Synthetic commit for incomplete tag rel-5-2

svn:revision:19376
cvs:account:cvs-fast-export

.gitignore

@@ -0,0 +1,33 @@
+# CVS default ignores begin
+tags
+TAGS
+.make.state
+.nse_depinfo
+*~
+\#*
+.#*
+,*
+_$*
+*$
+*.old
+*.bak
+*.BAK
+*.orig
+*.rej
+.del-*
+*.a
+*.olb
+*.o
+*.obj
+*.so
+*.exe
+*.Z
+*.elc
+*.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.* .tk.* .rt.* .halftone.* .gtools.*
+.cake*.* .cwish.*

Acknowledgements

@@ -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
+	rt/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

BUGS

@@ -1,603 +0,0 @@
-BRL-CAD Bugs
-============
-
-Bugs should be reported to the bug tracker on the project website at
-http://sourceforge.net/tracker/?atid=640802&group_id=105292
-
-The bugs and issues listed in here may or may not be the same as or
-related to the bugs reported to the bug tracker.  In general, users
-should not look to this file for information regarding the status of
-bugs.  Informal bug-related information that is intended for
-developers will generally be found here.  This may include short term
-issues that are in active development as well as long term and
-on-going issues.
-
-Recent Bugs
------------
-
-* rtedge's overlay mode appears to be generating different results on
-  Windows and Linux for the m35 steering wheel (rtwizard rendering
-  mode D.)
-
-* pixdiff on Windows is reporting no differences with a pair of files
-  that pixcmp can see differences in.
-
-* fblabel seems quite busted, at least talking to a /dev/X fbserv, in
-  that it only draws the first character and eventually displays
-  rem_read() failures when run in -d debug mode.
-
-* rtedge doesn't refresh a /dev/X fbserv (presumably double-buffered)
-  after doing an overlay render.  it does draw, though, as confirmed
-  by a forced fb-fb refresh.
-
-* pixborder doesn't account for an edge case where the right edge of
-  an image is expected to be colored (except for one pixel on the top
-  edge).  Example:
-
-  pixborder -b "255 0 0" -t "255 255 255" < pix/moss.pix | pix-fb
-
-* report that attempting to change units on a read-only file in MGED
-  will not change the units in the file but changes them in MGED,
-  resulting in problems with nirt missing geometry it shouldn't miss.
-
-* typing 'comb -f -r assembly_name' shuts down mged with the error:
-  ERROR: bad pointer 0000000000B4CA50: s/b bu_external(x768dbbd0), was bu_vls(x89333bbb), file ..\..\..\brlcad_src\src\libbu\parse.c, line 2443"
-  And on the mged command line:
-  rt_db_cvt_to_external5 expecting non-NULL name parameter
-  wdb_export((null)): solid export failure
-
-* report of mged command history not working with the down arrow key
-  in 7.25.0 (on Windows, unknown on other platforms).  Up arrow works
-  fine.
-
-* wgl framebuffer is not lingering on windows (regardless of using
-  wgll or default) when it should
-
-* nirt -e "xyz val val val" doesn't work due to the space after the -e
-  and how the nirt/rt commands parse quoted args.
-
-* calling "attr set obj key value" should always result in key getting
-  set to value, no matter what, as it is the lowest-level attribute
-  management interface and what the command (correctly) documents.
-  example demonstrated to not work was: attr set obj rgb 123/123/123
-
-* report of LIBBU not working when accessed by a multithreaded
-  application on Windows.  reportedly due to some problem with the
-  debug memory queue.
-
-* report of g-iges crashing (on Windows) when exporting a 1.2MB BoT
-  mesh (presumably imported via stl-g).  worked for smaller models.
-
-* ogl display manager and framebuffer are creating windows with
-  transparent backgrounds (the glClear color is not being drawn) on
-  Linux.  Presumably a driver-related issue, alpha channel, or expose
-  event issue.  Inspecting further, it may be related to environments
-  where shmget() fails (or is requested via /dev/oglp) and we get
-  private memory -- looks like private memory is not initialized
-  (observed on Mac 10.6).
