[simspark-cvs] simspark/spark/salt Makefile.am,NONE,1.1 bounds.cpp,NONE,1.1 bounds.h,NONE,1.1 define

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Update of /cvsroot/simspark/simspark/spark/salt
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9485

Added Files:
	Makefile.am bounds.cpp bounds.h defines.h fileclasses.cpp 
	fileclasses.h frustum.cpp frustum.h gmath.h matrix.cpp 
	matrix.h path.cpp path.h plane.cpp plane.h random.h rect.h 
	salt.h sharedlibrary.cpp sharedlibrary.h tvector.h vector.h 
Log Message:

--- NEW FILE: path.cpp ---
/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: path.cpp,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "path.h"

#include <boost/tokenizer.hpp>

using namespace std;
using namespace salt;

Path::Path(const std::string &path)
{
	Set(path);
}

void Path::Set(const std::string &path)
{
	if (path[0] == '/' || path[0] == '\\')
	{
		mIsAbsolute = true;
	}
	else
	{
		mIsAbsolute = false;
	}

	Tokenize(path);
}

std::string Path::GetCleanPath(const std::string &sep) const
{
	string path;

	if (mIsAbsolute)
	{
		path += sep;
	}

	unsigned int count = 0;
	for (TStringList::const_iterator i = mPathComponents.begin(); i != mPathComponents.end(); ++i)
	{
		path += (*i);
		++count;
		if ( count != mPathComponents.size() )
		{
			path += sep;
		}
	}

	return path;
}

bool Path::IsAbsolute() const
{
	return mIsAbsolute;
}

bool Path::IsEmpty() const
{
	return mPathComponents.empty();
}

const std::string& Path::Front() const
{
	return mPathComponents.front();
}

void Path::PopFront()
{
	mIsAbsolute = false;
	mPathComponents.pop_front();
}

const std::string& Path::Back() const
{
	return mPathComponents.back();
}

void Path::PopBack()
{
	mPathComponents.pop_back();
}

void Path::Tokenize(const std::string &path)
{
	typedef boost::tokenizer<boost::char_separator<char> > TTokenizer;
	boost::char_separator<char> sep("/\\");
	TTokenizer	tokens(path, sep);

	for (TTokenizer::iterator i = tokens.begin(); i != tokens.end(); ++i)
	{
		mPathComponents.push_back(*i);
	}
}

--- NEW FILE: fileclasses.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: fileclasses.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

/* this file defines two interfaces- RFile and WFile, that are used to
 * implement classes providing unified file semantics employing
 * different means. Two classes implementing these interfaces are
 * included: Memfile and StdFile.
 * Derived file classes providing access to .zip, .rar and other
 * archives have been implemented as plugins to the fileserver of the
 * zeitgeist library.
 */
#ifndef SALT_FILECLASSES_H
#define SALT_FILECLASSES_H

// #ifdef HAVE_CONFIG_H
// #include <config.h>
// #endif

#include <cstdio>
#include <cstdlib>

namespace salt
{

/** RFile defines an interface and some basic support functions for
  * classes providing read only file services
  */
class RFile
{
public:
    virtual ~RFile() {};

    // a bunch of pure virtual functions which a file must implement

    /** opens the file fn in the specified mode. The implementation of
     *     the namespace and mode semantics ist up to derived classes
     */
    virtual bool    Open(const char*fn=NULL, char*mode="rb") = 0;

    /** closes a previously opened file */
    virtual void    Close() = 0;

    /** releases any occupied ressources used by the file. The
     *     semantic is up to the derived classes
     */
    virtual void    Destroy() = 0;

    /** returns a non zero value if the file pointer is at the end of
     *     the file
     */
    virtual int             Eof() = 0;

    /** returns the current file pointer position */
    virtual long    Tell() = 0;

    /** copies the current file pointer position to pos and returns
     *     true on success
     */
    virtual int             GetPos(long *pos) = 0;

    /** sets the file pointer for the file. The new position, measured
     * in bytes, is obtained by adding offset bytes to the position
     * specified by origin.  If origin is set to SEEK_SET, SEEK_CUR, or
     * SEEK_END, the offset is relative to the start of the file, the
     * current position indicator, or end-of-file, respectively.
     */
    virtual int             Seek(long offset, int origin) = 0;

    /** sets the file pointer to the beginning of the file */
    virtual void    Rewind() = 0;

    /** return the size of the file */
    virtual long    Size() = 0;

    /** reads in at most one less than n characters from the file and
     * stores them into buffer. A '\0' is stored after the last character in
     * the buffer.
     */
    virtual char*   Gets(char*buffer,int n) = 0;

    /** reads the next character from the file returns it as an int r
     * EOF on end of file or error.
     */
    virtual int             Getc() = 0;

    /** returns a handle identifying the file. The semantics of this
     * handle depends on the subclass, implementing this method
     */
    virtual void*   GetHandle() = 0;

    /** reads reads count elements of data, each size bytes long,
     * storing them in the specified buffer
     */
    virtual size_t  Read(void *buffer,size_t size,size_t count) = 0;

    /** reads count bytes of data, storing them in the specified buffer */
    virtual size_t  Read(void *buffer,size_t bytes) = 0;

    /** reads a 2 byte int from the file in Intel ordering */
    int Igetw()
    {
        int b1, b2;

        if ((b1 = Getc()) != EOF)
            if ((b2 = Getc()) != EOF)
                return ((b2 << 8) | b1);
        return EOF;
    }

    /** reads a 4 byte int from the file in Intel ordering */
    long Igetl()
    {
        int b1, b2, b3, b4;

        if ((b1 = Getc()) != EOF)
            if ((b2 = Getc()) != EOF)
                if ((b3 = Getc()) != EOF)
                    if ((b4 = Getc()) != EOF)
                        return (((long)b4<<24) | ((long)b3<<16) | ((long)b2<<8) | (long)b1);
        return EOF;
    }

    /** reads a 2 byte int from the file in Motorola ordering */
    int Mgetw()
    {
        int b1, b2;

        if ((b1 = Getc()) != EOF)
            if ((b2 = Getc()) != EOF)
                return ((b1 << 8) | b2);
        return EOF;
    }

    /** reads a 4 byte int from the file in Motorola ordering */
    long Mgetl()
    {
        int b1, b2, b3, b4;

        if ((b1 = Getc()) != EOF)
            if ((b2 = Getc()) != EOF)
                if ((b3 = Getc()) != EOF)
                    if ((b4 = Getc()) != EOF)
                        return (((long)b1<<24) | ((long)b2<<16) | ((long)b3<<8) | (long)b4);
        return EOF;
    }
};

