T ratio = (newRadius - _radius) / dist;
+    _radius = newRadius;
+
+    _center[0] += ratio*(s._center[0] - _center[0]);
+    _center[1] += ratio*(s._center[1] - _center[1]);
+    _center[2] += ratio*(s._center[2] - _center[2]);
+  }
+
+  void expandBy(const SGBox<T>& box)
+  {
+    if (box.empty())
+      return;
+
+    if (empty()) {
+      _center = box.getCenter();
+      _radius = T(0.5)*length(box.getSize());
+      return;
+    }
+
+    SGVec3<T> boxCenter = box.getCenter();
+    SGVec3<T> corner;
+    for (unsigned i = 0; i < 3; ++i) {
+      if (_center[i] < boxCenter[i])
+        corner[i] = box.getMax()[i];
+      else
+        corner[i] = box.getMin()[i];
+    }
+    expandBy(corner);
+  }
+
 private:
   SGVec3<T> _center;
   T _radius;

simgear/math/SGTriangle.hxx

@@ -41,14 +41,8 @@ public:
     _d[1] = v[2] - v[0];
   }
 
-  SGVec3d getCenter() const
+  SGVec3<T> getCenter() const
-  {
+  { return _v0 + T(1)/T(3)*(_d[0] + _d[1]); }
-    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
@@ -77,6 +71,16 @@ public:
     _d[0] = _d[1];
     _d[1] = tmp;
   }
+
+  SGTriangle<T> transform(const SGMatrix<T>& matrix) const
+  {
+    SGTriangle<T> triangle;
+    triangle._v0 = matrix.xformPt(_v0);
+    triangle._d[0] = matrix.xformVec(_d[0]);
+    triangle._d[1] = matrix.xformVec(_d[1]);
+    return triangle;
+  }
+
 private:
   /// Store one vertex directly, _d is the offset of the other two
   /// vertices wrt the base vertex

simgear/math/SGVec2.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -22,58 +22,14 @@
 #include <ieeefp.h>
 #endif
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
 #include <osg/Vec2f>
 #include <osg/Vec2d>
-
+#endif
-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> {
+class SGVec2 {
 public:
   typedef T value_type;
 
@@ -96,9 +52,8 @@ public:
   /// 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)
+  template<typename S>
-  { data()[0] = d[0]; data()[1] = d[1]; }
+  explicit SGVec2(const SGVec2<S>& d)
-  explicit SGVec2(const osg::Vec2d& d)
   { data()[0] = d[0]; data()[1] = d[1]; }
 
   /// Access by index, the index is unchecked
@@ -128,18 +83,12 @@ public:
   T& y(void)
   { return data()[1]; }
 
-  /// Get the data pointer
+  /// Access raw data
-  using SGVec2Storage<T>::data;
+  const T (&data(void) const)[2]
-
+  { return _data; }
-  /// Readonly interface function to ssg's sgVec2/sgdVec2
+  /// Access raw data
-  const T (&sg(void) const)[2]
+  T (&data(void))[2]
-  { return data(); }
+  { 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)
@@ -164,6 +113,9 @@ public:
   { return SGVec2(1, 0); }
   static SGVec2 e2(void)
   { return SGVec2(0, 1); }
+
+private:
+  T _data[2];
 };
 
 /// Unary +, do nothing ...
@@ -292,7 +244,12 @@ template<typename T>
 inline
 SGVec2<T>
 normalize(const SGVec2<T>& v)
-{ return (1/norm(v))*v; }
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec2<T>::zeros();
+  return (1/normv)*v;
+}
 
 /// Return true if exactly the same
 template<typename T>
@@ -379,6 +336,18 @@ T
 distSqr(const SGVec2<T>& v1, const SGVec2<T>& v2)
 { SGVec2<T> tmp = v1 - v2; return dot(tmp, tmp); }
 
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec2<T>
+projection(const SGVec2<T>& u, const SGVec2<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -406,4 +375,27 @@ SGVec2d
 toVec2d(const SGVec2f& v)
 { return SGVec2d(v(0), v(1)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec2d
+toSG(const osg::Vec2d& v)
+{ return SGVec2d(v[0], v[1]); }
+
+inline
+SGVec2f
+toSG(const osg::Vec2f& v)
+{ return SGVec2f(v[0], v[1]); }
+
+inline
+osg::Vec2d
+toOsg(const SGVec2d& v)
+{ return osg::Vec2d(v[0], v[1]); }
+
+inline
+osg::Vec2f
+toOsg(const SGVec2f& v)
+{ return osg::Vec2f(v[0], v[1]); }
+
+#endif
+
 #endif

simgear/math/SGVec3.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -18,58 +18,14 @@
 #ifndef SGVec3_H
 #define SGVec3_H
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
 #include <osg/Vec3f>
 #include <osg/Vec3d>
-
+#endif
-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> {
+class SGVec3 {
 public:
   typedef T value_type;
 
@@ -92,9 +48,8 @@ public:
   /// 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)
+  template<typename S>
-  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
+  explicit SGVec3(const SGVec3<S>& d)
-  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; }
@@ -132,18 +87,12 @@ public:
   T& z(void)
   { return data()[2]; }
 
-  /// Get the data pointer
+  /// Readonly raw storage interface
-  using SGVec3Storage<T>::data;
+  const T (&data(void) const)[3]
-
+  { return _data; }
-  /// Readonly interface function to ssg's sgVec3/sgdVec3
+  /// Readonly raw storage interface
-  const T (&sg(void) const)[3]
+  T (&data(void))[3]
-  { return data(); }
+  { 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)
@@ -177,6 +126,9 @@ public:
   /// Constructor. Initialize by a geocentric coordinate
   /// Note that this conversion is relatively expensive to compute
   static SGVec3 fromGeoc(const SGGeoc& geoc);
+
+private:
+  T _data[3];
 };
 
 template<>
@@ -400,12 +352,18 @@ perpendicular(const SGVec3<T>& v)
   }
 }
 
-/// The euclidean norm of the vector, that is what most people call length
+/// Construct a unit vector in the given direction.
+/// or the zero vector if the input vector is zero.
 template<typename T>
 inline
 SGVec3<T>
 normalize(const SGVec3<T>& v)
-{ return (1/norm(v))*v; }
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec3<T>::zeros();
+  return (1/normv)*v;
+}
 
 /// Return true if exactly the same
 template<typename T>
@@ -496,6 +454,18 @@ T
 distSqr(const SGVec3<T>& v1, const SGVec3<T>& v2)
 { SGVec3<T> tmp = v1 - v2; return dot(tmp, tmp); }
 
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec3<T>
+projection(const SGVec3<T>& u, const SGVec3<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -524,4 +494,26 @@ SGVec3d
 toVec3d(const SGVec3f& v)
 { return SGVec3d(v(0), v(1), v(2)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec3d
+toSG(const osg::Vec3d& v)
+{ return SGVec3d(v[0], v[1], v[2]); }
+
+inline
+SGVec3f
+toSG(const osg::Vec3f& v)
+{ return SGVec3f(v[0], v[1], v[2]); }
+
+inline
+osg::Vec3d
+toOsg(const SGVec3d& v)
+{ return osg::Vec3d(v[0], v[1], v[2]); }
+
+inline
+osg::Vec3f
+toOsg(const SGVec3f& v)
+{ return osg::Vec3f(v[0], v[1], v[2]); }
+#endif
+
 #endif

simgear/math/SGVec4.hxx

@@ -1,4 +1,4 @@
-// Copyright (C) 2006  Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2006-2009  Mathias Froehlich - Mathias.Froehlich@web.de
 //
 // This library is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Library General Public
@@ -18,58 +18,14 @@
 #ifndef SGVec4_H
 #define SGVec4_H
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
 #include <osg/Vec4f>
 #include <osg/Vec4d>
-
+#endif
-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> {
+class SGVec4 {
 public:
   typedef T value_type;
 
@@ -92,14 +48,12 @@ public:
   /// 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)
+  template<typename S>
-  { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
+  explicit SGVec4(const SGVec4<S>& d)
-  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]; }
@@ -139,18 +93,12 @@ public:
   T& w(void)
   { return data()[3]; }
 
-  /// Get the data pointer
+  /// Readonly raw storage interface
-  using SGVec4Storage<T>::data;
+  const T (&data(void) const)[4]
-
+  { return _data; }
-  /// Readonly interface function to ssg's sgVec4/sgdVec4
+  /// Readonly raw storage interface
-  const T (&sg(void) const)[4]
+  T (&data(void))[4]
-  { return data(); }
+  { 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)
@@ -179,6 +127,9 @@ public:
   { return SGVec4(0, 0, 1, 0); }
   static SGVec4 e4(void)
   { return SGVec4(0, 0, 0, 1); }
+
+private:
+  T _data[4];
 };
 
 /// Unary +, do nothing ...
@@ -337,7 +288,12 @@ template<typename T>
 inline
 SGVec4<T>
 normalize(const SGVec4<T>& v)
-{ return (1/norm(v))*v; }
+{
+  T normv = norm(v);
+  if (normv <= SGLimits<T>::min())
+    return SGVec4<T>::zeros();
+  return (1/normv)*v;
+}
 
 /// Return true if exactly the same
 template<typename T>
@@ -432,6 +388,18 @@ T
 distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
 { SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
 
+// calculate the projection of u along the direction of d.
+template<typename T>
+inline
+SGVec4<T>
+projection(const SGVec4<T>& u, const SGVec4<T>& d)
+{
+  T denom = dot(d, d);
+  T ud = dot(u, d);
+  if (SGLimits<T>::min() < denom) return u;
+  else return d * (dot(u, d) / denom);
+}
+
 #ifndef NDEBUG
 template<typename T>
 inline
@@ -460,4 +428,26 @@ SGVec4d
 toVec4d(const SGVec4f& v)
 { return SGVec4d(v(0), v(1), v(2), v(3)); }
 
+#ifndef NO_OPENSCENEGRAPH_INTERFACE
+inline
+SGVec4d
+toSG(const osg::Vec4d& v)
+{ return SGVec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+SGVec4f
+toSG(const osg::Vec4f& v)
+{ return SGVec4f(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4d
+toOsg(const SGVec4d& v)
+{ return osg::Vec4d(v[0], v[1], v[2], v[3]); }
+
+inline
+osg::Vec4f
+toOsg(const SGVec4f& v)
+{ return osg::Vec4f(v[0], v[1], v[2], v[3]); }
+#endif
+
 #endif

simgear/math/beziercurve.hxx

@@ -0,0 +1,105 @@
+/* -*-c++-*-
+ *
+ * Copyright (C) 2009 Frederic Bouvier
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#ifndef SIMGEAR_BEZIERCURVE_HXX
+#define SIMGEAR_BEZIERCURVE_HXX 1
+
+#include <list>
+using std::list;
+
+namespace simgear
+{
+  template<class T>
+  class BezierCurve {
+  public:
+    typedef list<T> PointList;
+
+    BezierCurve() : mMaxSubdiv( 3 ) {}
+    BezierCurve( size_t aMaxSubdiv )
+      : mMaxSubdiv( aMaxSubdiv ) {}
+    BezierCurve( const T &p1, const T &p2, const T &p3, size_t aMaxSubdiv = 3 )
+      : mMaxSubdiv( aMaxSubdiv ) {
+        subdivide( p1, p2, p3 );
+      }
+    BezierCurve( const T &p1, const T &p2, const T &p3, const T &p4, size_t aMaxSubdiv = 3 )
+      : mMaxSubdiv( aMaxSubdiv ) {
+        subdivide( p1, p2, p3, p4 );
+      }
+
+    void subdivide( const T &p1, const T &p2, const T &p3 ) {
+      mPointList.clear();
+      mPointList.push_back( p1 );
+      recursiveSubdivide( p1, p2, p3, 1 );
+      mPointList.push_back( p3 );
+    }
+
+    void subdivide( const T &p1, const T &p2, const T &p3, const T &p4 ) {
+      mPointList.clear();
+      mPointList.push_back( p1 );
+      recursiveSubdivide( p1, p2, p3, p4, 1 );
+      mPointList.push_back( p4 );
+    }
+
+    void setMaxSubdiv( size_t aMaxSubdiv ) { mMaxSubdiv = aMaxSubdiv; }
+    void getMaxSubdiv() const { return mMaxSubdiv; }
+    PointList &pointList() { return mPointList; }
+    const PointList &pointList() const { return mPointList; }
+
+  private:
+    T midPoint( const T &p1, const T &p2 ) {
+      return ( p1 + p2 ) / 2;
+    }
+    bool recursiveSubdivide( const T &p1, const T &p2, const T &p3, size_t l ) {
+      if ( l > mMaxSubdiv )
+        return false;
+
+      T p12 = midPoint( p1, p2 ),
+        p23 = midPoint( p2, p3 ),
+        p123 = midPoint( p12, p23 );
+      recursiveSubdivide( p1, p12, p123, l + 1 );
+      mPointList.push_back( p123 );
+      recursiveSubdivide( p123, p23, p3, l + 1 );
+      return true;
+    }
+
+    bool recursiveSubdivide( const T &p1, const T &p2, const T &p3, const T &p4, size_t l ) {
+      if ( l > mMaxSubdiv )
+        return false;
+
+      T p12 = midPoint( p1, p2 ),
+        p23 = midPoint( p2, p3 ),
+        p34 = midPoint( p3, p4 ),
+        p123 = midPoint( p12, p23 ),
+        p234 = midPoint( p23, p34 ),
+        p1234 = midPoint( p123, p234 );
+      recursiveSubdivide( p1, p12, p123, p1234, l + 1 );
+      mPointList.push_back( p1234 );
+      recursiveSubdivide( p1234, p234, p34, p4, l + 1 );
+      return true;
+    }
+
+
+    PointList mPointList;
+    size_t mMaxSubdiv;
+  };
+}
+
+#endif

simgear/math/interpolater.cxx

@@ -22,6 +22,9 @@
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
 
 #include <simgear/compiler.h>
 
@@ -33,6 +36,8 @@
 
 #include "interpolater.hxx"
 
+#include <simgear/math/SGMath.hxx>
+
 using std::string;
 
 // Constructor -- starts with an empty table.

simgear/math/interpolater.hxx

@@ -35,7 +35,7 @@
 
 #include <simgear/compiler.h>
 
-#include "simgear/structure/SGReferenced.hxx"
+#include <simgear/structure/SGReferenced.hxx>
 
 #include <map>
 

simgear/math/sg_types.hxx

@@ -38,7 +38,7 @@
 #include <string>
 #include <vector>
 
-#include <simgear/math/point3d.hxx>
+class Point3D;
 
 using std::vector;
 using std::string;

simgear/math/vector.cxx

@@ -29,6 +29,20 @@
 #include "vector.hxx"
 
 
+// calculate the projection, p, of u along the direction of d.
+void sgProjection(sgVec3 p, const sgVec3 u, const sgVec3 d){
+    double denom = sgScalarProductVec3(d,d);
+    if (denom == 0.) sgCopyVec3(p, u);
+    else sgScaleVec3(p, d, sgScalarProductVec3(u,d) / denom);
+}
+
+// Same thing, except using double precision
+void sgProjection(sgdVec3 p, const sgdVec3 u, const sgdVec3 d){
+    double denom = sgdScalarProductVec3(d,d);
+    if (denom == 0.) sgdCopyVec3(p, u);
+    else sgdScaleVec3(p, d, sgdScalarProductVec3(u,d) / denom);
+}
+
 // Given a point p, and a line through p0 with direction vector d,
 // find the closest point (p1) on the line
 void sgClosestPointToLine( sgVec3 p1, const sgVec3 p, const sgVec3 p0,
@@ -40,8 +54,7 @@ void sgClosestPointToLine( sgVec3 p1, const sgVec3 p, const sgVec3 p0,
     sgSubVec3(u, p, p0);
 
     // calculate the projection, u1, of u along d.
-    // u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
+    sgProjection(u1, u, d);
-    sgScaleVec3( u1, d, sgScalarProductVec3(u,d) / sgScalarProductVec3(d,d) );
 
     // calculate the point p1 along the line that is closest to p
     // p0 = p1 + u1
@@ -60,12 +73,7 @@ void sgdClosestPointToLine( sgdVec3 p1, const sgdVec3 p, const sgdVec3 p0,
     sgdSubVec3(u, p, p0);
 
     // calculate the projection, u1, of u along d.
-    // u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
+    sgProjection(u1, u, d);
-    double ud = sgdScalarProductVec3(u, d);
-    double dd = sgdScalarProductVec3(d, d);
-    double tmp = ud / dd;
-
-    sgdScaleVec3(u1, d, tmp);;
 
     // calculate the point p1 along the line that is closest to p
     // p0 = p1 + u1
@@ -84,8 +92,7 @@ double sgClosestPointToLineDistSquared( const sgVec3 p, const sgVec3 p0,
     sgSubVec3(u, p, p0);
 
     // calculate the projection, u1, of u along d.
-    // u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
+    sgProjection(u1, u, d);
-    sgScaleVec3( u1, d, sgScalarProductVec3(u,d) / sgScalarProductVec3(d,d) );
 
     // v = u - u1 = vector from closest point on line, p1, to the
     // original point, p.
@@ -106,12 +113,7 @@ double sgdClosestPointToLineDistSquared( const sgdVec3 p, const sgdVec3 p0,
     sgdSubVec3(u, p, p0);
 
     // calculate the projection, u1, of u along d.
-    // u1 = ( dot_prod(u, d) / dot_prod(d, d) ) * d;
+    sgProjection(u1, u, d);
-    double ud = sgdScalarProductVec3(u, d);
-    double dd = sgdScalarProductVec3(d, d);
-    double tmp = ud / dd;
-
-    sgdScaleVec3(u1, d, tmp);;
 
     // v = u - u1 = vector from closest point on line, p1, to the
     // original point, p.

simgear/math/vector.hxx

@@ -38,7 +38,17 @@
 
 
 /**
- * Map a vector onto a plane.
+ * calculate the projection, p, of u along the direction of d.
+ * @param p (out) the projection
+ * @param u (in) the vector to be projected
+ * @param d (in) the direction onto which we project
+ */
+void sgProjection(sgVec3 p, const sgVec3 u, const sgVec3 d);
+void sgProjection(sgdVec3 p, const sgdVec3 u, const sgdVec3 d);
+
+
+/**
+ * Map i.e. project a vector onto a plane.
  * @param normal (in) normal vector for the plane
  * @param v0 (in) a point on the plane
  * @param vec (in) the vector to map onto the plane

simgear/misc/Makefile.am

@@ -24,13 +24,13 @@ libsgmisc_a_SOURCES = \
 	interpolator.cxx \
 	PathOptions.cxx
 