-
-* autoview [scale] isn't updating the wireframe when opening a
-  database, drawing geometry, then running autoview.  the status bar
-  shows the scale change, but the graphics window remains unaffected
-  unless you run "view size" to set it.
-
-* overlay command reports an error when trying to load a file
-  names edges.pl, but succeeds when the file is called patches.pl
-  Need to see why edges.pl is not accepted.
-
-* step-g crashing on mac with lazy symbol load failure missing:
-  brlcad::SurfaceTree::SurfaceTree(ON_BrepFace*, bool, int)
-
-* metaball tessellation enters either an infinite loop or an absurdly
-  long tessellation process - observed on Linux 64 bit system - quick
-  test:
-
-  rm -f metaball.g && mged -c metaball.g "make m.s metaball; facetize m.bot m.s"
-
-* corruption/crash issue rendering terra.g without terra.dsp,
-  possibly/probably parallel-related in libbn/noise.c's
-  bn_noise_turb() function.  gdb eventually catches a segfault in
-  find_spec_wgt() loop with indications of corrupted memory.  valgrind
-  confirms corrupted memory (8 bytes) after a build_spec_table()
-  realloc within find_spec_wgt() but it's not clear why.  etbl
-  book-keeping seems okay..  corrupted read consistently detected on
-  spec_wgts = ep->spec_wgts line in bn_noise_turb().  observed on
-  64-bit linux system:
-
-  rm -f terra.pix && valgrind bin/rt -o terra.pix -P1 -H3 -s1024 share/brlcad/7.21.0/db/terra.g all.g
-
-* mged 'joint' hold command isn't working. looks like the fp_names
-  book-keeping is fuxored or the db_lookup is returning NULL (or isn't
-  yet performed).
-
-* idents command is reporting a bogus region count in the region
-  output table listing (first column).
-
-* src/librt/primitives/bot/g_bot_include.c:rt_bot_bbox() routine isn't
-  calculating the bbox correctly
-
-* 'exists' command documentation claims more than has been implemented
-
-* rtxray crashes if you specify a -o *.bw output file due to
-  assumptions in the rt front-end that all output files are .pix
-
-* raytracing a revolved sketch seems to work fine, but rtarea and gqa
-  seem to be crashing on that same revolve.  curiously, the brep
-  revolve from the csgbrep proc-db has the same failure as well as the
-  brep ehy.
-
-* encountered a crash during rtarea on a (default) facetized version
-  of the hyp from the proc-db csgbrep tool.
-
-* raytracing rhc crashes (inside malloc, so previous memory badness)
-  with normal tolerance set to non-default value (e.g. tol norm 0.1);
-  also fails (non-crash) if absolute tolerance is changed (e.g., tol
-  abs 0.1)
-
-* revolve raytracing seems to be busted.. at least with the example
-  csgbrep revolve shape
-
-* torus with a near zero inner diameter results in zero-length edges
-  during tessellation.
-
-* opening a database in archer with the same name as a command doesn't
-  work.
-
-* bu_log() with a width specifier does not align like printf().
-  Example: bu_log("%24s", str);
-
-* report that "keep" sometimes results in a .g file with unknown units;
-  dbconcat also is reported to set the units to unknown if concatting
-  a file with unknown units.