/** Memfile implements the RFile interface using an inmemory
 *     buffer. On open() a file is completely read into the buffer and
 *     from there on served from memory.
 */
class MemFile : public RFile
{
public:
    MemFile(const char*fn=NULL, char*mode="rb");
    MemFile(FILE*f);
    MemFile(RFile *f);
    ~MemFile();

    bool    Open(const char*fn=NULL, char*mode="rb");
    bool    Open(void*buffer, long s);
    void    Close();
    void    Destroy();

    int             Eof();
    long    Tell();
    int             GetPos(long *pos);
    int             Seek(long offset, int origin);
    void    Rewind();
    long    Size();

    char*   Gets(char*buffer,int n);
    int             Getc();

    void*   GetHandle()     {       return mHandle; }

    size_t  Read(void *buffer,size_t size,size_t count);
    size_t  Read(void *buffer,size_t count) {       return Read(buffer, 1,count);   }
private:

    /** the file handle */
    void*                   mHandle;

    /** a pointer to the buffer holding the file */
    unsigned char*  mCharHandle;

    /** the size of the file in bytes */
    long                    mSize;

    /** the current file pointer position */
    long                    mPosition;
};

/** WFile extends the RFile interface with methods for writing to a
 * file and related support funtions
 */
class WFile : public RFile
{
public:
    virtual ~WFile() {};

    /** writes a string without the trailing '\0' */
    virtual int     Puts(const char*s) = 0;

    /** writes a single character */
    virtual int     Putc(int c) = 0;

    /** writes a 2 byte int in Intel ordering */
    int Iputw(int w)
    {
        int b1, b2;

        b1 = (w & 0xFF00) >> 8;
        b2 = w & 0x00FF;

        if (Putc(b2)==b2)
            if (Putc(b1)==b1)
                return w;
        return EOF;
    }

    /** writes count elements of data from buffer, each size bytes long */
    virtual size_t  Write(void *buffer,size_t size,size_t count) = 0;

    /** writes count bytes of data from buffer */
    virtual size_t  Write(void *buffer,size_t count) = 0;

    /** writes a 4 byte int in Intel ordering */
    long Iputl(long l)
    {
        int b1, b2, b3, b4;

        b1 = (int)((l & 0xFF000000L) >> 24);
        b2 = (int)((l & 0x00FF0000L) >> 16);
        b3 = (int)((l & 0x0000FF00L) >> 8);
        b4 = (int)l & 0x00FF;

        if (Putc(b4)==b4)
            if (Putc(b3)==b3)
                if (Putc(b2)==b2)
                    if (Putc(b1)==b1)
                        return l;
        return EOF;
    }

    /** writes a 2 byte int in Motorola ordering */
    int Mputw(int w)
    {
        int b1, b2;

        b1 = (w & 0xFF00) >> 8;
        b2 = w & 0x00FF;

        if (Putc(b1)==b1)
            if (Putc(b2)==b2)
                return w;
        return EOF;
    }

    /** writes a 4 byte in in Motorola ordering */
    long Mputl(long l)
    {
        int b1, b2, b3, b4;

        b1 = (int)((l & 0xFF000000L) >> 24);
        b2 = (int)((l & 0x00FF0000L) >> 16);
        b3 = (int)((l & 0x0000FF00L) >> 8);
        b4 = (int)l & 0x00FF;

        if (Putc(b1)==b1)
            if (Putc(b2)==b2)
                if (Putc(b3)==b3)
                    if (Putc(b4)==b4)
                        return l;
        return EOF;
    }
};

/** StdFile implements the WFile interface using the standard file system */
class StdFile : public WFile
{
public:
    StdFile(FILE*f);
    StdFile(const char*fn=NULL, char*mode="rb");
    virtual ~StdFile();

    bool    Open(const char*fn=NULL, char*mode="rb");
    void    Close();
    void    Destroy();

    int             Eof();
    long    Tell();
    int             GetPos(long *pos);
    int             Seek(long offset, int origin);
    void    Rewind();
    long    Size();

    char*   Gets(char*buffer,int n);
    int             Getc();

    int             Puts(const char*s);
    int             Putc(int c);

    size_t  Read(void *buffer,size_t size,size_t count);
    size_t  Read(void *buffer,size_t count) {       return Read(buffer,1,count);    }

    size_t  Write(void *buffer,size_t size,size_t count);
    size_t  Write(void *buffer,size_t count)        {       return Write(buffer,1,count);   }

    void*   GetHandle();

protected:
    /** the standard file handle */
    FILE    *mHandle;
};

} //namespace salt

#endif //FILECLASSES_H__

--- NEW FILE: matrix.cpp ---
/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: matrix.cpp,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "matrix.h"

#include <cstdio>

using namespace salt;

float Matrix::mIdentity[16]=
{
	1.0, 0.0, 0.0, 0.0,
	0.0, 1.0, 0.0, 0.0,
	0.0, 0.0, 1.0, 0.0,
	0.0, 0.0, 0.0, 1.0
};

void Matrix::Dump() const
{
	printf("%f %f %f %f\n", m[0], m[4], m[8], m[12]);
	printf("%f %f %f %f\n", m[1], m[5], m[9], m[13]);
	printf("%f %f %f %f\n", m[2], m[6], m[10], m[14]);
	printf("%f %f %f %f\n", m[3], m[7], m[11], m[15]);
}

void Matrix::LookAt(const Vector3f & inEye, const Vector3f & inDirection, const Vector3f & inUp)
{
	Vector3f forward	= inDirection.Normalized();
	Vector3f up			= inUp.Normalized();
	Vector3f right		= forward.Cross(up);
	right.Normalize();

	up = right.Cross(forward);

	// Make inverse rotation matrix using right, forward, up vectors
	Set(	   right.x(),  right.y(),	  right.z(),	0.0f,
				  up.x(),	 up.y(),		 up.z(),	0.0f,
			 forward.x(), forward.y(),  forward.z(),	0.0f,
				  0.0f,		  0.0f,		  0.0f, 1.0f);

	Pos() = Rotate(-inEye);
}

/*!	Calculate an attenuation matrix.
	pos = world space position of light
	radius = radius of light (used for distance attenuation)
*/
void Matrix::CalcAttenuationNoRotation(const Vector3f &pos, float radius)
{
	Matrix tmp1, tmp2;

	// translate to 'light space' ... no rotation needed
	tmp1.Translation(-pos);

	// create proper scaling matrix
	float invrad = 0.5f / radius;

	tmp2.Identity();
	tmp2(0,0) = invrad;
	tmp2(1,1) = invrad;
	tmp2(2,2) = invrad;

	Identity ();
	Translation (Vector3f(0.5f, 0.5f, 0.5f));

	*this *= tmp2 * tmp1;
}

void Matrix::CalcAttenuationWithRotation(const Matrix &lightWorldMatrix, float radius)
{
	Matrix tmp1, tmp2;

	// translate to 'light space' ... this time with rotation
	tmp1 = lightWorldMatrix;
	tmp1.InvertRotationMatrix();

	// create proper scaling matrix
	float invrad = 0.5f / radius;

	tmp2.Identity();
	tmp2(0,0) = invrad;
	tmp2(1,1) = invrad;
	tmp2(2,2) = invrad;

