[Opal-commits] opal/src Vec3r.cpp,NONE,1.1 testPoint3r.cpp,NONE,1.1 testVec3r.cpp,NONE,1.1 Defines.h,1.77,1.78 Makefile.am,1.3,1.4 Makefile.in,1.3,1.4 Matrix44r.h,1.36,1.37 OpalMath.h,1.14,1.15 Point3r.h,1.13,1.14 SConscript,1.21,1.22 SensorData.h,1.11,1.12 ShapeData.h,1.9,1.10 SpringMotor.h,1.14,1.15 Vec3r.h,1.17,1.18

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18063/src

Modified Files:
	Defines.h Makefile.am Makefile.in Matrix44r.h OpalMath.h 
	Point3r.h SConscript SensorData.h ShapeData.h SpringMotor.h 
	Vec3r.h 
Added Files:
	Vec3r.cpp testPoint3r.cpp testVec3r.cpp 
Log Message:
Vec3r and Point3r refactored and fixed with unit tests.


Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** ShapeData.h	21 Jul 2005 15:59:01 -0000	1.9
--- ShapeData.h	30 Nov 2005 06:28:12 -0000	1.10
***************
*** 29,33 ****
--- 29,35 ----
  #define OPAL_SHAPE_DATA_H
  
+ // project headers
  #include "Defines.h"
+ #include "Matrix44r.h"
  
  namespace opal
***************
*** 44,48 ****
  	};
  
! 	/// A data structure describing a Shape.  Note that there is no other 
  	/// class associated with Shapes besides this one.
  	class ShapeData
--- 46,50 ----
  	};
  
! 	/// A data structure describing a Shape.  Note that there is no other
  	/// class associated with Shapes besides this one.
  	class ShapeData
***************
*** 51,55 ****
  		OPAL_DECL ShapeData()
  		{
! 			// The initial type doesn't matter since the abstract base 
  			// class will never be instantiated.
  			mType = SPHERE_SHAPE;
--- 53,57 ----
  		OPAL_DECL ShapeData()
  		{
! 			// The initial type doesn't matter since the abstract base
  			// class will never be instantiated.
  			mType = SPHERE_SHAPE;
***************
*** 69,74 ****
  		}
  
! 		/// Returns the axis-aligned bounding box of the ShapeData relative 
! 		/// to its center.  The 'aabb' array stores data in the following 
  		/// order: min x, max x, min y, max y, min z, max z.
  		OPAL_DECL virtual void OPAL_CALL getLocalAABB(real aabb[6]) = 0;
--- 71,76 ----
  		}
  
! 		/// Returns the axis-aligned bounding box of the ShapeData relative
! 		/// to its center.  The 'aabb' array stores data in the following
  		/// order: min x, max x, min y, max y, min z, max z.
  		OPAL_DECL virtual void OPAL_CALL getLocalAABB(real aabb[6]) = 0;
***************
*** 80,84 ****
  		Material material;
  
! 		/// The Shape's contact group.  If this exceeds 31, bad things 
  		/// might happen since there are only 32 groups.
  		unsigned int contactGroup;
--- 82,86 ----
  		Material material;
  
! 		/// The Shape's contact group.  If this exceeds 31, bad things
  		/// might happen since there are only 32 groups.
  		unsigned int contactGroup;

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** SensorData.h	29 Mar 2005 03:05:46 -0000	1.11
--- SensorData.h	30 Nov 2005 06:28:12 -0000	1.12
***************
*** 29,33 ****
--- 29,35 ----
  #define OPAL_SENSOR_DATA_H
  
+ // project headers
  #include "Defines.h"
+ #include "Matrix44r.h"
  
  namespace opal
***************
*** 48,52 ****
  		OPAL_DECL SensorData()
  		{
! 			// The initial type doesn't matter since the abstract base 
  			// class will never be instantiated.
  			mType = ACCELERATION_SENSOR;
--- 50,54 ----
  		OPAL_DECL SensorData()
  		{
! 			// The initial type doesn't matter since the abstract base
  			// class will never be instantiated.
  			mType = ACCELERATION_SENSOR;
***************
*** 72,80 ****
  		bool enabled;
  
! 		/// An identifier for the Sensor.  
  		std::string name;
  
! 		/// Pointer to the Solid to which this Sensor is attached.  This 
! 		/// will be NULL if the Sensor is not attached to a Solid (i.e. 
  		/// it is just positioned somewhere within the environment).
  		Solid* solid;
--- 74,82 ----
  		bool enabled;
  
! 		/// An identifier for the Sensor.
  		std::string name;
  
! 		/// Pointer to the Solid to which this Sensor is attached.  This
! 		/// will be NULL if the Sensor is not attached to a Solid (i.e.
  		/// it is just positioned somewhere within the environment).
  		Solid* solid;
***************
*** 86,91 ****
  		std::string solidBlueprintRefName;
  
! 		/// If the Sensor is attached to a Solid, this transform is the global 
! 		/// offset from that Solid's transform.  Otherwise, it is just the 
  		/// Sensor's global transform.
  		Matrix44r transform;
--- 88,93 ----
  		std::string solidBlueprintRefName;
  
! 		/// If the Sensor is attached to a Solid, this transform is the global
! 		/// offset from that Solid's transform.  Otherwise, it is just the
  		/// Sensor's global transform.
  		Matrix44r transform;

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile.am	21 Nov 2005 13:59:16 -0000	1.3
--- Makefile.am	30 Nov 2005 06:28:12 -0000	1.4
***************
*** 8,20 ****
  SUBDIRS = external ODE
  noinst_LIBRARIES = libopalode.a
! libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp\
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp\
! 	GearedMotor.cpp InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp\
! 	RaycastSensor.cpp Sensor.cpp ServoMotor.cpp Simulator.cpp Solid.cpp\
! 	SolidData.cpp Space.cpp SpringMotor.cpp ThrusterMotor.cpp\
! 	VolumeSensor.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 		testRaycastSensor.cpp testSimulator.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
--- 8,20 ----
  SUBDIRS = external ODE
  noinst_LIBRARIES = libopalode.a
! libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 	InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 	ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 	ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
+ noinst_HEADERS = Mass.h Matrix33r.h

Index: Vec3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.h,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** Vec3r.h	27 Apr 2005 02:28:18 -0000	1.17
--- Vec3r.h	30 Nov 2005 06:28:12 -0000	1.18
***************
*** 1,317 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * 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 files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #ifndef OPAL_VEC3R_H
  #define OPAL_VEC3R_H
  