-
-* infinite loop in rt_find_backing_dist() raytracing a BoT (without
-  pieces) for bot_smooth (i.e., rt_bot_smooth()).  encountered inf
-  loop on a jetski fastgen model that was solid but unoriented, with
-  about 8k faces.  NOTE: possibly already have a fix for this bug
-  pending review and testing.  --CSM
-
-* run make to create all primitives at the origin.  there are raytrace
-  differences, crashes, and overall bad behavior between default
-  ungrouped "e *" view and adding all of those primitives to a single
-  region.  Script for creating all primitives via make command:
-
-  for i in `mged -c test.g make asdf asdf 2>&1 | awk '{print $12}' | sed 's/[<>|]/ /g'` ; do mged -c test.g make $i $i ; done
-  mged -c test.g "g primitives *"
-  mged -c test.g r primitives.r u primitives
-  rt -a 35 -e 25 test.g primitives
-  rt -a 35 -e 25 test.g primitives.r
-
-* MGED on Mac OS X 10.6 mouse bindings fail to zoom in incrementally.
-  Pan, zoom out, and interactive zoom work.  Shift-grip bindings need
-  to be verified.
-
-* rt -i -s4096 -H16 -F/dev/null boolean-ops.g all
-
-* asc2g of a .asc file containing the first line as a "#" comment
-  results in a bu_malloc(0) bomb.  comment lines should be valid in
-  .asc files.
-
-* compilation reportedly fails when building Tcl if the path to the
-  source directory includes a space.
-
-* mged/tcl "gets" command doesn't work if you run the "source" command
-  to read in a script that uses gets on stdin.  it just hangs until
-  multiple sigint's are received.
-
-* invoking mged from a system menu seems to be broken.  reported by a
-  reliable ArchLinux user.  probably exhibits cross-platform on KDE,
-  GNOME, or XFCE (but original environment is unknown).  the bug is
-  undoubtedly related to mged's interactive and stdin/stdout input
-  detection where mged thinks it's being scripted (beginning on or
-  about mged.c:1150)
-
-* Report of copy/paste not working with Tk on Windows Vista - does
-  work on Windows XP.
-
-* Update/create .mgedrc results in bogus qray lines if a db is not
-  open when the file is created.
-
-* MGED doesn't initialize multipane view to the documented multipane
-  defaults if you just open a db with multipane already enabled.
-
-* Creating an 'extrude' via MGED gui crashes MGED.
-
-* edcomb command seems to be busted similar to red, doesn't seem to do
-  anything.
-
-* gqa manpage has the wrong indentation on the options write-up.
-
-* Detailed BoT model ray trace image had incorrect background pixel
-  values in framebuffer, off slightly by one.
-
-* ogl display manager still crashes on attach in mged on Mac OS X 10.5
-
-* rt is consuming 100% CPU in fb_close() on a lingering ogl
-  framebuffer waiting to close.  needs to sleep or select for a while.
-
-* /dev/oglb 'copy mode' fails to refresh the framebuffer
-
-* X display manager (and probably others) will lock up mged if you Z/B
-  while the wireframe is being actively drawn (in X_drawVList()).
-  reproducible by cloning havoc a dozen or more times, getting
-  sub-1sec fps, Z/B after rotating wireframe but before update
-  finishes drawing.
-
-* rtedge help shows redirection to a file working, but it does not
-  seem to work (zero-file results).
-
-* report of rt aborting randomly on 64-bit with camo shader.
-
-* mged raytrace fails with simple "raytrace failed" message when using
-  rt, nirt, etc. on Windows after modifying a region.  See sf bug
-  report 2954404.
-
-* mged rrt command is not respecting the view size, just does
-  something similar to autoview but even gets az/el wrong too.
-
-* Windows mged build is not generating tclIndex files with all
-  entries.  notably the pattern_gui.tcl file is not getting included
-  as well as a variety of others.  see missing entries in
-  tclscripts/mged/tclIndex for examples:
-  https://sourceforge.net/tracker/?func=detail&atid=640802&aid=2923199&group_id=105292
-
-* vdeck truncates the region names in the 'regions' file, probably
-  wrong bu_strlcpy() length.
-
-* hyp tessellation routine creates bot that does not raytrace
-
-* if you attach a display manager in tk-mged, kill the window, then
-  quit, mged crashes on exit.
-
-* CMD-b and CMD-f navigates the mged command window text widget on Mac
-  and trivially causes problems with the cursor and text injection.
