more removal of cvs branching artifacts where it was necessary to tag before and after merging, pushed into the depths of svn history (svn branch delete)

svn:revision:46328 svn:tag:autoconf-20031202 svn:account:brlcad
Synthetic commit for incomplete tag autoconf-20031202
2011-08-23 13:42:42 +00:00 · 2003-12-02 19:33:55 +00:00 · 2003-12-02 19:33:55 +00:00 · 2003-12-02 15:01:40 +00:00 · 2003-11-14 19:30:20 +00:00 · 2003-11-13 12:53:37 +00:00
4641 changed files with 1901081 additions and 72663 deletions
@@ -26,3 +26,8 @@ _$*
 *.ln
 core
 # CVS default ignores end
+.lib*.* .proc-db.* .cvsignore .util.* .patch.* .burst.* .iges.* .mged.*
+.fbserv.* .canon.* .anim.* .bench.* .conv.* .remrt.* .tools.* .comgeom-g.*
+.tab.* .sig.* .irprep.* .vdeck.* .fbed.* .jack.* .vas4.* .off.* .jove.*
+.lgt.* .nirt.* .mk.* .db.* .fb.* .rt.* .halftone.* .gtools.*
+.cake*.* .bwish.* .cwish.* .tk.* .btclsh.*
@@ -0,0 +1,65 @@
+The US Army BRL-CAD Develoment Team would like to take this opportunity
+to thank the many people and organizations who have contributed code or
+suggestions for improving the BRL-CAD Package:
+
+Sun Microsystems (William C. Lindemann)
+	mged/dm-sun.c
+
+Sun Microsystems (Timothy G. Smith, Christopher J. Jackson, and James D. Fiori)
+	Substantial fixes to ease Solaris 2.X porting
+	24-bit LIBFB support
+	New improved XGL support for Solaris
+
+University of Alabama in Huntsville
+	Research Institute, RI E-47
+	Sparkman DR NW
+	Huntsville, AL  35899
+	POC: Mark Huston Bowden or M. Shane Strickland
+
+	mged/hideline.c		Hidden line removal
+	mged/dm-hp.c		HP2397A terminal
+	mged/m-ps390.c          color version for serial line connection
+	mged/dm-pss.c            gsr routines
+
+	util/pl-hpgl.c           convert UNIX-plot file to HP plotter language
+
+Geometric Solutions, Inc (Christopher T. Johnson) <cjohnson@camelot.com>
+Paladin Software
+Cray Research, Inc.
+
+	halftone/*
+	remrt/rtsrv control support, movie speed ups, extra commands
+	A/UX support
+	mged push support, articulation support, animation support
+	located awf for brlman support.
+	some plotting tools
+	bug fixes
+	too many dinner time bug reports
+	format converter support (librt/cv_* routines), CV program
+	scriptsort	
+
+Geometric Solutions: reed@camelot.com  (Harry J. Reed)
+	havoc.g
+	tank-car.g
+	t62a.g
+
+Manchester-Computing-Centre, UK  (Terry Hewitt)
+	Computer Graphics Unit, MCC" <HEWITT@vmsfe.mcc.ac.uk>
+and
+	Mario Brand <mgbk1@tnofel.fel.tno.nl>
+
+	Support for BRL-CAD on HP-9000/730:
+	machinetype.sh, Cakefile.defs, libplot3/htond.c
+
+Bill Laut (Gull Island Consultants, Inc.)
+  P.O. Box 627, Muskegon, MI  49440
+	rt/sh_marble.c	-- substantial enhancements
+	rt/sh_wood.c -- a completely new shader
+	h/light.h enhancements
+	rt/sh_light.c enhancements for more easily aimable lights.
+
+Henry Spencer
+	Regular expression library
+
+John Ousterhout <john.ousterhout@eng.sun.com>
+	Tcl/Tk
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995, 2000, 2001,
+2002, 2003 by the United States Army in all countries except the USA. 
+Unauthorized redistribution in any form is prohibited. Recipients of this
+distribution are authorized unlimited use within their corporation,
+organization, or agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -27,6 +27,12 @@
 #ifndef OBJ
 #	include "Symbol OBJ required"
 #endif
+#ifndef VERSION_VARIABLE
+#	include "Symbol VERSION_VARIABLE required"
+#endif
+#ifndef LIBRARY_TITLE
+#	include "Symbol LIBRARY_TITLE required"
+#endif

 #ifndef EXTRA_OBJ
 #	define	EXTRA_OBJ	/**/
@@ -36,22 +42,51 @@
 #	define	EXTRA_SETUP	/**/
 #endif

+#ifndef EXTRA_OBJ_NO_DEPENDENCY
+#	define EXTRA_OBJ_NO_DEPENDENCY	/**/
+#endif
+
+#ifndef LIB_FLAGS
+#	define LIB_FLAGS	/**/
+#endif
+
+#if !defined(BUILD_LIBRARY)
 PRODUCTS::	EXTRA_OBJ OBJ
+	newvers.sh VERSION_VARIABLE LIBRARY_TITLE
+	CC CFLAGS -c vers.c
 	rm -f PRODUCTS; EXTRA_SETUP
-	AR r PRODUCTS OBJ EXTRA_OBJ
+	AR r PRODUCTS OBJ EXTRA_OBJ EXTRA_OBJ_NO_DEPENDENCY vers.o
 	RANLIB PRODUCTS

+	/* If RANLIB is specified, be sure it is run when installing libraries */
+#	define AFTERINSTALL	RANLIB
+#else
+	/* Shared library support.
+	 * Can't list SHARED_PRODUCT in 'rm' command, or will get wrong version number.
+	 * (Cake won't re-run the LIBVERS shell script)
+	 * If non-null, LIBVERS will start with a leading dot.
+	 * Note that the RM command zaps anything starting with PRODUCTS.
+	 * Note that if you have shared libraries, you better have symlinks.
+	 */
+#	define	SHARED_PRODUCT	PRODUCTS''[[LIBVERS]]
+PRODUCTS&::	EXTRA_OBJ OBJ
+	newvers.sh VERSION_VARIABLE LIBRARY_TITLE
+	CC CFLAGS -c vers.c
+	rm -f PRODUCTS*; EXTRA_SETUP
+	BUILD_LIBRARY SHARED_PRODUCT OBJ EXTRA_OBJ EXTRA_OBJ_NO_DEPENDENCY vers.o
+	sharedliblink.sh SHARED_PRODUCT
+
+	/* Use this opportunity to build the symlink on install */
+#	define AFTERINSTALL	sharedliblink.sh
+#endif
+
 %.o&:	SRCDIR,,%,o			if exist ../SRCDIR/%.c

-%9,,%,o&:	../%9/%.c [[cakeinclude -i INCDIR -s ../%9 ../%9/%.c]] \
-					if exist ../%9/%.c
-	CC CFLAGS -c ../%9/%.c
+%9,,%,o&:	../%9/%.c HDR_DEP9	if exist ../%9/%.c
+	CC CFLAGS LIB_FLAGS -c ../%9/%.c

 /* Override the modes for the library */
 #undef	BINDIR
 #undef	BINPERM
 #define	BINDIR	LIBDIR
 #define	BINPERM	LIBPERM
-
-/* If RANLIB is specified, be sure it is run when installing libraries */
-#define AFTERINSTALL	RANLIB
@@ -1,15 +1,15 @@
 /*
 *			C A K E F I L E . P R O G
 *
- *  Like Cakefile.lib, this is the common part for making programs.
+ *  Like Cakefile.lib, this is the common part for compiling programs.
 *
- *  Author -
+ *  Authors -
 *	Michael John Muuss
+ *	Bob Parker
 *  
 *  Source -
- *	SECAD/VLD Computing Consortium, Bldg 394
- *	The U. S. Army Ballistic Research Laboratory
- *	Aberdeen Proving Ground, Maryland  21005-5066
+ *	The U. S. Army Research Laboratory
+ *	Aberdeen Proving Ground, Maryland  21005-5068  USA
 *  
 *  Distribution Status -
 *	Public Domain, Distribution Unlimitied.
@@ -21,7 +21,28 @@
 everything&::	PRODUCTS

 %.o:	../SRCDIR/%.c HDR_DEP		if exist ../SRCDIR/%.c
+	@rm -f ./%.o
 	CC CFLAGS -c ../SRCDIR/%.c

 %.o:	../SRCDIR/%.f 			if exist ../SRCDIR/%.f
+	@rm -f ./%.o
 	FC FFLAGS -c ../SRCDIR/%.f
+
+/* There is a conflict here:  When debugging, it's nice to
+ * be able to examine the intermediate .c file that LEX and YACC produce.
+ * When trying to port to a new platform, those leftovers can "trick"
+ * the unwary.
+ */
+
+/* Non-ANSI compilers can't take tab-# */
+%.o:    ../SRCDIR/%.l			if exist ../SRCDIR/%.l
+	-rm -f ./%.c ./%.o
+        LEX -t LEX_OPTS ../SRCDIR/%.l | sed -e 's/^[ 	]#/#/' > ./%.c
+	if test `wc -l < ./%.c` -lt 2 ; then rm -f ./%.c ; exit 1 ; fi
+	CC CFLAGS -I. -c ./%.c
+
+%.o:    ../SRCDIR/%.y			if exist ../SRCDIR/%.y
+	-rm -f ./%.c ./%.h ./%.o
+        YACC YACC_OPTS ../SRCDIR/%.y
+	mv ./y.tab.c ./%.c
+	CC CFLAGS -I. -c ./%.c
@@ -12,12 +12,14 @@
 #define STUB_EXISTS	{{ls ../SRCDIR|grep -s .MANSECTION.stub'$'}}
 #define ARG_EXISTS	{{ARGS="%"; test '%' != "$ARGS" -o -f %}}

-/* Format sources for printing on stdout */
-print&:	Cakefile.print \
+/* Format sources for printing on stdout.  Use macro to bypass ANSI cpp "bug" */
+#define PRINT_STUFF	[[SUB X X.print ../SRCDIR/Cakefile ]] \
 	[[SUB X X.print ../SRCDIR/''*.[h''MANSECTION] ]] \
 	[[SUB X X.nroff ../SRCDIR/''*.MANSECTION ]] \
 	[[SUB X ../SRCDIR/X''SRCSUFF.print FILES]]

+print&:	PRINT_SUFF
+
 %.print&:  do-%.print			if ARG_EXISTS
 %.print&:				if not ARG_EXISTS

@@ -64,6 +66,9 @@ lint&:
 tags:	[[echo SRC_LIST]]
 	ctags SRC_LIST

+TAGS:	[[echo SRC_LIST]]
+	etags SRC_LIST
+
 flow&:	[[echo SRC_LIST]]
 	cflow -I''INCDIR SRC_LIST > SRCDIR.flow

@@ -75,7 +80,11 @@ compare&: [[SUB X X.compare PRODUCTS]]
 %.compare&:	%
 	cmp BINDIR/% %

+#if !defined(DONT_INSTALL)
 uninstall&:  uninstall-prod uninstall-man uninstall-stub
+#else
+uninstall&:
+#endif

 #ifdef PRODUCTS
 uninstall-prod&: [[SUB X X.uninstall-prod PRODUCTS]]
@@ -89,9 +98,9 @@ uninstall-prod&:
 uninstall-man&:	do-uninstall-man	if MAN_EXISTS
 uninstall-man&:				if not MAN_EXISTS

-do-uninstall-man&:  [[SUB ../SRCDIR/X X.uninstall-man ../SRCDIR/''*.MANSECTION]]
+do-uninstall-man&:  [[SUB ../SRCDIR/X X.ui-man ../SRCDIR/''*.MANSECTION]]

-%.uninstall-man&:
+%.ui-man&:
 	rm -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak

 uninstall-stub&:  do-uninstall-stub	if STUB_EXISTS
@@ -102,24 +111,35 @@ do-uninstall-stub&:  [[SUB ../SRCDIR/X.stub X.uninstall-stub ../SRCDIR/''*.stub]
 %.uninstall-stub&:
 	rm -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak

-#if !defined(DONT_INSTALL)
-install&: install-prod install-man install-stub inst-dist
-
-install-nobak&: install-prod-nobak install-man install-stub inst-dist
-#else
-install&:  inst-dist
-
-install-nobak&: inst-dist
+#if !defined(EXTRA_INSTALL_TARGETS)
+#	define EXTRA_INSTALL_TARGETS	/**/
 #endif

-#if defined(PRODUCTS)
-install-prod&: [[SUB X X.iprod PRODUCTS]]
+#if !defined(DONT_INSTALL)
+install&: install-prod install-man install-stub

-install-prod-nobak&: [[SUB X X.iprod-nobak PRODUCTS]]
+install-nobak&: install-prod-nobak install-man install-stub
 #else
+install&:
+
+install-nobak&:
+#endif
+
+#if defined(SHARED_PRODUCT)
+install-prod&: [[SUB X X.iprod SHARED_PRODUCT]] EXTRA_INSTALL_TARGETS
+
+install-prod-nobak&: [[SUB X X.iprod-nobak SHARED_PRODUCT]] EXTRA_INSTALL_TARGETS
+
+#else
+#  if defined(PRODUCTS)
+install-prod&: [[SUB X X.iprod PRODUCTS]] EXTRA_INSTALL_TARGETS
+
+install-prod-nobak&: [[SUB X X.iprod-nobak PRODUCTS]] EXTRA_INSTALL_TARGETS
+#  else
 install-prod&:

 install-prod-nobak&:
+#  endif
 #endif

 /* Here is where we depend on having /bin/sh as the shell */
@@ -150,9 +170,9 @@ install-prod-nobak&:
 install-man&:  do-install-man	if MAN_EXISTS
 install-man&:			if not MAN_EXISTS

-do-install-man&: [[SUB ../SRCDIR/X X.install-man ../SRCDIR/''*.MANSECTION ]]
+do-install-man&: [[SUB ../SRCDIR/X X.i-man ../SRCDIR/''*.MANSECTION ]]

-%.install-man&:	../SRCDIR/%
+%.i-man&:	../SRCDIR/%
 	@if cmp -s MANDIR''MANSECTION/% ../SRCDIR/%; \
 	then	exit 0; fi; \
 	mv -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak 2>/dev/null; \
@@ -193,14 +213,10 @@ do-install-stub&: [[SUB ../SRCDIR/X.stub X.install-stub ../SRCDIR/''*.stub]]
 	./Cakefile \\\\*.[hcsfyl] \\\\*.sh \
 	\\\\*.MANSECTION \\\\*.MANSECTION.stub \\\\*.doc
 #endif
-#define IS_MASTER	{{test x''MASTERHOST = x`GETHOST`}}

-inst-dist&:	inst-dist-main	if IS_MASTER
-
-/* inst-dist is also called from "install", so say nothing if not master */
-inst-dist&:			if not IS_MASTER
-
-inst-dist-main&: dist-clobber [[SUB X X.do-inst-dist INSTALL_PATTERNS]]
+/* inst-dist is never run automatically, it has to be run by hand. */
+/* inst-dist is run from gen.sh as part of the final packaging of a distribution */
+inst-dist&: dist-clobber [[SUB X X.do-inst-dist INSTALL_PATTERNS]]

 dist-clobber&:
 	-rm -fr DISTRIBUTION/SRCDIR
@@ -224,10 +240,24 @@ dist-clobber&:
 clobber&:	clean noprod

 clean&:
-	-rm -f core *~ *.o EXTRA_CLEAN SRCDIR.out SRCDIR.err SRCDIR.xref SRCDIR.flow SRCDIR.lint
+	-rm -f core *.core *~ *.o EXTRA_CLEAN SRCDIR.out SRCDIR.err SRCDIR.xref SRCDIR.flow SRCDIR.lint

+#if defined(LIBRARY_TITLE)
+/*
+ *  The asterisk is to glob all the variations of (shared) library names.
+ *  This depends on the fact that for libraries, PRODUCTS is a single name,
+ *  not a list of file names, and that there will be no source file called
+ *  PRODUCTS.c, e.g., no librt.c file for making librt.so.10.
+ *
+ *  The "SRCDIR.*" version is to catch the case where we're changing
+ *  from shared libraries to non-shared libraries.
+ */
+noprod&:
+	-rm -f PRODUCTS* SRCDIR.*
+#else
 noprod&:
 	-rm -f PRODUCTS
+#endif