  #include "OpalMath.h"
  
  namespace opal
  {
! 	class Vec3r;
! 	inline Vec3r operator+(const Vec3r &u, const Vec3r &v);
! 	inline Vec3r operator-(const Vec3r &u, const Vec3r &v);
! 	inline Vec3r operator*(const Vec3r &v, real scalar);
! 	inline Vec3r operator*(real scalar, const Vec3r &v);
! 	inline Vec3r operator/(const Vec3r &v, real scalar);
! 	inline Vec3r operator%(const Vec3r & a, const Vec3r & b);
! 	inline Vec3r operator-(const Vec3r &v);
! 	inline real dot(const Vec3r & u, const Vec3r & v);
! 	inline Vec3r cross(const Vec3r & u, const Vec3r& v);
  
! 	/// Returns the projection of 'v' onto 'u'.
! 	inline Vec3r project(const Vec3r& u, const Vec3r& v);
  
! 	/// Given that the vector 'u' is already a unit vector, returns the 
! 	/// projection of v onto u.
! 	inline Vec3r projectPreNorm(const Vec3r& u, const Vec3r& v);
  
! 	/// Returns a positive angle between 0 and 180 degrees.
! 	inline real angleBetween(const Vec3r& u, const Vec3r& v);
  
! 	/// Given that the vectors 'u' and 'v' are already normalized, returns 
! 	/// a positive angle between 0 and 180 degrees.
! 	inline real angleBetweenPreNorm(const Vec3r& u, const Vec3r& v);
  
! 	/// Returns true if the two vectors are roughly collinear.
! 	inline bool areCollinear(const Vec3r& u, const Vec3r& v);
  
! 	/// Prints the Vec3r to the given output stream.
! 	inline std::ostream& operator<<(std::ostream& o, const Vec3r& v);
  
! 	class Vec3r
! 	{
! 	private:
! 		real mData[3];
  
! 	public:
! 		Vec3r()
! 		{
! 			mData[0] = 0;
! 			mData[1] = 0;
! 			mData[2] = 0;
! 		}
  
! 		Vec3r(const Vec3r & src)
! 		{
! 			mData[0] = src.mData[0];
! 			mData[1] = src.mData[1];
! 			mData[2] = src.mData[2];
! 		}
  
! 		Vec3r(real x, real y, real z)
! 		{
! 			mData[0] = x;
! 			mData[1] = y;
! 			mData[2] = z;
! 		}
  
! 		Vec3r(const real * data)
! 		{
! 			mData[0] = data[0];
! 			mData[1] = data[1];
! 			mData[2] = data[2];
! 		}
  
! 		inline void set(real x, real y, real z)
! 		{
! 			mData[0] = x;
! 			mData[1] = y;
! 			mData[2] = z;
! 		}
! 		
! 		inline void set(real * data)
! 		{
! 			mData[0] = data[0];
! 			mData[1] = data[1];
! 			mData[2] = data[2];
! 		}
  
! 		inline real * getData()
! 		{
! 			return mData;
! 		}
  
! 		inline const real * getData()const
! 		{
! 			return mData;
! 		}
  
! 		inline real & operator[](unsigned int i)
! 		{
! 			assert(i < 3);
! 			return mData[i];
! 		}
  
! 		inline const real & operator[](unsigned int i)const
! 		{
! 			assert(i < 3);
! 			return mData[i];
! 		}
  
! 		inline real lengthSquared()const
! 		{
! 			return dot(*this, *this);
! 		}
  
! 		inline real length()const
! 		{
! 			return sqrt(dot(*this, *this)); 
! 		}
  
! 		inline void normalize()
! 		{
! 			real len = length();
! 			assert(0 != len);
! 			real factor = (real)1.0 / len;
! 			(*this) *= factor;
! 		}
  
! 		inline Vec3r unit()const
! 		{
! 			return (*this) / length();
! 		}
  
! 		inline void operator+=(const Vec3r & v)
! 		{
! 			mData[0] += v.mData[0];
! 			mData[1] += v.mData[1];
! 			mData[2] += v.mData[2];
! 		}
  
! 		inline void operator-=(const Vec3r & v)
! 		{
! 			mData[0] -= v.mData[0];
! 			mData[1] -= v.mData[1];
! 			mData[2] -= v.mData[2];
! 		}
  
! 		inline void operator*=(const Vec3r & v)
! 		{
! 			mData[0] *= v.mData[0];
! 			mData[1] *= v.mData[1];
! 			mData[2] *= v.mData[2];
! 		}
  
! 		inline void operator*=(real scalar)
! 		{
! 			mData[0] *= scalar;
! 			mData[1] *= scalar;
! 			mData[2] *= scalar;
! 		}
  
! 		inline void operator/=(real scalar)
! 		{
! 			mData[0] /= scalar;
! 			mData[1] /= scalar;
! 			mData[2] /= scalar;
! 		}
  
! 		inline void operator/=(const Vec3r & v)
! 		{
! 			mData[0] /= v.mData[0];
! 			mData[1] /= v.mData[1];
! 			mData[2] /= v.mData[2];
! 		}
  
! 		inline bool operator==(const Vec3r & v)
! 		{
! 			return(mData[0]==v.mData[0] && mData[1]==v.mData[1] && 
! 				v.mData[2]==mData[2]);
! 		}
  
! 		inline bool operator!=(const Vec3r & v)
! 		{
! 			return(mData[0]!=v.mData[0] && mData[1]!=v.mData[1] && 
! 				v.mData[2]!=mData[2]);
! 		}
! 	};
  
! 	inline Vec3r operator+(const Vec3r &u, const Vec3r &v)
! 	{
! 		return Vec3r(u[0] + v[0], u[1] + v[1], u[2] + v[2]);
! 	}
  
! 	inline Vec3r operator-(const Vec3r &u, const Vec3r &v)
! 	{
! 		return Vec3r(u[0] - v[0], u[1] - v[1], u[2] - v[2]);
! 	}
  
! 	inline Vec3r operator*(const Vec3r &v, real scalar)
! 	{
! 		return Vec3r(scalar * v[0], scalar * v[1], scalar * v[2]);
! 	}
  
! 	inline Vec3r operator*(real scalar, const Vec3r &v)
! 	{
! 		return Vec3r(scalar * v[0], scalar * v[1], scalar * v[2]);
! 	}
  