	Identity ();
	Translation (Vector3f(0.5f, 0.5f, 0.5f));

	*this *= tmp2 * tmp1;
}

void Matrix::CalcInfiniteProjection(float width, float height, float fov, float zNear)
{
	const float halfWidth	= zNear * (float)tan(gDegToRad(fov*0.5f));
	const float halfHeight	= halfWidth * (height/width);

	CalcInfiniteFrustum(-halfWidth, halfWidth, -halfHeight, halfHeight, zNear);
}

void Matrix::CalcInfiniteFrustum(float left, float right, float bottom, float top, float zNear)
{
	Identity();

	El(0,0) = (2*zNear) / (right - left);
	El(0,2) = (right + left) / (right - left);

	El(1,1) = (2*zNear) / (top - bottom);
	El(1,2) = (top + bottom) / (top - bottom);

    // nudge infinity in just slightly for lsb slop
    const float nudge = 1 - 1.0 / (1<<23);

	El(2,2) = -1  * nudge;
	El(2,3) = -2*zNear * nudge;

	El(3,2) = -1;
	El(3,3) = 0;
}

void Matrix::CalcSpotLight(const Matrix &lightWorldTransform, float fov, float width, float height, float zNear)
{
	Matrix scale, proj, space;
	Vector3f halfVector(0.5f, 0.5f, 0.5f);

	Identity ();
	Translation (halfVector);

	scale.Identity ();
	scale.Scale (halfVector);

	// create projection matrix
	proj.CalcInfiniteProjection(width, height, fov, zNear);

	space = lightWorldTransform;
	space.InvertRotationMatrix();

	// so, we transform first into light space, then project, then scale and
	// translate (this)
	*this *= scale * proj * space;
}

bool Matrix::IsEqual(const Matrix& matrix) const
{
	for (int i=0; i<16; ++i)
		if (matrix.m[i] != m[i]) return false;

	return true;
}

--- NEW FILE: rect.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: rect.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef SALT_RECT_H
#define SALT_RECT_H

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include "defines.h"

namespace salt
{

/** this class provides rectangle in two dimensional space */
class Rect
{
public:
    /** constucts undefined Rect for performance reasons */
    f_inline                Rect()                                                                                                  { }
    /** copy constructs a Rect from inOther */
    f_inline                Rect(const Rect &inOther)                                                               : mLeft(inOther.Left()), mTop(inOther.Top()), mRight(inOther.Right()), mBottom(inOther.Bottom()) { }

    /** constructs a Rect from the coordinates inLeft, inTop, inRight and inBottom */
    f_inline                Rect(int inLeft, int inTop, int inRight, int inBottom)  : mLeft(inLeft), mTop(inTop), mRight(inRight), mBottom(inBottom) { }

    /** sets up a Rect from the coordinates inLeft, inTop, inRight and inBottom */
    f_inline void   Set(int inLeft, int inTop, int inRight, int inBottom)   { mLeft=inLeft; mTop=inTop;                     mRight=inRight;                                                 mBottom=inBottom; }

    // member access
    /** returns the left boundary of the rectangle */
    f_inline int    Left() const                    { return mLeft; }

    /** return the right boundary of the rectangle */
    f_inline int    Right() const                   { return mRight; }

    /** return the top boundary of the rectangle */
    f_inline int    Top() const                     { return mTop; }

    /** return the bottom boundary of the rectangle */
    f_inline int    Bottom() const                  { return mBottom; }

    /** calculates the width of the rectangle */
    f_inline int    Width() const                   { return mRight-mLeft; }

    /** calculates the height of the rectangle */
    f_inline int    Height() const                  { return mBottom-mTop; }

    /// Actions
    /** normalizes the rectangle coordinates, i.e. assures that right>left and top>bottom. */
    f_inline void   Normalize()                                                                             { if (mRight < mLeft) gSwap(mLeft, mRight); if (mBottom < mTop) gSwap(mTop, mBottom); }

    /** widens the rectangle about inDelta */
    f_inline void   Widen(int inDelta)                                                              { mLeft-=inDelta; mTop-=inDelta; mRight+=inDelta; mBottom+=inDelta;     }

    /** widens the rectangle horizontally about inDeltaWidth and
     * vertically about inDeltaHeight
     */
    f_inline void   Widen(int inDeltaWidth, int inDeltaHeight)              { mRight+=inDeltaWidth; mBottom+=inDeltaHeight; }

    /** widens the rectangles left boundary about inDeltaleft, the right
     * boundary about inDeltaRigt, the top boundary about inDeltaTop
     * and the bottom boundary about inDeltaBottom
     */
    f_inline void   Widen(int inDeltaLeft, int inDeltaTop, int inDeltaRight, int inDeltaBottom)     { mLeft-=inDeltaLeft; mTop-=inDeltaTop; mRight+=inDeltaRight; mBottom+=inDeltaBottom;           }

    /** shrinks the rectangle about inDelta */
    f_inline void   Shrink(int inDelta)                                                             { mLeft+=inDelta;       mTop+=inDelta;  mRight-=inDelta; mBottom-=inDelta;      }

    /** shrinks the rectangle horizontally about inDeltaWidth and
     * vertically about inDeltaHeight
     */
    f_inline void   Shrink(int inDeltaWidth, int inDeltaHeight)             { mRight-=inDeltaWidth; mBottom-=inDeltaHeight; }

    /** shrinks the rectangles left boundary about inDeltaleft, the right
     * boundary about inDeltaRigt, the top boundary about inDeltaTop
     * and the bottom boundary about inDeltaBottom
     */
    f_inline void   Shrink(int inDeltaLeft, int inDeltaTop, int inDeltaRight, int inDeltaBottom) { mLeft+=inDeltaLeft; mTop+=inDeltaTop; mRight-=inDeltaRight; mBottom-=inDeltaBottom;              }

    /** moves the rectangle horizontally inDeltaX and vertically inDeltaY */
    f_inline void   Offset(int inDeltaX, int inDeltaY)                              { mLeft+=inDeltaX;      mTop+=inDeltaY; mRight+=inDeltaX;       mBottom+=inDeltaY; }

    /** returns true if this rectangle intersects with the rectangle b */
    f_inline bool   Intersects(const Rect &b) const                                 { return !(mLeft > b.mRight || mRight < b.mLeft || mTop > b.mBottom || mBottom < b.mTop); }

    // assignment

    /** sets up the rectangle from inOther */
    f_inline Rect&          operator=(const Rect &inOther)                                                          { mLeft=inOther.Left(); mTop=inOther.Top();     mRight=inOther.Right(); mBottom=inOther.Bottom(); return *this; }

    // comparison

    /** returns true if inRhs is equal to this rectangle */
    f_inline bool           operator==(const Rect &inRHS) const                                                     { return (mLeft==inRHS.Left()) && (mTop==inRHS.Top()) && (mRight==inRHS.Right()) && (mBottom==inRHS.Bottom()); }