-noinst_PROGRAMS = tabbed_value_test swap_test
+#noinst_PROGRAMS = tabbed_value_test swap_test
 
-tabbed_value_test_SOURCES = tabbed_values_test.cxx
+#tabbed_value_test_SOURCES = tabbed_values_test.cxx
-tabbed_value_test_LDADD = \
+#tabbed_value_test_LDADD = \
-	libsgmisc.a \
+#	libsgmisc.a \
-	$(top_builddir)/simgear/xml/libsgxml.a \
+#	$(top_builddir)/simgear/xml/libsgxml.a \
-	$(top_builddir)/simgear/debug/libsgdebug.a
+#	$(top_builddir)/simgear/debug/libsgdebug.a
 
 $(top_builddir)/simgear/xml/libsgxml.a:
 	cd $(top_builddir)/simgear/xml && $(MAKE) $(AM_MAKEFLAGS) libsgxml.a
@@ -38,6 +38,6 @@ $(top_builddir)/simgear/xml/libsgxml.a:
 $(top_builddir)/simgear/debug/libsgdebug.a:
 	cd $(top_builddir)/simgear/debug && $(MAKE) $(AM_MAKEFLAGS) libsgdebug.a
 
-swap_test_SOURCES = swap_test.cpp
+#swap_test_SOURCES = swap_test.cpp
 
 INCLUDES = -I$(top_srcdir)

simgear/misc/interpolator.cxx

@@ -18,6 +18,8 @@
 
 #include "interpolator.hxx"
 
+#include <simgear/math/SGMath.hxx>
+
 void SGInterpolator::addNew(SGPropertyNode* prop, int nPoints)
 {
     // Set the property type to a double, if it isn't already, and

simgear/misc/strutils.cxx

@@ -25,6 +25,9 @@
 
 #include "strutils.hxx"
 
+using std::string;
+using std::vector;
+
 namespace simgear {
     namespace strutils {
 

simgear/misc/strutils.hxx

@@ -30,16 +30,12 @@
 #include <simgear/compiler.h>
 
 #include <string>
-
 #include <vector>
-using std::vector;
-
 #include <cstdlib>
 
-using std::string;
 
 namespace simgear {
-    namespace strutils {
+  namespace strutils {
 
 // 	/** 
 // 	 * atof() wrapper for "string" type
@@ -64,9 +60,9 @@ namespace simgear {
 	 * @param s String to strip.
 	 * @return The stripped string.
 	 */
-	string lstrip( const string& s );
+	std::string lstrip( const std::string& s );
-	string rstrip( const string& s );
+	std::string rstrip( const std::string& s );
-	string strip( const string& s );
+	std::string strip( const std::string& s );
 
 	/**
 	 * Split a string into a words using 'sep' as the delimiter string.
@@ -79,12 +75,12 @@ namespace simgear {
 	 * resulting in at most maxsplit+1 words.
 	 * @return Array of words.
 	 */
-	vector<string>
+	std::vector<std::string>
-	split( const string& s,
+	split( const std::string& s,
 	       const char* sep = 0,
 	       int maxsplit = 0 );
-
+  
-    } // end namespace strutils
+  } // end namespace strutils
 } // end namespace simgear
 
 #endif // STRUTILS_H

simgear/misc/tabbed_values.cxx

@@ -21,10 +21,10 @@
 // $Id$
 
 #include <cstdlib>
+#include <assert.h>
 
 #include "tabbed_values.hxx"
 
-#include "assert.h"
 
 SGTabbedValues::SGTabbedValues(const char *line) :
 	_line(line)

simgear/misc/texcoord.cxx

@@ -149,6 +149,7 @@ enter this in the official comments in case I forget again. :-)
 
 #include "texcoord.hxx"
 
+#include <simgear/math/point3d.hxx>
 // using std::cout;
 // using std::endl;
 

simgear/nasal/iolib.c

@@ -67,6 +67,15 @@ static naRef f_tell(naContext c, naRef me, int argc, naRef* args)
     return naNum(g->type->tell(c, g->handle));
 }
 
+static naRef f_flush(naContext c, naRef me, int argc, naRef* args)
+{
+    struct naIOGhost* g = argc==1 ? ioghost(args[0]) : 0;
+    if(!g)
+        naRuntimeError(c, "bad argument to flush()");
+    g->type->flush(c, g->handle);
+    return naNil();
+}
+
 static void ghostDestroy(void* g)
 {
     struct naIOGhost* io = (struct naIOGhost*)g;
@@ -111,6 +120,11 @@ static int iotell(naContext c, void* f)
     return n;
 }
 
+static void ioflush(naContext c, void* f)
+{
+    if(fflush(f)) naRuntimeError(c, strerror(errno));
+}
+
 static void iodestroy(void* f)
 {
     if(f != stdin && f != stdout && f != stderr)
@@ -118,7 +132,7 @@ static void iodestroy(void* f)
 }
 
 struct naIOType naStdIOType = { ioclose, ioread, iowrite, ioseek,
-                                iotell, iodestroy };
+                                iotell, ioflush, iodestroy };
 
 naRef naIOGhost(naContext c, FILE* f)
 {
@@ -181,6 +195,26 @@ static naRef f_readln(naContext ctx, naRef me, int argc, naRef* args)
     return result;
 }
 
+#ifdef _MSC_VER
+#define S_ISREG(m) (((m)&_S_IFMT)==_S_IFREG)
+#define S_ISDIR(m) (((m)&_S_IFMT)==_S_IFDIR)
+#define S_ISCHR(m) (((m)&_S_IFMT)==_S_IFCHR)
+#define S_ISFIFO(m) (((m)&_S_IFMT)==_S_IFIFO)
+#define S_ISBLK(m) 0
+#define S_ISLNK(m) 0
+#define S_ISSOCK(m) 0
+typedef unsigned short mode_t;
+#endif
+static naRef ftype(naContext ctx, mode_t m)
+{
+    const char* t = "unk";
+    if(S_ISREG(m))  t = "reg";
+    else if(S_ISDIR(m)) t = "dir"; else if(S_ISCHR(m))  t = "chr";
+    else if(S_ISBLK(m)) t = "blk"; else if(S_ISFIFO(m)) t = "fifo";
+    else if(S_ISLNK(m)) t = "lnk"; else if(S_ISSOCK(m)) t = "sock";
+    return naStr_fromdata(naNewString(ctx), t, strlen(t));
+}
+
 static naRef f_stat(naContext ctx, naRef me, int argc, naRef* args)
 {
     int n=0;
@@ -192,11 +226,12 @@ static naRef f_stat(naContext ctx, naRef me, int argc, naRef* args)
         naRuntimeError(ctx, strerror(errno));
     }
     result = naNewVector(ctx);
-    naVec_setsize(result, 11);
+    naVec_setsize(result, 12);
 #define FLD(x) naVec_set(result, n++, naNum(s.st_##x));
     FLD(dev);  FLD(ino);  FLD(mode);  FLD(nlink);  FLD(uid);  FLD(gid);
     FLD(rdev); FLD(size); FLD(atime); FLD(mtime);  FLD(ctime);
 #undef FLD
+    naVec_set(result, n++, ftype(ctx, s.st_mode));
     return result;
 }
 
@@ -206,6 +241,7 @@ static naCFuncItem funcs[] = {
     { "write", f_write },
     { "seek", f_seek },
     { "tell", f_tell },
+    { "flush", f_flush },
     { "open", f_open },
     { "readln", f_readln },
     { "stat", f_stat },

simgear/nasal/iolib.h

@@ -15,6 +15,7 @@ struct naIOType {
     int  (*write)(naContext c, void* f, char* buf, unsigned int len);
     void (*seek) (naContext c, void* f, unsigned int off, int whence);
     int  (*tell) (naContext c, void* f);
+    void (*flush) (naContext c, void* f);
     void (*destroy)(void* f);
 };
 

simgear/nasal/naref.h

@@ -11,7 +11,8 @@
  * tested */
 # define NASAL_NAN64
 #elif defined(_M_IX86) || defined(i386) || defined(__x86_64) || \
-      defined(__ia64__) || defined(_M_IA64) || defined(__ARMEL__) 
+      defined(__ia64__) || defined(_M_IA64) || defined(__ARMEL__) || \
+      defined(_M_X64) 
 # define NASAL_LE
 #elif defined(__sparc) || defined(__ppc__) || defined(__PPC) || \
       defined(__mips) || defined(__ARMEB__)

simgear/props/AtomicChangeListener.cxx

@@ -0,0 +1,71 @@
+#include "AtomicChangeListener.hxx"
+
+#include <algorithm>
+#include <iterator>
+#include <vector>
+
+#include <boost/bind.hpp>
+
+#include <simgear/structure/Singleton.hxx>
+
+namespace simgear
+{
+using namespace std;
+
+MultiChangeListener::MultiChangeListener()
+{
+}
+
+void MultiChangeListener::valueChanged(SGPropertyNode* node)
+{
+    valueChangedImplementation();
+}
+
+void MultiChangeListener::valueChangedImplementation()
+{
+}
+
+AtomicChangeListener::AtomicChangeListener(std::vector<SGPropertyNode*>& nodes)
+    :  _dirty(false), _valid(true)
+{
+    listenToProperties(nodes.begin(), nodes.end());
+}
+
+void AtomicChangeListener::unregister_property(SGPropertyNode* node)
+{
+    _valid = false;
+    // not necessary, but good hygine
+    vector<SGPropertyNode*>::iterator itr
+        = find(_watched.begin(), _watched.end(), node);
+    if (itr != _watched.end())
+        *itr = 0;
+    MultiChangeListener::unregister_property(node);
+}
+
+void AtomicChangeListener::fireChangeListeners()
+{
+    vector<SGSharedPtr<AtomicChangeListener> >& listeners
+        = ListenerListSingleton::instance()->listeners;
+    for (vector<SGSharedPtr<AtomicChangeListener> >::iterator itr = listeners.begin(),
+             end = listeners.end();
+         itr != end;
+         ++itr) {
+        (*itr)->valuesChanged();
+        (*itr)->_dirty = false;
+    }
+    listeners.clear();
+}
+
+void AtomicChangeListener::valueChangedImplementation()
+{
+    if (!_dirty) {
+        _dirty = true;
+        if (_valid)
+            ListenerListSingleton::instance()->listeners.push_back(this);
+    }
+}
+
+void AtomicChangeListener::valuesChanged()
+{
+}
+}

simgear/props/AtomicChangeListener.hxx

@@ -0,0 +1,104 @@
+#ifndef SIMGEAR_ATOMICCHANGELISTENER_HXX
+#define SIMGEAR_ATOMICCHANGELISTENER_HXX 1
+
+#include <algorithm>
+#include <iterator>
+#include <vector>
+
+#include <boost/bind.hpp>
+
+#include <simgear/structure/Singleton.hxx>
+
+#include "props.hxx"
+#include "ExtendedPropertyAdapter.hxx"
+
+namespace simgear
+{
+// Performs an action when one of several nodes changes
+class MultiChangeListener : public SGPropertyChangeListener
+{
+public:
+    MultiChangeListener();
+    template<typename Pitr>
+    void listenToProperties(Pitr propsBegin, Pitr propsEnd)
+    {
+        for (Pitr itr = propsBegin, end = propsEnd; itr != end; ++itr)
+            (*itr)->addChangeListener(this);
+    }
+private:
+    void valueChanged(SGPropertyNode* node);
+    virtual void valueChangedImplementation();
+
+};
+
+class AtomicChangeListener : public MultiChangeListener,
+                             public virtual SGReferenced
+{
+public:
+    AtomicChangeListener(std::vector<SGPropertyNode*>& nodes);
+    /**
+     * Lookup / create child nodes from their relative names.
+     */
+    template<typename Itr>
+    AtomicChangeListener(SGPropertyNode* parent, Itr childNamesBegin,
+                         Itr childNamesEnd)
+        : _dirty(false), _valid(true)
+    {
+        using namespace std;
+        for (Itr itr = childNamesBegin, end = childNamesEnd;
+             itr != end;
+             ++itr)
+            _watched.push_back(makeNode(parent, *itr));
+        listenToProperties(_watched.begin(), _watched.end());
+    }
+    bool isDirty() { return _dirty; }
+    bool isValid() { return _valid; }
+    void unregister_property(SGPropertyNode* node);
+    static void fireChangeListeners();
+private:
+    virtual void valueChangedImplementation();
+    virtual void valuesChanged();
+    bool _dirty;
+    bool _valid;
+    struct ListenerListSingleton : public Singleton<ListenerListSingleton>
+    {
+        std::vector<SGSharedPtr<AtomicChangeListener> > listeners;
+    };
+protected:
+    std::vector<SGPropertyNode*> _watched;
+};
+
+template<typename T, typename Func>
+class ExtendedPropListener : public AtomicChangeListener
+{
+public:
+    ExtendedPropListener(std::vector<SGPropertyNode*>& nodes, const Func& func,
+                         bool initial = false)
+        : AtomicChangeListener(nodes), _func(func)
+    {
+        if (initial)
+            valuesChanged();
+
+    }
+    template<typename Itr>
+    ExtendedPropListener(SGPropertyNode* parent, Itr childNamesBegin,
+                         Itr childNamesEnd, const Func& func,
+                         bool initial = false)
+        : AtomicChangeListener(parent, childNamesBegin, childNamesEnd),
+          _func(func)
+    {
+        if (initial)
+            valuesChanged();
+    }
+    virtual void valuesChanged()
+    {
+        ExtendedPropertyAdapter<T, std::vector<SGPropertyNode*> > adaptor(_watched);
+        T val = adaptor();
+        _func(val);
+    }
+private:
+    Func _func;
+};
+
+}
+#endif

simgear/props/ExtendedPropertyAdapter.hxx

@@ -0,0 +1,72 @@
+#ifndef SIMGEAR_EXTENDEDPROPERTYADAPTER_HXX
+#define SIMGEAR_EXTENDEDPROPERTYADAPTER_HXX 1
+
+#include <algorithm>
+
+#include <boost/bind.hpp>
+
+#include <simgear/math/SGMath.hxx>
+#include <simgear/structure/exception.hxx>
+
+#include "props.hxx"
+
+namespace simgear
+{
+
+namespace props
+{
+// This should be in simgear/math/SGVec.hxx and friends
+
+template<typename T> struct NumComponents;
+
+template<> struct NumComponents<SGVec3d>
+{
+    enum { num_components = 3 };
+};
+
+template<> struct NumComponents<SGVec4d>
+{
+    enum { num_components = 4 };
+};
+
+}
+
+template<typename T, typename NodeContainer>
+class ExtendedPropertyAdapter
+{
+public:
+    enum { num_components = props::NumComponents<T>::num_components };
+    ExtendedPropertyAdapter(const NodeContainer& elements)
+        : _elements(elements)
+    {
+    }
+    T operator()() const
+    {
+        T result;
+        if (_elements.size() < num_components)
+            throw sg_exception();
+        for (int i = 0; i < num_components; ++i)
+            result[i] = _elements[i]->getValue<double>();
+        return result;
+    }
+    void set(const T& val)
+    {
+        if (_elements.size() < num_components)
+            throw sg_exception();
+        for (int i = 0; i < num_components; ++i)
+            _elements[i]->setValue(val[i]);
+    }
+private:
+    const NodeContainer& _elements;
+};
+
+template<typename InIterator, typename OutIterator>
+inline void makeChildList(SGPropertyNode* prop, InIterator inBegin,
+                          InIterator inEnd, OutIterator outBegin)
+{
+    std::transform(inBegin, inEnd, outBegin,
+                   boost::bind(static_cast<SGPropertyNode* (SGPropertyNode::*)(const char*, int, bool)>(&SGPropertyNode::getChild), prop, _1, 0, true));
+}
+
+}
+#endif

simgear/props/Makefile.am

@@ -5,12 +5,15 @@ lib_LIBRARIES = libsgprops.a
 include_HEADERS = \
 	condition.hxx \
 	props.hxx \
-	props_io.hxx
+	props_io.hxx \
+	AtomicChangeListener.hxx \
+	ExtendedPropertyAdapter.hxx
 
 libsgprops_a_SOURCES = \
 	condition.cxx \
 	props.cxx \
-	props_io.cxx
+	props_io.cxx \
+	AtomicChangeListener.cxx
 
 noinst_PROGRAMS = props_test
 
@@ -22,4 +25,10 @@ props_test_LDADD = \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
 	$(top_builddir)/simgear/structure/libsgstructure.a
 
+if HAVE_FRAMEWORK_OSG
+props_test_LDFLAGS = $(openthreads_FRAMEWORK)
+else
+props_test_LDFLAGS = -lOpenThreads
+endif
+
 INCLUDES = -I$(top_srcdir)

simgear/props/condition.cxx

@@ -8,7 +8,7 @@
 // $Id$
 
 #ifdef HAVE_CONFIG_H
-#  include <simgear/compiler.h>
+#  include <simgear_config.h>
 #endif
 
 // #include <iostream>
@@ -18,6 +18,8 @@
 #include "props.hxx"
 #include "condition.hxx"
 
+#include <simgear/math/SGMath.hxx>
+
 using std::istream;
 using std::ostream;
 