! 	inline Vec3r operator/(const Vec3r &v, real scalar)
! 	{
! 		return Vec3r(v[0] / scalar, v[1] / scalar,  v[2] / scalar);
! 	}
  
! 	inline Vec3r operator%(const Vec3r & a, const Vec3r & b)
! 	{
! 		return Vec3r((a[1]*b[2]) - (a[2]*b[1]), (a[2]*b[0]) - (a[0]*b[2]), 
! 			(a[0]*b[1]) - (a[1]*b[0]));
! 	}
  
! 	inline real dot(const Vec3r & u, const Vec3r & v)
! 	{
! 		return u[0] * v[0] + u[1] * v[1] + u[2] * v[2];
! 	}
  
! 	inline Vec3r cross(const Vec3r & u, const Vec3r & v)
! 	{
! 		return u%v;
! 	}
  
! 	inline Vec3r operator-(const Vec3r &v)
! 	{
! 		return v * -1;
! 	}
  
! 	inline Vec3r project(const Vec3r& u, const Vec3r& v)
! 	{
! 		Vec3r u2 = u;
! 		u2.normalize();
! 		return projectPreNorm(u2, v);
! 	}
  
! 	inline Vec3r projectPreNorm(const Vec3r& u, const Vec3r& v)
! 	{
! 		return dot(u, v) * u;
! 	}
  
! 	inline real angleBetween(const Vec3r& u, const Vec3r& v)
! 	{
! 		Vec3r u2 = u;
! 		u2.normalize();
! 		Vec3r v2 = v;
! 		v2.normalize();
! 		return angleBetweenPreNorm(u2, v2);
! 	}
  
! 	inline real angleBetweenPreNorm(const Vec3r& u, const Vec3r& v)
! 	{
! 		real val = dot(u, v);
  
! 		// Clamp to avoid rounding errors; acos will puke with values outside 
! 		// this range.
! 		if (val < -1)
! 		{
! 			val = -1;
! 		}
! 		else if (val > 1)
! 		{
! 			val = 1;
! 		}
  
! 		return radToDeg(acos(val));
! 	}
  
! 	inline bool areCollinear(const Vec3r& u, const Vec3r& v)
! 	{
! 		real value = 1 - dot(u, v);
! 		if (areEqual(value, 0))
! 		{
! 			return true;
! 		}
! 		else
! 		{
! 			return false;
! 		}
! 	}
  
! 	inline std::ostream& operator<<(std::ostream& o, const Vec3r& v)
! 	{
! 		return o << "[" << v[0] << " " << v[1] << " " << v[2] << "]";
! 	}
  }
  
--- 1,216 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * 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 files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #ifndef OPAL_VEC3R_H
  #define OPAL_VEC3R_H
  
+ // project headers
  #include "OpalMath.h"
  
+ // system headers
+ #include <iostream>
+ 
  namespace opal
  {
!     class Vec3r;
!     inline Vec3r operator+( const Vec3r &u, const Vec3r &v );
!     inline Vec3r operator-( const Vec3r &u, const Vec3r &v );
!     inline Vec3r operator*( const Vec3r &v, real scalar );
!     inline Vec3r operator*( real scalar, const Vec3r &v );
!     inline Vec3r operator/( const Vec3r &v, real scalar );
!     inline Vec3r operator%( const Vec3r & a, const Vec3r & b );
!     inline Vec3r operator-( const Vec3r &v );
!     inline real dot( const Vec3r & u, const Vec3r & v );
!     inline Vec3r cross( const Vec3r & u, const Vec3r& v );
  
!     /// Returns the projection of 'v' onto 'u'.
!     inline Vec3r project( const Vec3r& u, const Vec3r& v );
  
!     /// Given that the vector 'u' is already a unit vector, returns the
!     /// projection of v onto u.
!     inline Vec3r projectPreNorm( const Vec3r& u, const Vec3r& v );
  
!     /// Returns a positive angle between 0 and 180 degrees.
!     inline real angleBetween( const Vec3r& u, const Vec3r& v );
  
!     /// Given that the vectors 'u' and 'v' are already normalized, returns
!     /// a positive angle between 0 and 180 degrees.
!     inline real angleBetweenPreNorm( const Vec3r& u, const Vec3r& v );
  
!     /// Returns true if the two vectors are roughly collinear.
!     bool areCollinear( const Vec3r& u, const Vec3r& v );
  
!     /// Prints the Vec3r to the given output stream.
!     inline std::ostream& operator<<( std::ostream& o, const Vec3r& v );
  
!     class Vec3r
!     {
!         public:
!             /// x-coordinate
!             real x;
  
!             /// y-coordinate
!             real y;
  
!             /// z-coordinate
!             real z;
  
!             /// default - (0,0,0)
!             Vec3r();
  
!             Vec3r( const Vec3r & src );
  
!             Vec3r( real xx, real yy, real zz );
  
!             Vec3r( const real * data );
  
!             void set( real xx, real yy, real zz );
  
!             void set( real * data );
  
!             real & operator[] ( unsigned int i );
  
!             const real & operator[] ( unsigned int i ) const;
  
!             real lengthSquared() const;
  
!             real length() const;
  
!             void normalize();
  
!             Vec3r unit() const;
  
!             void operator+=( const Vec3r & v );
  
!             void operator-=( const Vec3r & v );
  
!             void operator*=( const Vec3r & v );
  
!             void operator*=( real scalar );
  
!             void operator/=( real scalar );
  
!             void operator/=( const Vec3r & v );
  
!             bool operator==( const Vec3r & v );
  
!             bool operator!=( const Vec3r & v );
  
!             void operator=( const Vec3r & v );
!     };
  
!     inline Vec3r operator+( const Vec3r &u, const Vec3r &v )
!     {
!         return Vec3r( u.x + v.x, u.y + v.y, u.z + v.z );
!     }
  
!     inline Vec3r operator-( const Vec3r &u, const Vec3r &v )
!     {
!         return Vec3r( u.x - v.x, u.y - v.y, u.z - v.z );
!     }
  
!     inline Vec3r operator*( const Vec3r &v, real scalar )
!     {
!         return Vec3r( scalar * v.x, scalar * v.y, scalar * v.z );
!     }
  
!     inline Vec3r operator*( real scalar, const Vec3r &v )
!     {
!         return Vec3r( scalar * v.x, scalar * v.y, scalar * v.z );
!     }
  