 #ifdef never
 /*
@@ -0,0 +1,22 @@
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the Ballistic Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+The terms and conditions for the use of this software are detailed
+in your distribution agreement.
+
+Please note that portions of this software and the associated databases
+and images are Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991 by the United
+States Army. Unauthorized redistribution in any form is prohibited.
+Recipients of this distribution are authorized unlimited use within
+their corporation, organization, or agency.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to BRL, which may or may not act on them.
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994 by the United
+States Army in all countries except the USA. Unauthorized redistribution
+in any form is prohibited. Recipients of this distribution are
+authorized unlimited use within their corporation, organization, or
+agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995 by the United
+States Army in all countries except the USA. Unauthorized redistribution
+in any form is prohibited. Recipients of this distribution are
+authorized unlimited use within their corporation, organization, or
+agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995, 2000 by
+the United States Army in all countries except the USA. Unauthorized
+redistribution in any form is prohibited. Recipients of this
+distribution are authorized unlimited use within their corporation,
+organization, or agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995, 2000, 2001
+by the United States Army in all countries except the USA. Unauthorized
+redistribution in any form is prohibited. Recipients of this
+distribution are authorized unlimited use within their corporation,
+organization, or agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995, 2000, 2001,
+2002 by the United States Army in all countries except the USA. 
+Unauthorized redistribution in any form is prohibited. Recipients of this
+distribution are authorized unlimited use within their corporation,
+organization, or agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,28 @@
+Re-distribution of this software is restricted, as described in your
+"Statement of Terms and Conditions for the Release of The BRL-CAD
+Package" agreement.
+
+Portions of this software and the associated databases and images are
+Copyright (C) 1985, 1986, 1987, 1988, 1989, 1991, 1994, 1995, 2000, 2001,
+2002, 2003 by the United States Army in all countries except the USA. 
+Unauthorized redistribution in any form is prohibited. Recipients of this
+distribution are authorized unlimited use within their corporation,
+organization, or agency.
+
+The mark "BRL-CAD" is a Registered Trademark of the United States Army.
+All rights reserved.
+
+There is no warranty or other guarantee of fitness for this software,
+it is provided solely "as is".  Bug reports or fixes must be sent
+to ARL, which may or may not act on them.
+
+This software was developed by and is proprietary to the United States
+Government, and any use of the software without the written permission
+of the US Army Research Laboratory is strictly prohibited. Any
+unauthorized use of the software will be construed as an infringement of
+the Government's rights and will subject the unauthorized user to
+action(s) for infringement damages. (BRL MFR 380-15, Feb-88)
+
+The software in the "contributed" directory is Public Domain, Distribution
+Unlimited.  In addition, certain other modules in the BRL-CAD package
+bear this designation.  Files so marked are available for unlimited use.
@@ -0,0 +1,47 @@
+To compile and install the BRLCAD source, perform the following steps:
+
+	% mkdir /usr/brlcad
+
+If you choose a directory other than /usr/brlcad, you will need to set the
+environment variable BRLCAD_ROOT to be the name of this directory.  Because a
+number of paths are compiled into the package, it is not possible to compile
+the package for one location, then move it to another.  Be sure that
+/usr/brlcad/bin or $BRLCAD_ROOT/bin is in your shell path.  For example:
+
+	sh:
+		BRLCAD_ROOT=/foobar/brlcad 
+		PATH=$PATH:/foobar/brlcad/bin
+		export PATH
+	csh:
+	 	setenv BRLCAD_ROOT /foobar/brlcad
+	 	set path=($path /foobar/brlcad/bin)
+
+Compile:
+	% cd /foobar/brlcad
+	% sh setup.sh
+
+	The next step can take a considerable amount of time on some systems:
+	
+	sh:
+		make > make.log 2>&1
+	csh:
+		make >& make.log
+
+Install:
+	Review the log of compilation, then run:
+
+		make install
+
+This process should proceed without problems on the following systems:
+
+	RedHat Linux 7.2
+	FreeBSD 4.5
+	SunOS 5.8 (Solaris)
+	Irix 6.5
+	Mac OS X (With X11 installed -- INSTALL.pmac for details)
+
+For binary and source download instructions see:
+
+		http://ftp.arl.army.mil/brlcad
+
+
@@ -0,0 +1,58 @@
+Max OS X Installation Notes:
+
+Being that this is the newest architecture to be added, there are some issues
+to keep in mind with the installation when building from source. First, XFree86
+will need to be installed if you want a gui.  Mac OS X does not ship with an
+X11 server installed by default.  The XDarwin project, however, will include
+the X11 libraries and headers necessary to properly build Tk (the only
+component that presently "requires" X) and may be found at:
+
+	http://www.xdarwin.org
+
+To build and install, you'll need to modify the Cakefile.defs file in the
+source root.  Modify the compilation options (near the top of the file)
+as follows:
+
+#define BUILD_OPTIMIZED         1
+#define BUILD_SHARED            0
+#define BUILD_XWINDOWS          1
+#define BUILD_OPENGL            0
+#define BUILD_PRODUCTION        1
+
+There are details in the Cakefile.defs file for what each of these options
+means, but the important one is that it is presently not possible to build
+with shared libaries (patches welcome).  Other than that the instructions 
+in INSTALL will all work with the exception of the "make install" step.  
+Run this instead:
+
+	cake install
+
+If the build and install fails for whatever reason, then the system default Tcl
+library is most likely getting in the way.  You can temporarily move it out of
+the way by doing:
+
+	sudo mv /usr/lib/libtcl.dylib /usr/lib/libtcl.dylib.backup
+	sudo mv /usr/lib/libtcl8.3.dylib /usr/lib/libtcl8.3.dylib.backup
+	sudo mv /usr/lib/libtclstub8.3.a /usr/lib/libtclstub8.3.a.backup
+	sudo mv /System/Library/Tcl /System/Library/Tcl.backup
+
+Then you should be able to do:
+
+	sh setup.sh
+	cake clobber
+	cake
+	cake install
+
+You can tell if a build succeeded properly by running "mged" from a terminal.
+Also, you should be able to go into the "bench" directory and run the benchmark
+(see doc/benchmark.doc) test script:
+
+	bench/try.sh
+
+A window should pop up with a raytrace being displayed.  If not, something is
+not right.  If you build without X support (setting in Cakefile.defs), then
+you may verify your build by running "mged -c" or "bench/run.sh".  
+
+E-mail the cad list [cad@arl.army.mil] if any issues or questions arise.  
+
+Happy installation!
@@ -1,69 +0,0 @@
-#################################################################
-#								#
-#			Makefile				#
-#								#
-#  The top-level Makefile for the BRL CAD Software Distribution	#
-#								#
-#  This exists mostly as a convienience, so folks can		#
-#  type "make install" and such like, and get the expected	#
-#  results, even in the face of the rather complex mechanism.	#
-#  Thus, we make Make into a simple front-end for gen.sh	#
-#								#
-#  Author -							#
-#	Michael John Muuss					#
-#								#
-# Source -							#
-#	SECAD/VLD Computing Consortium, Bldg 394		#
-#	The U. S. Army Ballistic Research Laboratory		#
-#	Aberdeen Proving Ground, Maryland  21005-5066		#
-#								#
-#  $Header$		#
-#								#
-#################################################################
-
-SHELL		= /bin/sh
-
-# Main rule (default):
-all:
-	-@sh gen.sh all
-
-help:
-	-@sh gen.sh help
-benchmark:
-	-@sh gen.sh $@
-depend:
-	-@sh gen.sh $@
-install:
-	-@sh gen.sh $@
-inst-man:
-	-@sh gen.sh $@
-uninstall:
-	-@sh gen.sh $@
-inst-dist:
-	-@sh gen.sh $@
-clean:
-	-@sh gen.sh $@
-noprod:
-	-@sh gen.sh $@
-clobber:
-	-@sh gen.sh $@
-lint:
-	-@sh gen.sh $@
-ls:
-	-@sh gen.sh $@
-print:
-	-@sh gen.sh $@
-typeset:
-	-@sh gen.sh $@
-checkin:
-	-@sh gen.sh $@
-dist:
-	-@sh gen.sh $@
-arch:
-	-@sh gen.sh $@
-mkdir:
-	-@sh gen.sh $@
-relink:
-	-@sh gen.sh $@
-rmdir:
-	-@sh gen.sh $@
@@ -0,0 +1,29 @@
+# $Id$
+SUBDIRS=@TCL@ @TK@ @ITCL@\
+	h\
+	libtcl8.4\
+	libtk8.4\
+	libbn\
+	libbu\
+	libdm\
+	libfb\
+	libfft\
+	liboptical\
+	liborle\
+	libpkg\
+	librt\
+	libsysv\
+	libtermio\
+	libutahrle\
+	libwdb\
+	anim\
+	bwish\
+	fb\
+	mged\
+	rt\
+	sh\
+	sig\
+	tclscripts\
+	util\
+	html\
+	doc
@@ -319,7 +319,7 @@ ARCH_SUF	= a
 LIBFB		= ../libfb.'`sh ../mtype.sh`'/libfb.${ARCH_SUF}
 LIBRT		= ../librt.'`sh ../mtype.sh`'/librt.${ARCH_SUF}
 LIBPLOT		= ../libplot3.'`sh ../mtype.sh`'/libplot3.${ARCH_SUF}
-LIBRLE		= ../librle.'`sh ../mtype.sh`'/librle.${ARCH_SUF}
+LIBRLE		= ../libutahrle.'`sh ../mtype.sh`'/libutahrle.${ARCH_SUF}
 LIBPKG		= ../libpkg.'`sh ../mtype.sh`'/libpkg.${ARCH_SUF}
 LIBWDB		= ../libwdb.'`sh ../mtype.sh`'/libwdb.${ARCH_SUF}
 LIBSPL		= ../libspl.'`sh ../mtype.sh`'/libspl.${ARCH_SUF}
@@ -1,12 +1,13 @@
 .\" $Header$
+.\"	groff -ms README | print-postscript
 .TL
 README
 .sp
-The Ballistic Research Laboratory CAD Package
+The BRL-CAD Package
 .br
-Release 3.5
+Release 6.0
 .br
-(29-May-1989)
+(October-2002)
 .RT
 .IP "VERSION"
 .sp
@@ -20,27 +21,25 @@ versions actually contained on the distribution tape.
 .IP CONTENTS
 .sp
 This README file exists only to provide you a brief roadmap to
-the contents of the BRL-CAD distribution tape.
-The information on how to read the tape,
-install and operate the software,
+the contents of the BRL-CAD distribution.
+The information on how to install and operate the software,
 and perform the benchmark tests have become sufficiently large
 that they are now each a standalone document.
 .sp
 Please note that
 this distribution package does \fInot\fR include
 the various military-specific model
-analysis tools such as GIFT, SAR, SLAVE, VAST, etc., nor does it
+analysis tools such as MUVES, GIFT, SAR, SLAVE, VAST, etc., nor does it
 include any military databases.
 If you desire to have access to this material,
-please contact Keith Applin at (301)-278-6647.
+please contact Sean Morrison at (410)-278-6678.
 .sp
 .IP "INSTALLATION"
 .sp
 To install the BRL-CAD Package see the instructions in doc/install.doc.
-This file includes directions on the best way to read the distribution
-tape,
-as well as details on how to configure and install the software.
-This file also includes directions on how to compile and run
+This file includes directions on the best way to get started with the 
+distribution, as well as details on how to configure and install the 
+software. This file also includes directions on how to compile and run
 the benchmark tests.
 .sp
 .IP "BENCHMARK"
@@ -60,95 +59,51 @@ Models", included in the file papers/solid-models.
 .sp
 .IP "DISTRIBUTION DETAILS"
 .sp
-This section is included in the README file for two purposes.
-First, we wish to remind you of the terms of this limited distribution.
-Second, if you have obtained a copy of the printed documentation, and now
-wish to obtain a copy of the software, the procedures are listed here.
+This software is governed by a limited distribution agreement.
+To obtain a copy of the BRL-CAD Package distribution materials, there
+are two options:
 .sp
-To obtain a copy of the distribution, you should send the authors:
+1.  Free distribution with no support privileges:  Those users with
+online access to the InterNet may obtain the BRL-CAD Package via
+FTP file transfer, at no cost, after completing and returning a signed
+copy of the printed distribution agreement. A blank agreement form is
+available only via anonymous FTP from host ftp.arl.army.mil (address
+192.12.65.24) from file "brl-cad/agreement".  No installation
+assistance or telephone support will be available.
 .sp
-1)  Enough magnetic tape for 20 Mbytes of data. Standard nine-track
-half-inch magtape is the strongly preferred format, and can be written
-at either 1600 or 6250 bpi, in TAR format with 10k byte records. For
-sites with no half-inch tape drives, Silicon Graphics and SUN tape
-cartridges can also be accommodated, using QIC-24 format.
-.sp
-2)  A letter indicating:
+2.  Full service distribution:  The Survivability/Vulnerability
+Information Analysis Center (SURVIAC) administers the supported BRL-CAD
+distributions and information exchange programs for ARL.  Full service
+distributions a copy of the full distribution materials on your choice
+of magnetic tape media, or you may elect to obtain your copy via FTP.
+One printed set of BRL-CAD documentation will be mailed to you.
+Software upgrades will be provided at no additional charge,
+and you will have access to full technical assistance by phone, FAX,
+letter, or E-mail.  Agencies of the Federal Government may acquire the
+full service distribution with a simple MIPR or OGA funds transfer.
 .sp
 .nf
-	-- Who you are
-	-- What the BRL-CAD package is to be used for
-	-- The equipment and operating system(s) you plan on using
-	-- That you agree to the conditions listed below.
+For further details, contact:
+.sp .5
+	BRL-CAD Distribution
+	SURVIAC Aberdeen Satellite Office
+	4695 Millennium Drive
+	Belcamp, MD  210017-1505  USA
 .fi
-.sp
-It is vital that your letter include a sentence acknowledging your
-agreement to the conditions, such as "We agree to the
-conditions of the distribution listed in your letter".
-This software is an unpublished work that is not generally available to the
-public, except through the terms of this limited distribution.
-The United States Department of the Army grants a royalty-free,
-nonexclusive, nontransferable license and right to use,
-free of charge, with the following terms and conditions:
-.sp
-1.  The BRL-CAD package source files will not be disclosed to third
-parties.  BRL needs to know who has what, and what it is being used for.
-.sp
-2.  BRL will be credited should the software be used in a product or written
-about in any publication.  BRL will be referenced as the original
-source in any advertisements.
-.sp
-3.  The software is provided "as is", without warranty by BRL.
-In no event shall BRL be liable for any loss or for any indirect,
-special, punitive, exemplary, incidental, or consequential damages
-arising from use, possession, or performance of the software.
-.sp
-4.  When bugs or problems are found, you will make a reasonable effort
-to report them back to BRL.
-.sp
-5.  Before using the software at additional sites, or for permission to
-use this work as part of a commercial package, you agree to first obtain
-authorization from BRL.
-.sp
-6. You will own full rights to any databases or images you create with this
-package.
-.sp
-All requests from US citizens, or from US government agencies should be
-sent to:
-.sp
-.nf
-.ne 1i
-	Ballistic Research Lab
-	Attn: Mike Muuss
-	APG, MD  21005-5066
+.sp .5
+or call USA telephone (410)-273-7794, send
+E-mail to <cad-dist@arl.army.mil>, FAX your letter to USA (410)-272-6763,
+or write to the above address.
 .fi
 .sp
-If you are not a US citizen (regardless of any affiliation with a
-US industry), or if you represent a foreign-owned or foreign-controlled
-industry, you must send your letter and tape through your Ambassador to
-the United States in Washington DC. Have your Ambassador submit the
-request to:
-.sp
-.nf
-.ne 1i
-	Army Headquarters
-	Attn: DAMI-FL
-	Washington, DC  20310
-.fi
-.sp
-Because distribution tapes are written by various members of the
-development team in their spare time, and because of vagaries in
-the supply of printed manuals, the turnaround time for responding
-to distribution requests varies from 1 to 12 weeks.
-.sp
 .ne 1i
 .IP "COMMUNICATION"
 .sp
-You are invited to participate in the DARPA InterNet (aka "ARPANET")
+You are invited to participate in the InterNet (aka "ARPANET")
 electronic mailing list on the BRL-CAD software, which is called
 .sp .5
 .ti +1i
-<CAD @ BRL.MIL>.
+<CAD @ ARL.ARMY.MIL>.
 .sp .5
 Bug reports and discussions of new features
 are the main topics;  volume of messages has been light (so far).
@@ -156,12 +111,15 @@ Direct your bug reports to this address.  Request a subscription by
 sending to
 .sp .5
 .ti +1i
-<CAD-REQUEST @ BRL.MIL>.
+<CAD-REQUEST @ ARL.ARMY.MIL>.
 .sp .5
 If you find bugs, please report your experiences via E-mail.
-While BRL makes no
-offer of support, we are most interested in hearing about your
-experiences.
+.sp
+A variety of information on BRL-CAD is available via the World-Wide-Web.
+Papers, documentation, and the software repository may be found at
+.sp .5
+.ti +1i
+http://ftp.arl.army.mil/brlcad/
 .sp
 .IP "FUTURE EVENTS"
 .sp
@@ -173,21 +131,16 @@ to recipients of this software.
 If your address changes, please let us
 know, so we can update our records.
 .sp
-The BRL-CAD Symposium '88 was a big success.
-If you would be interested in attending the Symposium in '89,
-and especially if you would like to make a presentation, please
-contact Keith Applin <Keith@BRL.MIL>, or call 301-278-6647.
-.sp
 .KS
 .nf
 Best Wishes,
- -Mike Muuss
+ -Lee Butler
 .sp
-  Leader, Advanced Computer Systems Team
-  U.S. Army Ballistic Research Laboratory
-  APG, MD. 21005-5066
-  USA
+Leader, Advanced Computer Systems Team
+AMSRL-SL-BE
+U.S. Army Research Laboratory
+APG, MD  21005-5068  USA
 .sp
-ArpaNet:  <Mike @ BRL.MIL>
+E-mail:  <BUTLER @ ARL.ARMY.MIL>
 .KE
 .fi
@@ -0,0 +1,69 @@
+/*
+ *			tab/Cakefile
+ */
+
+#define SRCDIR	anim
+#define PRODUCTS	anim_cascade anim_fly anim_hardtrack anim_keyread \
+			anim_lookat anim_offset anim_orient anim_script \
+			anim_sort anim_time anim_track anim_turn chan_add \
+			chan_mult chan_permute \
+			
+
+#define	SRCSUFF	.c
+#define MANSECTION	1
+
+#include "../Cakefile.defs"
+#include "../Cakefile.prog"
+
+#define FILES	anim_cascade anim_fly anim_hardtrack anim_keyread \
+		anim_lookat anim_offset anim_orient anim_script anim_sort \
+		anim-time anim_track anim_turn cattrack chan_add chan_mult \
+		chan_permute
+
+/* Explicit composition of each product */
+anim_cascade: anim_cascade.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_cascade.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_cascade
+
+anim_fly: anim_fly.o LIBBU_DEP
+	CC LDFLAGS anim_fly.o LIBBU LIBBU_LIBES LIBES -o anim_fly
+
+anim_hardtrack: anim_hardtrack.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_hardtrack.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_hardtrack
+
+anim_keyread: anim_keyread.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_keyread.o LIBBN LIBBU LIBBU_LIBES LIBES -o anim_keyread
+
+anim_lookat: anim_lookat.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_lookat.o LIBBN LIBBU LIBBU_LIBES LIBES -o anim_lookat
+
+anim_offset: anim_offset.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_offset.o LIBBN LIBBU LIBBU_LIBES LIBES -o anim_offset
+
+anim_orient: anim_orient.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_orient.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_orient
+
+anim_script: anim_script.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_script.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_script
+
+anim_sort: anim_sort.o LIBBU_DEP
+	CC LDFLAGS anim_sort.o LIBBU LIBBU_LIBES LIBES -o anim_sort
+
+anim_time: anim_time.o 
+	CC LDFLAGS anim_time.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_time
+
+anim_track: anim_track.o cattrack.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_track.o cattrack.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_track
+
+anim_turn: anim_turn.o LIBBN_DEP LIBBU_DEP
+	CC LDFLAGS anim_turn.o LIBRT LIBBN LIBBU LIBBU_LIBES LIBES -o anim_turn
+
+chan_add: chan_add.o
+	CC LDFLAGS chan_add.o LIBES -o chan_add
+
+chan_mult: chan_mult.o
+	CC LDFLAGS chan_mult.o LIBES -o chan_mult
+
+chan_permute: chan_permute.o
+	CC LDFLAGS chan_permute.o LIBES -o chan_permute
+
+#include "../Cakefile.rules"
@@ -0,0 +1,51 @@
+bin_PROGRAMS = anim_cascade anim_fly anim_hardtrack anim_keyread anim_lookat anim_offset anim_orient anim_script anim_sort anim_time anim_track anim_turn chan_add chan_mult chan_permute
+
+BN=$(top_builddir)/libbn/libbn.la $(BU)
+BU=$(top_builddir)/libbu/libbu.la @TCL_LIBS@ @PTHREAD_LIBS@ -lm 
+
+anim_cascade_SOURCES = anim_cascade.c 
+anim_cascade_LDADD = $(BN) $(BU)
+
+anim_fly_SOURCES = anim_fly.c 
+anim_fly_LDADD = $(BU)
+
+anim_hardtrack_SOURCES = anim_hardtrack.c 
+anim_hardtrack_LDADD = $(BN) $(BU)
+
+anim_keyread_SOURCES = anim_keyread.c 
+anim_keyread_LDADD = $(BN) $(BU)
+
+anim_lookat_SOURCES = anim_lookat.c 
+anim_lookat_LDADD = $(BN) $(BU)
+
+anim_offset_SOURCES = anim_offset.c 
+anim_offset_LDADD = $(BN) $(BU)
+
+anim_orient_SOURCES = anim_orient.c 
+anim_orient_LDADD = $(BN) $(BU)
+
+anim_script_SOURCES = anim_script.c 
+anim_script_LDADD = $(BN) $(BU)
+
+anim_sort_SOURCES = anim_sort.c 
+anim_sort_LDADD = $(BU)
+
+anim_time_SOURCES = anim_time.c 
+anim_time_LDADD = $(BU)
+
+anim_track_SOURCES = anim_track.c cattrack.c 
+anim_track_LDADD = $(BN) $(BU)
+
+anim_turn_SOURCES = anim_turn.c 
+anim_turn_LDADD = $(BN) $(BU)
+
+chan_add_SOURCES = chan_add.c
+
+chan_mult_SOURCES = chan_mult.c
+
+chan_permute_SOURCES = chan_permute.c
+
+CFLAGS = -I$(top_srcdir)/h
+
+man_MANS = anim_cascade.1 anim_fly.1 anim_hardtrack.1 anim_keyread.1 anim_lookat.1 anim_offset.1 anim_orient.1 anim_script.1 anim_sort.1 anim_time.1 anim_track.1 anim_turn.1 chan_mult.1 chan_permute.1
+EXTRA_DIST = $(man_MANS)
@@ -0,0 +1,187 @@
+.TH ANIM_CASCADE 1 BRL/CAD
+.SH NAME
+anim_cascade - evaluate movement of an object relative to a moving frame of
+reference
+.SH SYNOPSIS
+.B anim_cascade [-s][-o(f|r|a)] [-(f|r|a)(c|y) # # #] <
+.B input.table >
+.B output.table
+.SH DESCRIPTION
+.I Anim_cascade
+is designed to enable the user to control the movement of objects relative to
+other objects. In the normal mode of operation, the user supplies
+the position and orientation of a (possibly moving) frame of reference and 
+the position 
+and orientation of an object relative to the frame of reference,
+and 
+.I anim_cascade
+produces the absolute position and orientation of the object at each
+point in time.
+All orientations are specified as yaw, pitch, and roll.
+The columns of the input table are:
+.sp
+time fx fy fz fyaw fpitch froll rx ry rz ryaw rpitch rroll
+.sp
+and the columns of the output table are:
+.sp
+time ax ay az ayaw apitch aroll
+.sp
+Here "f" refers to the frame of reference, "r" refers to the position
+and orientation of the object relative to the frame, and "a"
+refers to the absolute position and orientation of the object.
+
+.SH OPTIONS
+.TP 
+.B \-or 
+Output the relative position and orientation. 
+If this option is specified, 
+.I anim_cascade
+will expect the absolute position and orientation of the frame of
+reference and the object as input, 
+and will produce the position and orientation or the object relative to
+the frame as output. The
+input columns should be:
+.sp
+time fx fy fz fyaw fpitch froll ax ay az ayaw apitch aroll
+.sp
+and the output columns will be:
+.sp
+time rx ry rz ryaw rpitch rroll
+.sp
+.TP 
+.B \-of
+Output the frame of reference.
+If this option is specified, 
+.I anim_cascade
+will expect the absolute and relative positions and orientations of the
+object as input, 
+and will produce the corresponding frame of reference as output.
+The input columns should be:
+.sp
+time ax ay az ayaw apitch aroll rx ry rz ryaw rpitch rroll
+.sp
+and the output columns will be:
+.sp
+time fx fy fz fyaw fpitch froll
+.sp
+.TP 
+.B \-fc # # #
+Specify a constant position for the frame of reference. The
+columns fx, fy, and fz should be omitted from the input table, and the
+command-line arguments will be used instead. 
+This has no effect if used
+in conjunction with 
+.B -of
+.TP 
+.B \-fy # # #
+Specify a constant orientation for the frame of reference. The
+columns fyaw, fpitch, and froll should be omitted from the input table, 
+and the command-line arguments will be used instead.
+This has no effect if used
+in conjunction with 
+.BR -of .
+.TP 
+.B \-rc # # #
+Specify a constant position of the object relative to the frame
+of reference. The 
+columns rx, ry, and rz should be omitted from the input table, and the
+command-line arguments will be used instead.
+This has no effect if used
+in conjunction with 
+.BR -or .
+.TP 
+.B \-ry # # #
+Specify a constant orientation of the object relative to the 
+frame of reference. The
+columns ryaw,  rpitch, and rroll should be omitted from the input table, 
+and the command-line arguments will be used instead.
+This has no effect if used
+in conjunction with 
+.BR -or .
+.TP 
+.B \-ac # # #
+Specify a constant absolute position for the object. The 
+columns ax, ay, and az should be omitted from the input table, and the
+command-line arguments will be used instead.
+This has no effect unless used 
+in conjunction with 
+.B -or
+or
+.BR -of .
+.TP 
+.B \-ay # # #
+Specify a constant absolute orientation for the object. The
+columns ayaw, apitch, and aroll should be omitted from the input table, 
+and the
+command-line arguments will be used instead.
+This has no effect unless used 
+in conjunction with 
+.B -or
+or 
+.BR -of .
+.TP
+.B \-s
+Suppress time column. No time column is read or written. 
+.sp
+Note: When all of the input columns are specified with command-line arguments,
+then standard input is not read and
+only one line of output is produced. The time value will be set to zero,
+unless it is suppressed.
+
+.SH EXAMPLES
+1. Suppose that you want the virtual camera to pan in a circle around a 
+moving vehicle, always staying a fixed distance from the vehicle.
+There should already exist an animation table with the time, position,
+and orientation of the vehicle in each frame. This will be the moving
+frame of reference. Next, you should create an animation table which
+describes how the camera would need to move if the vehicle stood still
+at the origin. The columns of the second animation table should be
+appended to the columns of the first table
+(using 
+.IR paste , 
+for example), to create the
+input table. 
+.I Anim_cascade 
+will produce an absolute animation table for
+the camera, suitable to use as input to 
+.IR anim_script :
+.sp
+anim_cascade < input.table | anim_script -v500 > view.script
+.sp
+2. Suppose that you have an animation path for an object and you want to
+know when it crosses a given oblique plane. You can use the 
+.B -or 
+option to
+find out what the position of the object is relative to the frame of
+reference of the plane. Suppose that the plane is defined by the
+equation:
+.sp
+ x + z = 0
+.sp
+In a frame of reference located at the origin with a pitch of 45
+degrees, the x-axis is perpendicular to the given plane.
+To convert the absolute animation path into this frame of reference, the command
+would be:
+.sp
+anim_cascade -or -fc 0 0 0 -fy 0 45 0 < absolute.table > relative.table
+.sp
+Wherever the x coordinate in the output table is positive, the object
+lies above the plane.
+.sp
+3. Suppose that one object is situated at the point (1,2,3) with a yaw,
+pitch, and roll of (45, 25, 10). Suppose further that you want to
+position a camera so that to the camera, the first object seems to be 10
+units straight ahead, facing to the right. You could find the required
+position and orientation of the camera with the following command:
+.sp
+anim_cascade -s -of -ac 1 2 3 -ay 45 25 10 -rc 10 0 0 -ry -90 0 0
+.sp
+
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,301 @@
+/*	A N I M _ C A S C A D E . C
+ *
+ *  Purpose: Given position and orientation of main frame of reference,
+ * along with the position and orientation of another frame with respect
+ * to the main frame, give the absolute orientation and position of the
+ * second frame.
+ *	For example, given the position and orientation of a tank, and of the 
+ * turret relative to the tank, you can get the absolute position and 
+ * orientation of the turret at each time.
+ * 	Or, optionally, given position and orientation of main frame of 
+ * reference, and the absolute position and orientation of another frame,
+ * find the position and orientation of the second frame in terms of the main
+ * frame of reference. (-i option).
+ *
+ * Usage:
+ *	anim_cascade main.table < relative.table > absolute.table
+ *
+ * The format of the tables is: 
+ *  time x y z yaw pitch roll
+ * unless specified otherwise by options.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#include <math.h>
+#include <stdio.h>
+
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+#include "bn.h"
+#include "anim.h"
+
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#ifndef M_PI
+#define RTOD	180.000/M_PI
+#endif
+
+#define	CASCADE_A	0
+#define CASCADE_R	1
+#define CASCADE_F	2
+
+int get_args();
+
+extern void	anim_dy_p_r2mat();
+extern void	anim_tran();
+extern int	anim_mat2ypr();
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+vect_t fcenter, fypr, rcenter, rypr, acenter, aypr;
+int cmd_fcen, cmd_fypr, cmd_rcen, cmd_rypr, cmd_acen, cmd_aypr;
+int output_mode, read_time, print_time;
+
+int
+main (argc,argv)
+int argc;
+char **argv;
+{
+	int val;
+	fastf_t time, yaw1, pitch1, roll1, yaw2, pitch2, roll2;
+	vect_t cen1, cen2, cen_ans, ang_ans, rad_ang_ans, rotated;
+	mat_t m_rot1, m_rot2, m_ans;
+	int one_time, read_cen1, read_cen2, read_rot1, read_rot2;
+
+	read_cen1 = read_cen2 = read_rot1 = read_rot2 = 1;
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"anim_cascade: Argument error.");
+
+	switch (output_mode) {
+	case CASCADE_A:
+		if (cmd_fcen) {
+			VMOVE(cen1, fcenter);
+			read_cen1 = 0;
+		}
+		if (cmd_rcen) {
+			VMOVE(cen2, rcenter);
+			read_cen2 = 0;
+		}
+		if (cmd_fypr){
+			anim_dy_p_r2mat(m_rot1, fypr[0], fypr[1], fypr[2]);
+			read_rot1 = 0;
+		}
+		if (cmd_rypr){
+			anim_dy_p_r2mat(m_rot2, rypr[0], rypr[1], rypr[2]);
+			read_rot2 = 0;
+		}
+		break;
+	case CASCADE_R:
+		if (cmd_fcen) {
+			VMOVE(cen1, fcenter);
+			read_cen1 = 0;
+		}
+		if (cmd_acen) {
+			VMOVE(cen2, acenter);
+			read_cen2 = 0;
+		}
+		if (cmd_fypr){
+			anim_dy_p_r2mat(m_rot1, fypr[0], fypr[1], fypr[2]);
+			read_rot1 = 0;
+		}
+		if (cmd_aypr){
+			anim_dy_p_r2mat(m_rot2, aypr[0], aypr[1], aypr[2]);
+			read_rot2 = 0;
+		}
+		break;
+	case CASCADE_F:
+		if (cmd_acen) {
+			VMOVE(cen1, acenter);
+			read_cen1 = 0;
+		}
+		if (cmd_rcen) {
+			VMOVE(cen2, rcenter);
+			read_cen2 = 0;
+		}
+		if (cmd_aypr){
+			anim_dy_p_r2mat(m_rot1, aypr[0], aypr[1], aypr[2]);
+			read_rot1 = 0;
+		}
+		if (cmd_rypr){
+			anim_dy_p_r2mat(m_rot2, rypr[0], rypr[1], rypr[2]);
+			read_rot2 = 0;
+		}
+		break;
+	default:
+		break;
+	}
+
+
+	one_time = (!(read_cen1||read_cen2||read_rot1||read_rot2));
+	read_time = one_time ? 0 : print_time;
+	time = 0.0;
+
+	val = 3;
+	while(1){
+		if (read_time) {
+			val=scanf("%lf",&time);
+			if (val < 1) break;
+		}
+		if (read_cen1) 
+			val =scanf("%lf %lf %lf",cen1, cen1+1, cen1+2);
+		if (read_rot1) {
+			val=scanf("%lf %lf %lf", &yaw1, &pitch1, &roll1);
+			anim_dy_p_r2mat(m_rot1, yaw1, pitch1, roll1);
+		}
+		if (read_cen2) {
+			val=scanf("%lf %lf %lf", cen2, cen2+1,cen2+2);
+		}
+		if (read_rot2) {
+			val=scanf("%lf %lf %lf", &yaw2, &pitch2, &roll2);
+			anim_dy_p_r2mat(m_rot2, yaw2, pitch2, roll2);
+		}
+		if (val<3) break;
+		
+		if (output_mode==CASCADE_R) {
+			anim_tran(m_rot1);
+			VSUB2(rotated,cen2,cen1);
+			MAT4X3PNT(cen_ans, m_rot1, rotated);
+			bn_mat_mul(m_ans, m_rot1, m_rot2);
+		} else if (output_mode==CASCADE_F) {
+			anim_tran(m_rot2);
+			bn_mat_mul(m_ans, m_rot1, m_rot2);
+			MAT4X3PNT(rotated, m_ans, cen2);
+			VSUB2(cen_ans, cen1, rotated);
+		} else {
+			MAT4X3PNT(rotated, m_rot1, cen2);
+			VADD2(cen_ans, rotated, cen1);
+			bn_mat_mul(m_ans, m_rot1, m_rot2);
+		}
+		anim_mat2ypr(rad_ang_ans, m_ans);
+		VSCALE(ang_ans, rad_ang_ans, RTOD);
+
+		if (print_time){
+			printf("%g",time);
+		}
+		printf("\t%.12g\t%.12g\t%.12g", cen_ans[0], cen_ans[1], cen_ans[2]);
+		printf("\t%.12g\t%.12g\t%.12g", ang_ans[0], ang_ans[1], ang_ans[2]);
+		printf("\n");
+		
+		if (one_time) break;
+	}
+	return( 0 );
+}
+
+#define OPT_STR "so:f:r:a:"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c,d;
+
+	output_mode = CASCADE_A;
+	cmd_fcen = cmd_fypr = cmd_rcen = cmd_rypr = cmd_acen = cmd_aypr = 0;
+	print_time = 1;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'f':
+			d = *(bu_optarg);
+			if (d == 'c'){
+				sscanf(argv[bu_optind],"%lf",fcenter+0);
+				sscanf(argv[bu_optind+1],"%lf",fcenter+1);
+				sscanf(argv[bu_optind+2],"%lf",fcenter+2);
+				bu_optind += 3;
+				cmd_fcen = 1;
+				break;
+			} else if ( d =='y'){
+				sscanf(argv[bu_optind],"%lf",fypr+0);
+				sscanf(argv[bu_optind+1],"%lf",fypr+1);
+				sscanf(argv[bu_optind+2],"%lf",fypr+2);
+				bu_optind += 3;
+				cmd_fypr = 1;
+				break;
+			} else {
+				fprintf(stderr,"anim_cascade: unknown option -f%c\n", d);
+			}
+			break;
+		case 'r':
+			d = *(bu_optarg);
+			if (d == 'c'){
+				sscanf(argv[bu_optind],"%lf",rcenter+0);
+				sscanf(argv[bu_optind+1],"%lf",rcenter+1);
+				sscanf(argv[bu_optind+2],"%lf",rcenter+2);
+				bu_optind += 3;
+				cmd_rcen = 1;
+				break;
+			} else if ( d =='y'){
+				sscanf(argv[bu_optind],"%lf",rypr+0);
+				sscanf(argv[bu_optind+1],"%lf",rypr+1);
+				sscanf(argv[bu_optind+2],"%lf",rypr+2);
+				bu_optind += 3;
+				cmd_rypr = 1;
+				break;
+			} else {
+				fprintf(stderr,"anim_cascade: unknown option -r%c\n", d);
+			}
+			break;
+		case 'a':
+			d = *(bu_optarg);
+			if (d == 'c'){
+				sscanf(argv[bu_optind],"%lf",acenter+0);
+				sscanf(argv[bu_optind+1],"%lf",acenter+1);
+				sscanf(argv[bu_optind+2],"%lf",acenter+2);
+				bu_optind += 3;
+				cmd_acen = 1;
+				break;
+			} else if ( d =='y'){
+				sscanf(argv[bu_optind],"%lf",aypr+0);
+				sscanf(argv[bu_optind+1],"%lf",aypr+1);
+				sscanf(argv[bu_optind+2],"%lf",aypr+2);
+				bu_optind += 3;
+				cmd_aypr = 1;
+				break;
+			} else {
+				fprintf(stderr,"anim_cascade: unknown option -a%c\n", d);
+			}
+			break;
+		case 'o':
+			d = *(bu_optarg);
+			if (d == 'r'){
+				output_mode = CASCADE_R;
+			} else if (d == 'f') {
+				output_mode = CASCADE_F;
+			} else if (d == 'a') { /* default */
+				output_mode = CASCADE_A;
+			} else {
+				fprintf(stderr,"anim_cascade: unknown option -i%c\n",d);
+			}
+			break;
+		case 's':
+			print_time = 0;
+			break;
+		default:
+			fprintf(stderr,"anim_cascade: unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
@@ -0,0 +1,94 @@
+.TH ANIM_FLY 1 BRL/CAD
+.SH NAME
+anim_fly - make animation table to simulate flying motion
+.SH SYNOPSIS
+.B anim_fly 
+.B [-f factor]
+.B [-r]
+.B [-p integer] 
+.B [-b max_bank_angle]
+.B [-s step]
+.B < in.table 
+.B > out.table
+.SH DESCRIPTION
+This filter is designed to  simulate the motion of an airplane.
+Given a four-column table specifying the desired 3D position of the
+airplane at each relevant time step, 
+.I anim_fly
+produces a seven-column file
+which also includes the orientation of the plane in terms of yaw,
+pitch, and roll. The yaw and pitch are manipulated so that
+the plane faces the direction of motion, while the roll is used to do
+banking.
+.SH OPTIONS
+.TP
+.B -f#
+This option specifies a factor to control the severity of the banking.
+The best factor is a subjective decision; a good starting point can best
+be obtained by using the -b option. Animations representing aircraft
+of different scales will need different factors.
+If the
+slightest curve throws the plane into a 90 degree bank, the factor is
+too large; if it doesn't bank enough, the factor is too small. The size
+of the best factor varies inversely with the size of the imagined
+aircraft plane. 
+If a factor of 0 is used, there will
+be no banking. This would be appropriate for animating a ground
+vehicle.
+.TP
+.B -b#
+This option is used to estimate a good value for the -f option. The
+parameter is the maximum desired banking angle. Anim_fly then computes
+the factor necessary to keep the banking below the specified angle. This
+value is returned instead of anim_fly's usual output.
+.TP
+.B -r
+Suppress vertical loop smoothing.
+A special case occurs if the aircraft is to perform a vertical
+loop. Normally, the algorithm likes to keep the aircraft right-side up.
+This would cause the airplane to do an instantaneous 180 roll as it hits
+the vertical portion of the loop. To counter this, a capability was
+built in which prevents this sudden roll, allowing the aircraft to go
+upside-down in a loop situation. This feature can be suppressed with the
+.B -r
+flag.
+.TP 
+.B -p
+Specify the ratio of input rows to output rows, which must be
+an integer. The default, of course, is one. The accuracy of the output
+depends on having a large number of input lines, which is not usually a
+problem in animations, which require a large number of frames per
+second, anyway. If a test animation with a small number of frames per
+second is being created, the user should still use an input table
+with a high number of input rows, reducing the frequency of the output
+with the 
+.B -p
+option. For example, if 
+.B in.table 
+contains 30 rows for each
+second of the animation, then the command:
+.sp
+anim_fly -f0.001 -p10 < in.table > out.table 
+.sp
+would produce an animation table containing 3 rows for each
+second of the animation.
+.TP
+.B -s
+Specify the minimum step size for the discrete-time differentiation. At any 
+given point on the flight path, the yaw, pitch, and roll are calculated based
+on a past point, the current point, and a future point. Normally,
+these are consecutive points from the input table. If the time
+difference between the points falls below a certain threshold, 
+then non-consecutive points are used to avoid
+numerical instability. The default time threshhold is 0.1 seconds - this
+can be raised or lowered using the -s option. 
+Try raising the threshold if the output orientations experience random
+jiter.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,320 @@
+/*			A N I M _ F L Y . C
+ *
+ *	Simulate flying motion, for an airplane or virtual camera.
+ *
+ *  This filter operates on animation tables. Given the desired position
+ *  of the airplane in each frame, anim_fly produces a table including the
+ *  plane's position and orientation. A "magic factor" should be supplied 
+ *  to control the severity of banking. Looping behavior can be toggled 
+ *  with another option.
+ *
+ * 
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#include <math.h>
+#include <stdio.h>
+
+#include "machine.h"
+#include "externs.h"
+#include "bu.h"
+#include "vmath.h"
+#include "anim.h" 
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#define MAXN	100
+
+int estimate_f = 0;
+fastf_t max_bank = 0;
+fastf_t max_cross = 0;
+int loop = 1;
+int print_int = 1;
+fastf_t magic_factor = 1.0;
+fastf_t desired_step = 0.1;
+
+int get_args();
+
+#define PREP	-1
+#define START	0
+#define MIDDLE	1
+#define WANE	2
+#define	END	3
+#define STOP	4
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int count, status, num_read, enn, i, pp;
+	fastf_t *points, *cur;
+	fastf_t yaw, pch, rll, stepsize, first[4], second[4];
+	fastf_t f_prm_0(), f_prm_1(), f_prm_2();
+	void get_orientation();	
+
+	yaw = pch = rll = 0.0;
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"Anim_fly: Get_args error");
+
+	/* read first two lines of table to determine the time step used */
+	/* (a constant time step is assumed throughout the rest of the file)*/
+	scanf("%lf %lf %lf %lf", first, first+1, first+2, first+3);
+	scanf("%lf %lf %lf %lf", second, second+1, second+2, second+3);
+	stepsize = second[0]-first[0];
+
+	/* determine n, the number of points to store ahead and behind 
+	 * the current point. 2n points are stored, minimum enn=2 */
+	enn = (int) (desired_step/stepsize);
+	if (enn>MAXN) enn=MAXN;	
+	if (enn<1) enn=1;
+
+	/* allocate storage */
+	points = (fastf_t *) calloc((3*enn+1)*4, sizeof(fastf_t));
+
+	/* read the first 3n points into the storage array*/
+	VMOVEN(points+4, first, 4);
+	VMOVEN(points+8, second, 4);
+	num_read=4; /* in order to pass test if n=1 */
+	for (cur=points+12; cur<points+(4*(3*enn+1)); cur+=4){
+		num_read=scanf("%lf %lf %lf %lf", cur,cur+1,cur+2,cur+3);
+	}
+	if (num_read<4){
+		fprintf(stderr,"Anim_fly: Not enough lines in input table.\n");
+		fprintf(stderr,"Increase number of lines or reduce the minimum stepsize with -s.\n");
+		fprintf(stderr,"Currently the minumum step size is %g seconds.\n",desired_step);
+		exit(0);
+	}
+
+	max_cross = 0;
+	count = 0;
+	pp = 0;
+	status = START;
+	while (status != STOP) {
+		switch (status) {
+		case START: /* first n points */
+			pp += 4;
+			get_orientation(points+pp,points+pp+4*enn,points+pp+4*2*enn, f_prm_0, &yaw, &pch, &rll);
+			if (!(count%print_int)&&!estimate_f) {
+				printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\n",points[pp+0],points[pp+1],points[pp+2],points[pp+3],yaw,pch,rll);
+			}
+			if (pp >= 4*enn)
+				status=MIDDLE;
+			break;
+		case MIDDLE: /* middle points (at least one)*/
+			for (i=0; i<3*enn*4; i++){
+				VMOVEN(points+(4*i), points+(4*(i+1)), 4);
+			}
+			num_read=scanf("%lf %lf %lf %lf", points+(4*(3*enn)),points+(4*(3*enn)+1),points+(4*(3*enn)+2),points+(4*(3*enn)+3));
+			if (num_read < 4) {
+				pp = 0;
+				status = WANE;
+			}
+			get_orientation(points,points+(4*enn),points+4*(2*enn), f_prm_1, &yaw, &pch, &rll);
+			if (!(count%print_int)&&!estimate_f) {
+				printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\n",points[4*(enn)+0],points[4*(enn)+1],points[4*(enn)+2],points[4*(enn)+3],yaw,pch,rll);
+			}
+			break;
+		case WANE: /* last n - 1 middle points */
+			pp += 4;
+			if (pp >= 4*enn){
+				status = END;
+				count--;
+				pp = 0;
+				break;
+			}
+			get_orientation(points+pp,points+pp+4*enn,points+pp+4*2*enn, f_prm_1, &yaw, &pch, &rll);
+			if (!(count%print_int)&&!estimate_f) {
+				printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\n",points[4*(enn)+0+pp],points[4*(enn)+1+pp],points[4*(enn)+2+pp],points[4*(enn)+3+pp],yaw,pch,rll);
+			}
+			break;
+		case END: /* last n points */
+			get_orientation(points+pp,points+pp+4*enn,points+pp+4*2*enn, f_prm_2, &yaw, &pch, &rll);
+			if (!(count%print_int)&&!estimate_f) {
+				printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t%.10g\n",points[8*enn+pp+0],points[8*enn+pp+1],points[8*enn+pp+2],points[8*enn+pp+3],yaw,pch,rll);
+			}
+			pp += 4;
+			if (pp >= 4*enn)
+				status = STOP;
+			break;
+		}
+		count++;
+
+
+	}
+
+	/* Return the factor needed to achieve the requested max_bank */
+	if (estimate_f){
+		if (max_cross < VDIVIDE_TOL) {
+			printf("%.10g\n",0.0);
+		} else {
+			printf("%.10g\n", 1000.0 * max_bank/max_cross);
+		}
+	}
+	return( 0 );
+}
+
+void
+get_orientation(p0,p1,p2,function, p_yaw, p_pch, p_rll)
+fastf_t p0[4],p1[4],p2[4], *p_yaw, *p_pch, *p_rll;
+fastf_t (*function)();
+{
+	int i;
+	fastf_t step,vel[3],accel[3];
+	fastf_t f_double_prm(),xyz2yaw(),xyz2pch(),bank();
+
+	static fastf_t last_yaw;
+	static int not_first_time, upside_down;
+
+	step = p2[0] - p1[0];
+	for (i=1;i<4;i++) {
+		vel[i-1] = (*function)(p0[i],p1[i],p2[i],step);
+		accel[i-1] = f_double_prm(p0[i],p1[i],p2[i],step);
+	}
+	*p_yaw = xyz2yaw(vel);
+	*p_pch = xyz2pch(vel);
+	*p_rll = bank(accel,vel);
+
+	if (fabs(*p_pch)==90.0) /* don't change yaw if velocity vertical */
+		*p_yaw = last_yaw;
+
+	/* avoid sudden yaw changes in vertical loops */
+	if (not_first_time&&loop){
+		if ((fabs(last_yaw - *p_yaw)<181.0)&&(fabs(last_yaw - *p_yaw)>179.0))
+			upside_down = (upside_down) ? 0 : 1;
+		if (upside_down)
+			(*p_rll) += 180;
+	}
+	
+	last_yaw = *p_yaw;
+	not_first_time = 1;
+}
+
+/* determine the yaw of the given direction vector */
+fastf_t	xyz2yaw(d)
+fastf_t	d[3];
+{
+	fastf_t yaw;
+	yaw = RTOD*atan2(d[1],d[0]);
+	if (yaw < 0.0) yaw += 360.0;
+	return yaw;
+}
+
+/* determine the pitch of the given direction vector */
+fastf_t	xyz2pch(d)
+fastf_t	d[3];
+{
+	fastf_t x;
+	x = sqrt(d[0]*d[0] + d[1]*d[1]);
+	return (RTOD*atan2(d[2],x));
+
+}
+
+/* given the 3-d velocity and acceleration of an imaginary aircraft,
+    find the amount of bank the aircraft would need to undergo.
+	Algorithm: the bank angle is proportional to the cross product
+	of the horizontal velocity and horizontal acceleration, up to a 
+	maximum bank of 90 degrees in either direction. */
+fastf_t bank(acc,vel)
+fastf_t acc[3],vel[3];
+{
+	fastf_t cross;
+
+	cross = vel[1]*acc[0] - vel[0]*acc[1];
+
+	if (estimate_f) {
+		max_cross = ( fabs(cross) > max_cross) ? fabs(cross) : max_cross;
+	}
+
+	cross *= magic_factor;
+
+	if (cross > 90) cross = 90;
+	if (cross < -90) cross = -90;
+	return cross;
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t) */
+fastf_t f_prm_0(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return  -(3.0*x0 - 4.0*x1 + x2)/(2*h);
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t+h) */
+fastf_t f_prm_1(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x2 - x0)/(2*h);
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t+2h) */
+fastf_t f_prm_2(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x0 - 4.0*x1 + 3.0*x2)/(2*h);
+}
+
+
+/* given f(t), f(t+h), f(t+2*h),  and h, calculate f'' */
+fastf_t f_double_prm(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x0 - 2.0*x1 + x2)/(h*h);
+}
+
+
+/* code to read command line arguments*/
+#define OPT_STR "b:f:p:s:r"
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+
+	estimate_f = 0;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'b':
+			sscanf(bu_optarg,"%lf",&max_bank);
+			estimate_f = 1;
+			break;
+		case 'f':
+			sscanf(bu_optarg,"%lf",&magic_factor);
+			magic_factor *= 0.001; /* to put factors in a more reasonable range */
+			break;
+		case 'p':
+			sscanf(bu_optarg,"%d",&print_int);
+			break;
+		case 'r':
+			loop = 0;
+			break;
+		case 's':
+			sscanf(bu_optarg, "%lf", &desired_step);
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,241 @@
+/*			A N I M _ F L Y . C
+ *
+ *	Simulate flying motion, for an airplane or virtual camera.
+ *
+ *  This filter operates on animation tables. Given the desired position
+ *  of the airplane in each frame, anim_fly produces a table including the
+ *  plane's position and orientation. A "magic factor" should be supplied 
+ *  to control the severity of banking. Looping behavior can be toggled 
+ *  with another option.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "vmath.h"
+#include "anim.h" 
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int loop = 1;
+int print_int = 1;
+fastf_t magic_factor = 1.0;
+
+#define PREP	-1
+#define START	0
+#define MIDDLE	1
+#define	END	2
+#define STOP	3
+
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int count, status, num_read;
+	fastf_t point0[4],point1[4],point2[4],point3[4], yaw, pch, rll;
+	fastf_t f_prm_0(), f_prm_1(), f_prm_2();
+
+	VSETALL(point0,0.0);
+	VSETALL(point1,0.0);
+	VSETALL(point2,0.0);
+	VSETALL(point3,0.0);
+	yaw = pch = rll = 0.0;
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"Anim_fly: Get_args error");
+
+	count = -2;
+	status = PREP;
+	num_read = 4;
+	while (status != STOP) {
+		/* check for end of file status */
+		if (num_read < 4) status = END;
+
+		/*wait twice to prime the pump before starting calculations*/
+		if (!(count++)) status = START;
+
+		/* read one line of the table into point3, storing
+			previous values in point0, point1,  and point2. */
+		if (status != END) {
+			VMOVEN(point0,point1,4);
+			VMOVEN(point1,point2,4);
+			VMOVEN(point2,point3,4);
+			num_read = scanf("%lf %lf %lf %lf", point3, point3+1, point3+2, point3+3);
+		}
+
+		if (status==START) { /* do calculations for the first point*/
+			get_orientation(point1,point2,point3, f_prm_0, &yaw, &pch, &rll);
+			if (!(count%print_int)) {
+				printf("%f %f %f %f %f %f %f\n",point1[0],point1[1],point1[2],point1[3],yaw,pch,rll);
+			}
+			status = MIDDLE;
+		}
+		else if (status==MIDDLE) {/*do calculations for all middle points*/
+			get_orientation(point0,point1,point2, f_prm_1, &yaw, &pch, &rll);
+			if (!(count%print_int)) {
+				printf("%f %f %f %f %f %f %f\n",point1[0],point1[1],point1[2],point1[3],yaw,pch,rll);
+			}
+		}
+		else if (status==END) { /*do calculations for the last point*/
+			get_orientation(point0,point1,point2, f_prm_2, &yaw, &pch, &rll);
+			if (!(count%print_int)) {
+				printf("%f %f %f %f %f %f %f\n",point2[0],point2[1],point2[2],point2[3],yaw,pch,rll);
+			}
+			status = STOP;
+		}
+	}
+}
+
+
+get_orientation(p0,p1,p2,function, p_yaw, p_pch, p_rll)
+fastf_t p0[4],p1[4],p2[4], *p_yaw, *p_pch, *p_rll;
+fastf_t (*function)();
+{
+	int i;
+	fastf_t step,vel[3],accel[3];
+	fastf_t f_double_prm(),xyz2yaw(),xyz2pch(),bank();
+
+	static fastf_t last_yaw, last_pch, last_rll;
+	static int not_first_time, upside_down;
+
+	step = p2[0] - p1[0];
+	for (i=1;i<4;i++) {
+		vel[i-1] = (*function)(p0[i],p1[i],p2[i],step);
+		accel[i-1] = f_double_prm(p0[i],p1[i],p2[i],step);
+	}
+	*p_yaw = xyz2yaw(vel);
+	*p_pch = xyz2pch(vel);
+	*p_rll = bank(accel,vel);
+
+	if (fabs(*p_pch)==90.0) /* don't change yaw if velocity vertical */
+		*p_yaw = last_yaw;
+
+	/* avoid sudden yaw changes in vertical loops */
+	if (not_first_time&&loop){
+		if ((fabs(last_yaw - *p_yaw)<181.0)&&(fabs(last_yaw - *p_yaw)>179.0))
+			upside_down = (upside_down) ? 0 : 1;
+		if (upside_down)
+			(*p_rll) += 180;
+	}
+	
+	last_yaw = *p_yaw;
+	last_pch = *p_pch;
+	last_rll = *p_rll;
+	not_first_time = 1;
+}
+
+/* determine the yaw of the given direction vector */
+fastf_t	xyz2yaw(d)
+fastf_t	d[3];
+{
+	fastf_t yaw;
+	yaw = RTOD*atan2(d[1],d[0]);
+	if (yaw < 0.0) yaw += 360.0;
+	return yaw;
+}
+
+/* determine the pitch of the given direction vector */
+fastf_t	xyz2pch(d)
+fastf_t	d[3];
+{
+	fastf_t x;
+	x = sqrt(d[0]*d[0] + d[1]*d[1]);
+	return (RTOD*atan2(d[2],x));
+
+}
+
+/* given the 3-d velocity and acceleration of an imaginary aircraft,
+    find the amount of bank the aircraft would need to undergo.
+	Algorithm: the bank angle is proportional to the cross product
+	of the horizontal velocity and horizontal acceleration, up to a 
+	maximum bank of 90 degrees in either direction. */
+fastf_t bank(acc,vel)
+fastf_t acc[3],vel[3];
+{
+	fastf_t cross;
+
+	cross = vel[1]*acc[0] - vel[0]*acc[1];
+	cross *= magic_factor;
+	if (cross > 90) cross = 90;
+	if (cross < -90) cross = -90;
+	return cross;
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t) */
+fastf_t f_prm_0(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return  -(3.0*x0 - 4.0*x1 + x2)/(2*h);
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t+h) */
+fastf_t f_prm_1(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x2 - x0)/(2*h);
+}
+
+/* given f(t), f(t+h), f(t+2h), and h, calculate f'(t+2h) */
+fastf_t f_prm_2(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x0 - 4.0*x1 + 3.0*x2)/(2*h);
+}
+
+
+/* given f(t), f(t+h), f(t+2*h),  and h, calculate f'' */
+fastf_t f_double_prm(x0,x1,x2,h)
+fastf_t x0,x1,x2,h;
+{
+	return (x0 - 2.0*x1 + x2)/(h*h);
+}
+
+
+/* code to read command line arguments*/
+#define OPT_STR "f:p:r"
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'f':
+			sscanf(bu_optarg,"%lf",&magic_factor);
+			magic_factor *= 0.001; /* to put factors in a more reasonable range */
+			break;
+		case 'p':
+			sscanf(bu_optarg,"%d",&print_int);
+			break;
+		case 'r':
+			loop = 0;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,293 @@
+.TH ANIM_HARDTRACK 1 BRL/CAD
+.SH NAME
+anim_hardtrack - make an animation script for the links and/or wheels of a
+tracked vehicle with rigid axles.
+.SH SYNOPSIS
+.B 
+anim_hardtrack [-l num_links linkname] [-w wheelname] [options] wheelfile < in.table > out.script
+.SH DESCRIPTION
+.I Anim_hardtrack 
+is designed to produce an animation script for the
+animation of a track and/or the wheels defining a track, where the wheels
+are rigidly fixed in place with respect to the vehicle. The main
+difference between
+.I anim_hardtrack
+and 
+.I anim_track
+is that 
+.I anim_track
+handles vehicles with dynamic axles. Both are designed to be use in 
+conjunction with
+.I anim_script, 
+to achieve the final result.
+.PP
+.B in.table 
+is the file that will be used to animate the
+vehicle itself. By default, it is assumed that it contains a time column,
+three columns of translation information, and three columns specifying the
+vehicle's yaw, pitch, and roll. If it is desired that the vehicle be steered
+automatically, then the table should contain only time and position, and the
+.B -s 
+option should be used.
+.PP
+The track's
+geometry is defined by 
+.BR wheelfile , 
+a table which contains one row for each wheel defining the track. The
+first three columns of the table specify the x, y, and z coordinates of
+the wheel centers. The fourth column specifies the radius of each wheel.
+.PP
+The order in which the wheels are listed should be the order in which a 
+link of the track would move around the wheels when the vehicle is moving
+forward. (clockwise, when looking from the right of the vehicle).
+The wheel centers should all lie in a plane perpendicular to the vehicle's
+left-right axis. If this is not the case,
+.I anim_hardtrack
+uses the first wheel as the standard and projects all the other wheels into
+the same plane as the first wheel. By default, it is assumed that the
+vehicle's left-right axis is the y-axis. If the modeled vehicle has some
+other orientation, this must be specified with the
+.B -b 
+option.
+.PP
+By default, it is
+assumed that 
+all of the link objects are modeled at the model origin,
+with the wheel-contacting surface centered on the origin and the
+ground-contacting surface facing up. The sides of each link which
+connect to other links should face the positive and negative x-axes.
+.I Anim_hardtrack 
+prints the appropriate
+commands to move the links from 
+the origin to the correct place around the wheels.
+.PP
+If the links are modeled in place around the wheels to begin with, the
+the 
+.B -p 
+and 
+.B -i 
+options are needed.
+
+.SH OPTIONS:
+.PP
+One or both of the first two options should always be specified.
+.TP
+.B \-l num linkname
+Print animation scripts to animate the links of the track. Animation
+commands will be printed for
+.I num 
+different links 
+named 
+.IR linkname .0, linkname .1, 
+up through 
+.IR linkname .( num -1). 
+A typical example of a linkname might
+be "tank/righttrack/links/link". The full pathname must be specified,
+because anim_hardtrack's method is to roll the links around within
+the vehicle's tree structure so that when the whole vehicle "tank" is
+animated, the complete combination of rolling around and translating is
+achieved. 
+.TP
+.B \-w wheelname
+Print animation
+scripts to rotate each wheel. The wheels are named wheelname.0, wheelname.1, 
+and so on, where wheelname.0 is the first wheel listed in 
+.BR wheelfile . 
+As with the links, the full pathname for the wheels should be specified.
+.TP
+.B \-b # # #
+Specify the yaw, pitch, and roll of the vehicle's axes
+with respect to the world axes. By default, the vehicle is assumed to
+have a yaw, pitch, and roll of 0.
+.TP
+.B \-d # # #
+Specify (in world coordinates) the centroid of the vehicle
+of which the track is a part. By default, the vehicle is assumed
+centered at the origin.
+.PP
+When calling 
+.I anim_script 
+to handle the animation of the vehicle
+itself, the parameters following the 
+.B -b 
+and 
+.B -d 
+options should be identical
+to those used for 
+.IR anim_hardtrack .
+.TP
+.B \-r #
+Specify the common radius of all wheels. In this case the fourth column
+should be omitted from the
+.BR wheelfile .
+.TP
+.B \-s
+Automatic steering. In this case, 
+.B in.table 
+specifies only the time and position 
+of the vehicle. The orientation is calculated to always face the vehicle
+in the direction of motion.
+This should be used when the 
+.B \-s 
+option is used by 
+.I anim_script
+to animate the vehicle.
+.PP
+.TP
+.B \-f#
+Specify the integer with which to begin numbering frames.
+Default is zero.
+.TP
+.B \-p
+Animate placed links, rather than links stored at the origin.
+In order for placed links to be animated, they must be equally spaced
+around the wheels defining the track. The track must be formed of arcs
+around the wheels and straight lines between the wheels, and the links
+must be numbered clockwise as seen from the right.
+By default, it is assumed that the
+center of the first link, linkname.0, is at the beginning of the
+straight track segment between wheel.(n-1) and wheel.0 . If this is
+not the case, the position of the first link must be identified with the
+.B \-i#
+option.
+.TP
+.B \-i#
+Specify the initial offset of the first link. If this option is
+not used, the initial position of linkname.0 is assumed to be the
+beginning of the straight track segment between wheel.(n-1) and wheel.0.
+If it is used, the argument specifies the distance clockwise around the
+track from the default position to the actual desired offset. If the
+links are modeled at the origin, the user can choose any offset. This
+can be useful for lining up the links with gears of a drive wheel, for
+example.
+If the 
+.B -p 
+option is being used to animated pre-placed links, then it is essential
+that the actual offset of the first pre-placed link be specified.
+.SS Output:
+.PP
+The output is a script containing as many frames as there
+are positions in 
+.BR in.table . 
+If there are 
+.I n 
+links and 
+.I k 
+wheels, each
+frame contains up to 
+.IR  n + k 
+anim commands, either:
+.nf
+
+anim linkname.i matrix lmul
+[... matrix ...] ;
+				or
+anim wheelname.j matrix lmul
+[... matrix ...] ;
+ 
+for 0<=i<n and 0<=j<k. 
+
+.fi
+.SH EXAMPLES
+Suppose you want to make an animation of a tank rolling across
+flat ground. A list of desired positions is created, perhaps by
+interpolating between a few key positions; this information is placed
+in a four column animation table, in.table. The model of the tank is stored in
+model.g as a combination named "tank". Its centroid is at the
+point (0,0,1000) and it faces the y-axis. An animation script for the
+tank itself is created as follows:
+.PP
+anim_script -s -d 0 0 1000 -b 90 0 0 /tank < in.table > tank.script
+.PP
+Suppose that there are two
+roadwheels and a drivewheel (tank/rwheel/wheel.i, 0<=i<3) which define
+the shape of the right track. 
+A file called 
+.B rwheelfile 
+is created:
+.nf
+
+1500   -2000    30      30
+1500   0        1000    35
+1500   2000     30      30
+
+.fi
+This 
+.B rwheelfile 
+lists the position and
+radius of each of the three wheels.
+.PP
+There are eighty links which make up the right track 
+(tank/rtrack/link.i, 0<=i<80).
+The links of the right track are all modeled
+at the origin with the outer, ground-contacting surface
+facing up and the inner, wheel-contacting surface centered at the
+origin.
+.PP
+The appropriate call to 
+.I anim_hardtrack 
+is now:
+.sp
+anim_hardtrack -d 0 0 1000 -b 90 0 0 -w tank/rwheel -l 80 tank/rtrack/link 
+	rwheelfile < in.table > rtrack.script
+.sp
+Suppose that the left track is similar to the right track,
+except that all the wheels are of radius 30 units, and the links, rather
+than being stored at the origin, are actually placed in position around
+the left wheels to begin with. The 
+.B lwheelfile 
+would be:
+.nf
+
+-1500   -2000   30
+-1500   0       1000
+-1500   2000    30
+
+.fi
+and the call would be:
+.sp
+anim_hardtrack -p -r 30 -d 0 0 1000 -b 90 0 0 -w tank/lwheel 
+	-l 80 tank/ltrack/link lwheelfile <in.table > ltrack.script
+.sp
+Here, it is assumed that tank/ltrack/link.0 is initially at the
+beginning of the straight track segment between lwheel.2 and lwheel.0,
+that is, at the point (2000,1500,-1000) in the vehicle's coordinates.
+If, instead, the first link is initially centered halfway between the
+two roadwheels, this must be specified with the 
+.B -i# 
+option. If the link's
+actual position is 2000 units farther around the track than expected:
+.sp
+anim_hardtrack -i 2000 -p -r 30 -d 0 0 1000 -b 90 0 0 -w tank/lwheel 
+	-l 80 tank/ltrack/link lwheelfile <in.table > ltrack.script
+.sp
+One final step may remain. The above procedure produces a script with rigid
+naming conventions, in order to make input simple. This may mean that
+the names in the script do not match the names in model.g. An editor
+should then be used at the end to replace all instances of the
+conventional name with the real name; for example, in this case it may
+be necessary to replace "rwheel.1" with "r_drivewheel".
+.PP
+.BR Tank.script , 
+.BR rtrack.script , 
+and 
+.B ltrack.script 
+can be combined
+with 
+.I anim_sort 
+to make the complete script.
+.PP
+.SH BUGS
+Tracks must have at least two wheels, and they must be listed in clockwise
+order, or the results are unpredictable.
+.SH SEE ALSO
+anim_script(1), anim_track(1)
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
+
@@ -0,0 +1,517 @@
+/*			A N I M _ H A R D T R A C K . C
+ *
+ *  Animate the links and wheels of a tracked vehicle. It is assumed
+ *  that the wheels do not translate with respect to the vehicle.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#ifdef USE_STRING_H
+#include <string.h>
+#else
+#include <strings.h>
+#endif
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+#include "bn.h"
+#include "anim.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#ifndef M_PI_2
+#define M_PI_2	(M_PI*0.5)
+#endif
+
+#define NW	num_wheels
+#define NEXT(i)	(i+1)%NW
+#define PREV(i)	(i+NW-1)%NW
+
+#define TRACK_ANIM	0
+#define TRACK_ARCED	1
+
+typedef double *pdouble;
+
+struct wheel {
+vect_t		pos;	/* displacement of wheel from vehicle origin */
+fastf_t		rad;	/* radius of wheel */
+fastf_t		ang0;	/* angle where track meets wheel; 0 < a < 2pi */