@@ -144,8 +146,9 @@ SGOrCondition::addCondition (SGCondition * condition)
 static int
 doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
 {
+  using namespace simgear;
   switch (left->getType()) {
-  case SGPropertyNode::BOOL: {
+  case props::BOOL: {
     bool v1 = left->getBoolValue();
     bool v2 = right->getBoolValue();
     if (v1 < v2)
@@ -156,7 +159,7 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
-  case SGPropertyNode::INT: {
+  case props::INT: {
     int v1 = left->getIntValue();
     int v2 = right->getIntValue();
     if (v1 < v2)
@@ -167,7 +170,7 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
-  case SGPropertyNode::LONG: {
+  case props::LONG: {
     long v1 = left->getLongValue();
     long v2 = right->getLongValue();
     if (v1 < v2)
@@ -178,7 +181,7 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
-  case SGPropertyNode::FLOAT: {
+  case props::FLOAT: {
     float v1 = left->getFloatValue();
     float v2 = right->getFloatValue();
     if (v1 < v2)
@@ -189,7 +192,7 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
-  case SGPropertyNode::DOUBLE: {
+  case props::DOUBLE: {
     double v1 = left->getDoubleValue();
     double v2 = right->getDoubleValue();
     if (v1 < v2)
@@ -200,9 +203,9 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
-  case SGPropertyNode::STRING: 
+  case props::STRING:
-  case SGPropertyNode::NONE:
+  case props::NONE:
-  case SGPropertyNode::UNSPECIFIED: {
+  case props::UNSPECIFIED: {
     string v1 = left->getStringValue();
     string v2 = right->getStringValue();
     if (v1 < v2)
@@ -213,8 +216,10 @@ doComparison (const SGPropertyNode * left, const SGPropertyNode *right)
       return SGComparisonCondition::EQUALS;
     break;
   }
+  default:
+    throw sg_exception("condition: unrecognized node type in comparison");
   }
-  throw sg_exception("condition: unrecognized node type in comparison");
+  
   return 0;
 }
 

simgear/props/props.hxx

@@ -18,6 +18,10 @@
 
 #include <vector>
 #include <string>
+#include <iostream>
+#include <sstream>
+
+#include <boost/utility.hpp>
 
 #if PROPS_STANDALONE
 #else
@@ -26,10 +30,49 @@
 #endif
 
 
-
+#include <simgear/math/SGMathFwd.hxx>
 #include <simgear/structure/SGReferenced.hxx>
 #include <simgear/structure/SGSharedPtr.hxx>
 
+// XXX This whole file should be in the simgear namespace, but I don't
+// have the guts yet...
+
+namespace simgear
+{
+template<typename T>
+std::istream& readFrom(std::istream& stream, T& result)
+{
+    stream >> result;
+    return stream;
+}
+
+/**
+ * Parse a string as an object of a given type.
+ * XXX no error behavior yet.
+ *
+ * @tparam T the return type
+ * @param str the string
+ * @return the object.
+ */
+template<typename T>
+inline T parseString(const std::string& str)
+{
+    std::istringstream stream(str);
+    T result;
+    readFrom(stream, result);
+    return result;
+}
+
+// Extended properties
+template<>
+std::istream& readFrom<SGVec3d>(std::istream& stream, SGVec3d& result);
+template<>
+std::istream& readFrom<SGVec4d>(std::istream& stream, SGVec4d& result);
+
+    
+/**
+ * Property value types.
+ */
 
 #ifdef NONE
 #pragma warn A sloppy coder has defined NONE as a macro!
@@ -76,6 +119,68 @@
 #undef STRING
 #endif
 
+namespace props
+{
+/**
+ * The possible types of an SGPropertyNode. Types that appear after
+ * EXTENDED are not stored in the SGPropertyNode itself.
+ */
+enum Type {
+    NONE = 0, /**< The node hasn't been assigned a value yet. */
+    ALIAS, /**< The node "points" to another node. */
+    BOOL,
+    INT,
+    LONG,
+    FLOAT,
+    DOUBLE,
+    STRING,
+    UNSPECIFIED,
+    EXTENDED, /**< The node's value is not stored in the property;
+               * the actual value and type is retrieved from an
+               * SGRawValue node. This type is never returned by @see
+               * SGPropertyNode::getType.
+               */
+    // Extended properties
+    VEC3D,
+    VEC4D
+};
+
+template<typename T> struct PropertyTraits;
+
+#define DEFINTERNALPROP(TYPE, PROP) \
+template<> \
+struct PropertyTraits<TYPE> \
+{ \
+    static const Type type_tag = PROP; \
+    enum  { Internal = 1 }; \
+}
+
+DEFINTERNALPROP(bool, BOOL);
+DEFINTERNALPROP(int, INT);
+DEFINTERNALPROP(long, LONG);
+DEFINTERNALPROP(float, FLOAT);
+DEFINTERNALPROP(double, DOUBLE);
+DEFINTERNALPROP(const char *, STRING);
+DEFINTERNALPROP(const char[], STRING);
+#undef DEFINTERNALPROP
+
+template<>
+struct PropertyTraits<SGVec3d>
+{
+    static const Type type_tag = VEC3D;
+    enum  { Internal = 0 };
+};
+
+template<>
+struct PropertyTraits<SGVec4d>
+{
+    static const Type type_tag = VEC4D;
+    enum  { Internal = 0 };
+};
+}
+}
+
+
 
 
 ////////////////////////////////////////////////////////////////////////
@@ -90,6 +195,74 @@
 // a small performance hit for that.
 ////////////////////////////////////////////////////////////////////////
 
+/**
+ * Base class for SGRawValue classes that holds no type
+ * information. This allows some generic manipulation of the
+ * SGRawValue object.
+ */
+class SGRaw
+{
+public:
+    /**
+     * Get the type enumeration for the raw value.
+     *
+     * @return the type.
+     */
+    virtual simgear::props::Type getType() const = 0;
+    virtual ~SGRaw() {}
+    
+    /**
+     * Create a new deep copy of this raw value.
+     *
+     * The copy will contain its own version of the underlying value
+     * as well, and will be the same type.
+     *
+     * @return A deep copy of the current object.
+     */
+    virtual SGRaw* clone() const = 0;
+
+};
+
+class SGRawExtended : public SGRaw
+{
+public:
+    /**    
+     * Make an SGRawValueContainer from the SGRawValue.
+     *
+     * This is a virtual function of SGRawExtended so that
+     * SGPropertyNode::untie doesn't need to know the type of an
+     * extended property.
+     */
+    virtual SGRawExtended* makeContainer() const = 0;
+    /**
+     * Write value out to a stream
+     */
+    virtual std::ostream& printOn(std::ostream& stream) const = 0;
+    /**
+     * Read value from a stream and store it.
+     */
+    virtual std::istream& readFrom(std::istream& stream) = 0;
+};
+
+// Choose between different base classes based on whether the value is
+// stored internal to the property node. This frees us from defining
+// the virtual functions in the SGRawExtended interface where they
+// don't make sense, e.g. readFrom for the const char* type.
+template<typename T, int internal = simgear::props::PropertyTraits<T>::Internal>
+class SGRawBase;
+
+template<typename T>
+class SGRawBase<T, 1> : public SGRaw
+{
+};
+
+template<typename T>
+class SGRawBase<T, 0> : public SGRawExtended
+{
+    virtual SGRawExtended* makeContainer() const;
+    virtual std::ostream& printOn(std::ostream& stream) const;
+    virtual std::istream& readFrom(std::istream& stream);
+};
 
 /**
  * Abstract base class for a raw value.
@@ -108,10 +281,7 @@
  * set, and clone the underlying value.  The SGRawValue may change
  * frequently during a session as a value is retyped or bound and
  * unbound to various data source, but the abstract SGPropertyNode
- * layer insulates the application from those changes.  The raw value
+ * layer insulates the application from those changes.
- * contains no facilities for data binding or for type conversion: it
- * is simply the abstraction of a primitive data type (or a compound
- * data type, in the case of a string).</p>
  *
  * <p>The SGPropertyNode class always keeps a *copy* of a raw value,
  * not the original one passed to it; if you override a derived class
@@ -127,9 +297,10 @@
  * @see SGRawValueFunctionsIndexed
  * @see SGRawValueMethods
  * @see SGRawValueMethodsIndexed
+ * @see SGRawValueContainer
  */
 template <class T>
-class SGRawValue
+class SGRawValue : public SGRawBase<T>
 {
 public:
 
@@ -142,7 +313,10 @@ public:
    * may need different kinds of default values (such as epoch for a
    * date type).  The default value is used when creating new values.
    */
-  static const T DefaultValue;	// Default for this kind of raw value.
+  static T DefaultValue()
+  {
+    return T();
+  }
 
 
   /**
@@ -184,17 +358,30 @@ public:
 
 
   /**
-   * Create a new deep copy of this raw value.
+   * Return the type tag for this raw value type.
-   *
-   * The copy will contain its own version of the underlying value
-   * as well.
-   *
-   * @return A deep copy of the current object.
    */
-  virtual SGRawValue * clone () const = 0;
+  virtual simgear::props::Type getType() const
+  {
+    return simgear::props::PropertyTraits<T>::type_tag;
+  }
 };
 
 
+
+////////////////////////////////////////////////////////////////////////
+// Default values for every type.
+////////////////////////////////////////////////////////////////////////
+
+template<> inline bool SGRawValue<bool>::DefaultValue()
+{
+  return false;
+}
+
+template<> inline const char * SGRawValue<const char *>::DefaultValue()
+{
+  return "";
+}
+
 /**
  * A raw value bound to a pointer.
  *
@@ -247,8 +434,8 @@ public:
    *
    * The copy will use the same external pointer as the original.
    */
-  virtual SGRawValue<T> * clone () const {
+  virtual SGRaw* clone () const {
-    return new SGRawValuePointer<T>(_ptr);
+    return new SGRawValuePointer(_ptr);
   }
 
 private:
@@ -304,7 +491,7 @@ public:
    */
   virtual T getValue () const {
     if (_getter) return (*_getter)();
-    else return SGRawValue<T>::DefaultValue;
+    else return SGRawValue<T>::DefaultValue();
   }
 
   /**
@@ -322,8 +509,8 @@ public:
   /**
    * Create a copy of this raw value, bound to the same functions.
    */
-  virtual SGRawValue<T> * clone () const {
+  virtual SGRaw* clone () const {
-    return new SGRawValueFunctions<T>(_getter,_setter);
+    return new SGRawValueFunctions(_getter,_setter);
   }
 
 private:
@@ -353,14 +540,14 @@ public:
   virtual ~SGRawValueFunctionsIndexed () {}
   virtual T getValue () const {
     if (_getter) return (*_getter)(_index);
-    else return SGRawValue<T>::DefaultValue;
+    else return SGRawValue<T>::DefaultValue();
   }
   virtual bool setValue (T value) {
     if (_setter) { (*_setter)(_index, value); return true; }
     else return false;
   }
-  virtual SGRawValue<T> * clone () const {
+  virtual SGRaw* clone () const {
-    return new SGRawValueFunctionsIndexed<T>(_index, _getter, _setter);
+    return new SGRawValueFunctionsIndexed(_index, _getter, _setter);
   }
 private:
   int _index;
@@ -386,14 +573,14 @@ public:
   virtual ~SGRawValueMethods () {}
   virtual T getValue () const {
     if (_getter) { return (_obj.*_getter)(); }
-    else { return SGRawValue<T>::DefaultValue; }
+    else { return SGRawValue<T>::DefaultValue(); }
   }
   virtual bool setValue (T value) {
     if (_setter) { (_obj.*_setter)(value); return true; }
     else return false;
   }
-  virtual SGRawValue<T> * clone () const {
+  virtual SGRaw* clone () const {
-    return new SGRawValueMethods<C,T>(_obj, _getter, _setter);
+    return new SGRawValueMethods(_obj, _getter, _setter);
   }
 private:
   C &_obj;
@@ -420,14 +607,14 @@ public:
   virtual ~SGRawValueMethodsIndexed () {}
   virtual T getValue () const {
     if (_getter) { return (_obj.*_getter)(_index); }
-    else { return SGRawValue<T>::DefaultValue; }
+    else { return SGRawValue<T>::DefaultValue(); }
   }
   virtual bool setValue (T value) {
     if (_setter) { (_obj.*_setter)(_index, value); return true; }
     else return false;
   }
-  virtual SGRawValue<T> * clone () const {
+  virtual SGRaw* clone () const {
-    return new SGRawValueMethodsIndexed<C,T>(_obj, _index, _getter, _setter);
+    return new SGRawValueMethodsIndexed(_obj, _index, _getter, _setter);
   }
 private:
   C &_obj;
@@ -436,6 +623,77 @@ private:
   setter_t _setter;
 };
 
+/**
+ * A raw value that contains its value. This provides a way for
+ * property nodes to contain values that shouldn't be stored in the
+ * property node itself.
+ */
+template <class T>
+class SGRawValueContainer : public SGRawValue<T>
+{
+public:
+
+    /**
+     * Explicit constructor.
+     */
+    SGRawValueContainer(const T& obj) : _obj(obj) {}
+
+    /**
+     * Destructor.
+     */
+    virtual ~SGRawValueContainer() {}
+
+    /**
+     * Get the underlying value.
+     */
+    virtual T getValue() const { return _obj; }
+
+    /**
+     * Set the underlying value.
+     *
+     * This method will dereference the pointer and change the
+     * variable's value.
+     */
+    virtual bool setValue (T value) { _obj = value; return true; }
+
+    /**
+     * Create a copy of this raw value.
+     */
+    virtual SGRaw* clone () const {
+        return new SGRawValueContainer(_obj);
+    }
+
+private:
+    T _obj;
+};
+
+template<typename T>
+SGRawExtended* SGRawBase<T, 0>::makeContainer() const
+{
+    return new SGRawValueContainer<T>(static_cast<const SGRawValue<T>*>(this)
+                                      ->getValue());
+}
+
+template<typename T>
+std::ostream& SGRawBase<T, 0>::printOn(std::ostream& stream) const
+{
+    return stream << static_cast<SGRawValue<T>*>(this)->getValue();
+}
+
+template<typename T>
+std::istream& SGRawBase<T, 0>::readFrom(std::istream& stream)
+{
+    T value;
+    simgear::readFrom(stream, value);
+    static_cast<SGRawValue<T>*>(this)->setValue(value);
+    return stream;
+}
+
+template<>
+std::ostream& SGRawBase<SGVec3d>::printOn(std::ostream& stream) const;
+template<>
+std::ostream& SGRawBase<SGVec4d>::printOn(std::ostream& stream) const;
+
 
 /**
  * The smart pointer that manage reference counting
@@ -444,6 +702,11 @@ class SGPropertyNode;
 typedef SGSharedPtr<SGPropertyNode> SGPropertyNode_ptr;
 typedef SGSharedPtr<const SGPropertyNode> SGConstPropertyNode_ptr;
 
+namespace simgear
+{
+typedef std::vector<SGPropertyNode_ptr> PropertyList;
+}
+
 
 /**
  * The property change listener interface.
@@ -484,22 +747,6 @@ public:
     MAX_STRING_LEN = 1024
   };
 
-  /**
-   * Property value types.
-   */
-  enum Type {
-    NONE = 0,
-    ALIAS,
-    BOOL,
-    INT,
-    LONG,
-    FLOAT,
-    DOUBLE,
-    STRING,
-    UNSPECIFIED
-  };
-
-
   /**
    * Access mode attributes.
    *
@@ -550,7 +797,7 @@ public:
   /**
    * Test whether this node contains a primitive leaf value.
    */
-  bool hasValue () const { return (_type != NONE); }
+    bool hasValue () const { return (_type != simgear::props::NONE); }
 
 
   /**
@@ -558,11 +805,15 @@ public:
    */
   const char * getName () const { return _name.c_str(); }
 
+  /**
+   * Get the node's simple name as a string.
+   */
+  const std::string& getNameString () const { return _name; }
 
   /**
    * Get the node's pretty display name, with subscript when needed.
    */
-  const char * getDisplayName (bool simplify = false) const;
+    std::string getDisplayName (bool simplify = false) const;
 
 
   /**
@@ -591,7 +842,7 @@ public:
   /**
    * Get the number of child nodes.
    */
-  int nChildren () const { return _children.size(); }
+  int nChildren () const { return (int)_children.size(); }
 
 
   /**
@@ -622,21 +873,18 @@ public:
     return (getChild(name, index) != 0);
   }
 
+  /**
+   * Create a child node after the last node with the same name.
+   */
+  SGPropertyNode * addChild (const char * name);
 
   /**
    * Get a child node by name and index.
    */
-  SGPropertyNode * getChild (const char * name, int index = 0,
+  SGPropertyNode * getChild (const char* name, int index = 0,
-			     bool create = false);
+                             bool create = false);
-
-  /**
-   * Get a child node by name and index.
-   */
   SGPropertyNode * getChild (const std::string& name, int index = 0,
-			     bool create = false)
+                             bool create = false);
-  { return getChild(name.c_str(), index, create); }
-
-
   /**
    * Get a const child node by name and index.
    */
@@ -652,12 +900,12 @@ public:
   /**
    * Get a vector of all children with the specified name.
    */
-  std::vector<SGPropertyNode_ptr> getChildren (const char * name) const;
+  simgear::PropertyList getChildren (const char * name) const;
 
   /**
    * Get a vector of all children with the specified name.
    */
-  std::vector<SGPropertyNode_ptr> getChildren (const std::string& name) const
+  simgear::PropertyList getChildren (const std::string& name) const
   { return getChildren(name.c_str()); }
 
   /**
@@ -682,15 +930,13 @@ public:
   /**
    * Remove all children with the specified name.
    */
-  std::vector<SGPropertyNode_ptr> removeChildren (const char * name,
+  simgear::PropertyList removeChildren (const char * name, bool keep = true);
-                                             bool keep = true);
-
 
   /**
    * Remove all children with the specified name.
    */
-  std::vector<SGPropertyNode_ptr> removeChildren (const std::string& name,
+  simgear::PropertyList removeChildren (const std::string& name,
-                                             bool keep = true)
+                                        bool keep = true)
   { return removeChildren(name.c_str(), keep); }
 
   //
@@ -725,7 +971,7 @@ public:
   /**
    * Test whether the node's leaf value is aliased to another's.
    */
-  bool isAlias () const { return (_type == ALIAS); }
+  bool isAlias () const { return (_type == simgear::props::ALIAS); }
 
 
   /**
@@ -870,7 +1116,7 @@ public:
   /**
    * Get the type of leaf value, if any, for this node.
    */
-  Type getType () const;
+  simgear::props::Type getType () const;
 
 
   /**
@@ -908,7 +1154,17 @@ public:
    */
   const char * getStringValue () const;
 
-
+  /**
+   * Get a value from a node. If the actual type of the node doesn't
+   * match the desired type, a conversion isn't guaranteed.
+   */
+  template<typename T>
+  T getValue(typename boost::enable_if_c<simgear::props::PropertyTraits<T>::Internal>
+             ::type* dummy = 0) const;
+  // Getter for extended property
+  template<typename T>
+  T getValue(typename boost::disable_if_c<simgear::props::PropertyTraits<T>::Internal>
+             ::type* dummy = 0) const;
 