!     inline Vec3r operator/( const Vec3r &v, real scalar )
!     {
!         return Vec3r( v.x / scalar, v.y / scalar, v.z / scalar );
!     }
  
!     inline Vec3r operator%( const Vec3r & a, const Vec3r & b )
!     {
!         return Vec3r( ( a.y * b.z ) - ( a.z * b.y ), ( a.z * b.x ) - ( a.x * b.z ),
!                       ( a.x * b.y ) - ( a.y * b.x ) );
!     }
  
!     inline real dot( const Vec3r & u, const Vec3r & v )
!     {
!         return u.x * v.x + u.y * v.y + u.z * v.z;
!     }
  
!     inline Vec3r cross( const Vec3r & u, const Vec3r & v )
!     {
!         return u % v;
!     }
  
!     inline Vec3r operator-( const Vec3r &v )
!     {
!         return v * -1;
!     }
  
!     inline Vec3r project( const Vec3r& u, const Vec3r& v )
!     {
!         Vec3r u2 = u;
!         u2.normalize();
!         return projectPreNorm( u2, v );
!     }
  
!     inline Vec3r projectPreNorm( const Vec3r& u, const Vec3r& v )
!     {
!         return dot( u, v ) * u;
!     }
  
!     inline real angleBetween( const Vec3r& u, const Vec3r& v )
!     {
!         Vec3r u2 = u;
!         u2.normalize();
!         Vec3r v2 = v;
!         v2.normalize();
!         return angleBetweenPreNorm( u2, v2 );
!     }
  
!     inline real angleBetweenPreNorm( const Vec3r& u, const Vec3r& v )
!     {
!         real val = dot( u, v );
  
!         // Clamp to avoid rounding errors; acos will puke with values outside
!         // this range.
!         if ( val < -1 )
!         {
!             val = -1;
!         }
!         else if ( val > 1 )
!         {
!             val = 1;
!         }
  
!         return radToDeg( acos( val ) );
!     }
! 
!     inline std::ostream& operator<<( std::ostream& o, const Vec3r& v )
!     {
!         return o << "[" << v.x << " " << v.y << " " << v.z << "]";
!     }
  }
  

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** Defines.h	19 Apr 2005 14:20:35 -0000	1.77
--- Defines.h	30 Nov 2005 06:28:12 -0000	1.78
***************
*** 43,46 ****
--- 43,48 ----
  #include "Portability.h"
  #include "Logger.h"
+ #include "Vec3r.h"
+ #include "Point3r.h"
  
  /// The main namespace that contains everything in OPAL.
***************
*** 50,95 ****
  	class Joint;
  
! 	/// Types of Forces.  Used when creating a Force struct to designate 
  	/// how the Forces should be applied to a Solid.
  	enum ForceType
  	{
! 		/// Apply a force in a direction relative to the Solid's local 
  		/// coordinate system.
  		LOCAL_FORCE,
  
! 		/// Apply a force in a direction relative to the global 
  		/// coordinate system.
  		GLOBAL_FORCE,
  
! 		/// Apply a torque with the axis specified relative to the Solid's 
  		/// local coordinate system.
  		LOCAL_TORQUE,
  
! 		/// Apply a torque with the axis specified relative to global 
  		/// coordinate system.
  		GLOBAL_TORQUE,
  
! 		/// Apply a force at a position relative to the Solid's local 
! 		/// coordinate system in a direction relative to the Solid's local 
  		/// coordinate system.
  		LOCAL_FORCE_AT_LOCAL_POS,
  
! 		/// Apply a force at a position relative to the global 
! 		/// coordinate system in a direction relative to the Solid's local 
  		/// coordinate system.
  		LOCAL_FORCE_AT_GLOBAL_POS,
  
! 		/// Apply a force at a position relative to the Solid's local 
! 		/// coordinate system in a direction relative to the global 
  		/// coordinate system.
  		GLOBAL_FORCE_AT_LOCAL_POS,
  
! 		/// Apply a force at a position relative to the global 
! 		/// coordinate system in a direction relative to the global 
  		/// coordinate system.
  		GLOBAL_FORCE_AT_GLOBAL_POS
  	};
  
! 	/// Data structure containing all necessary info for applying a 
  	/// force/torque to a Solid.
  	struct Force
--- 52,97 ----
  	class Joint;
  
! 	/// Types of Forces.  Used when creating a Force struct to designate
  	/// how the Forces should be applied to a Solid.
  	enum ForceType
  	{
! 		/// Apply a force in a direction relative to the Solid's local
  		/// coordinate system.
  		LOCAL_FORCE,
  
! 		/// Apply a force in a direction relative to the global
  		/// coordinate system.
  		GLOBAL_FORCE,
  
! 		/// Apply a torque with the axis specified relative to the Solid's
  		/// local coordinate system.
  		LOCAL_TORQUE,
  
! 		/// Apply a torque with the axis specified relative to global
  		/// coordinate system.
  		GLOBAL_TORQUE,
  
! 		/// Apply a force at a position relative to the Solid's local
! 		/// coordinate system in a direction relative to the Solid's local
  		/// coordinate system.
  		LOCAL_FORCE_AT_LOCAL_POS,
  
! 		/// Apply a force at a position relative to the global
! 		/// coordinate system in a direction relative to the Solid's local
  		/// coordinate system.
  		LOCAL_FORCE_AT_GLOBAL_POS,
  
! 		/// Apply a force at a position relative to the Solid's local
! 		/// coordinate system in a direction relative to the global
  		/// coordinate system.
  		GLOBAL_FORCE_AT_LOCAL_POS,
  
! 		/// Apply a force at a position relative to the global
! 		/// coordinate system in a direction relative to the global
  		/// coordinate system.
  		GLOBAL_FORCE_AT_GLOBAL_POS
  	};
  
! 	/// Data structure containing all necessary info for applying a
  	/// force/torque to a Solid.
  	struct Force
***************
*** 107,130 ****
  		ForceType type;
  
! 		/// Specifies how long to apply to force.  This makes it easy to 
! 		/// apply forces independent of the step size.  This will be ignored 
  		/// if "singleStep" is true.
  		real duration;
  
! 		/// This is mainly used internally by OPAL.  It specifies that 
! 		/// the force will be applied across a single time step.  If this 
  		/// parameter is true, "duration" will be ignored.
  		bool singleStep;
  
! 		/// The force direction or torque axis.  This parameter encodes the 
  		/// magnitude of the force or torque.
  		Vec3r vec;
  