+fastf_t		ang1;	/* angle where track leaves wheel; 0 < a < 2pi */
+fastf_t		arc;	/* arclength of contact between wheel and track */
+};
+
+struct track {
+vect_t		pos0;	/* beginning point of track section */
+vect_t		pos1;	/* end point of track section */
+vect_t		dir;	/* unit vector: direction of track section */
+fastf_t		len;	/* length of track section */
+};
+
+struct slope {
+vect_t		dir;	/* vector from previous to current axle */
+fastf_t		len;	/* length of vector described above */
+};
+
+struct all {
+struct wheel 	w;	/* parameters describing the track around a wheel */
+struct track	t;	/* track between this wheel and the previous wheel */
+struct slope	s;	/* vector between this axle and the previous axle */
+};
+
+struct rlink {
+vect_t		pos;	/* reverse of initial position */
+fastf_t		ang;	/* initial angle */
+};
+
+/* external variables */
+extern int bu_optind;
+extern char *bu_optarg;
+
+/* variables describing track geometry - used by main, trackprep, get_link */
+struct all *x;
+struct rlink *r;		/* reverse of initial locations of links */
+int num_links, num_wheels;
+fastf_t track_y, tracklen;
+
+/* variables set by get_args */
+int wheel_nindex;	/* argv[wheel_nindex] = wheelname*/
+int link_nindex;	/* argv[link_nindex] = linkname*/
+int print_wheel;	/* flag: do wheel animation */
+int print_link;		/* flag: do link animation */
+int print_mode;		/*  anim for rt or arced for mged */
+int arced_frame;	/* which frame to arced */
+int links_placed;	/* flag: links are initially on the track */
+int axes, cent;		/* flags: alternate axes, centroid specified */
+int steer;		/* flag: vehicle automatically steered */
+int first_frame;	/* integer with which to begin numbering frames */
+fastf_t radius;		/* common radius of all wheels */
+fastf_t init_dist; 	/* initial distance of first link along track */
+vect_t centroid, rcentroid;	/* alternate centroid and its reverse */
+mat_t m_axes, m_rev_axes;	/* matrices to and from alternate axes */
+char link_cmd[10];		/* default is "rarc" */
+char wheel_cmd[10];		/* default is "lmul" */
+int get_circumf;	/* flag: just return circumference of track */
+
+int get_link();
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	void anim_dir2mat(), anim_y_p_r2mat(), anim_add_trans(),anim_mat_print();
+	int get_args(), track_prep(), val, frame, go, i, count;
+	fastf_t y_rot, distance, yaw, pitch, roll;
+	vect_t p1, p2, p3, dir, dir2, wheel_now, wheel_prev;
+	vect_t zero, position, vdelta, temp, to_track, to_front;
+	mat_t mat_v, wmat, mat_x;
+	FILE *stream;
+	int last_frame;
+
+	VSETALL(zero,0.0);
+	VSETALL(to_track,0.0);
+	VSETALL(centroid,0.0);
+	VSETALL(rcentroid,0.0);
+	init_dist = y_rot = radius= 0.0;
+	first_frame = num_wheels = steer = axes = cent = links_placed=0;
+	num_wheels = num_links = last_frame = 0;
+	MAT_IDN(mat_v);
+	MAT_IDN(mat_x);
+	MAT_IDN(wmat);
+	MAT_IDN(m_axes);
+	MAT_IDN(m_rev_axes);
+
+	if (!get_args(argc,argv)){
+		fprintf(stderr,"anim_hardtrack: argument error.");
+		return(-1);
+	}
+
+	if (axes || cent ){ /* vehicle has own reference frame */
+		anim_add_trans(m_axes,centroid,zero);
+		anim_add_trans(m_rev_axes,zero,rcentroid);
+	}
+
+	/* get track information from specified file */
+
+	if (!(stream = fopen(*(argv+bu_optind),"r"))){
+		fprintf(stderr,"Anim_hardtrack: Could not open file %s.\n",*(argv+bu_optind));
+		return(0);
+	}
+	num_wheels = -1;
+	if (radius) {
+		while (!feof(stream)) {
+			fscanf(stream,"%*f %*f %*f");
+			num_wheels++;
+		}
+	} else {
+		while (!feof(stream)) {
+			fscanf(stream,"%*f %*f %*f %*f");
+			num_wheels++;
+		}
+	}
+	rewind(stream);
+
+	/*allocate memory for track information*/
+	x = (struct all *) calloc(num_wheels,sizeof(struct all));
+		/*read rest of track info */
+	for (i=0;i<NW;i++){
+		fscanf(stream,"%lf %lf %lf", temp, temp+1, temp+2);
+		if (radius)
+			x[i].w.rad = radius;
+		else
+			fscanf(stream,"%lf",& x[i].w.rad);
+		MAT4X3PNT(x[i].w.pos,m_rev_axes,temp);
+		if (i==0)
+			track_y = x[0].w.pos[1];
+		else
+			x[i].w.pos[1] = track_y;
+	}
+	(void) fclose(stream);
+
+	(void) track_prep();
+
+	if (get_circumf) {
+		printf("%.10g\n",tracklen);
+		return(0);
+	}
+
+	/* initialize to_track */
+	VSET(to_track, 0.0, track_y, 0.0);
+	VSET(to_front,1.0,0.0,0.0);
+
+	if ((!print_link)&&(!print_wheel)) {
+		fprintf(stderr,"anim_hardtrack: no ouput requested. Use -l or -w.\n");
+		exit(0);
+	}
+	/* main loop */
+	distance = 0.0;
+	if(!steer)
+		frame = first_frame;
+	else
+		frame = first_frame-1; 
+	for (val = 3; val > 2; frame++) {
+		go = 1;
+		/*p2 is current position. p3 is next;p1 is previous*/
+		VMOVE(p1,p2);
+		VMOVE(p2,p3);
+		scanf("%*f");/*time stamp*/
+		val = scanf("%lf %lf %lf", p3, p3+1, p3 + 2);
+		if(!steer){
+			scanf("%lf %lf %lf",&yaw,&pitch,&roll);
+			anim_dy_p_r2mat(mat_v,yaw,pitch,roll);
+			anim_add_trans(mat_v,p3,rcentroid);			
+		}
+		else { /* analyze positions for steering */
+			/*get useful direction unit vectors*/
+			if (frame == first_frame){ /* first frame*/
+				VSUBUNIT(dir,p3,p2);
+				VMOVE(dir2,dir);
+			}
+			else if (val < 3){ /*last frame*/
+				VSUBUNIT(dir,p2,p1);
+				VMOVE(dir2,dir);
+			}
+			else if (frame > first_frame){ /*normal*/
+				VSUBUNIT(dir,p3,p1);
+				VSUBUNIT(dir2,p2,p1);/*needed for vertical case*/
+			}
+			else go = 0;/*first time through loop;no p2*/
+			
+			/*create matrix which would move vehicle*/
+			anim_dir2mat(mat_v,dir,dir2); 
+			anim_add_trans(mat_v,p2,rcentroid); 
+		}
+
+		/*determine distance traveled*/
+		VMOVE(wheel_prev,wheel_now);
+		MAT4X3PNT(wheel_now,mat_v,to_track);
+		if (frame > first_frame){  /* increment distance by distance moved */
+			VSUB2(vdelta,wheel_now,wheel_prev);
+			MAT3X3VEC(temp,mat_v,to_front);/*new front of vehicle*/
+			distance += VDOT(temp,vdelta);/*portion of vdelta in line with track*/
+		}
+
+		if (go){
+			if (print_mode==TRACK_ANIM) {
+				printf("start %d;\nclean;\n", frame);
+			} else if (print_mode==TRACK_ARCED) {
+				if (frame != arced_frame) continue;
+				last_frame = 1;
+			}
+			if (print_link) {
+			        for (count=0;count<num_links;count++){
+		        	        (void) get_link(position,&y_rot,distance+tracklen*count/num_links+init_dist);
+					anim_y_p_r2mat(wmat,0.0,y_rot+r[count].ang,0.0);
+			        	anim_add_trans(wmat,position,r[count].pos);
+			        	if ((axes || cent) && links_placed){ /* link moved from vehicle coords */
+				        	bn_mat_mul(mat_x,wmat,m_rev_axes);
+			        		bn_mat_mul(wmat,m_axes,mat_x);
+			        	}
+			        	else if (axes || cent){ /* link moved to vehicle coords */
+			        		MAT_MOVE(mat_x,wmat);
+			        		bn_mat_mul(wmat,m_axes,mat_x);
+			        	}
+			        	if (print_mode==TRACK_ANIM) {
+						printf("anim %s.%d matrix %s\n", *(argv+link_nindex),count,link_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","\n",";\n");
+			        	} else if (print_mode==TRACK_ARCED) {
+			        		printf("arced %s.%d matrix %s ", *(argv+link_nindex),count,link_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","","\n");
+			        	}
+				}
+			}
+			if (print_wheel){
+				for (count = 0;count<num_wheels;count++){
+					anim_y_p_r2mat(wmat,0.0,-distance/x[count].w.rad,0.0);
+					VREVERSE(temp,x[count].w.pos);
+					anim_add_trans(wmat,x[count].w.pos,temp);
+			        	if (axes || cent){
+				        	bn_mat_mul(mat_x,wmat,m_rev_axes);
+			        		bn_mat_mul(wmat,m_axes,mat_x);
+			        	}
+			        	if (print_mode==TRACK_ANIM) {
+						printf("anim %s.%d matrix %s\n",*(argv+wheel_nindex),count,wheel_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","\n",";\n");
+			        	} else if (print_mode==TRACK_ARCED) {
+						printf("arced %s.%d matrix %s ",*(argv+wheel_nindex),count,wheel_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","","\n");
+			        	}
+				}
+			}
+			if (print_mode==TRACK_ANIM)
+				printf("end;\n");
+		}
+		if (last_frame) break;
+	}
+	return( 0 );
+}
+
+
+int track_prep()/*run once at the beginning to establish important track info*/
+{
+	int i;
+	fastf_t phi, costheta, link_angle, arc_angle;
+	vect_t difference, link_cent;
+
+	/* first loop - get inter axle slopes and start/end angles */
+	for (i=0;i<NW;i++){
+		/*calculate current slope vector*/
+		VSUB2(x[i].s.dir,x[i].w.pos,x[PREV(i)].w.pos);
+		x[i].s.len = MAGNITUDE(x[i].s.dir);
+		/*calculate end angle of previous wheel - atan2(y,x)*/
+		phi = atan2(x[i].s.dir[2],x[i].s.dir[0]);/*absolute angle of slope*/
+		costheta = (x[PREV(i)].w.rad - x[i].w.rad)/x[i].s.len;/*cosine of special angle*/
+		x[PREV(i)].w.ang1 = phi +  acos(costheta);
+		while (x[PREV(i)].w.ang1 < 0.0)
+			x[PREV(i)].w.ang1 += 2.0*M_PI;
+		x[i].w.ang0 = x[PREV(i)].w.ang1;
+	}
+
+	/* second loop - handle concavities */
+        for (i=0;i<NW;i++){
+                arc_angle = x[i].w.ang0 - x[i].w.ang1;
+                while (arc_angle < 0.0)
+                        arc_angle += 2.0*M_PI;
+                if (arc_angle > M_PI) { /* concave */
+                        x[i].w.ang0 = 0.5*(x[i].w.ang0 + x[i].w.ang1);
+                        x[i].w.ang1 = x[i].w.ang0;
+                        x[i].w.arc = 0.0;
+                }
+                else { /* convex - angles are already correct */
+                        x[i].w.arc = arc_angle;
+                }
+        }
+
+	/* third loop - calculate geometry of track segments */
+	tracklen = 0.0;
+	for (i=0;i<NW;i++){
+		/*calculate endpoints of track segment*/
+		x[i].t.pos1[0] = x[i].w.pos[0] + x[i].w.rad*cos(x[i].w.ang0);
+		x[i].t.pos1[1] = x[i].w.pos[1];
+		x[i].t.pos1[2] = x[i].w.pos[2] + x[i].w.rad*sin(x[i].w.ang0);
+		x[i].t.pos0[0] = x[PREV(i)].w.pos[0] + x[PREV(i)].w.rad*cos(x[PREV(i)].w.ang1);
+		x[i].t.pos0[1] = x[PREV(i)].w.pos[1];
+		x[i].t.pos0[2] = x[PREV(i)].w.pos[2] + x[PREV(i)].w.rad*sin(x[PREV(i)].w.ang1);
+		/*calculate length and direction*/
+		VSUB2(difference,x[i].t.pos1,x[i].t.pos0);
+		x[i].t.len = MAGNITUDE(difference);
+		VSCALE((x[i].t.dir),difference,(1.0/x[i].t.len));
+
+		/*calculate arclength and total track length*/
+		tracklen += x[i].t.len;
+		tracklen += x[i].w.arc*x[i].w.rad;
+	}
+
+	/* for a track with links already placed, get initial positions*/
+	r = (struct rlink *) calloc(num_links, sizeof(struct rlink));
+	if (links_placed)
+		for (i=0;i<num_links;i++){
+			get_link(link_cent,&link_angle,init_dist + tracklen*i/num_links);
+			VREVERSE(r[i].pos,link_cent);
+			r[i].ang = -link_angle;
+		}
+	return(0);
+}
+
+	
+int get_link(pos,angle_p,dist) 
+fastf_t *angle_p, dist;
+vect_t pos;
+{
+	int i;
+	vect_t temp;
+	while (dist >= tracklen) /*periodicize*/
+		dist -= tracklen;
+	while (dist < 0.0)
+		dist += tracklen;
+	for (i=0;i<NW;i++){
+		if ( (dist  -= x[i].t.len) < 0 ){
+			VSCALE(temp,(x[i].t.dir),dist);
+			VADD2(pos,x[i].t.pos1,temp);
+			*angle_p = atan2(x[i].t.dir[2],x[i].t.dir[0]);
+			return(2*i);
+		}
+		if ((dist -= x[i].w.rad*x[i].w.arc) < 0){
+			*angle_p = dist/x[i].w.rad;
+			*angle_p = x[i].w.ang1 - *angle_p;/*from x-axis to link*/
+			pos[0] = x[i].w.pos[0] + x[i].w.rad*cos(*angle_p);
+			pos[1] = x[i].w.pos[1];
+			pos[2] = x[i].w.pos[2] + x[i].w.rad*sin(*angle_p);
+			*angle_p -= M_PI_2; /*angle of clockwise tangent to circle*/
+			return(2*i+1);
+		}
+	}
+	return -1;
+}
+
+#define OPT_STR "b:d:f:i:l:pr:w:sg:m:c"
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	fastf_t yaw, pch, rll;
+	void anim_dx_y_z2mat(), anim_dz_y_x2mat();
+	int c, i;
+	axes = cent = links_placed = print_wheel = print_link = 0;
+	get_circumf = 0;
+	print_mode = TRACK_ANIM;
+	strcpy(link_cmd, "rarc");
+	strcpy(wheel_cmd, "lmul");
+        while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+                i=0;
+                switch(c){
+                case 'b':
+                	bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf", &yaw );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &pch );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &rll );
+			bu_optind += 3;
+			anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+			anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+			axes = 1;
+                        break;
+                case 'd':
+                        bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+1);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+2);
+                        bu_optind += 3;
+                        VREVERSE(rcentroid,centroid);
+                	cent = 1;
+                        break;
+                case 'f':
+                	sscanf(bu_optarg,"%d",&first_frame);
+                        break;
+                case 'i':
+                	sscanf(bu_optarg,"%lf",&init_dist);
+                	break;
+                case 'p':
+                	links_placed = 1;
+                	break;
+                case 'r':
+                	sscanf(bu_optarg,"%lf",&radius);
+                	break;
+                case 'w':
+                	wheel_nindex = bu_optind - 1;
+                	/*sscanf(bu_optarg,"%s",wheel_name);*/
+                	print_wheel = 1;
+                        break;
+                case 'l':
+                	sscanf(bu_optarg,"%d", &num_links);
+                	link_nindex = bu_optind;
+                	bu_optind += 1;
+                	print_link = 1;
+                        break;
+                case 's':
+                	steer = 1;
+                	break;
+                case 'g':
+                	sscanf(bu_optarg,"%d",&arced_frame);
+                	print_mode = TRACK_ARCED;
+                	break;
+                case 'm':
+                	switch (*bu_optarg) {
+                	case 'l':
+                		strncpy(link_cmd,argv[bu_optind], 10);
+                		break;
+                	case 'w':
+                		strncpy(wheel_cmd,argv[bu_optind], 10);
+                		break;
+                	default:
+                		fprintf(stderr,"Unknown option: -m%c\n",*bu_optarg);
+                		return(0);
+                	}
+                	bu_optind += 1;
+                	break;
+                case 'c':
+                	get_circumf = 1;
+                	break;
+                default:
+                        fprintf(stderr,"Unknown option: -%c\n",c);
+                        return(0);
+                }
+        }
+        return(1);
+}
+
+void show_info(which)/* for debugging - -1:track 0:both 1:link*/
+int which;
+{
+	int i;
+	if (which <=0){
+		fprintf(stderr,"track length: %f\n",tracklen);
+		fprintf(stderr,"link length: %f\n",tracklen/num_links);
+		for (i=0;i<NW;i++){
+			fprintf(stderr,"wheel %d: %f %f %f %f %f %f\n",i,x[i].w.pos[0],x[i].w.pos[1],x[i].w.pos[2],x[i].w.rad,x[i].w.ang1,x[i].w.arc);
+			fprintf(stderr,"track %d: %f %f %f %f %f %f %f\n",i,x[i].t.pos1[0],x[i].t.pos1[1],x[i].t.pos1[2],x[i].t.dir[0],x[i].t.dir[1],x[i].t.dir[2],x[i].t.len);
+			fprintf(stderr,"slope %d: %f %f %f %f\n",i,x[i].s.dir[0],x[i].s.dir[1],x[i].s.dir[2],x[i].s.len);
+		}
+	}
+/*	if (which >= 0){
+		fprintf(stderr,"%d %f %f %f %f\n",count,position[0],position[1],position[2],y_rot);
+	}*/
+}
+
@@ -0,0 +1,114 @@
+.TH ANIM_KEYREAD 1 BRL/CAD
+.SH NAME
+anim_keyread - prepares key frames from the mged savekey command for interpolation
+.SH SYNOPSIS
+.B anim_keyread 
+.B [-y|z] 
+.B < key.file 
+.B > key.table
+.SH DESCRIPTION
+.I Anim_keyread
+takes as input a file containing a series of keyframes
+generated by the 
+.I mged 
+command `savekey',  and produces a table containing
+the same information, except that the view orientation matrix is
+changed to a form that can be interpolated. The default form for the
+orientation information is the quaternion.
+For each such keyframe in the input file, 
+.I anim_keyread 
+will produce a
+row in the output file containing the time, the viewsize, the position
+of the camera, and the orientation of the camera, specified as a unit 
+quaternion in the order x, y, z, and w.  
+.SH OPTIONS
+.TP
+.B -y
+Specify the orientation in terms of yaw, pitch, and roll.
+.TP
+.B -z
+Specify the orientation as a rotation about the z-axis, y-axis,
+and then x-axis, where the columns are in the order: x,y,z.
+.SH EXAMPLES
+The following is an example of a typical keyframe generated by the
+`savekey' command. The time is 0, the viewsize is ten, the camera is at the
+point (2.5,2.5,3.53) and the camera orientation is specified by a
+matrix.
+.nf
+
+0.000000
+1.000000000e+01
+2.500000000e+00 2.500000000e+00 3.535533906e+00
+-7.071067812e-01 7.071067812e-01 0.000000000e+00 0.000000000e+00 
+-5.000000000e-01 -5.000000000e-01 7.071067812e-01 0.000000000e+00 
+5.000000000e-01 5.000000000e-01 7.071067812e-01 0.000000000e+00 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 1.000000000e+00 
+
+.fi
+For the key frame shown above, the output would
+be:
+.sp
+0.000000        10.000000       2.500000        2.500000        3.535534        0.146447        0.353553        0.853553        0.353553
+.sp
+The last four numbers define the desired orientation as a
+quaternion.
+.PP
+With the 
+.B -y
+option, the output would be:
+.sp
+0.000000        10.000000       2.500000        2.500000        3.535534        -135.000000      -45.000000      0.000000
+.sp
+Here, the last three numbers are the yaw, pitch, and roll,
+which can be interpreted as follows: Imagine a camera at the origin
+originally facing the positive x-direction, with the z-axis going up
+and  the y-axis positive to the left. The camera should  be rotated
+roll degrees about the x-axis, -pitch degrees about the y-axis,
+and +yaw degrees about the z-axis. In this case, the camera ends up
+pointing down and to the right of its original position. 
+.PP
+With the -z option, the output would be:
+.sp
+0.000000        10.000000       2.500000        2.500000        3.535534         -35.264390       30.000000       144.735610
+.sp
+The last three numbers are x, y, and z rotation angles.
+The camera is considered to be originally on the z-axis, looking toward
+the origin with the x-axis to the right and the y-axis going up. The
+camera is rotated 144.7 degrees about the model's z-axis, then 30
+degrees about the model's y-axis, and finally -35.2 degrees about the
+model x-axis. 
+.SH DIAGNOSTICS
+Problems arise when using Eulers angles, because
+certain orientations do not have a uniqe representation, and the program
+must arbitrarily select among an infinite number of possibilities. For
+example, when using yaw, pitch and roll, the yaw and roll
+become indistinguishable when the pitch is 90 degrees. 
+.PP
+When this happens, the roll is set to 0, and the following
+messages appear on standard error:
+.nf
+
+Warning: roll arbitrarily set to 0.0; yaw set to -0.585334 radians.
+Warning: yaw and roll arbitrarily defined at time = 1.000000.
+
+.fi
+A similar effect occurs in xyz format when the rotation about
+the y-axis is 90 degrees.
+.nf
+
+Warning: x arbitrarily set to 0.0; z set to 0.000000.
+Warning: x and z rotations arbitrarily defined at time = 9.000000.
+
+.fi
+One nice thing about quaternions is that you don't run into such
+problems. 
+.SH SEE ALSO
+mged(1), tabsub(1), anim_script(1), tabinterp(1)
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,162 @@
+/*                         A N I M _ K E Y R E A D . C
+ *
+ *	Convert an list of mged-style 'savekey' keyframes into an 
+ *  animation table
+ *
+ *  The output table specifies the orientation in one of three ways:
+ *
+ *	default	 - quaternions in the order x, y, z, w.
+ *
+ *	-z option - Eulers angles, in the order xyz. The model axes are 
+ *		considered to be rotated about the camera's z, y, and 
+ *		x axes (in that order).
+ *	
+ *	-y option - Eulers angles in the form yaw, pitch, roll.
+ *
+ *  This is more or less a special case of anim_orient.c
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <stdio.h>
+#include <math.h>
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#define YPR		0
+#define XYZ		1
+#define QUATERNION	2
+ 
+#define DEGREES		0
+#define RADIANS		1
+
+#define NORMAL		0
+#define ERROR1		1
+#define ERROR2		2
+
+#define DTOR    M_PI/180.0
+#define RTOD    180.0/M_PI
+
+int mode; 
+int units;
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int get_args();
+extern void anim_v_unpermute();
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	fastf_t time, viewsize;
+
+	fastf_t eyept[3], viewrot[16], angle[3], quat[4];
+	int anim_mat2ypr(), anim_mat2zyx(), anim_mat2quat();
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"anim_keyread: get_args error");
+
+	while (!feof(stdin)){  /* read one keyframe */
+		scanf("%lf", &time);
+		scanf("%lf", &viewsize);
+		scanf("%lf %lf %lf", eyept, eyept+1, eyept+2);
+		/* read in transposed matrix */
+		scanf("%lf %lf %lf %lf", viewrot+0, viewrot+4, viewrot+8, viewrot+12);
+		scanf("%lf %lf %lf %lf", viewrot+1, viewrot+5, viewrot+9, viewrot+13);
+		scanf("%lf %lf %lf %lf", viewrot+2, viewrot+6, viewrot+10, viewrot+14);
+		scanf("%lf %lf %lf %lf", viewrot+3, viewrot+7, viewrot+11, viewrot+15);
+
+		if (feof(stdin)) break;
+
+		printf("%.10g\t%.10g\t%.10g\t%.10g\t%.10g\t", time, viewsize,
+					 eyept[0], eyept[1], eyept[2]);
+
+
+		if (mode==YPR) {
+			anim_v_unpermute(viewrot);
+			c = anim_mat2ypr(angle,viewrot);
+			if (c==ERROR1)
+				fprintf(stderr,"Warning: yaw and roll arbitrarily defined at time = %f.\n",time);
+			else if (c==ERROR2)
+				fprintf(stderr,"Keyread: can't interpret matrix at time = %f.\n",time);
+			if (units == DEGREES)
+				VSCALE(angle,angle,RTOD);
+			printf("%.10g\t%.10g\t%.10g\n",angle[0],angle[1],angle[2]);
+		}
+		else if (mode==XYZ) {
+			c = anim_mat2zyx(angle,viewrot);
+			if (c==ERROR1)
+				fprintf(stderr,"Warning: x and z rotations arbitrarily defined at time = %f.\n",time);
+			else if (c==ERROR2)
+				fprintf(stderr,"Keyread: can't interpret matrix at time = %f\n.",time);
+			if (units == DEGREES)
+				VSCALE(angle,angle,RTOD);
+			printf("%.10g\t%.10g\t%.10g\n",angle[X],angle[Y],angle[Z]);
+		}
+		else if (mode==QUATERNION){
+			anim_mat2quat(quat,viewrot);
+			printf("%.10g\t%.10g\t%.10g\t%.10g\n",quat[X],quat[Y],quat[Z],quat[W]);
+		}
+	}
+	return( 0 );
+}
+
+
+#define OPT_STR "yzqr"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+
+	int c;
+
+	mode = QUATERNION; /* default */
+	units = DEGREES;
+
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'y':
+			mode = YPR;
+			break;
+		case 'z':
+			mode = XYZ;
+			break;
+		case 'q':
+			mode = QUATERNION;
+			break;
+		case 'r':
+			units = RADIANS;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,58 @@
+.TH ANIM_LOOKAT 1 BRL/CAD
+.SH NAME
+anim_lookat - create a view animation script or table which looks from an eye point to 
+a specified point.
+.SH SYNOPSIS
+.B anim_lookat 
+.B [\-f #]
+.B \[-v] 
+.B < in.table 
+.B > out.script
+.PP
+.B anim_lookat 
+.B \-[y|q]
+.B \[-v] 
+.B < in.table 
+.B > out.table
+
+.SH DESCRIPTION
+This program takes as input a seven-column animation table
+consisting of time, an eye point, and a "look-at point", and prints a
+view animation script to control the virtual camera. 
+The camera always remains "right-side up"; that is, it yaws and pitches but 
+doesn't roll. In cases where the camera looks vertically up or down, the 
+yaw from the previous frame is retained. This avoids sudden jumps as much
+as possible.
+.PP
+.SH OPTIONS
+.TP
+.B \-f#
+Specify an integer with which to begin
+numbering frames. The default is 0.
+.TP
+.B \-y
+The output will be an animation table rather
+than a view animation script. The output table has 7 columns: 
+a time column, three
+columns representing position, and three columns representing yaw,
+pitch, and roll.
+.TP
+.B \-q
+The output will be an animation table rather than a view animation script. 
+The output table has eight columns: 
+a time column, three position columns, and four columns 
+representing the x,y,z, and w coordinates of an orientation quaternion.
+.TP
+.B \-v
+Include the viewsize in the output script or table. The viewsize is
+calculated in every frame as twice the distance from the eye point to
+the lookat point. If the output is a table, then the viewsize is printed
+in the second column.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,159 @@
+/*			A N I M _ L O O K A T . C
+ *
+ *	Given animation tables for the position of the virtual camera 
+ * and a point to look at at each time, this program produces an animation
+ * script to control the camera. The view is kept rightside up, whenever 
+ * possible. When looking vertically up or down, the exact orientation 
+ * depends on the previous orientation.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <stdio.h>
+#include <math.h>
+#include "machine.h"
+#include "vmath.h"
+#include "anim.h"
+#include "bu.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+#ifndef RTOD
+#define RTOD	(180/M_PI)
+#endif
+
+
+#define LOOKAT_SCRIPT	0
+#define	LOOKAT_YPR	1
+#define LOOKAT_QUAT	2
+
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int frame = 0;
+int print_mode = LOOKAT_SCRIPT;
+int print_viewsize = 0;
+
+int get_args();
+extern void anim_dirn2mat();
+extern int anim_mat2ypr();
+extern int anim_mat2quat();
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	fastf_t time, vsize=0.0;
+	vect_t eye,look,dir, angles, norm, temp;
+	quat_t quat;
+	mat_t mat;
+	int val = 0;
+
+	VSETALL(look,0.0);
+	VSETALL(eye,0.0);
+
+	if (argc > 1)
+		get_args(argc,argv);
+
+	VSET(norm, 0.0, 1.0, 0.0);
+	while (!feof(stdin)){
+		val=scanf("%lf %lf %lf %lf %lf %lf %lf",&time,eye,eye+1,eye+2,look,look+1,look+2);
+		if (val < 7){
+			break;
+		}
+
+		if (print_viewsize) {
+			VSUB2(temp, eye, look);
+			vsize = MAGNITUDE(temp);
+			vsize *= 2.0;
+		}
+
+		VSUBUNIT(dir,look,eye);
+		anim_dirn2mat(mat,dir,norm);
+		VSET(norm, mat[1],mat[5], 0.0); 
+		switch (print_mode) {
+		case LOOKAT_SCRIPT:
+			printf("start %d;\n",frame++);
+			printf("clean;\n");
+			if (print_viewsize)
+				printf("viewsize %.10g;\n",vsize);
+	                printf("eye_pt %.10g %.10g %.10g;\n",eye[0],eye[1],eye[2]);
+			printf("viewrot %.10g\t%.10g\t%.10g\t0\n", -mat[1], -mat[5], -mat[9]);
+	                printf("%.10g\t%.10f\t%.10g\t0\n", mat[2], mat[6], mat[10]);
+	                printf("%.10g\t%.10g\t%.10g\t0\n", -mat[0], -mat[4], -mat[8]);
+	                printf("0\t0\t0\t1;\n");
+			printf("end;\n");
+			break;
+		case LOOKAT_YPR:
+			anim_mat2ypr(angles,mat);
+			angles[0] *= RTOD;
+			angles[1] *= RTOD;
+			angles[2] *= RTOD;
+			printf("%.10g",time);
+			if (print_viewsize)
+				printf("\t%.10g",vsize);
+			printf("\t%.10g\t%.10g\t%.10g",eye[0],eye[1],eye[2]);
+			printf("\t%.10g\t%.10g\t%.10g\n",angles[0],angles[1],angles[2]);
+			break;
+		case LOOKAT_QUAT:
+			anim_mat2quat(quat,mat);
+			printf("%.10g",time);
+			if (print_viewsize)
+				printf("\t%.10g",vsize);
+			printf("\t%.10g\t%.10g\t%.10g",eye[0],eye[1],eye[2]);
+			printf("\t%.10g\t%.10g\t%.10g\t%.10g\n",quat[0],quat[1],quat[2],quat[3]);
+			break;
+		}
+
+
+	}
+	return( 0 );
+}
+
+#define OPT_STR "f:yqv"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'f':
+			sscanf(bu_optarg,"%d",&frame);
+			break;
+		case 'y':
+			print_mode = LOOKAT_YPR;
+			break;
+		case 'q':
+			print_mode = LOOKAT_QUAT;
+			break;
+		case 'v':
+			print_viewsize = 1;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,97 @@
+.TH ANIM_OFFSET 1 BRL/CAD
+.SH NAME
+anim_offset - create an animation table for an object rigidly attached to
+another object.
+.SH SYNOPSIS
+.B anim_offset 
+.B -o # # # 
+.B [-r] 
+.B < in.table 
+.B > out.table
+.SH DESCRIPTION
+This filter operates on animation tables of the type used by
+.I tabsub
+and 
+.I anim_script.
+Given a table specifying the position and
+orientation of one object at every applicable time, 
+.I anim_offset
+calculates
+the position of another object which is rigidly attached to it. 
+.PP
+The columns of the input table should be time, three columns of
+position, followed by yaw, pitch, and roll. The output will be
+normally be a four-column file specifying time and position. If the 
+.B -r
+option is used, the output is a seven-column file in which the last
+three columns are copies of the orientation information from the input
+file.
+.PP
+The position of the object relative to the rigid body should be
+given on the command line in the order x, y, z, with the 
+.B -o # # #
+option. These offset values
+should be as measured from the centroid of the rigid  body.
+.SH EXAMPLES
+This filter could be used, for example, to do an animation where
+the camera is placed inside a moving vehicle. 
+.PP
+Suppose that truck.table contains the desired position of the
+center of the front axle of the truck as well as its orientation at each
+time. One row of the table might look like this:
+.nf
+
+35.2	12450	-140	600	90.0 	0.0	0.0
+
+.fi
+Thus 35.2 seconds into the animation, the center of the front axle will
+be at (12450, -140, 600), and the truck will be pointed in the positive
+y direction. (yaw = 90).
+.PP
+Now, suppose we want the camera to ride along in the cab, above
+and behind the front axle and somewhat to the left. To specify this
+offset, we use the coordinate frame of the truck, with the origin at the
+center of the front axle, the x-axis to the front, y to the left, and z
+pointing up. Let the exact offset from the axle to the desired camera
+position in this case be (-600, 900, 1200), in units of mm. Now we use
+the routine:
+.nf
+
+anim_offset -o -600 900 1200 < truck.table > camera.table
+
+.fi
+The result is a four-column table giving the desired position of the
+virtual camera at each time. The row corresponding to the sample row
+above would be:
+.nf
+
+35.2	11550	-740	1800
+
+.fi
+With the 
+.B -r 
+option, the output would have been:
+.nf
+
+35.2	11550	-740	1800	90.0 	0.0	0.0
+
+.fi
+Now 
+.I tabsub 
+and/or 
+.I anim_script 
+can be used to process these two animation
+tables into an animation script.
+.SH BUGS
+	The program will only use orientations specified as yaw,
+pitch, and roll. You can get around this using 
+.IR anim_orient ,
+which converts between different orientation representations.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,110 @@
+/*			A N I M _ O F F S E T . C
+ *
+ *	Animate an object which is rigidly attached to another.
+ *
+ *  Given an animation table specifying the position and orientation of
+ *  one object, anim_offset produces a similar table specifying the
+ *  position of an object rigidly attached to it. 
+ *
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+#include "anim.h"
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int full_print = 0;
+vect_t offset;
+
+int get_args();
+extern void anim_dy_p_r2mat();
+extern void anim_add_trans();
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int val;
+	fastf_t yaw, pitch, roll, time;
+	vect_t temp,point,zero;
+	mat_t mat;
+
+	VSETALL( temp , 0.0 );
+	VSETALL( point , 0.0 );
+	VSETALL( zero , 0.0 );
+	
+	(void) get_args(argc,argv);
+
+
+	while (1) {
+		/*read line from table */
+		val = scanf("%lf%*[^-0123456789]",&time); /*read time,ignore garbage*/
+		val = scanf("%lf %lf %lf", point, point+1, point +2);
+		val = scanf("%lf %lf %lf", &yaw, &pitch, &roll);
+		if (val < 3) {
+			break;
+		}
+
+		anim_dy_p_r2mat(mat,yaw, pitch,roll);
+		anim_add_trans(mat,point,zero);
+		MAT4X3PNT(temp,mat,offset);
+		
+		printf("%.10g\t%.10g\t%.10g\t%.10g",time, temp[0], temp[1], temp[2]);
+		if (full_print)
+			printf("\t%.10g\t%.10g\t%.10g", yaw, pitch, roll);
+		printf("\n");
+	}
+	return( 0 );
+}
+
+#define OPT_STR "ro:"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'r':
+			full_print = 1;
+			break;
+		case 'o':
+			sscanf(argv[bu_optind-1],"%lf",offset+0);
+			sscanf(argv[bu_optind],"%lf",offset+1);
+			sscanf(argv[bu_optind+1],"%lf",offset+2);
+			bu_optind += 2;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
+
+
@@ -0,0 +1,217 @@
+.TH ANIM_ORIENT 1 BRL/CAD
+.SH NAME
+anim_orient - convert between orientation formats
+.SH SYNOPSIS
+.B anim_orient 
+.B [q|y|a|z|m][vri]
+.B [q|y|a|z|m][vriu]
+.B < in.table 
+.B > out.table
+.SH DESCRIPTION
+.I Anim_orient
+is a filter which translates a table of orientation
+information from one format to another. The method used is to convert
+the input format to a matrix, then convert the matrix to the desired
+output format. The input format is specified in the first argument, and
+the output format is specified in the second. 
+The orientation formats
+must be one of the following: 
+.B q 
+(quaternion), 
+.B y
+(yaw,pitch, and roll), 
+.B a
+(azimuth, elevation, and twist), 
+.B z 
+(x-y-z angles), or
+.B m 
+(rotation matrix).
+In addition, the output format may be modified by the
+.B u 
+option, and the input and output formats may be modified by the 
+.BR r ,
+.BR i ,
+and
+.B v
+options. The 
+.B r 
+option specifies that angles are read or written in radians, rather
+than degrees. The
+.BR i , v ,
+and 
+.B u
+options are explained below.
+.PP
+To clearly understand the operation of anim_orient, it is important to
+examine the difference between orientation and rotation.
+The matrices, quaternions, and angles
+used by anim_orient specify rotations. These are transformations
+which, when applied to an object, preserve its shape but change its
+orientation with respect to a fixed set of axes. Given the initial
+orientation of an object, a rotation defines the final orientation, but
+different initial orientations will yield different final orientations. 
+In order
+to represent orientations with rotations, we
+must define a default initial orientation for the object.
+Then a given matrix, quaternion, or set of angles represents the orientation 
+resulting from applying the rotation to the initial object orientation.
+.PP
+If no modifying codes are specified, anim_orient assumes that the
+default orientation of the object in question faces the positive
+x-direction, with the world y-axis pointing to the object's left and the
+z-axis pointing up. This is the orientation in which many 
+.I brlcad 
+objects
+are modeled, and the default assumed by other animation routines such as
+anim_script. If the 
+.B v 
+code is specified, then the default orientation  
+is taken to be facing the negative z-direction, with the world x-axis
+pointing to the object's right and the y-axis pointing up. This is the
+default orientation of the eye in 
+.I mged 
+and 
+.IR rt . 
+Some common uses of the v
+option are demonstrated in the examples section.
+.PP
+The input and output format codes are:
+.TP
+.BR q : 
+Quaternions, in the order x,y,z,w. This is the default input and
+output format. The output will
+always be unit quaternions. For a unit quaternion, the
+xyz-vector represents an axis of rotation and and w represents 
+cos(omega/2), where
+omega is the angle to be rotated about the given axis.
+.TP
+.BR z : 
+x-y-z angles, in the order x, y, z. They represent a rotation
+of z degrees around the z-axis, followed by y degrees around the y-axis,
+followed by x degrees around the x-axis. If the code 
+.B zr 
+is used
+then the angles will be read or written in radians
+rather than degrees.
+.TP
+.BR y : 
+yaw-pitch-roll format, in that order. They represent
+a rotation of +roll degrees about the x-axis, -pitch degrees about
+the y-axis, followed by +yaw degrees about the z-axis. If the code
+.B yr 
+is used, angles are in radians rather than degrees. 
+.TP
+.BR a :
+azimuth, elevation, twist, in that order. They represent a rotation of
+-twist degrees about the x-axis, +elevation degrees about the y-axis,
+and +azimuth + 180 degrees about the z-axis. Alternatively, they can
+be thought of as a 180 degree rotation about the z-axis followed by a
+rotation of +twist degrees about the x-axis, -elevation degrees about
+the y-axis, and +azimuth degrees about the z-axis.
+.TP
+.BR m : 
+pre-multiplication rotation matrix. Sixteen
+numbers form a 4x4 matrix, although only the nine elements in the upper
+left corner are actually used. This is the format used at the interior of
+the conversion routine. It is a transformation from initial orientation to 
+a new orientation.
+.PP
+The input and ouput modification codes are:
+.TP
+.B i
+This code is used in conjunction with any of the format codes to represent
+the inverse transformation. Under the 
+.B i 
+code, a matrix, quaternion, or
+set of angles represents the inverse of the rotation that it normally
+represents.
+For example, normally, the orientation
+corresponding to a given matrix is the orientation that the default
+object ends up in after the matrix is applied to it. With the 
+.B i 
+code,
+a given matrix represents the orientation an object should be placed
+in so that the applying the matrix puts it back in the default
+orientation. 
+
+One common use of the 
+.B i 
+option is for handling "Viewrot" matrices used
+by 
+.I mged 
+and 
+.IR rt . 
+The viewrot matrix is a model-to-view matrix, which is
+the transpose (inverse) of the matrix which would conceptually be
+applied to an eye object to put it in the desired place in the model.
+.TP
+.B v
+When this option is specified, the corresponding rotation is considered
+applied to the default view orientation, rather than the default object
+orientation, as explained above.
+.TP
+.B u
+This option forces the output orientation to be upright, or "right-side
+up", where the z-axis is the up direction. In terms of yaw, pitch, and
+roll, this means that the roll is forced to zero. Because this is a 
+one-way operation, it can only be applied to the output orientation, not
+the input.
+
+.SH EXAMPLES
+.sp
+Normalize a table of quaternions to unit magnitude. (quaternions are the
+default format).
+.sp
+	anim_orient < in.table > out.table 
+.sp
+change xyz angles to a rotation matrix
+.sp
+	anim_orient z m < in.table > out.table
+.sp
+change azimuth,elevation, and twist to a matrix suitable for the 
+.I rt
+viewrot command
+.sp
+	anim_orient a miv < in.table > out.table
+.sp
+transpose matrices
+.sp
+	anim_orient m mi < in.table > out.table
+.sp
+change radian xyz angles to yaw-pitch-roll in degrees
+.sp
+	anim_orient zr y < in.table > out.table
+.sp
+given a quaternion being applied to an object facing the x-axis, 
+find the quaternion needed
+to turn the virtual camera in the same direction using 
+.IR rt 's 
+orientation command
+.sp
+	anim_orient q qv < in.table > out.table
+.sp
+Given the yaw, pitch, and roll of an object, find the yaw, pitch, and
+roll which would bring it back to the default position.
+.sp
+	anim_orient y yi < in.table > out.table
+.sp
+Force a table of view quaternions to represent "right-side up"
+orientations.
+.sp 
+	anim_orient qv qvu < in.table > out.table
+.SH BUGS
+There are built-in trouble spots which occur, in ypr, xyz, or aet
+formats, when the pitch, y-rotation, or elevation is an odd multiple of 90
+degrees, because at this point the other two angles become
+indistinguishable. The program makes the arbitrary assumption that the
+roll is zero or that the x-rotation is zero, depending on the format,
+and gives a warning to that effect on standard error.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
+
@@ -0,0 +1,290 @@
+/*			A N I M _ O R I E N T . C
+ *
+ *	Convert between different orientation formats. The formats are:
+ *  quaternion, yaw-pitch-roll, azimuth-elevation-twist, xyz angles, 
+ *  pre-multiplication rotation matrices, and transposed matrices (inverses).
+ * 	By default, the information is assumed to represent a transformation
+ *  which should be an object which initially faces the x-axis, with the
+ *  z-axis going up. Alternatively, the information can be interpreted as 
+ *  transformations which should be applied to an object initially facing the
+ *  negative z-axis, with the y-axis going up.
+ *  	The conversion is done by converting each input form to a matrix, 
+ *  and then converting that matrix to the desired output form.
+ *	Angles may be specified in radians or degrees.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <math.h>
+#include "machine.h"
+#include "vmath.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#define YPR		0
+#define XYZ		1
+#define AET		2
+#define QUAT		3
+#define MAT		4
+
+#define DEGREES		0
+#define RADIANS		1
+
+#define ANIM_NORMAL          0
+#define ANIM_ERROR1          1
+#define ANIM_ERROR2          2
+
+#define DTOR    M_PI/180.0
+#define RTOD    180.0/M_PI
+
+int		parse_args();
+extern void	anim_y_p_r2mat();
+extern void	anim_tran();
+extern void	anim_v_unpermute();
+extern void	anim_dirn2mat();
+extern void	anim_v_permute();
+
+extern int optind;
+extern char *optarg;
+
+int upright;
+int input_mode, output_mode, length, input_units, output_units;
+int input_perm, output_perm, input_inv, output_inv;
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int num_read;
+	fastf_t	temp[3], temp2[3],angle[3],quat[4],matrix[16];
+	void anim_zyx2mat(),anim_ypr2mat(),anim_quat2mat(), anim_mat_print();
+	int anim_mat2ypr(),anim_mat2zyx(),anim_mat2quat();
+
+	if(!parse_args(argc,argv)) {
+		fprintf(stderr,"Get_args error.\n");
+		exit(0);
+	}
+
+	/* read data */
+	num_read = length;
+	while (1){
+
+		switch (input_mode) {
+		case YPR:
+		case XYZ:
+		case AET:
+			num_read = scanf("%lf %lf %lf",angle,angle+1,angle+2);
+			/* convert to radians if in degrees */
+		        if (input_units==DEGREES)  {
+		        	VSCALE(angle,angle,DTOR);
+		        }
+			break;
+		case QUAT:
+			num_read = scanf("%lf %lf %lf %lf", quat,quat+1,quat+2,quat+3);
+			break;
+		case MAT:
+			num_read = 0;
+			num_read += scanf("%lf %lf %lf %lf",matrix,matrix+1,matrix+2,matrix+3);
+			num_read += scanf("%lf %lf %lf %lf",matrix+4,matrix+5,matrix+6,matrix+7);
+			num_read += scanf("%lf %lf %lf %lf",matrix+8,matrix+9,matrix+10,matrix+11);
+			num_read += scanf("%lf %lf %lf %lf",matrix+12,matrix+13,matrix+14,matrix+15);
+			break;
+		}
+
+		if (num_read < length)
+			break;
+
+		/* convert to (object) matrix form */
+		switch (input_mode) {
+		case YPR:
+			anim_ypr2mat(matrix,angle);
+			break;
+		case AET:
+			anim_y_p_r2mat(matrix, angle[0]+M_PI, -angle[1],-angle[2]);
+			break;
+		case XYZ:
+			anim_zyx2mat(matrix,angle);
+			break;
+		case QUAT:
+			anim_quat2mat(matrix,quat);
+			break;
+		}
+
+		if (input_inv){
+			anim_tran(matrix);
+		}
+		if (input_perm){
+			anim_v_unpermute(matrix);
+		}
+		/* end of input conversion, begin output conversion*/
+
+		if (upright) { /* force right-side up */
+			VSET(temp, matrix[0], matrix[4], matrix[8]);
+			VSET(temp2, matrix[1], matrix[5], matrix[9]);
+			anim_dirn2mat(matrix,temp,temp2);
+		}
+		if (output_perm){
+			anim_v_permute(matrix);
+		}
+		if (output_inv){
+			anim_tran(matrix);
+		}
+
+		/* convert from matrix form and print result*/
+		switch (output_mode) {
+		case YPR:
+			anim_mat2ypr(angle,matrix);
+		        if (output_units==DEGREES)
+		                VSCALE(angle,angle,RTOD);
+			printf("%.12g\t%.12g\t%.12g\n",angle[0],angle[1],angle[2]);
+			break;
+		case AET:
+			anim_mat2ypr(angle,matrix);
+			if (angle[0] > 0.0) {
+				angle[0] -= M_PI;
+			} else {
+				angle[0] += M_PI;
+			}
+			angle[1] = -angle[1];
+			angle[2] = -angle[2];
+			if (output_units==DEGREES)
+				VSCALE(angle,angle,RTOD);
+			printf("%.12g\t%.12g\t%.12g\n",angle[0],angle[1],angle[2]);
+			break;
+		case XYZ:
+			anim_mat2zyx(angle,matrix);
+		        if (output_units==DEGREES)
+		                VSCALE(angle,angle,RTOD);
+			printf("%.12g\t%.12g\t%.12g\n",angle[0],angle[1],angle[2]);
+			break;
+		case QUAT:
+			anim_mat2quat(quat,matrix);
+			printf("%.12g\t%.12g\t%.12g\t%.12g\n",quat[0],quat[1],quat[2],quat[3]);
+			break;
+		case MAT:
+			anim_mat_print(stdout,matrix,0);
+			printf("\n");
+		}
+
+	}
+	return( 0 );
+}
+
+int parse_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	char *cp;
+
+	/* defaults */
+	upright = 0;
+	input_mode = QUAT;
+	output_mode = QUAT;
+	input_units = DEGREES;
+	output_units = DEGREES;
+	input_perm = 0;
+	output_perm = 0;
+	input_inv = 0;
+	output_inv = 0;
+	length = 4;
+
+	if (argc > 2) { /*read output mode */
+		cp = argv[2];
+		while ( (c=*cp++) ) {
+			switch (c) {
+			case 'q':
+				output_mode = QUAT;
+				break;
+			case 'y':
+				output_mode = YPR;
+				break;
+			case 'a':
+				output_mode = AET;
+				break;
+			case 'z':
+				output_mode = XYZ;
+				break;
+			case 'm':
+				output_mode = MAT;
+				break;
+			case 'i':
+				output_inv = 1;
+				break;
+			case 'r':
+				output_units = RADIANS;
+				break;
+			case 'v':
+				output_perm = 1;
+				break;
+			case 'u':
+				upright = 1;
+				break;
+			default:
+				fprintf(stderr,"anim_orient: unknown output option: %c\n",c);
+				return(0);
+			}
+		}
+	}
+	if (argc > 1) { /*read input mode */
+		cp = argv[1];
+		while ( (c=*cp++) ) {
+			switch (c) {
+			case 'q':
+				input_mode = QUAT;
+				length = 4;
+				break;
+			case 'y':
+				input_mode = YPR;
+				length = 3;
+				break;
+			case 'a':
+				input_mode = AET;
+				length = 3;
+				break;
+			case 'z':
+				input_mode = XYZ;
+				length = 3;
+				break;
+			case 'm':
+				input_mode = MAT;
+				length = 16;
+				break;
+			case 'i':
+				input_inv = 1;
+				break;
+			case 'r':
+				input_units = RADIANS;
+				break;
+			case 'v':
+				input_perm = 1;
+				break;
+			default:
+				fprintf(stderr,"anim_orient: unknown input option: %c\n",c);
+				return(0);
+			}
+		}
+	}
+	return(1);
+}
@@ -0,0 +1,339 @@
+.TH ANIM_SCRIPT 1 BRL/CAD
+.SH NAME
+anim_script - make an animation script for one object
+.SH SYNOPSIS
+.B anim_script 
+.B [-v #] 
+.B [-r|t|s] 
+.B [-q][-p]
+.B [-a|b # # #] 
+.B [-c|d # # #] 
+.B [-f #]
+.B [-m cmd]
+.B [objectname] 
+.B < in.table 
+.B > out.script
+.SH DESCRIPTION
+.I Anim_script 
+is designed to produce an animation script for the
+animation of the virtual camera or one 
+.I brlcad 
+object at a time. It is
+complementary to 
+.I tabsub 
+in that it performs a similar
+function, but with a different philosophy. 
+.PP
+Both 
+.I anim_script 
+and 
+.I tabsub 
+use one row of an animation table to
+produce one frame of an animation script. With 
+.I tabsub, 
+the user supplies
+a template file which controls the form of the animation frames. This
+allows the maximum user control, but also requires a good understanding
+of the script format. With 
+.I anim_script, 
+the user supplies all the necessary
+information on the command line. The range of possible output scripts is
+limited, but the user does not have to deal directly with the details.
+Both routines have special features which make certain common situations
+easy to do. One of the most important special features of 
+.I anim_script 
+is the
+ability to specify a reference position and orientation, as explained
+below.
+.PP
+The objectname is the name of the object which is to be
+animated, as it will appear in the ouput script. For example, if
+"hatch1"
+is a member of "turret" which is a member of "tank" which is one of the
+objects specified on the command line of the call to 
+.I rt,
+then the objectname "tank/turret/hatch1" or simply "turret/hatch1" would be used to
+animate the hatch. The tank itself would be referred to by the name,
+"/tank". Note that toplevel objects should be preceeded by a slash.
+If view animation is being performed, no objectname
+should be included.
+.PP
+.B in.table 
+should be a seven-column animation table,
+specifying the time, 3d position, yaw, pitch and roll of the
+object (or camera), although this changes if the 
+.BR -r ,
+.BR -t ,
+.BR -s ,
+or
+.B -v#
+options are used.
+.SH OPTIONS
+.TP
+.B \-r
+.B in.table 
+is a four-column file including time and rotation
+information only. No translation will occur.
+.TP
+.B \-t
+.B in.table 
+is a four-column file including time and translation
+information only. No rotation will occur.
+.TP
+.B \-s
+.B in.table 
+is a four-column file including time and translation
+information only. The vehicle will be rotated (steered) to face the
+direction of motion.
+.TP
+.B \-q
+Quaternion orientation. Any orientation information in
+.B in.table
+will be in quaternion form, in the order x,y,z,w. The identity quaternion 
+representing no orientation change is (0,0,0,1). 
+.TP
+.B \-p
+Permuted orientation. This option indicates that transformations defined by
+the quaternions should be applied to an object which has first been placed 
+in 
+.IR rt 's
+default eye orientation. Thus, the identity quaternion represents yawing the
+object 90 degrees to the left and then pitching it 90 degrees downward.
+The quaternions produced by 
+.IR mged 's
+saveview command and used by 
+.IR rt 's
+orientation command
+are quaternions of this type. See 
+.I anim_orient 
+for more information.
+.TP
+.B \-v#
+The desired output is a view animation script, rather
+than an object animation script. No object should be specified. The
+argument can be any floating point number. If 
+the argument
+is positive, the command: 
+.sp
+viewsize #; 
+.sp
+will be placed at the beginning of the ouput file. If it is
+zero, the `viewsize' command is omitted from the output script. If it is 
+negative, then the
+viewsize for each frame is expected to be in the first column after the
+time in 
+.BR in.table . 
+A `viewsize' command would then be
+included immediately after the `start' command of each frame.
+.TP
+.B \-f#
+Specify the integer with which to begin
+numbering the frames of the output script. The default is 0.
+.PP
+The remaining options give information about the object which is
+to be animated. 
+.TP
+.B \-a # # #  
+or
+.TP
+.B \-b # # #
+These options take three arguments, which are the
+yaw, pitch, and roll of the object's axes with respect to the
+world axes. With 
+.B \-a, 
+rotations specified in the infile will be applied
+with respect to the object's axes. With the 
+.B \-b 
+option, the object is
+rotated so that its axes coincide with the world axes, and then all
+rotations and translations are carried out with respect to the world
+axes. The 
+.B \-b 
+option is particularly useful in conjunction with the 
+.B \-s
+option, because it tells 
+.I anim_script 
+which way the front of the vehicle faces. See
+the examples below.
+.TP
+.B \-c # # #  
+or
+.TP
+.B \-d # # #
+These options take three arguments, which are the x, y,
+and z coordinates of the point which is to be considered the "centroid"
+of the object. All rotations will occur about this point. If 
+.B \-c 
+is used,
+translations from the input table will be considered to be relative
+displacements from this point. If 
+.B \-d 
+is used, the translations in the
+input table will be interpreted as absolute displacement from the world
+origin. The direction of translation in both cases is along the world
+axes, unless the 
+.B \-a 
+option  has been used, in which case the
+translations are with respect to the object's axes. See the examples below.
+.PP
+When the 
+.B \-v 
+option is used, the virtual camera is the object
+being animated, and so the meaning of the preceeding four options
+changes somewhat. The 
+.B \-c 
+and 
+.B \-a 
+options are not useful in this context.
+The 
+.B \-d 
+option can be thought of as specifying the position and
+orientation of a virtual
+tripod with respect to the camera lens.  The translations and rotations 
+specified in
+the input table will be applied to the tripod, to which the camera is
+rigidly attached.  For example, the option 
+.B \-d 10 0 \-2 
+in conjunction with
+the 
+.B \-v#
+option means that the virtual tripod is 10 units in front of the
+camera and 2
+units below the camera's line of sight. The option 
+.B \-b -90 0 0 
+in this
+context would mean that the front of the virtual tripod faces 90 degrees
+to the right of the virtual camera. As translation and rotation
+information are read in from in.table, they are applied to the virtual
+tripod, with the virtual camera rigidly attached. See below for examples
+of how this might be used.
+.TP
+.B -m cmd
+Specify a matrix command to use in, object animation. The default value
+is "lmul", which means that matrices in the output script are 
+multiplied onto the 
+left of the matrix between the object being animated and its parent.
+The matrix residing between the object and its parent is referred to as
+the current arc. The possible matrix commands are the following:
+.nf
+
+     lmul   - left-multiply the matrix onto the current arc
+     rmul   - right-multiply the matrix onto the current arc
+     rarc   - replace the current arc with the matrix
+     rstack - replace the stack of ancestor matrices with the matrix
+     rboth  - replace the current arc with the matrix and replace the 
+                 stack of ancestor matrices with the identity matrix.
+
+.fi
+This option is intended primarily to give expert users additional
+flexibility, and shouldn't be needed by most animators. 
+.SH EXAMPLES
+To animate a truck which is modeled with the front facing the positive
+x-direction, the position of the center of the truck and its orientation at 
+each time should be in 
+.BR truck.table . 
+If the center of the modeled truck is at
+the  point (234,0,1200) then the following command could be used:
+.sp
+anim_script -d 234 0 1200 /truck < truck.table > truck.script.
+.sp
+If the front of the model truck faces (for some reason) 
+halfway
+between the x and y axes, a 
+.B \-b 
+option is added, to show the relationship
+between world and truck axes:
+.sp
+anim_script -b 45 0 0 -d 234 0 1200 /truck < truck.table > truck.script.
+.sp
+To steer the truck automatically to face the direction of motion, 
+the 
+.B \-s
+option is added, and the orientation columns should be removed from
+.BR truck.table .
+.sp
+anim_script -s -b 45 0 0 -d 234 0 1200 /truck < truck.table > truck.script.
+.sp
+.sp
+Animating a steering wheel: Suppose the steering wheel is stored
+in the database so that the axis it turns on is at an yaw of -135
+degrees and an pitch of 30 degrees.  It passes through the point
+(700,800,2400). Then we select "rotation only" with 
+.B \-r 
+and specify the
+relationship between the steering wheels axes and the world with the 
+.B \-a
+and 
+.B \-c 
+options. In 
+.B roll.table 
+we put the time, two zero columns, and a
+column specifying the roll of the wheel (How much it is to be twisted).
+.sp
+anim_script -r -a -135 30 0 -c 700 800 2400 truck/steering_column/wheel <
+roll.table > steer.table
+.sp
+Alternativly, if the turning of the wheel was stored in the yaw
+(second) column of a file, 
+.BR turn.table , 
+a different set of axes would be
+used to achieve the same effect:
+.sp
+anim_script -r -a 45 60 0 -c 700 800 2400 truck/steering_column/wheel <
+turn.table > steer.table
+.sp
+.PP
+To animate seven little men doing simultaneous backflips in different
+places, you would want to use relative motion. That is, a translation
+vector of (0,0,1) means move one unit upward, instead of move to the
+point (0,0,1). For each little man, we specify his position in the
+model using the 
+.B \-c 
+option. Then we can use the same backflip instuctions
+for each of the little men.
+.sp
+anim_script -c 12 34 5 /little.man.one < generic.backflip.table >
+little.man.one.script
+.sp
+anim_script -c -3 13 5 /little.man.two < generic.backflip.table >
+little.man.two.script
+.sp
+and so on.
+.sp
+.sp
+.SS Camera examples
+If we know the desired postion of the camera and its orientation
+at each time, it's very simple. The 
+.B -v# 
+option indicates that the view is
+being animated; no object is specified.
+.sp
+anim_script -v0 < view.table > view.script
+.sp
+To follow a truck, so that the camera is always ten units behind and 4
+units above it, we specify a virtual tripod in front of and below the
+camera:
+.sp
+anim_script -v0 -d 10 0 -4 < truck.table > view.script
+.sp
+To do the same thing but with the camera turned to look at the right
+side of the truck, we specify that the virtual tripod originally faces
+to the right, so that the camera faces its right side. Thus when the 
+virtual tripod is placed in the same position and orientation as the 
+truck, the camera will be looking at the right side of the
+truck.
+.sp
+anim_script -v0 -d 10 0 -4 -b -90 0 0 < truck.table > view.script
+.SH BUGS
+The reading of command line options which take more than one
+argument are somewhat finicky. For example, it understands the
+option "-d 1 1 1" but not "-d1 1 1".
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
+
@@ -0,0 +1,272 @@
+/*			A N I M _ S C R I P T . C
+ *
+ *	Turn an animation table into an animation script suitable for
+ *  use by rt. Anim_script.c makes a script for one object at a time (or the
+ *  virtual camera). Some of the available options include rotation
+ *  only, translation only, automatic steering, and specifying reference
+ *  coordinates.
+ *	
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#ifdef USE_STRING_H
+#include <string.h>
+#else
+#include <strings.h>
+#endif
+
+#include <math.h>
+#include <stdio.h>
+
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+#include "bn.h"
+#include "anim.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+int		get_args();
+extern int	anim_steer_mat();
+extern void	anim_quat2mat();
+extern void	anim_v_unpermute();
+extern void	anim_mat_print();
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+ /* info from command line args */
+int relative_a, relative_c, axes, translate, quaternion, rotate;/*flags*/
+int steer, view, readview, permute; /* flags*/
+int first_frame;
+fastf_t  viewsize;
+vect_t centroid, rcentroid, front;
+mat_t m_axes, m_rev_axes; /* rotational analogue of centroid */
+char mat_cmd[10];   /* default is lmul */
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	void anim_dx_y_z2mat(), anim_add_trans();
+	fastf_t yaw, pitch, roll;
+	vect_t point, zero;
+	quat_t quat;
+	mat_t a, m_x;
+	int val, go, frame, last_steer;
+
+	frame=last_steer=go=view=relative_a=relative_c=axes=0;
+	VSETALL(centroid,0);
+	VSETALL(rcentroid,0);
+	VSETALL(front,0);
+	VSETALL(point,0);
+	VSETALL(zero,0);
+	yaw = pitch = roll = 0.0;
+	MAT_IDN(m_axes);
+	MAT_IDN(m_rev_axes);
+	MAT_IDN(a);	
+
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"anim_script: Get_args error\n");
+
+	frame = (steer) ? first_frame -1 : first_frame;
+	
+	if (view && (viewsize > 0.0))
+                printf("viewsize %.10g;\n", viewsize);
+
+
+	while (1) {
+		/* read one line of table */
+		val = scanf("%*f"); /*ignore time */
+                if (readview)
+                        scanf("%lf",&viewsize);
+		if(translate)
+			val=scanf("%lf %lf %lf", point, point+1, point+2);
+		if(rotate&&quaternion){
+			val = scanf("%lf %lf %lf %lf", quat,quat+1,quat+2,quat+3);
+			val -= 1;
+		} else if (rotate) {
+			val=scanf("%lf %lf %lf",&yaw,&pitch,&roll);
+		}
+
+		if (val < 3){ /* ie. scanf not completely successful */
+			/* with steering option, must go extra loop after end of file */
+			if (steer && !last_steer)
+				last_steer = 1;
+			else break;
+		}
+
+		/* calculate basic rotation matrix a */
+		if (steer)
+			go = anim_steer_mat(a,point,last_steer); /* warning: point changed by anim_steer_mat */
+		else if (quaternion) {
+			anim_quat2mat(a,quat);
+			go = 1;
+		} else {
+			anim_dx_y_z2mat(a,roll,-pitch,yaw);/* make ypr matrix */
+			go = 1;
+		}
+
+		/* if input orientation (presumably from quaternion) was
+		 * designed to manipulate the view, first move the object
+ 		 * to the default object position */
+		if (permute)
+			anim_v_unpermute(a);
+
+		/* make final matrix, including translation etc */
+		if (axes){ /* add pre-rotation from original axes */
+			bn_mat_mul(m_x,a,m_rev_axes); 
+			MAT_MOVE(a,m_x);
+		}
+		anim_add_trans(a,point,rcentroid); /* add translation */
+		if (axes && relative_a){ /* add post-rotation back to original axes */
+			bn_mat_mul(m_x,m_axes,a);
+			MAT_MOVE(a,m_x);
+		}
+		if (relative_c)
+			anim_add_trans(a,centroid,zero); /* final translation */
+
+
+		/* print one frame of script */
+		if (go && view){
+	                printf("start %d;\n", frame);
+			printf("clean;\n");
+			if (readview)
+		                printf("viewsize %.10g;\n", viewsize);
+	                printf("eye_pt %.10g %.10g %.10g;\n",a[3],a[7],a[11]);
+			/* implicit anim_v_permute */
+			printf("viewrot %.10g %.10g %.10g 0\n",-a[1],-a[5],-a[9]);
+	                printf("%.10g %.10g %.10g 0\n", a[2], a[6], a[10]);
+	                printf("%.10g %.10g %.10g 0\n", -a[0], -a[4],-a[8]);
+	                printf("0 0 0 1;\n");
+	                printf("end;\n");
+		}
+		else if (go){
+			printf("start %d;\n", frame);
+			printf("clean;\n");
+			printf("anim %s matrix %s\n", *(argv+bu_optind), mat_cmd);
+			anim_mat_print(stdout,a,1);
+			printf("end;\n");
+		}
+		frame++;
+	}
+	return( 0 );
+}
+
+#define OPT_STR	"a:b:c:d:f:m:pqrstv:"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	
+	int c, i, yes;
+	double yaw,pch,rll;
+	void anim_dx_y_z2mat(), anim_dz_y_x2mat();
+	rotate = translate = 1; /* defaults */
+	quaternion = permute = 0;
+	strcpy(mat_cmd, "lmul");
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		i=0;
+		switch(c){
+		case 'a':
+			bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf", &yaw );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &pch );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &rll );
+			bu_optind += 3;
+			anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+			anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+			axes = 1;
+			relative_a = 1;
+                        break;
+		case 'b':
+			bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf", &yaw );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &pch );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &rll );
+			bu_optind += 3;
+			anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+			anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+			axes = 1;
+			relative_a = 0;
+                        break;
+		case 'c':
+			bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+1);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+2);
+			bu_optind += 3;
+			VREVERSE(rcentroid,centroid);
+			relative_c = 1;
+                        break;
+		case 'd':
+			bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+1);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+2);
+			bu_optind += 3;
+			VREVERSE(rcentroid,centroid);