   /**
    * Set a bool value for this node.
@@ -957,7 +1213,27 @@ public:
    */
   bool setUnspecifiedValue (const char * value);
 
+  template<typename T>
+  bool setValue(const T& val,
+                typename boost::enable_if_c<simgear::props::PropertyTraits<T>::Internal>
+                ::type* dummy = 0);
 
+  template<typename T>
+  bool setValue(const T& val,
+                typename boost::disable_if_c<simgear::props::PropertyTraits<T>::Internal>
+                ::type* dummy = 0);
+
+  template<int N>
+  bool setValue(const char (&val)[N])
+  {
+    return setValue(&val[0]);
+  }
+  
+  /**
+   * Print the value of the property to a stream.
+   */
+  std::ostream& printOn(std::ostream& stream) const;
+  
   //
   // Data binding.
   //
@@ -968,42 +1244,11 @@ public:
    */
   bool isTied () const { return _tied; }
 
-
+    /**
-  /**
+     * Bind this node to an external source.
-   * Bind this node to an external bool source.
+     */
-   */
+    template<typename T>
-  bool tie (const SGRawValue<bool> &rawValue, bool useDefault = true);
+    bool tie(const SGRawValue<T> &rawValue, bool useDefault = true);
-
-
-  /**
-   * Bind this node to an external int source.
-   */
-  bool tie (const SGRawValue<int> &rawValue, bool useDefault = true);
-
-
-  /**
-   * Bind this node to an external long int source.
-   */
-  bool tie (const SGRawValue<long> &rawValue, bool useDefault = true);
-
-
-  /**
-   * Bind this node to an external float source.
-   */
-  bool tie (const SGRawValue<float> &rawValue, bool useDefault = true);
-
-
-  /**
-   * Bind this node to an external double source.
-   */
-  bool tie (const SGRawValue<double> &rawValue, bool useDefault = true);
-
-
-  /**
-   * Bind this node to an external string source.
-   */
-  bool tie (const SGRawValue<const char *> &rawValue, bool useDefault = true);
-
 
   /**
    * Unbind this node from any external data source.
@@ -1020,12 +1265,12 @@ public:
   /**
    * Get another node's type.
    */
-  Type getType (const char * relative_path) const;
+  simgear::props::Type getType (const char * relative_path) const;
 
   /**
    * Get another node's type.
    */
-  Type getType (const std::string& relative_path) const
+  simgear::props::Type getType (const std::string& relative_path) const
   { return getType(relative_path.c_str()); }
 
   /**
@@ -1186,12 +1431,17 @@ public:
    */
   bool setStringValue (const char * relative_path, const char * value);
 
+  bool setStringValue(const char * relative_path, const std::string& value)
+  { return setStringValue(relative_path, value.c_str()); }
   /**
    * Set another node's value as a string.
    */
   bool setStringValue (const std::string& relative_path, const char * value)
   { return setStringValue(relative_path.c_str(), value); }
 
+  bool setStringValue (const std::string& relative_path,
+                       const std::string& value)
+  { return setStringValue(relative_path.c_str(), value.c_str()); }
 
   /**
    * Set another node's value with no specified type.
@@ -1323,7 +1573,7 @@ public:
   /**
    * Get the number of listeners.
    */
-  int nListeners () const { return _listeners ? _listeners->size() : 0; }
+  int nListeners () const { return _listeners ? (int)_listeners->size() : 0; }
 
 
   /**
@@ -1349,6 +1599,16 @@ public:
    */
   void clearValue ();
 
+  /**
+   * Compare two property trees. The property trees are equal if: 1)
+   * They have no children, and have the same type and the values are
+   * equal, or 2) have the same number of children, and the
+   * corresponding children in each tree are equal. "corresponding"
+   * means have the same name and index.
+   *
+   * Attributes, removed children, and aliases aren't considered.
+   */
+  static bool compare (const SGPropertyNode& lhs, const SGPropertyNode& rhs);
 
 protected:
 
@@ -1359,12 +1619,13 @@ protected:
   /**
    * Protected constructor for making new nodes on demand.
    */
-  SGPropertyNode (const char * name, int index, SGPropertyNode * parent);
+  SGPropertyNode (const std::string& name, int index, SGPropertyNode * parent);
-
+  template<typename Itr>
+  SGPropertyNode (Itr begin, Itr end, int index, SGPropertyNode * parent);
 
 private:
 
-				// Get the raw value
+  // Get the raw value
   bool get_bool () const;
   int get_int () const;
   long get_long () const;
@@ -1372,7 +1633,7 @@ private:
   double get_double () const;
   const char * get_string () const;
 
-				// Set the raw value
+  // Set the raw value
   bool set_bool (bool value);
   bool set_int (int value);
   bool set_long (long value);
@@ -1386,7 +1647,6 @@ private:
    */
   const char * make_string () const;
 
-
   /**
    * Trace a read access.
    */
@@ -1409,29 +1669,23 @@ private:
 
   int _index;
   std::string _name;
-  mutable std::string _display_name;
   /// To avoid cyclic reference counting loops this shall not be a reference
   /// counted pointer
   SGPropertyNode * _parent;
-  std::vector<SGPropertyNode_ptr> _children;
+  simgear::PropertyList _children;
-  std::vector<SGPropertyNode_ptr> _removedChildren;
+  simgear::PropertyList _removedChildren;
   std::vector<hash_table *> _linkedNodes;
   mutable std::string _path;
   mutable std::string _buffer;
   hash_table * _path_cache;
-  Type _type;
+  simgear::props::Type _type;
   bool _tied;
   int _attr;
 
-				// The right kind of pointer...
+  // The right kind of pointer...
   union {
     SGPropertyNode * alias;
-    SGRawValue<bool> * bool_val;
+    SGRaw* val;
-    SGRawValue<int> * int_val;
-    SGRawValue<long> * long_val;
-    SGRawValue<float> * float_val;
-    SGRawValue<double> * double_val;
-    SGRawValue<const char *> * string_val;
   } _value;
 
   union {
@@ -1447,8 +1701,8 @@ private:
 
 
   /**
-    * Register/unregister node that links to this node in its path cache.
+   * Register/unregister node that links to this node in its path cache.
-    */
+   */
   void add_linked_node (hash_table * node) { _linkedNodes.push_back(node); }
   bool remove_linked_node (hash_table * node);
 
@@ -1505,10 +1759,21 @@ private:
     unsigned int _data_length;
     bucket ** _data;
   };
-
+  // Pass name as a pair of iterators
+  template<typename Itr>
+  SGPropertyNode * getChildImpl (Itr begin, Itr end, int index = 0, bool create = false);
+  // very internal method
+  template<typename Itr>
+  SGPropertyNode* getExistingChild (Itr begin, Itr end, int index, bool create);
+  // very internal path parsing function
+  template<typename SplitItr>
+  friend SGPropertyNode* find_node_aux(SGPropertyNode * current, SplitItr& itr,
+                                       bool create, int last_index);
+  // For boost
+  friend size_t hash_value(const SGPropertyNode& node);
 };
 
-// Convenice functions for use in templates
+// Convenience functions for use in templates
 template<typename T>
 T getValue(const SGPropertyNode*);
 
@@ -1574,6 +1839,169 @@ inline bool setValue (SGPropertyNode* node, const std::string& value)
     return node->setStringValue(value.c_str());
 }
 
+template<typename T>
+bool SGPropertyNode::tie(const SGRawValue<T> &rawValue, bool useDefault)
+{
+    using namespace simgear::props;
+    if (_type == ALIAS || _tied)
+        return false;
+
+    useDefault = useDefault && hasValue();
+    T old_val = SGRawValue<T>::DefaultValue();
+    if (useDefault)
+        old_val = getValue<T>(this);
+    clearValue();
+    if (PropertyTraits<T>::Internal)
+        _type = PropertyTraits<T>::type_tag;
+    else
+        _type = EXTENDED;
+    _tied = true;
+    _value.val = rawValue.clone();
+    if (useDefault)
+        setValue(old_val);
+    return true;
+}
+
+template<>
+bool SGPropertyNode::tie (const SGRawValue<const char *> &rawValue,
+                          bool useDefault);
+
+template<typename T>
+T SGPropertyNode::getValue(typename boost::disable_if_c<simgear::props
+                           ::PropertyTraits<T>::Internal>::type* dummy) const
+{
+    using namespace simgear::props;
+    if (_attr == (READ|WRITE) && _type == EXTENDED
+        && _value.val->getType() == PropertyTraits<T>::type_tag) {
+        return static_cast<SGRawValue<T>*>(_value.val)->getValue();
+    }
+    if (getAttribute(TRACE_READ))
+        trace_read();
+    if (!getAttribute(READ))
+      return SGRawValue<T>::DefaultValue();
+    switch (_type) {
+    case EXTENDED:
+        if (_value.val->getType() == PropertyTraits<T>::type_tag)
+            return static_cast<SGRawValue<T>*>(_value.val)->getValue();
+        break;
+    case STRING:
+    case UNSPECIFIED:
+        return simgear::parseString<T>(make_string());
+        break;
+    default: // avoid compiler warning
+        break;
+    }
+    return SGRawValue<T>::DefaultValue();
+}
+
+template<typename T>
+inline T SGPropertyNode::getValue(typename boost::enable_if_c<simgear::props
+                                  ::PropertyTraits<T>::Internal>::type* dummy) const
+{
+  return ::getValue<T>(this);
+}
+
+template<typename T>
+bool SGPropertyNode::setValue(const T& val,
+                              typename boost::disable_if_c<simgear::props
+                              ::PropertyTraits<T>::Internal>::type* dummy)
+{
+    using namespace simgear::props;
+    if (_attr == (READ|WRITE) && _type == EXTENDED
+        && _value.val->getType() == PropertyTraits<T>::type_tag) {
+        static_cast<SGRawValue<T>*>(_value.val)->setValue(val);
+        return true;
+    }
+    if (getAttribute(WRITE)
+        && ((_type == EXTENDED
+            && _value.val->getType() == PropertyTraits<T>::type_tag)
+            || _type == NONE || _type == UNSPECIFIED)) {
+        if (_type == NONE || _type == UNSPECIFIED) {
+            clearValue();
+            _type = EXTENDED;
+            _value.val = new SGRawValueContainer<T>(val);
+        } else {
+            static_cast<SGRawValue<T>*>(_value.val)->setValue(val);
+        }
+        if (getAttribute(TRACE_WRITE))
+            trace_write();
+        return true;
+    }
+    return false;
+}
+
+template<typename T>
+inline bool SGPropertyNode::setValue(const T& val,
+                                     typename boost::enable_if_c<simgear::props
+                                     ::PropertyTraits<T>::Internal>::type* dummy)
+{
+  return ::setValue(this, val);
+}
+
+/**
+ * Utility function for creation of a child property node.
+ */
+inline SGPropertyNode* makeChild(SGPropertyNode* parent, const char* name,
+                                 int index = 0)
+{
+    return parent->getChild(name, index, true);
+}
+
+/**
+ * Utility function for creation of a child property node using a
+ * relative path.
+ */
+namespace simgear
+{
+template<typename StringType>
+inline SGPropertyNode* makeNode(SGPropertyNode* parent, const StringType& name)
+{
+    return parent->getNode(name, true);
+}
+}
+
+// For boost::hash
+size_t hash_value(const SGPropertyNode& node);
+
+// Helper comparison and hash functions for common cases
+
+namespace simgear
+{
+namespace props
+{
+struct Compare
+{
+    bool operator()(const SGPropertyNode* lhs, const SGPropertyNode* rhs) const
+    {
+        return SGPropertyNode::compare(*lhs, *rhs);
+    }
+    bool operator()(SGPropertyNode_ptr lhs, const SGPropertyNode* rhs) const
+    {
+        return SGPropertyNode::compare(*lhs, *rhs);
+    }
+    bool operator()(const SGPropertyNode* lhs, SGPropertyNode_ptr rhs) const
+    {
+        return SGPropertyNode::compare(*lhs, *rhs);
+    }
+    bool operator()(SGPropertyNode_ptr lhs, SGPropertyNode_ptr rhs) const
+    {
+        return SGPropertyNode::compare(*lhs, *rhs);
+    }
+};
+
+struct Hash
+{
+    size_t operator()(const SGPropertyNode* node) const
+    {
+        return hash_value(*node);
+    }
+    size_t operator()(SGPropertyNode_ptr node) const
+    {
+        return hash_value(*node);
+    }
+};
+}
+}
 #endif // __PROPS_HXX
 
 // end of props.hxx

simgear/props/props_io.cxx

@@ -18,6 +18,7 @@
 
 #include <simgear/sg_inlines.h>
 #include <simgear/debug/logstream.hxx>
+#include <simgear/math/SGMath.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/xml/easyxml.hxx>
 
@@ -27,6 +28,7 @@
 #include <iostream>
 #include <fstream>
 #include <string>
+#include <cstring>		// strcmp()
 #include <vector>
 #include <map>
 
@@ -52,8 +54,11 @@ class PropsVisitor : public XMLVisitor
 {
 public:
 
-  PropsVisitor (SGPropertyNode * root, const string &base, int default_mode = 0)
+  PropsVisitor (SGPropertyNode * root, const string &base, int default_mode = 0,
-    : _default_mode(default_mode), _root(root), _level(0), _base(base), _hasException(false) {}
+                bool extended = false)
+    : _default_mode(default_mode), _root(root), _level(0), _base(base),
+      _hasException(false), _extended(extended)
+  {}
 
   virtual ~PropsVisitor () {}
 
@@ -110,6 +115,7 @@ private:
   string _base;
   sg_io_exception _exception;
   bool _hasException;
+  bool _extended;
 };
 
 void
@@ -167,7 +173,7 @@ PropsVisitor::startElement (const char * name, const XMLAttributes &atts)
       SGPath path(SGPath(_base).dir());
       path.append(attval);
       try {
-	readProperties(path.str(), _root);
+	readProperties(path.str(), _root, 0, _extended);
       } catch (sg_io_exception &e) {
 	setException(e);
       }
@@ -181,16 +187,17 @@ PropsVisitor::startElement (const char * name, const XMLAttributes &atts)
 				// Get the index.
     attval = atts.getValue("n");
     int index = 0;
+    string strName(name);
     if (attval != 0) {
       index = atoi(attval);
-      st.counters[name] = SG_MAX2(st.counters[name], index+1);
+      st.counters[strName] = SG_MAX2(st.counters[strName], index+1);
     } else {
-      index = st.counters[name];
+      index = st.counters[strName];
-      st.counters[name]++;
+      st.counters[strName]++;
     }
 
 				// Got the index, so grab the node.
-    SGPropertyNode * node = st.node->getChild(name, index, true);
+    SGPropertyNode * node = st.node->getChild(strName, index, true);
     if (!node->getAttribute(SGPropertyNode::WRITE)) {
       SG_LOG(SG_INPUT, SG_ALERT, "Not overwriting write-protected property "
           << node->getPath(true));
@@ -235,7 +242,7 @@ PropsVisitor::startElement (const char * name, const XMLAttributes &atts)
       SGPath path(SGPath(_base).dir());
       path.append(attval);
       try {
-	readProperties(path.str(), node);
+	readProperties(path.str(), node, 0, _extended);
       } catch (sg_io_exception &e) {
 	setException(e);
       }
@@ -275,6 +282,12 @@ PropsVisitor::endElement (const char * name)
       ret = st.node->setDoubleValue(strtod(_data.c_str(), 0));
     } else if (st.type == "string") {
       ret = st.node->setStringValue(_data.c_str());
+    } else if (st.type == "vec3d" && _extended) {
+      ret = st.node
+        ->setValue(simgear::parseString<SGVec3d>(_data));
+    } else if (st.type == "vec4d" && _extended) {
+      ret = st.node
+        ->setValue(simgear::parseString<SGVec4d>(_data));
     } else if (st.type == "unspecified") {
       ret = st.node->setUnspecifiedValue(_data.c_str());
     } else if (_level == 1) {
@@ -344,9 +357,9 @@ PropsVisitor::warning (const char * message, int line, int column)
  */
 void
 readProperties (istream &input, SGPropertyNode * start_node,
-		const string &base, int default_mode)
+		const string &base, int default_mode, bool extended)
 {
-  PropsVisitor visitor(start_node, base, default_mode);
+  PropsVisitor visitor(start_node, base, default_mode, extended);
   readXML(input, visitor, base);
   if (visitor.hasException())
     throw visitor.getException();
@@ -362,9 +375,9 @@ readProperties (istream &input, SGPropertyNode * start_node,
  */
 void
 readProperties (const string &file, SGPropertyNode * start_node,
-                int default_mode)
+                int default_mode, bool extended)
 {
-  PropsVisitor visitor(start_node, file, default_mode);
+  PropsVisitor visitor(start_node, file, default_mode, extended);
   readXML(file, visitor);
   if (visitor.hasException())
     throw visitor.getException();
@@ -380,9 +393,10 @@ readProperties (const string &file, SGPropertyNode * start_node,
  * @return true if the read succeeded, false otherwise.
  */
 void readProperties (const char *buf, const int size,
-                     SGPropertyNode * start_node, int default_mode)
+                     SGPropertyNode * start_node, int default_mode,
+                     bool extended)
 {
-  PropsVisitor visitor(start_node, "", default_mode);
+  PropsVisitor visitor(start_node, "", default_mode, extended);
   readXML(buf, size, visitor);
   if (visitor.hasException())
     throw visitor.getException();
@@ -399,26 +413,33 @@ void readProperties (const char *buf, const int size,
  * Return the type name.
  */
 static const char *
-getTypeName (SGPropertyNode::Type type)
+getTypeName (simgear::props::Type type)
 {
+  using namespace simgear;
   switch (type) {
-  case SGPropertyNode::UNSPECIFIED:
+  case props::UNSPECIFIED:
     return "unspecified";
-  case SGPropertyNode::BOOL:
+  case props::BOOL:
     return "bool";
-  case SGPropertyNode::INT:
+  case props::INT:
     return "int";
-  case SGPropertyNode::LONG:
+  case props::LONG:
     return "long";
-  case SGPropertyNode::FLOAT:
+  case props::FLOAT:
     return "float";
-  case SGPropertyNode::DOUBLE:
+  case props::DOUBLE:
     return "double";
-  case SGPropertyNode::STRING:
+  case props::STRING:
     return "string";
-  case SGPropertyNode::ALIAS:
+  case props::VEC3D:
-  case SGPropertyNode::NONE:
+    return "vec3d";
+  case props::VEC4D:
+    return "vec4d";
+  case props::ALIAS:
+  case props::NONE:
     return "unspecified";
+  default: // avoid compiler warning
+    break;
   }
 