! 		/// Only used when the force is applied at an offset (i.e. not 
  		/// the center of mass).
  		Point3r pos;
  	};
  
! 	/// Data structure describing material properties.  These properties 
  	/// determine the collision response when two Solids collide.
  	struct Material
--- 109,132 ----
  		ForceType type;
  
! 		/// Specifies how long to apply to force.  This makes it easy to
! 		/// apply forces independent of the step size.  This will be ignored
  		/// if "singleStep" is true.
  		real duration;
  
! 		/// This is mainly used internally by OPAL.  It specifies that
! 		/// the force will be applied across a single time step.  If this
  		/// parameter is true, "duration" will be ignored.
  		bool singleStep;
  
! 		/// The force direction or torque axis.  This parameter encodes the
  		/// magnitude of the force or torque.
  		Vec3r vec;
  
! 		/// Only used when the force is applied at an offset (i.e. not
  		/// the center of mass).
  		Point3r pos;
  	};
  
! 	/// Data structure describing material properties.  These properties
  	/// determine the collision response when two Solids collide.
  	struct Material
***************
*** 151,155 ****
  		}
  
! 		/// Determines how far Solids can interpenetrate.  This must 
  		/// be between 0 and 1.
  		real hardness;
--- 153,157 ----
  		}
  
! 		/// Determines how far Solids can interpenetrate.  This must
  		/// be between 0 and 1.
  		real hardness;
***************
*** 158,175 ****
  		real friction;
  
! 		/// Bounciness (i.e. restitution) determines how elastic the 
! 		/// collisions will be between this Material and another.  In other 
! 		/// words, the more bounciness, the farther the Solids will bounce 
! 		/// when they collide (and, in real life, the less energy is lost 
  		/// due to heat and sound).  This must be between 0 and 1.
  		real bounciness;
  
! 		/// Density combined with the volume of a Solid's shapes determine 
  		/// the Solid's mass.  This must be >= 0.
  		real density;
  	};
  
! 	/// Solver accuracy levels determine how the physics engine constraint 
! 	/// solver is used (e.g. the number of iterations in an iterative 
  	/// solver).
  	enum SolverAccuracyLevel
--- 160,177 ----
  		real friction;
  
! 		/// Bounciness (i.e. restitution) determines how elastic the
! 		/// collisions will be between this Material and another.  In other
! 		/// words, the more bounciness, the farther the Solids will bounce
! 		/// when they collide (and, in real life, the less energy is lost
  		/// due to heat and sound).  This must be between 0 and 1.
  		real bounciness;
  
! 		/// Density combined with the volume of a Solid's shapes determine
  		/// the Solid's mass.  This must be >= 0.
  		real density;
  	};
  
! 	/// Solver accuracy levels determine how the physics engine constraint
! 	/// solver is used (e.g. the number of iterations in an iterative
  	/// solver).
  	enum SolverAccuracyLevel
***************
*** 182,186 ****
  	};
  
! 	/// Joints use different break modes to determine how they are damaged 
  	/// from stress.
  	enum JointBreakMode
--- 184,188 ----
  	};
  
! 	/// Joints use different break modes to determine how they are damaged
  	/// from stress.
  	enum JointBreakMode
***************
*** 239,243 ****
  	namespace globals
  	{
! 		/// The highest value that can be used for the Simulator's 
  		/// max contacts parameter.
  		const int maxMaxContacts=(int)128;
--- 241,245 ----
  	namespace globals
  	{
! 		/// The highest value that can be used for the Simulator's
  		/// max contacts parameter.
  		const int maxMaxContacts=(int)128;
***************
*** 266,276 ****
  
  		// Global materials
! 		const Material metalMaterial(metalHardness, metalFriction, 
  			metalBounciness, metalDensity);
! 		const Material woodMaterial(woodHardness, woodFriction, 
  			woodBounciness, woodDensity);
! 		const Material rubberMaterial(rubberHardness, rubberFriction, 
  			rubberBounciness, rubberDensity);
! 		const Material iceMaterial(iceHardness, iceFriction, 
  			iceBounciness, iceDensity);
  	}
--- 268,278 ----
  
  		// Global materials
! 		const Material metalMaterial(metalHardness, metalFriction,
  			metalBounciness, metalDensity);
! 		const Material woodMaterial(woodHardness, woodFriction,
  			woodBounciness, woodDensity);
! 		const Material rubberMaterial(rubberHardness, rubberFriction,
  			rubberBounciness, rubberDensity);
! 		const Material iceMaterial(iceHardness, iceFriction,
  			iceBounciness, iceDensity);
  	}

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** SConscript	24 Jun 2005 17:50:48 -0000	1.21
--- SConscript	30 Nov 2005 06:28:12 -0000	1.22
***************
*** 81,84 ****
--- 81,85 ----
  	ThrusterMotor.cpp
  	VolumeSensor.cpp
+ 	Vec3r.cpp
  """)
  

--- NEW FILE: Vec3r.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* 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 files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// class header
#include "Vec3r.h"
//#pragma implementation

// system headers
#include <cassert>

namespace opal
{
    Vec3r::Vec3r()
    {
        x = 0;
        y = 0;
        z = 0;
    }

    Vec3r::Vec3r( const Vec3r & src )
    {
        x = src.x;
        y = src.y;
        z = src.z;
    }

    Vec3r::Vec3r( real xx, real yy, real zz )
    {
        x = xx;
        y = yy;
        z = zz;
    }

    Vec3r::Vec3r( const real * data )
    {
        x = data[ 0 ];
        y = data[ 1 ];
        z = data[ 2 ];
    }

    void Vec3r::set( real xx, real yy, real zz )
    {
        x = xx;
        y = yy;
        z = zz;
    }

    void Vec3r::set( real * data )
    {
        x = data[ 0 ];
        y = data[ 1 ];
        z = data[ 2 ];
    }

    real & Vec3r::operator[] ( unsigned int i )
    {
        switch ( i )
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            default:
                assert( i < 3 && i > -1 );
        }
    }

    const real & Vec3r::operator[] ( unsigned int i ) const
    {
        switch ( i )
        {
            case 0:
                return x;
            case 1:
                return y;
            case 2:
                return z;
            default:
                assert( i < 3 && i > -1 );
        }
    }

    real Vec3r::lengthSquared() const
    {
        return dot( *this, *this );
    }

    real Vec3r::length() const
    {
        return sqrt( dot( *this, *this ) );
    }

    void Vec3r::normalize()
    {
        real len = length();
        assert( 0 != len );
        real factor = ( real ) 1.0 / len;
        ( *this ) *= factor;
    }