    /** returns true if inRhs differs from this rectangle */
    f_inline bool           operator!=(const Rect &inRHS) const                                                     { return (mLeft!=inRHS.Left()) || (mTop!=inRHS.Top()) || (mRight!=inRHS.Right()) || (mBottom!=inRHS.Bottom()); }

private:
    /** the left boundary */
    int mLeft;

    /** the top boundary */
    int mTop;

    /** the right boundary */
    int mRight;

    /** the bottom boundary */
    int mBottom;
};

} //namespace salt

#endif //SALT_RECT_H

--- NEW FILE: bounds.cpp ---
/* -*- mode: c++ -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2003 Koblenz University
   $Id: bounds.cpp,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "bounds.h"

#include <cstdio>

using namespace salt;

void AABB3::TransformBy(Matrix& matrix)
{
	AABB3	bb;

	Vector3f v(minVec);
	Vector3f w(maxVec);

	bb.Encapsulate(matrix.Transform(Vector3f(v.x(),v.y(),v.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(w.x(),v.y(),v.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(v.x(),w.y(),v.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(w.x(),w.y(),v.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(v.x(),v.y(),w.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(w.x(),v.y(),w.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(v.x(),w.y(),w.z())));
	bb.Encapsulate(matrix.Transform(Vector3f(w.x(),w.y(),w.z())));

	minVec.Set(bb.minVec);
	maxVec.Set(bb.maxVec);
}

void BoundingSphere::Encapsulate(const Vector3f &v)
{
	// TODO : check if this is correct
	Vector3f diff = v - center;
	float	dist = diff.Dot(diff);

	if (dist > radiusSq)
	{
		Vector3f diff2	= diff.Normalized() * radius;
		Vector3f delta	= 0.5f * (diff - diff2);
		center		   += delta;
		radius	       += delta.Length();
		radiusSq		= radius*radius;
	}
}

bool BoundingSphere::Intersects(const AABB3 &b) const
{
	float distance = 0.0f;

	for (int t=0; t<3; t++)
	{
		if (center[t] < b.minVec[t]) 
		{
			distance += (center[t] - b.minVec[t]) * (center[t] - b.minVec[t]);
			if (distance>radiusSq) return false;
		}
		else
		if (center[t]>b.maxVec[t])
		{
			distance+=(center[t] - b.maxVec[t]) * (center[t] - b.maxVec[t]);
			if (distance>radiusSq) return false;
		}
	}

	return true;
}

bool BoundingSphere::Contains(const AABB3 &b) const
{
	float distance = 0.0f;

	for (int t=0; t<3; t++)
	{
		if (center[t]<b.maxVec[t]) 
			distance+=(center[t] - b.maxVec[t]) * (center[t] - b.maxVec[t]);
		else
		if (center[t]>b.minVec[t])
			distance+=(center[t] - b.minVec[t]) * (center[t] - b.minVec[t]);

		if (distance>radiusSq) return false;
	}
	return true;
}

--- NEW FILE: Makefile.am ---
if DEBUG
pkglib_LTLIBRARIES = libsalt_debug.la
libsalt_debug_la_SOURCES = $(sources)
libsalt_debug_la_CXXFLAGS = -O -g -W -Wall
libsalt_debug_la_LIBADD = @SALT_LIBADD@ ${top_srcdir}/utility/libobj/liblibobject.la
libsalt_debug_la_LDFLAGS = -version-info @salt_version_info@
else
pkglib_LTLIBRARIES = libsalt.la
libsalt_la_SOURCES = $(sources)
libsalt_la_CXXFLAGS = -O2
libsalt_la_LIBADD = @SALT_LIBADD@ ${top_srcdir}/utility/libobj/liblibobject.la
libsalt_la_LDFLAGS = -version-info @salt_version_info@
endif

bin_SCRIPTS = salt-config

## define include directory local to the pkgincludedir
libpkgincludedir = $(includedir)/@PACKAGE@/salt

sources = \
bounds.cpp  \
fileclasses.cpp  \
frustum.cpp  \
matrix.cpp  \
path.cpp  \
plane.cpp \
gcc/sharedlibrary.cpp

libpkginclude_HEADERS = \
bounds.h   \
fileclasses.h  \
gmath.h   \
path.h   \
random.h \
salt.h \
tvector.h \
defines.h \
frustum.h \
matrix.h \
plane.h \
rect.h \
sharedlibrary.h \
vector.h

--- NEW FILE: tvector.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: tvector.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.

   TVector is a template class for vector implementations. It abstracts away
   the number of elements and their type.

   TVector2 is a 2D version
   TVector3 is a 3D version

   HISTORY:
        12.08.2002 MK
          - initial version

*/
#ifndef SALT_TVECTOR_H
#define SALT_TVECTOR_H

// #ifdef HAVE_CONFIG_H
// #include <config.h>
// #endif

#include "defines.h"
#include "gmath.h"
#include <iostream>

namespace salt
{

/**  TVector is a template class for vector implementations. It
 *  abstracts away the number of elements and their type.
 */
template <typename DATATYPE, int ELEMENTS, typename TYPE>
class TVector
{
    //
    // functions
    //
public:
    TVector() {}

    // accessors

    /** returns a reference to a row of the vector */
    f_inline DATATYPE& operator[](int row)
    { return El(row); }

    /** returns a constant reference to a row of a vector */
    f_inline const DATATYPE& operator[](int row) const
    { return El(row); }

    /** returns a reference to a row of a vector */
    f_inline DATATYPE& Get(int row) { return El(row); }

    /** returns a constant reference to a row of a vector */
    f_inline const DATATYPE& Get(int row) const { return El(row); }

    // Direct pointer access to the data member ... use with care!!!

    /** copies another vector 'copy' */
    f_inline const TYPE& SetData(const DATATYPE *copy);

    /** return a pointer to the encapsulated vector */
    f_inline DATATYPE* GetData()
    { return mData; }

    // Output

    /** prints the contents of vector to stdout */
    void Dump() const;

    /** fills all components of the vector with value 'fill' */
    f_inline const TYPE& Fill(const DATATYPE& fill);

    /** sets all components of the vector to 0 */
    f_inline TYPE& Zero();

    // operators

    /** calculates this VECTOR + VECTOR */
    f_inline const TYPE operator+(const TYPE &v) const;

    /** calculates VECTOR - VECTOR*/
    f_inline const TYPE operator-(const TYPE &v) const;

    /** calculates VECTOR * VECTOR */
    f_inline const TYPE operator*(const DATATYPE &v) const;

    /** calculates VECTOR / SCALAR */
    f_inline const TYPE operator/(const DATATYPE &v) const;

    /** add another vector */
    f_inline TYPE& operator+=(const TYPE &v);

    /** substracts another vector */
    f_inline TYPE& operator-=(const TYPE &v);

    /** multiplies another vector */
    f_inline TYPE& operator*=(const DATATYPE &v);