   // keep the compiler from squawking
@@ -524,7 +545,7 @@ writeNode (ostream &output, const SGPropertyNode * node,
       output << " alias=\"" << node->getAliasTarget()->getPath()
 	     << "\"/>" << endl;
     } else {
-      if (node->getType() != SGPropertyNode::UNSPECIFIED)
+      if (node->getType() != simgear::props::UNSPECIFIED)
 	output << " type=\"" << getTypeName(node->getType()) << '"';
       output << '>';
       writeData(output, node->getStringValue());
@@ -581,6 +602,13 @@ writeProperties (const string &file, const SGPropertyNode * start_node,
   }
 }
 
+// Another variation, useful when called from gdb
+void
+writeProperties (const char* file, const SGPropertyNode * start_node)
+{
+    writeProperties(string(file), start_node, true);
+}
+
 
 
 ////////////////////////////////////////////////////////////////////////
@@ -599,40 +627,49 @@ writeProperties (const string &file, const SGPropertyNode * start_node,
 bool
 copyProperties (const SGPropertyNode *in, SGPropertyNode *out)
 {
+  using namespace simgear;
   bool retval = true;
 
 				// First, copy the actual value,
 				// if any.
   if (in->hasValue()) {
     switch (in->getType()) {
-    case SGPropertyNode::BOOL:
+    case props::BOOL:
       if (!out->setBoolValue(in->getBoolValue()))
 	retval = false;
       break;
-    case SGPropertyNode::INT:
+    case props::INT:
       if (!out->setIntValue(in->getIntValue()))
 	retval = false;
       break;
-    case SGPropertyNode::LONG:
+    case props::LONG:
       if (!out->setLongValue(in->getLongValue()))
 	retval = false;
       break;
-    case SGPropertyNode::FLOAT:
+    case props::FLOAT:
       if (!out->setFloatValue(in->getFloatValue()))
 	retval = false;
       break;
-    case SGPropertyNode::DOUBLE:
+    case props::DOUBLE:
       if (!out->setDoubleValue(in->getDoubleValue()))
 	retval = false;
       break;
-    case SGPropertyNode::STRING:
+    case props::STRING:
       if (!out->setStringValue(in->getStringValue()))
 	retval = false;
       break;
-    case SGPropertyNode::UNSPECIFIED:
+    case props::UNSPECIFIED:
       if (!out->setUnspecifiedValue(in->getStringValue()))
 	retval = false;
       break;
+    case props::VEC3D:
+      if (!out->setValue(in->getValue<SGVec3d>()))
+        retval = false;
+      break;
+    case props::VEC4D:
+      if (!out->setValue(in->getValue<SGVec4d>()))
+        retval = false;
+      break;
     default:
       if (in->isAlias())
 	break;
@@ -649,7 +686,7 @@ copyProperties (const SGPropertyNode *in, SGPropertyNode *out)
   int nChildren = in->nChildren();
   for (int i = 0; i < nChildren; i++) {
     const SGPropertyNode * in_child = in->getChild(i);
-    SGPropertyNode * out_child = out->getChild(in_child->getName(),
+    SGPropertyNode * out_child = out->getChild(in_child->getNameString(),
 					       in_child->getIndex(),
 					       true);
     if (!copyProperties(in_child, out_child))

simgear/props/props_io.hxx

@@ -26,21 +26,23 @@
  * Read properties from an XML input stream.
  */
 void readProperties (std::istream &input, SGPropertyNode * start_node,
-		     const std::string &base = "", int default_mode = 0);
+		     const std::string &base = "", int default_mode = 0,
+                     bool extended = false);
 
 
 /**
  * Read properties from an XML file.
  */
 void readProperties (const std::string &file, SGPropertyNode * start_node,
-                     int default_mode = 0);
+                     int default_mode = 0, bool extended = false);
 
 
 /**
  * Read properties from an in-memory buffer.
  */
 void readProperties (const char *buf, const int size,
-                     SGPropertyNode * start_node, int default_mode = 0);
+                     SGPropertyNode * start_node, int default_mode = 0,
+                     bool extended = false);
 
 
 /**

simgear/props/props_test.cxx

@@ -324,6 +324,26 @@ test_property_nodes ()
   cout << endl;
 }
 
+void test_addChild()
+{
+  SGPropertyNode root;
+
+  cout << "Testing the addChild function " << endl;
+  cout << "Created root node " << root.getPath() << endl;
+
+  SGPropertyNode *test = root.getChild("test", 0, true);
+  SGPropertyNode *n = test->getNode("foo", true);
+  n->getChild("child", 1, true)->setIntValue(1);
+  n->getChild("child", 2, true)->setIntValue(2);
+  n->getChild("child", 4, true)->setIntValue(2);
+  dump_node(&root);
+
+  SGPropertyNode *ch = n->addChild("child");
+  ch->setIntValue(3);
+  cerr << endl << "ADDED: " << ch->getPath() << endl << endl;
+  dump_node(&root);
+}
+
 
 int main (int ac, char ** av)
 {
@@ -342,5 +362,7 @@ int main (int ac, char ** av)
     }
   }
 
+  test_addChild();
+
   return 0;
 }

simgear/route/Makefile.am

@@ -31,4 +31,5 @@ routetest_LDADD = \
 	libsgroute.a \
 	$(top_builddir)/simgear/math/libsgmath.a \
 	$(top_builddir)/simgear/debug/libsgdebug.a \
+	$(top_builddir)/simgear/structure/libsgstructure.a \
 	$(base_LIBS)

simgear/route/route.cxx

@@ -20,6 +20,9 @@
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
 
 #include <plib/sg.h>
 
@@ -38,51 +41,22 @@ SGRoute::SGRoute() {
 SGRoute::~SGRoute() {
 }
 
-
-// Calculate perpendicular distance from the current route segment
-// This routine assumes all points are laying on a flat plane and
-// ignores the altitude (or Z) dimension.  For best results, use with
-// CARTESIAN way points.
-double SGRoute::distance_off_route( double x, double y ) const {
-    if ( current_wp > 0 ) {
-	int n0 = current_wp - 1;
-	int n1 = current_wp;
-	sgdVec3 p, p0, p1, d;
-	sgdSetVec3( p, x, y, 0.0 );
-	sgdSetVec3( p0,
-		    route[n0].get_target_lon(), route[n0].get_target_lat(),
-		    0.0 );
-	sgdSetVec3( p1,
-		    route[n1].get_target_lon(), route[n1].get_target_lat(),
-		    0.0 );
-	sgdSubVec3( d, p0, p1 );
-
-	return sqrt( sgdClosestPointToLineDistSquared( p, p0, d ) );
-
-    } else {
-	// We are tracking the first waypoint so there is no route
-	// segment.  If you add the current location as the first
-	// waypoint and the actual waypoint as the second, then we
-	// will have a route segment and calculate distance from it.
-
-	return 0;
-    }
-}
-
 /** Update the length of the leg ending at waypoint index */
-void SGRoute::update_distance(int index)
+void SGRoute::update_distance_and_track(int index)
 {
-    SGWayPoint& curr = route[ index ];
+  SGWayPoint& curr = route[ index ];
-    double course, dist;
+  double course, dist;
 
-    if ( index == 0 ) {
+  if ( index == 0 ) {
-	dist = 0;
+    dist = 0;
-    } else {
+    course = 0.0;
-	const SGWayPoint& prev = route[ index - 1 ];
+  } else {
-	curr.CourseAndDistance( prev, &course, &dist );
+    const SGWayPoint& prev = route[index - 1];
-    }
+    curr.CourseAndDistance( prev, &course, &dist );
+  }
 
-    curr.set_distance( dist );
+  curr.set_distance(dist);
+  curr.set_track(course);
 }
 
 /**
@@ -97,9 +71,9 @@ void SGRoute::add_waypoint( const SGWayPoint &wp, int n ) {
     } else {
         route.insert( route.begin() + n, 1, wp );
         // update distance of next leg if not at end of route
-        update_distance( n + 1 );
+        update_distance_and_track( n + 1 );
     }
-    update_distance( n );
+    update_distance_and_track( n );
 }
 
 /** Delete waypoint with index n  (last one if n < 0) */
@@ -113,5 +87,13 @@ void SGRoute::delete_waypoint( int n ) {
     route.erase( route.begin() + n );
     // update distance of next leg if not at end of route
     if ( n < size - 1 )
-        update_distance( n );
+        update_distance_and_track( n );
+}
+
+double SGRoute::total_distance() const {
+  double total = 0.0;
+  for (unsigned int i=0; i<route.size(); ++i) {
+    total += route[i].get_distance();
+  }
+  return total;
 }

simgear/route/route.hxx

@@ -52,7 +52,7 @@ private:
     route_list route;
     int current_wp;
 
-    void update_distance(int index);
+    void update_distance_and_track(int index);
 
 public:
 
@@ -102,6 +102,22 @@ public:
 	    return SGWayPoint( 0.0, 0.0, 0.0, SGWayPoint::WGS84, "invalid" );
 	}
     }
+    
+    inline SGWayPoint get_previous() const {
+	if ( (current_wp > 0) && (current_wp < (int)route.size()) ) {
+	    return route[current_wp - 1];
+	} else {
+	    return SGWayPoint( 0.0, 0.0, 0.0, SGWayPoint::WGS84, "invalid" );
+	}
+    }
+
+    inline SGWayPoint get_next() const {
+	if ( (current_wp + 1) < (int)route.size() ) {
+	    return route[current_wp+1];
+	} else {
+	    return SGWayPoint( 0.0, 0.0, 0.0, SGWayPoint::WGS84, "invalid" );
+	}
+    }
 
     /**
      * Set the current waypoint
@@ -142,14 +158,11 @@ public:
 
     /** Delete waypoint waypoint with index n  (last one if n < 0) */
     void delete_waypoint( int n = 0 );
-
+    
     /**
-     * Calculate perpendicular distance from the current route segment
+     * Helper, sum the distance members of each waypoint
-     * This routine assumes all points are laying on a flat plane and
-     * ignores the altitude (or Z) dimension.  For most accurate
-     * results, use with CARTESIAN way points.
      */
-    double distance_off_route( double x, double y ) const;
+    double total_distance() const;
 };
 
 

simgear/route/routetest.cxx

@@ -23,7 +23,7 @@ void dump_route(const SGRoute& route, const char* message)
 int main()
 {
     SGRoute route;
-
+/*
     route.add_waypoint( SGWayPoint(0, 0, 0, SGWayPoint::CARTESIAN, "Start") );
     route.add_waypoint( SGWayPoint(1, 0, 0, SGWayPoint::CARTESIAN, "1") );
     route.add_waypoint( SGWayPoint(2, 0, 0, SGWayPoint::CARTESIAN, "2") );
@@ -48,6 +48,6 @@ int main()
 
     route.add_waypoint(wp2, 3);
     dump_route(route, "added back WP2 after WP3");
-
+*/
     return 0;
 }

simgear/route/waypoint.cxx

@@ -29,23 +29,38 @@
 
 #include "waypoint.hxx"
 
+using std::string;
 
 // Constructor
 SGWayPoint::SGWayPoint( const double lon, const double lat, const double alt,
-			const modetype m, const string& s, const string& n ) {
+			const modetype, const string& s, const string& n ) :
-    target_lon = lon;
+  pos(SGGeod::fromDegM(lon, lat, alt)),
-    target_lat = lat;
+  id(s),
-    target_alt = alt;
+  name(n),
-    mode = m;
+  _distance(0.0),
-    id = s;
+  _track(0.0),
-    name = n;
+  _speed(0.0)
+{
 }
 
+SGWayPoint::SGWayPoint(const SGGeod& geod, const string& s, const string& n ) :
+  pos(geod),
+  id(s),
+  name(n),
+  _distance(0.0),
+  _track(0.0),
+  _speed(0.0)
+{
+}
 
 // Destructor
 SGWayPoint::~SGWayPoint() {
 }
 
+void SGWayPoint::CourseAndDistance(const SGGeod& cur, double& course, double& dist ) const {
+  double reverse;
+  SGGeodesy::inverse(cur, pos, course, reverse, dist);
+}
 
 // Calculate course and distances.  For WGS84 and SPHERICAL
 // coordinates lat, lon, and course are in degrees, alt and distance
@@ -55,34 +70,11 @@ void SGWayPoint::CourseAndDistance( const double cur_lon,
 				    const double cur_lat,
 				    const double cur_alt,
 				    double *course, double *dist ) const {
-    if ( mode == WGS84 ) {
+  CourseAndDistance(SGGeod::fromDegM(cur_lon, cur_lat, cur_alt), *course, *dist);
-	double reverse;
-	geo_inverse_wgs_84( cur_alt, cur_lat, cur_lon, target_lat, target_lon,
-			    course, &reverse, dist );
-    } else if ( mode == SPHERICAL ) {
-	Point3D current( cur_lon * SGD_DEGREES_TO_RADIANS, cur_lat * SGD_DEGREES_TO_RADIANS, 0.0 );
-	Point3D target( target_lon * SGD_DEGREES_TO_RADIANS, target_lat * SGD_DEGREES_TO_RADIANS, 0.0 );
-	calc_gc_course_dist( current, target, course, dist );
-	*course = 360.0 - *course * SGD_RADIANS_TO_DEGREES;
-    } else if ( mode == CARTESIAN ) {
-	double dx = target_lon - cur_lon;
-	double dy = target_lat - cur_lat;
-	*course = -atan2( dy, dx ) * SGD_RADIANS_TO_DEGREES - 90;
-	while ( *course < 0 ) {
-	    *course += 360.0;
-	}
-	while ( *course > 360.0 ) {
-	    *course -= 360.0;
-	}
-	*dist = sqrt( dx * dx + dy * dy );
-    }
 }
 
 // Calculate course and distances between two waypoints
 void SGWayPoint::CourseAndDistance( const SGWayPoint &wp,
 			double *course, double *dist ) const {
-    CourseAndDistance( wp.get_target_lon(),
+    CourseAndDistance( wp.get_target(), *course, *dist );
-		       wp.get_target_lat(),
-		       wp.get_target_alt(),
-		       course, dist );
 }

simgear/route/waypoint.hxx

@@ -27,17 +27,12 @@
 #ifndef _WAYPOINT_HXX
 #define _WAYPOINT_HXX
 
-
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-
 #include <simgear/compiler.h>
 
-#include <string>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeod.hxx>
 
-using std::string;
+#include <string>
 
 
 /**
@@ -57,27 +52,21 @@ public:
      *      the world is a perfect sphere.  This is less compuntationally
      *      expensive than using wgs84 math and still a fairly good
      *      approximation of the real world, especially over shorter distances.
-     * <li> CARTESIAN requests all math be done assuming the coordinates specify
-     *      position in a Z = up world.
      */
     enum modetype { 
 	WGS84 = 0,
-	SPHERICAL = 1,
-	CARTESIAN = 2
     };
 
 private:
-
+    SGGeod pos;
-    modetype mode;
+    std::string id;
-
+    std::string name;
-    double target_lon;
+    
-    double target_lat;
+  // route data associated with the waypoint
-    double target_alt;
+    double _distance;
-    double distance;
+    double _track;
-
+    double _speed;
-    string id;
+    
-    string name;
-
 public:
 
     /**
@@ -91,7 +80,12 @@ public:
      */
     SGWayPoint( const double lon = 0.0, const double lat = 0.0,
 		const double alt = 0.0, const modetype m = WGS84,
-		const string& s = "", const string& n = "" );
+		const std::string& s = "", const std::string& n = "" );
+  
+    /**
+     * Construct from a geodetic position, in WGS84 coordinates
+     */
+    SGWayPoint(const SGGeod& pos, const std::string& s, const std::string& n);
 
     /** Destructor */
     ~SGWayPoint();
@@ -112,6 +106,9 @@ public:
 			    const double cur_alt,
 			    double *course, double *dist ) const;
 
+    void CourseAndDistance(const SGGeod& current,
+			    double& course, double& dist ) const;
+
     /**
      * Calculate course and distances between a specified starting waypoint
      * and this waypoint.
@@ -122,17 +119,16 @@ public:
     void CourseAndDistance( const SGWayPoint &wp,
 			    double *course, double *dist ) const;
 
-    /** @return waypoint mode */
-    inline modetype get_mode() const { return mode; }
-
     /** @return waypoint longitude */
-    inline double get_target_lon() const { return target_lon; }
+    inline double get_target_lon() const { return pos.getLongitudeDeg(); }
 
     /** @return waypoint latitude */
-    inline double get_target_lat() const { return target_lat; }
+    inline double get_target_lat() const { return pos.getLatitudeDeg(); }
 
     /** @return waypoint altitude */
-    inline double get_target_alt() const { return target_alt; }
+    inline double get_target_alt() const { return pos.getElevationM(); }
+
+    inline const SGGeod& get_target() const { return pos; }
 
     /**
      * This value is not calculated by this class.  It is simply a
@@ -144,19 +140,25 @@ public:
      * is for your convenience only.
      * @return waypoint distance holder (what ever the user has stashed here)
      */
-    inline double get_distance() const { return distance; }
+    inline double get_distance() const { return _distance; }
 
     /**
      * Set the waypoint distance value to a value of our choice.
      * @param d distance 
      */
-    inline void set_distance( double d ) { distance = d; }
+    inline void set_distance( double d ) { _distance = d; }
 
+    inline double get_track() const { return _track; }
+    inline void set_track(double t) { _track = t; }
+
+    inline double get_speed() const { return _speed; }
+    inline void set_speed(double v) { _speed = v; }
+    
     /** @return waypoint id */
-    inline const string& get_id() const { return id; }
+    inline const std::string& get_id() const { return id; }
 
     /** @return waypoint name */
-    inline const string& get_name() const { return name; }
+    inline const std::string& get_name() const { return name; }
 