    Vec3r Vec3r::unit() const
    {
        return ( *this ) / length();
    }

    void Vec3r::operator+=( const Vec3r & v )
    {
        x += v.x;
        y += v.y;
        z += v.z;
    }

    void Vec3r::operator-=( const Vec3r & v )
    {
        x -= v.x;
        y -= v.y;
        z -= v.z;
    }

    void Vec3r::operator*=( const Vec3r & v )
    {
        x *= v.x;
        y *= v.y;
        z *= v.z;
    }

    void Vec3r::operator*=( real scalar )
    {
        x *= scalar;
        y *= scalar;
        z *= scalar;
    }

    void Vec3r::operator/=( real scalar )
    {
        x /= scalar;
        y /= scalar;
        z /= scalar;
    }

    void Vec3r::operator/=( const Vec3r & v )
    {
        x /= v.x;
        y /= v.y;
        z /= v.z;
    }

    bool Vec3r::operator==( const Vec3r & v )
    {
        return ( x == v.x && y == v.y && z == v.z );
    }

    void Vec3r::operator=( const Vec3r & v )
    {
        x = v.x;
        y = v.y;
        z = v.z;
    }

    bool Vec3r::operator!=( const Vec3r & v )
    {
        return ( x != v.x || y != v.y || z != v.z );
    }

    bool areCollinear( const Vec3r & u, const Vec3r & v )
    {
        Vec3r a = u, b = v;
        a.normalize();
        b.normalize();

        if ( areEqual( a.x, b.x ) && areEqual( a.y, b.y ) && areEqual( a.z, b.z ) )
            return true;
        if ( areEqual( a.x, -b.x ) && areEqual( a.y, -b.y ) && areEqual( a.z, -b.z ) )
            return true;

        return false;
    }
}

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile.in	21 Nov 2005 13:59:16 -0000	1.3
--- Makefile.in	30 Nov 2005 06:28:12 -0000	1.4
***************
*** 16,19 ****
--- 16,20 ----
  
  
+ 
  srcdir = @srcdir@
  top_srcdir = @top_srcdir@
***************
*** 40,44 ****
  bin_PROGRAMS = test_opal$(EXEEXT)
  subdir = src
! DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
  ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
  am__aclocal_m4_deps = $(top_srcdir)/configure.in
--- 41,46 ----
  bin_PROGRAMS = test_opal$(EXEEXT)
  subdir = src
! DIST_COMMON = $(noinst_HEADERS) $(srcdir)/Makefile.am \
! 	$(srcdir)/Makefile.in
  ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
  am__aclocal_m4_deps = $(top_srcdir)/configure.in
***************
*** 60,64 ****
  	ServoMotor.$(OBJEXT) Simulator.$(OBJEXT) Solid.$(OBJEXT) \
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
! 	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
--- 62,66 ----
  	ServoMotor.$(OBJEXT) Simulator.$(OBJEXT) Solid.$(OBJEXT) \
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
! 	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT) Vec3r.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
***************
*** 67,71 ****
  am_test_opal_OBJECTS = testopal.$(OBJEXT) testsolid.$(OBJEXT) \
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
! 	testSimulator.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 69,74 ----
  am_test_opal_OBJECTS = testopal.$(OBJEXT) testsolid.$(OBJEXT) \
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
! 	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 92,95 ****
--- 95,99 ----
  	pdf-recursive ps-recursive uninstall-info-recursive \
  	uninstall-recursive
+ HEADERS = $(noinst_HEADERS)
  ETAGS = etags
  CTAGS = ctags
***************
*** 201,217 ****
  SUBDIRS = external ODE
  noinst_LIBRARIES = libopalode.a
! libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp\
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp\
! 	GearedMotor.cpp InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp\
! 	RaycastSensor.cpp Sensor.cpp ServoMotor.cpp Simulator.cpp Solid.cpp\
! 	SolidData.cpp Space.cpp SpringMotor.cpp ThrusterMotor.cpp\
! 	VolumeSensor.cpp
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 		testRaycastSensor.cpp testSimulator.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
  
  all: all-recursive
  
--- 205,221 ----
  SUBDIRS = external ODE
  noinst_LIBRARIES = libopalode.a
! libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 	InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 	ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 	ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
  
+ noinst_HEADERS = Mass.h Matrix33r.h
  all: all-recursive
  
***************
*** 312,319 ****
--- 316,326 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/SpringMotor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/ThrusterMotor.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Vec3r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/VolumeSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testPoint3r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testRaycastSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testSimulator.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testVec3r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testopal.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testsolid.Po@am__quote@
***************
*** 526,530 ****
  check-am: all-am
  check: check-recursive
! all-am: Makefile $(LIBRARIES) $(PROGRAMS)
  installdirs: installdirs-recursive
  installdirs-am:
--- 533,537 ----
  check-am: all-am
  check: check-recursive
! all-am: Makefile $(LIBRARIES) $(PROGRAMS) $(HEADERS)
  installdirs: installdirs-recursive
  installdirs-am:

--- NEW FILE: testPoint3r.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* 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 files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>
#include <sstream>

// project headers
#include "opal.h"

using namespace opal;

namespace testPoint3r
{
    QT_TEST( default_constructor )
    {
        Point3r v;
        QT_CHECK_EQUAL( v.x, 0 );
        QT_CHECK_EQUAL( v.y, 0 );
        QT_CHECK_EQUAL( v.z, 0 );
    }

    QT_TEST( copy_constructor )
    {
        Point3r copy( 1, 2, 3 );
        Point3r v( copy );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( set_constructor )
    {
        Point3r v( 1, 2, 3 );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( assign_constructor )
    {
        Point3r v = Point3r( 1, 2, 3 );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( array_constructor )
    {
        real d[] = {1, 2, 3};
        Point3r v( d );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( set )
    {
        Point3r v;
        v.set( 1, 2, 3 );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( set_array )
    {
        real d[] = {1, 2, 3};
        Point3r v;
        v.set( d );
        QT_CHECK_EQUAL( v.x, 1 );
        QT_CHECK_EQUAL( v.y, 2 );
        QT_CHECK_EQUAL( v.z, 3 );
    }