    /** divides another vector */
    f_inline TYPE& operator/=(const DATATYPE &v);

    /** returns the negate of this vector */
    f_inline TYPE operator-() const;

    /** returns true if this vector and v are equal */
    f_inline bool operator==(const TYPE& v)const;

    /** returns true if this vector and v are not equal */
    f_inline bool operator!=(const TYPE& v)const;

    /** returns the dot product from this vector and v */
    f_inline DATATYPE Dot(const TYPE& v) const;

    /** normalizes the vector */
    f_inline const TYPE& Normalize();

    /** calculates the normalized vector, not modifying the vector */
    f_inline TYPE Normalized() const;

    /** calculates the squared length of the vector */
    f_inline DATATYPE SquareLength() const;

    /** calculates the length of the vector */
    f_inline DATATYPE Length() const
    { return gSqrt(SquareLength()); }

    /** returns the index of least significant axis */
    f_inline int GetLeastSignificantAxis() const;

    /** returns the index of the most significant axis */
    f_inline int GetMostSignificantAxis() const;

    /** lineary interpolates between this vector and to with an delta increment */
    f_inline TYPE LinearInterpolate(const TYPE& to, float delta) const;

    /** lineary interpolates between this vector and to with an delta
     * increment, returning a normalized vector
     */
    f_inline TYPE NormalizedLinearInterpolate(const TYPE& to, float delta) const
    {
        return LinearInterpolate(to, delta).Normalize();
    }

protected:
    // Copy constructor:
    TVector(const TYPE &v)
    {
        for (int i=0; i<ELEMENTS; i++)
            mData[i] = v[i];
    }

    // Element accessor
    const DATATYPE& El(int index) const
    {
        return mData[index];
    }
    DATATYPE& El(int index)
    {
        return mData[index];
    }

    //
    // members
    //
private:
    DATATYPE mData[ELEMENTS];
};

template <typename DATATYPE, int ELEMENTS, typename TYPE>
std::ostream& operator <<(std::ostream& ost, const TVector<DATATYPE,ELEMENTS,TYPE>& v)
{
    if (ELEMENTS < 1) return ost;
    ost << v[0];
    for (int i=1; i<ELEMENTS; ++i) ost << " " << v[i];
    return ost;
}

/** TVector2 is a two dimensional version of TVector */
template <typename DATATYPE, class TYPE>
class TVector2 : public TVector<DATATYPE, 2, TYPE>
{
public:
    /** constructs an undefined TVector2 */
    TVector2() : TVector<DATATYPE, 2, TYPE>() {};

    /** constructs a TVector2 from x and y */
    TVector2(DATATYPE x, DATATYPE y) : TVector<DATATYPE, 2, TYPE>()
    { Set(x, y); }

    // Element Access operators

    /** returns a reference to the first component */
    f_inline DATATYPE& x()
    { return this->El(0); }

    /** returns a constant reference to the first component */
    f_inline const DATATYPE& x() const
    { return this->El(0); }

    /** returns a reference to the second component */
    f_inline DATATYPE& y()
    { return this->El(1); }

    /** returns a constant reference to the second component */
    f_inline const DATATYPE& y() const
    { return this->El(1); }

    /** sets up the vector from x and y */
    f_inline const TYPE& Set(const DATATYPE& x, const DATATYPE& y)
    {
        this->El(0) = x;
        this->El(1) = y;
        return *static_cast<TYPE*>(this);
    }
};

/** TVector3 is a two dimensional version of TVector */
template <typename DATATYPE, class TYPE>
class TVector3 : public TVector<DATATYPE, 3, TYPE>
{
public:
    /** constructs an undefined TVector3 */
    TVector3() : TVector<DATATYPE, 3, TYPE>() {};

    /** constructs a TVector3 from x,y and z */
    TVector3(const DATATYPE& x, const DATATYPE& y, const DATATYPE& z)
        : TVector<DATATYPE, 3, TYPE>()
    { Set(x, y, z); }

    // Element Access operators

    /** returns a reference to the first component */
    f_inline DATATYPE& x()
    { return this->El(0); }

    /** returns a constant reference to the first component */
    f_inline const DATATYPE& x() const
    { return this->El(0); }

    /** returns a reference to the second component */
    f_inline DATATYPE& y()
    { return this->El(1); }

    /** returns a constant reference to the second component */
    f_inline const DATATYPE& y() const
    { return this->El(1); }

    /** returns a reference to the third component */
    f_inline DATATYPE& z()
    { return this->El(2); }

    /** returns a constant reference to the third component */
    f_inline const DATATYPE& z() const
    { return this->El(2); }

    /** calculates the cross product, returning a new TVector3 */
    const TYPE Cross(const TVector<DATATYPE, 3, TYPE>& v) const
    {
        // Create a new one
        TYPE r;
        r[0] = this->El(1) * v[2] - this->El(2) * v[1];
        r[1] = this->El(2) * v[0] - this->El(0) * v[2];
        r[2] = this->El(0) * v[1] - this->El(1) * v[0];
        return r;
    }

    //
    // Set operator
    //

    /** sets up the vector from x,y and z */
    const TYPE& Set(const DATATYPE& x, const DATATYPE& y, const DATATYPE& z)
    {
        this->El(0) = x;
        this->El(1) = y;
        this->El(2) = z;
        return *static_cast<TYPE*>(this);
    }

    /** sets up the vector from another TVector3 v */
    const TYPE& Set(const TYPE& v)
    {
        this->El(0) = v.x();
        this->El(1) = v.y();
        this->El(2) = v.z();
        return *static_cast<TYPE*>(this);
    }
};

// Set operator for any vector. Just with a pointer
template <typename DATATYPE, int ELEMENTS, typename TYPE>
inline const TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::SetData(const DATATYPE *copy)
{
    for (int i=0; i<ELEMENTS; i++)
        mData[i] = copy[i];
    return *static_cast<TYPE*>(this);
}

// Output
template <typename DATATYPE, int ELEMENTS, typename TYPE>
inline void TVector<DATATYPE, ELEMENTS, TYPE>::Dump() const
{
    for (int i=0; i<ELEMENTS; i++)
        std::cout << mData[i] << " ";
    std::cout << "\n";
}

// fill vector with value 'fill'
template <typename DATATYPE, int ELEMENTS, class TYPE>
f_inline const TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::Fill(const DATATYPE& fill)
{
    for (int c=0; c < ELEMENTS; c++)
        mData[c] = fill;
    return *static_cast<TYPE*>(this);
}

// fill vector with zeros
template <typename DATATYPE, int ELEMENTS, class TYPE>
f_inline TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::Zero()
{
    for (int c=0; c < ELEMENTS; c++)
        mData[c] = DATATYPE(0);
    return *static_cast<TYPE*>(this);
}

// DATATYPE * vector
template <typename DATATYPE, int ELEMENTS, class TYPE>
f_inline const TYPE operator*(const DATATYPE& f, const TVector<DATATYPE, ELEMENTS, TYPE>& vec)
{
    return vec * f;
}