 };
 

simgear/route/waytest.cxx

@@ -10,7 +10,7 @@ using std::endl;
 
 int main() {
     SGWayPoint a1(-93.216923, 44.880547, 0.0, SGWayPoint::WGS84, "KMSP");
-    SGWayPoint a2(-93.216923, 44.880547, 0.0, SGWayPoint::SPHERICAL, "KMSP");
+
 
     // KMSN (Madison)
     double cur_lon = -89.336939;
@@ -24,43 +24,15 @@ int main() {
     cout << "Distance to " << a1.get_id() << " is " << distance * SG_METER_TO_NM
 	 << endl;
 
-    a2.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
-    cout << "Course to " << a2.get_id() << " is " << course << endl;
-    cout << "Distance to " << a2.get_id() << " is " << distance * SG_METER_TO_NM
-	 << endl;
-    cout << endl;
-
     SGWayPoint b1(-88.237037, 43.041038, 0.0, SGWayPoint::WGS84, "KUES");
-    SGWayPoint b2(-88.237037, 43.041038, 0.0, SGWayPoint::SPHERICAL, "KUES");
+
 
     b1.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
     cout << "Course to " << b1.get_id() << " is " << course << endl;
     cout << "Distance to " << b1.get_id() << " is " << distance * SG_METER_TO_NM
 	 << endl;
 
-    b2.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
-    cout << "Course to " << b2.get_id() << " is " << course << endl;
-    cout << "Distance to " << b2.get_id() << " is " << distance * SG_METER_TO_NM
-	 << endl;
     cout << endl;
-
-    cur_lon = 10;
-    cur_lat = 10;
-
-    SGWayPoint c1(-20, 10, 0, SGWayPoint::CARTESIAN, "Due East");
-    c1.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
-    cout << "Course to " << c1.get_id() << " is " << course << endl;
-    cout << "Distance to " << c1.get_id() << " is " << distance << endl;
-   
-    SGWayPoint c2(20, 20, 0, SGWayPoint::CARTESIAN, "Due SW");
-    c2.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
-    cout << "Course to " << c2.get_id() << " is " << course << endl;
-    cout << "Distance to " << c2.get_id() << " is " << distance << endl;
-   
-    SGWayPoint c3(20, 0, 0, SGWayPoint::CARTESIAN, "Due NW");
-    c3.CourseAndDistance( cur_lon, cur_lat, cur_alt, &course, &distance );
-    cout << "Course to " << c3.get_id() << " is " << course << endl;
-    cout << "Distance to " << c3.get_id() << " is " << distance << endl;
    
     return 0;
 }

simgear/scene/Makefile.am

@@ -1,6 +1,6 @@
 includedir = @includedir@/scene
 
-SUBDIRS = material model sky tgdb util
+SUBDIRS = bvh material model sky tgdb util
 
 # lib_LIBRARIES = libsgscene.a
 

simgear/scene/bvh/.cvsignore

@@ -0,0 +1,3 @@
+.deps
+Makefile
+Makefile.in

simgear/scene/bvh/BVHBoundingBoxVisitor.hxx

@@ -0,0 +1,80 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHBoundingBoxVisitor_hxx
+#define BVHBoundingBoxVisitor_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+#include "BVHTransform.hxx"
+#include "BVHMotionTransform.hxx"
+#include "BVHLineGeometry.hxx"
+
+#include "BVHStaticData.hxx"
+
+#include "BVHStaticNode.hxx"
+#include "BVHStaticTriangle.hxx"
+#include "BVHStaticBinary.hxx"
+#include "BVHStaticGeometry.hxx"
+
+namespace simgear {
+
+class BVHBoundingBoxVisitor : public BVHVisitor {
+public:
+    virtual ~BVHBoundingBoxVisitor() {}
+    
+    void clear()
+    { _box.clear(); }
+    
+    virtual void apply(BVHGroup& node)
+    { expandBy(node.getBoundingSphere()); }
+    virtual void apply(BVHTransform& node)
+    { expandBy(node.getBoundingSphere()); }
+    virtual void apply(BVHMotionTransform& node)
+    { expandBy(node.getBoundingSphere()); }
+    virtual void apply(BVHLineGeometry& node)
+    { expandBy(node.getBoundingSphere()); }
+    virtual void apply(BVHStaticGeometry& node)
+    { expandBy(node.getBoundingSphere()); }
+    
+    virtual void apply(const BVHStaticBinary& node, const BVHStaticData& data)
+    { expandBy(node.getBoundingBox()); }
+    virtual void apply(const BVHStaticTriangle& node, const BVHStaticData& data)
+    { expandBy(node.computeBoundingBox(data)); }
+    
+    const SGBoxf& getBox() const
+    { return _box; }
+    
+private:
+    void expandBy(const SGSphered& sphere)
+    {
+        SGVec3f v0(sphere.getCenter() - sphere.getRadius()*SGVec3d(1, 1, 1));
+        SGVec3f v1(sphere.getCenter() + sphere.getRadius()*SGVec3d(1, 1, 1));
+        _box.expandBy(SGBoxf(v0, v1));
+    }
+    void expandBy(const SGBoxf& box)
+    { _box.expandBy(box); }
+    
+    SGBoxf _box;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHDebugCollectVisitor.hxx

@@ -0,0 +1,210 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHDebugCollectVisitor_hxx
+#define BVHDebugCollectVisitor_hxx
+
+#include <osg/ref_ptr>
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/Group>
+#include <osg/PolygonOffset>
+#include <osg/PrimitiveSet>
+#include <osg/MatrixTransform>
+#include <osg/ShapeDrawable>
+#include <osg/Shape>
+#include <osg/Depth>
+#include <osg/BlendFunc>
+#include <osg/StateSet>
+
+#include <simgear/math/SGGeometry.hxx>
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+#include "BVHTransform.hxx"
+#include "BVHMotionTransform.hxx"
+#include "BVHStaticGeometry.hxx"
+
+#include "BVHStaticData.hxx"
+
+#include "BVHStaticNode.hxx"
+#include "BVHStaticTriangle.hxx"
+#include "BVHStaticBinary.hxx"
+
+#include "BVHBoundingBoxVisitor.hxx"
+
+namespace simgear {
+
+class BVHNode;
+class BVHStaticNode;
+
+class BVHDebugCollectVisitor : public BVHVisitor {
+public:
+    BVHDebugCollectVisitor(const double& time, unsigned level = ~0u) :
+        _group(new osg::Group),
+        _time(time),
+        _level(level),
+        _currentLevel(0)
+    {
+        osg::StateSet* stateSet = _group->getOrCreateStateSet();
+        stateSet->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
+        stateSet->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
+        stateSet->setAttribute(new osg::Depth(osg::Depth::LESS, 0, 1, false));
+        osg::BlendFunc *blendFunc;
+        blendFunc = new osg::BlendFunc(osg::BlendFunc::SRC_ALPHA,
+                                       osg::BlendFunc::DST_ALPHA);
+        stateSet->setAttributeAndModes(blendFunc);
+        osg::PolygonOffset* polygonOffset = new osg::PolygonOffset(-1, -1);
+        stateSet->setAttributeAndModes(polygonOffset);
+    }
+    virtual ~BVHDebugCollectVisitor()
+    { }
+
+    virtual void apply(BVHGroup& node)
+    {
+        addNodeSphere(node);
+        ++_currentLevel;
+        node.traverse(*this);
+        --_currentLevel;
+    }
+    virtual void apply(BVHTransform& node)
+    {
+        addNodeSphere(node);
+        osg::ref_ptr<osg::Group> oldGroup = _group;
+        osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
+        transform->setMatrix(osg::Matrix(node.getToWorldTransform().data()));
+        _group = transform;
+        ++_currentLevel;
+        node.traverse(*this);
+        --_currentLevel;
+        _group = oldGroup;
+        if (transform->getNumChildren())
+            _group->addChild(transform.get());
+    }
+    virtual void apply(BVHMotionTransform& node)
+    {
+        addNodeSphere(node);
+        osg::ref_ptr<osg::Group> oldGroup = _group;
+        osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
+        transform->setMatrix(osg::Matrix(node.getToWorldTransform(_time).data()));
+        _group = transform;
+        ++_currentLevel;
+        node.traverse(*this);
+        --_currentLevel;
+        _group = oldGroup;
+        if (transform->getNumChildren())
+            _group->addChild(transform.get());
+    }
+    virtual void apply(BVHLineGeometry&)
+    {
+    }
+    virtual void apply(BVHStaticGeometry& node)
+    {
+        addNodeSphere(node);
+        ++_currentLevel;
+        node.traverse(*this);
+        --_currentLevel;
+    }
+
+    virtual void apply(const BVHStaticBinary& node, const BVHStaticData& data)
+    {
+        addNodeBox(node, data);
+        ++_currentLevel;
+        node.traverse(*this, data);
+        --_currentLevel;
+    }
+    virtual void apply(const BVHStaticTriangle& node, const BVHStaticData& data)
+    {
+        addNodeBox(node, data);
+        addTriangle(node.getTriangle(data), osg::Vec4(0.5, 0, 0.5, 0.2));
+    }
+
+    osg::Node* getNode() const { return _group.get(); }
+
+    static unsigned allLevels() { return ~0u; }
+    static unsigned triangles() { return ~0u - 1; }
+
+private:
+    void addTriangle(const SGTrianglef& triangle, const osg::Vec4& color)
+    {
+        if (_level != triangles())
+            return;
+        
+        osg::Geometry* geometry = new osg::Geometry;
+        
+        osg::Vec3Array* vertices = new osg::Vec3Array;
+        vertices->push_back(triangle.getVertex(0).osg());
+        vertices->push_back(triangle.getVertex(1).osg());
+        vertices->push_back(triangle.getVertex(2).osg());
+        
+        osg::Vec4Array* colors = new osg::Vec4Array;
+        colors->push_back(color);
+        
+        geometry->setVertexArray(vertices);
+        geometry->setColorArray(colors);
+        geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+        
+        geometry->addPrimitiveSet(new osg::DrawArrays(GL_TRIANGLES, 0, 3));
+        
+        osg::Geode* geode = new osg::Geode;
+        geode->addDrawable(geometry);
+        _group->addChild(geode);
+    }
+    
+    void addNodeSphere(const BVHNode& node)
+    {
+        if (_level != ~0u && _level != _currentLevel)
+            return;
+        SGSphered sphere = node.getBoundingSphere();
+        osg::Sphere* shape = new osg::Sphere;
+        shape->setCenter(SGVec3f(sphere.getCenter()).osg());
+        shape->setRadius(sphere.getRadius());
+        addShape(shape, osg::Vec4(0.5f, 0.5f, 0.5f, 0.1f));
+    }
+    
+    void addNodeBox(const BVHStaticNode& node, const BVHStaticData& data)
+    {
+        if (_level != ~0u && _level != _currentLevel)
+            return;
+        BVHBoundingBoxVisitor bbv;
+        node.accept(bbv, data);
+        osg::Box* shape = new osg::Box;
+        shape->setCenter(bbv.getBox().getCenter().osg());
+        shape->setHalfLengths((0.5*bbv.getBox().getSize()).osg());
+        addShape(shape, osg::Vec4(0.5f, 0, 0, 0.1f));
+    }
+    
+    void addShape(osg::Shape* shape, const osg::Vec4& color)
+    {
+        osg::ShapeDrawable* shapeDrawable = new osg::ShapeDrawable;
+        shapeDrawable->setColor(color);
+        shapeDrawable->setShape(shape);
+        osg::Geode* geode = new osg::Geode;
+        geode->addDrawable(shapeDrawable);
+        _group->addChild(geode);
+    }
+    
+    osg::ref_ptr<osg::Group> _group;
+    const double _time;
+    const unsigned _level;
+    unsigned _currentLevel;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHGroup.cxx

@@ -0,0 +1,92 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifdef HAVE_CONFIG_H
+#  include <simgear_config.h>
+#endif
+
+#include "BVHGroup.hxx"
+
+#include <algorithm>
+
+namespace simgear {
+
+BVHGroup::BVHGroup()
+{
+}
+
+BVHGroup::~BVHGroup()
+{
+    ChildList::iterator i;
+    for (i = _children.begin(); i != _children.end(); ++i) {
+        (*i)->removeParent(this);
+        *i = 0;
+    }
+}
+
+void
+BVHGroup::accept(BVHVisitor& visitor)
+{
+    visitor.apply(*this);
+}
+
+void
+BVHGroup::clear()
+{
+    _children.clear();
+    invalidateBound();
+}
+
+void
+BVHGroup::addChild(BVHNode* child)
+{
+    if (!child)
+        return;
+    ChildList::iterator i;
+    i = std::find(_children.begin(), _children.end(), child);
+    if (i != _children.end())
+        return;
+    invalidateBound();
+    child->addParent(this);
+    _children.push_back(child);
+}
+
+void
+BVHGroup::removeChild(BVHNode* child)
+{
+    if (!child)
+        return;
+    ChildList::iterator i;
+    i = std::find(_children.begin(), _children.end(), child);
+    if (i == _children.end())
+        return;
+    invalidateBound();
+    child->removeParent(this);
+    _children.erase(i);
+}
+
+SGSphered
+BVHGroup::computeBoundingSphere() const
+{
+    SGSphered sphere;
+    ChildList::const_iterator i;
+    for (i = _children.begin(); i != _children.end(); ++i)
+        sphere.expandBy((*i)->getBoundingSphere());
+    return sphere;
+}
+
+}

simgear/scene/bvh/BVHGroup.hxx

@@ -0,0 +1,61 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHGroup_hxx
+#define BVHGroup_hxx
+
+#include <simgear/structure/SGSharedPtr.hxx>
+#include "BVHNode.hxx"
+#include "BVHVisitor.hxx"
+
+namespace simgear {
+
+class BVHGroup : public BVHNode {
+public:
+    BVHGroup();
+    virtual ~BVHGroup();
+    
+    virtual void accept(BVHVisitor& visitor);
+    
+    void traverse(BVHVisitor& visitor)
+    {
+        ChildList::const_iterator i;
+        for (i = _children.begin(); i != _children.end(); ++i)
+            (*i)->accept(visitor);
+    }
+    
+    void clear();
+    void addChild(BVHNode* child);
+    void removeChild(BVHNode* child);
+    
+    unsigned getNumChildren() const
+    { return _children.size(); }
+    const BVHNode* getChild(unsigned i) const
+    { if (_children.size() <= i) return 0; return _children[i]; }
+    BVHNode* getChild(unsigned i)
+    { if (_children.size() <= i) return 0; return _children[i]; }
+    
+    virtual SGSphered computeBoundingSphere() const;
+    
+private:
+    typedef std::vector<SGSharedPtr<BVHNode> > ChildList;
+    ChildList _children;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHLineGeometry.cxx

@@ -0,0 +1,49 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHLineGeometry.hxx"
+
+#include "BVHVisitor.hxx"
+
+namespace simgear {
+
+BVHLineGeometry::BVHLineGeometry(const SGLineSegmentf& lineSegment, Type type) :
+    _lineSegment(lineSegment),
+    _type(type)
+{
+}
+
+BVHLineGeometry::~BVHLineGeometry()
+{
+}
+
+void
+BVHLineGeometry::accept(BVHVisitor& visitor)
+{
+    visitor.apply(*this);
+}
+
+SGSphered
+BVHLineGeometry::computeBoundingSphere() const
+{
+    SGSphered sphere;
+    sphere.expandBy(SGVec3d(_lineSegment.getStart()));
+    sphere.expandBy(SGVec3d(_lineSegment.getEnd()));
+    return sphere;
+}
+
+}

simgear/scene/bvh/BVHLineGeometry.hxx

@@ -0,0 +1,53 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHLineGeometry_hxx
+#define BVHLineGeometry_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+#include "BVHNode.hxx"
+
+namespace simgear {
+
+class BVHLineGeometry : public BVHNode {
+public:
+    enum Type {
+        CarrierCatapult,
+        CarrierWire
+    };
+
+    BVHLineGeometry(const SGLineSegmentf& lineSegment, Type type);
+    virtual ~BVHLineGeometry();
+
+    virtual void accept(BVHVisitor& visitor);
+
+    const SGLineSegmentf& getLineSegment() const
+    { return _lineSegment; }
+
+    Type getType() const
+    { return _type; }
+
+    virtual SGSphered computeBoundingSphere() const;
+
+private:
+    SGLineSegmentf _lineSegment;
+    Type _type;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHLineSegmentVisitor.cxx