-
-* mged segfaults when drawing lots of solids at once (e.g. draw *.s)
-
-* mged command mode doesn't display the output of multiple
-  semicolon-separated commands.  Only the output of the very last mged
-  command is displayed.  Example:
-
-  mged -c moss.g "tops ; title"
-  mged -c moss.g "puts OK ; tops ; puts OK2 ; title ; puts DONE"
-
-  Note that this is consistent with doing the same thing on the MGED
-  Command Window's command prompt - if the above is a bug it is
-  apparently not restricted to command/classic mode.
-
-  Further investigation suggests that this is a consequence of
-  Tcl treating multiple commands in a single " " block as one command,
-  insofar as capturing the output is concerned.  It probably relates
-  to situations where Tcl_SetResult is called where (in this case)
-  Tcl_AppendResult would have been better, but it is not clear whether
-  changing this result setting approach would cause other breakage.
-
-* mged rotation halts after a few events and after zooming in/out at
-  least once (Mac OS X 10.5)
-  More info:  This problem appears to be specific to a particular
-  X11 version or versions - it has been observed with
-  xorg-server-1.4.2-apple33 on 10.5.  It does not occur with the
-  community XQuartz 2.5.0 (xorg-server 1.7.6), nor does it occur
-  when Tk 8.5.8 is compiled to use the Aqua backend. At least one other
-  (possibly earlier) version of X11 from Apple on a 10.5 Mac did not
-  exhibit bad rotate behavior. The problem is not specifically the
-  zooming action - rather, the zoom triggers
-  a Tk focus call on the display manager window (rather than the
-  Tk parent window) and the problem manifests when focus is on the
-  display manager window.  mged classic mode, where there is no
-  parent window, exhibits the bad rotate behavior immediately.
-
-* rtedge fills in nearly entire faces of an object when executing on a
-  model that is in perspective mode. Effects really bad on small sized
-  renders, and gets better the larger the render size. Does not happen
-  in non-perspective ray-traces.
-
-* infinite light sources close to objects result in unexpected/bad
-  light behavior.  example is a 1m sph light about 5m from a box about
-  1k x 1k x 1k in size.  setting make each light be red, green, and
-  blue respectively, set to infinite (and fraction 10) and sides to
-  the cube will render sides with a fixed color (green, blue) and top
-  magenta.  On one test with all lights at fraction 1.0 and only one
-  inf, was getting interleaved partial flat/no color all around cube.
-
-* fastgen plate mode bots are reporting invalid shotline segments.
-  depending on whether you shoot from the front or back can result in
-  bogus lists visible with nirt in mged, entirely missing the bot, or
-  mismatched entry/exit/overlap segments.
-
-* tab completion in classic/command mode sometimes doesn't work
-  (presumably if mged can't find tcl resources).  was finally able to
-  reproduce this with the result given as:
-
-  invalid command name "bind"
-
-* mged 'facetize -n' command is giving many errors:
-    ERROR: color index out of range (-128 > 255)
-  and it shouldn't.  seems to be happening on 3-manifold surfaces but
-  only for particular faces.  looks like the painting algorithm that is
-  being used is flawed (and an incomplete implementation).
-
-* running 'keep' on too many objects (hundreds is causing a usage
-  statement (and not doing the keep)
-
-* rtwizard won't display a line overlay if you line object is obscured
-  by another.  Example being to display a vehicle as ghost, crew as
-  solid, and crew as line.  confirmed even when using the other line
-  occlusion settings.
-
-* fbserv is receiving image data very slowly if the framebuffer is a
-  remote X24 interface.  could reproduce on mac with the following:
-
-  fbserv -s1024 1 /dev/X &
-  rt -F1 -s1024 db/moss.g all.g
-  rt -F1 -i -s1024 db/moss.g all.g  # 8x worse
-
-* ls -A and/or e -A reportedly crashes on use, unverified
-
-* File->Export seems to not work on Windows
-
-* xpush fails to properly create a hierarchy leaving some as top-level
-  objects and killing other existing objects resulting in dangling
-  references.