// vector addition
// this + v return new Vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline const TYPE TVector<DATATYPE, ELEMENTS, TYPE>::operator+(const TYPE& v) const
{
    TYPE r;
    for (int c=0; c < ELEMENTS; c++)
        r[c]=mData[c] + v[c];
    return r;
}

// vector subtraction
// this - v return new Vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline const TYPE TVector<DATATYPE, ELEMENTS, TYPE>::operator-(const TYPE& v) const
{
    TYPE r;
    for (int c=0; c < ELEMENTS; c++)
        r[c]=mData[c] - v[c];
    return r;
}

// scale
// this * DATATYPE return new Vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline const TYPE TVector<DATATYPE, ELEMENTS, TYPE>::operator*(const DATATYPE& v) const
{
    TYPE r;
    for (int c=0; c < ELEMENTS; c++)
        r[c]=mData[c] * v;
    return r;
}

// division
// this / DATATYPE return new Vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline const TYPE TVector<DATATYPE, ELEMENTS, TYPE>::operator/(const DATATYPE& v) const
{
    TYPE r;
    for (int c=0; c < ELEMENTS; c++)
        r[c]=mData[c] / v;
    return r;
}

// this += v returns reference to first vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::operator+=(const TYPE& v)
{
    for (int c=0; c<ELEMENTS; c++)
        mData[c] += v[c];
    return *static_cast<TYPE*>(this);
}

// this -= v returns reference to first vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::operator-=(const TYPE& v)
{
    for (int c=0; c<ELEMENTS; c++)
        mData[c] -= v[c];
    return *static_cast<TYPE*>(this);
}

// this *= DATATYPE returns reference to first vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::operator*=(const DATATYPE& v)
{
    for (int c=0; c<ELEMENTS; c++)
        mData[c] *= v;
    return *static_cast<TYPE*>(this);
}

// this /= DATATYPE returns reference to first vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::operator/=(const DATATYPE& v)
{
    for (int c=0; c<ELEMENTS; c++)
        mData[c] *= v;
    return *static_cast<TYPE*>(this);
}

// unary minus
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE TVector<DATATYPE, ELEMENTS, TYPE>::operator-() const
{
    TYPE r;
    for (int c=0; c < ELEMENTS; c++)
        r[c] = -mData[c];
    return r;
}

// equality
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline bool TVector<DATATYPE, ELEMENTS, TYPE>::operator==(const TYPE& v) const
{
    return (0==memcmp(this,& v, sizeof(*this)));
}

// inequality
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline bool TVector<DATATYPE, ELEMENTS, TYPE>::operator!=(const TYPE& v) const
{
    return (0!=memcmp(this,& v, sizeof(*this)));
}

// generic dot product
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline DATATYPE TVector<DATATYPE, ELEMENTS, TYPE>::Dot(const TYPE& v) const
{
    DATATYPE r = mData[0] * v[0];
    for (int c=1; c < ELEMENTS; c++)
        r += mData[c] * v[c];
    return r;
}

// Normalize vector
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline const TYPE& TVector<DATATYPE, ELEMENTS, TYPE>::Normalize()
{
    DATATYPE length             = Length();
    DATATYPE lengthInv  = DATATYPE(DATATYPE(1) / length);
    for (int c=0; c<ELEMENTS; c++)
        mData[c] *= lengthInv;
    return *static_cast<TYPE*>(this);
}

template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE TVector<DATATYPE, ELEMENTS, TYPE>::Normalized() const
{
    TYPE r;
    DATATYPE length             = Length();
    DATATYPE lengthInv  = DATATYPE(DATATYPE(1) / length);
    for (int c=0; c<ELEMENTS; c++)
        r[c] = mData[c] * lengthInv;
    return r;
}

// Squared length determination:
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline DATATYPE TVector<DATATYPE, ELEMENTS, TYPE>::SquareLength() const
{
    DATATYPE r = mData[0] * mData[0];
    for (int c=1; c<ELEMENTS; c++)
        r += mData[c] * mData[c];
    return r;
}

// Linear Interpolate. Interpolated from one vector to the other
template <typename DATATYPE, int ELEMENTS, typename TYPE>
f_inline TYPE TVector<DATATYPE, ELEMENTS, TYPE>::LinearInterpolate(const TYPE& to, float t) const
{
    float it = 1.0f - t;
    TYPE r;
    for (int c=0; c<ELEMENTS; c++)
        r[c] = mData[c] * it + to[c] * t;
    return r;
}

} //namespace salt

#endif //SALT_TVECTOR_H

--- NEW FILE: path.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: path.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.

   Path

   HISTORY:
                13.06.2002 MK
                        - initial version
                31.08.2002 MK
                        - moved to salt
*/
#ifndef SALT_PATH_H
#define SALT_PATH_H

#ifdef HAVE_CONFIG_H
# ifdef PACKAGE_BUGREPORT
#  undef PACKAGE_BUGREPORT
# endif
# ifdef PACKAGE_NAME
#  undef PACKAGE_NAME
# endif
# ifdef PACKAGE_STRING
#  undef PACKAGE_STRING
# endif
# ifdef PACKAGE_TARNAME
#  undef PACKAGE_TARNAME
# endif
# ifdef PACKAGE_VERSION
#  undef PACKAGE_VERSION
# endif
#include "config.h"
#endif

#include <string>
#include <list>

namespace salt
{

/** This class serves as a helper for path strings within the object
  *     hierarchy. It is capable of cleaning paths and separating a path
  *     into path components.
  */
class Path
{
    //
    // types
    //
public:
    typedef std::list<std::string>      TStringList;

    //
    // functions
    //
public:

    /** constructs a path object from a string, using the Set
     * method
     */
    Path(const std::string &path = "");

    /** Sets the managed path expression. The path gets tokenized
     *  and can be read element by element using Back(), Front(),
     *  PopBack() and PopFront()
     */
    void Set(const std::string &path);

    /** returns true if the managed path expression denotes an
     * absoulute path, i.e. has a leading slash
     */
    bool IsAbsolute() const;

    /** returns the first path component */
    const std::string& Front() const;

    /** returns and removes the first path component */
    void PopFront();

    /** returns the last path component */
    const std::string& Back() const;

    /** returns and removes the last path component */
    void PopBack();

    /** returns true, if no path components remain, i.e. all path
     * components are popped
     */
    bool IsEmpty() const;

    /** returns a cleaned path expression, removing superfluous
     * separators
     */
    std::string GetCleanPath(const std::string &sep = "/") const;

private:
    Path(const Path &obj);
    Path& operator=(const Path &obj);

    /** tokenizes the path components */
    void Tokenize(const std::string &path);

    //
    // members
    //
public:
protected:
    /** the list of tokenized path components */
    TStringList mPathComponents;

    /** indicates an absolute path expression */
    bool                mIsAbsolute;
private:
};