+			relative_c = 0;
+                        break;
+		case 'f':
+			sscanf(bu_optarg,"%d",&first_frame);
+			break;
+                case 'm':
+               		strncpy(mat_cmd,bu_optarg, 10);
+               		break;
+		case 'p':
+			permute = 1;
+			break;
+		case 'q':
+			quaternion = 1;
+			break;
+		case 'r':
+			rotate = 1;
+			translate = 0;
+			break;
+		case 's':
+			steer = 1;
+			relative_a = 0;
+			rotate = 0;
+			translate = 1;
+			break;
+		case 't':
+			translate = 1;
+			rotate = 0;
+			break;
+		case 'v':
+			yes = sscanf(bu_optarg,"%lf",&viewsize);
+			if (!yes) viewsize = 0.0;
+			if (viewsize < 0.0)
+				readview = 1;
+			view = 1;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,143 @@
+.TH ANIM_SORT 1 BRL/CAD
+.SH NAME
+anim_sort - combine concatenated animation scripts into one script
+.SH SYNOPSIS
+.B anim_sort 
+.B [-ic] 
+.B < mixed.script 
+.B > ordered.script
+.SH DESCRIPTION
+Note: 
+.I anim_sort 
+has been preempted in release 5.0 by 
+.IR scriptsort ,
+which sorts scripts much faster.
+.PP
+.I Anim_sort
+allows the user to combine several animation scripts
+into a single script suitable for input to 
+.IR rt .
+A convenient way to
+prepare a complicated animation script is to develop each part
+separately and then use 
+.I anim_sort 
+to combine the various parts. For
+example, suppose that 
+.B view.script 
+is an animation script controlling the
+movement of the virtual camera and the lighting, 
+.B mill.script 
+rotates
+the blades of a windmill, and 
+.B quixote.script 
+controlls the movement of a
+knight. These scripts should first be concatenated together:
+.sp
+cat view.script mill.script quixote.script > mixed.script
+.sp
+Calling 
+.I anim_sort 
+with 
+.B mixed.script 
+on standard input would
+reorder the commands in 
+.B mixed.script 
+to make a viable script on standard
+output.
+.sp
+Each of the input files to be concatenated is expected to be a
+viable 
+.I rt 
+animation script, containing a series of frames of the
+following form:
+.sp
+.nf
+start framenumber;
+any number of semi-colon terminated commands for rt;
+end;
+any number of post-raytracing commands
+.fi
+.sp
+.I Anim_sort
+reads the framenumber of the first start command, and uses
+this to as the first frame number of the output file. The commands of
+all frames in 
+.B mixed.script 
+with that framenumber are combined in the
+ouput frame. The post-raytracing commands following all frames with that
+framenumber are placed after the 
+.B end; 
+command of the output frame. This process is continued for each 
+successive integer,
+until anim_sort reaches a framenumber which is not included in any of
+the original scripts. 	
+.sp
+For example, if 
+.B view.script 
+contained frames numbered from 5 to
+20, 
+.B mill.script 
+contained frames from 0 to 10, and 
+.B quixote.script
+contained frames numbered from 15 to 25, the output script would start
+at frame 5 (since 
+.B view.script 
+comes first in 
+.B mixed.script
+) and end with
+frame 25 (since frames 5 through 25 can be found somewhere in
+.B mixed.script
+). If the user wanted to include frames 0 through 4, which
+are found only in 
+.B mill.script
+, then 
+.B mill.script 
+should be concatenated
+onto the beginning of 
+.B mixed.script 
+instead of the middle. In the
+majority of animation situations, all of the input scripts would have
+identical frame numbers anyway.
+.sp
+The first input script may also contain some lines preceeding
+the first start command, which are copied to the beginning of the output
+script. This is useful for commands such as 'viewsize', which are often
+specified before the sequence of animations begins.
+.sp
+.SH OPTIONS
+.TP
+.B \-i
+Incremental mode. The frames of the output script are printed in a scrambled
+order which incrementally increases the time resolution of the animation.
+For example, the frames of an eight-frame script would be printed in the 
+order: 0 4 2 6 1 3 5 7.
+
+.TP
+.B \-c
+For most animation purposes, it is desirable to have a 
+.B clean
+command immediately following the 
+.B start 
+command of each frame. The
+default behavior of 
+.I anim_sort 
+is to include one 
+.B clean 
+command following the 
+.B start 
+command of each frame. 
+.B clean 
+commands from the input files are ignored. If the 
+.B -c 
+flag is activated, then no clean
+commands are printed.
+.SH SEE ALSO
+rt(1), tabsub(1), anim_script(1)
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,188 @@
+/*			A N I M _ S O R T . C
+ *
+ *	Combine multiple animation scripts on standard input into a 
+ *  single script on standard output. The output can be in natural order
+ *  or in a scrambled order for incrementally increasing time 
+ *  resolution (-i option).
+ * 
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "machine.h"
+#include "externs.h"
+#include "bu.h"
+
+#define MAXLEN	50		/*maximum length of lines to be read */
+#define MAXLINES 30		/* maximum length of lines to be stored*/
+
+int suppressed;		/* flag: suppress printing of 'clean;' commands */
+int incremental;	/* flag: order for incremental time resolution */
+
+int get_args();
+
+int
+main(argc, argv)
+int argc;
+char **argv;
+{
+	int	length,frame_number, number, success, maxnum; 
+	int 	first_frame,spread,reserve; 
+	long	last_pos;
+	char	line[MAXLEN];
+	char    pbuffer[MAXLEN*MAXLINES];
+
+
+        if (!get_args(argc,argv))
+		fprintf(stderr,"Get_args error\n");
+
+	/* copy any lines preceeding the first "start" command */
+	last_pos = ftell(stdin);
+	while (fgets(line,MAXLEN,stdin)!=NULL){
+		if (strncmp(line,"start",5)){
+			printf("%s",line);
+			last_pos = ftell(stdin);
+		}
+		else
+			break;
+	}
+
+	/* read the frame number of the first "start" command */
+	sscanf( strpbrk(line,"0123456789"),"%d", &frame_number);
+
+	/* find the highest frame number in the file */
+	maxnum = 0;
+	while(fgets(line,MAXLEN,stdin)!=NULL){
+		if(!strncmp(line,"start",5)){
+			sscanf(strpbrk(line,"0123456789"),"%d",&number);
+			maxnum = (maxnum>number)?maxnum:number;
+		}
+	}
+
+	length = maxnum - frame_number + 1;
+	/* spread should initially be the smallest power of two larger than
+	 * or equal to length */
+	spread = 2;
+	while (spread < length)
+		spread = spread<<1;
+
+	first_frame = frame_number;
+	success = 1;
+	while (length--){
+		number = -1;
+		success = 0; /* tells whether or not any frames have been found  which have the current frame number*/
+		if (incremental){
+			fseek(stdin, 0L, 0);
+		} else {
+			fseek(stdin, last_pos, 0);
+		}
+
+		reserve = MAXLEN*MAXLINES;
+		pbuffer[0] = '\0'; /* delete old pbuffer */
+
+		/* inner loop: search through the entire file for frames */
+		/*  which have the current frame number */
+		while (!feof(stdin)){
+
+			/*read to next "start" command*/
+			while (fgets(line,MAXLEN,stdin)!=NULL){
+				if (!strncmp(line,"start",5)){
+					sscanf( strpbrk(line,"0123456789"),"%d", &number);
+					break;
+				}
+			}
+			if (number==frame_number){
+				if (!success){ /*first successful match*/
+					printf("%s",line);
+					if (!suppressed) printf("clean;\n");
+					success = 1;
+					last_pos = ftell(stdin);
+				}
+				/* print contents until next "end" */
+				while (fgets(line,MAXLEN,stdin)!=NULL){
+					if (!strncmp(line,"end;",4))
+						break;
+					else if (strncmp(line,"clean",5))
+						printf("%s",line);
+				}
+				/* save contents until next "start" */
+				while (fgets(line,MAXLEN,stdin)!=NULL){
+					if(!strncmp(line,"start",5))
+						break;
+					else {
+						reserve -= strlen(line);
+						reserve -= 1;
+						if (reserve > 0){
+							strncat(pbuffer,line,MAXLEN);
+							strcat(pbuffer,"\n");
+						}
+					}
+				}
+			}
+		}
+		if (success)
+			printf("end;\n");
+		/* print saved-up post-raytracing commands, if any */
+		printf("%s",pbuffer);
+
+		/* get next frame number */
+		if (incremental){
+			frame_number = frame_number + 2*spread;
+			while (frame_number > maxnum){
+				spread = spread>>1;
+				frame_number = first_frame + spread;
+			}
+		} else {
+			frame_number += 1;
+		}
+	}
+	return( 0 );
+}
+
+#define OPT_STR "ci"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+
+        int c;
+	suppressed = 0;
+
+        while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+                switch(c){
+                case 'c':
+                	suppressed = 1;
+                        break;
+                case 'i':
+                	incremental = 1;
+                	break;
+                default:
+                        fprintf(stderr,"Unknown option: -%c\n",c);
+                        return(0);
+                }
+        }
+        return(1);
+}
+
+		
@@ -0,0 +1,89 @@
+.TH ANIM_TIME 1 BRL/CAD
+.SH NAME
+anim_time - estimate appropriate time parameters for path
+.SH SYNOPSIS
+.B anim_time
+.B [-s start_speed (absolute)]
+.B [-e end_speed (absolute)]
+.B [-i initial_speed (relative)]
+.B [-f final_speed (relative)]
+.B [-m max_len] 
+.B [-v|q]
+.B < in.table 
+.B > out.table
+.SH DESCRIPTION
+This filter is designed to estimate appropriate time parameters for
+an animation curve in 3D space. Given a four-column table specifying
+time and 3D position for an object, 
+.I anim_time 
+ignores all but the first and last time specifications and
+calculates reasonable time values for each intermediate point in the table. 
+The
+output time values are based on the distances between points and the
+calculated speed of the object. Various options allow the user to
+control the assumptions on the object's initial and final speeds, and the
+form of the output.
+
+.I Anim_time
+is intended to be used in situations where the user knows what key points
+an object should pass through and how long the entire motion should take, 
+but doesn't care exactly when the object
+reaches each point. It is also useful for getting objects to accelerate
+smoothly to and from rest.
+
+.SH OPTIONS
+.TP
+.BR -m #
+Specify the maximum number of points to be read. This default to 64, so
+you must use this option if you want to use tables with more than 64
+points.
+.TP
+.BR -s #
+Specify the starting speed of the object. If this option is not
+specified, then the object is assumed to be initially travelling on a
+pace to negotiate the entire path in the given time at a constant rate.
+The argument must be positive and no greater than three times the speed
+needed to traverse the path at a constant rate.
+.TP
+.BR -e #
+Specify the final speed of the object. If this option is not specified,
+then the object is assumed to end up travelling on a pace to negotiate
+the entire path in the given time at a constant rate. The argument must
+be positive and no greater than three times the speed needed to traverse
+the path at a constant rate.
+.TP
+.BR -i #
+Specify the initial speed of the object, relative to the speed that
+would negotiate the given path at a constant rate. For example, an
+argument of 2.0 means twice the speed needed to traverse the path at a
+constant rate. Must lie between 0.0 and 3.0.
+.TP
+.BR -f #
+Specify the final speed of the object, relative to the speed that would
+negotiate the given path at a constant rate. Must lie between 0.0 and
+3.0.
+.TP
+.B -v
+Verbose option. The output table will contain a time column and three
+position columns. If this option is not specified, only the new time
+column will be printed.
+.TP
+.B -q
+Query the total distance. If this option is specified, the only output
+will be a number representing the total length of the input path.
+.SH BUGS
+The algorithm fits a cubic polynomial to the distance vs time graph, and then
+uses Newton's method to find the times corresponding to each given distance.
+If for some reason convergence is not reached, 
+.I anim_time 
+will print a warning on standard error. If the 
+.B -d 
+option is specified, the results of each iteration will be printed.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+This software is Copyright (C) 1996 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,287 @@
+/*			A N I M _ T I M E . C
+ *
+ *  Given an animation path consiting of time stamps and 3-d points,
+ *  estimate new time stamps based on the distances between points, the
+ *  given starting and ending times, and optionally specified starting 
+ *  and ending velocities.
+ *	
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "externs.h"
+#include "vmath.h"
+#include "bu.h"
+#include "raytrace.h"
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+
+#define MAXLEN		64
+#define DIVIDE_TOL	(1.0e-10)
+#define MAXITS		100
+#define DELTA		(1.0e-6)
+#define TIME_NONE	0
+#define TIME_ABSOLUTE	1
+#define TIME_RELATIVE	2
+
+/* command line variables */
+fastf_t inv0,inv1;
+int v0_set =	 TIME_NONE;
+int v1_set =	 TIME_NONE;
+int query =	 0;
+int verbose = 	 0;
+int maxlines = 	 0;
+int domem = 	 0;
+int debug = 	 0;
+
+int get_args();
+
+fastf_t
+gettime(dist, a, b, c, init)
+fastf_t dist;
+fastf_t a;
+fastf_t b;
+fastf_t c;
+fastf_t init;
+{
+
+	fastf_t old,new,temp;
+	int countdown,success;
+	countdown = MAXITS;
+
+	old = init;
+	success = 0;
+	while(countdown-->0){
+		temp = (3.0*a*old+2.0*b)*old+c;
+		if (temp<DIVIDE_TOL){
+			new = 0.75*old;
+		} else {
+		 	new = old - (((a*old+b)*old+c)*old-dist)/temp;
+		}
+		if (((new-old)<DELTA)&&((old-new)<DELTA)){
+			success = 1;
+			break;
+		}
+		if (debug)
+			printf("c: %d %f\t%f\n",countdown,new,new-old);
+		old = new;
+	}
+	if (!success) fprintf(stderr,"warning - max iterations reached\n");
+	return (new);
+
+}
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	fastf_t *l, *x, *y, *z;
+	fastf_t temp0,temp1,temp2,start=0.0,end,v0,v1;
+	int i,j , num,plen;
+	
+
+	fastf_t time,dist,slope,a,b,c;
+
+
+	plen = 0;
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"Usage: anim_time [-s#] [-e#] [-d] < in.table\n");
+
+	if (!domem) {
+		maxlines = MAXLEN;
+	}
+
+	l = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t),"l[]");
+	if (verbose) {
+		x = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t),"x[]");
+		y = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t),"y[]");
+		z = (fastf_t *) bu_malloc(maxlines*sizeof(fastf_t),"z[]");
+	} else {
+		x = (fastf_t *) bu_malloc(2*sizeof(fastf_t),"x[]");
+		y = (fastf_t *) bu_malloc(2*sizeof(fastf_t),"y[]");
+		z = (fastf_t *) bu_malloc(2*sizeof(fastf_t),"z[]");
+	}
+	l[0] = 0.0;
+
+	while(plen<maxlines){
+		i = (verbose) ? plen : plen%2;
+		j = (verbose) ? (plen-1) : (plen+1)%2;
+		num = scanf("%lf %lf %lf %lf",&end,x+i,y+i,z+i);
+		if (num<4)
+			break;
+		if(plen){
+			temp0 = x[i]-x[j];
+			temp1 = y[i]-y[j];
+			temp2 = z[i]-z[j];
+			l[plen] = sqrt(temp0*temp0+temp1*temp1+temp2*temp2);
+			l[plen] += l[plen-1];
+		} else {
+			start = end;
+		}
+		
+		plen++;
+	}
+
+	time = end - start;
+	dist = l[plen-1];
+
+	if (query){
+		printf("%f\n",dist);
+		return(0);
+	}
+
+	if (time < DIVIDE_TOL){
+		fprintf(stderr,"anim_time: time too small. Only %f s.\n",time);
+		exit(-1);
+	}
+	if (dist < DIVIDE_TOL){
+		fprintf(stderr,"anim_time: pathlength too small. Only %f\n",dist);
+		exit(-1);
+	}
+	slope = dist/time;
+
+	switch (v0_set) {
+	case TIME_ABSOLUTE:
+		v0 = inv0;
+		break;
+	case TIME_RELATIVE:
+		v0 = slope*inv0;
+		break;
+	default:
+	case TIME_NONE:
+		v0 = slope;
+		break;
+	}
+
+	switch (v1_set) {
+	case TIME_ABSOLUTE:
+		v1 = inv1;
+		break;
+	case TIME_RELATIVE:
+		v1 = slope*inv1;
+		break;
+	default:
+	case TIME_NONE:
+		v1 = slope;
+		break;
+	}
+	if (v0<0.0) {
+		fprintf(stderr,"anim_time: Start velocity must be non-negative.\n");
+		exit(-1);
+	}
+	if (v1<0.0) {
+		fprintf(stderr,"anim_time: End velocity must be non-negative.\n");
+		exit(-1);
+	}
+	if (v0>3*slope) {
+		fprintf(stderr,"anim_time: Start velocity must be not be greater than %f units/s for this path.\n", 3.0*slope);
+		exit (-1);
+	}
+	if (v1>3*slope) {
+		fprintf(stderr,"anim_time: End velocity must not be greater than %f for this path.\n", 3.0*slope);
+		exit(-1);
+	}
+
+	a = ((v1+v0) - 2.0*slope)/(time*time);
+	b = (3*slope - (v1+2.0*v0))/time;
+	c = v0;
+
+	temp2 = 1.0/slope;
+	if (verbose) {
+		printf("%.12e\t%.12e\t%.12e\t%.12e\n",start,x[0],y[0],z[0]);
+		for (i=1; i<plen-1; i++){
+			temp0 = gettime(l[i],a,b,c,l[i]*temp2);
+			printf("%.12e\t%.12e\t%.12e\t%.12e\n",temp0+start,x[i],y[i],z[i]);
+		}
+		printf("%.12e\t%.12e\t%.12e\t%.12e\n",end,x[plen-1],y[plen-1],z[plen-1]);
+	} else {
+		printf("%.12e\n",start);
+		for (i=1; i<plen-1; i++){
+			temp0 = gettime(l[i],a,b,c,l[i]*temp2);
+			printf("%.12e\n",temp0+start);
+		}
+		printf("%.12e\n",end);
+	}
+
+	bu_free((char *) l, "l[]");
+	bu_free((char *) x, "x[]");
+	bu_free((char *) y, "y[]");
+	bu_free((char *) z, "z[]");
+	return( 0 );
+}
+
+/* code to read command line arguments*/
+#define OPT_STR "ds:e:i:f:qm:v"
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 's':
+			sscanf(bu_optarg,"%lf",&inv0);
+			v0_set = TIME_ABSOLUTE;
+			break;
+		case 'e':
+			sscanf(bu_optarg,"%lf",&inv1);
+			v1_set = TIME_ABSOLUTE;
+			break;
+		case 'i':
+			sscanf(bu_optarg,"%lf",&inv0);
+			v0_set = TIME_RELATIVE;
+			if ((inv0>3.0)||(inv0<0.0)) {
+				fprintf(stderr,"anim_time: -i argument must lie between 0.0 and 3.0\n");
+				exit(-1);
+			}
+			break;
+		case 'f':
+			sscanf(bu_optarg,"%lf",&inv1);
+			v1_set = TIME_RELATIVE;
+			if ((inv1>3.0)||(inv1<0.0)) {
+				fprintf(stderr,"anim_time: -f argument must lie between 0.0 and 3.0\n");
+				exit(-1);
+			}
+			break;
+		case 'q':
+			query = 1;
+			break;
+		case 'm':
+			sscanf(bu_optarg,"%d",&maxlines);
+			domem = 1;
+			break;
+		case 'v':
+			verbose = 1;
+			break;
+		case 'd':
+			debug = 1;
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
@@ -0,0 +1,435 @@
+.TH ANIM_TRACK 1 BRL/CAD
+.SH NAME
+anim_track  - make an script to model or animate the pads and wheels of a
+tracked vehicle. 
+.SH SYNOPSIS
+.B
+anim_track [options] wheelfile < in.table > out.script
+.SH DESCRIPTION
+.I anim_track 
+is designed to produce an animation script for the
+animation of the track pads and/or the wheels which define the track.
+Alternatively, track can output a file which produces a track model
+when sourced by mged.
+.PP
+A track consists of a number of identical pads which
+are wrapped in a chain around two or more ordered wheels. Normally, the
+track is linear between the wheels. The exeption is that between the
+first and last wheels, any extra track length is taken up in a hanging
+caternary arc. 
+.PP
+Anim_track requires two input files. The first, referred to above as 
+.BR wheelfile , 
+is a table which
+defines the initial track geometry by describing the wheels around which
+the track is to be wrapped. The first three columns of the table give
+the center point of the wheels, and the fourth column gives the radius
+of each wheel. The table contains one line for each wheel; the
+wheels should be listed in clockwise order as viewed from the right of
+the vehicle. This is the direction that the track pads move around the
+wheels when the vehicle is moving forward.
+.PP
+The track is part of a vehicle which has a front, back, left, right, up,
+and down. By default these directions are +x, -x, +y, -y, +z, and -z,
+respectively, but any orientation can be specified by the user with the 
+.B -b
+option.
+The track is always confined to a plane which has no left to right
+variation; that is, the wheels can be in front of, behind, above, and
+below each other, but may not be to the left or right of each other. If
+the wheel positions specified in 
+.B wheelfile
+do not lie in such a plane, then the first wheel defines the plane into
+which all of the other wheels are projected.
+.PP
+The track pads are spread evenly along the entire length of the track.
+The track segments between wheels are always linear, except for the
+segment between the first and last wheels. If there is any extra track
+length, it is taken up in a caternary arc which hangs down between the 
+first and last wheels. Thus if the the first wheel in 
+.B wheelfile
+should be the top front wheel of the vehicle, and the last wheel in
+.B wheelfile
+should be the top back wheel of the vehicle. Depending on the track
+length mode specified with the 
+.B -l
+option, the caternary segment may or may not appear.
+.PP
+The second input file required by 
+.IR anim_track , 
+referred to above as 
+.BR in.table ,
+describes the state of the track in every frame of the animation. The
+format of this second file can vary greatly according to the command-line 
+options. The first column of the file is ignored, but is expected to
+contain the time values corresponding to each frame. Next come one or
+more columns which specify directly or indirectly the distance that the
+track has rolled around the wheels in each frame (see the 
+.BR -u ,
+.BR -y ,
+and
+.B -s
+options). Finally, the file may specify new wheel position for every
+frame (see the 
+.B -v 
+option).
+.PP
+.SH MODEL REQUIREMENTS
+Certain model conventions are needed in order for the animation to work
+properly. First of all, if the wheels are to be animated, they must
+all be named
+.IR wheelname . i ,
+where
+.I i
+ranges from 0 to one less than the number of wheels.
+.I wheelname 
+is an arbitrary string. 
+.IR wheelname 0 
+must be
+the top front wheel in a given track and 
+.IR wheelname (n-1) 
+must be the top
+back wheel. The central axes of all the wheels should be parallel to
+each other and perpendicular to a plane containing all of the wheel
+centers.
+.PP
+The pads of the track should be identical instances or copies of a
+prototype pad object, and they all should be named
+.IR padname i,
+where 
+.I i
+ranges from 0 to one less than the number of pads. 
+The prototype pad should be centered on the origin in the x and y
+directions. In the z direction, the inner, wheel-contacting surface of
+the pad should lie on the z=0 plane. The outer, ground-contacting
+surface should face the positive z-direction. The side of the pad which
+would connect with the pad in front of it should face the positive x
+direction, and the side which would connect with the pad behind it
+should face the negative x direction. If the pads are a part of a higher
+level combination, as they typically are, then the matrix between each
+pad and the higher combination may be modified at will as long as the
+prototype pad is not disturbed.
+
+.SH OPTIONS
+.TP
+.B -p num_pads parent/basename
+Animate the track pads. This option takes two arguments; the number of
+pads in the track and a slash-separated path to the pad basename.
+For
+example, if there is a combination named "lpads" containing 80 track
+pads with names ranging from "pad.0" to "pad.79", then the correct
+arguments would be:
+.sp
+.B -p 79 lpads/pad.
+.sp
+Each frame of the output animation script will contain an animation
+command for each of the track pads.
+.TP
+.B -w parent/basename
+Animate the track wheels. This option takes one argument: a
+slash-separated path to the wheel basename. The number of wheels is
+obtained from the number of lines in the 
+.BR wheelfile .
+If there is, for example, a combination named "rwheels" containing 4
+wheels named wheel_0, wheel_1, wheel_2, and wheel_3, then the correct
+argument is:
+.sp
+.B -w rwheels/wheel_
+.sp
+Each frame of the output animation script will contain an animation
+command for each of the wheels.
+.TP
+.B \-b # # #
+Specify the yaw, pitch, and roll of the vehicle's axes
+with respect to the world axes. By default, the vehicle is assumed to
+have a yaw, pitch, and roll of 0, and the track is therefore put into a 
+xz plane. 
+.TP
+.B \-d # # #
+Specify (in world coordinates) the centroid of the vehicle
+of which the track is a part. By default, the vehicle is assumed
+centered at the origin.
+.TP
+.B -u
+User-specified track distance. The user
+should provide, in the second column of 
+.IR in.table ,
+the distance that the track should be rolled around the wheels in each
+frame. This is the default.
+.TP
+.B -y
+Derive the track distance from a table of position, yaw, pitch, and
+roll. The second column through the seventh columns of the
+.I in.table
+should contain the position and orientation of the vehicle in every
+frame. The distance that the track should be rolled around the wheels is
+automatically calculated in every frame. If 
+.I anim_script
+is being used with the same table to create the animaion script for the
+vehicle itself, the 
+.B -b 
+and 
+.B -d
+options to 
+.I anim_script
+and 
+.I anim_track
+should be the same.
+.TP
+.B -s
+Derive the track distance from a table of positions, using automatic
+steering. The second column through the fourth column of the
+.I in.table
+should contain the position of the vehicle in every frame. The distance
+that the track should be rolled around the wheels is automatically
+calculated in every frame, based on the assumption that the vehicle is
+always steered to face the direction of motion.
+If
+.I anim_script
+is being used with the same table to create the animaion script for the
+vehicle itself, the 
+.B -b 
+and 
+.B -d
+options to 
+.I anim_script
+and 
+.I anim_track
+should be the same.
+.TP
+.B -a
+Enable anti-strobing measures. When the track is rolling fast enough, track
+animations exhibit a strobing effect which may make the track appear to
+slow down or rotate backwards. This is an artifact of the discrete time
+nature of the animations, and occurs when the distance traveled by the
+track in one frame is close to the pad length. If the
+.B -a 
+option is selected, 
+.I anim_track
+adds random jitter to the track's motion when the track speed is high
+enough to cause strobing. This causes a motion blur effect rather than
+strobing.
+.TP
+.B -v
+Specify new wheel positions in every frame. This option allows dynamic
+suspensions to be animated. If there are n wheels, then the last 2n
+columns of 
+.I in.table
+should contain the front-back and up-down coordinates of each wheel,
+relative to the vehicle center and orientation specified with
+.B -d
+and
+.BR -b .
+The columns should be in pairs: The front-back coordinate of the first
+wheel, followed by its up-down coordinate, followed by the front-back
+coordinate of the second wheel, and so on.
+.sp
+If this option is not specified, then the wheel positions are fixed
+throughout the animation.
+.TP
+.B -c
+Calculate the track circumference, that is, the length of the shortest
+track that can wrap around a given set of wheels. If the -v option is
+specified, then 
+the output is a table containing the frame number and the track
+circumference in each frame. Otherwise, a single value representing the
+constant track circumference is returned.
+.TP
+.B -lm
+Minimize the track length. With this option the length of the track is
+set to the track circumference in every frame, ie the track shrinks to
+fit the wheels.
+.TP
+.B -lf #
+Specify a fixed track length. The argument specifies the track length, which
+remains constant throughout the animation. If at any time the track
+circumference exceeds the track length, the program is aborted and a
+message is printed on standard error.
+.TP
+.B -ls #
+Specify a stretchable track. The argument specifies the initial track
+length. If at any time the track circumference exceeds the track length,
+the track length is increased to meet the need. The track length never
+decreases once it has been increased.
+.TP
+.B -le #
+Specify an elastic track. The argument specifies the initial track
+length. If at any time the track circumference exceeds the track length,
+the track length is increased to meet the need. When the track
+circumference decreases again, the track length also decreases, but it
+never gets shorter than its original length.
+.TP
+.B -i #
+Specify the initial offset of the track. By default, the first track pad
+is initially placed at the point where the caternary arc meets the first
+wheel. If an offset is specified, it represents the distance clockwise
+around the track to from this point to the desired initiall point of
+the first pad. This option is typically used to align the track pads
+with drive wheel teeth.
+.TP
+.B -f #
+Specify the integer with which to begin numbering the frames of the
+animation script. The default is zero.
+.TP
+.B -r #
+Specify the common radius of all the wheels. In this case, the fourth column
+should be omitted from the
+.BR wheelfile .
+.TP
+.B -g #
+Instead of an animation script, create a file which can be sourced by
+.I mged
+to edit the track geometry. This will actually  wrap the modeled pad
+instances around the wheels.
+The argument is the number of the frame which is to be emulated. For
+example, to model the pads in the positions they will have in the first
+frame of an animation, the specified frame number would be zero.
+.TP
+.B -mp command
+Specify the animation matrix command to apply to the pads. The default
+value is "rarc", meaning that the matrix between the pad and its parent
+is replaced by a new matrix. See the 
+.I anim_script
+man page for more information.
+.TP
+.B -mw command
+Specify the animation matrix command to apply to the wheels. The default
+value is "lmul", meaning that the new matrix is multiplied onto the left
+of the old matrix between the pad and its parent combination. See the
+.I anim_script
+man page for more information.
+
+.SH EXAMPLES
+A typical use of 
+.I anim_track  
+would be to make an animation of a tank rolling across
+bumpy ground. By some method (such as physical simulation) 
+you obtain the position of the center of
+the tank and its orientation at each time. You also nead to obtain the
+position of the each wheel relative to the vehicle center at each time.
+All of this information is placed in
+.BR in.table .
+The model of the tank is stored in
+model.g as a combination named "tank". Its centroid is at the
+point (0,0,1005) and it faces the y-axis. An animation script for the
+tank itself is created as follows:
+.PP
+anim_script -d 0 0 1005 -b 90 0 0 /tank < tank.table > tank.script
+.PP
+Here 
+.B tank.table
+specifies the position and orientation of the tank in each frame; the 
+.B \-d 
+and
+.B \-b
+options specify the original position and orientation of the tank in the
+database.
+.PP
+To create the model of the track, a prototype track pad is created,
+centered on the origin in the x and y directions, with the
+wheel-contacting surface face-down on the origin. The pad is 100mm
+long and 5mm thick. Ninety-six instances of the pad are created, with names "rpad.0"
+through "rpad.95", and grouped together in a combination called "rtrack". 
+.PP
+Now, a file called
+.B rwheelfile 
+is created, describing the positions and radii of the four wheels in the
+right track:
+.nf
+
+   1300  2000  1005     60
+   1300  1500    55     50
+   1300 -1500    55     50
+   1300 -2000  1005     60
+
+.fi
+Two roadwheels both have radius 50mm, while the idler and drivewheels
+have a 60mm radius, and the wheels are named wh.0, wh.1, wh.2, and wh.3.
+.PP
+The following call checks the circumference of the track:
+.nf
+
+%> anim_track -c  rwheelfile
+9502.448956
+
+.fi
+The 96 100mm-long pads should be sufficient to wrap around the wheels,
+leaving a shallow caternary arc between the idler and driver wheels.
+.PP
+The following call creates a file which can be used by 
+.I mged 
+to wrap the pads around the wheels in the model.
+.nf
+
+%> anim_track -g 0 -b 90 0 0 -d 0 0 100 -lf 9600 -p 96 rtrack/rpad.
+rwheelfile <<EOF > rtrack.src
+? 0 0
+? EOF
+
+.fi
+In this case, 
+.I in.table
+consisted of only one row and two columns. The two columns represented
+time and the distance the track should be rolled from it's initial
+position. The 
+.B -g 
+option was set to 0 since frame zero was the only frame in the
+input table.
+The changes are applied to the geometry in 
+.I mged
+with the following command:
+.nf
+
+mged> source rtrack.src
+
+.fi
+The pads are now permanently modeled in their new positions.
+.PP
+In order to animate the pads and wheels, the following command would be
+appropriate:
+.PP
+anim_track -p 96 rtrack/rpad. -w rwheel/wh. -d 0 0 1005 -b 90 0 0 -y -v -lf
+9600 rwheelfile < in.table > rtrack.script
+.PP
+The in.table contains 15 columns specifying the time, the 3D position and
+yaw, pitch, and roll of the vehicle, and the front-back and up-down
+coordinates of each of the four wheels relative to the vehicle center.
+For example, one row of 
+.B in.table 
+could be:
+.PP
+0.5 234.0 1415.6 1005 45 0 0   2000 0   1500 -950   -1500 -950   -2000 -10
+.PP
+This would specify the new position of the vehicle half of a second into
+the animation, and indicate that
+the first three wheels remained in their original positions
+while the fourth wheel had dropped 10mm.
+Note that the previous step (modeling) wasn't necessary in order for the
+animation to work.
+.PP
+.B rtrack.script 
+by itself causes the wheels to move and rotate and the
+pads to roll around them. When the entire tank, including to track,
+is moved along across the ground by 
+.BR track.script , 
+the full effect is acheived. The two scripts
+could be combined
+with a script for the left track, using
+.IR script_sort ,
+to make the complete script.
+.PP
+.SH BUGS
+Tracks must have at least two wheels. The front edge of wheel.(n-1) must
+stay behind the back edge of wheel.0, or the results are unpredictable.
+(Usually a lot of NaN's on the output).
+.SH SEE ALSO
+anim_script(1)
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1996 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
+
@@ -0,0 +1,694 @@
+/*			A N I M _ T R A C K . C
+ *
+ *  Animate the links and wheels of a tracked vehicle. Handles tracks that
+ *  change in shape during the animation.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+
+#ifdef USE_STRING_H
+#include <string.h>
+#else
+#include <strings.h>
+#endif
+
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "externs.h"
+#include "vmath.h"
+#include "raytrace.h"
+#include "anim.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+#ifndef M_PI_2
+#define M_PI_2	1.57079632679489661923
+#endif
+
+#define GIVEN		0
+#define CALCULATED	1
+#define STEERED		2
+
+#define PRINT_ANIM	0
+#define PRINT_ARCED	1
+
+#define TRACK_MIN	0
+#define TRACK_FIXED	1
+#define TRACK_STRETCH	2
+#define TRACK_ELASTIC	3
+
+#define NW	num_wheels
+#define NEXT(i)	(i+1)%NW
+#define PREV(i)	(i+NW-1)%NW
+typedef double *pdouble;
+
+struct wheel {
+vect_t		pos;	/* displacement of wheel from vehicle origin */
+fastf_t		rad;	/* radius of wheel */
+fastf_t		ang0;	/* angle where track meets wheel 0<a<2pi*/
+fastf_t		ang1;	/* angle where track leaves wheel 0<a<p2i */
+fastf_t		arc;	/* radian length of contact between wheel and track 0<a<pi*/
+};
+
+struct track {
+vect_t		pos0;	/* beginning point of track section */
+vect_t		pos1;	/* end of track section */
+vect_t		dir;	/* unit vector:direction of track section ending here*/
+fastf_t		len;	/* length of track section ending here*/
+};
+
+struct slope {
+vect_t		dir;	/* vector from previous to current axle*/
+fastf_t		len;	/* length of vector above*/
+};
+
+struct all {
+struct wheel 	w;	/* parameters describing the track around a wheel */
+struct track	t;	/* track between this wheel and the previous wheel */
+struct slope	s;	/* vector between this axle and the previous axle */
+};
+
+/* external variables */
+extern int bu_optind;
+extern char *bu_optarg;
+
+/* variables describing track geometry - used by main, trackprep, get_link*/
+struct all *x;
+
+fastf_t curve_a, curve_b, curve_c, s_start;
+int num_links, num_wheels;
+fastf_t track_y, tracklen, first_tracklen;
+
+/* variables set by get_args */
+int wheel_nindex;	/* argv[wheel_nindex] = wheelname*/
+int link_nindex;	/* argv[link_nindex] = linkname*/
+int print_wheel;	/* flag: do wheel animation */
+int print_link;		/* flag: do link animation */
+int print_mode;		/*  anim for rt or arced for mged */
+int arced_frame;	/* which frame to arced */
+int  axes, cent;	/* flags: alternate axes, centroid specified */
+int dist_mode;		/* given, steered, or calculated  */
+int  first_frame;	/* integer to begin numbering frames */
+fastf_t init_dist;	/* initial distance of first link along track */
+int one_radius;		/* flag: common radius specified */
+fastf_t radius;		/* common radius of all wheels */
+vect_t centroid, rcentroid;	/* alternate centroid and its reverse */
+mat_t m_axes, m_rev_axes;	/* matrices to and from alternate axes */
+char link_cmd[10];		/* default is "rarc" */
+char wheel_cmd[10];		/* default is "lmul" */
+int get_circumf;	/* flag: just return circumference of track */
+int read_wheels;		/* flag: read new wheel positions each frame */
+int len_mode;		/* mode for track_len */
+int anti_strobe;	/* flag: take measures against strobing effect */
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	void anim_y_p_r2mat(), anim_add_trans(), anim_mat_print();
+	int get_args(), get_link(), track_prep(), val, frame, i, count;
+	int go;
+	fastf_t y_rot, distance, yaw, pch, roll;
+	vect_t cent_pos, wheel_now, wheel_prev;
+	vect_t zero, position, vdelta, temp, to_track, to_front;
+	mat_t wmat, mat_x;
+	FILE *stream;
+	struct wheel *wh;
+	int last_steer, last_frame;
+	int rndtabi=0;
+	fastf_t halfpadlen, delta, prev_dist;
+
+	VSETALL(zero,0.0);
+	VSETALL(to_track,0.0);
+	VSETALL(centroid,0.0);
+	VSETALL(rcentroid,0.0);
+	y_rot = 0.0;
+	num_wheels = 0;
+	last_steer = last_frame = 0;
+	MAT_IDN(mat_x);
+	MAT_IDN(wmat);
+	MAT_IDN(m_axes);
+	MAT_IDN(m_rev_axes);
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"Anim_track: Argument error.\n");
+
+	if (axes || cent ){ /* vehicle has own reference frame */
+		anim_add_trans(m_axes,centroid,zero);
+		anim_add_trans(m_rev_axes,zero,rcentroid);
+	}
+
+	/* get track information from specified file */
+	
+	if (!(stream = fopen(*(argv+bu_optind),"r"))){
+		fprintf(stderr,"Track: Could not open file %s.\n",*(argv+bu_optind));
+		return(0);
+	}
+	num_wheels = -1;
+	if (one_radius) {
+		while (!feof(stream)) {
+			fscanf(stream,"%*f %*f %*f");
+			num_wheels++;
+		}
+	} else {
+		while (!feof(stream)) {
+			fscanf(stream,"%*f %*f %*f %*f");
+			num_wheels++;
+		}
+	}
+	rewind(stream);
+
+
+	/*allocate memory for track information*/
+	/* x: contains track geometry for the current frame */
+	x = (struct all *) calloc(num_wheels,sizeof(struct all));
+	/* wh: contains geometry of wheels in mged database */
+	wh = (struct wheel *) calloc(num_wheels,sizeof(struct wheel));
+
+	/*read original wheel positions*/
+	for (i=0;i<NW;i++){
+		fscanf(stream,"%lf %lf %lf", temp, temp+1, temp+2);
+		if (one_radius)
+			x[i].w.rad = radius;
+		else
+			fscanf(stream,"%lf",& x[i].w.rad);
+		MAT4X3PNT(x[i].w.pos,m_rev_axes,temp);
+		if (i==0)
+			track_y = x[0].w.pos[1];
+		else
+			x[i].w.pos[1] = track_y;
+
+
+		wh[i].pos[0] = x[i].w.pos[0];
+		wh[i].pos[1] = x[i].w.pos[1];
+		wh[i].pos[2] = x[i].w.pos[2];
+		wh[i].rad = x[i].w.rad;
+	}
+	(void) fclose(stream);
+
+	/* initialize to_track */
+	VSET(to_track, 0.0, track_y, 0.0);
+	VSET(to_front,1.0,0.0,0.0);
+
+	if (get_circumf&& (!read_wheels)) {
+		track_prep();
+		printf("%.10g\n",tracklen);
+		return(0);
+	}
+		
+
+	if (dist_mode==STEERED) {
+		/* prime the pumps */
+		scanf("%*f");/*time*/
+		val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+		if (val < 3)
+			return(0);
+		go = anim_steer_mat(mat_x, cent_pos, 0);
+		last_steer = 0;
+	} else {
+		go = 1;
+	}
+
+	if (anti_strobe) {
+		BN_RANDSEED(rndtabi, 0);
+	}
+
+	/* main loop */
+	prev_dist = distance = 0.0;
+	frame = first_frame;
+	for ( ; ; frame++) {
+		if (dist_mode==GIVEN){
+			scanf("%*f");/*time*/
+			val = scanf("%lf",&distance);
+			if (val < 1) {
+				break;
+			}
+		}
+		else if (dist_mode==CALCULATED){
+			scanf("%*f");/*time*/
+			scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos+2);
+			val = scanf("%lf %lf %lf",&yaw,&pch,&roll);
+			if (val < 3)
+				break;
+			anim_dy_p_r2mat(mat_x,yaw,pch,roll);
+			anim_dy_p_r2mat(mat_x,yaw,pch,roll);
+			anim_add_trans(mat_x,cent_pos,rcentroid);
+		}
+
+		if (read_wheels) {
+			/* read in all wheel positions */
+			for(i=0;i<NW;i++){
+				val=scanf("%lf %lf",x[i].w.pos, x[i].w.pos + 2);
+				if (val < 2) {
+					break;
+				}
+			}
+		}
+
+		if (dist_mode==STEERED) {
+			scanf("%*f");/*time*/
+			val = scanf("%lf %lf %lf", cent_pos, cent_pos+1, cent_pos + 2);
+			if (val < 3){
+				if (last_steer)
+					break;
+				else
+					last_steer = 1;
+			}
+			go = anim_steer_mat(mat_x, cent_pos, last_steer);
+			anim_add_trans(mat_x,cent_pos,rcentroid);
+		}
+		
+		/* call track_prep to calculate geometry of track */
+		if ((frame==first_frame)||read_wheels) {
+			if ((track_prep())==-1){
+				fprintf(stderr,"Track: error in frame %d: track too short.\n",frame);
+				break;
+			}
+			if (get_circumf) {
+				printf("%d\t%.10g\n",frame,tracklen);
+			}
+		}
+
+
+
+		if ((dist_mode==CALCULATED)||(dist_mode==STEERED)){ 
+			/*determine distance traveled*/
+			VMOVE(wheel_prev,wheel_now);
+			MAT4X3PNT(wheel_now,mat_x,to_track);
+			if (frame > first_frame){ /* increment distance by distance moved*/
+				VSUB2(vdelta,wheel_now,wheel_prev);
+				MAT3X3VEC(temp,mat_x,to_front);/*new front of vehicle*/
+				distance += VDOT(temp,vdelta);/*portion of vdelta in line with track*/
+			}
+		}
+
+		if (anti_strobe) {
+			halfpadlen = 0.5 * tracklen/(fastf_t) num_links;
+			delta = distance - prev_dist;
+			prev_dist = distance;
+			if ((delta >= halfpadlen)||(delta <= -halfpadlen)) {
+				distance += BN_RANDOM(rndtabi) * 2.0* halfpadlen;
+			}
+		}
+
+		if (go && (!get_circumf)) {
+			if (print_mode==PRINT_ANIM) {
+				printf("start %d;\nclean;\n", frame);
+			} else if (print_mode==PRINT_ARCED) {
+				if (frame != arced_frame) continue;
+				last_frame = 1;
+			}
+			if (print_link) {
+			        for (count=0;count<num_links;count++){
+		        	        (void) get_link(position,&y_rot,distance+tracklen*count/num_links+init_dist);
+					anim_y_p_r2mat(wmat,0.0,y_rot,0.0);
+			        	anim_add_trans(wmat,position,zero);
+			        	if (axes || cent){ /* link moved to vehicle coords */
+			        		MAT_MOVE(mat_x,wmat);
+			        		bn_mat_mul(wmat,m_axes,mat_x);
+			        	}
+			        	if (print_mode==PRINT_ANIM) {
+						printf("anim %s%d matrix %s\n", *(argv+link_nindex),count,link_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","\n",";\n");
+			        	} else if (print_mode==PRINT_ARCED) {
+			        		printf("arced %s%d matrix %s ", *(argv+link_nindex),count,link_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","","\n");
+			        	}
+				}
+			}
+			if (print_wheel){
+				for (count = 0;count<num_wheels;count++){
+					anim_y_p_r2mat(wmat,0.0,-distance/wh[count].rad,0.0);
+					VREVERSE(temp,wh[count].pos);
+					anim_add_trans(wmat,x[count].w.pos,temp);
+			        	if (axes || cent){
+				        	bn_mat_mul(mat_x,wmat,m_rev_axes);
+			        		bn_mat_mul(wmat,m_axes,mat_x);
+			        	}
+			        	if (print_mode==PRINT_ANIM) {
+						printf("anim %s%d matrix %s\n",*(argv+wheel_nindex),count,wheel_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","\n",";\n");
+			        	} else if (print_mode==PRINT_ARCED) {
+						printf("arced %s%d matrix %s ",*(argv+wheel_nindex),count,wheel_cmd);
+			        		anim_mat_printf(stdout,wmat,"%.10g ","","\n");
+			        	}
+				}
+			}
+			if (print_mode==PRINT_ANIM)
+				printf("end;\n");
+		}
+		if (last_frame) break;
+	}
+	free(x);
+	free(wh);
+	return( 0 );
+}
+
+#define OPT_STR "sycuvb:d:f:i:r:p:w:g:m:l:a"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c, i;
+	fastf_t yaw, pch, rll;
+	void anim_dx_y_z2mat(), anim_dz_y_x2mat();
+	/* defaults*/
+	wheel_nindex = link_nindex = 0;
+	axes = cent = print_wheel = print_link = 0;
+	arced_frame = first_frame = 0;
+	init_dist = radius = 0.0;
+	one_radius = get_circumf = read_wheels = 0;
+	strcpy(link_cmd, "rarc");
+	strcpy(wheel_cmd, "lmul");
+	print_mode = PRINT_ANIM;
+	dist_mode = GIVEN;
+	len_mode = TRACK_MIN;
+	anti_strobe = 0;
+
+        while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+                i=0;
+                switch(c){
+                case 's':
+                	dist_mode = STEERED;
+                	break;
+                case 'y':
+                	dist_mode = CALCULATED;
+                	break;
+                case 'c':
+                	get_circumf = 1;
+                	break;
+                case 'u':
+                	dist_mode = GIVEN;
+                	break;
+                case 'v':
+                	read_wheels = 1;
+                	break;
+                case 'b':
+                	bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf", &yaw );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &pch );
+                        sscanf(argv[bu_optind+(i++)],"%lf", &rll );
+			bu_optind += 3;
+			anim_dx_y_z2mat(m_axes, rll, -pch, yaw);
+			anim_dz_y_x2mat(m_rev_axes, -rll, pch, -yaw);
+			axes = 1;
+                        break;
+                case 'd':
+                        bu_optind -= 1;
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+1);
+                        sscanf(argv[bu_optind+(i++)],"%lf",centroid+2);
+                        bu_optind += 3;
+                        VREVERSE(rcentroid,centroid);
+                	cent = 1;
+                        break;
+                case 'f':
+                	sscanf(bu_optarg,"%d",&first_frame);
+                        break;
+                case 'i':
+                	sscanf(bu_optarg,"%lf",&init_dist);
+                	break;
+                case 'r':
+                	sscanf(bu_optarg,"%lf",&radius);
+                	one_radius = 1;
+                	break;
+                case 'p':
+                	sscanf(bu_optarg,"%d", &num_links);
+                	link_nindex = bu_optind;
+                	bu_optind += 1;
+                	print_link = 1;
+                        break;
+                case 'w':
+                	wheel_nindex = bu_optind - 1;
+                	/*sscanf(bu_optarg,"%s",wheel_name);*/
+                	print_wheel = 1;
+                        break;
+                case 'g':
+                	sscanf(bu_optarg,"%d",&arced_frame);
+                	print_mode = PRINT_ARCED;
+                	break;
+                case 'm':
+                	switch (*bu_optarg) {
+                	case 'p':
+                		strncpy(link_cmd,argv[bu_optind], 10);
+                		break;
+                	case 'w':
+                		strncpy(wheel_cmd,argv[bu_optind], 10);
+                		break;
+                	default:
+                		fprintf(stderr,"Unknown option: -m%c\n",*bu_optarg);
+                		return(0);
+                	}
+                	bu_optind += 1;
+                	break;
+                case 'l':
+                	switch (*bu_optarg) {
+                	case 'm':
+                		len_mode = TRACK_MIN;
+                		break;
+                	case 'f':
+                		len_mode = TRACK_FIXED;
+	                	sscanf(argv[bu_optind],"%lf",&first_tracklen);
+	                	tracklen = first_tracklen;
+	                	bu_optind++;
+                		break;
+                	case 's':
+	        		len_mode = TRACK_STRETCH;
+	                	sscanf(argv[bu_optind],"%lf",&first_tracklen);
+	                	tracklen = first_tracklen;
+	                	bu_optind++;
+                       		break;
+                	case 'e':
+                		len_mode = TRACK_ELASTIC;
+	                	sscanf(argv[bu_optind],"%lf",&first_tracklen);
+	                	tracklen = first_tracklen;
+	                	bu_optind++;
+                		break;
+                	default:
+                		fprintf(stderr,"Unknown option: -l%c\n",*bu_optarg);
+                		return(0);
+                	}
+                	break;
+                case 'a':
+                	anti_strobe = 1;
+                	break;
+                default:
+                        fprintf(stderr,"Unknown option: -%c\n",c);
+                        return(0);
+                }
+        }
+        return(1);
+}
+
+/* TRACK_PREP - Calculate the geometry of the track. Wheel positions and
+ * radii should already exist in the x[i] structs. Track_prep fills in the
+ * rest of the x[i] structs and also calculates values for curve_a, curve_b,
+ * curve_c, and s_start, which describe the caternary segment
+ * return values: 0 = GOOD
+ * 		 -1 = BAD. Track too short to fit around wheels
+ */
+int track_prep()
+{
+	int i;
+	fastf_t phi, costheta, arc_angle;
+	fastf_t linearlen, hyperlen;
+	vect_t difference;
+	int getcurve();
+	fastf_t hyper_get_s();
+
+	/* first loop - get inter axle slopes and start/end angles */
+	for (i=0;i<NW;i++){
+		/*calculate current slope vector*/
+		VSUB2(x[i].s.dir,x[i].w.pos,x[PREV(i)].w.pos);
+		x[i].s.len = MAGNITUDE(x[i].s.dir);
+		/*calculate end angle of previous wheel assuming all convex*/
+		phi = atan2(x[i].s.dir[2],x[i].s.dir[0]);/*absolute angle of slope*/
+		costheta = (x[PREV(i)].w.rad - x[i].w.rad)/x[i].s.len;/*cosine of special angle*/
+		x[PREV(i)].w.ang1 = phi +  acos(costheta);
+		while (x[PREV(i)].w.ang1 < 0.0)
+			x[PREV(i)].w.ang1 += 2.0*M_PI;
+		x[i].w.ang0 = x[PREV(i)].w.ang1;
+	}
+	/* second loop - handle concavities */
+	for (i=0;i<NW;i++){
+		arc_angle = x[i].w.ang0 - x[i].w.ang1;
+		while (arc_angle < 0.0)
+			arc_angle += 2.0*M_PI;
+		if (arc_angle > M_PI) { /* concave */
+			x[i].w.ang0 = 0.5*(x[i].w.ang0 + x[i].w.ang1);
+			x[i].w.ang1 = x[i].w.ang0;
+			x[i].w.arc = 0.0;
+		}
+		else { /* convex - angles are already correct */
+			x[i].w.arc = arc_angle;
+		}
+	}
+	
+	/* third loop - calculate geometry of straight track segments */
+	for (i=0;i<NW;i++){
+		/*calculate endpoints of track segment*/
+		x[i].t.pos1[0] = x[i].w.pos[0] + x[i].w.rad*cos(x[i].w.ang0);
+		x[i].t.pos1[1] = x[i].w.pos[1];
+		x[i].t.pos1[2] = x[i].w.pos[2] + x[i].w.rad*sin(x[i].w.ang0);
+		x[i].t.pos0[0] = x[PREV(i)].w.pos[0] + x[PREV(i)].w.rad*cos(x[PREV(i)].w.ang1);
+		x[i].t.pos0[1] = x[PREV(i)].w.pos[1];
+		x[i].t.pos0[2] = x[PREV(i)].w.pos[2] + x[PREV(i)].w.rad*sin(x[PREV(i)].w.ang1);
+		/*calculate length and direction of track segment*/
+		VSUB2(difference,x[i].t.pos1,x[i].t.pos0);
+		x[i].t.len = MAGNITUDE(difference);
+		VSCALE((x[i].t.dir),difference,(1.0/x[i].t.len));
+	}
+
+	/* calculate total track length used so far*/
+	linearlen = x[0].w.arc*x[0].w.rad;
+	for (i=1;i<NW;i++){
+		linearlen += x[i].t.len;
+		linearlen += x[i].w.arc*x[i].w.rad;
+	}
+
+	if (len_mode==TRACK_MIN) {
+		tracklen = linearlen + x[0].t.len;
+		curve_a = 0.0;
+		return(0); /* early return */
+	}
+
+	if (len_mode==TRACK_ELASTIC) {
+		tracklen = first_tracklen;
+	}
+		
+	/* calculate geometry of hyperbolic segment */
+	hyperlen = tracklen - linearlen;
+	if(hyperlen < x[0].t.len){ /* desired length of hyperbola less than straight line*/
+		if((len_mode==TRACK_ELASTIC)||(len_mode==TRACK_STRETCH)){
+			tracklen += (x[0].t.len-hyperlen);
+			hyperlen = tracklen - linearlen;
+		}
+		else{
+			return(-1);/*bad, track is too short*/
+		}
+	}
+
+	getcurve(&curve_a,&curve_b,&curve_c,&(x[NW-1].w.ang1),&(x[0].w.ang0),hyperlen,x[NW-1].w.pos,x[0].w.pos,x[NW-1].w.rad,x[0].w.rad);
+
+	/* re-evaluate zeroth track section in light of curve information */
+	x[0].t.pos0[X] = x[NW-1].w.pos[X] + x[NW-1].w.rad * cos(x[NW-1].w.ang1);
+	x[0].t.pos0[Z] = x[NW-1].w.pos[Z] + x[NW-1].w.rad * sin(x[NW-1].w.ang1);
+	x[0].t.pos1[X] = x[0].w.pos[X] + x[0].w.rad * cos(x[0].w.ang0);
+	x[0].t.pos1[Z] = x[0].w.pos[Z] + x[0].w.rad * sin(x[0].w.ang0);
+	VSUB2(difference,x[0].t.pos1,x[0].t.pos0);
+	x[0].t.len = MAGNITUDE(difference);
+	VSCALE(x[0].t.dir,difference,(1.0/x[0].t.len));
+		
+	if (curve_a > VDIVIDE_TOL)
+		s_start = hyper_get_s(curve_a, 0.0, x[0].t.pos0[X] - curve_c);
+	
+	x[0].w.arc = x[0].w.ang0 - x[0].w.ang1;
+	if (x[0].w.arc<0.0)
+		x[0].w.arc += 2.0*M_PI;
+	x[NW-1].w.arc = x[NW-1].w.ang0 - x[NW-1].w.ang1;
+	if (x[NW-1].w.arc<0.0)
+		x[NW-1].w.arc += 2.0*M_PI;
+
+	return(0); /*good*/
+}
+
+/* GET_LINK - Find the position and angle of a link which is a given
+ * distance around the track, measured from the point where the caternary
+ * section meets wheel.0.
+ */
+int get_link(pos,angle_p,dist)
+fastf_t *angle_p, dist;
+vect_t pos;
+{
+	int i;
+	vect_t temp;
+	fastf_t hyper_get_x(), hyper_get_z(), hyper_get_ang();
+
+	while (dist >= tracklen) /*periodicize*/
+		dist -= tracklen;
+	while (dist < 0.0)
+		dist += tracklen;
+
+	/* we want it to ignore the distance between wheel(n-1) and wheel(0)*/
+	dist += x[0].t.len; 
+	for (i=0;i<NW;i++){
+		if ( (dist  -= x[i].t.len) < 0 ){
+			VSCALE(temp,(x[i].t.dir),dist);
+			VADD2(pos,x[i].t.pos1,temp);
+			*angle_p = atan2(x[i].t.dir[2],x[i].t.dir[0]);
+			return(2*i);
+		}
+		if ((dist -= x[i].w.rad*x[i].w.arc) < 0){
+			*angle_p = dist/x[i].w.rad;
+			*angle_p = x[i].w.ang1 - *angle_p;/*from x-axis to link*/
+			pos[X] = x[i].w.pos[X] + x[i].w.rad*cos(*angle_p);
+			pos[Y] = x[i].w.pos[Y];
+			pos[Z] = x[i].w.pos[Z] + x[i].w.rad*sin(*angle_p);
+			*angle_p -= M_PI_2; /*angle of clockwise tangent to circle*/
+			return(2*i+1);
+		}
+	}
+
+	/* caternary section */
+	if ( curve_a > VDIVIDE_TOL){
+		pos[X] = hyper_get_x(curve_a, 0.0, s_start+dist);
+		pos[Y] = x[0].w.pos[Y];
+		pos[Z] = hyper_get_z(curve_a,curve_b,0.0, pos[X]);
+		pos[X] += curve_c;
+		*angle_p = hyper_get_ang(curve_a,curve_c, pos[X]);
+	}
+	else { /* practically linear */
+		VSCALE(temp,(x[0].t.dir),dist);
+		VADD2(pos,x[0].t.pos0,temp);
+		*angle_p = atan2(x[0].t.dir[Z],x[0].t.dir[X]);
+	}
+
+
+	
+	return -1;
+}
+
+void show_info(which)/* for debugging - -1:track 0:both 1:link*/
+int which;
+{
+	int i;
+	if (which <=0){
+		fprintf(stderr,"track length: %f\n",tracklen);
+		fprintf(stderr,"link length: %f\n",tracklen/num_links);
+		for (i=0;i<NW;i++){
+			fprintf(stderr,"wheel %d: \n",i);
+			fprintf(stderr," pos\t%f\t%f\t%f\t\n",x[i].w.pos[X],x[i].w.pos[Y],x[i].w.pos[Z]);
+			fprintf(stderr," rad\t%f\tang0\t%f\tang1\t%f\tarc\t%f\n",x[i].w.rad,x[i].w.ang0,x[i].w.ang1,x[i].w.arc);
+
+			fprintf(stderr,"track %d: \n",i);
+			fprintf(stderr," pos0\t%f\t%f\tpos1\t%f\t%f\n",x[i].t.pos0[X],x[i].t.pos0[Z],x[i].t.pos1[X],x[i].t.pos1[Z]);
+			fprintf(stderr," dir\t%f\t%f\t%f\tlen\t%f\n",x[i].t.dir[X],x[i].t.dir[Y],x[i].t.dir[Z],x[i].t.len);
+			fprintf(stderr,"slope %d: %f %f %f %f\n",i,x[i].s.dir[0],x[i].s.dir[1],x[i].s.dir[2],x[i].s.len);
+		}
+	}
+/*	if (which >= 0){
+		fprintf(stderr,"%d %f %f %f %f\n",count,position[0],position[1],position[2],y_rot);
+	}*/
+}
+
@@ -0,0 +1,95 @@
+.TH ANIM_TURN 1 BRL/CAD
+.SH NAME
+anim_turn - make animation table for vehicle with front-wheel steering.
+.SH SYNOPSIS
+.B anim_turn -l length 
+.B [-a angle]
+.B [-r radius]
+.B [-f factor]
+.B [-p integer]
+.B < in.table 
+.B > out.table
+.SH DESCRIPTION
+The motion of a front wheel steered vehicle is not simple - the
+instaneous velocity of the front wheels is in the direction they are
+pointed, while the instantaneous velocity of the back wheels is the
+direction the vehicle is pointed. The purpose of
+.I anim_turn
+is to
+produce a complete animation table for such a vehicle, given a table
+specifying the desired position of the front axle at each relevant
+time step. The input table should contain four columns, specifying the
+time and 3D position of the center of the front axle. Actually, the path
+is assumed to be confined to an x-y plane, but the three columns are
+included for consistency with other animation routines.
+.PP
+The output is normally a seven-column table which is a copy of
+the input table with three extra columns specifying the yaw,
+pitch, and roll of the truck at each time. The pitch and roll
+are always zero, since the motion is assumed be in an x-y plane.
+.PP
+The 
+.B \-l#
+option is not optional, and is used to specify the length
+of the wheelbase (from the front axle to the rear axle). 
+.PP
+.SH OPTIONS
+.TP
+.B \-a#
+.I Track
+assumes that the truck should initially be oriented
+along the line defined by the first two positions in the input table.
+Otherwise, the desired initial yaw of the truck can be specified with the 
+.B \-a#
+option.
+.TP
+.B \-r#
+Specify the radii of the front wheels. If this option is selected, 
+.I track
+will create an animation script to animate the front wheels. The output 
+table would contain four columns: time, swivel-angle, roll, and a zero
+channel. These represent the orientation of the front wheels, in terms
+of yaw, pitch, and roll, and the table can be piped directly to 
+.IR anim_script .
+.TP
+.B \-f#
+Specify a factor to be used to animate a steering wheel. If this option
+is selected, the output table will contain four columns: time, swivel,
+and two zero columns. This table can be used directly by
+.I anim_script
+to make an animation script for a steering wheel. The argument to the
+option should be the factor by which to exagerate the swiveling of 
+the wheels. For
+example, on a typical truck, you may need to turn the steering wheel 360
+degrees in order for the wheels to swivel 20 degrees. To model this
+effect, a factor of 18 would be used. 
+.TP
+.B \-p#
+Specify the ratio of input rows to output rows,
+which must be an integer. The default, of course, is one. The accuracy
+of the output depends on having a large number of input lines, which is
+not usually a problem in animations, which require a large number of
+frames per second. However, if a test animation with a small number of
+frames per second is being created, the user should give an input table
+with a high number of input rows and reduce the output with the 
+.B \-p#
+option. For example, if 
+.B in.table 
+contains 30 rows for each second of the
+animation, then the command 
+.sp
+.B
+anim_turn -l 3000 -p10 < in.table > out.table
+.sp
+would produce an animation table containing 3 rows for each second of
+the animation.
+.SH BUGS
+The algorithm used only works for motion in an x-y plane.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,185 @@
+/*			A N I M _ T U R N . C
+ *
+ *	Animate front-wheel steered vehicles.
+ *
+ *  This is a filter which operates on animation tables. Given an
+ *  animation table for the position of the front axle, anim_turn produces
+ *  an animation table for position and orientation. Options provide for
+ *  animating the wheels and/or steering wheel.
+ * 
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include "conf.h"
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "vmath.h"
+#include "bu.h"
+#include "anim.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+int		get_args();
+extern void	anim_y_p_r2mat();
+extern void	anim_add_trans();
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int print_int = 1;
+int angle_set = 0;
+int turn_wheels = 0;
+fastf_t length, angle, radius;
+fastf_t factor = 1.0;
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int count;
+	fastf_t val, time, roll_ang, yaw,sign;
+	vect_t v, point, front, back, zero, temp1, temp2;
+	mat_t m_from_world, m_to_world;
+	double bn_atan2();
+
+	/* initialize variables */
+	VSETALL(zero, 0.0);
+	VSETALL( v , 0.0 );
+	VSETALL( point, 0.0 );
+	VSETALL( front, 0.0 );
+	VSETALL( back, 0.0 );
+	VSETALL( temp1, 0.0 );
+	VSETALL( temp2, 0.0 );
+	for( count=0 ; count<ELEMENTS_PER_MAT ; count++ )
+		m_from_world[count]=m_to_world[count]=0.0;
+	length = angle = radius = roll_ang = 0.0;
+
+	if (!get_args(argc,argv))
+		fprintf(stderr,"ascript: Get_args error");
+
+	if (!angle_set) { /* set angle if not yet done */
+		scanf("%*f%*[^-0123456789]");
+		VSCAN(temp1);
+		scanf("%*f%*[^-0123456789]");
+		VSCAN(temp2);
+		angle = bn_atan2( (temp2[1]-temp1[1]),(temp2[0]-temp1[0]) );
+		rewind(stdin);
+	}
+	count = 0;
+	while (1) {
+		/* read one line of table */
+		val = scanf("%lf%*[^-0123456789]",&time); /*read time,ignore garbage*/
+		val = scanf("%lf %lf %lf", point, point+1, point +2);
+		if (val < 3) {
+			break;
+		}
+
+		/*update to and from matrices */
+
+		if (count) { /* not first time through */
+			/* calculate matrices corrsponding to last position*/
+			anim_y_p_r2mat(m_to_world,angle,0.0,0.0);
+			anim_add_trans(m_to_world,front,zero);
+			anim_y_p_r2mat(m_from_world,-angle,0.0,0.0);
+			VREVERSE(temp1,front);
+			anim_add_trans(m_from_world,zero,temp1);
+		
+			/* calculate new position for front and back axles */
+			/* front goes to the point, back slides along objects*/
+			/* current front to back axis */
+			MAT4X3PNT(v,m_from_world,point);/* put point in vehicle coordinates*/
+			if (v[1] > length) {
+				fprintf(stderr,"anim_turn: Distance between positions greater than length of vehicle - ABORTING\n");
+				break;
+			}
+			temp2[0] = v[0] - sqrt(length*length - v[1]*v[1]); /*calculate back*/
+			temp2[1] = temp2[2] = 0.0;
+			MAT4X3PNT(back,m_to_world,temp2);/*put "back" in world coordinates*/
+			VMOVE(front,point);
+
+			/*calculate new angle of vehicle*/
+			VSUB2(temp1,front,back);
+			angle = bn_atan2(temp1[1],temp1[0]);
+		}
+		else { /*first time through */
+			/*angle is already determined*/
+			VMOVE(front, point);
+		}
+
+		/*calculate turn angles and print table*/
+		
+		if (turn_wheels){ 
+			if (v[0] >= 0)
+				sign = 1.0;
+			else
+				sign = -1.0;
+			yaw = bn_atan2(sign*v[1],sign*v[0]);
+			if (radius > VDIVIDE_TOL)
+				roll_ang -= sign * MAGNITUDE(v) / radius;
+
+			if (!(count%print_int))
+				printf("%.10g %.10g %.10g 0.0\n",time,factor*RTOD*yaw,RTOD*roll_ang);
+		}
+		else { /* print position and orientation of vehicle */
+			if (!(count%print_int))
+				printf("%.10g %.10g %.10g %.10g %.10g 0.0 0.0\n",time,front[0],front[1],front[2], RTOD * angle);
+		}
+		count++;
+	}
+	return( 0 );
+}
+
+#define OPT_STR "r:l:a:f:p:"
+
+int get_args(argc,argv)
+int argc;
+char **argv;
+{
+	int c;
+	while ( (c=bu_getopt(argc,argv,OPT_STR)) != EOF) {
+		switch(c){
+		case 'l':
+			sscanf(bu_optarg,"%lf",&length);
+			break;
+		case 'a':
+			sscanf(bu_optarg,"%lf",&angle);
+			angle *= DTOR; /* degrees to radians */
+			angle_set = 1;
+			break;
+		case 'r':
+			sscanf(bu_optarg,"%lf",&radius);
+			turn_wheels = 1;
+			break;
+		case 'f':
+			turn_wheels = 1;
+			sscanf(bu_optarg,"%lf",&factor);
+			break;
+		case 'p':
+			sscanf(bu_optarg,"%d",&print_int);
+			break;