-
-* mged on Mac OS X will crash on an X11 call if compiled against
-  system Tcl/Tk (at least on 10.4 linking against 8.4), see TODO
-
-* the ray tracer fails to report LOS and sometimes even hits on a BoT
-  that is marked as unoriented or is inverted (even though it
-  sometimes will report the segments, just without LOS).  this seems
-  to happen for bots that are neither lh or rh (they're mixed) and
-  causes the raytrace to fail if they're set to anything other than
-  'no' for orientation.  this affects rt, nirt, et al.
-
-* g-vrml ignores bots that are created with dxf-g
-
-* Mac OS X installer doesn't include the symbolic links, only
-  including the versioned installation directory.
-
-* Mouse cursor turns into a huge yellow-translucent arrow when running
-  MGED through remote X11.
-
-  Running this fixes the bug: .id_0t config -cursor "xterm black"
-
-* mged (on debian) is reporting this when the user presses tab:
-  Error in bgerror: invalid command name "::swidgets::togglearrow"
-  the second time they press tab, they get:
-  Error in bgerror: window name "_secErrorDialog" already exists in parent
-
-  The problem was noticed on 7.12.4 and happens regardless of there
-  being a db opened or not.  The problem does not occur in classic
-  mode.
-
-* mged command window is showing up as an empty 0x0 dimensioned window
-  on freebsd using xfce and metacity (single display, 1680x1050 res).
-  dm shows up just fine.
-
-* g2asc of a v4 is apparently writing out the wrong s_cgtypes and
-  otherwise parsing v4 .g files incorrectly
-
-* bump shader seems to be busted.  only renders as flat by itself and
-  stacked with phong it seems to ignore the uv settings.
-
-* the graphics window does not acquire keybinding focus in mged on
-  ubuntu linux.  key events go to the command window even with the
-  graphics window has focus.
-
-* MGED File->Preferences->Fonts results in error "named font "button
-  _font" doesn't exist on Linux.
-
-* mged tab-completion doesn't work if the object names have spaces
-
-* Open dialog in MGED seems rather busted for scrolling and selection
-  (seems to be Mac OS X specific)
-
-* turning on Framebuffer->Rectangle Area in mged disables the
-  embedded framebuffer display on Mac OS X when you sweep a raytrace
-  rectangle.  sweeping still works if you leave it at All.
-
-* invalid shaders result in an "Unable to locate where BRL-CAD ... is
-  installed" message that refers to being unable to find a
-  /lib/libSHADER.so file.  Quite a bogus message and probably not
-  something that should abort the ray-trace.
-
-* rtedge seems to get stuck in a loop at the end of rendering, never
-  terminates (unless you rtabort/kill the process); works with -P1
-
-* nirt/query_ray reports intersection messages in triplicate if the
-  shot routines miss but still print out messages
-
-* mged's plot tool (the gui one, not the 'plot' command) outputs a
-  plot file that has an erase as the last command, causing empty plots
-
-* interactive mouse edits in mged can go haywire on Mac OS X with
-  snap-to-grid enabled
-
-* overlap tool in mged encourages very inefficient CSG operations
-  (e.g. a simple bolt with an entire hull armor subtracted)
-
-* a character is (still) sometimes captured by the cursor box
-
-* permute (in mged) requires apply or save before 'new' vertex values
-  will function properly as keypoints.
-
-* facedef then move face undoes the facedef in mged
-
-* dsp primitive is going into what seems to be an unbounded memory
-  allocation loop during prep, inside dsp_layers().
-
-* crashes during photonmap raytrace of m35 where right node is invalid
-  rt -o test.pix -V 1.0 -P4 -J0 -l7 -A0 ~/Desktop/m35.g all.g box.r sph.r
-
-* libfb cannot utilize standard output/error "device" files without
-  path trickery.  it recognizes the /dev/ prefix and presumes it's a
-  libfb device instead of a filesystem device.