} //namespace salt

#endif //SALT_PATH_H

--- NEW FILE: bounds.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: bounds.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef SALT_BOUNDS_H
#define SALT_BOUNDS_H

// #ifdef HAVE_CONFIG_H
// #include <config.h>
// #endif

#include "defines.h"
#include "matrix.h"
#include "vector.h"

#include <cfloat>

namespace salt
{

/** AABB3 provides an axis aligned three dimensional bounding box */
class AABB3
{
public:
    // constructors

    /** constructs an empty bounding box */
    f_inline AABB3() { Init(); }

    /** constructs a bounding box encapsulating mn and mx */
    f_inline AABB3(const Vector3f &mn, const Vector3f &mx)
    { Init(); Encapsulate(mn); Encapsulate(mx); }

    // inline functions

    /** sets minVec and maxVec to describe an empty bounding box */
    f_inline void Init()
    { minVec.Set(FLT_MAX, FLT_MAX, FLT_MAX);
      maxVec.Set(-FLT_MAX, -FLT_MAX, -FLT_MAX);
    }

    /** encapsulates the Vector v, growing the box if necessary */
    f_inline void Encapsulate(const Vector3f &v)
    { minVec.x() = gMin(minVec.x(), v.x());
      minVec.y() = gMin(minVec.y(), v.y());
      minVec.z() = gMin(minVec.z(), v.z());
      maxVec.x() = gMax(maxVec.x(), v.x());
      maxVec.y() = gMax(maxVec.y(), v.y());
      maxVec.z() = gMax(maxVec.z(), v.z()); }

    /** encapsulates the Vector <x,y,z>, growing the box if necessary */
    f_inline void Encapsulate(const float x, const float y, const float z)
    { minVec.x() = gMin(minVec.x(), x);
      minVec.y() = gMin(minVec.y(), y);
      minVec.z() = gMin(minVec.z(), z);
      maxVec.x() = gMax(maxVec.x(), x);
      maxVec.y() = gMax(maxVec.y(), y);
      maxVec.z() = gMax(maxVec.z(), z); }

    /** encapsulates another box, growing the box if necessary */
    f_inline void Encapsulate(const AABB3 &box)
    { Encapsulate(box.minVec); Encapsulate(box.maxVec);}

    /** grows the box evenly with delta along all axis */
    f_inline void Widen(float delta)
    { minVec.x()-=delta;
      minVec.y()-=delta;
      minVec.z()-=delta;
      maxVec.x()+=delta;
      maxVec.y()+=delta;
      maxVec.z()+=delta;
    }

    /** moves the box along the vector v */
    f_inline void Translate(const Vector3f &v)
    { minVec+=v; maxVec+=v; }

    /** returns true if he box contains the vector v */
    f_inline bool Contains(const Vector3f &v) const
    { return (gInRange(v.x(), minVec.x(), maxVec.x()) &&
              gInRange(v.z(), minVec.z(), maxVec.z()) &&
              gInRange(v.y(), minVec.y(), maxVec.y())); }

    /** returns true if the box contains the box b */
    f_inline bool Contains(const AABB3 &b) const
    { return (Contains(b.minVec) && Contains(b.maxVec)); }

    /** returns true if this box and the box b have some space in common */
    f_inline bool Intersects(const AABB3 &b) const
    { return !(minVec.x() > b.maxVec.x() || maxVec.x() < b.minVec.x() ||
               minVec.y() > b.maxVec.y() || maxVec.y() < b.minVec.y() ||
               minVec.z() > b.maxVec.z() || maxVec.z() < b.minVec.z()); }

    /** calculates the current width of the box */
    f_inline float              GetWidth() const
    { return gAbs(minVec.x()-maxVec.x()); }

    /** calculates the current height of the box */
    f_inline float              GetHeight() const
    { return gAbs(minVec.y()-maxVec.y()); }

    /** calculates the current depth of the box */
    f_inline float GetDepth() const
    { return gAbs(minVec.z()-maxVec.z()); }

    /** calculates the center point of the box */
    f_inline Vector3f   GetMiddle() const
    { return Vector3f((minVec.x()+maxVec.x())*0.5f,
                      (minVec.y()+maxVec.y())*0.5f,
                      (minVec.z()+maxVec.z())*0.5f); }

    /** calculates the distance from the center point to one of the corners,
     *  i.e the radius of the bounding sphere through the center.
     */
    f_inline float          GetRadius() const
    { return ((maxVec-minVec)*0.5).Length(); }      // get distance from middle of bounding box to one of the corners
      // (i.e. radius of bounding sphere through Middle()).

    /* multiplies the box with the given matrix */
    void    TransformBy(Matrix& matrix);

    // attributes

    /** a vector describing the lower corner of the box */
    Vector3f                minVec;

    /** a vector describing the higher corner of the box */
    Vector3f                maxVec;
};

/** AABB2 provides an axis aligned two dimensional bounding box */
class AABB2
{
public:
    // constructors

    /** constructs an empty bounding box */
    f_inline AABB2()
    { Init(); }

    /** constructs a bounding box encapsulating mn and mx */
    f_inline AABB2(const Vector2f &mn, const Vector2f &mx)
    { Init(); Encapsulate(mn); Encapsulate(mx); }

    // inline functions

    /** sets minVec and maxVec to describe an empty bounding box */
    f_inline void Init()
    { minVec.Set(FLT_MAX, FLT_MAX); maxVec.Set(-FLT_MAX, -FLT_MAX); }

    /** encapsulates the Vector v, growing the box if necessary */
    f_inline void Encapsulate(const Vector2f &v)
    { minVec.x() = gMin(minVec.x(), v.x());
      minVec.y() = gMin(minVec.y(), v.y());
      maxVec.x() = gMax(maxVec.x(), v.x());
      maxVec.y() = gMax(maxVec.y(), v.y()); }

    /** encapsulates another box, growing the box if necessary */
    f_inline void Encapsulate(const AABB2 &box)
    { Encapsulate(box.minVec); Encapsulate(box.maxVec);}

    /** grows the box evenly with delta along both axis */
    f_inline void Widen(float delta)
    { minVec.x()-=delta; minVec.y()-=delta; maxVec.x()+=delta; maxVec.y()+=delta; }

    /** moves the box along the vector v */
    f_inline void Translate(const Vector2f &v)
    { minVec+=v; maxVec+=v; }

    /** returns true if he box contains the vector v */
    f_inline bool Contains(const Vector2f &v) const
    { return (gInRange(v.x(), minVec.x(), maxVec.x()) && gInRange(v.y(), minVec.y(), maxVec.y())); }

    /** returns true if the box contains the box b */
    f_inline bool Contains(const AABB2 &b) const
    { return (Contains(b.minVec) && Contains(b.maxVec)); }