+		default:
+			fprintf(stderr,"Unknown option: -%c\n",c);
+			return(0);
+		}
+	}
+	return(1);
+}
+
@@ -0,0 +1,277 @@
+/*			C A T T R A C K . C
+ *
+ *  Caternary curve routines used by anim_track.c
+ *
+ */
+
+#include "conf.h"
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "vmath.h"
+#include "anim.h"
+
+#define MAX_REACHED	0
+#define SOLVED		1
+
+/* the total maximum number of lowest level iterations possible is
+ *     T_MAX_ITS*MAX_OUT_ITS*2*MAX_ITS
+ */
+#define MAX_ITS		25
+#define MAX_OUT_ITS	25
+#define T_MAX_ITS	50
+
+/* these tolerances are guessed at, except that it seems to be important
+ * in elastic situations that T_TOL be significantly smaller than the others
+ */
+#define T_TOL		1.0e-14
+#define G_TOL		1.0e-12
+#define F_TOL		1.0e-12
+
+/* HYPER_GET_X - get x value of a point which is a given distance along 
+ * caternary curve. 
+ * x(s) = arcsinh(a*s-sinh(a*c))/a + c
+ * Left to calling routine to avoid dividing by zero.
+ */
+fastf_t hyper_get_x(a,c, s, d, x, cos_ang)
+fastf_t a, c; 	/* curve parameters */
+fastf_t s;		/* arclength value  */
+{
+	fastf_t arg, asinh_arg;
+
+	arg = a*s - sinh(a*c);
+	asinh_arg = log(arg + sqrt(arg*arg + 1.0));
+
+	return(asinh_arg/a + c);
+}
+
+/* HYPER_GET_S - calculate the arclength parameter of a caternary
+ * curve corresponding to the given value of x.
+ * s(x) = (sinh(a(x-c))+sinh(ac))/a 
+ * Left to calling routime to avoid dividing by zero.
+ */
+fastf_t hyper_get_s(a, c, x)
+fastf_t a, c, x;
+{
+		return((sinh(a*(x-c))+sinh(a*c))/a);
+}
+
+/* HYPER_GET_Z - calculate point on the caternary curve:
+ * z(x) = cosh(a*(x-c))/a + b
+ * Left to calling routine to avoid dividing by zero.
+ */
+fastf_t hyper_get_z(a,b,c,x)
+fastf_t a,b,c,x;
+{
+	fastf_t z;
+
+	if (fabs(a)>VDIVIDE_TOL){
+		z = cosh(a*(x-c))/a + b;
+	} else {
+		z = b;
+	}
+	return(z);
+}
+
+/* HYPER_GET_ANG - calculate angle corresponding to the slope of 
+ * caternary curve.
+ * z'(x) = sinh(a*(x-c))
+ */
+fastf_t hyper_get_ang(a,c,x)
+fastf_t a,c,x;
+{
+	fastf_t slope;
+
+	slope = sinh(a*(x-c));
+	return( atan2(slope, 1.0));
+}
+
+/* GET_CURVE - Find the constants a, b, and c such that the curve
+ *  z = cosh(a*(x-c))/a + b
+ * is tangent to circles of radii r0 and r1 located at
+ * (x0,z0) and (x1,z1) and such that the curve has 
+ * arclength delta_s between circles. Also find the angle where
+ * the curve touches each circle. When called successively,
+ * It uses the values of a,b, and c from the last call as a start.
+ */
+int getcurve(pa,pb,pc,pth0,pth1,delta_s, p_zero, p_one, r_zero, r_one)
+fastf_t	*pa, *pb, *pc;	/* curve parameters */
+fastf_t *pth0, *pth1;	/* angle where curve contacts circle0,circle1 */
+fastf_t delta_s;	/* desired arclength */
+fastf_t r_zero, r_one;  /* radii of circle0 and circle1 */
+vect_t p_zero, p_one;	/* center of circle0 and circle1 */
+{
+
+	int status, i, solved;
+	int ingetcurve();
+	fastf_t theta_one, theta_zero, new_theta_zero, new_theta_one;
+	fastf_t avg_theta_zero, avg_theta_one, arc_dist;
+	fastf_t tang_ang, costheta;
+	double stmp;
+	vect_t q_zero, q_one, diff; 
+	static fastf_t last_a, last_c, last_theta_one, last_theta_zero;
+	static int called_before = 0;
+
+	/*first calculate angle at which tangent line would contact circles*/
+	VSUB2(diff,p_one,p_zero);
+	tang_ang = atan2(diff[Z],diff[X]);
+	costheta = (r_zero-r_one)/MAGNITUDE(diff);
+	tang_ang += acos(costheta);
+
+	if (!called_before){
+		theta_one = tang_ang;
+		theta_zero = tang_ang;
+		(*pa) = 1.0;
+		*pc = 0.5*(p_one[X]+p_zero[X]);
+		called_before = 1;
+	}
+	else {
+		theta_zero = last_theta_zero;
+		theta_one = last_theta_one;
+		*pa = last_a;
+		*pc = last_c;
+	}
+
+	status = MAX_REACHED;
+	for (i=0;i<T_MAX_ITS;i++){
+		q_zero[X] = p_zero[X] + r_zero * cos(theta_zero);
+		q_zero[Z] = p_zero[Z] + r_zero * sin(theta_zero);
+		q_one[X] = p_one[X] + r_one * cos(theta_one);
+		q_one[Z] = p_one[Z] + r_one * sin(theta_one);
+
+		/* determine distance taken by arc*/
+		arc_dist = r_zero * (tang_ang - theta_zero);
+		arc_dist += r_one * (theta_one - tang_ang);
+
+		ingetcurve(pa,pb,pc, delta_s-arc_dist, q_zero, q_one);
+
+		solved = 0;
+		/* refine theta_one */
+		stmp = sinh( (*pa)*(q_zero[X]-(*pc)) );
+		new_theta_zero = atan2(1.0,-stmp);
+		avg_theta_zero = 0.5 * (theta_zero + new_theta_zero);
+		if (fabs(theta_zero-avg_theta_zero)<T_TOL){
+			solved++;
+		}
+		theta_zero = avg_theta_zero;
+
+		/* refine theta_two */
+		stmp = sinh( (*pa)*(q_one[X]-(*pc)) );
+		new_theta_one = atan2(1.0,-stmp);
+		avg_theta_one = 0.5 * (theta_one + new_theta_one);
+		if (fabs(theta_one-avg_theta_one)<T_TOL){
+			solved++;
+		}
+		theta_one = avg_theta_one;
+
+		if (solved == 2){
+			status = SOLVED;
+			break;
+		}
+		
+	}
+	last_theta_zero = theta_zero;
+	last_theta_one = theta_one;
+	last_a = *pa;
+	last_c = *pc;
+	*pth0 = theta_zero;
+	*pth1 = theta_one;
+	return(status);
+			
+}
+
+/* INGETCURVE - find constants a, b, and c, such that the curve
+ *  z = cosh(a*(x-c))/a + b
+ * passes through (x0,z0) and (x1,z1) and has arclength delta_s
+ * Appropriate first guesses for a,b, and c should be given.
+ */
+int ingetcurve(pa,pb,pc, delta_s, p_zero, p_one)
+fastf_t	*pa, *pb, *pc;
+fastf_t delta_s;
+vect_t p_zero, p_one;
+{
+	int status, i, j, k;
+	fastf_t adjust;
+	fastf_t eff(),gee();
+
+	status = MAX_REACHED;
+	i=0;
+	while (i++<MAX_OUT_ITS){
+		for (j=0;j<MAX_ITS;j++){
+			adjust = eff(*pa,*pc,p_zero[X],p_one[X],delta_s);
+			if ((*pa-adjust)<=0.0){
+				*pa *= 0.5;
+			}
+			else {
+				*pa -= adjust;
+			}
+			if (adjust<F_TOL){
+				break;
+			}
+		}
+		
+		for (k=0;k<MAX_ITS;k++){
+			adjust = gee(*pa,*pc,p_zero[X],p_one[X],(p_one[Z]-p_zero[Z]));
+			*pc -= adjust;
+			if (adjust<G_TOL){
+				break;
+			}
+		}
+
+		if ((j==0)&&(k==0)){
+			status = SOLVED;
+			break;
+		}
+	}
+	*pb = p_zero[Z] - cosh( (*pa)*(p_zero[X]-(*pc)) )/(*pa);
+	
+	return(status);
+
+}
+
+/* find Newtonian adjustment for 'a', assuming 'c' fixed*/
+fastf_t eff(a,c,x0,x1,delta_s)
+fastf_t a,c,x0,x1,delta_s;
+{
+	double f,fprime;
+	double arg0, arg1, sarg0, sarg1;
+
+	arg0 = a*(x0-c);
+	arg1 = a*(x1-c);
+
+	sarg0 = sinh(arg0);
+	sarg1 = sinh(arg1);
+
+	f = a*(sarg1-sarg0 - a*delta_s);
+	fprime = sarg0 - sarg1 - arg0*cosh(arg0) + arg1*cosh(arg1);
+
+	if (fabs(fprime) > VDIVIDE_TOL)
+		return(f/fprime);
+	else if ((a*a) > VDIVIDE_TOL)
+		return(f/(a*a));
+	else if (fabs(a) > VDIVIDE_TOL)
+		return(f/a);
+	else
+		return(f);
+}
+
+/* find Newtonian adjustment for c, assuming 'a' fixed*/
+fastf_t gee(a,c,x0,x1,delta_z)
+fastf_t a,c,x0,x1,delta_z;
+{
+	double g, gprime, arg0, arg1;
+
+	arg0 = a*(x0-c);
+	arg1 = a*(x1-c);
+
+	g = cosh(arg1)-cosh(arg0) - a*delta_z;
+	gprime = a*(sinh(arg0) - sinh(arg1));
+
+	if (fabs(gprime) > VDIVIDE_TOL)
+		return(g/gprime);
+	else if (fabs(a) > VDIVIDE_TOL)
+		return(g/a);
+	else
+		return(g);
+}
+
@@ -0,0 +1,68 @@
+/*			C H A N _ A D D . C
+ *
+ *  Add a given value to specified columns of data.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	double addend, temp;
+	int i,j,doit, of, count, val, *col_list;
+
+
+	if (argc < 3) {
+		fprintf(stderr,"Usage: chan_add value num_columns column [column ...] < in.file > out.file\n");
+		return(-1);
+	}
+
+	sscanf(*(argv+1),"%lf",&addend);
+	sscanf(*(argv+2),"%d",&of);
+	col_list = (int *) calloc(argc-2,sizeof(int));
+	for (i=3;i<argc;i++){
+		sscanf(*(argv+i),"%d",col_list+(i-3));
+	}
+
+	count = 0;
+	while (!feof(stdin)){
+		val = scanf("%lf",&temp);
+		if (val<1) 
+			;
+		else {
+			doit = 0;
+			for (j=0;j<argc-3;j++){
+				if (col_list[j]==count)
+					doit = 1;
+			}
+			if (doit)
+				printf("%.10g\t",temp + addend);
+			else
+				printf("%.10g\t",temp);
+		}
+		if ( count == (of-1))
+			printf("\n");
+		count = (count+1)%of;
+	}
+	return( 0 );
+}
@@ -0,0 +1,49 @@
+.TH CHAN_MULT 1 BRL/CAD
+.SH NAME
+chan_mult - multiply columns of data by a given factor
+.PP
+chan_add - add a given value to columns of data
+.SH SYNOPSIS
+chan_mult factor num_columns column [column column ...] < infile > outfile
+.PP
+chan_add value num_columns column [column column ...] < infile > outfile
+.SH DESCRIPTION
+.I Mult_chan 
+will multiply all numbers in the specified columns by the given 
+factor. The infile is
+an ASCII file, with columns separeted by white space. The columns are
+numbered from 0 to (n-1). 
+.I Add_chan 
+behaves analogously, but with
+addition rather than multiplication. 
+.SH EXAMPLES
+These routines are useful for converting between units in animation
+tables.
+.PP
+To multiply all but the first column of a four column file by 2.54:
+.PP
+.B
+chan_mult 2.54 4 1 2 3
+.PP
+To add ten to the first six columns of an eight-column file:
+.PP
+.B
+chan_add 10.0 8 0 1 2 3 4 5
+.PP
+To convert the second of three columns from Fahrenheit to Celcius:
+.PP
+.B
+chan_add -32 3 1
+.br
+.B
+chan_mult 0.56 3 1
+.SH BUGS
+The files must contain numbers and whitespaces only.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,67 @@
+/*			C H A N _ M U L T . C
+ *
+ *  Multiply specified columns of data by a given factor.
+ *
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	double factor, temp;
+	int i,j,doit, of, count, val, *col_list;
+
+	if (argc < 4){
+		fprintf(stderr,"Usage: chan_mult factor num_columnss column [col ... ] < in.file > out.file\n");
+		return(-1);
+	}
+
+	sscanf(*(argv+1),"%lf",&factor);
+	sscanf(*(argv+2),"%d",&of);
+	col_list = (int *) calloc(argc-2,sizeof(int));
+	for (i=3;i<argc;i++){
+		sscanf(*(argv+i),"%d",col_list+(i-3));
+	}
+
+	count = 0;
+	while (!feof(stdin)){
+		val = scanf("%lf",&temp);
+		if (val<1) 
+			;
+		else {
+			doit = 0;
+			for (j=0;j<argc-3;j++){
+				if (col_list[j]==count)
+					doit = 1;
+			}
+			if (doit)
+				printf("%.10g\t",temp*factor);
+			else
+				printf("%.10g\t",temp);
+		}
+		if ( count == (of-1))
+			printf("\n");
+		count = (count+1)%of;
+	}
+	return( 0 );
+}
@@ -0,0 +1,70 @@
+.TH CHAN_PERMUTE.C 1 BRL/CAD
+.SH NAME
+chan_permute - operate on columns of files.
+.SH SYNOPSIS
+.B chan_permute 
+.B -i infile1 id id ... 
+.B [-i infile2 id ...] 
+.B -o outfile1 id id ... 
+.B [-o outfile2 id ...]
+.SH DESCRIPTION
+This program mixes, matches, and merges ASCII files organized in
+channels or columns. Each word, separated by whitespaces, should be less
+than 40 characters long. The channels in each input file are specified
+and then mapped to the desired channels in the output file(s). These are
+the sort of things that can be done using 
+.I cut 
+and 
+.I paste, 
+but when
+working on animation tables it's often nice to be able to do it in one
+step.
+.PP
+.BR Infile s 
+are files to be read from, 
+.BR outfile s 
+are files to be written
+to, and each 
+.B id 
+is a small positive integer identifying a channel. All of the
+input 
+.BR id 's 
+should be distinct integers, or the results are not guaranteed. 
+.PP
+.I Chan_permute 
+interprets 
+.B -i stdin 
+as standard input and 
+.B -o stdout 
+as
+standard output.
+.SH EXAMPLES
+The command
+.sp
+chan_permute -i foo 0 1 2 -o stdout 2 1 0
+.sp
+reverses the order of foo's three columns and sends them to standard output.
+.sp
+.sp
+The command
+.sp
+chan_permute -i file1 0 1 -i file2 2 3 -o file3 2 0 1 -o file4 3 0 1
+.sp
+creates file3 and file4, each containing one of the columns of file2
+followed by both columns of file1. 
+.SH BUGS 
+A given file may be referenced
+more than once for input, but may not be referenced for input and output
+together or output and output together. In the latter case, the second
+output reference overrides the other. 	The 
+.BR id 's 
+must be integers
+somewhere between 0 and the number of arguments, inclusive.
+.SH AUTHOR
+Carl J. Nuzman
+.SH COPYRIGHT
+	This software is Copyright (C) 1993 by the United States Army
+in all countries except the USA.  All rights reserved.
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,152 @@
+/*			C H A N _ P E R M U T E . C
+ *
+ *	This program mixes, matches, and merges files organized in
+ *  channels or columns.
+ *	It's nothing cut and paste can't do, but sometimes it's nice to
+ *  be able to do it in one step, especially when working with animation
+ *  tables.
+ *Usage: channel -i infile1 id id id ... [-i infile2 ...] -o outfile1 id id ...
+ *		[-o outfile2 ...]
+ *where infiles are files to be read from, outfiles are files to be written
+ *to, and each id is a small positive integer identifying a channel. All of the
+ *input id's should be distinct integers, or the results are not guaranteed. 
+ * 
+ *  Author -
+ *	Carl J. Nuzman
+ *  
+ *  Source -
+ *      The U. S. Army Research Laboratory
+ *      Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Notice -
+ *      Re-distribution of this software is restricted, as described in
+ *      your "Statement of Terms and Conditions for the Release of
+ *      The BRL-CAD Pacakge" agreement.
+ *
+ *  Copyright Notice -
+ *      This software is Copyright (C) 1993 by the United States Army
+ *      in all countries except the USA.  All rights reserved.
+ */
+#include "conf.h"
+
+#ifdef USE_STRING_H
+#include <string.h>
+#else
+#include <strings.h>
+#endif
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+
+#define MAXLEN 40
+
+typedef char Word[MAXLEN];
+
+struct unit {
+FILE *file;
+int channels;
+short *list;
+unsigned i_o;	/*i=1 o=0*/
+};
+
+
+char ihead[] = "-i";
+char ohead[] = "-o";
+
+int
+main(argc,argv)
+int argc;
+char **argv;
+{
+	int i,j, maxlength,num_done;
+	int icount, ocount;
+	struct unit *x, *y;
+	Word *arrayd;
+	
+	i=j=icount = ocount = maxlength = 0;	
+	for(i=1;i<argc;i++){
+		if( !strncmp(argv[i],ihead,2) ){
+			j=0;
+			icount++;
+		}
+		else if( !strncmp(argv[i],ohead,2) ){
+			j=0;
+			ocount++;
+		}
+		else
+			maxlength = (++j>maxlength) ? j : maxlength;
+	}
+	
+	y = (struct unit *) calloc(icount+ocount,sizeof(struct unit));
+	x = y - 1;
+	for(i=1;i<argc;i++){
+		if( !strncmp(argv[i],"-",1) ){
+			j=0;
+			x++;
+			x->list = (short *) calloc(maxlength,sizeof(short));
+			if (argv[i][1] == 'i'){
+				i++;
+				(x)->i_o = 1;
+				if ( ! strcmp(argv[i],"stdin") )
+					x->file = stdin;
+				else if ( !(x->file = fopen(argv[i],"r")) )
+					fprintf(stderr,"Channel: can't open %s\n",argv[i]);
+			}
+			else if (argv[i][1] == 'o'){
+				i++;
+				(x)->i_o = 0;
+				if ( ! strcmp(argv[i],"stdout") )
+					x->file = stdout;
+				else if ( !(x->file = fopen(argv[i],"w")) )
+					fprintf(stderr,"Channel: can't write to %s\n",argv[i]);
+			}
+			else{
+				fprintf(stderr,"Illegal option %c\n",argv[i][1]);
+				exit(-1);
+			}
+		}
+		else{
+			sscanf(argv[i],"%hd",x->list+(j++));
+			x->channels++;
+		}
+	}
+	arrayd = (Word *) calloc(argc,sizeof(Word));/*may use more memory than absolutely necessary*/
+	num_done = 0;
+	while(num_done < icount ){ /* go until all in files are done */
+		num_done = 0;
+		for (x=y;x<y+ocount+icount;x++){ /* do one line */
+			if(num_done >= icount)
+				;/*chill - all in files done */
+			else if (x->i_o == 1){
+				if(feof(x->file))
+					num_done += 1;
+				else 
+				for(j=0;j<x->channels;j++)
+					fscanf(x->file,"%s ",arrayd[x->list[j]]);
+			}
+			else if (x->i_o == 0){
+				for(j=0;j<x->channels;j++)
+					fprintf(x->file,"%s\t",arrayd[x->list[j]]);
+				fprintf(x->file,"\n");
+			}
+		}
+	}
+	free(arrayd);
+	for (x=y;x<y+ocount+icount;x++){
+		free(x->list);
+	}
+	free(y);
+	exit(0);
+}
+
+int max(m,n) /*return greatest of n integers, unless one is greater than n*/
+int m[],n;
+{
+	int i,j;
+	j = 0;
+	for (i=0;i<n;i++){
+		j = (m[i]>j) ? m[i] : j;
+	}
+	return( (j>n) ? 0 : j );
+}
@@ -0,0 +1,51 @@
+This is awf, the Amazingly Workable Formatter -- a "nroff -man" or
+(subset) "nroff -ms" clone written entirely in (old) awk.
+
+It is slow and has many restrictions, but does a decent job on most
+manual pages and simple -ms documents, and isn't subject to AT&T's
+brain-damaged licensing that denies many System V users any text
+formatter at all.  It is also a text formatter that is simple enough
+to be tinkered with, for people who want to experiment.
+
+Type "make r" to run a regression test, formatting the manual page
+(awf.1) and comparing it to a preformatted copy (awf.1.out).  Type
+"make install" to install it.  Pathnames may need changing.
+
+I don't know whether awf will run on 16-bit machines.  Data requirements
+are modest, but I fear the programs are probably big enough to run awk
+out of space.
+
+I can't believe I really wrote this.
+
+                                         Henry Spencer at U of Toronto Zoology
+                                          henry@zoo.toronto.edu   utzoo!henry
+						13 July 1990
+/*
+ * Copyright 1990 University of Toronto.  All rights reserved.
+ * Written by Henry Spencer.
+ * This software is not subject to any license of the American Telephone
+ * and Telegraph Company or of the Regents of the University of California.
+ *
+ * Permission is granted to anyone to use this software for any purpose on
+ * any computer system, and to alter it and redistribute it freely, subject
+ * to the following restrictions:
+ *
+ * 1. The author is not responsible for the consequences of use of this
+ *    software, no matter how awful, even if they arise from flaws in it.
+ *
+ * 2. The origin of this software must not be misrepresented, either by
+ *    explicit claim or by omission.  Since few users ever read sources,
+ *    credits must appear in the documentation.
+ *
+ * 3. Altered versions must be plainly marked as such, and must not be
+ *    misrepresented as being the original software.  Since few users
+ *    ever read sources, credits must appear in the documentation.
+ *
+ * 4. This notice may not be removed or altered.
+ */
+
+As required by the above notice, you are informed that this software
+has been slightly modified to become the formatter for the fallback
+manual-page reading software for the BRL-CAD Package.
+If you wish an unmodified copy of AWF, you should contact the original
+author at the address above.
@@ -0,0 +1,35 @@
+/*
+ *			awf/Cakefile
+ *
+ *  The actual formatter is located in "../brlman", because it needs to
+ *  be installed in BINDIR.
+ *
+ *  Note:  The file "brlman/awf" needs to be modified when the definition of
+ *  ETCDIR is changed.
+ */
+#include "../Cakefile.defs"
+
+#define PRODUCTS	common dev.dumb mac.man mac.ms \
+			pass1 pass2.base pass2.man pass2.ms pass3 \
+			AWF_COPYRIGHT
+#define SRCDIR	awf
+#undef BINDIR
+#define BINDIR	ETCDIR
+#undef BINPERM
+#define BINPERM MANPERM
+#define FILES	/**/
+#define	SRCSUFF	/**/
+#define MANSECTION	1
+
+#define STATIC_PRODUCTS	PRODUCTS	/* Force PRODUCTS into dist */
+
+/*
+ *  There is nothing to compile.
+ *  The "install-prod" rule should install PRODUCTS,
+ *  and "inst-dist" rule should take care of copying to distribution dir.
+ *  Nothing else to do.
+ */
+all&:
+	@echo "SRCDIR:  all done"
+
+#include "../Cakefile.rules"
@@ -0,0 +1,212 @@
+.\" Some of the stuff in this file is a bit contorted, because it's also
+.\" the regression-test input.
+.nr ES 5n
+.de ES
+.PP
+.in +\\n(ESu
+.nf
+..
+.de EE
+.in -\\n(ESu
+.fi
+.PP
+..
+.de PT
+.ie \\n(.$>1 .TP "\\$2"
+.el .TP
+.ie !'\\$1'' \\$1
+.el \(bu
+..
+.ds Nr \fInroff\fR
+.TH AWF 1 "13 July 1990"
+.BY "U of Toronto"
+.SH NAME
+awf \- amazingly workable (text) formatter
+.SH SYNOPSIS
+.B awf
+.BI \-m acros
+[ file ] ...
+.SH DESCRIPTION
+.if t .tm OOPS -- AWF THINKS IT'S TROFF!!!
+.I Awf
+formats the text from the input \fIfile\fR(s)
+(standard input if none)
+in an imitation of
+\*(Nr's style with the \fB\-man\fR or \fB\-ms\fR macro packages.
+The
+.BI \-m acro
+option is mandatory and must be `\-man' or `\-ms'.
+.PP
+.I Awf
+implements the following raw \*(Nr requests:
+.LP
+	.\e"	.ce	.fi	.in	.ne	.pl	.sp
+	.ad	.de	.ft	.it	.nf	.po	.ta
+	.bp	.ds	.ie	.ll	.nr	.ps	.ti
+	.br	.el	.if	.na	.ns	.rs	.tm
+.LP
+and the following in-text codes:
+.ES
+\e$	\e%	\e*	\ec	\ef	\en	\es
+.EE
+plus the full list of \*(Nr/\c
+.I troff
+special characters in
+the original V7 \fItroff\fR manual.
+.PP
+Many restrictions are present; the behavior in general is a subset of
+\*(Nr's.  Of particular note are the following:
+.IP \(bu 2
+Point sizes do not exist;
+.B .ps
+and
+.B \es
+are ignored.
+.PT
+Conditionals implement only numeric comparisons on
+.BR \en(.$ ,
+string com\%par\%isons between a macro parameter and a literal,
+and
+.B n
+(always true)
+and
+.BR t
+(always false).
+.PT
+The implementation of strings is generally primitive.
+.IP \(bu
+Expressions in (e.g.)\&
+.B .sp
+are fairly general, but the
+.BR | ,
+.BR & ,
+and
+.BR :\&
+operators do not exist, and the implementation of
+.B \ew
+requires that quote (') be used as the delimiter and
+simply counts the characters inside (so that, e.g.,
+\ew'\e(bu'
+equals 4).
+.P
+White space at the beginning of lines,
+and imbedded white space within lines, is dealt with properly.
+Sentence terminators at ends of lines are understood to imply
+extra space afterward in filled lines.
+Tabs are im\%plemented crudely and not quite correctly, although
+in most cases they work as expected.
+Hyphenation is done only at explicit hyphens, em-dashes, and \*(Nr
+discretionary hyphens.
+.SH "MAN MACROS"
+The
+.B \-man
+macro set implements the full V7 manual macros,
+plus a few semi-random oddballs.
+The full list is:
+.ES
+\&.B	.DT	.IP	.P	.RE	.SM
+\&.BI	.HP	.IR	.PD	.RI	.TH
+\&.BR	.I	.LP	.PP	.RS	.TP
+\&.BY	.IB	.NB	.RB	.SH	.UC
+.EE
+.B .BY
+and
+.B .NB
+each take a single string argument (respectively, an indi\%cation of
+authorship and a note about the status of the manual page) and arrange
+to place it in the page footer.
+.SH "MS MACROS"
+The
+.B \-ms
+macro set is a substantial subset of the V7 manuscript macros.
+The implemented macros are:
+.ES
+\&.AB	.CD	.ID	.ND	.QP	.RS	.UL
+\&.AE	.DA	.IP	.NH	.QS	.SH	.UX
+\&.AI	.DE	.LD	.NL	.R	.SM
+\&.AU	.DS	.LG	.PP	.RE	.TL
+\&.B	.I	.LP	.QE	.RP	.TP
+.EE
+Size changes are recognized but ignored, as are
+.B .RP
+and
+.BR .ND .
+.B .UL
+just prints its argument in italics.
+.BR .DS / .DE
+does not do a keep,
+nor do any of the other macros that normally imply keeps.
+.PP
+Assignments to the header/footer string variables are recognized and
+implemented, but there is otherwise no control over header/footer
+formatting.
+The
+.B DY
+string variable is available.
+The
+.BR PD ,
+.BR PI ,
+and
+.BR LL
+number registers exist and can be changed.
+.SH OUTPUT
+The only output format supported by
+.IR awf ,
+in its distributed form,
+is that appropriate to a dumb terminal,
+using overprinting for italics (via underlining) and bold.
+The \*(Nr special characters are printed as some vague approximation
+(it's sometimes very vague) to their correct appearance.
+.PP
+.IR Awf 's
+knowledge of the output device is established by a device file,
+which is read before the user's input.
+It is sought in
+.IR awf 's
+library directory, first as
+.BI dev. term
+(where \fIterm\fR is the value of the TERM environment variable)
+and, failing that, as
+.BR dev.dumb .
+The device file
+uses special internal commands
+to set up resolution, special characters, fonts, etc.,
+and more normal \*(Nr commands to set up page length etc.
+.SH FILES
+All in \fI/usr/lib/awf\fR (this can be overridden by the AWFLIB
+environment variable):
+
+.ta \w'pass2.base'u+((3n-1n)/2u)
+.nf
+common	common device-independent initialization
+dev.*	device-specific initialization
+mac.m*	macro packages
+pass1	macro substituter
+pass2.base	central formatter
+pass2.m*	macro-package-specific bits of formatter
+pass3	line and page composer
+.SH SEE ALSO
+awk(1), nroff(1), man(7), ms(7)
+.SH DIAGNOSTICS
+.na
+Unlike
+.IR nroff ,
+.I awf
+complains whenever it sees unknown commands and macros.
+All diagnostics (these and some internal ones) appear on standard error
+at the end of the run.
+.ad
+.SH HISTORY
+Written at University of Toronto by Henry Spencer,
+more or less as a supplement to the C News project.
+.LP
+.ce 99
+\(rh None of the above really want to admit it. \(lh
+.ce 0
+.SH BUGS
+There are plenty, but what do you expect for a text formatter
+written entirely in (old) \fIawk\fR?
+.PP
+The
+.B \-ms
+stuff has not been checked out very thoroughly.
@@ -0,0 +1,7 @@
+.\" Common startup code, fully device-independent.
+.\" --------------------------------
+.fi
+.ce 0
+.ta +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5
+.in 0
+.ti 0
@@ -0,0 +1,154 @@
+.\" Device-dependent but not macro-set-dependent definitions.
+.\" --------------------------------
+.\" overall formatting initialization
+.\" 12 cpi horizontal exploits 80-column terminal well (6.5i@12 = 78)
+.^r cpi 12 6
+.\" call margin adjustment device-dependent for sake of some unusual cases
+.ad
+.\" page parameters
+.pl 11i
+.ll 6.5i
+.po 0
+.\" --------------------------------
+.\" fonts, and their hyphens, last font change doubled to set up \fP
+.^f R
+.ft R
+.^c hy 1 -
+.^f I
+.ft I
+.^c hy 1 -
+.^f B
+.ft B
+.^c hy 1 -\b-\b-
+.ft R
+.ft R
+.\" --------------------------------
+.\" definitions of nroff special characters
+.\" The character definitions here operate on the "better ugly than invisible"
+.\" principle, and try to approximate the character *somehow*.  They were
+.\" tuned for a Teletype 40 line printer, but should give vaguely plausible
+.\" results on any overprinting ASCII device.
+.\"
+.\" first, things that nroff considered builtins
+.^c \ 1 \\
+.^c e 1 \\
+.^c ' 1 '
+.^c ` 1 `
+.^c - 1 -
+.\" some things seem to assume that \+ is like \-
+.^c + 1 +
+.\" we do not do backslash-space here, it can't be done with .^c, but the
+.\" other forms of space we can do
+.^c 0 1 " 
+.^c | 0
+.^c ^ 0
+.^c & 0
+.\"
+.\" and more normal characters
+.\" note, the hyphenation logic knows about em
+.^c em 2 --
+.\" hy is a special case, see above
+.^c bu 1 +\bo
+.^c sq 2 []
+.^c ru 1 _
+.^c 12 3 1/2
+.^c 14 3 1/4
+.^c 34 3 3/4
+.^c de 1 '\b`
+.^c dg 1 -\b!
+.^c fm 1 '
+.^c ct 1 /\bc
+.^c rg 3 (R)
+.^c co 3 (c)
+.^c pl 1 +
+.^c mi 1 -
+.^c eq 1 =
+.^c ** 1 *
+.^c sc 1 j\bf
+.^c aa 1 '
+.^c ga 1 `
+.^c ul 1 _
+.^c sl 1 /
+.^c *a 1 <\ba
+.^c *b 1 ,\bB
+.^c *g 1 ,\by
+.^c *d 1 S\bo
+.^c *e 1 -\bc
+.^c *z 1 ,\bL
+.^c *y 1 ,\bn
+.^c *h 1 -\b0
+.^c *i 1 ,\bi
+.^c *k 1 <\bK
+.^c *l 1 \\\b>
+.^c *m 1 ,\bu
+.^c *n 1 ,\bv
+.^c *c 1 ,\b3
+.^c *o 1 o
+.^c *p 1 -\bn
+.^c *r 1 p
+.^c *s 1 -\bo
+.^c ts 1 s
+.^c *t 1 ~\bt
+.^c *u 1 u
+.^c *f 1 /\bo
+.^c *x 1 /\b\\
+.^c *q 1 |\bu
+.^c *w 1 u\bw
+.^c *G 2 ~\b|~
+.^c *D 2 _\b/_\b\\
+.^c *H 1 -\bO
+.^c *L 2 /\\
+.^c *C 1 _\b-\b~
+.^c *P 2 ~\b|~\b|
+.^c *S 1 ~\b_\b>
+.^c *U 1 Y
+.^c *F 1 |\bO
+.^c *Q 1 |\bU
+.^c *W 2 _\b(_\b)
+.^c sr 2 \\/
+.^c rn 1 ~
+.^c >= 1 _\b>
+.^c <= 1 _\b<
+.^c == 1 _\b=
+.^c ~= 1 ~\b=
+.^c ap 1 ~
+.^c != 1 /\b=
+.^c -> 2 ->
+.^c <- 2 <-
+.^c ua 1 |\b^
+.^c da 1 |\bv
+.^c mu 1 x
+.^c di 1 -\b:
+.^c +- 1 _\b+
+.^c cu 1 U
+.^c ca 3 (^)
+.^c sb 2 (_\b~
+.^c sp 2 _\b~)
+.^c ib 2 (~\b_\b=
+.^c ip 2 ~\b_\b=)
+.^c if 2 oo
+.^c pd 1 3\bo
+.^c gr 1 ~\bV
+.^c no 1 -
+.^c is 1 '\b,\bI
+.^c pt 2 oc
+.^c es 1 /\bO
+.^c mo 1 -\bC
+.^c br 1 |
+.^c dd 1 I\b|
+.^c rh 1 =\b>
+.^c lh 1 =\b<
+.^c bs 4 (:-)
+.^c or 1 |
+.^c ci 1 O
+.^c lt 1 ~\b(
+.^c lb 1 _\b(
+.^c rt 1 ~\b)
+.^c rb 1 _\b)
+.^c lk 1 -\b(
+.^c rk 1 -\b)
+.^c bv 1 |
+.^c lf 1 _\b[
+.^c rf 1 _\b]
+.^c lc 1 ~\b[
+.^c rc 1 ~\b]
@@ -0,0 +1,141 @@
+.\"-----------------
+.de TH
+.ds LH "\\$1(\\$2)
+.ds CH "Unix Programmer's Manual
+.ds RH "\\$1(\\$2)
+.ds LF "
+.ds CF "\\$3
+.ds RF "%
+..
+.\"-----------------
+.de NB
+.ds nb "\\$1
+.lF
+..
+.\"-----------------
+.de BY
+.ds by "\\$1
+.lF
+..
+.\"-----------------
+.de UC
+.BY "\\$1BSD"
+..
+.\"-----------------
+.\" common initialization for headers and paragraphs:  .In need
+.de In
+.ne \\$1
+.sp \\n(PDu
+.fi
+.in \\n(inu
+.ti 0
+.it
+.ft R
+.ns
+..
+.\"-----------------
+.de SH
+.In 6
+.in 0
+.ft B
+\&\\$1 \\$2 \\$3 \\$4 \\$5 \\$6 \\$7 \\$8 \\$9
+.ft R
+.nr in 5n
+.in \\n(inu
+..
+.\"-----------------
+.de LP
+.In 4
+..
+.\"-----------------
+.de PP
+.LP
+..
+.\"-----------------
+.de P
+.LP
+..
+.\"-----------------
+.de HP
+.In 4
+.ti 0-\\n(tpu
+..
+.\"-----------------
+.de TP
+.In 4
+.if \\n(.$>0 .nr tp \\$1n
+.in \\n(inu+\\n(tpu
+.ti 0-\\n(tpu
+.it 1 tP
+..
+.\"-----------------
+.de IP
+.ie \\n(.$>1 .TP "\\$2"
+.el .TP
+\&\\$1
+..
+.\"-----------------
+.de I
+.ft I
+.it 1 fP
+.if \\n(.$>0 \&\\$1 \\$2 \\$3 \\$4 \\$5 \\$6 \\$7 \\$8 \\$9
+..
+.\"-----------------
+.de B
+.ft B
+.it 1 fP
+.if \\n(.$>0 \&\\$1 \\$2 \\$3 \\$4 \\$5 \\$6 \\$7 \\$8 \\$9
+..
+.\"-----------------
+.de IR
+\&\\fI\\$1\\fR\\$2\\fI\\$3\\fR\\$4\\fI\\$5\\fR\\$6\\fI\\$7\\fR\\$8\\fI\\$9\\fR
+..
+.\"-----------------
+.de RI
+\&\\$1\\fI\\$2\\fR\\$3\\fI\\$4\\fR\\$5\\fI\\$6\\fR\\$7\\fI\\$8\\fR\\$9
+..
+.\"-----------------
+.de BR
+\&\\fB\\$1\\fR\\$2\\fB\\$3\\fR\\$4\\fB\\$5\\fR\\$6\\fB\\$7\\fR\\$8\\fB\\$9\\fR
+..
+.\"-----------------
+.de RB
+\&\\$1\\fB\\$2\\fR\\$3\\fB\\$4\\fR\\$5\\fB\\$6\\fR\\$7\\fB\\$8\\fR\\$9
+..
+.\"-----------------
+.de BI
+\&\\fB\\$1\\fI\\$2\\fB\\$3\\fI\\$4\\fB\\$5\\fI\\$6\\fB\\$7\\fI\\$8\\fB\\$9\\fR
+..
+.\"-----------------
+.de IB
+\&\\fI\\$1\\fB\\$2\\fI\\$3\\fB\\$4\\fI\\$5\\fB\\$6\\fI\\$7\\fB\\$8\\fI\\$9\\fR
+..
+.\"-----------------
+.de SM
+.\" no-op
+.if \\n(.$>0 \&\\$1 \\$2 \\$3 \\$4 \\$5 \\$6 \\$7 \\$8 \\$9
+..
+.\"-----------------
+.de DT
+.ta +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5 +5
+..
+.\"-----------------
+.de RS
+.in +5n
+..
+.\"-----------------
+.de RE
+.in -5n
+..
+.\"-----------------
+.de PD
+.ie \\n(.$=0 .nr PD 0.3v
+.el .nr PD \\$1n
+..
+.\"-----------------
+.\" misc. initialization
+.nr tp 5n
+.PD
+.ds R \(rg
+.ds S "
+.ds Tm (TM)
@@ -0,0 +1,206 @@
+.\"-----------------
+.de R
+.ie \\n(.$=0 .ft R
+.el \\fR\\$1\\fP\\$2
+..
+.\"-----------------
+.de I
+.ie \\n(.$=0 .ft I
+.el \\fI\\$1\\fP\\$2
+..
+.\"-----------------
+.de B
+.ie \\n(.$=0 .ft B
+.el \\fB\\$1\\fP\\$2
+..
+.\"-----------------
+.de UX
+.\" old-fashioned capitalization -- I've never gotten used to the new one
+\\$2Unix\\$1
+..
+.\"-----------------
+.de DA
+.ds DY "\\$1 \\$2 \\$3
+.\" keep trailing spaces out of CF
+.if \\n(.$=1 .ds CF "\\$1
+.if \\n(.$=2 .ds CF "\\$1 \\$2
+.if \\n(.$>2 .ds CF "\\$1 \\$2 \\$3
+..
+.\"-----------------
+.de ND
+.\" it's our default, ignore it
+..
+.\"-----------------
+.de TL
+.rs
+.sp 5
+.ft B
+.ce 9999
+..
+.\"-----------------
+.de AU
+.sp 2
+.ft R
+..
+.\"-----------------
+.de AI
+.sp
+.ft R
+..
+.\"-----------------
+.de AB
+.sp 2
+.ce 0
+.ll -7n
+.in +7n
+..
+.\"-----------------
+.de AE
+.sp
+.ll
+.in
+..
+.\"-----------------
+.\" common initialization for headers and paragraphs:  .In need extraspace
+.de In
+.ne \\$1
+.sp \\n(Tsu
+.nr Ts 0
+.ie \\n(.$>1 .nr iN \\$2v
+.el .nr iN 0
+.sp \\n(PDu+\\n(iNu
+.ce 0
+.ft R
+.in \\n(inu
+.ll \\n(LLu
+.ns
+.fi
+.ti 0
+..
+.\"-----------------
+.de SH
+.nr in 0
+.In 6 1
+.ft B
+..
+.\"-----------------
+.de NH
+.nr in 0
+.In 6 1
+.ft B
+.\" punt to awk code to get the header numbering right
+.nH \\$1
+.\" and pick up the result
+\&\\*(Nh
+..
+.\"-----------------
+.de LP
+.In 4
+..
+.\"-----------------
+.de PP
+.In 4
+.ti \\n(PIu
+..
+.\"-----------------
+.de TP
+.In 4
+.if \\n(.$>0 .nr tp \\$1n
+.in \\n(inu+\\n(tpu
+.ti 0-\\n(tpu
+.it 1 tP
+..
+.\"-----------------
+.de IP
+.ie \\n(.$>1 .TP "\\$2"
+.el .TP
+\&\\$1
+..
+.\"-----------------
+.de QP
+.In 4
+.in +5n
+.ll -5n
+..
+.\"-----------------
+.de QS
+.nr in +5n
+.nr LL -5n
+.In 4
+..
+.\"-----------------
+.de QE
+.nr in -5n
+.nr LL +5n
+.In 4
+..
+.\"-----------------
+.de DS
+.In 5
+.if '\\$1'C' .ce 9999
+.if '\\$1'' .in +5n
+.nf
+..
+.\"-----------------
+.de CD
+.In 5
+.ce 9999
+.nf
+..
+.\"-----------------
+.de LD
+.In 5
+.nf
+..
+.\"-----------------
+.de ID
+.In 5
+.in +5n
+.nf
+..
+.\"-----------------
+.de DE
+.In 3
+..
+.\"-----------------
+.de RS
+.nr in +5n
+.in \\n(inu
+..
+.\"-----------------
+.de RE
+.nr in -5n
+.in \\n(inu
+..
+.\"-----------------
+.de UL
+\&\\fI$1\\fP
+..
+.\"-----------------
+.de RP
+..
+.\"-----------------
+.de LG
+..
+.\"-----------------
+.de SM
+..
+.\"-----------------
+.de NL
+..
+.\"-----------------
+.\" the -ms accent strings
+.ds ' "'\b
+.ds ` "`\b
+.ds : ":\b
+.ds ^ "^\b
+.ds ~ "~\b
+.ds C "v\b
+.ds , ",\b
+.\" post-title spacing
+.nr Ts 4v
+.\" and parameter setup
+.nr LL 6i
+.ll \n(LLu
+.nr PD 0.3v
+.nr PI 5n
@@ -0,0 +1,212 @@
+# first pass:  macro expansion and .if
+# We support macros, conditionals (of three quite limited forms), and macro
+# argument substitution.
+BEGIN {
+	curmacro = ""
+	macros[""] = 0		# just to make it an array
+	macrolen[""] = 0	# just to make it an array
+	macrotext[0] = ""	# just to make it an array
+	args[""] = ""		# just to make it an array
+	ntext = 1		# first slot in macrotext; cannot be 0
+	nroffset = 0		# offset between NR and "real" line numbers
+	inname = "?"		# input filename
+	sp = 0			# stack "pointer" (number of stacked macros)
+	maxsp = 25		# limit on nesting depth
+	macrostack[sp] = ""	# to make it an array
+	nleftstack[sp] = ""	# to make it an array
+	ptrstack[sp] = ""	# to make it an array
+	nargstack[sp] = ""	# to make it an array
+	argstack[sp] = ""	# to make it an array
+	condstack[sp] = ""	# to make it an array
+}
+/^\.\^#/ {			# filename and line no of next line: .^# no fn
+	nroffset = (NR+1) - $2
+	inname = $3
+	print
+	next
+}
+/^\.de/ {			# macro start
+	curmacro = "." $2
+	macros[curmacro] = ntext
+	macrostart = ntext
+	next
+}
+curmacro != "" && $0 !~ /^\.\.$/ {	# macro text - \\ becomes \
+	if ($0 !~ /\\/)		# quick case, no backslashes
+		line = $0
+	else {
+		line = ""
+		for (n = 1; n <= length; n++) {
+			if (substr($0, n, 2) == "\\\\")
+				n++
+			line = line substr($0, n, 1)
+		}
+	}
+	macrotext[ntext++] = line
+	next
+}
+curmacro != "" && $0 ~ /^\.\.$/ {	# macro end
+	macrolen[curmacro] = ntext - macrostart
+	curmacro = ""
+	print ".^#", NR - nroffset + 1, inname
+	next
+}
+$0 ~ /^\./ && ( macros[$1] != 0 || $0 ~ /^\.(i[ef]|el)/ ) {
+	# something that needs attention
+	print ".^=", NR - nroffset, inname
+	line = $0
+	nleft = 0
+	macro = "<none>"
+	nargs = 0
+
+	while (line != "") {
+		# conditionals; note that 1-n is !n (awk doesn't have !)
+		invert = 0
+		if (line ~ /^\.i[ef] !/)
+			invert = 1
+		prevcond = cond
+		cond = 0
+		if (line !~ /^\.(i[ef]|el)/) {		# not conditional
+			cond = 1
+			iflen = 0
+		} else if (line ~ /^\.i[ef] !?\\n\(\.\$[<=>][0-9] /) {
+			# arithmetic comparison on arg count
+			iflen = length(".if .n(.$=x ") + invert
+			n = substr(line, iflen-1, 1) + 0
+			op = substr(line, iflen-2, 1)
+			if (op == "=" && nargs == n)
+				cond = 1
+			else if (op == "<" && nargs < n)
+				cond = 1
+			else if (op == ">" && nargs > n)
+				cond = 1
+		} else if (line ~ /^\.i[ef] !?'\\\$[0-9]'[^']*' /) {
+			# string equality on argument
+			iflen = length(".if '.$n'") + invert
+			n = substr(line, iflen-1, 1)+0
+			if (n <= nargs)
+				s1 = args[n]
+			else
+				s1 = ""
+			i = index(substr(line, iflen+1), "'")
+			s2 = substr(line, iflen+1, i-1)
+			iflen += i+1
+			if (s1 == s2)
+				cond = 1
+		} else if (line ~ /^\.i[ef] !?[nt] /) {
+			# nroff vs troff
+			iflen = length(".if n ") + invert
+			if (substr(line, iflen-1, 1) == "n")
+				cond = 1
+		} else if (line ~ /^\.el /) {
+			cond = 1 - prevcond
+			iflen = length(".el ")
+		} else {
+			line = ".tm unknown .if/.ie form: " line
+			cond = 1
+			iflen = 0
+		}
+		if (invert)
+			cond = 1 - cond
+		if (cond && iflen > 0)		# trim true conditional off
+			line = substr(line, iflen+1)
+
+		# do argument substitution, if necessary
+		if (cond && line ~ /\\\$/) {
+			orig = line
+			line = ""
+			for (pos = index(orig, "\\$"); pos > 0; \
+						pos = index(orig, "\\$")) {
+				if (pos > 1)
+					line = line substr(orig, 1, pos-1)
+				c = substr(orig, pos+2, 1)
+				if (c ~ /[0-9]/ && c+0 <= nargs)
+					line = line args[c+0]
+				orig = substr(orig, pos+3)
+			}
+			line = line orig	# the remnant
+		}
+
+		# is it an nroff command?
+		if (cond && line ~ /^\./) {
+			cmd = substr(line, 1, 3)
+			while (cmd ~ / $/)
+				cmd = substr(cmd, 1, length(cmd)-1)
+		} else
+			cmd = ""
+
+		# deal with it
+		if (!cond)
+			nop = 0		# nothing
+		else if (cmd == "" || macros[cmd] == 0)
+			print line	# not a nested macro
+		else if (sp >= maxsp)
+			print ".tm macros nested too deeply (" sp " levels)"
+		else {			# nesting
+			# stack old one
+			sp++
+			nleftstack[sp] = nleft
+			ptrstack[sp] = ptr
+			macrostack[sp] = macro
+			nargstack[sp] = nargs
+			condstack[sp] = cond
+			for (i = 1; i <= nargs; i++)
+				argstack[sp ":" i] = args[i]
+
+			# start new one, mostly pulling arguments apart
+			macro = cmd
+			nleft = macrolen[macro]
+			ptr = macros[macro]
+			cond = 0
+			argno = 1
+			pos = length(macro) + 1
+			for (;;) {
+				while (substr(line, pos, 1) ~ /[ \t]/)
+					pos++
+				if (pos > length(line))
+					break		# NOTE BREAK OUT
+				arg = ""
+				if (substr(line, pos, 1) == "\"") {
+					pos++
+					while (substr(line, pos, 1) ~ /[^"]/) {
+						arg = arg substr(line, pos, 1)
+						pos++
+					}
+					pos++
+				} else
+					while (substr(line, pos, 1) ~ /[^ \t]/) {
+						arg = arg substr(line, pos, 1)
+						pos++
+					}
+				args[argno++] = arg
+			}
+			nargs = argno - 1
+		}
+
+		# clean up any completed macros
+		while (nleft <= 0 && sp > 0) {
+			nleft = nleftstack[sp]
+			ptr = ptrstack[sp]
+			macro = macrostack[sp]
+			nargs = nargstack[sp]
+			cond = condstack[sp]
+			for (i = 1; i <= nargs; i++)
+				args[i] = argstack[sp ":" i]
+			sp--
+		}
+
+		# finally, get next line
+		if (nleft > 0) {
+			line = macrotext[ptr++]
+			nleft--
+		} else
+			line = ""	# signal loop to terminate
+	}
+
+	print ".^#", NR - nroffset + 1, inname
+	next
+}
+{
+	# it's ordinary
+	print
+}
@@ -0,0 +1,587 @@
+# second pass:  interpretation of directives
+# A macro-set-specific portion gets interpolated into this at the "#include"
+# line.  As a minimum, it must deal with .^b and .^e and with any input traps.
+BEGIN {
+	# stuff for output to third pass
+	nobreak = -1
+	dobreak = -2
+	message = -3
+	OFS = "\t"
+
+	# special-character table; this one character needs to be hardcoded
+	chars[" "] = " " ; charwidths[" "] = 1
+
+	debug["e"] = 0		# just to make it an array
+	strings["a"] = ""	# just to make it an array
+	numbers["a"] = 0	# just to make it an array
+	hyphens["a"] = ""	# just to make it an array
+	hyphenwidths["a"] = ""	# just to make it an array
+
+	# stuff for expression decoding
+	signfactor["+"] = 1
+	signfactor["-"] = -1
+	scale["i"] = 240
+	scale["c"] = 240*50/127
+	scale["P"] = 240/6
+	# we get m, n, and v when we see .^r
+	scale["p"] = 240/72
+	scale["u"] = 1
+
+	# stuff for basic parameters that just get passed to third pass
+	parms["in"] = 0		# just to make it an array
+	prevparms["in"] = 0	# just to make it an array
+	setcmd["ll"] = "linelen"
+	setcmd["in"] = "indent"
+	setcmd["ti"] = "tempindent"
+	setcmd["po"] = "pageoffset"
+	setcmd["pl"] = "pagelen"
+
+	# did last word end with \c ?  (in which case, it's still in "word")
+	backc = 0
+
+	# stuff for error reporting
+	il = 0			# input line number
+	lockil = 0		# il is locked, we're inside a macro
+	inname = "?"		# input filename
+	msg = message "\t"	# later picks up filename etc.
+
+	# current input trap
+	afternext = ""
+}
+{
+	if (!lockil)
+		il++
+	msg = message "\t" inname "," il ": "
+	# fallthrough
+}
+/^[ \t]*$/ {			# empty line
+	print dobreak, "space"
+	next
+}
+/^[ \t]/ {			# line starting with white space
+	print dobreak, "flush"
+	print 0, ""		# empty word
+	# fallthrough
+}
+/^[^.]/ {			# text
+	# dispose of the easy case
+	if (font == "R" && $0 !~ /\\|\t|-|  / && !backc && afternext == "") {
+		for (i = 1; i <= NF; i++)
+			print length($i), $i
+		if ($0 ~ /[.!?:]([)'"*]|])*$/)
+			print nobreak, "gap", 2
+		if (centering > 0) {
+			print dobreak, "center"
+			centering--
+		} else if (!fill)
+			print dobreak, "flush"
+		next
+	}
+
+	# the hard case, needs a character-by-character scan
+	s = $0 " "		# the space flushes the last word
+	n = 1			# current position in s
+	inword = 0		# have we been processing a word?
+	period = ""		# "." if this word ended a sentence
+	nsp = 0			# count of spaces seen so far
+	tabpos = 0		# which tab position was used last
+	while (n <= length(s)) {
+		c = substr(s, n, 1)
+
+		# handle state transitions
+		if (c == " " || c == "\t") {
+			if (inword) {		# ends word
+				if (!backc) {
+					print wordlen, word
+					if (usedhyphen)
+						print nobreak, "nohyphen"
+				}
+				inword = 0
+				nsp = 0
+			}
+		} else {
+			if (!inword) {		# begins word
+				if (!backc) {
+					word = ""
+					wordlen = 0
+					usedhyphen = 0
+				}
+				backc = 0
+				inword = 1
+				if (nsp > 1)
+					print nobreak, "gap", nsp
+			}
+		}
+
+		# deal with the character
+		if (c == " ") {
+			nsp++
+			if (n != length(s))	# not the trailing flusher
+				period = ""
+		} else if (c == "\t") {
+			# not really right, should be based on input position
+			# also, one space following tab gets ignored
+			tabpos++
+			if (tabpos <= ntabs)
+				print nobreak, "tabto", tabs[tabpos]
+			nsp = 0
+			period = ""
+		} else if (c == "-" && wordlen > 0) {
+			# hyphen within word
+			print wordlen, word, hyphenwidths[font]
+			print nobreak, "userhyphen", hyphens[font], hyphenwidths[font]
+			word = ""
+			wordlen = 0
+			period = ""
+			usedhyphen = 1
+		} else if (c != "\\") {
+			# ordinary character
+			if (font == "B")
+				word = word c "\b" c "\b" c
+			else if (font == "I" && c ~ /[a-zA-Z0-9]/)
+				word = word "_\b" c
+			else
+				word = word c
+			wordlen++
+			if (c ~ /[.!?:]/)
+				period = "."
+			else if (c !~ /([)'"*]|])/)
+				period = ""
+		} else {			# backslash
+			n++
+			c = substr(s, n, 1)
+			if (c == "f") {
+				# font change
+				n++
+				code = substr(s, n, 1)
+				if (code == "(") {
+					n++
+					code = substr(s, n, 2)
+					n++
+				}
+				if (code == "P")
+					font = prevfont
+				else if (fontok[code] == "")
+					print msg "unknown font `" code "'"
+				else {
+					prevfont = font
+					font = code
+				}
+			} else if (c == "n") {
+				# number-register value
+				n++
+				code = substr(s, n, 1)
+				if (code == "(") {
+					n++
+					code = substr(s, n, 2)
+					n++
+				}
+				s = substr(s, 1, n) numbers[code] substr(s, n+1)
+			} else if (c == "s") {
+				# size change
+				n++
+				if (substr(s, n, 1) ~ /[0-9]/)
+					n++
+				# just ignore it
+			} else if (c == "c")
+				# word continuation
+				backc = 1
+			else if (c == "*") {
+				# string-variable value
+				n++
+				code = substr(s, n, 1)
+				if (code == "(") {
+					n++
+					code = substr(s, n, 2)
+					n++
+				}
+				s = substr(s, 1, n) strings[code] substr(s, n+1)
+			} else if (c == "%") {
+				# discretionary hyphen
+				if (wordlen > 0) {
+					print wordlen, word, hyphenwidths[font]
+					print nobreak, "hyphen", hyphens[font], hyphenwidths[font]
+					word = ""
+					wordlen = 0
+					usedhyphen = 1
+				}
+			} else if (c == "(" && substr(s, n+1, 2) == "em" && \
+							chars["em"] != "") {
+				# em-dash, special case due to hyphenation
+				n += 2
+				emw = charwidths["em"]
+				print wordlen, word, emw
+				print nobreak, "userhyphen", chars["em"], emw
+				word = ""
+				wordlen = 0
+				period = ""
+				usedhyphen = 1
+			} else {
+				# special-character name
+				code = c
+				if (code == "(") {
+					n++
+					code = substr(s, n, 2)
+					n++
+				}
+				word = word chars[code]
+				wordlen += charwidths[code]
+				period = ""
+			}
+		}
+
+		# on to the next character, at last
+		n++
+	}
+
+	# end-of-line processing
+	if (!backc) {
+		if (period == ".")
+			print nobreak, "gap", 2
+		if (centering > 0) {
+			print dobreak, "center"
+			centering--
+		} else if (!fill)
+			print dobreak, "flush"
+	}
+
+	# if no input trap, we're done
+	if (afternext == "")
+		next
+
+	# if there is an input trap, fall into the macro-dependent section
+}
+#
+#
+#
+# at this point we plug in the macro-specific stuff, keyed on the next line
+#include			note that this is an awk comment
+#
+#
+#
+/^\.it/ {			# plant an input trap, sort of
+	if (NF > 1 && $2 != 1)
+		print msg ".it first argument must be 1"
+	if (NF > 2)
+		afternext = afternext "," $3
+	else
+		afternext = ""
+	next
+}
+/^\.\^r cpi / {			# set resolutions, in cpi:  .^r cpi hor vert
+	scale["m"] = 240/$3
+	scale["n"] = 240/$3
+	scale["v"] = 240/$4
+	next
+}
+/^\.(ta|ll|in|ti|po|ne|sp|pl|nr)/ {	# expression processing
+	# sort out default scale factor
+	if ($1 ~ /^\.(ne|sp|pl)/)
+		exprscale = "v"
+	else if ($1 ~ /^\.(nr)/)
+		exprscale = "u"
+	else
+		exprscale = "n"
+
+	# which argument should we start with?
+	offset = length($1) + 1
+	if ($1 == ".nr")
+		offset += length($2) + 1
+
+	# beginning of debugging message
+	if (debug["e"])
+		printf "%s ", msg substr($0, 1, offset)
+
+	# do the expressions
+	s = substr($0, offset+1)
+	n = 1
+	while (s != "") {
+		while (s ~ /^[ \t]/)
+			s = substr(s, 2)
+
+		# an initial sign is magic
+		ssign = ""
+		if (s ~ /^[+-]/) {
+			ssign = substr(s, 1, 1)
+			s = substr(s, 2)
+		}
+		s = "+" s	# this is an un-magic addition operator
+
+		# process terms
+		sval = 0
+		while (s ~ /^([+*%)-]|\/)/) {
+			# figure out what it is and what it contributes
+			if (debug["e"] > 1)
+				print "s=`" s "'"
+			termop = substr(s, 1, 1)
+			s = substr(s, 2)
+			termscale = exprscale
+			if (termop == ")") {
+				if (debug["e"] > 1)
+					print "pop " valstack[vsp] " " opstack[vsp] " with " sval
+				termval = sval
+				sval = valstack[vsp]
+				termop = opstack[vsp]
+				vsp--
+				termscale = "u"
+			} else if (s ~ /^\(/) {
+				if (debug["e"] > 1)
+					print "push " sval " " termop
+				vsp++
+				valstack[vsp] = sval
+				opstack[vsp] = termop
+				sval = 0
+				termop = "+"	# dummy op and value
+				termval = 0
+				s = "+" substr(s, 2)
+			} else if (s ~ /^\\w/) {
+				delim = substr(s, 3, 1)
+				s = substr(s, 4)
+				endp = index(s, delim)
+				if (endp == 0)
+					endp = length(s) + 1
+				termval = (endp - 1) * scale["n"]	# crude
+				s = substr(s, endp+1)
+			} else if (s ~ /^\\n/) {
+				if (s ~ /^\\n\(/) {
+					code = substr(s, 4, 2)
+					s = substr(s, 6)
+				} else {
+					code = substr(s, 3, 1)
+					s = substr(s, 4)
+				}
+				termval = numbers[code]
+			} else if (s ~ /^[0-9.]/) {
+				for (endp = 1; endp <= length(s); endp++)
+					if (substr(s, endp, 1) !~ /[0-9.]/)
+						break
+				termval = substr(s, 1, endp-1) + 0
+				s = substr(s, endp)
+			}
+
+			# add it in, with scaling factor
+			c = substr(s, 1, 1)
+			if (scale[c] != "") {
+				termval *= scale[c]
+				s = substr(s, 2)
+			} else
+				termval *= scale[termscale]
+			if (termop == "+")
+				sval += termval
+			else if (termop == "-")
+				sval -= termval
+			else if (termop == "*")
+				sval *= termval
+			else if (termop == "/")
+				sval = int(sval) / int(termval)
+			else if (termop == "%")
+				sval = int(sval) % int(termval)
+		}
+
+		# remember the value, print if debugging
+		expr[n] = sval
+		exprsign[n] = ssign
+		iexpr[n] = signfactor[ssign] * sval	# convenience
+		if (debug["e"])
+			printf "%s ", ssign "(" sval ")"
+
+		# proceed to next, skipping trash if necessary
+		while (s ~ /^[^ \t]/)
+			s = substr(s, 2)
+		n++
+	}
+
+	# final cleanup
+	nexprs = n - 1
+	if (debug["e"])
+		printf "\n"
+
+	# fallthrough
+}
+/^\.(ll|in|ti|po|pl)/ {		# common code for set-parameter requests
+	# relies on expression processing, including setting of exprscale
+	name = substr($1, 2, 2)
+	n = parms[name]
+	if (nexprs == 0)
+		n = prevparms[name]
+	else if (exprsign[1] == "" || name == "ti")
+		n = expr[1] / scale[exprscale]
+	else
+		n += iexpr[1] / scale[exprscale]
+	prevparms[name] = parms[name]
+	parms[name] = int(n)
+	print dobreak, setcmd[name], parms[name]
+	next
+}
+/^\.nr/ {
+	# relies on expression processing
+	n = numbers[$2]
+	if (exprsign[1] == "")
+		n = expr[1]
+	else
+		n += iexpr[1]
+	numbers[$2] = int(n)
+	next
+}
+/^\.ne/ {
+	# relies on expression processing
+	print dobreak, "need", int(expr[1]/scale["v"] + 0.99)
+	next
+}
+/^\.sp/ {
+	# relies on expression processing
+	if (nexprs == 0)
+		i = 1
+	else
+		i = int(expr[1]/scale["v"] + 0.99)
+	for (; i > 0; i--)
+		print dobreak, "space"
+	next
+}
+/^\.ta/ {
+	# relies on expression processing
+	tabstop = 0
+	for (n = 1; n <= nexprs; n++) {
+		if (exprsign[n] == "")
+			tabstop = expr[n]
+		else
+			tabstop += iexpr[n]
+		tabs[n] = int(tabstop/scale["n"])
+	}
+	ntabs = nexprs
+	next
+}
+/^\.ft/ {
+	if (NF > 1)
+		code = $2
+	else
+		code = "P"
+
+	if (code == "P")
+		font = prevfont
+	else if (fontok[code] == "")
+		print msg "unknown font `" code "'"
+	else {
+		prevfont = font
+		font = code
+	}
+	next
+}
+/^\.br/ {
+	print dobreak, "flush"
+	next
+}
+/^\.ds/ {
+	# note, macro-set-specific code often looks at .ds as well
+	if ($3 !~ /^"/)
+		strings[$2] = $3
+	else
+		strings[$2] = substr($0, index($0, "\"")+1)
+	next
+}
+/^\.ns/ {
+	print nobreak, "nospace"
+	next
+}
+/^\.rs/ {
+	print nobreak, "yesspace"
+	next
+}
+/^\.ad/ {
+	print nobreak, "both"
+	next
+}
+/^\.na/ {
+	print nobreak, "left"
+	next
+}
+/^\.nf/ {
+	fill = 0
+	print dobreak, "flush"
+	next
+}
+/^\.fi/ {
+	fill = 1
+	print dobreak, "flush"
+	next
+}
+/^\.\^x/ {			# direct errors to this file:  .^x filename
+	print nobreak, "errsto", $2
+	next
+}
+/^\.\^c/ {			# define character:  .^c name width text
+	if ($4 ~ /^"/)
+		s = substr($0, index($0, "\"")+1)
+	else
+		s = $4
+	ns = ""
+	while ((n = index(s, "\\")) > 0) {
+		if (n > 1)
+			ns = ns substr(s, 1, n-1)
+		n++
+		c = substr(s, n, 1)
+		if (c == "\\")
+			ns = ns "\\"
+		else if (c == "b")
+			ns = ns "\b"
+		s = substr(s, n+1)
+	}
+	ns = ns s
+	if ($2 == "hy") {
+		hyphens[font] = ns
+		hyphenwidths[font] = $3
+	} else {
+		chars[$2] = ns
+		charwidths[$2] = $3
+	}
+	next
+}
+/^\.\^f/ {			# this font is okay:  .^f fontname
+	# someday, this might take font-change codes as further arguments
+	fontok[$2] = "yes"
+	next
+}
+/^\.tm/ {
+	print msg $0
+	next
+}
+/^\.ps/ {
+	# ignore
+	next
+}
+/^\.ce/ {
+	if (NF > 1)
+		centering = $2
+	else
+		centering = 1
+	next
+}
+/^\.bp/ {
+	print dobreak, "need", 999
+	next
+}
+/^\.\^d/ {			# debug control:  .^d debugvar value
+	debug[$2] = $3
+	next
+}
+/^\.\^#/ {			# set line number of next line: .^# no file
+	il = $2 - 1
+	lockil = 0
+	inname = $3
+	next
+}
+/^\.\^=/ {			# lock line number to value:  .^= no file
+	il = $2
+	lockil = 1
+	inname = $3
+	next
+}
+/^\.\\"/ {			# comment
+	next
+}
+/^\./ {
+	print msg "command `" $1 "' unsupported or unknown"
+}
+END {
+	print dobreak, "need", 999	# flush page
+}
@@ -0,0 +1,33 @@
+/^\.\^b/ {			# initialization
+	print nobreak, "fph", 1
+	next
+}
+/^[^.]/ {			# text line -- reached only for input traps
+	if (afternext ~ /,fP/)
+		font = prevfont
+	if (afternext ~ /,tP/)
+		print dobreak, "toindent"
+	afternext = ""
+	next
+}
+/^\.ds/ {			# to catch special strings
+	if ($3 !~ /^"/)
+		v = $3
+	else
+		v = substr($0, index($0, "\"")+1)
+	if ($2 ~ /^[LCR][HF]$/)
+		print nobreak, $2, v
+	# fallthrough to normal .ds processing in macro-independent stuff
+}
+/^\.lF/ {
+	# special footer fiddling
+	if (strings["by"] != "" && strings["nb"] != "")
+		lf = strings["by"] "; " strings["nb"]
+	else
+		lf = strings["by"] strings["nb"]
+	print nobreak, "LF", lf
+	next
+}
+/^\.\^e/ {			# finalization
+	next
+}
@@ -0,0 +1,40 @@
+/^\.\^b/ {			# initialization
+	nhnos[1] = 0
+	next
+}
+/^[^.]/ {			# text line -- reached only for input traps
+	if (afternext == ",tP")
+		print dobreak, "toindent"
+	afternext = ""
+	next
+}
+/^\.nH/ {			# fooling around for numbered headings
+	no = 1
+	if (NF > 1)
+		no = $2
+	if (no == 0) {
+		nhnos[1] = 0
+		no = 1
+	}
+	nhnos[no]++
+	for (n in nhnos)
+		if (n > no)
+			nhnos[n] = 0
+	s = ""
+	for (n = 1; n <= no; n++)
+		s = s nhnos[n] "."
+	strings["Nh"] = s		# result in string for macro to grab
+	next
+}
+/^\.ds/ {			# to catch special strings
+	if ($3 !~ /^"/)
+		v = $3
+	else
+		v = substr($0, index($0, "\"")+1)
+	if ($2 ~ /^[LCR][HF]$/)
+		print nobreak, $2, v
+	# fallthrough to normal .ds processing in macro-independent stuff
+}
+/^\.\^e/ {			# finalization
+	next
+}
@@ -0,0 +1,332 @@
+# third pass:  setting lines and pages
+# The input language of this pass is basically <width, word> pairs, where
+# "word" may have imbedded strangeness (backspaces, etc.) for font changes
+# and special characters.  Zero width is not special.  A third field may
+# appear to indicate that this is a fragment of a word that can be
+# hyphenated; the third field is the width of the hyphen that would have
+# to be added if the line broke after this fragment.
+# Negative widths denote special operations.  -3 is an error message, the
+# second field being the message.  -1 and -2 are control messages to this
+# pass, the difference being whether a break is implied or not.  The second
+# field is a message type string; more fields may appear as arguments.  The
+# semantics of control messages are often -- but not always! -- similar to
+# those of troff commands.  For example, "linelen" is .ll, but "center" is
+# not semantically equivalent to .ce -- it is related but more primitive.
+BEGIN {
+	# input and output details
+	FS = "\t"
+	nobreak = -1
+	dobreak = -2
+	message = -3
+	errs = "awf.errs"	# default only, normally changed by "errsto"
+
+	# page setup -- some are defaults only, normally altered by pass 2
+	nextlineno = 1
+	thispageno = 1
+	topmargin = 5
+	botmargin = 5
+	ind = 0			# current indent
+	tmpind = 0
+	pageoffset = ""		# string to emit at start of each line
+	nospacemode = 1
+	hdrs["CH"] = "- % -"
+	nop = split("LH,CH,RH,LF,CF,RF", hdrnames, ",")
+	fph = 0			# print header on first page?
+	fill = 1
+	adj = "both"
+	pagelen = 66
+	linelen = 78
+
+	# line-builder setup
+	line = ""		# line so far, without padding
+	paddable = ""		# x means corresp. char in "line" is paddable
+	thislinelen = -1	# -1 means nothing there
+	cont = " "		# thing to append to continue line
+	contlen = 1
+	eol = ""		# thing to append to break line
+	eollen = 0
+	padfrom = "R"		# "L" or "R", alternating for river avoidance
+
+	# many spaces, so we can use substr to get any number we need
+	sps = "                                                     "
+	sps = sps sps sps sps sps sps sps sps sps sps
+}
+{
+	# process word, if any, causing a break if appropriate
+	if ($1 >= 0 && thislinelen < 0) {	# word, and first on line
+		line = $2
+		paddable = substr(sps, 1, length($2))
+		thislinelen = $1
+	} else if ($1 >= 0 && thislinelen+contlen+$1+$3 <= linelen-ind-tmpind) {
+		# word, and it fits on line
+		line = line cont $2
+		if (cont == " ")
+			paddable = paddable "x"
+		else
+			paddable = paddable substr(sps, 1, length(cont))
+		paddable = paddable substr(sps, 1, length($2))
+		thislinelen += contlen + $1
+	} else if ($1 == nobreak || $1 == message)
+		nop = 0		# no attention (i.e. break) needed here
+	else if ($1 == dobreak && $2 == "need" && \
+				nextlineno + $3 < pagelen + 1 - botmargin)
+		nop = 0		# enough space is available, no action needed
+	else if ($1 == dobreak && $2 == "toindent" && \
+					ind + tmpind + thislinelen < ind) {
+		# move to indent position within line; there is room
+		n = ind - (ind + tmpind + thislinelen)
+		line = line substr(sps, 1, n)
+		# nothing before this is paddable
+		paddable = substr(sps, 1, length(line))
+		thislinelen += n
+		# prevent padding immediately after this point
+		cont = ""
+		contlen = 0
+	} else if (thislinelen >= 0 || ($1 == dobreak && $2 == "need")) {
+		# must emit output, either due to break or "need"
+
+		# if at top of page, header
+		if (nextlineno == 1) {
+			for (i = int((topmargin-1)/2); i > 0; i--) {
+				print ""
+				nextlineno++
+			}
+			for (hno in hdrnames) {
+				h = hdrnames[hno]
+				if (hdrs[h] ~ /%/) {
+					n = split(hdrs[h], t, "%")
+					thispagehdrs[h] = t[1] thispageno t[2]
+				} else
+					thispagehdrs[h] = hdrs[h]
+			}
+			if (fph || thispageno > 1) {
+				lh = thispagehdrs["LH"]
+				ch = thispagehdrs["CH"]
+				rh = thispagehdrs["RH"]
+				lsp = int((linelen - length(lh ch rh)) / 2)
+				rsp = linelen - length(lh ch rh) - lsp
+				print pageoffset lh substr(sps, 1, lsp) ch substr(sps, 1, rsp) rh
+			} else
+				print ""
+			nextlineno++
+			while (nextlineno <= topmargin) {
+				print ""
+				nextlineno++
+			}
+		}
+
+		# the current line
+		# first, add a trailing hyphen if any
+		line = line eol
+		paddable = paddable substr(sps, 1, length(eol))
+		thislinelen += eollen
+
+		# trim trailing spaces if any
+		while (line ~ / $/) {
+			line = substr(line, 1, length(line)-1)
+			paddable = substr(paddable, 1, length(line))
+			thislinelen--
+		}
+
+		# print it in a suitable way
+		if (line == "")		# empty always prints as nothing
+			print ""
+		else if ($1 < 0 && $2 == "center") {
+			# center it
+			hsp = int((linelen - thislinelen) / 2)
+			if (hsp < 0)
+				hsp = 0
+			print pageoffset substr(sps, 1, ind+tmpind+hsp) line
+		} else if (adj == "left" || (adj == "both" && \
+					($1 < 0 || index(paddable, "x") == 0)))
+			# no right-margin adjustment (disabled, inappropriate
+			# (line ended by break), or impossible)
+			print pageoffset substr(sps, 1, ind+tmpind) line
+		else if (adj == "both") {
+			# hard case -- adjust right margin
+			# sanity check
+			if (length(paddable) != length(line))	# aieeeee
+				printf "awf: %f != %f!\n", length(paddable), \
+							length(line) >errs
+
+			# compute parameters
+			textlen = linelen - (ind+tmpind)
+			mustadd = textlen - thislinelen
+			npad = 0	# number of paddable spaces
+			for (tmp = paddable; (i = index(tmp, "x")) > 0; \
+							tmp = substr(tmp, i+1))
+				npad++
+			addatall = int(mustadd/npad)	# all grow this much
+			spall = substr(sps, 1, addatall)
+			nmore = mustadd - addatall*npad	# this many grow more
+
+			# build padded output text
+			out = substr(sps, 1, ind+tmpind)
+			padno = 0
+			while ((i = index(paddable, "x")) > 0) {
+				out = out substr(line, 1, i)
+				padno++
+				out = out spall
+				if (padfrom == "L") {
+					if (padno <= nmore)
+						out = out " "
+				} else {
+					if (padno > npad-nmore)
+						out = out " "
+				}
+				line = substr(line, i+1)
+				paddable = substr(paddable, i+1)
+			}
+
+			# print it, plus remnant not processed by loop
+			print pageoffset out line
+
+			# tidy up
+			if (padfrom == "L")
+				padfrom = "R"
+			else
+				padfrom = "L"
+		}
+
+		# tidy up after output line
+		nextlineno++
+		line = ""
+		paddable = ""
+		thislinelen = -1
+		tmpind = 0
+		nospacemode = 0
+
+		# if we broke from a "need", go to bottom of page
+		if ($1 == dobreak && $2 == "need")
+			while (nextlineno < pagelen + 1 - botmargin) {
+				print ""
+				nextlineno++
+			}
+
+		# footer, if at bottom of page
+		if (nextlineno >= pagelen + 1 - botmargin) {
+			for (i = int((botmargin-1)/2); i > 0; i--) {
+				print ""
+				nextlineno++
+			}
+			# header code prepared thispagehdrs
+			lf = thispagehdrs["LF"]
+			cf = thispagehdrs["CF"]
+			rf = thispagehdrs["RF"]
+			lsp = int((linelen - length(lf cf rf)) / 2)
+			rsp = linelen - length(lf cf rf) - lsp
+			print pageoffset lf substr(sps, 1, lsp) cf substr(sps, 1, rsp) rf
+			nextlineno++
+			while (nextlineno <= pagelen) {
+				print ""
+				nextlineno++
+			}
+			nextlineno = 1
+			thispageno++
+
+			# after page break, should not space unnecessarily,
+			# and should pad first line from right
+			nospacemode = 1
+			padfrom = "R"
+		}
+
+		# we are finally done with emitting output
+		# pick up input word, if any
+		if ($1 >= 0) {
+			line = $2
+			paddable = substr(sps, 1, length($2))
+			thislinelen = $1
+		}
+	}
+
+	# if we broke, next line should pad from right
+	if ($1 == dobreak)
+		padfrom = "R"
+
+	# cleanup and post-break command processing
+	if ($1 >= 0 || $2 == "nohyphen") {
+		# reset hyphenation trickery after each word (fragment)
+		cont = " "
+		contlen = 1
+		eol = ""
+		eollen = 0
+	} else if ($2 == "need" || $2 == "toindent")
+		nop = 0		# dealt with above
+	else if ($2 == "flush" || $2 == "center")
+		nop = 0		# exist only to cause break
+	else if ($1 == message)
+		print "awf: " $2 >errs
+	else if ($2 == "gap") {
+		# gap between last word and next one should be >= $3
+		if (thislinelen >= 0) {
+			line = line substr(sps, 1, $3-1)
+			paddable = paddable substr(sps, 1, $3-1)
+			thislinelen += $3-1
+		}
+	} else if ($2 == "tabto") {
+		# move to tab stop at $3
+		if (thislinelen < 0)
+			thislinelen = 0		# make line exist
+		n = $3 - thislinelen
+		if (n > 0) {			# must emit some space
+			line = line substr(sps, 1, n)
+			# nothing before a tab is paddable
+			paddable = substr(sps, 1, length(line))
+			thislinelen += n
+			# suppress space following
+			cont = ""
+			contlen = 0
+		}
+	} else if ($2 == "errsto")
+		errs = $3
+	else if ($2 ~ /^[LCR][HF]$/)
+		hdrs[$2] = $3
+	else if ($2 == "fph")
+		fph = $3
+	else if ($2 == "space") {
+		if (!nospacemode) {
+			# generate an empty line, which will be flushed by
+			# the next word; NB we know "space" caused a flush
+			line = ""
+			paddable = ""
+			thislinelen = linelen + 1
+			nospacemode = 0
+		}
+	} else if ($2 == "left")
+		adj = "left"
+	else if ($2 == "both")
+		adj = "both"
+	else if ($2 == "indent")
+		ind = $3
+	else if ($2 == "tempindent")
+		tmpind = $3
+	else if ($2 == "linelen")
+		linelen = $3
+	else if ($2 == "pagelen")
+		pagelen = $3
+	else if ($2 == "nospace")
+		nospacemode = 1
+	else if ($2 == "yesspace")
+		nospacemode = 0
+	else if ($2 == "hyphen") {
+		# discretionary hyphen at this point
+		cont = ""
+		contlen = 0
+		eol = $3
+		eollen = $4
+	} else if ($2 == "userhyphen") {
+		# user-supplied hyphen at this point
+		cont = $3
+		contlen = $4
+		eol = $3
+		eollen = $4
+	} else if ($2 == "pageoffset")
+		pageoffset = substr(sps, 1, $3)
+	else
+		print "awf: URK -- INTERNAL OPCODE `" $2 "' UNKNOWN" >errs
+}
+END {
+	# second pass is supposed to fake a .ne to flush the last page
+	if (nextlineno != 1)
+		print "awf: last page not flushed!" >errs
+}
@@ -0,0 +1,4 @@
+@echo off
+echo ---------- %1 ----------
+cd %1
+nmake /f makefile.vc /nologo %2
@@ -0,0 +1,5 @@
+*.log
+*.log.*
+*.pix
+*.pix.*
+.cvsignore
@@ -5,15 +5,12 @@
 #define SRCDIR	bench
 #define	PRODUCTS	pixcmp
 #define	SRCSUFF	.c
-#define MANSECTION	9
+/* #define MANSECTION	9 */