-
-   OK: rt -F/./dev/stdout
-  BAD: rt -F/dev/stdout
-
-* libfb cannot open a file descriptor when piping/redirecting output.
-
-   OK: rt -F/./dev/stdout moss.g all.g
-  BAD: rt -F/./dev/stdout moss.g all.g > test.pix
-
-* ray-tracers assume a seekable output stream.  libfb reports numerous
-  fseek errors and outputs slightly corrupted pix data.
-
-   OK: rt -o test.pix moss.g all.g && pix-png test.pix > test.png && rm -f test.pix
-  BAD: rt -o /dev/stdout moss.g all.g | pix-png > test.png
-
-* running any of the various mged commands (e.g. clicking the raytrace
-  button many times quickly, or running rtarea on a large model) that
-  output a lot of data will hang mged (idle cpu utilization).
-
-* solids.sh regression test fails on Mac OS X with one pixel
-  off-by-many on the edge of the middle ARB8 when using an optimized
-  -O3 compile (-fno-unsafe-math-optimizations makes no difference)
-
-* triangulation of some pipe in toyjeep.g fails (rather reliably) on
-  some given bend.  fails in nmg_triangulate model().
-
-* tgc reports one hit errors though hit point has 0,0,0 direction
-  implying that maybe the point was supposedly deleted.
-
-* rtedge is not respecting the -c"set" options.  needs to give some
-  indication that they were parsed too since it ignores unrecognized
-  values apparently.
-
-* fbhelp sends some of the output to stdout and some to stderr...
-
-* debugbu 2 immediately reports a bu_vls_free() error.. apparently
-  been a problem since 4.5 days.  this occurs because
-  bu_memdebug_add() is not called unless memory checking is enabled
-  via bu_debug.  so when bu_debug is set to 2 or 3, it ends up
-  reporting errors during bu_free() for items that were allocated and
-  were not yet being tracked.
-
-* mged View menu says I and O are keybindings for zoom in/out -- they
-  are apparently not.
-
-* raytracers report the wrong amount of cumulative time (reports as
-  0.0 seconds elapsed) on amd64 linux; most likely the same pthread
-  accounting bug visited a couple years ago.
-
-* Create menu.. create "part" boo hiss..
-
-* wavelet isn't working correctly on a simple image decomposition &
-  reconstruction.
-
-* query_ray can't find nirt if not installed
-
-* fbed is looking for /usr/lib/vfont/nonie.r.12
-
-* mged doesn't check if html_dir does not exist when searching for
-  docs/browser.
-
-* permute then translate doesn't refresh the graphics window
-    permute 4378
-    translate menus
-    p 0 0 0
-    p 0 0 0
-
-* constrained axis translation bindings on OS X don't work
-    object/matrix edit
-    shift-alt mouse (left/mid/right for x/y/z respectively) should work
-
-* the findfont directive in gv postscript is reporting font not found
-
-* concave arbs give correct wireframe but do not raytrace correctly.
-
-* rtwizard/rtedge creates incorrect "fuzzy" edge overlay when creating
-  a "Ghost Image with Insert and Lines" that includes a light source
-  and object close to surface (e.g. moss.g; select plane, light, and
-  cone for ghost; select cone for insert and lines.)
-
-* mged's solid illuminate doesn't work when Lighting is turned on
-
-* raytrace of zoomed images (e.g., -s64) doesn't work for if_X24
-  framebuffers.  zooming logic seems to be broken (was crashing in
-  memcpy, but that was fixed) for at least -s96 and smaller:
-
-  ./libtool --mode=execute gdb --args src/rt/rt -F/dev/X -P1 -s64 db/moss.g all.g
-
-* g2asc exports attr lines but will not grok them on asc2g
-
-* mged's matrix selection does not modify the correct matrix if there
-  are multiply referenced non-unique paths (e.g. referencing the same
-  object N times in a combination).