    /** returns true if this box and the box b have some space in common */
    f_inline bool Intersects(const AABB2 &b) const
    { return !(minVec.x() > b.maxVec.x() ||
               maxVec.x() < b.minVec.x() ||
               minVec.y() > b.maxVec.y() ||
               maxVec.y() < b.minVec.y());
    }

    /** calculates the current width of the box */
    f_inline float GetWidth() const
    // get width of bounding box
    { return gAbs(minVec.x()-maxVec.x()); }

    /** calculates the current height of the box */
    f_inline float          GetHeight() const
    // get height of bounding box
    { return gAbs(minVec.y()-maxVec.y()); }

    /** calculates the center point of the box */
    f_inline Vector2f       GetMiddle() const
    { return Vector2f((minVec.x()+maxVec.x())*0.5f, (minVec.y()+maxVec.y())*0.5f); }

    /** calculates the distance from the center point to one of the corners,
     *  i.e the radius of the bounding sphere through the center.
     */
    f_inline float          GetRadius() const
    { return ((maxVec-minVec)*0.5).Length(); }

    // attributes

    /** a vector describing the lower corner of the box */
    Vector2f                minVec;

    /** a vector describing the higher corner of the box */
    Vector2f                maxVec;
};

/** BoundingSphere provides a three dimensional sphere */
class BoundingSphere
{
public:
    // constructors

    /** constructs an empty sphere */
    f_inline BoundingSphere()
        : center(Vector3f(0,0,0)), radius(0.0f), radiusSq(0.0f) {}

    /** constructs a sphere around pos with the radius rad */
    f_inline BoundingSphere(const Vector3f &pos, float rad)
        : center(pos), radius(rad), radiusSq(rad*rad) {}

    /** Constructs a bounding sphere
     *  \param pos The position where the sphere is constructed
     *  \param rad is the radius of the sphere
     *  \param radSq is the user supplied square of rad
     */
    f_inline BoundingSphere(const Vector3f &pos, float rad, float radSq)
        : center(pos), radius(rad), radiusSq(radSq)     {}

    // inline functions

    /** encapsulates the vector v in the sphere, growing it if neccesary.
     * this method is fast but not accurate
     */
    f_inline void EncapsulateFast(const Vector3f &v)
    { Vector3f diff=(center - v);   float dist=diff.Dot(diff);
      // not accurate
      if (dist>radiusSq) { radiusSq=dist; radius=gSqrt(dist); }}

    /** returns true if the sphere contains the vector v */
    f_inline bool Contains(const Vector3f &v)
    { return ((center - v).SquareLength() < radiusSq); }

    /** returns true if the sphere contains the sphere s */
    f_inline bool Contains(const BoundingSphere &s) const
    { return (radius >= s.radius) &&
             ((center - s.center).SquareLength() <
              (radius - s.radius) * (radius - s.radius));
    }

    /** returns true if this sphere and the sphere s intersect */
    f_inline bool Intersects(const BoundingSphere &s) const
    { return ((center - s.center).SquareLength() <
              (radius + s.radius) * (radius + s.radius)); }

    // non-inline functions

    /** encapsulates the vector v in the sphere, growing it if neccesary.
     * this method is accurate but slower than EncapsulateFast
     */
    void Encapsulate(const Vector3f &v);

    /** returns true, if the sphere contains the axis aligned bounding box b */
    bool Contains(const AABB3 &b) const;

    /** returns true, if the sphere and the axis aligned bounding box b intersect */
    bool Intersects(const AABB3 &b) const;

    // attributes

    /** describes the center of the sphere */
    Vector3f        center;

    /** describes the radius of the sphere */
    float           radius;

    /** the square of the sphere radius. The value ist either accuratly calculated
     * in the constructor or user supplied and may be inaccurate.
     */
    float           radiusSq;
};

} // namespace salt

#endif // SALT_BOUNDS_H

--- NEW FILE: vector.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: vector.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.

   Here we define/complete the vector definitions of TVector into specific
   vector types (2d float, 3d float, etc...).

   HISTORY:
                12.08.2002 MK
                        - initial version

*/
#ifndef SALT_VECTOR_H
#define SALT_VECTOR_H

// #ifdef HAVE_CONFIG_H
// #include <config.h>
// #endif

#include "tvector.h"
#include <cstdlib>
#include <climits>

namespace salt
{

class Vector2f : public TVector2<float, Vector2f>
{
    //
    // Methods
    //
public:
    /// Construction/Destruction/Assignment
    f_inline        Vector2f()                                      : TVector2<float, Vector2f>() { }
    f_inline        Vector2f(float x, float y)      : TVector2<float, Vector2f>(x, y) { }
    explicit        Vector2f(const float *f)        : TVector2<float, Vector2f>() { SetData(f);  }
    f_inline        Vector2f(const Vector2f &v)     : TVector2<float, Vector2f>(v) { }
    explicit        Vector2f(float f)                       : TVector2<float, Vector2f>() { Fill(f); }

    float           GetAngleRad() const
    {
        const double length = Length();
        if (length == 0)
            {
                return 0.0;
            }

        double rad = gArcCos(Get(0) / length);

        if (Get(1) < 0)
            {
                rad = 2*M_PI - rad;
            }

        return rad;
    }

    float           GetAngleDeg() const
    {
        return gRadToDeg(GetAngleRad());
    }
};

class Vector3f : public TVector3<float, Vector3f>
{
    //
    // Methods
    //
public:
    /// Construction/Destruction/Assignment
    f_inline        Vector3f()                                                      : TVector3<float, Vector3f>() { }
    f_inline        Vector3f(float x, float y, float z)     : TVector3<float, Vector3f>(x, y, z) { }
    explicit        Vector3f(const float *f)                        : TVector3<float, Vector3f>() { SetData(f);  }
    f_inline        Vector3f(const Vector3f &v)                     : TVector3<float, Vector3f>(v) { }
    explicit        Vector3f(float f)                                       : TVector3<float, Vector3f>() { Fill(f); }

    f_inline        Vector3f Reflect(const Vector3f &normal)
    {
        float fac = 2.0f * (normal.x() * x() + normal.y() * y() + normal.z() * z());
        return Vector3f(fac * normal.x()-x(),
                        fac * normal.y()-y(),
                        fac * normal.z()-z());
    }

    f_inline void RandomUnitVector()
    {
        x() = 1.0f - 2.0f*rand()/(float)RAND_MAX;
        y() = 1.0f - 2.0f*rand()/(float)RAND_MAX;
        z() = 1.0f - 2.0f*rand()/(float)RAND_MAX;

        Normalize();
    }
};

} //namespace salt

#endif //SALT_VECTOR_H

--- NEW FILE: matrix.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: matrix.h,v 1.1 2005/12/05 20:56:00 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef SALT_MATRIX_H
#define SALT_MATRIX_H

// #ifdef HAVE_CONFIG_H
// #include <config.h>
// #endif

#include "defines.h"
#include "vector.h"
#include <memory.h>

namespace salt
{
#if 0
}
#endif

/** Matrix ...

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