 #define FILES	pixcmp

 #include "../Cakefile.defs"

-/* These programs are not really for system-wide installation */
-#define DONT_INSTALL	1
-
 #ifdef NFS
 /* Pick up any shell scripts needed */
 %.sh:					if exist ../SRCDIR/%.sh
@@ -26,12 +23,16 @@
 clobber&: xxclober
 	@echo "About to wipe out all pictures and binary files in this directory"
 	@echo "Send SIGINT (typ. ^C) within 3 seconds to abort"
-	@sleep 5
+	@sleep 3
 	rm -f *.log.* *.pix.*	# old versions
 	rm -f *.log *.pix	# last try

 #define clobber	xxclober	/* rename "clobber" in Cakefile.rules */

+clean&:
+	@echo "Removing object files and pixcmp"
+	rm -f *.o pixcmp
+
 pixcmp:		OBJ
 	CC LDFLAGS -o pixcmp OBJ

@@ -10,16 +10,18 @@ if test -f ../.lgt.$MACHINE/lgt
 then
 	LGT=../.lgt.$MACHINE/lgt
 	DB=../.db.$MACHINE
+	LD_LIBRARY_PATH=../.libcursor.$MACHINE:../.libtermio.$MACHINE:../.libbu.$MACHINE:../.libbn.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
 else
 	if test -f ../lgt/lgt
 	then
-		LGT=../lgt/lgt
-		DB=../db
-	else
 		echo "Can't find LGT"
 		exit 1
 	fi
+	LGT=../lgt/lgt
+	DB=../db
+	LD_LIBRARY_PATH=../libcursor:../libtermio:../libbu:../libbn:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
 fi
+export LD_LIBRARY_PATH

 CMP=./pixcmp
 if test ! -f $CMP
@@ -134,15 +136,23 @@ fi
 ./script2 < /dev/null &&
 ./script3 < /dev/null || { echo "Script test failed."; exit 1; }

+FAIL=0
 for i in 1 2 3
 do
 	if ${CMP} ../pix/lgt${i}.pix lgt${i}a.pix
 	then :;
-	else echo "Test $i A failed."; exit 1
+	else echo "Test $i A failed."; FAIL=1
 	fi
 	if ${CMP} ../pix/lgt${i}.pix lgt${i}b.pix
 	then :;
-	else echo "Test $i B failed."; exit 1
+	else echo "Test $i B failed."; FAIL=1
 	fi
 done
-echo "Tested OK."
+if test "$FAIL" -eq 0
+then
+	echo "LGT Tested OK."
+	exit 0
+fi
+echo "*** LGT does NOT work on this platform ***"
+exit 2
+
@@ -21,9 +21,18 @@ HOST="$1"
 NOTE1="$2"
 NOTE2="$3"

-NEW_FILES="moss.log world.log star.log bldg391.log m35.log"
+NEW_FILES="moss.log world.log star.log bldg391.log m35.log sphflake.log"
 REF_FILES="../pix/moss.log ../pix/world.log ../pix/star.log \
-	../pix/bldg391.log ../pix/m35.log"
+	../pix/bldg391.log ../pix/m35.log ../pix/sphflake.log"
+
+for i in $NEW_FILES $REF_FILES
+do
+	if test ! -f $i
+	then
+		echo "${NAME}: file $i does not exist, aborting"
+		exit 1
+	fi
+done

 # Use TR to convert newlines to tabs.
 VGRREF=`grep RTFM $REF_FILES | \
@@ -35,14 +44,14 @@ CURVALS=`grep RTFM $NEW_FILES | \

 RATIO_LIST=""

-# Trick:  Force args $1 through $5 to the numbers in $CURVALS
+# Trick:  Force args $1 through $6 to the numbers in $CURVALS
 # This should be "set -- $CURVALS", but 4.2BSD /bin/sh can't handle it,
 # and CURVALS are all positive (ie, no leading dashes), so this is safe.
 set $CURVALS