    QT_TEST( operator_sq_brackets )
    {
        Point3r v( 1, 2, 3 );

        QT_CHECK_EQUAL( v[ 0 ], 1 );
        QT_CHECK_EQUAL( v[ 1 ], 2 );
        QT_CHECK_EQUAL( v[ 2 ], 3 );
    }

    QT_TEST( operator_add )
    {
        Point3r v( 1, 2, 3 );
        Vec3r w( 4, 5, 6 );

        QT_CHECK_EQUAL( v + w, Point3r( 5, 7, 9 ) );
    }

    QT_TEST( operator_add_to )
    {
        Point3r v( 1, 2, 3 );
        Vec3r w( 4, 5, 6 );

        v += w;
        QT_CHECK_EQUAL( v, Point3r( 5, 7, 9 ) );
    }

    QT_TEST( operator_substract_vector )
    {
        Point3r v( 1, 2, 3 );
        Vec3r w( 4, 5, 6 );

        QT_CHECK_EQUAL( v - w, Point3r( -3, -3, -3 ) );
    }

    QT_TEST( operator_substract_from_vector )
    {
        Point3r v( 1, 2, 3 );
        Vec3r w( 4, 5, 6 );

        v -= w;
        QT_CHECK_EQUAL( v, Point3r( -3, -3, -3 ) );
    }

    QT_TEST( operator_substract_point )
    {
        Point3r v( 1, 2, 3 );
        Point3r w( 4, 5, 6 );

        QT_CHECK_EQUAL( v - w, Vec3r( -3, -3, -3 ) );
    }

    QT_TEST( operator_substract_from_point )
    {
        Point3r v( 1, 2, 3 );
        Vec3r w( 4, 5, 6 );

        v -= w;
        QT_CHECK_EQUAL( v, Point3r( -3, -3, -3 ) );
    }

    QT_TEST( operator_mutliply_scalar_after )
    {
        Point3r v( 1, 2, 3 );

        QT_CHECK_EQUAL( v * 3, Point3r( 3, 6, 9 ) );
    }

    QT_TEST( operator_mutliply_scalar_before )
    {
        Point3r v( 1, 2, 3 );

        QT_CHECK_EQUAL( 3 * v, Point3r( 3, 6, 9 ) );
    }

    QT_TEST( operator_divide_vector )
    {
        Point3r v( 1, 2, 3 );
        QT_CHECK_EQUAL( v / 2, Point3r( 1 / 2.0, 2 / 2.0, 3 / 2.0 ) );
    }

    QT_TEST( operator_divide_scalar )
    {
        Point3r v( 1, 2, 3 );

        QT_CHECK_EQUAL( v / 2, Point3r( 0.5, 1, 1.5 ) );
    }

    QT_TEST( operator_equal )
    {
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) == Point3r( 1, 2, 3 ), true );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) == Point3r( 4, 2, 3 ), false );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) == Point3r( 1, 4, 3 ), false );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) == Point3r( 1, 2, 4 ), false );
    }

    QT_TEST( operator_not_equal )
    {
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) != Point3r( 1, 2, 3 ), false );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) != Point3r( 4, 2, 3 ), true );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) != Point3r( 1, 4, 3 ), true );
        QT_CHECK_EQUAL( Point3r( 1, 2, 3 ) != Point3r( 1, 2, 4 ), true );
    }

    QT_TEST( negate )
    {
        QT_CHECK_EQUAL( -Point3r( 1, 2, 3 ), Point3r( -1, -2, -3 ) );
    }

    QT_TEST( operator_stream )
    {
        {
            std::ostringstream ss;
            ss << Point3r( 1, 1, 1 );
            QT_CHECK_EQUAL( ss.str(), "[1 1 1]" );
        }
        {
            std::ostringstream ss;
            ss << Point3r( 1, 1, 1.5 );
            QT_CHECK_EQUAL( ss.str(), "[1 1 1.5]" );
        }
    }

    QT_TEST( distance )
    {
        QT_CHECK_EQUAL( distance( Point3r( 1, 2, 3 ) , Point3r( 1, 2, 3 ) ), 0 );
        QT_CHECK_EQUAL( distance( Point3r( 1, 0, 1 ) , Point3r( 1, 0, 3 ) ), 2 );
        QT_CHECK_EQUAL( distance( Point3r( 1, 0, 3 ) , Point3r( 1, 0, 1 ) ), 2 );
    }
}

Index: OpalMath.h
===================================================================
RCS file: /cvsroot/opal/opal/src/OpalMath.h,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** OpalMath.h	24 Jun 2005 16:40:49 -0000	1.14
--- OpalMath.h	30 Nov 2005 06:28:12 -0000	1.15
***************
*** 29,32 ****
--- 29,33 ----
  #define OPAL_OPAL_MATH_H
  
+ // system headers
  #include <math.h>
  
***************
*** 67,75 ****
  	}
  
! 	/// Returns true if the two values are equal within some tolerance, 
! 	/// using a combination of absolute and relative (epsilon is scaled 
! 	/// by the magnitudes of the values) tolerance, depending on whether 
  	/// both values are both less than 1.
! 	/// See Christer Ericson's GDC 2005 presentation: 
  	/// http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt
  	inline bool areEqual(real x, real y)
--- 68,76 ----
  	}
  
! 	/// Returns true if the two values are equal within some tolerance,
! 	/// using a combination of absolute and relative (epsilon is scaled
! 	/// by the magnitudes of the values) tolerance, depending on whether
  	/// both values are both less than 1.
! 	/// See Christer Ericson's GDC 2005 presentation:
  	/// http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt
  	inline bool areEqual(real x, real y)
***************
*** 98,106 ****
  }
  
! #include "Point3r.h"
! #include "Vec3r.h"
! #include "Rayr.h"
! #include "Matrix44r.h"
! #include "Quaternion.h"
  
  #endif
--- 99,107 ----
  }
  
! //#include "Point3r.h"
! //#include "Vec3r.h"
! //#include "Rayr.h"
! //#include "Matrix44r.h"
! //#include "Quaternion.h"
  
  #endif

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** SpringMotor.h	30 Mar 2005 23:26:23 -0000	1.14
--- SpringMotor.h	30 Nov 2005 06:28:12 -0000	1.15
***************
*** 30,33 ****
--- 30,34 ----
  