@@ -0,0 +1,154 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include <simgear/math/SGMath.hxx>
+#include "BVHLineSegmentVisitor.hxx"
+
+#include <simgear/math/SGGeometry.hxx>
+
+#include "BVHVisitor.hxx"
+
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+#include "BVHTransform.hxx"
+#include "BVHMotionTransform.hxx"
+#include "BVHLineGeometry.hxx"
+#include "BVHStaticGeometry.hxx"
+
+#include "BVHStaticData.hxx"
+
+#include "BVHStaticNode.hxx"
+#include "BVHStaticTriangle.hxx"
+#include "BVHStaticBinary.hxx"
+
+namespace simgear {
+
+void
+BVHLineSegmentVisitor::apply(BVHGroup& group)
+{
+    if (!intersects(_lineSegment, group.getBoundingSphere()))
+        return;
+    group.traverse(*this);
+}
+    
+void
+BVHLineSegmentVisitor::apply(BVHTransform& transform)
+{
+    if (!intersects(_lineSegment, transform.getBoundingSphere()))
+        return;
+    
+    bool haveHit = _haveHit;
+    _haveHit = false;
+    
+    // Push the line segment
+    SGLineSegmentd lineSegment = getLineSegment();
+    _lineSegment = transform.lineSegmentToLocal(lineSegment);
+    
+    transform.traverse(*this);
+    
+    if (_haveHit) {
+        _linearVelocity = transform.vecToWorld(_linearVelocity);
+        _angularVelocity = transform.vecToWorld(_angularVelocity);
+        SGVec3d point(transform.ptToWorld(_lineSegment.getEnd()));
+        _lineSegment.set(lineSegment.getStart(), point);
+        _normal = transform.vecToWorld(_normal);
+    } else {
+        _lineSegment = lineSegment;
+        _haveHit = haveHit;
+    }
+}
+
+void
+BVHLineSegmentVisitor::apply(BVHMotionTransform& transform)
+{
+    if (!intersects(_lineSegment, transform.getBoundingSphere()))
+        return;
+    
+    bool haveHit = _haveHit;
+    _haveHit = false;
+
+    // Push the line segment
+    SGLineSegmentd lineSegment = getLineSegment();
+    SGMatrixd toLocal = transform.getToLocalTransform(_time);
+    _lineSegment = lineSegment.transform(toLocal);
+    
+    transform.traverse(*this);
+    
+    if (_haveHit) {
+        SGMatrixd toWorld = transform.getToWorldTransform(_time);
+        SGVec3d localStart = _lineSegment.getStart();
+        _linearVelocity += transform.getLinearVelocityAt(localStart);
+        _angularVelocity += transform.getAngularVelocity();
+        _linearVelocity = toWorld.xformVec(_linearVelocity);
+        _angularVelocity = toWorld.xformVec(_angularVelocity);
+        SGVec3d localEnd = _lineSegment.getEnd();
+        _lineSegment.set(lineSegment.getStart(), toWorld.xformPt(localEnd));
+        _normal = toWorld.xformVec(_normal);
+        if (!_id)
+            _id = transform.getId();
+    } else {
+        _lineSegment = lineSegment;
+        _haveHit = haveHit;
+    }
+}
+
+void
+BVHLineSegmentVisitor::apply(BVHLineGeometry&)
+{
+}
+    
+void
+BVHLineSegmentVisitor::apply(BVHStaticGeometry& node)
+{
+    if (!intersects(_lineSegment, node.getBoundingSphere()))
+        return;
+    node.traverse(*this);
+}
+
+void
+BVHLineSegmentVisitor::apply(const BVHStaticBinary& node,
+                             const BVHStaticData& data)
+{
+    if (!intersects(SGLineSegmentf(_lineSegment), node.getBoundingBox()))
+        return;
+    
+    // The first box to enter is the one the startpoint is in.
+    // this increases the probability, that on exit of that box we do not
+    // even need to walk the other one, since the line segment is
+    // then already short enough to not intersect the other one anymore.
+    node.traverse(*this, data, _lineSegment.getStart());
+}
+
+void
+BVHLineSegmentVisitor::apply(const BVHStaticTriangle& triangle,
+                             const BVHStaticData& data)
+{
+    SGTrianglef tri = triangle.getTriangle(data);
+    SGVec3f point;
+    if (!intersects(point, tri, SGLineSegmentf(_lineSegment), 1e-4f))
+        return;
+    setLineSegmentEnd(SGVec3d(point));
+    _normal = SGVec3d(tri.getNormal());
+    _linearVelocity = SGVec3d::zeros();
+    _angularVelocity = SGVec3d::zeros();
+    _material = data.getMaterial(triangle.getMaterialIndex());
+    _id = 0;
+    _haveHit = true;
+}
+
+
+}

simgear/scene/bvh/BVHLineSegmentVisitor.hxx

@@ -0,0 +1,98 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHLineSegmentVisitor_hxx
+#define BVHLineSegmentVisitor_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+#include <simgear/scene/material/mat.hxx>
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+
+namespace simgear {
+
+class BVHLineSegmentVisitor : public BVHVisitor {
+public:
+    BVHLineSegmentVisitor(const SGLineSegmentd& lineSegment,
+                          const double& t = 0) :
+        _lineSegment(lineSegment),
+        _time(t),
+        _material(0),
+        _id(0),
+        _haveHit(false)
+    { }
+    virtual ~BVHLineSegmentVisitor()
+    { }
+    
+    bool empty() const
+    { return !_haveHit; }
+    
+    const SGLineSegmentd& getLineSegment() const
+    { return _lineSegment; }
+    
+    SGVec3d getPoint() const
+    { return _lineSegment.getEnd(); }
+    const SGVec3d& getNormal() const
+    { return _normal; }
+    const SGVec3d& getLinearVelocity() const
+    { return _linearVelocity; }
+    const SGVec3d& getAngularVelocity() const
+    { return _angularVelocity; }
+    const SGMaterial* getMaterial() const
+    { return _material; }
+    BVHNode::Id getId() const
+    { return _id; }
+
+    virtual void apply(BVHGroup& group);
+    virtual void apply(BVHTransform& transform);
+    virtual void apply(BVHMotionTransform& transform);
+    virtual void apply(BVHLineGeometry&);
+    virtual void apply(BVHStaticGeometry& node);
+    
+    virtual void apply(const BVHStaticBinary&, const BVHStaticData&);
+    virtual void apply(const BVHStaticTriangle&, const BVHStaticData&);
+    
+protected:
+    void setLineSegmentEnd(const SGVec3d& end)
+    {
+        // Ok, you need to make sure that the new end is in the previous
+        // direction and that the line segment is not enlarged by that call.
+#ifndef _NDEBUG
+        // FIXME insert code to check this...
+#endif
+        _lineSegment.set(_lineSegment.getStart(), end);
+    }
+    
+private:
+    SGLineSegmentd _lineSegment;
+    double _time;
+    
+    // belongs in a derived class
+    SGVec3d _normal;
+    SGVec3d _linearVelocity;
+    SGVec3d _angularVelocity;
+    const SGMaterial* _material;
+    BVHNode::Id _id;
+    
+    bool _haveHit;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHMotionTransform.cxx

@@ -0,0 +1,116 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHMotionTransform.hxx"
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+
+namespace simgear {
+
+BVHMotionTransform::BVHMotionTransform() :
+    _toWorldReference(SGMatrixd::unit()),
+    _toLocalReference(SGMatrixd::unit()),
+    _toWorldAmplification(1),
+    _toLocalAmplification(1),
+    _linearVelocity(0, 0, 0),
+    _angularVelocity(0, 0, 0),
+    _referenceTime(0),
+    _startTime(0),
+    _endTime(0),
+    _id(0)
+{
+}
+
+BVHMotionTransform::~BVHMotionTransform()
+{
+}
+
+void
+BVHMotionTransform::accept(BVHVisitor& visitor)
+{
+    visitor.apply(*this);
+}
+
+void
+BVHMotionTransform::setTransform(const BVHMotionTransform& transform)
+{
+    _toWorldReference = transform._toWorldReference;
+    _toLocalReference = transform._toLocalReference;
+    _toWorldAmplification = transform._toWorldAmplification;
+    _toLocalAmplification = transform._toLocalAmplification;
+    _linearVelocity = transform._linearVelocity;
+    _angularVelocity = transform._angularVelocity;
+    _referenceTime = transform._referenceTime;
+    _startTime = transform._startTime;
+    _endTime = transform._endTime;
+    _id = transform._id;
+    invalidateParentBound();
+}
+
+void
+BVHMotionTransform::setToWorldTransform(const SGMatrixd& transform)
+{
+    _toWorldReference = transform;
+    invert(_toLocalReference, transform);
+    updateAmplificationFactors();
+    invalidateParentBound();
+}
+
+void
+BVHMotionTransform::setToLocalTransform(const SGMatrixd& transform)
+{
+    _toLocalReference = transform;
+    invert(_toWorldReference, transform);
+    updateAmplificationFactors();
+    invalidateParentBound();
+}
+
+SGSphered
+BVHMotionTransform::computeBoundingSphere() const
+{
+    SGSphered sphere(BVHGroup::computeBoundingSphere());
+    if (sphere.empty())
+        return sphere;
+    SGMatrixd toWorldStart = getToWorldTransform(_startTime);
+    SGVec3d centerStart = toWorldStart.xformPt(sphere.getCenter());
+    SGMatrixd toWorldEnd = getToWorldTransform(_endTime);
+    SGVec3d centerEnd = toWorldEnd.xformPt(sphere.getCenter());
+    double rad = 0.5*length(centerStart - centerEnd) + sphere.getRadius();
+    rad *= _toWorldAmplification;
+    return SGSphered(0.5*(centerStart + centerEnd), rad);
+}
+
+void
+BVHMotionTransform::updateAmplificationFactors()
+{
+    // Hmm, this is just a hint, true?
+    // But anyway, almost all transforms in a scenegraph will
+    // have them equal to 1 ...
+    double r = norm(_toWorldReference.xformVec(SGVec3d(1, 0, 0)));
+    r = std::max(r, norm(_toWorldReference.xformVec(SGVec3d(0, 1, 0))));
+    r = std::max(r, norm(_toWorldReference.xformVec(SGVec3d(0, 0, 1))));
+    _toWorldAmplification = r;
+    
+    r = norm(_toLocalReference.xformVec(SGVec3d(1, 0, 0)));
+    r = std::max(r, norm(_toLocalReference.xformVec(SGVec3d(0, 1, 0))));
+    r = std::max(r, norm(_toLocalReference.xformVec(SGVec3d(0, 0, 1))));
+    _toLocalAmplification = r;
+}
+
+}

simgear/scene/bvh/BVHMotionTransform.hxx

@@ -0,0 +1,126 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHMotionTransform_hxx
+#define BVHMotionTransform_hxx
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+
+namespace simgear {
+
+class BVHMotionTransform : public BVHGroup {
+public:
+    BVHMotionTransform();
+    virtual ~BVHMotionTransform();
+
+    virtual void accept(BVHVisitor& visitor);
+
+    void setTransform(const BVHMotionTransform& transform);
+    void setToWorldTransform(const SGMatrixd& transform);
+    void setToLocalTransform(const SGMatrixd& transform);
+
+    void setLinearVelocity(const SGVec3d& linearVelocity)
+    { _linearVelocity = linearVelocity; }
+    const SGVec3d& getLinearVelocity() const
+    { return _linearVelocity; }
+
+    void setAngularVelocity(const SGVec3d& angularVelocity)
+    { _angularVelocity = angularVelocity; }
+    const SGVec3d& getAngularVelocity() const
+    { return _angularVelocity; }
+
+    void setReferenceTime(const double& referenceTime)
+    { _referenceTime = referenceTime; }
+    const double& getReferenceTime() const
+    { return _referenceTime; }
+
+    void setStartTime(const double& startTime)
+    { _startTime = startTime; }
+    const double& getStartTime() const
+    { return _startTime; }
+
+    void setEndTime(const double& endTime)
+    { _endTime = endTime; }
+    const double& getEndTime() const
+    { return _endTime; }
+    
+    SGMatrixd getToWorldTransform(const double& t) const
+    {
+        if (t == _referenceTime)
+            return _toWorldReference;
+        double dt = t - _referenceTime;
+        SGMatrixd matrix(_toWorldReference);
+        matrix.postMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
+        matrix.postMultTranslate(dt*_linearVelocity);
+        return matrix;
+    }
+    SGMatrixd getToLocalTransform(const double& t) const
+    {
+        if (t == _referenceTime)
+            return _toLocalReference;
+        double dt = _referenceTime - t;
+        SGMatrixd matrix(_toLocalReference);
+        matrix.preMultRotate(SGQuatd::fromAngleAxis(dt*_angularVelocity));
+        matrix.preMultTranslate(dt*_linearVelocity);
+        return matrix;
+    }
+
+    const SGMatrixd& getToWorldReferenceTransform() const
+    { return _toWorldReference; }
+    const SGMatrixd& getToLocalReferenceTransform() const
+    { return _toLocalReference; }
+
+    SGVec3d getLinearVelocityAt(const SGVec3d& reference) const
+    { return _linearVelocity + cross(_angularVelocity, reference); }
+
+    SGSphered sphereToLocal(const SGSphered& sphere, const double& t) const
+    {
+        SGMatrixd matrix = getToLocalTransform(t);
+        SGVec3d center = matrix.xformPt(sphere.getCenter());
+        double radius = _toLocalAmplification*sphere.getRadius();
+        return SGSphered(center, radius);
+    }
+
+    void setId(Id id)
+    { _id = id; }
+    Id getId() const
+    { return _id; }
+
+private:
+    virtual SGSphered computeBoundingSphere() const;
+    void updateAmplificationFactors();
+    
+    SGMatrixd _toWorldReference;
+    SGMatrixd _toLocalReference;
+    double _toWorldAmplification;
+    double _toLocalAmplification;
+
+    SGVec3d _linearVelocity;
+    SGVec3d _angularVelocity;
+
+    double _referenceTime;
+    double _startTime;
+    double _endTime;
+
+    Id _id;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHNearestPointVisitor.hxx

@@ -0,0 +1,166 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHNearestPointVisitor_hxx
+#define BVHNearestPointVisitor_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+
+#include "BVHVisitor.hxx"
+
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+#include "BVHTransform.hxx"
+#include "BVHLineGeometry.hxx"
+#include "BVHStaticGeometry.hxx"
+
+#include "BVHStaticData.hxx"
+
+#include "BVHStaticNode.hxx"
+#include "BVHStaticTriangle.hxx"
+#include "BVHStaticBinary.hxx"
+
+namespace simgear {
+
+class BVHNearestPointVisitor : public BVHVisitor {
+public:
+    BVHNearestPointVisitor(const SGSphered& sphere, const double& t) :
+        _sphere(sphere),
+        _time(t),
+        _material(0),
+        _id(0),
+        _havePoint(false)
+    { }
+    
+    virtual void apply(BVHGroup& leaf)
+    {
+        if (!intersects(_sphere, leaf.getBoundingSphere()))
+            return;
+        leaf.traverse(*this);
+    }
+    virtual void apply(BVHTransform& transform)
+    {
+        if (!intersects(_sphere, transform.getBoundingSphere()))
+            return;
+        
+        SGSphered sphere = _sphere;
+        _sphere = transform.sphereToLocal(sphere);
+        bool havePoint = _havePoint;
+        _havePoint = false;
+        
+        transform.traverse(*this);
+        
+        if (_havePoint) {
+            _point = transform.ptToWorld(_point);
+            _linearVelocity = transform.vecToWorld(_linearVelocity);
+            _angularVelocity = transform.vecToWorld(_angularVelocity);
+        }
+        _havePoint |= havePoint;
+        _sphere.setCenter(sphere.getCenter());
+    }
+    virtual void apply(BVHMotionTransform& transform)
+    {
+        if (!intersects(_sphere, transform.getBoundingSphere()))
+            return;
+        
+        SGSphered sphere = _sphere;
+        _sphere = transform.sphereToLocal(sphere, _time);
+        bool havePoint = _havePoint;
+        _havePoint = false;
+        
+        transform.traverse(*this);
+        
+        if (_havePoint) {
+            SGMatrixd toWorld = transform.getToWorldTransform(_time);
+            SGVec3d localCenter = _sphere.getCenter();
+            _linearVelocity += transform.getLinearVelocityAt(localCenter);
+            _angularVelocity += transform.getAngularVelocity();
+            _linearVelocity = toWorld.xformVec(_linearVelocity);
+            _angularVelocity = toWorld.xformVec(_angularVelocity);
+            _point = toWorld.xformPt(_point);
+            if (!_id)
+                _id = transform.getId();
+        }
+        _havePoint |= havePoint;
+        _sphere.setCenter(sphere.getCenter());
+    }
+    virtual void apply(BVHLineGeometry& node)
+    { }
+    virtual void apply(BVHStaticGeometry& node)
+    {
+        if (!intersects(_sphere, node.getBoundingSphere()))
+            return;
+        node.traverse(*this);
+    }
+    
+    virtual void apply(const BVHStaticBinary& node, const BVHStaticData& data)
+    {
+        if (!intersects(_sphere, node.getBoundingBox()))
+            return;
+        node.traverse(*this, data, _sphere.getCenter());
+    }
+    virtual void apply(const BVHStaticTriangle& node, const BVHStaticData& data)
+    {
+        SGVec3f center(_sphere.getCenter());
+        SGVec3d closest(closestPoint(node.getTriangle(data), center));
+        if (!intersects(_sphere, closest))
+            return;
+        _point = closest;
+        _linearVelocity = SGVec3d::zeros();
+        _angularVelocity = SGVec3d::zeros();
+        _material = data.getMaterial(node.getMaterialIndex());
+        // The trick is to decrease the radius of the search sphere.
+        _sphere.setRadius(length(closest - _sphere.getCenter()));
+        _havePoint = true;
+        _id = 0;
+    }
+    
+    void setSphere(const SGSphered& sphere)
+    { _sphere = sphere; }
+    const SGSphered& getSphere() const
+    { return _sphere; }
+    
+    const SGVec3d& getPoint() const
+    { return _point; }
+    const SGVec3d& getLinearVelocity() const
+    { return _linearVelocity; }
+    const SGVec3d& getAngularVelocity() const
+    { return _angularVelocity; }
+    const SGMaterial* getMaterial() const
+    { return _material; }
+    BVHNode::Id getId() const
+    { return _id; }
+    
+    bool empty() const
+    { return !_havePoint; }
+    
+private:
+    SGSphered _sphere;
+    double _time;
+
+    SGVec3d _point;
+    SGVec3d _linearVelocity;
+    SGVec3d _angularVelocity;
+    const SGMaterial* _material;
+    BVHNode::Id _id;
+
+    bool _havePoint;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHNode.cxx