-while test $# != 5
-do	echo "${NAME}: Warning, only $# times found, using zeros"
-	CURVALS="$CURVALS 0"
+while test $# -lt 6
+do	echo "${NAME}: Warning, only $# times found, adding a zero."
+	CURVALS="${CURVALS}0	"
 	set $CURVALS
 done

@@ -56,8 +65,8 @@ do
 done

 # The number of plus signs must be one less than the number of elements.
-MEAN_ABS=`echo 2k $CURVALS ++++ 5/ p | dc`
-MEAN_REL=`echo 2k $RATIO_LIST ++++ 5/ p | dc`
+MEAN_ABS=`echo 2k $CURVALS +++++ 6/ p | dc`
+MEAN_REL=`echo 2k $RATIO_LIST +++++ 6/ p | dc`

 # Note:  Both RATIO_LIST and CURVALS have an extra trailing tab.
 # The question mark is for the mean field
@@ -23,10 +23,17 @@
 *	All rights reserved.
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif

+#include "conf.h"
+
 #include <stdio.h>
+#include <stdlib.h>
+
+#ifdef HAVE_STRING_H
+#include <string.h>
+#endif

 long	matching;
 long	off1;
@@ -34,6 +41,7 @@ long	offmany;

 char usage[] = "Usage: pixcmp f1.pix f2.pix\n";

+int
 main(argc, argv)
 char **argv;
 {
@@ -108,7 +116,7 @@ char **argv;
 		}
 	}
 	fprintf(stderr,
-		"pixcmp bytes: %7d matching, %7d off by 1, %7d off by many\n",
+		"pixcmp bytes: %8ld matching, %8ld off by 1, %8ld off by many\n",
 		matching, off1, offmany );

 	/* If files were of different lengths, that is an error */
@@ -1,8 +1,36 @@
 #!/bin/sh
+export PATH || (echo "This isn't sh."; sh $0 $*; kill $$)
+eval `machinetype.sh -b`	# sets MACHINE, UNIXTYPE, HAS_TCP
+if test -f ../.rt.$MACHINE/rt
+then
+	RT=../.rt.$MACHINE/rt
+	DB=../.db.$MACHINE
+	LD_LIBRARY_PATH=../.libbu.$MACHINE:../.libbn.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
+else
+	if test ! -f ../rt/rt
+	then
+		echo "Can't find RT"
+		exit 1
+	fi
+	RT=../rt/rt
+	DB=../db
+	LD_LIBRARY_PATH=../libbu:../libbn:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
+fi
+export LD_LIBRARY_PATH
+
+# Alliant NFS hack
+if test x${MACHINE} = xfx
+then
+	cp ${RT} /tmp/rt
+	RT=/tmp/rt
+fi
+
 # WARNING THIS IS A REAL CPU HOG
-../rt/rt -p90 -f1024 -H3 -M $*\
+if test -f cube.pix; then mv -f cube.pix cube.pix.$$; fi
+if test -f cube.log; then mv -f cube.log cube.log.$$; fi
+$RT -p90 -f1024 -H3 -M $*\
 -o cube.pix\
- ../db/cube.g\
+ $DB/cube.g\
 'all.g' \
 2> cube.log\
 <<EOF
@@ -9,17 +9,20 @@ eval `machinetype.sh -b`	# sets MACHINE, UNIXTYPE, HAS_TCP
 if test -f ../.util.$MACHINE/pixdiff
 then
 	PIXDIFF=../.util.$MACHINE/pixdiff
-	PIX_FB=../.util.$MACHINE/pix-fb
+	PIX_FB=../.fb.$MACHINE/pix-fb
+	LD_LIBRARY_PATH=../.libbu.$MACHINE:../.libbn.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
 else
 	if test -f ../util/pixdiff
 	then
 		PIXDIFF=../util/pixdiff
-		PIX_FB=../util/pix-fb
+		PIX_FB=../fb/pix-fb
 	else
 		echo "Can't find pixdiff"
 		exit 1
 	fi
+	LD_LIBRARY_PATH=../libbu:../libbn:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
 fi
+export LD_LIBRARY_PATH

 # Alliant NFS hack
 if test x${MACHINE} = xfx
@@ -44,3 +47,6 @@ ${PIXDIFF} ../pix/bldg391.pix bldg391.pix  | ${PIX_FB}

 echo +++++ m35.pix
 ${PIXDIFF} ../pix/m35.pix m35.pix  | ${PIX_FB}
+
+echo +++++ sphflake.pix
+${PIXDIFF} ../pix/sphflake.pix sphflake.pix  | ${PIX_FB}
@@ -2,33 +2,100 @@
 # A Shell script to run the BRL-CAD Benchmark Test
 #  @(#)$Header$ (BRL)

+# set RT, DB, and/or CMP environment variables to override default locations
+
+echo "B R L - C A D   B E N C H M A R K"
+echo "================================="
+
 # Ensure /bin/sh
 export PATH || (echo "This isn't sh."; sh $0 $*; kill $$)

 eval `machinetype.sh -b`	# sets MACHINE, UNIXTYPE, HAS_TCP
-if test -f ../.rt.$MACHINE/rt
+
+echo Looking for RT...
+# find RT (environment variable overrides)
+if test "x${RT}" = "x"
 then
-	RT=../.rt.$MACHINE/rt
-	DB=../.db.$MACHINE
-else
-	if test -f ../rt/rt
+	echo ...checking for NFS or local build...
+	# check for NFS build
+	if test -x ../.rt.$MACHINE/rt
 	then
+		echo ...found NFS build
+		RT=../.rt.$MACHINE/rt
+		if test x${DB} != x ; then DB=../.db.$MACHINE ; fi
+		LD_LIBRARY_PATH=../.libbu.$MACHINE:../.libbn.$MACHINE:../.liboptical.$MACHINE:../.libitcl3.2.$MACHINE:../.libtcl8.3.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
+	# check for local build
+	elif test -f ../rt/rt
+	then
+		echo ...found local build
 		RT=../rt/rt
-		DB=../db
-	else
-		echo "Can't find RT"
-		exit 1
+		if test x${DB} != x ; then DB=../db ; fi
+		LD_LIBRARY_PATH=../libbu:../libbn:../liboptical:../libitcl3.2:../libtcl8.3:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
 	fi
 fi

-CMP=./pixcmp
-if test ! -f $CMP
+echo Looking for geometry database directory...
+# find geometry database directory if we do not already know where it is
+# DB environment variable overrides
+if test "x${DB}" = "x"
 then
-	cake pixcmp
+	echo ...checking for NFS or local build...	
+	# check for NFS build
+	if test -f ../.db.$MACHINE/sphflake.g 
+	then 
+		echo ...found NFS build
+		DB=../.db.$MACHINE
+		LD_LIBRARY_PATH=../.libbu.$MACHINE:../.libbn.$MACHINE:../.liboptical.$MACHINE:../.libitcl3.2.$MACHINE:../.libtcl8.3.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
+	# check for local build
+	elif test -f ../db/sphflake.g
+	then
+		echo ...found local build
+		DB=../db
+		LD_LIBRARY_PATH=../libbu:../libbn:../liboptical:../libitcl3.2:../libtcl8.3:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
+	fi
+
+fi
+
+echo Checking for pixel comparison utility...
+# find pixel comparison utility
+# CMP environment variable overrides
+if test "x${CMP}" = "x"
+then
+	echo ...checking for NFS of local build...
+	if test -x ../.bench.$MACHINE/pixcmp
+	then
+		echo ...found NFS build
+		CMP=../.bench.$MACHINE/pixcmp
+	elif test -x ./pixcmp
+	then
+		echo ...found local build
+		CMP=./pixcmp
+	else
+		echo ...need to build pixcmp
+		cake >& /dev/null
+		if test "x$?" = "x0"
+		then
+			echo ...building pixcmp with cake	
+			cake pixcmp
+		else
+			if test "x${CC}" = "x"
+			then
+				CC=gcc
+				$CC >& /dev/null
+				if ! test "x$?" = "x1"
+				then
+					CC=cc
+				fi
+			fi
+		fi
+		echo ...building pixcmp with $CC
+		$CC -o pixcmp -I../h pixcmp.c
+		CMP=./pixcmp
+	fi
 fi

 # Alliant NFS hack
-if test x${MACHINE} = xfx
+if test "x${MACHINE}" = "xfx"
 then
 	cp ${RT} /tmp/rt
 	cp ${CMP} /tmp/pixcmp
@@ -36,6 +103,33 @@ then
 	CMP=/tmp/pixcmp
 fi

+
+# print results or choke
+if test "x${RT}" = "x"
+then
+	echo "ERROR:  Could not find RT"
+	exit 1
+else
+	echo "Using [$RT] for RT"
+fi
+if test "x${DB}" = "x"
+then
+	echo "ERROR:  Could not find database directory"
+	exit 1
+else
+	echo "Using [$DB] for DB"
+fi
+if test "x${CMP}" = "x"
+then
+	echo "ERROR:  Could not find pixel comparison utility"
+	exit 1
+else
+	echo "Using [$CMP] for CMP"
+fi
+export LD_LIBRARY_PATH
+
+echo 
+
 # Run the tests

 echo +++++ moss
@@ -56,6 +150,7 @@ viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00
 start 0;
 end;
 EOF
+if test -f gmon.out; then mv -f gmon.out gmon.moss.out; fi
 ${CMP} ../pix/moss.pix moss.pix
 if test $? = 0
 then
@@ -82,6 +177,7 @@ viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00
 start 0;
 end;
 EOF
+if test -f gmon.out; then mv -f gmon.out gmon.world.out; fi
 ${CMP} ../pix/world.pix world.pix
 if test $? = 0
 then
@@ -107,6 +203,7 @@ viewrot -6.733560560e-01 6.130643360e-01 4.132114880e-01 0.000000000e+00
 start 0;
 end;
 EOF
+if test -f gmon.out; then mv -f gmon.out gmon.star.out; fi
 ${CMP} ../pix/star.pix star.pix
 if test $? = 0
 then
@@ -133,6 +230,7 @@ viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00
 start 0;
 end;
 EOF
+if test -f gmon.out; then mv -f gmon.out gmon.bldg391.out; fi
 ${CMP} ../pix/bldg391.pix bldg391.pix
 if test $? = 0
 then
@@ -158,6 +256,7 @@ viewrot -5.527838919e-01 8.332423558e-01 1.171090926e-02 0.000000000e+00
 start 0;
 end;
 EOF
+if test -f gmon.out; then mv -f gmon.out gmon.m35.out; fi
 ${CMP} ../pix/m35.pix m35.pix
 if test $? = 0
 then
@@ -166,6 +265,31 @@ else
 	echo m35.pix:  WRONG WRONG WRONG WRONG WRONG WRONG
 fi

+echo +++++ sphflake
+if test -f sphflake.pix; then mv -f sphflake.pix sphflake.pix.$$; fi
+if test -f sphflake.log; then mv -f sphflake.log sphflake.log.$$; fi
+time $RT -B -M -s512 $* \
+	-o sphflake.pix \
+	$DB/sphflake.g \
+	"scene.r" \
+	2> sphflake.log \
+	<< EOF
+viewsize 2.556283261452611e+04;
+orientation 4.406810841785839e-01 4.005093234738861e-01 5.226451688385938e-01 6.101102288499644e-01;
+eye_pt 2.418500583758302e+04 -3.328563644344796e+03 8.489926952850350e+03;
+start 0;
+end;
+EOF
+if test -f gmon.out; then mv -f gmon.out gmon.sphflake.out; fi
+${CMP} ../pix/sphflake.pix sphflake.pix
+if test $? = 0
+then
+	echo sphflake.pix:  answers are RIGHT
+else
+	echo sphflake.pix:  WRONG WRONG WRONG WRONG WRONG WRONG
+fi
+
+
 echo
 echo Testing complete, check times against reference files in ../pix/.

@@ -175,3 +299,7 @@ else	HOST=`uname -n`
 fi

 sh ../bench/perf.sh "$HOST" "`date`" "$*" >> summary
+
+
+
+
@@ -11,16 +11,18 @@ if test -f ../.rt.$MACHINE/rt
 then
 	RT=../.rt.$MACHINE/rt
 	DB=../.db.$MACHINE
+	LD_LIBRARY_PATH=../.libbu.$MACHINE:../.libbn.$MACHINE:../.librt.$MACHINE:../.libfb.$MACHINE:../.libpkg.$MACHINE:../.libsysv.$MACHINE:$LD_LIBRARY_PATH
 else
-	if test -f ../rt/rt
+	if test ! -f ../rt/rt
 	then
-		RT=../rt/rt
-		DB=../db
-	else
 		echo "Can't find RT"
 		exit 1
 	fi
+	RT=../rt/rt
+	DB=../db
+	LD_LIBRARY_PATH=../libbu:../libbn:../librt:../libfb:../libpkg:../libsysv:$LD_LIBRARY_PATH
 fi
+export LD_LIBRARY_PATH

 CMP=./pixcmp
 if test ! -f $CMP
@@ -116,3 +118,16 @@ viewrot -5.527838919e-01 8.332423558e-01 1.171090926e-02 0.000000000e+00
 start 0;
 end;
 EOF
+
+echo +++++ sphflake
+
+time $RT -B -M -s512 $* \
+	$DB/sphflake.g scene.r \
+	<< EOF
+viewsize 2.556283261452611e+04;
+orientation 4.406810841785839e-01 4.005093234738861e-01 5.226451688385938e-01 6.101102288499644e-01;
+eye_pt 2.418500583758302e+04 -3.328563644344796e+03 8.489926952850350e+03;
+start 0;
+end;
+EOF
+
@@ -0,0 +1,26 @@
+/*
+ *			brlman/Cakefile
+ *
+ *  Note:  The file "awf" needs to know where ../awf/Cakefile put the
+ *  pieces (ETCDIR by default).
+ */
+#include "../Cakefile.defs"
+
+#define PRODUCTS	awf brlman
+#define SRCDIR	brlman
+#define FILES	/**/
+#define	SRCSUFF	/**/
+#define MANSECTION	1
+
+#define STATIC_PRODUCTS	PRODUCTS	/* Force PRODUCTS into dist */
+
+/*
+ *  There is nothing to compile.
+ *  The "install-prod" rule should install PRODUCTS,
+ *  and "inst-dist" rule shoudl take care of copying to distribution dir.
+ *  Nothing else to do.
+ */
+all&:
+	@echo "SRCDIR:  all done"
+
+#include "../Cakefile.rules"
@@ -0,0 +1,61 @@
+#! /bin/sh
+eval `machinetype.sh -v`		# BRL mod: sets $BASEDIR
+PATH=/bin:/usr/bin ; export PATH
+# AWFLIB is where the pieces live
+AWFLIB=${AWFLIB-$BASEDIR/etc}		# BRL mod
+
+tmp=/tmp/awp$$			# tempfile for building pass 2
+errs=/tmp/awe$$		# error messages (awk can't send to stderr)
+
+case "$1" in
+-ms)	mac=ms	;;
+-man)	mac=man	;;
+*)	echo "$0: must specify -ms or -man" >&2
+	exit 2
+	;;
+esac
+shift
+
+dev="$AWFLIB/dev.$TERM"
+if test ! -r $dev
+then
+	dev="$AWFLIB/dev.dumb"
+fi
+
+trap "rm -f $tmp $errs ; exit 0" 0 1 2
+
+# build the full, macro-set-dependent, pass-2 awk program
+(
+	sed -n '1,/^#include/p' $AWFLIB/pass2.base
+	cat $AWFLIB/pass2.$mac
+	sed -n '/^#include/,$p' $AWFLIB/pass2.base
+) >$tmp
+
+# do it
+(
+	echo ".^x $errs"
+	echo ".^b"
+	echo ".^# 1 <prolog>"
+	cat $dev $AWFLIB/common $AWFLIB/mac.$mac
+	if test " $*" = " "
+	then
+		echo ".^# 1 <stdin>"
+		cat
+	else
+		for f
+		do
+			echo ".^# 1 $f"
+			cat $f
+		done
+	fi
+	echo ".^e"
+) | awk -f $AWFLIB/pass1 | awk -f $tmp | awk -f $AWFLIB/pass3
+
+# error messages, if any
+if test -s $errs
+then
+	cat $errs >&2
+	exit 1
+else
+	exit 0
+fi
@@ -0,0 +1,54 @@
+#!/bin/sh
+#			B R L M A N
+#
+#  A substitute for the "man" command for those systems that do not
+#  have NROFF.  Henry Spencer's "nroff -man" replacement called AWF
+#  is used instead.
+#
+#  Michael John Muuss, BRL, 23-June-1991.
+#  Public Domain, Distribution Unlimited
+#
+#  @(#) $Header$ (BRL)
+
+if test $# -lt 1
+then
+	echo "Usage: $0 command"
+	echo "  To obtain help about that command"
+	exit 1
+fi
+
+# Use MANPAGER, else use PAGER, else use "more" command.
+MORE="more -s -f"
+if test "$PAGER" != ""
+then
+	MORE="${PAGER}"
+fi
+if test "${MANPAGER}" != ""
+then
+	MORE="${MANPAGER}"
+fi
+
+eval `machinetype.sh -v`		# sets $BASEDIR
+
+# Ensure that MANPATH is set and has BRL-CAD materials listed first.
+MANPATH=${BASEDIR}/man:${MANPATH}
+
+PATH_ELEMENTS=`echo ${MANPATH} | sed 's/^://
+				s/:://g
+				s/:$//
+				s/:\\.:/:/g
+				s/:/ /g'`
+
+for PLACE in ${PATH_ELEMENTS}
+do
+	PATTERN="${PLACE}/man?/$1.?"
+	TRY=`eval echo ${PATTERN}`
+	if test "${TRY}" != "${PATTERN}"
+	then
+		# Found something(s), format it/them
+		echo ${TRY}
+		awf -man ${TRY} | ${MORE}
+	fi
+done
+
+exit 0
@@ -0,0 +1,43 @@
+.TH BRLMAN 1 BRL/CAD
+.SH NAME
+brlman \- display manual pages for BRL-CAD software
+.SH SYNOPSIS
+.B brlman
+title
+.SH DESCRIPTION
+.I Brlman
+provides a substitute for the 
+.I man
+command for those systems that do not
+have
+.I nroff.
+Henry Spencer's
+.I nroff -man
+replacement called
+.I awf
+is used instead.
+.I Brlman
+uses the environment variable
+.I MANPATH
+to determine where to search for the manual pages (
+.I /usr/brlcad/man
+is the default). The pager used is taken from the environment variable
+.I MANPAGER
+or, if that is nor set
+.I PAGER
+is used. The default is to use the
+.I more -s -f
+command.
+.SH "SEE ALSO"
+awf(1)
+.SH AUTHOR
+Michael John Muuss
+.SH SOURCE
+SECAD/VLD Computing Consortium, Bldg 394
+.br
+The U. S. Army Ballistic Research Laboratory
+.br
+Aberdeen Proving Ground, Maryland  21005
+.SH "BUG REPORTS"
+Reports of bugs or problems should be submitted via electronic
+mail to <CAD@ARL.ARMY.MIL>.
@@ -0,0 +1,33 @@
+/*
+ *			btclsh/Cakefile
+ *
+ */
+#define CONFIGDEFS	BTCLSH_CONFIG 
+
+#define SRCDIR	bwish
+#define PRODUCTS	btclsh
+#if 0
+#define STATIC_PRODUCTS btclsh.tcl
+#endif
+#define	SRCSUFF	.c
+#define MANSECTION	1
+
+#define FILES	main input tcl cmd
+
+#include "../Cakefile.defs"
+#include "../Cakefile.prog"
+
+#if HAS_TCP
+#    define COMPLETE_LIBES	\
+	LIBPKG LIBWDB LIBRT LIBBN LIBBU LIBBU_LIBES LIBTERMIO BTCLSH_LIBES LIBES
+#else
+#    define COMPLETE_LIBES	\
+	LIBWDB LIBRT LIBBN LIBBU LIBBU_LIBES LIBTERMIO BTCLSH_LIBES LIBES
+#endif
+
+btclsh:	OBJ LIBRT_DEP LIBBN_DEP LIBBU_DEP LIBWDB_DEP LIBTCL_DEP
+	sh ../sh/newvers.sh version "BrlCad Tclsh (BTCLSH)"
+	CC CFLAGS -c vers.c
+	CC -o btclsh LDFLAGS OBJ COMPLETE_LIBES vers.o
+
+#include "../Cakefile.rules"
@@ -9,7 +9,10 @@
 	$Header$ (BRL)

 */
-#define CONFIGDEFS	LGT_CONFIG -I. /* -DDEBUG */
+/* Remove the following line if you have BRLCAD 4.0 or later. */
+/* #define LIBFB_LIBES	/**/
+
+#define CONFIGDEFS	LGT_CONFIG -I. -U_POSIX_SOURCE /*-DDEBUG*/

 #define SRCDIR	burst
 #define PRODUCTS	burst
@@ -17,36 +20,36 @@
 #define MANSECTION	1
 #define FILES	burst error fb glob grid gridrotate idents\
 		paint plot prnt trie ui\
-		Hm HmGetc HmGlob Sc Tc
+		Hm HmGetc HmGlob Sc
 #include "../Cakefile.defs"
 #include "../Cakefile.prog"

 /* Explicit composition of each product */
-PRODUCTS:	OBJ
-	CC LDFLAGS -o burst OBJ LIB_PRE''LIBRT RT_LIBES LIB_PRE''LIBFB LIBTERMLIB LIBES -ltermlib -lm
+PRODUCTS:	OBJ LIBRT_DEP LIBBN_DEP LIBFB_DEP LIBBU_DEP LIBTERMIO_DEP
+	CC LDFLAGS -o burst OBJ LIBRT LIBBN LIBBU LIBBU_LIBES LIBTERMIO LIBTERMLIB LIBFB LIBFB_LIBES LIBES -lm

 all&: PRODUCTS

-test&:	all tfiles/ktank.g
-	./burst -b < tfiles/ktank.in
-	@if test $? -ne 0 \
-	then	echo "Test failed."; exit 1 \
+test&:	../.burst.MTYPE/burst tfiles/ktank.g
+	../.burst.MTYPE/burst -b < tfiles/ktank.in
+	@if test $? -ne 0 \\
+	then	echo "Test failed."; exit 1 \\
 	fi
-	diff tfiles/ktank.burst tfiles/ktank.burst.bak
-	@if test $? -ne 0 \
-	then	echo "Test failed."; exit 1 \
+	diff tfiles/ktank.burst tfiles/ktank.burst.bak4.0
+	@if test $? -ne 0 \\
+	then	echo "Test failed."; exit 1 \\
 	fi
-	diff tfiles/ktank.shotlines tfiles/ktank.shotlines.bak
-	@if test $? -ne 0 \
-	then	echo "Test failed."; exit 1 \
+	diff tfiles/ktank.shotlines tfiles/ktank.shotlines.bak4.0
+	@if test $? -ne 0 \\
+	then	echo "Test failed."; exit 1 \\
 	fi
 	@echo "Tested OK."

 untest&:
-	rm -f tfiles/ktank.burst tfiles/ktank.shotlines tfiles/ktank.plot \
+	rm -f tfiles/ktank.burst tfiles/ktank.shotlines tfiles/ktank.plot \\
 		tfiles/ktank.pix tfiles/ktank.g tfiles/ktank.log

 tfiles/ktank.g:
-	asc2g < tfiles/ktank.asc > tfiles/ktank.g
+	asc2g < ../burst/tfiles/ktank.asc > tfiles/ktank.g

 #include "../Cakefile.rules"
@@ -12,7 +12,7 @@
 */
 /*LINTLIBRARY*/
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif

 #ifndef DEBUG
@@ -25,10 +25,13 @@ static char RCSid[] = "@(#)$Header$ (BRL)";
 #include <stdio.h>
 #include <string.h>
 #include <fcntl.h>
+#include <signal.h>
+
 #include "./Sc.h"
 #include "./Hm.h"
 #include "./Mm.h"
-#define ErLog	rt_log
+#include "./extern.h"
+#define ErLog	brst_log
 #if __STDC__
 extern void	exit( int s );
 extern unsigned alarm( unsigned s );
@@ -37,6 +40,14 @@ extern void	exit();
 extern unsigned alarm();
 #endif

+#ifndef _POSIX_SOURCE
+#if __STDC__
+extern FILE    *fdopen(int, const char *);
+#else
+extern FILE    *fdopen();
+#endif
+#endif
+
 #define HmDEBUG		false

 #ifndef Max
@@ -148,10 +159,10 @@ register HmItem	*itemp;
 		{
 		(void) ErLog( "\t\t\ttext=\"%s\"\n", itemp->text );
 		(void) ErLog( "\t\t\thelp=\"%s\"\n", itemp->help == (char *) NULL ? "(null)" : itemp->help );
-		(void) ErLog( "\t\t\tnext=0x%x\n", (int) itemp->next );
-		(void) ErLog( "\t\t\tdfn=0x%x\n", (int) itemp->dfn );
-		(void) ErLog( "\t\t\tbfn=0x%x\n", (int) itemp->bfn );
-		(void) ErLog( "\t\t\thfn=0x%x\n", (int) itemp->hfn );
+		(void) ErLog( "\t\t\tnext=0x%x\n", itemp->next );
+		(void) ErLog( "\t\t\tdfn=0x%x\n", itemp->dfn );
+		(void) ErLog( "\t\t\tbfn=0x%x\n", itemp->bfn );
+		(void) ErLog( "\t\t\thfn=0x%x\n", itemp->hfn );
 		(void) ErLog( "\t\t\tdata=%d\n", itemp->data );
 		(void) ErLog( "\t\t\t----\n" );
 		}
@@ -171,7 +182,7 @@ HmPrntMenu( HmMenu *menup )
 HmPrntMenu( menup )
 HmMenu	*menup;
 #endif
-	{	register HmWindow	*win;
+	{
 	(void) ErLog( "\tHmPrntMenu( 0x%x )\n", menup );
 	(void) ErLog( "\t\tgenerator=0x%x\n", menup->generator );
 	(void) ErLog( "\t\tprevtop=%d\n", menup->prevtop );
@@ -317,7 +328,6 @@ int			flag;
 		return;
 	if( itemp->text[0] & 0200 )	/* right-justified */
 		{	register int	i;
-			char	errbuf[81];
 		label_len--;
 		for( i = 0; i < width - label_len; i++ )
 			*p++ = itemp->text[0] & 0177;
@@ -393,7 +403,7 @@ int			flag;
 */
 STATIC void
 #if __STDC__
-HmPutBorder( register HmWindow *win, register row, char mark )
+HmPutBorder( register HmWindow *win, register int row, char mark )
 #else
 HmPutBorder( win, row, mark )
 register HmWindow	*win;
@@ -504,7 +514,7 @@ HmWindow	*win;
 */
 STATIC HmWindow	*
 #if __STDC__
-HmInWin( register x, register y, register HmWindow *win )
+HmInWin( register int x, register int y, register HmWindow *win )
 #else
 HmInWin( x, y, win )
 register int		x, y;
@@ -770,30 +780,6 @@ HmRedraw()
 	return;
 	}

-#if ! defined( BSD ) && ! defined( sun ) && ! defined( sgi )
-#include <sys/jioctl.h>
-#endif
-#include <signal.h>
-
-/*
-	void	alarmfunc( int sig )
-
-	Do nothing on receipt of SIGALRM.  NOTE: this is not the same
-	as setting SIGALRM to SIG_IGN.
- */
-/*ARGSUSED*/
-void
-#if __STDC__
-alarmfunc( int sig )
-#else
-alarmfunc( sig )
-int	sig;
-#endif
-	{
-	(void) signal( SIGALRM, alarmfunc );
-	return;
-	}
-
 /*
 	void	HmTtySet( void )

@@ -859,9 +845,8 @@ HmInit( x, y, maxvis )
 int	x, y;
 int	maxvis;
 #endif
-	{	extern char	*getenv();
-		char		*term = getenv( "TERM" );
-	if(	(HmTtyFd = open( "/dev/tty", O_RDONLY )) == NULL
+	{
+	if(	(HmTtyFd = open( "/dev/tty", O_RDONLY )) == (-1)
 	    ||	(HmTtyFp = fdopen( HmTtyFd, "r" )) == NULL
 		)
 		{
@@ -873,45 +858,7 @@ int	maxvis;
 	HmLftMenu = x;
 	HmTopMenu = y;
 	HmMaxVis = maxvis;
-#if ! defined( BSD ) && ! defined( sun ) && ! defined( sgi )
-	/* In case we are running MPX and MYX on a DMD, use "editor ptr"
-		to make menu selections. */ 
-	if( term != (char *) NULL && strncmp( term, "tty5620", 7 ) == 0 )
-		{ /* We have a DMD. */
-#ifdef XT_JMPX	/* DAG -- temporary dual mpx/layers support */
-		if(	ioctl( HmTtyFd, JMPX, 0 ) != -1
-		    ||	ioctl( HmTtyFd, XT_JMPX, 0 ) != -1
-			)
-			{
-#else
-		if(	ioctl( HmTtyFd, JMPX, 0 ) != -1 )
-			{
-#endif
-			/* We are running MPX. */
-				char		input[12];
-				register int	i;
-				void		(*oalarmfunc)();
-			TcClrEcho( HmTtyFd );
-			TcSetCbreak( HmTtyFd );
-			(void) ScMvCursor( HmLftMenu, HmTopMenu );
-			(void) fputs( "\033[?1Z", stdout );
-			(void) fflush( stdout );
-			oalarmfunc = signal( SIGALRM, alarmfunc );
-			(void) alarm( 1 );
-			(void) fgets( input, 12, stdin );
-			(void) alarm( 0 );
-			(void) signal( SIGALRM, oalarmfunc );
-			HmMyxflag = true;
-			for( i = 0; i < 11; i++ )
-				if( input[i] != '0' && input[i] != '1' )
-					{
-					HmMyxflag = false;
-					break;
-					}
-			TcResetTty( HmTtyFd );
-			}
-		}
-#endif /* sun */
+
 	return	true;
 	}

@@ -1092,7 +1039,7 @@ HmMenu	*menup;			/* -> first HmItem in array.		*/
 	/* If generator function is provided, dynamically allocate the
 		menu items.
 	 */
-	if( dynamic = menup->item == (HmItem *) NULL )
+	if( (dynamic = (menup->item == (HmItem *) NULL) ))
 		{	register int	i;
 			register HmItem	*gitemp;
 			HmLList	llhead, **listp;
@@ -7,9 +7,10 @@
 	$Header$ (BRL)
 */
 #if ! defined( lint )
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
 #include <stdio.h>
+#include <signal.h>
 #include "./burst.h"
 #include "./Hm.h"
 /*LINTLIBRARY*/
@@ -8,7 +8,7 @@
 */
 /*LINTLIBRARY*/
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
 #include <stdio.h>
 FILE	*HmTtyFp = NULL;   /* read keyboard, not stdin */
@@ -8,8 +8,8 @@
 */
 /* Emulate MUVES Mm package using malloc. */
 #if __STDC__
-extern char	*malloc( unsigned n );
-extern char	*strcpy( char *s1, char *s2 );
+#include <stdlib.h>
+#include <string.h>
 #else
 extern char	*malloc();
 extern char	*strcpy();
@@ -9,15 +9,17 @@
 */
 /*LINTLIBRARY*/
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
+#include "conf.h"
 #include <stdio.h>
-#ifdef BSD
+
+#ifdef USE_STRING_H
+#include <string.h>
+#else
 #include <strings.h>
 #endif
-#ifdef SYSV
-#include <string.h>
-#endif
+
 #ifndef cray
 #if defined( VLDSYSV )
 #include <sys/_ioctl.h>
@@ -29,20 +31,22 @@ static char RCSid[] = "@(#)$Header$ (BRL)";
 #include "./Sc.h"

 /* Externals from termlib(3). */
-#if _STDC_
+#if __STDC__
 extern char	*tgoto( char *cm, int destcol, int destline );
 extern char	*tgetstr( char *id, char **area );
 extern int	tgetent( char *bp, char *name );
+extern int	tgetnum( char *id );
 #else
 extern char	*tgoto();
 extern char	*tgetstr();
 extern int	tgetent();
+extern int	tgetnum();
 #endif
+extern int	tputs();

 /* Externals from the C library. */
-#if _STDC_
+#if __STDC__
 extern char	*getenv( char *s );
-extern char	*strncpy( char *a, char *b, int n );
 #else
 extern char	*getenv();
 extern char	*strncpy();
@@ -87,7 +91,7 @@ int		ScLI, /* Number of lines on screen.		*/

 */
 static void
-#if _STDC_
+#if __STDC__
 ScLoadTP( void )
 #else
 ScLoadTP()
@@ -119,7 +123,7 @@ ScLoadTP()
 	Get the terminal control strings.
 */
 static void
-#if _STDC_
+#if __STDC__
 ScLoadTCS( void )
 #else
 ScLoadTCS()
@@ -154,7 +158,7 @@ ScLoadTCS()
 	
 */
 int
-#if _STDC_
+#if __STDC__
 PutChr( char c )
 #else
 PutChr( c )
@@ -181,7 +185,7 @@ char	c;
 	there is a problem in retrieving the corresponding termcap entry.
 */
 bool
-#if _STDC_
+#if __STDC__
 ScInit( FILE *fp )
 #else
 ScInit( fp )
@@ -225,7 +229,7 @@ FILE	*fp;

 */
 bool
-#if _STDC_
+#if __STDC__
 ScClrEOL( void )
 #else
 ScClrEOL()
@@ -244,7 +248,7 @@ ScClrEOL()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScClrScrlReg( void )
 #else
 ScClrScrlReg()
@@ -263,7 +267,7 @@ ScClrScrlReg()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScClrStandout( void )
 #else
 ScClrStandout()
@@ -281,7 +285,7 @@ ScClrStandout()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScClrText( void )
 #else
 ScClrText()
@@ -300,7 +304,7 @@ ScClrText()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScInsertLn( void )
 #else
 ScInsertLn()
@@ -319,7 +323,7 @@ ScInsertLn()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScDeleteLn( void )
 #else
 ScDeleteLn()
@@ -338,7 +342,7 @@ ScDeleteLn()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScDnScroll( void )
 #else
 ScDnScroll()
@@ -357,7 +361,7 @@ ScDnScroll()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScHmCursor( void )
 #else
 ScHmCursor()
@@ -377,7 +381,7 @@ ScHmCursor()

 */
 bool
-#if _STDC_
+#if __STDC__
 ScMvCursor( int x, int y )
 #else
 ScMvCursor( x, y )
@@ -400,7 +404,7 @@ int	x, y;

 */
 bool
-#if _STDC_
+#if __STDC__
 ScSetScrlReg( int top, int btm )
 #else
 ScSetScrlReg( top, btm )
@@ -420,7 +424,7 @@ int	top, btm;

 */
 bool
-#if _STDC_
+#if __STDC__
 ScSetStandout( void )
 #else
 ScSetStandout()
@@ -439,7 +443,7 @@ ScSetStandout()
 	
 */
 bool
-#if _STDC_
+#if __STDC__
 ScUpScroll( void )
 #else
 ScUpScroll()
@@ -24,7 +24,8 @@
 **/
 #ifndef Sc_H_INCLUDE
 #define Sc_H_INCLUDE
-#include "burst.h"
+#include "./burst.h"
+#include "./Tc.h"

 /**
 	bool	ScInit( FILE *fp )
@@ -1,4 +1,6 @@
 /*
+	XXX Outdated : should not be used
+  
 	SCCS id:	%Z% %M%	%I%
 	Modified: 	%G% at %U%
 	Retrieved: 	%H% at %T%
@@ -9,9 +11,12 @@
 	Aberdeen Proving Ground
 	Maryland 21005-5066
 */
+
+#if 0
+
 /*LINTLIBRARY*/
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 static char sccsTag[] = "%Z% %M% %I%, modified %G% at %U%, archive %P%";
 #endif

@@ -19,29 +24,35 @@ static char sccsTag[] = "%Z% %M% %I%, modified %G% at %U%, archive %P%";
 #include <fcntl.h>

 #ifdef SYSV
-/**#ifndef	TANDEM	/* USG derivatives */
+
+/**#ifndef	TANDEM	*/
+/* USG derivatives */
 #include <termio.h>
 #include <memory.h>
 #ifndef _NFILE
 #define _NFILE	32
-#endif _NFILE
+#endif /* _NFILE */
 static struct termio	save_tio[_NFILE], curr_tio[_NFILE];
-#endif SYSV
+#endif /* SYSV */

 #ifdef BSD
 #include <sys/ioctl.h>
+#ifdef HAVE_IOCTL_COMPAT_H
+#include <sys/ioctl_compat.h>
+#endif
 #ifndef _NFILE
 #define _NFILE	32
-#endif _NFILE
-/****#ifdef	TANDEM	/* 7th Edition derivatives */
+#endif /* _NFILE */
+/****#ifdef	TANDEM	*/
+/* 7th Edition derivatives */
 #define TCSETA	TIOCSETP
 #define TCGETA	TIOCGETP
 #ifndef	XTABS
 #define	XTABS	(TAB1 | TAB2)
-#endif XTABS
+#endif /* XTABS */

 static struct sgttyb	save_tio[_NFILE], curr_tio[_NFILE];
-#endif BSD
+#endif /* BSD */

 void			TcSaveTty(), TcResetTty();
 void			TcSetCbreak(), TcClrCbreak();
@@ -59,7 +70,7 @@ static void		copy_Tio();
 	Clear CBREAK mode, for file descriptor "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcClrCbreak( int fd )
 #else
 TcClrCbreak( fd )
@@ -85,7 +96,7 @@ int	fd;
 	Set CBREAK mode, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSetCbreak( int fd )
 #else
 TcSetCbreak( fd )
@@ -134,7 +145,7 @@ int	fd;
 	Set raw mode, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSetRaw( int fd )
 #else
 TcSetRaw( fd )
@@ -161,7 +172,7 @@ int	fd;
 	Set echo mode, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSetEcho( int fd )
 #else
 TcSetEcho( fd )
@@ -183,7 +194,7 @@ int	fd;
 	Clear echo mode, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcClrEcho( int fd )
 #else
 TcClrEcho( fd )
@@ -205,7 +216,7 @@ int	fd;
 	Turn on tab expansion, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSetTabs( int fd )
 #else
 TcSetTabs( fd )
@@ -229,7 +240,7 @@ int	fd;
 	Turn off tab expansion, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcClrTabs( int fd )
 #else
 TcClrTabs( fd )
@@ -253,7 +264,7 @@ int	fd;
 	Turn on "Hang up on last close", "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSetHUPCL( int fd )
 #else
 TcSetHUPCL( fd )
@@ -277,7 +288,7 @@ int	fd;
 	Turn off CR/LF mapping, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcClrCRNL( int fd )
 #else
 TcClrCRNL( fd )
@@ -300,7 +311,7 @@ TcClrCRNL( fd )
 	Get and save terminal parameters, "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcSaveTty( int fd )
 #else
 TcSaveTty( fd )
@@ -319,7 +330,7 @@ int	fd;
 	TcSaveTty() was called for "fd".
 */
 void
-#if _STDC_
+#if __STDC__
 TcResetTty( int fd )
 #else
 TcResetTty( fd )
@@ -382,3 +393,5 @@ struct termio	*tio_ptr;
 #endif
 	return;
 	}
+
+#endif
@@ -12,6 +12,8 @@
 */
 /**
 	<Tc.h> -- MUVES "Tc" (terminal control) package definitions
+
+	Rewritten to use BRL-CAD's libtermio
 **/

 /**
@@ -23,6 +25,8 @@
 #ifndef Tc_H_INCLUDE
 #define Tc_H_INCLUDE

+#if 0
+
 /**

 	All of these functions take effect on the stream specified
@@ -88,6 +92,23 @@ extern void	TcSetRaw();
 extern void	TcSetTabs();
 #endif

+#else
+
+#define TcClrCRNL	clr_CRNL
+#define TcClrCbreak	clr_Cbreak
+#define TcClrEcho	clr_Echo
+#define TcClrRaw	clr_Raw
+#define TcClrTabs	clr_Tabs
+#define TcResetTty	reset_Tty
+#define TcSaveTty	save_Tty
+#define TcSetCbreak	set_Cbreak
+#define TcSetEcho	set_Echo
+#define TcSetHUPCL	set_HUPCL
+#define TcSetRaw	set_Raw
+#define TcSetTabs	set_Tabs
+
+#endif
+
 #endif		/* Tc_H_INCLUDE */


@@ -5,7 +5,7 @@
 			Maryland 21005-5066
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif

 #ifndef DEBUG
@@ -16,7 +16,6 @@ static char RCSid[] = "@(#)$Header$ (BRL)";
 #endif

 #include <assert.h>
-
 #include <stdio.h>
 #include <signal.h>

@@ -133,8 +132,6 @@ int argc;
 char **argv;
 #endif
 	{	register int c;
-		extern int optind;
-		extern char *optarg;
 	/* Parse options.						*/
 	while( (c = getopt( argc, argv, "b" )) != EOF )
 		{
@@ -169,12 +166,12 @@ FILE *fp;
 		{	Func	*cmdfunc;
 		if( (cmdfunc = getTrie( cmdname, cmdtrie )) == NULL )
 			{	register int i, len = strlen( cmdname );
-			rt_log( "ERROR -- command syntax:\n" );
-			rt_log( "\t%s\n", cmdbuf );
-			rt_log( "\t" );
+			brst_log( "ERROR -- command syntax:\n" );
+			brst_log( "\t%s\n", cmdbuf );
+			brst_log( "\t" );
 			for( i = 0; i < len; i++ )
-				rt_log( " " );
-			rt_log( "^\n" );
+				brst_log( " " );
+			brst_log( "^\n" );
 			}
 		else
 		if( strcmp( cmdname, CMD_COMMENT ) == 0 )
@@ -240,9 +237,9 @@ char *argv[];
 		readBatchInput( stdin );
 	if( tty )
 		(void) HmHit( mainhmenu );
-	exitCleanly( EXIT_SUCCESS );
+	exitCleanly( BURST_EXIT_SUCCESS );
 clean:	(void) unlink( tmpfname );
-death:	return	EXIT_FAILURE;
+death:	return	BURST_EXIT_FAILURE;
 	}

 /*
@@ -3,7 +3,7 @@ Shotline file output format from burst program:
 record type:	1
 description:	header line for each aspect
 ICD reference:	Line Number 1, Figure 19.
-format:		'1',2(1x,f8.4),5(1x,f7.2),1x,6a
+format:		'1',1x,f9.4,1x,f8.4,5(1x,f7.2),1x,6a
 data:		attack azimuth in degrees
 		attack elevation in degrees
 		shotline separation
@@ -37,7 +37,7 @@ Burst Point Library output format from burst program:
 record type:	1
 description:	header line for each aspect
 ICD reference:	Line Number 1, Figure 20.
-format:		'1',2(1x,f8.4),1x,f5.2,1x,f10.2,1x,6a,1x,f9.6
+format:		'1',1x,f9.4,1x,f8.4,1x,f5.2,1x,f10.2,1x,6a,1x,f9.6
 data:		attack azimuth in degrees
 		attack elevation in degrees
 		burst distance
@@ -9,6 +9,11 @@
 #ifndef INCL_BURST
 #define INCL_BURST

+/* NSIG not always defined in <signal.h> */
+#ifndef NSIG
+#define NSIG 64
+#endif
+
 /* Some useful stuff from Doug Gwyn's std.h. */
 /* Extended data types */
 typedef int bool;			/* Boolean data */
@@ -33,11 +38,11 @@ typedef char *pointer;			/* generic pointer */
 #define signed          /* nothing */   /* ANSI C type specifier */
 #define volatile        /* nothing */   /* ANSI C type qualifier */
 #endif
-#ifndef EXIT_SUCCESS
-#define EXIT_SUCCESS	0
+#ifndef BURST_EXIT_SUCCESS
+#define BURST_EXIT_SUCCESS	0
 #endif
-#ifndef EXIT_FAILURE
-#define EXIT_FAILURE	1
+#ifndef BURST_EXIT_FAILURE
+#define BURST_EXIT_FAILURE	1
 #endif
 #define DEGRAD	57.2957795130823208767981548141051703324054724665642

@@ -201,37 +206,8 @@ typedef char *pointer;			/* generic pointer */
 #define OutsideAir(rp)	((rp)->reg_aircode == OUTSIDE_AIR)
 #define InsideAir(rp)	(Air(rp)&& !OutsideAir(rp))

-#define Check_Iflip( _pp, _normal, _rdir )\
-	{	fastf_t	f;\
-	if( _pp->pt_inflip )\
-		{\
-		ScaleVec( _normal, -1.0 );\
-		_pp->pt_inflip = 0;\
-		}\
-	f = Dot( _rdir, _normal );\
-	if( f >= 0.0 )\
-		{\
-		ScaleVec( _normal, -1.0 );\
-		rt_log( "Fixed flipped entry normal\n" );\
-		}\
-	}
-#define Check_Oflip( _pp, _normal, _rdir )\
-	{	fastf_t	f;\
-	if( _pp->pt_outflip )\
-		{\
-		ScaleVec( _normal, -1.0 );\
-		_pp->pt_outflip = 0;\
-		}\
-	f = Dot( _rdir, _normal );\
-	if( f <= 0.0 )\
-		{\
-		ScaleVec( _normal, -1.0 );\
-		rt_log( "Fixed flipped exit normal\n" );\
-		}\
-	}
-
 #define Malloc_Bomb( _bytes_ ) \
-                rt_log( "\"%s\"(%d) : allocation of %d bytes failed.\n",\
+                brst_log( "\"%s\"(%d) : allocation of %d bytes failed.\n",\
                                __FILE__, __LINE__, _bytes_ )

 #define Swap_Doubles( a_, b_ ) \
@@ -5,7 +5,7 @@
 			Maryland 21005-5066
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
 /*
 *			E R R O R
@@ -14,14 +14,14 @@ static char RCSid[] = "@(#)$Header$ (BRL)";
 *
 *  Functions -
 *	rt_bomb		Called upon fatal RT library error.
- *	rt_log		Called to log RT library events.
+ *	brst_log		Called to log RT library events.
 *	fb_log		Called to log FB library events.
 *
 *	Idea originated by Mike John Muuss
 */

 #include <stdio.h>
-#include <varargs.h>
+#include <signal.h>
 #include "./Sc.h"
 #include "./extern.h"

@@ -34,25 +34,33 @@ void
 rt_bomb(str)
 char *str;
 	{
-	rt_log( "%s (librt.a) : Fatal error, aborting!\n", str );
+	brst_log( "%s (librt.a) : Fatal error, aborting!\n", str );
 	(void) fflush( stdout );
 	(void) abort();			  /* Should dump.		*/
-	exit(12);
+	/* exit(12); XXX - this shouldn't be needed */
 	}

 /*
- *  		R T _  L O G
+ *  		B R S T _  L O G
 *  
 *  Log an RT library event
 */
 /* VARARGS */
 void
-rt_log( va_alist )
+#if defined(HAVE_STDARG_H)
+brst_log( char *fmt, ... )
+	{
+	va_list	ap;
+	va_start( ap, fmt );
+#else
+brst_log( va_alist )
 va_dcl
-	{	register char *format; /* picked up by va_arg() */
-		va_list	ap;
+	{
+	register char *fmt; /* picked up by va_arg() */
+	va_list	ap;
 	va_start( ap );
-	format  = va_arg( ap, char * );
+	fmt  = va_arg( ap, char * );
+#endif
 	if( tty && (errfile[0] == '\0' || ! strcmp( errfile, "/dev/tty" )) )
 		{
 		TcClrTabs( HmTtyFd );
@@ -62,7 +70,7 @@ va_dcl
 			(void) ScDeleteLn();
 			(void) ScMvCursor( 1, SCROLL_BTM );
 			(void) ScClrEOL();
-			(void) vprintf( format, ap );
+			(void) vprintf( fmt, ap );
 			}			
 		else
 		if( ScSetScrlReg( SCROLL_TOP, SCROLL_BTM+1 ) )
@@ -72,13 +80,13 @@ va_dcl
 			(void) ScClrEOL();
 			/* Work around for problem with vprintf(): it doesn't
 				cause the screen to scroll, don't know why. */
-			(void) vsprintf( buf, format, ap );
+			(void) vsprintf( buf, fmt, ap );
 			/* Newline will cause double scroll. */
 			p = buf+strlen(buf)-1;
 			if( *p == '\n' )
 				*p = '\0'; /* clobber newline */
 			(void) puts( buf );
-			/*(void) vprintf( format, ap );*/
+			/*(void) vprintf( fmt, ap );*/
 			(void) ScMvCursor( 1, SCROLL_BTM+1 );
 			(void) ScClrScrlReg();
 			}
@@ -97,7 +105,7 @@ va_dcl
 		}
 	else
 		{
-		(void) vfprintf( stderr, format, ap );
+		(void) vfprintf( stderr, fmt, ap );
 		}
 	va_end( ap );
 	}
@@ -107,11 +115,25 @@ va_dcl
 *  
 *  Log an FB library event
 */
-/* VARARGS */
+/*VARARGS*/
 void
+#if __STDC__
+fb_log(char *fmt, ...)
+#else
 fb_log( va_alist )
 va_dcl
+#endif
 	{
-	(void) rt_log( va_alist );
-	return;
+#if ! __STDC__
+	register char *fmt;
+#endif
+	va_list ap;
+#if __STDC__
+	va_start( ap, fmt );
+#else
+	va_start( ap );
+	fmt = va_arg( ap, char * );
+#endif
+	(void) brst_log( fmt, ap );
+	va_end( ap );
 	}
@@ -7,6 +7,18 @@
 	$Header$ (BRL)
 */

+#include "conf.h"
+
+#if defined(HAVE_STDARG_H)
+# include <stdarg.h>
+#else
+#include <varargs.h>
+#endif
+
+#if HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+
 #include <string.h>
 #include "machine.h"
 #include "fb.h"
@@ -16,21 +28,21 @@
 #include "./Hm.h"

 /* External functions from C library. */
-#ifdef __STDC__
+#if (__STDC__ && ! apollo) || (sgi && mips && BRLCAD4_0)
 #include <stdlib.h>
-extern pointer sbrk( int );
 #else
 extern char *fgets();
 extern char *getenv();
 extern char *malloc();
 extern char *tmpnam();
-extern pointer sbrk();
 #endif
 #ifdef SYSV
 extern long	lrand48();
 #else
+#if !defined(linux)
 extern long	random();
 #endif
+#endif