  #include "Defines.h"
+ #include "Matrix44r.h"
  #include "Motor.h"
  #include "SpringMotorData.h"
***************
*** 35,41 ****
  namespace opal
  {
! 	/// This is a spring that either 1) operates in 3 dimensions to keep 
! 	/// a Solid in a desired position, or 2) operates in 3 degrees of 
! 	/// rotational motion to keep a Solid in a desired orientation.  It can 
  	/// also do both modes at once.
  	class SpringMotor : public Motor
--- 36,42 ----
  namespace opal
  {
! 	/// This is a spring that either 1) operates in 3 dimensions to keep
! 	/// a Solid in a desired position, or 2) operates in 3 degrees of
! 	/// rotational motion to keep a Solid in a desired orientation.  It can
  	/// also do both modes at once.
  	class SpringMotor : public Motor
***************
*** 46,50 ****
  		virtual ~SpringMotor();
  
! 		/// Initializes the Motor with the given data structure.  If the 
  		/// Solid pointer in the data are NULL, the Motor will do nothing.
  		virtual void OPAL_CALL init(const SpringMotorData& data);
--- 47,51 ----
  		virtual ~SpringMotor();
  
! 		/// Initializes the Motor with the given data structure.  If the
  		/// Solid pointer in the data are NULL, the Motor will do nothing.
  		virtual void OPAL_CALL init(const SpringMotorData& data);
***************
*** 63,114 ****
  		virtual void OPAL_CALL setEnabled(bool e);
  
! 		/// Sets the spring's attach point on the Solid.  This is a local 
  		/// offset point from the Solid's position.
  		virtual void OPAL_CALL setLocalAttachOffset(const Point3r& offset);
  
! 		/// Returns the spring's attach point on the Solid.  This is a local 
  		/// offset point from the Solid's position.
  		virtual const Point3r& OPAL_CALL getLocalAttachOffset()const;
  
! 		/// Sets the spring's attach point on the Solid in global 
  		/// coordinates.
  		virtual void OPAL_CALL setGlobalAttachPoint(const Point3r& p);
  
! 		/// Returns the spring's attach point on the Solid in global 
  		/// coordinates.
  		virtual Point3r OPAL_CALL getGlobalAttachPoint()const;
  
! 		/// Sets the desired position and orientation.  
  		virtual void OPAL_CALL setDesiredTransform(const Matrix44r& transform);
  
! 		/// Sets the desired position.  
  		virtual void OPAL_CALL setDesiredPosition(const Point3r& pos);
  
! 		/// Sets the desired orientation.  
! 		virtual void OPAL_CALL setDesiredOrientation(const Vec3r& forward, 
  			const Vec3r& up, const Vec3r& right);
  
! 		/// Sets the damping constant for linear mode.  
  		virtual void OPAL_CALL setLinearKd(real kd);
  
! 		/// Sets the spring constant for linear mode.  
  		virtual void OPAL_CALL setLinearKs(real ks);
  
! 		/// Returns the damping constant for linear mode.  
  		virtual real OPAL_CALL getLinearKd()const;
  
! 		/// Returns the spring constant for linear mode.  
  		virtual real OPAL_CALL getLinearKs()const;
  
! 		/// Sets the damping constant for angular mode.  
  		virtual void OPAL_CALL setAngularKd(real kd);
  
! 		/// Sets the spring constant for angular mode.  
  		virtual void OPAL_CALL setAngularKs(real ks);
  
! 		/// Returns the damping constant for angular mode.  
  		virtual real OPAL_CALL getAngularKd()const;
  
! 		/// Returns the spring constant for angular mode.  
  		virtual real OPAL_CALL getAngularKs()const;
  
--- 64,115 ----
  		virtual void OPAL_CALL setEnabled(bool e);
  
! 		/// Sets the spring's attach point on the Solid.  This is a local
  		/// offset point from the Solid's position.
  		virtual void OPAL_CALL setLocalAttachOffset(const Point3r& offset);
  
! 		/// Returns the spring's attach point on the Solid.  This is a local
  		/// offset point from the Solid's position.
  		virtual const Point3r& OPAL_CALL getLocalAttachOffset()const;
  
! 		/// Sets the spring's attach point on the Solid in global
  		/// coordinates.
  		virtual void OPAL_CALL setGlobalAttachPoint(const Point3r& p);
  
! 		/// Returns the spring's attach point on the Solid in global
  		/// coordinates.
  		virtual Point3r OPAL_CALL getGlobalAttachPoint()const;
  
! 		/// Sets the desired position and orientation.
  		virtual void OPAL_CALL setDesiredTransform(const Matrix44r& transform);
  
! 		/// Sets the desired position.
  		virtual void OPAL_CALL setDesiredPosition(const Point3r& pos);
  
! 		/// Sets the desired orientation.
! 		virtual void OPAL_CALL setDesiredOrientation(const Vec3r& forward,
  			const Vec3r& up, const Vec3r& right);
  
! 		/// Sets the damping constant for linear mode.
  		virtual void OPAL_CALL setLinearKd(real kd);
  
! 		/// Sets the spring constant for linear mode.
  		virtual void OPAL_CALL setLinearKs(real ks);
  
! 		/// Returns the damping constant for linear mode.
  		virtual real OPAL_CALL getLinearKd()const;
  
! 		/// Returns the spring constant for linear mode.
  		virtual real OPAL_CALL getLinearKs()const;
  
! 		/// Sets the damping constant for angular mode.
  		virtual void OPAL_CALL setAngularKd(real kd);
  
! 		/// Sets the spring constant for angular mode.
  		virtual void OPAL_CALL setAngularKs(real ks);
  
! 		/// Returns the damping constant for angular mode.
  		virtual real OPAL_CALL getAngularKd()const;
  
! 		/// Returns the spring constant for angular mode.
  		virtual real OPAL_CALL getAngularKs()const;
  

Index: Point3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Point3r.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** Point3r.h	18 Apr 2005 22:21:03 -0000	1.13
--- Point3r.h	30 Nov 2005 06:28:12 -0000	1.14
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * 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 files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #ifndef OPAL_POINT3R_H
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * 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 files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #ifndef OPAL_POINT3R_H
***************
*** 34,208 ****
  namespace opal
  {
! 	class Point3r;
! 	inline Point3r operator+(const Point3r &u, const Vec3r &v);
! 	inline Point3r operator-(const Point3r &u, const Vec3r &v);
! 	inline Vec3r operator-(const Point3r &u, const Point3r &v);
! 	inline Point3r operator*(const Point3r &v, real scalar);
! 	i...
 
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