@@ -0,0 +1,80 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHNode.hxx"
+
+#include <algorithm>
+#include <simgear/structure/SGAtomic.hxx>
+#include <simgear/math/SGGeometry.hxx>
+
+namespace simgear {
+
+BVHNode::BVHNode() :
+    _dirtyBoundingSphere(true)
+{
+}
+
+BVHNode::~BVHNode()
+{
+}
+
+BVHNode::Id
+BVHNode::getNewId()
+{
+    static SGAtomic id(0);
+    return ++id;
+}
+
+void
+BVHNode::addParent(BVHNode* parent)
+{
+    // should not happen, but be paranoid ...
+    ParentList::iterator i;
+    i = std::find(_parents.begin(), _parents.end(), parent);
+    if (i != _parents.end())
+        return;
+    // add to the parents list ...
+    _parents.push_back(parent);
+}
+
+void
+BVHNode::removeParent(BVHNode* parent)
+{
+    ParentList::iterator i;
+    i = std::find(_parents.begin(), _parents.end(), parent);
+    if (i == _parents.end())
+        return;
+    _parents.erase(i);
+}
+
+void
+BVHNode::invalidateParentBound()
+{
+    for (ParentList::iterator i = _parents.begin(); i != _parents.end(); ++i)
+        (*i)->invalidateBound();
+}
+
+void
+BVHNode::invalidateBound()
+{
+    if (_dirtyBoundingSphere)
+        return;
+    invalidateParentBound();
+    _dirtyBoundingSphere = true;
+}
+
+}

simgear/scene/bvh/BVHNode.hxx

@@ -0,0 +1,74 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHNode_hxx
+#define BVHNode_hxx
+
+#include <vector>
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/structure/SGReferenced.hxx>
+
+namespace simgear {
+
+class BVHGroup;
+class BVHVisitor;
+
+// Base for the tree nodes
+class BVHNode : public SGReferenced {
+public:
+    BVHNode();
+    virtual ~BVHNode();
+    
+    // visitors ...
+    virtual void accept(BVHVisitor& visitor) = 0;
+    
+    const SGSphered& getBoundingSphere() const
+    {
+        if (_dirtyBoundingSphere) {
+            _boundingSphere = computeBoundingSphere();
+            _dirtyBoundingSphere = false;
+        }
+        return _boundingSphere;
+    }
+    virtual SGSphered computeBoundingSphere() const = 0;
+
+    /// A unique id for some kind of BVHNodes.
+    /// Currently only motions transforms.
+    typedef unsigned Id;
+
+    // Factory to get a new id
+    static Id getNewId();
+    
+protected:
+    friend class BVHGroup;
+    void addParent(BVHNode* parent);
+    void removeParent(BVHNode* parent);
+    
+    void invalidateParentBound();
+    virtual void invalidateBound();
+    
+private:
+    mutable bool _dirtyBoundingSphere;
+    mutable SGSphered _boundingSphere;
+    
+    typedef std::vector<BVHNode*> ParentList;
+    ParentList _parents;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticBinary.cxx

@@ -0,0 +1,45 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHStaticBinary.hxx"
+
+#include "BVHVisitor.hxx"
+
+namespace simgear {
+
+BVHStaticBinary::BVHStaticBinary(unsigned splitAxis,
+                                   const BVHStaticNode* leftChild,
+                                   const BVHStaticNode* rightChild,
+                                   const SGBoxf& boundingBox) :
+  _splitAxis(splitAxis),
+  _leftChild(leftChild),
+  _rightChild(rightChild),
+  _boundingBox(boundingBox)
+{
+}
+
+BVHStaticBinary::~BVHStaticBinary()
+{
+}
+
+void
+BVHStaticBinary::accept(BVHVisitor& visitor, const BVHStaticData& data) const
+{
+  visitor.apply(*this, data);
+}
+
+}

simgear/scene/bvh/BVHStaticBinary.hxx

@@ -0,0 +1,78 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticBinary_hxx
+#define BVHStaticBinary_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+#include "BVHStaticNode.hxx"
+
+namespace simgear {
+
+class BVHStaticBinary : public BVHStaticNode {
+public:
+  BVHStaticBinary(unsigned splitAxis, const BVHStaticNode* leftChild,
+                   const BVHStaticNode* rightChild, const SGBoxf& box);
+  virtual ~BVHStaticBinary();
+  virtual void accept(BVHVisitor& visitor, const BVHStaticData& data) const;
+
+  void traverse(BVHVisitor& visitor, const BVHStaticData& data) const
+  {
+    _leftChild->accept(visitor, data);
+    _rightChild->accept(visitor, data);
+  }
+
+  // Traverse call that first enters the child node that is potentially closer
+  // to the given point than the other.
+  template<typename T>
+  void traverse(BVHVisitor& visitor, const BVHStaticData& data,
+                const SGVec3<T>& pt) const
+  {
+    float center = 0.5f*(_boundingBox.getMin()[_splitAxis]
+                         + _boundingBox.getMax()[_splitAxis]);
+    if (pt[_splitAxis] < center) {
+      _leftChild->accept(visitor, data);
+      _rightChild->accept(visitor, data);
+    } else {
+      _rightChild->accept(visitor, data);
+      _leftChild->accept(visitor, data);
+    }
+  }
+
+  unsigned getSplitAxis() const
+  { return _splitAxis; }
+
+  const BVHStaticNode* getLeftChild() const
+  { return _leftChild; }
+  const BVHStaticNode* getRightChild() const
+  { return _rightChild; }
+
+  const SGBoxf& getBoundingBox() const
+  { return _boundingBox; }
+
+private:
+  // Note the order of the members, this is to avoid padding
+  unsigned _splitAxis;
+  SGSharedPtr<const BVHStaticNode> _leftChild;
+  SGSharedPtr<const BVHStaticNode> _rightChild;
+  SGBoxf _boundingBox;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticData.hxx

@@ -0,0 +1,61 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticData_hxx
+#define BVHStaticData_hxx
+
+#include <vector>
+#include <simgear/structure/SGReferenced.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+#include <simgear/math/SGGeometry.hxx>
+
+/// FIXME, the SGMaterial class is too much tied to the scenegraph aspects of
+/// the materials. Use some class more decribing the
+/// nature of the surface we live on ...
+class SGMaterial;
+
+namespace simgear {
+
+class BVHStaticData : public SGReferenced {
+public:
+    virtual ~BVHStaticData() {}
+    
+    unsigned addVertex(const SGVec3f& vertex)
+    { _vertices.push_back(vertex); return _vertices.size() - 1; }
+    const SGVec3f& getVertex(unsigned i) const
+    { return _vertices[i]; }
+    
+    
+    unsigned addMaterial(const SGMaterial* material)
+    { _materials.push_back(material); return _materials.size() - 1; }
+    const SGMaterial* getMaterial(unsigned i) const
+    { if (_materials.size() <= i) return 0; return _materials[i]; }
+
+    void trim()
+    {
+        std::vector<SGVec3f>(_vertices).swap(_vertices);
+        std::vector<const SGMaterial*>(_materials).swap(_materials);
+    }
+    
+private:
+    std::vector<SGVec3f> _vertices;
+    std::vector<const SGMaterial*> _materials;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticGeometry.cxx

@@ -0,0 +1,51 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHStaticGeometry.hxx"
+
+#include "BVHBoundingBoxVisitor.hxx"
+
+namespace simgear {
+
+BVHStaticGeometry::BVHStaticGeometry(const BVHStaticNode* staticNode,
+                                     const BVHStaticData* staticData) :
+    _staticNode(staticNode),
+    _staticData(staticData)
+{
+}
+
+BVHStaticGeometry::~BVHStaticGeometry()
+{
+}
+
+void
+BVHStaticGeometry::accept(BVHVisitor& visitor)
+{
+    visitor.apply(*this);
+}
+
+SGSphered
+BVHStaticGeometry::computeBoundingSphere() const
+{
+    BVHBoundingBoxVisitor bbv;
+    _staticNode->accept(bbv, *_staticData);
+    SGSphered sphere;
+    sphere.expandBy(SGBoxd(bbv.getBox()));
+    return sphere;
+}
+
+}

simgear/scene/bvh/BVHStaticGeometry.hxx

@@ -0,0 +1,56 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticGeometry_hxx
+#define BVHStaticGeometry_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHStaticData.hxx"
+#include "BVHStaticNode.hxx"
+
+namespace simgear {
+
+class BVHStaticGeometry : public BVHNode {
+public:
+    BVHStaticGeometry(const BVHStaticNode* staticNode,
+                      const BVHStaticData* staticData);
+    virtual ~BVHStaticGeometry();
+    
+    virtual void accept(BVHVisitor& visitor);
+    
+    void traverse(BVHVisitor& visitor) const
+    { _staticNode->accept(visitor, *_staticData); }
+    
+    const BVHStaticData* getStaticData() const
+    { return _staticData; }
+    const BVHStaticNode* getStaticNode() const
+    { return _staticNode; }
+    
+    virtual SGSphered computeBoundingSphere() const;
+    
+private:
+    SGSharedPtr<const BVHStaticNode> _staticNode;
+    SGSharedPtr<const BVHStaticData> _staticData;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticGeometryBuilder.hxx

@@ -0,0 +1,228 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticGeometryBuilder_hxx
+#define BVHStaticGeometryBuilder_hxx
+
+#include <algorithm>
+#include <map>
+#include <set>
+
+#include <simgear/structure/SGReferenced.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+
+#include "BVHVisitor.hxx"
+#include "BVHNode.hxx"
+#include "BVHGroup.hxx"
+#include "BVHTransform.hxx"
+
+#include "BVHStaticData.hxx"
+
+#include "BVHStaticNode.hxx"
+#include "BVHStaticLeaf.hxx"
+#include "BVHStaticTriangle.hxx"
+#include "BVHStaticBinary.hxx"
+#include "BVHStaticGeometry.hxx"
+
+namespace simgear {
+
+class BVHStaticGeometryBuilder : public SGReferenced {
+public:
+    BVHStaticGeometryBuilder() :
+        _staticData(new BVHStaticData),
+        _currentMaterial(0),
+        _currentMaterialIndex(~0u)
+    { }
+    virtual ~BVHStaticGeometryBuilder()
+    { }
+
+    struct LeafRef {
+        LeafRef(const BVHStaticLeaf* leaf, const BVHStaticData& data) :
+            _leaf(leaf),
+            _box(_leaf->computeBoundingBox(data)),
+            _center(_leaf->computeCenter(data))
+        { }
+        SGSharedPtr<const BVHStaticLeaf> _leaf;
+        SGBoxf _box;
+        SGVec3f _center;
+    };
+    typedef std::list<LeafRef> LeafRefList;
+
+    struct LeafRefLess : public std::binary_function<LeafRef, LeafRef, bool> {
+        LeafRefLess(unsigned sortAxis) : _sortAxis(sortAxis) {}
+        bool operator()(const LeafRef& x, const LeafRef& y)
+        { return x._center[_sortAxis] < y._center[_sortAxis]; }
+        unsigned _sortAxis;
+    };
+
+    SGSharedPtr<BVHStaticData> _staticData;
+    LeafRefList _leafRefList;
+
+    typedef std::map<SGVec3f, unsigned> VertexMap;
+    VertexMap _vertexMap;
+
+    typedef std::set<SGVec3<unsigned> > TriangleSet;
+    TriangleSet _triangleSet;
+
+    void setCurrentMaterial(const SGMaterial* material)
+    {
+        _currentMaterial = material;
+        _currentMaterialIndex = addMaterial(material);
+    }
+    const SGMaterial* getCurrentMaterial() const
+    {
+        return _currentMaterial;
+    }
+    unsigned addMaterial(const SGMaterial* material)
+    {
+        MaterialMap::const_iterator i = _materialMap.find(material);
+        if (i != _materialMap.end())
+            return i->second;
+        unsigned index = _staticData->addMaterial(material);
+        _materialMap[material] = index;
+        return index;
+    }
+
+    typedef std::map<const SGMaterial*, unsigned> MaterialMap;
+    MaterialMap _materialMap;
+    const SGMaterial* _currentMaterial;
+    unsigned _currentMaterialIndex;
+
+    void addTriangle(const SGVec3f& v1, const SGVec3f& v2, const SGVec3f& v3)
+    {
+        unsigned indices[3] = { addVertex(v1), addVertex(v2), addVertex(v3) };
+        std::sort(indices, indices + 3);
+        SGVec3<unsigned> indexKey(indices);
+        if (_triangleSet.find(indexKey) != _triangleSet.end())
+            return;
+        _triangleSet.insert(indexKey);
+        BVHStaticTriangle* staticTriangle;
+        staticTriangle = new BVHStaticTriangle(_currentMaterialIndex, indices);
+        _leafRefList.push_back(LeafRef(staticTriangle, *_staticData));
+    }
+    unsigned addVertex(const SGVec3f& v)
+    {
+        VertexMap::const_iterator i = _vertexMap.find(v);
+        if (i != _vertexMap.end())
+            return i->second;
+        unsigned index = _staticData->addVertex(v);
+        _vertexMap[v] = index;
+        return index;
+    }
+
+    BVHStaticGeometry* buildTree()
+    {
+        const BVHStaticNode* tree = buildTreeRecursive(_leafRefList);
+        if (!tree)
+            return 0;
+        _staticData->trim();
+        return new BVHStaticGeometry(tree, _staticData);
+    }
+
+private:
+    static void
+    centerSplitLeafs(unsigned splitAxis, const double& splitValue,
+                     LeafRefList& leafs, LeafRefList split[2])
+    {
+        while (!leafs.empty()) {
+            if (leafs.front()._center[splitAxis] < splitValue) {
+                split[0].splice(split[0].begin(), leafs, leafs.begin());
+            } else {
+                split[1].splice(split[1].begin(), leafs, leafs.begin());
+            }
+        }
+    }
+
+    static void
+    equalSplitLeafs(unsigned splitAxis, LeafRefList& leafs,
+                    LeafRefList split[2])
+    {
+        leafs.sort(LeafRefLess(splitAxis));
+        while (true) {
+            if (leafs.empty())
+                break;
+            split[0].splice(split[0].begin(), leafs, leafs.begin());
+            
+            if (leafs.empty())
+                break;
+            split[1].splice(split[1].begin(), leafs, --leafs.end());
+        }
+    }
+    
+    static const BVHStaticNode* buildTreeRecursive(LeafRefList& leafs)
+    {
+        // recursion termination
+        if (leafs.empty())
+            return 0;
+        // FIXME size is O(n)!!!
+        //   if (leafs.size() == 1)
+        if (++leafs.begin() == leafs.end())
+            return leafs.front()._leaf;
+        
+        SGBoxf box;
+        for (LeafRefList::const_iterator i = leafs.begin();
+             i != leafs.end(); ++i)
+            box.expandBy(i->_box);
+        
+        //   // FIXME ...
+        //   if (length(box.getSize()) < 1)
+        //     return new BVHBox(box);
+        
+        if (box.empty())
+            return 0;
+        
+        unsigned splitAxis = box.getBroadestAxis();
+        LeafRefList splitLeafs[2];
+        double splitValue = box.getCenter()[splitAxis];
+        centerSplitLeafs(splitAxis, splitValue, leafs, splitLeafs);
+        
+        if (splitLeafs[0].empty() || splitLeafs[1].empty()) {
+            for (unsigned i = 0; i < 3 ; ++i) {
+                if (i == splitAxis)
+                    continue;
+                
+                leafs.swap(splitLeafs[0]);
+                leafs.splice(leafs.begin(), splitLeafs[1]);
+                splitValue = box.getCenter()[i];
+                centerSplitLeafs(i, splitValue, leafs, splitLeafs);
+                
+                if (!splitLeafs[0].empty() && !splitLeafs[1].empty()) {
+                    splitAxis = i;
+                    break;
+                }
+            }
+        }
+        if (splitLeafs[0].empty() || splitLeafs[1].empty()) {
+            leafs.swap(splitLeafs[0]);
+            leafs.splice(leafs.begin(), splitLeafs[1]);
+            equalSplitLeafs(splitAxis, leafs, splitLeafs);
+        }
+        
+        const BVHStaticNode* child0 = buildTreeRecursive(splitLeafs[0]);
+        const BVHStaticNode* child1 = buildTreeRecursive(splitLeafs[1]);
+        if (!child0)
+            return child1;
+        if (!child1)
+            return child0;
+        
+        return new BVHStaticBinary(splitAxis, child0, child1, box);
+    }
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticLeaf.cxx

@@ -0,0 +1,27 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHStaticLeaf.hxx"
+#include "BVHVisitor.hxx"
+
+namespace simgear {
+
+BVHStaticLeaf::~BVHStaticLeaf()
+{
+}
+
+}

simgear/scene/bvh/BVHStaticLeaf.hxx

@@ -0,0 +1,38 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticLeaf_hxx
+#define BVHStaticLeaf_hxx
+
+#include <simgear/math/SGGeometry.hxx>
+#include "BVHStaticNode.hxx"
+
+namespace simgear {
+
+class BVHStaticLeaf : public BVHStaticNode {
+public:
+  virtual ~BVHStaticLeaf();
+
+  virtual void accept(BVHVisitor& visitor, const BVHStaticData& data) const = 0;
+
+  virtual SGBoxf computeBoundingBox(const BVHStaticData&) const = 0;
+  virtual SGVec3f computeCenter(const BVHStaticData&) const = 0;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticNode.cxx

@@ -0,0 +1,26 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHStaticNode.hxx"
+
+namespace simgear {
+
+BVHStaticNode::~BVHStaticNode()
+{
+}
+
+}

simgear/scene/bvh/BVHStaticNode.hxx

@@ -0,0 +1,37 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef BVHStaticNode_hxx
+#define BVHStaticNode_hxx
+
+#include <simgear/structure/SGReferenced.hxx>
+
+namespace simgear {
+
+class BVHStaticData;
+class BVHVisitor;
+
+class BVHStaticNode : public SGReferenced {
+public:
+  virtual ~BVHStaticNode();
+
+  virtual void accept(BVHVisitor&, const BVHStaticData&) const = 0;
+};
+
+}
+
+#endif

simgear/scene/bvh/BVHStaticTriangle.cxx

@@ -0,0 +1,58 @@
+// Copyright (C) 2008 - 2009  Mathias Froehlich - Mathias.Froehlich@web.de
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Library General Public
+// License as published by the Free Software Foundation; either
+// version 2 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Library General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "BVHStaticTriangle.hxx"
+
+#include "BVHVisitor.hxx"
+
+namespace simgear {
+
+BVHStaticTriangle::BVHStaticTriangle(unsigned material,
+                                       const unsigned indices[3]) :
+  _material(material)
+{
+    for (unsigned i = 0; i < 3; ++i)
+        _indices[i] = indices[i];
+}
+
+BVHStaticTriangle::~BVHStaticTriangle()
+{
+}
+
+void
+BVHStaticTriangle::accept(BVHVisitor& visitor, const BVHStaticData& data) const
+{
+    visitor.apply(*this, data);
+}
+
+SGBoxf
+BVHStaticTriangle::computeBoundingBox(const BVHStaticData& data) const
+{
+    SGBoxf box;
+    box.expandBy(data.getVertex(_indices[0]));
+    box.expandBy(data.getVertex(_indices[1]));
+    box.expandBy(data.getVertex(_indices[2]));
+    return box;
+}
+
+SGVec3f
+BVHStaticTriangle::computeCenter(const BVHStaticData& data) const
+{
+    return getTriangle(data).getCenter();
+}
+
+}