 /* External variables from termlib. */
 extern char *CS, *DL;
@@ -40,6 +52,8 @@ extern int CO, LI;
 extern Colors *findColors();
 extern Func *getTrie();
 extern Trie *addTrie();
+extern bool chkEntryNorm();
+extern bool chkExitNorm();
 extern bool closFbDevice();
 extern bool imageInit();
 extern bool initUi();
@@ -48,11 +62,12 @@ extern bool findIdents();
 extern bool readColors();
 extern bool readIdents();
 extern int notify();
-extern int round();
+extern int roundToInt();
 extern void closeUi();
 extern void colorPartition();
 extern void exitCleanly();
 extern void freeIdents();
+extern void getRtHitNorm();
 extern void gridInit();
 extern void gridModel();
 extern void gridToFb();
@@ -68,6 +83,7 @@ extern void plotRay();
 extern void prntAspectInit();
 extern void prntBurstHdr();
 extern void prntCellIdent();
+extern void prntDbgPartitions();
 extern void prntFiringCoords();
 extern void prntFusingComp();
 extern void prntGridOffsets();
@@ -75,12 +91,33 @@ extern void prntIdents();
 extern void prntPhantom();
 extern void prntRayHeader();
 extern void prntRayIntersect();
-extern void prntScr();
 extern void prntTimer();
 extern void prompt();
 extern void readCmdFile();
-extern void rt_log();
+#if defined(HAVE_STDARG_H)
+extern void prntScr( char *, ...);
+extern void brst_log( char *, ... );
+#else
+extern void brst_log();
+extern void prntScr();
+#endif
 extern void warning();
+extern void prntUsage();
+extern void clr_Tabs();
+extern void prntShieldComp();
+extern void qFree();
+extern void prntRegionHdr();
+extern int qAdd();
+extern void prntSeg();
+extern void gridRotate();
+extern void HmBanner();
+extern void spallInit();
+extern void readBatchInput();
+extern void set_Cbreak();
+extern void clr_Echo();
+extern void clr_Tabs();
+extern void reset_Tty();
+extern void save_Tty();

 #if STD_SIGNAL_DECLS
 extern void (*norml_sig)(), (*abort_sig)();
@@ -106,15 +143,15 @@ extern HmMenu *mainhmenu;
 extern Ids airids;
 extern Ids armorids;
 extern Ids critids;
-extern RGBpixel *pixgrid;
-extern RGBpixel pixaxis;
-extern RGBpixel pixbkgr;
-extern RGBpixel pixbhit;
-extern RGBpixel pixblack;
-extern RGBpixel pixcrit;
-extern RGBpixel pixghit;
-extern RGBpixel pixmiss;
-extern RGBpixel pixtarg;
+extern unsigned char *pixgrid;
+extern unsigned char pixaxis[3];
+extern unsigned char pixbkgr[3];
+extern unsigned char pixbhit[3];
+extern unsigned char pixblack[3];
+extern unsigned char pixcrit[3];
+extern unsigned char pixghit[3];
+extern unsigned char pixmiss[3];
+extern unsigned char pixtarg[3];
 extern Trie *cmdtrie;

 extern bool batchmode;
@@ -5,11 +5,12 @@
 			Maryland 21005-5066
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
 #include <stdio.h>
 #include <string.h>
 #include <memory.h>
+#include <signal.h>
 #include "fb.h"
 #include "./burst.h"
 #include "./ascii.h"
@@ -71,17 +72,16 @@ char	*devname;
 		goto	safe_exit;
 		}
 	if(	(	(fbiop != FBIO_NULL && fb_getwidth( fbiop ) != devwid)
-		||	pixgrid == NULL
-		)
-	    && (pixgrid = (RGBpixel *) malloc( sizeof(RGBpixel)*devwid ))
-			== (RGBpixel *) NULL )
+		||	pixgrid == NULL)
+		&&	(pixgrid = (unsigned char *) calloc( devwid*3, sizeof(unsigned char) ))
+				== (unsigned char *) NULL )
 		{
-		prntScr( "Memory allocation of %d bytes failed.",
-			sizeof(RGBpixel)*devwid );
-		ret = false;
-		goto	safe_exit;
+			prntScr( "Memory allocation of %d bytes failed.",
+				sizeof(unsigned char)*devwid );
+			ret = false;
+			goto	safe_exit;
 		}
-	(void) memset( (char *) pixgrid, NUL, sizeof(RGBpixel)*devwid );
+	(void) memset( (char *) pixgrid, NUL, sizeof(unsigned char)*devwid*3 );
 	if( fbiop != FBIO_NULL )
 		{
 #if SGI_WINCLOSE_BUG
@@ -100,17 +100,17 @@ char	*devname;
 			}

 		}
-	if( (fbiop = fb_open( devname, devwid, devhgt )) == NULL )
+	fbiop = fb_open( devname, devwid, devhgt );
+	if( fbiop == NULL )
 		{
 		ret = false;
 		goto	safe_exit;
 		}
-	else
-	if(	fb_clear( fbiop, pixblack ) == -1
-	    ||	notify( "Zooming", NOTIFY_APPEND ),
-			fb_zoom( fbiop, 1, 1 ) == -1
-	    ||	notify( "Windowing", NOTIFY_DELETE ),
-			fb_window( fbiop, devwid/2, devhgt/2 ) == -1
+	else if( fb_clear( fbiop, pixblack ) == -1
+	    ||	(notify( "Zooming", NOTIFY_APPEND ),
+		 fb_zoom( fbiop, 1, 1 ) == -1)
+	    ||	(notify( "Windowing", NOTIFY_DELETE ),
+		 fb_window( fbiop, devwid/2, devhgt/2 ) == -1)
 		)
 		{
 		ret = false;
@@ -5,9 +5,10 @@
 			Maryland 21005-5066
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif
 #include <stdio.h>
+#include <signal.h>
 #include "machine.h"
 #include "vmath.h"
 #include "fb.h"
@@ -29,15 +30,15 @@ HmMenu	*mainhmenu;
 Ids airids;		/* burst air idents */
 Ids armorids;		/* burst armor idents */
 Ids critids;		/* critical component idents */
-RGBpixel *pixgrid;
-RGBpixel pixaxis  = { 255,   0,   0 }; /* grid axis */
-RGBpixel pixbhit  = { 200, 255, 200 }; /* burst ray hit non-critical comps */
-RGBpixel pixbkgr  = { 150, 100, 255 }; /* outside grid */
-RGBpixel pixblack = {   0,   0,   0 }; /* black */
-RGBpixel pixcrit  = { 255, 200, 200 }; /* burst ray hit critical component */
-RGBpixel pixghit  = { 255,   0, 255 }; /* ground burst */
-RGBpixel pixmiss  = { 200, 200, 200 }; /* shot missed target */
-RGBpixel pixtarg  = { 255, 255, 255 }; /* shot hit target */
+unsigned char *pixgrid;
+unsigned char pixaxis[3]  = { 255,   0,   0 }; /* grid axis */
+unsigned char pixbhit[3]  = { 200, 255, 200 }; /* burst ray hit non-critical comps */
+unsigned char pixbkgr[3]  = { 150, 100, 255 }; /* outside grid */
+unsigned char pixblack[3] = {   0,   0,   0 }; /* black */
+unsigned char pixcrit[3]  = { 255, 200, 200 }; /* burst ray hit critical component */
+unsigned char pixghit[3]  = { 255,   0, 255 }; /* ground burst */
+unsigned char pixmiss[3]  = { 200, 200, 200 }; /* shot missed target */
+unsigned char pixtarg[3]  = { 255, 255, 255 }; /* shot hit target */
 Trie *cmdtrie = NULL;

 bool batchmode = false;		/* are we processing batch input now */
@@ -5,7 +5,7 @@
 			Maryland 21005-5066
 */
 #ifndef lint
-static char RCSid[] = "@(#)$Header$ (BRL)";
+static const char RCSid[] = "@(#)$Header$ (BRL)";
 #endif

 #ifndef DEBUG
@@ -23,9 +23,12 @@ static char RCSid[] = "@(#)$Header$ (BRL)";
 #include <math.h>

 #include "machine.h"
+#include "bu.h"
 #include "vmath.h"
+#include "bn.h"
 #include "raytrace.h"
 #include "fb.h"
+#include "plot3.h"

 #include "./vecmath.h"
 #include "./ascii.h"
@@ -84,7 +87,7 @@ int type;
 	if( plotfile[0] == NUL )
 		return;
 	assert( plotfp != NULL );
-	RES_ACQUIRE( &rt_g.res_syscall );
+	bu_semaphore_acquire( BU_SEM_SYSCALL );
 	switch( type )
 		{
 	case C_CRIT :
@@ -120,10 +123,10 @@ int type;
 				 );
 		break;
 	default :
-		rt_log( "colorPartition: bad type %d.\n", type );
+		brst_log( "colorPartition: bad type %d.\n", type );
 		break;
 		}
-	RES_RELEASE( &rt_g.res_syscall );
+	bu_semaphore_release( BU_SEM_SYSCALL );
 	return;
 	}

@@ -150,10 +153,12 @@ doBursts()
 			break;
 		ag.a_level = 0;	 /* initialize recursion level */
 		plotGrid( burstpoint );
+
+		prntBurstHdr( burstpoint, viewdir );
 		if( ! burstPoint( &ag, zaxis, burstpoint ) )
 			{
 			/* fatal error in application routine */
-			rt_log( "Fatal error: raytracing aborted.\n" );
+			brst_log( "Fatal error: raytracing aborted.\n" );
 			return	false;
 			}
 		if( ! TSTBIT(firemode,FM_FILE) )
@@ -201,13 +206,17 @@ register struct partition	*pt_headp;
 	critical components were encountered.
 */
 STATIC int
-f_BurstHit( ap, pt_headp )
+f_BurstHit( ap, pt_headp, segp )
 struct application *ap;
 struct partition *pt_headp;
-	{	Pt_Queue			*qshield = PT_Q_NULL;
-		register struct partition	*cpp, *spp;
-		register int			nbar;
-		register int			ncrit = 0;
+struct seg *segp;
+	{	Pt_Queue *qshield = PT_Q_NULL;
+		register struct partition *cpp, *spp;
+		register int nbar;
+		register int ncrit = 0;
+#ifdef VDEBUG
+	prntDbgPartitions( ap, pt_headp, "f_BurstHit: initial partitions" );
+#endif
 	/* Find first barrier in front of the burst point. */
 	for(	spp = pt_headp->pt_forw;
 		spp != pt_headp
@@ -224,7 +233,7 @@ struct partition *pt_headp;
 		if( Air( regp ) )
 			continue; /* Air doesn't matter here. */
 		if( findIdents( regp->reg_regionid, &critids ) )
-			{
+			{	fastf_t entrynorm[3], exitnorm[3];
 			if( ncrit == 0 )
 				prntRayHeader( ap->a_ray.r_dir, viewdir,
 						ap->a_user );
@@ -235,13 +244,14 @@ struct partition *pt_headp;

 			/* Output critical component intersection;
 			   prntRegionHdr fills in hit entry/exit normals. */
-			prntRegionHdr( ap, pt_headp, cpp );
+			prntRegionHdr( ap, pt_headp, cpp, entrynorm, exitnorm );
 			colorPartition( regp, C_CRIT );
 			plotPartition( cpp->pt_inhit, cpp->pt_outhit,
 					rayp, regp );
 			if( fbfile[0] != NUL && ncrit == 0 )
 				/* first hit on critical component */
-				lgtModel( ap, cpp, cpp->pt_inhit, rayp );
+				lgtModel( ap, cpp, cpp->pt_inhit, rayp,
+					entrynorm );
 			ncrit++;
 			}
 		else
@@ -263,61 +273,117 @@ struct partition *pt_headp;
 		return	ncrit;
 	}

+
 /*
 	int f_HushOverlap( struct application *ap, struct partition *pp,
-				struct region *reg1, struct region *reg2 )
+		struct region *reg1, struct region *reg2,
+		struct partition *pheadp )

 	Do not report diagnostics about individual overlaps, but keep count
 	of significant ones (at least as thick as OVERLAP_TOL).
+	Some of this code is from librt/bool.c:rt_defoverlap() for
+	consistency of which region is picked.
+
+	Returns -
+	 0	to eliminate partition with overlap entirely
+	 1	to retain partition in output list, claimed by reg1
+	 2	to retain partition in output list, claimed by reg2
 */
 /*ARGSUSED*/
 STATIC int
-f_HushOverlap( ap, pp, reg1, reg2 )
-struct application	*ap;
-struct partition	*pp;
-struct region		*reg1, *reg2;
-	{	fastf_t depth = pp->pt_outhit->hit_dist -
-					pp->pt_inhit->hit_dist;
-	if( depth < OVERLAP_TOL )
-		return  1;
-	noverlaps++;
-	return	1;
+f_HushOverlap( ap, pp, reg1, reg2, pheadp )
+struct application *ap;
+struct partition *pp;
+struct region *reg1, *reg2;
+struct partition *pheadp;
+	{	fastf_t depth;
+#ifdef BRLCAD4_0
+	RT_CHECK_PT(pp);
+#endif
+	depth = pp->pt_outhit->hit_dist - pp->pt_inhit->hit_dist;
+	if( depth >= OVERLAP_TOL )
+		noverlaps++;
+
+	/* Apply heuristics as to which region should claim partition. */
+	if( reg1->reg_aircode != 0 )
+		/* reg1 was air, replace with reg2 */
+		return 2;
+	if( pp->pt_back != pheadp )
+		{ /* Repeat a prev region, if that is a choice */
+		if( pp->pt_back->pt_regionp == reg1 )
+			return 1;
+		if( pp->pt_back->pt_regionp == reg2 )
+			return 2;
+		}
+	/* To provide some consistency from ray to ray, use lowest bit # */
+	if( reg1->reg_bit < reg2->reg_bit )
+		return 1;
+	return 2;
 	}

 /*
 	int f_Overlap( struct application *ap, struct partition *pp,
-				struct region *reg1, struct region *reg2 )
+		struct region *reg1, struct region *reg2,
+		struct partition *pheadp )

 	Do report diagnostics and keep count of individual overlaps
 	that are at least as thick as OVERLAP_TOL.
+	Some of this code is from librt/bool.c:rt_defoverlap() for
+	consistency of which region is picked.
+
+	Returns -
+	 0	to eliminate partition with overlap entirely
+	 1	to retain partition in output list, claimed by reg1
+	 2	to retain partition in output list, claimed by reg2
 */
 /*ARGSUSED*/
 STATIC int
-f_Overlap( ap, pp, reg1, reg2 )
-struct application	*ap;
-struct partition	*pp;
-struct region		*reg1, *reg2;
-	{	point_t pt;
-		fastf_t depth = pp->pt_outhit->hit_dist -
-					pp->pt_inhit->hit_dist;
-	if( depth < OVERLAP_TOL )
-		return  1;
-	VJOIN1( pt, ap->a_ray.r_pt, pp->pt_inhit->hit_dist,
-		ap->a_ray.r_dir );
-	rt_log( "OVERLAP:\n" );
-	rt_log( "reg=%s isol=%s,\n",
-		reg1->reg_name, pp->pt_inseg->seg_stp->st_name
-		);
-	rt_log( "reg=%s osol=%s,\n",
-		reg2->reg_name, pp->pt_outseg->seg_stp->st_name
-		);
-	rt_log( "depth %.2fmm at (%g,%g,%g) x%d y%d lvl%d purpose=%s\n",
-		depth,
-		pt[X], pt[Y], pt[Z],
-		ap->a_x, ap->a_y, ap->a_level, ap->a_purpose
-		);
-	noverlaps++;
-	return	1;
+f_Overlap( ap, pp, reg1, reg2, pheadp )
+struct application *ap;
+struct partition *pp;
+struct region *reg1, *reg2;
+struct partition *pheadp;
+	{	fastf_t depth;
+		point_t pt;
+#ifdef BRLCAD4_0
+	RT_CHECK_PT(pp);
+#endif
+	depth = pp->pt_outhit->hit_dist - pp->pt_inhit->hit_dist;
+	if( depth >= OVERLAP_TOL )
+		{
+		noverlaps++;
+
+		VJOIN1( pt, ap->a_ray.r_pt, pp->pt_inhit->hit_dist,
+			ap->a_ray.r_dir );
+		brst_log( "OVERLAP:\n" );
+		brst_log( "reg=%s isol=%s,\n",
+			reg1->reg_name, pp->pt_inseg->seg_stp->st_name
+			);
+		brst_log( "reg=%s osol=%s,\n",
+			reg2->reg_name, pp->pt_outseg->seg_stp->st_name
+			);
+		brst_log( "depth %.2fmm at (%g,%g,%g) x%d y%d lvl%d purpose=%s\n",
+			depth,
+			pt[X], pt[Y], pt[Z],
+			ap->a_x, ap->a_y, ap->a_level, ap->a_purpose
+			);
+		}
+
+	/* Apply heuristics as to which region should claim partition. */
+	if( reg1->reg_aircode != 0 )
+		/* reg1 was air, replace with reg2 */
+		return 2;
+	if( pp->pt_back != pheadp )
+		{ /* Repeat a prev region, if that is a choice */
+		if( pp->pt_back->pt_regionp == reg1 )
+			return 1;
+		if( pp->pt_back->pt_regionp == reg2 )
+			return 2;
+		}
+	/* To provide some consistency from ray to ray, use lowest bit # */
+	if( reg1->reg_bit < reg2->reg_bit )
+		return 1;
+	return 2;
 	}

 /*
@@ -333,15 +399,17 @@ struct region		*reg1, *reg2;
 	handed to rt_shootray() by burstRay().  Otherwise, true is returned.
 */
 STATIC int
-f_ShotHit( ap, pt_headp )
+f_ShotHit( ap, pt_headp, segp )
 struct application *ap;
 struct partition *pt_headp;
+struct seg *segp;
 	{	register struct partition *pp;
-		struct partition	*bp = PT_NULL;
+		struct partition *bp = PT_NULL;
+		fastf_t burstnorm[3]; /* normal at burst point */
 #if DEBUG_GRID
-	rt_log( "f_ShotHit\n" );
+	brst_log( "f_ShotHit\n" );
 	for( pp = pt_headp->pt_forw; pp != pt_headp; pp = pp->pt_forw )
-		rt_log( "\tregion is '%s',\tid=%d\taircode=%d\n",
+		brst_log( "\tregion is '%s',\tid=%d\taircode=%d\n",
 			pp->pt_regionp->reg_name,
 			(int) pp->pt_regionp->reg_regionid,
 			(int) pp->pt_regionp->reg_aircode );
@@ -390,16 +458,16 @@ struct partition *pt_headp;
 		if( np != pt_headp )
 			{
 #if DEBUG_GRID
-			rt_log( "\tprocessing region '%s',\tid=%d\taircode=%d\n",
+			brst_log( "\tprocessing region '%s',\tid=%d\taircode=%d\n",
 				pp->pt_regionp->reg_name,
 				(int) pp->pt_regionp->reg_regionid,
 				(int) pp->pt_regionp->reg_aircode );
-			rt_log( "\tcheck for voids\n" );
+			brst_log( "\tcheck for voids\n" );
 #endif
 			los = np->pt_inhit->hit_dist -
 					pp->pt_outhit->hit_dist;
 #if DEBUG_GRID
-			rt_log( "\tlos=%g tolerance=%g\n",
+			brst_log( "\tlos=%g tolerance=%g\n",
 				los, LOS_TOL );
 #endif
 			voidflag = ( los > LOS_TOL );
@@ -408,7 +476,7 @@ struct partition *pt_headp;
 			if( OutsideAir( np->pt_regionp ) )
 				{
 #if DEBUG_GRID
-				rt_log( "\t\toutside air\n" );
+				brst_log( "\t\toutside air\n" );
 #endif
 				if( voidflag )
 					{
@@ -442,7 +510,7 @@ struct partition *pt_headp;
 		if( np != pt_headp && InsideAir( np->pt_regionp ) )
 			{
 #if DEBUG_GRID
-			rt_log( "\tmerging inside airs\n" );
+			brst_log( "\tmerging inside airs\n" );
 #endif
 			for(	cp = np->pt_forw;
 				cp != pt_headp;
@@ -467,7 +535,7 @@ struct partition *pt_headp;
 			/* If adjacent partitions are the same air, extend
 				the first on to include them. */
 #if DEBUG_GRID
-			rt_log( "\tphantom armor before internal air\n" );
+			brst_log( "\tphantom armor before internal air\n" );
 #endif
 			for( cp = np; cp != pt_headp; cp = cp->pt_forw )
 				{
@@ -489,37 +557,54 @@ struct partition *pt_headp;
 			}				
 		else
 		if( ! Air( regp ) ) /* If we have a component, output it. */
-			{
+			{	fastf_t entrynorm[3];	/* normal at entry */
+				fastf_t exitnorm[3];	/* normal at exit */
+			/* Get entry normal. */
+			getRtHitNorm( pp->pt_inhit, pp->pt_inseg->seg_stp,
+				&ap->a_ray, (bool) pp->pt_inflip, entrynorm );
+			(void) chkEntryNorm( pp, &ap->a_ray, entrynorm,
+				"shotline entry normal" );
+			/* Get exit normal. */
+			getRtHitNorm( pp->pt_outhit, pp->pt_outseg->seg_stp,
+				&ap->a_ray, (bool) pp->pt_outflip, exitnorm );
+			(void) chkExitNorm( pp, &ap->a_ray, exitnorm,
+				"shotline exit normal" );
+
 #if DEBUG_GRID
-			rt_log( "\twe have a component\n" );
+			brst_log( "\twe have a component\n" );
 #endif
 			/* In the case of fragmenting munitions, a hit on any
 				component will cause a burst point. */
 			if( bp == PT_NULL && bdist > 0.0 )
+				{
 				bp = pp;	/* register exterior burst */
+				CopyVec( burstnorm, exitnorm );
+				}

 			/* If there is a void, output 01 air as space. */
 			if( voidflag )
 				{
 #if DEBUG_GRID
-				rt_log( "\t\tthere is a void, %s\n",
+				brst_log( "\t\tthere is a void, %s\n",
 					"so outputting 01 air" );
 #endif
 				if(	bp == PT_NULL && ! reqburstair
 				    &&	findIdents( regp->reg_regionid,
 							&armorids ) )
-					/* Bursting on armor/void (ouchh). */
+					{ /* Bursting on armor/void (ouchh). */
 					bp = pp;
-				prntSeg( ap, pp, OUTSIDE_AIR );
+					CopyVec( burstnorm, exitnorm );
+					}
+				prntSeg( ap, pp, OUTSIDE_AIR,
+					entrynorm, exitnorm, pp == bp );
 				}
 			else
 			/* If air expicitly follows, output space code. */
 			if( np != pt_headp && Air( nregp ) )
-				{ fastf_t slos = np->pt_outhit->hit_dist -
-						np->pt_inhit->hit_dist;
+				{
 				/* Check for interior burst point. */
 #if DEBUG_GRID
-				rt_log( "\t\texplicit air follows\n" );
+				brst_log( "\t\texplicit air follows\n" );
 #endif
 				if(	bp == PT_NULL && bdist <= 0.0
 				    &&	findIdents( regp->reg_regionid,
@@ -528,24 +613,29 @@ struct partition *pt_headp;
 				     ||	findIdents( nregp->reg_aircode,
 							&airids ))
 					)
+					{
 					bp = pp; /* register interior burst */
-				prntSeg( ap, pp, nregp->reg_aircode );
+					CopyVec( burstnorm, exitnorm );
+					}
+				prntSeg( ap, pp, nregp->reg_aircode,
+					entrynorm, exitnorm, pp == bp );
 				}
 			else
 			if( np == pt_headp )
 				{
 				/* Last component gets 09 air. */
 #if DEBUG_GRID
-				rt_log( "\t\tlast component\n" );
+				brst_log( "\t\tlast component\n" );
 #endif
-				prntSeg( ap, pp, EXIT_AIR );
+				prntSeg( ap, pp, EXIT_AIR,
+					entrynorm, exitnorm, pp == bp );
 				}
 			else
 			/* No air follows component. */
 			if( SameCmp( regp, nregp ) )
 				{
 #if DEBUG_GRID
-				rt_log( "\t\tmerging adjacent components\n" );
+				brst_log( "\t\tmerging adjacent components\n" );
 #endif
 				/* Merge adjacent components with same
 					idents. */
@@ -557,9 +647,11 @@ struct partition *pt_headp;
 			else
 				{
 #if DEBUG_GRID
-				rt_log( "\t\tdifferent component follows\n" );
+				brst_log( "\t\tdifferent component follows\n" );
 #endif
-				prntSeg( ap, pp, 0 ); /* component follows */
+				prntSeg( ap, pp, 0,
+					entrynorm, exitnorm, pp == bp );
+					/* component follows */
 				}
 			}
 		/* Check for adjacency of differing airs, implicit or
@@ -567,7 +659,7 @@ struct partition *pt_headp;
 		if( InsideAir( regp ) )
 			{
 #if DEBUG_GRID
-			rt_log( "\tcheck for adjacency of differing airs; inside air\n" );
+			brst_log( "\tcheck for adjacency of differing airs; inside air\n" );
 #endif
 			/* Inside air followed by implicit outside air. */
 			if( voidflag )
@@ -577,7 +669,7 @@ struct partition *pt_headp;
 		if( np != pt_headp )
 			{
 #if DEBUG_GRID
-			rt_log( "\tcheck next partition for adjacency\n" );
+			brst_log( "\tcheck next partition for adjacency\n" );
 #endif
 			/* See if inside air follows impl. outside air. */
 			if( voidflag && InsideAir( nregp ) )
@@ -585,7 +677,7 @@ struct partition *pt_headp;
 						np->pt_outhit->hit_dist -
 						np->pt_inhit->hit_dist;
 #if DEBUG_GRID
-				rt_log( "\t\tinside air follows impl. outside air\n" );
+				brst_log( "\t\tinside air follows impl. outside air\n" );
 #endif
 				prntPhantom( np->pt_inhit, nregp->reg_aircode,
 						slos );
@@ -600,7 +692,7 @@ struct partition *pt_headp;
 				{	fastf_t slos = np->pt_outhit->hit_dist -
 						 np->pt_inhit->hit_dist;
 #if DEBUG_GRID
-				rt_log( "\t\tdiffering airs are adjacent\n" );
+				brst_log( "\t\tdiffering airs are adjacent\n" );
 #endif
 				prntPhantom( np->pt_inhit,
 						(int) nregp->reg_aircode,
@@ -611,7 +703,7 @@ struct partition *pt_headp;
 		if( np == pt_headp && InsideAir( regp ) )
 			{
 #if DEBUG_GRID
-			rt_log( "\tinternal air last hit\n" );
+			brst_log( "\tinternal air last hit\n" );
 #endif
 			prntPhantom( pp->pt_outhit, EXIT_AIR, 0.0 );
 			}
@@ -621,8 +713,6 @@ struct partition *pt_headp;

 	if( bp != PT_NULL )
 		{	fastf_t burstpt[3];
-			register struct hit *ohitp;
-			register struct soltab	*stp;
 		/* This is a burst point, calculate coordinates. */
 		if( bdist > 0.0 )
 			{ /* Exterior burst point (i.e. case-fragmenting
@@ -648,16 +738,132 @@ struct partition *pt_headp;
 		if( nspallrays < 1 )
 			return	true;

-		/* fill in hit point and normal */
-		stp = bp->pt_outseg->seg_stp;
-		ohitp = bp->pt_outhit;
-		RT_HIT_NORM( ohitp, stp, &(ap->a_ray) );
-		Check_Oflip( bp, ohitp->hit_normal, ap->a_ray.r_dir );
-		return	burstPoint( ap, ohitp->hit_normal, burstpt );
+		return	burstPoint( ap, burstnorm, burstpt );
 		}
 	return	true;
 	}

+/*
+	void getRtHitNorm( struct hit *hitp, struct soltab *stp,
+			struct xray *rayp, bool flipped, fastf_t normvec[3] )
+
+	Fill normal and hit point into hit struct and if the flipped
+	flag is set, reverse the normal.  Return a private copy of the
+	flipped normal in normvec.  NOTE: the normal placed in the hit
+	struct should not be modified (ie reversed) by the application
+	because it can be instanced by other solids.
+ */
+void
+getRtHitNorm( hitp, stp, rayp, flipped, normvec )
+struct hit *hitp;
+struct soltab *stp;
+struct xray *rayp;
+bool flipped;
+fastf_t normvec[3];
+	{
+	RT_HIT_NORMAL( normvec, hitp, stp, rayp, flipped );
+	}
+
+bool
+chkEntryNorm( pp, rayp, normvec, purpose )
+struct partition *pp;
+struct xray *rayp;
+fastf_t normvec[3];
+char *purpose;
+	{	fastf_t f;
+		static int flipct = 0;
+		static int totalct = 0;
+		struct soltab *stp = pp->pt_inseg->seg_stp;
+		bool ret = true;
+	totalct++;
+	/* Dot product of ray direction with normal *should* be negative. */
+	f = Dot( rayp->r_dir, normvec );
+	if( NearZero( f ) )
+		{
+#ifdef DEBUG
+		brst_log( "chkEntryNorm: near 90 degree obliquity.\n" );
+		brst_log( "\tPnt %g,%g,%g\n\tDir %g,%g,%g\n\tNorm %g,%g,%g.\n",
+			rayp->r_pt[X], rayp->r_pt[Y], rayp->r_pt[Z],
+			rayp->r_dir[X], rayp->r_dir[Y], rayp->r_dir[Z],
+			normvec[X], normvec[Y], normvec[Z] );
+#endif
+		ret = false;
+		}
+	if( f > 0.0 )
+		{
+		flipct++;
+		brst_log( "Fixed flipped entry normal:\n" );
+		brst_log( "\tregion \"%s\" solid \"%s\" type %d \"%s\".\n",
+			pp->pt_regionp->reg_name, stp->st_name,
+			stp->st_id, purpose );
+#ifdef DEBUG
+		brst_log( "\tPnt %g,%g,%g\n\tDir %g,%g,%g\n\tNorm %g,%g,%g.\n",
+			rayp->r_pt[X], rayp->r_pt[Y], rayp->r_pt[Z],
+			rayp->r_dir[X], rayp->r_dir[Y], rayp->r_dir[Z],
+			normvec[X], normvec[Y], normvec[Z] );
+		brst_log( "\tDist %g Hit Pnt %g,%g,%g\n",
+			pp->pt_inhit->hit_dist,
+			pp->pt_inhit->hit_point[X],
+			pp->pt_inhit->hit_point[Y],
+			pp->pt_inhit->hit_point[Z] );
+		brst_log( "\t%d of %d normals flipped.\n", flipct, totalct );
+#endif
+		ScaleVec( normvec, -1.0 );
+		ret = false;
+		}
+	return ret;
+	}
+
+bool
+chkExitNorm( pp, rayp, normvec, purpose )
+struct partition *pp;
+struct xray *rayp;
+fastf_t normvec[3];
+char *purpose;
+	{	fastf_t f;
+		static int flipct = 0;
+		static int totalct = 0;
+		struct soltab *stp = pp->pt_outseg->seg_stp;
+		bool ret = true;
+	totalct++;
+	/* Dot product of ray direction with normal *should* be positive. */
+	f = Dot( rayp->r_dir, normvec );
+	if( NearZero( f ) )
+		{
+#ifdef DEBUG
+		brst_log( "chkExitNorm: near 90 degree obliquity.\n" );
+		brst_log( "\tPnt %g,%g,%g\n\tDir %g,%g,%g\n\tNorm %g,%g,%g.\n",
+			rayp->r_pt[X], rayp->r_pt[Y], rayp->r_pt[Z],
+			rayp->r_dir[X], rayp->r_dir[Y], rayp->r_dir[Z],
+			normvec[X], normvec[Y], normvec[Z] );
+#endif
+		ret = false;
+		}
+	if( f < 0.0 )
+		{
+		flipct++;
+		brst_log( "Fixed flipped exit normal:\n" );
+		brst_log( "\tregion \"%s\" solid \"%s\" type %d \"%s\".\n",
+			pp->pt_regionp->reg_name, stp->st_name,
+			stp->st_id, purpose );
+#ifdef DEBUG
+		brst_log( "\tPnt %g,%g,%g\n\tDir %g,%g,%g\n\tNorm %g,%g,%g.\n",
+			rayp->r_pt[X], rayp->r_pt[Y], rayp->r_pt[Z],
+			rayp->r_dir[X], rayp->r_dir[Y], rayp->r_dir[Z],
+			normvec[X], normvec[Y], normvec[Z] );
+		brst_log( "\tDist %g Hit Pnt %g,%g,%g\n",
+			pp->pt_outhit->hit_dist,
+			pp->pt_outhit->hit_point[X],
+			pp->pt_outhit->hit_point[Y],
+			pp->pt_outhit->hit_point[Z] );
+		brst_log( "\t%d of %d normals flipped.\n", flipct, totalct );
+#endif
+		ScaleVec( normvec, -1.0 );
+		ret = false;
+		}
+	return ret;
+	}
+
 /*
 	int f_ShotMiss( register struct application *ap )

@@ -703,7 +909,7 @@ register struct application *ap;
 			else
 			if( bdist < 0.0 )
 				{ /* interior burst not implemented in ground */
-				rt_log( "User error: %s %s.\n",
+				brst_log( "User error: %s %s.\n",
 					"negative burst distance can not be",
 					"specified with ground plane bursting"
 					);
@@ -713,7 +919,10 @@ register struct application *ap;
 			/* else bdist == 0.0, no adjustment necessary */
 			/* only burst if nspallrays greater than zero */
 			if( nspallrays > 0 )
+				{
+				prntBurstHdr( hitpoint, viewdir );
 				return	burstPoint( ap, zaxis, hitpoint );
+				}
 			else
 				return	true;
 			}
@@ -826,25 +1035,25 @@ gridInit()

 #if DEBUG_SHOT
 	if( TSTBIT(firemode,FM_BURST) )
-		rt_log( "gridInit: reading burst points.\n" );
+		brst_log( "gridInit: reading burst points.\n" );
 	else	{
 		if( TSTBIT(firemode,FM_SHOT) )
-			rt_log( "gridInit: shooting discrete shots.\n" );
+			brst_log( "gridInit: shooting discrete shots.\n" );
 		else
-			rt_log( "gridInit: shooting %s.\n",
+			brst_log( "gridInit: shooting %s.\n",
 				TSTBIT(firemode,FM_PART) ?
 				"partial envelope" : "full envelope" );
 		}
 	if( TSTBIT(firemode,FM_BURST) || TSTBIT(firemode,FM_SHOT) )
 		{
-		rt_log( "gridInit: reading %s coordinates from %s.\n",
+		brst_log( "gridInit: reading %s coordinates from %s.\n",
 			TSTBIT(firemode,FM_3DIM) ? "3-d" : "2-d",
 			TSTBIT(firemode,FM_FILE) ? "file" : "command stream" );
 		
 		}
 	else
 	if( TSTBIT(firemode,FM_FILE) || TSTBIT(firemode,FM_3DIM) )
-		rt_log( "BUG: insane combination of fire mode bits:0x%x\n",
+		brst_log( "BUG: insane combination of fire mode bits:0x%x\n",
 			firemode );
 	if( TSTBIT(firemode,FM_BURST) || shotburst )
 		nriplevels = 1;
@@ -856,7 +1065,7 @@ gridInit()
 				"Ground bursting directive ignored: %s.\n",
 				"only relevant if bursting along shotline" );
 		warning( scrbuf );
-		rt_log( scrbuf );
+		brst_log( scrbuf );
 		}
 #endif
 	/* compute grid unit vectors */
@@ -867,7 +1076,7 @@ gridInit()
 			fastf_t	sinpitch = sin( pitch );
 			fastf_t	xdeltavec[3], ydeltavec[3];
 #if DEBUG_SHOT
-		rt_log( "gridInit: canting warhead\n" );
+		brst_log( "gridInit: canting warhead\n" );
 #endif
 		cantwarhead = true;
 		Scale2Vec( gridhor,  negsinyaw, xdeltavec );
@@ -1004,9 +1213,9 @@ gridInit()
 		gridyfin++;
 		}
 #if DEBUG_SHOT
-	rt_log( "gridInit: xorg,xfin,yorg,yfin=%d,%d,%d,%d\n",
+	brst_log( "gridInit: xorg,xfin,yorg,yfin=%d,%d,%d,%d\n",
 		gridxorg, gridxfin, gridyorg, gridyfin );
-	rt_log( "gridInit: left,right,down,up=%g,%g,%g,%g\n",
+	brst_log( "gridInit: left,right,down,up=%g,%g,%g,%g\n",
 		gridlf, gridrt, griddn, gridup );
 #endif

@@ -1047,6 +1256,7 @@ gridModel()
 	{
 	ag.a_onehit = false;
 	ag.a_overlap = reportoverlaps ? f_Overlap : f_HushOverlap;
+	ag.a_logoverlap = rt_silent_logoverlap;
 	ag.a_rt_i = rtip;
 	if( ! TSTBIT(firemode,FM_BURST) )
 		{ /* set up for shotlines */
@@ -1070,11 +1280,12 @@ gridModel()
 	rt_prep_timer();
 	notify( "Raytracing", NOTIFY_ERASE );

-	if( TSTBIT(firemode,FM_BURST) )
+	if( TSTBIT(firemode,FM_BURST) )  {
 		if( ! doBursts() )
 			return;
 		else
 			goto	endvu;
+	}

 	/* get starting and ending shot number */
 	currshot = 0;
@@ -1125,7 +1336,7 @@ gridShot()
 		if( rt_shootray( &a ) == -1 && fatalerror )
 			{
 			/* fatal error in application routine */
-			rt_log( "Fatal error: raytracing aborted.\n" );
+			brst_log( "Fatal error: raytracing aborted.\n" );
 			return	false;
 			}
 		if( ! TSTBIT(firemode,FM_FILE) && TSTBIT(firemode,FM_SHOT) )
@@ -1139,7 +1350,8 @@ gridShot()

 /*
 	void lgtModel( register struct application *ap, struct partition *pp,
-			struct hit *hitp, struct xray *rayp )
+			struct hit *hitp, struct xray *rayp,
+			fastf_t surfnorm[3] )

 	This routine is a simple lighting model which places RGB coefficients
 	(0 to 1) in ap->a_color based on the cosine of the angle between
@@ -1149,13 +1361,14 @@ gridShot()
 	space.
 */
 STATIC void
-lgtModel( ap, pp, hitp, rayp )
+lgtModel( ap, pp, hitp, rayp, surfnorm )
 register struct application *ap;
 struct partition *pp;
 struct hit *hitp;
 struct xray *rayp;
+fastf_t surfnorm[3];
 	{	Colors  *colorp;
-		fastf_t intensity = -Dot( viewdir, hitp->hit_normal );
+		fastf_t intensity = -Dot( viewdir, surfnorm );
 	if( intensity < 0.0 )
 		intensity = -intensity;

@@ -1164,9 +1377,9 @@ struct xray *rayp;
 		!= COLORS_NULL
 		)
 		{
-		ap->a_color[RED] = colorp->c_rgb[RED]/255.0;
-		ap->a_color[GRN] = colorp->c_rgb[GRN]/255.0;
-		ap->a_color[BLU] = colorp->c_rgb[BLU]/255.0;
+		ap->a_color[RED] = (fastf_t)colorp->c_rgb[RED]/255.0;
+		ap->a_color[GRN] = (fastf_t)colorp->c_rgb[GRN]/255.0;
+		ap->a_color[BLU] = (fastf_t)colorp->c_rgb[BLU]/255.0;
 		}
 	else
 		ap->a_color[RED] =
@@ -1174,7 +1387,6 @@ struct xray *rayp;
 		ap->a_color[BLU] = 1.0;
 	ScaleVec( ap->a_color, intensity );
 	ap->a_cumlen = hitp->hit_dist;
-	return;
 	}

 /*
@@ -1226,7 +1438,7 @@ register fastf_t	*vec;
 		{
 		if( items != EOF )
 			{
-			rt_log( "Fatal error: %d burst coordinates read.\n",
+			brst_log( "Fatal error: %d burst coordinates read.\n",
 				items );
 			fatalerror = true;
 			return	false;
@@ -1269,7 +1481,7 @@ register fastf_t	*vec;
 			{
 			if( items != EOF )
 				{
-				rt_log( "Fatal error: only %d firing coordinates read.\n", items );
+				brst_log( "Fatal error: only %d firing coordinates read.\n", items );
 				fatalerror = true;
 				return	false;
 				}
@@ -1296,7 +1508,7 @@ register fastf_t	*vec;
 			{
 			if( items != EOF )
 				{
-				rt_log( "Fatal error: %d firing coordinates read.\n", items );
+				brst_log( "Fatal error: %d firing coordinates read.\n", items );
 				fatalerror = true;
 				return	false;
 				}
@@ -1312,19 +1524,18 @@ register fastf_t	*vec;
 		}
 	else
 		{
-		rt_log( "BUG: readShot called with bad firemode.\n" );
+		brst_log( "BUG: readShot called with bad firemode.\n" );
 		return	false;
 		}
 	return	true;
 	}

 /*
-	int round( fastf_t f )
+	int roundToInt( fastf_t f )

 	RETURN CODES: the nearest integer to f.
 */
-int
-round( f )
+int roundToInt( f )
 fastf_t	f;
 	{	register int a;
 	a = f;
@@ -1360,7 +1571,7 @@ spallInit()
 		delta = 0.0;
 		phiinc = 0.0;
 		raysolidangle = 0.0;
-		rt_log( "%d sampling rays\n", spallct );
+		brst_log( "%d sampling rays\n", spallct );
 		return;
 		}

@@ -1385,9 +1596,9 @@ spallInit()
 			spallct++;
 		}
 	raysolidangle = theta / spallct;
-	rt_log( "Solid angle of sampling cone = %g\n", theta );
-	rt_log( "Solid angle per sampling ray = %g\n", raysolidangle );
-	rt_log( "%d sampling rays\n", spallct );
+	brst_log( "Solid angle of sampling cone = %g\n", theta );
+	brst_log( "Solid angle per sampling ray = %g\n", raysolidangle );
+	brst_log( "%d sampling rays\n", spallct );
 	return;
 	}

@@ -1437,8 +1648,6 @@ register fastf_t *bpt; /* burst point coordinates */
 		}
 	CopyVec( a_burst.a_ray.r_pt, bpt );

-	/* prntBurstHdr( bpt ); XXX print something about burst point? */
-
 	comphi = 0.0; /* Initialize global for concurrent access. */
 		
 	/* SERIAL case -- one CPU does all the work. */
@@ -1451,7 +1660,6 @@ burstRay()
 		threads of execution. */
 		struct application	a_spall;
 		fastf_t			phi;
-		fastf_t			nrings = conehfangle / phiinc;
 		bool			hitcrit = false;
 	a_spall = a_burst;
 	a_spall.a_resource = RESOURCE_NULL;
@@ -1460,11 +1668,11 @@ burstRay()
 			fastf_t	gamma, gammainc, gammalast;
 			register int done;
 			int m;
-		RES_ACQUIRE( &rt_g.res_worker );
+		bu_semaphore_acquire( RT_SEM_WORKER );
 		phi = comphi;
 		comphi += phiinc;
 		done = phi > conehfangle;
-		RES_RELEASE( &rt_g.res_worker );
+		bu_semaphore_release( RT_SEM_WORKER );
 		if( done )
 			break;
 		sinphi = sin( phi );
@@ -1477,14 +1685,14 @@ burstRay()
 			spallVec( a_burst.a_ray.r_dir, a_spall.a_ray.r_dir,
 				 phi, gamma );
 			plotRay( &a_spall.a_ray );
-			RES_ACQUIRE( &rt_g.res_worker );
+			bu_semaphore_acquire( RT_SEM_WORKER );
 			a_spall.a_user = a_burst.a_user++;
-			RES_RELEASE( &rt_g.res_worker );
+			bu_semaphore_release( RT_SEM_WORKER );
 			if(	(ncrit = rt_shootray( &a_spall )) == -1
 			     &&	fatalerror )
 				{
 				/* Fatal error in application routine. */
-				rt_log( "Error: ray tracing aborted.\n" );
+				brst_log( "Error: ray tracing aborted.\n" );
 				return	false;
 				}
 			if( fbfile[0] != NUL && ncrit > 0 )
@@ -1494,9 +1702,9 @@ burstRay()
 				}
 			if( histfile[0] != NUL )
 				{
-				RES_ACQUIRE( &rt_g.res_syscall );
+				bu_semaphore_acquire( BU_SEM_SYSCALL );
 				(void) fprintf( histfp, "%d\n", ncrit );
-				RES_RELEASE( &rt_g.res_syscall );
+				bu_semaphore_release( BU_SEM_SYSCALL );
 				}
 			}
 		}
@@ -1577,6 +1785,7 @@ int	sig;
 #endif
 	}

+#if 0
 /*	i p o w ( )
 	Integer exponent pow() function.
 	Returns d to the nth power.
@@ -1592,18 +1801,19 @@ register int	n;
 		result *= d;
 	return	result;
 	}
+#endif

 /*	v i e w _ p i x ( ) */
 STATIC void
 view_pix( ap )
 register struct application	*ap;
 	{
-	RES_ACQUIRE( &rt_g.res_syscall );
+	bu_semaphore_acquire( BU_SEM_SYSCALL );
 	if( ! TSTBIT(firemode,FM_BURST) )
 		prntGridOffsets( ap->a_x, ap->a_y );
 	if( tty )
 		prntTimer( NULL );
-	RES_RELEASE( &rt_g.res_syscall );
+	bu_semaphore_release( BU_SEM_SYSCALL );
 	return;
 	}

@@ -1623,7 +1833,7 @@ view_end()
 		(void) fflush( shotlnfp );
 	prntTimer( "view" );
 	if( noverlaps > 0 )
-		rt_log( "%d overlaps detected over %g mm thick.\n",
+		brst_log( "%d overlaps detected over %g mm thick.\n",
 			noverlaps, OVERLAP_TOL );
 	return;
 	}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Christopher Sean Morrison	35399328c4	more removal of cvs branching artifacts where it was necessary to tag before and after merging, pushed into the depths of svn history (svn branch delete) svn:revision:46328 svn:tag:autoconf-20031202 svn:account:brlcad	2011-08-23 13:42:42 +00:00
cvs-fast-export	6a06b7652e	Synthetic commit for incomplete tag autoconf-20031202 svn:revision:22236 cvs:account:cvs-fast-export	2003-12-02 19:33:55 +00:00
Erik Greenwald	48fca06345	muchos autoconf fixes, libtcl and libtk are now built with the rest of the system, instead of trying to use the pre-installed versions svn:revision:22235 cvs:branch:autoconf-branch cvs:account:erikg	2003-12-02 19:33:55 +00:00
Erik Greenwald	c4df2bdf23	automake file svn:revision:22233 cvs:account:erikg cvs:branch:autoconf-branch	2003-12-02 15:01:40 +00:00
Erik Greenwald	717eac05c1	starting merged autoconf of libtcl84 svn:revision:22217 cvs:branch:autoconf-branch cvs:account:erikg	2003-11-14 19:30:20 +00:00
Erik Greenwald	5c9635ac4f	fix for fbsd5 svn:revision:22214 cvs:account:erikg cvs:branch:autoconf-branch	2003-11-13 12:53:37 +00:00
Erik Greenwald	38f6879448	generated now svn:revision:22213 cvs:branch:autoconf-branch cvs:account:erikg	2003-11-07 16:41:46 +00:00
Erik Greenwald	fbeee555d6	eliminated cyclic dependancy svn:revision:22196 cvs:account:erikg cvs:branch:autoconf-branch	2003-11-06 13:21:40 +00:00
Erik Greenwald	9ab28cfbdb	expansion seems to cause confusion with dependancies, so it's been unrolled svn:revision:22195 cvs:account:erikg cvs:branch:autoconf-branch	2003-11-06 13:20:32 +00:00
Erik Greenwald	853153e61b	automake files svn:revision:22168 cvs:account:erikg cvs:branch:autoconf-branch	2003-10-08 16:57:54 +00:00
Erik Greenwald	4ae2549b68	autoconf files svn:revision:22166 cvs:account:erikg cvs:branch:autoconf-branch	2003-10-08 16:54:51 +00:00
Christopher Sean Morrison	e6f630c2e9	Import of initial port to Windows svn:revision:21564 svn:revision:21565 cvs:account:morrison cvs:branch:photonmap-branch	2002-09-26 04:01:00 +00:00
Robert Parker	096c109ece	Import itcl3.2 svn:revision:19762 svn:revision:19763 cvs:account:bparker cvs:branch:itcl3-2	2000-12-06 21:48:10 +00:00
Robert Parker	e078a68d77	Import itcl3.2 svn:revision:19760 svn:revision:19761 cvs:account:bparker cvs:branch:itcl3-2	2000-12-06 21:35:20 +00:00
Robert Parker	0287a35ffb	Import tk8.3 svn:revision:19758 svn:revision:19759 cvs:account:bparker cvs:branch:tk8-3	2000-12-06 21:34:21 +00:00
Robert Parker	e77989c21b	Import tcl8.3 svn:revision:19756 svn:revision:19757 cvs:account:bparker cvs:branch:tcl8-3	2000-12-06 21:33:21 +00:00
Lee Butler	9c696591dd	The html manuals for BRLCAD svn:revision:15427 cvs:account:butler cvs:branch:VendorARL	1998-06-30 17:38:07 +00:00
John Anderson	bf843475ea	libpng 1.0.2 svn:revision:15365 cvs:account:jra cvs:branch:libpng	1998-06-24 20:00:14 +00:00
John Anderson	e63f8fccee	Initial inclusion of zlib (version 1.0.4). svn:revision:15338 cvs:account:jra cvs:branch:zlib	1998-06-24 13:19:59 +00:00
John Anderson	13e0bb1a11	Checkpoint svn:revision:8061 cvs:account:jra cvs:branch:unlabeled-1.1.1	1993-12-09 09:52:56 +00:00
John Anderson	e83e56b866	Checkpoint svn:revision:7885 cvs:account:jra cvs:branch:unlabeled-1.1.1	1993-10-21 15:33:46 +00:00
John Anderson	fab2420d37	Checkpoint (working version for just 3DFACE entities). svn:revision:7884 cvs:account:jra cvs:branch:unlabeled-1.1.1	1993-10-21 14:14:44 +00:00
Paul Tanenbaum	6b8c080c36	Attempt to add $Header$ to file. svn:revision:5208 cvs:branch:unlabeled-1.1.1 cvs:account:pjt	1991-02-14 09:24:53 +00:00