-
-* facetize -t doesn't work (tnurb support)
-
-* on os x, the -fast option results in an odd optimization/aliasing
-  bug where rtip contents are lost in rt after returning from
-  rt_gettrees().
-
-* tra in console mode outputs a warning about mged_players
-
-* mged primitive editor doesn't accept/apply values to disk for
-  certain primitives (e.g. sph)
-
-* photon map cache file doesn't work (seems to crash rt on use)
-
-* enabling perspective mode horks shaded mode, also Z clipping
-  shouldn't be required to get the shading.
-
-* an underlay framebuffer does not underlay with shaded mode
-
-* rtweight chokes on a .density file that has less than 3 values per
-  line (infinite loop).  also gives infinite areas when presented with
-  an empty .density file.
-
-* rtarea gives incorrect areas when using -H hypersample flag
-
-* rtweight/gqa volumes seem wrong with simple sphere test case, with
-  values consistently and quickly converging less than the actual
-  volume regardless of the grid size.
-
-* setting src/librt/db5_io.c's AVS_ADD off in db5_import_attributes
-  causes bad things to happen and it really shouldn't.
-
-* vrml exporter (and probably others) doesn't export primitives
-  directly as one might expect like the ray-tracers, only regions.
-
-* sketches extruded with non-square AB vectors results in inner sketch
-  components not getting scaled properly.
-
-* rtcheck is ignoring fastgen tagged geometry since no multioverlap
-  handler is set.
-
-* bot-bldxf fails in db_walk_tree(), interface may have changed
-
-
-Older Bugs
-----------
-
-* several manpages are missing or out of date for various tools
-
-* X11 framebuffer often fails to display on certain middle bit depth
-  displays. (e.g. 15 or 16 bit depth)
-
-* mk_lcomb fails on large combinations due to mk_tree_pure() building
-  a left-heavy tree and wdb_put_internal() then recursively performing
-  lookup and put calls.
-
-
-Annoyances
-----------
-
-* matrix edits on objects in mged require you to select a primitive
-  for a coordinate system reference.  this can be counterintuitive and
-  confusing.
-
-* there are frequently modality errors when entering edit mode as
-  control and middle mouse rebind to model edit instead of view edit.
-
----
-Bugs should be reported to the bug tracker on the project website at
-http://sourceforge.net/tracker/?atid=640802&group_id=105292
-
-BUGS should be formatted to column 70 (M-q in emacs), no tabs.
-
-// Local Variables:
-// mode: Text
-// fill-column: 70
-// End:

COPYING

@@ -1,119 +0,0 @@
-BRL-CAD Copying and Distribution
-================================
-
-BRL-CAD is Open Source software with copyright primarily held by the
-U.S. Government.  The source code is controlled and maintained by a
-core team of Open Source developers working around the world.  Those
-core developers operate under a meritocracy organizational structure
-adhering to developer guidelines outlined in the HACKING developer's
-guide and to the legal conventions and requirements outlined in this
-document.
-
-As a unified work, BRL-CAD is made available under the terms of the
-GNU Lesser General Public License (LGPL) as published by the Free
-Software Foundation.
-
-As distinctly organized and separate components, parts of BRL-CAD are
-made available under different licenses for different portions
-including the BSD license and files in the public domain. The Overview
-section describes how the various licenses apply to the different
-portions of BRL-CAD.
-
-BRL-CAD is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public
-License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this file.  If you did not, please contact one of
-the BRL-CAD project administrators listed at the SourceForge project
-site http://sf.net/projects/brlcad/ or listed in the AUTHORS file
-included as part of the distribution.
-
-Overview
---------
-
-BRL-CAD consists primarily of libraries, applications, scripts,
-documentation, geometric models, images, data resources, and build
-infrastructure.  The BRL-CAD libraries provide their headers in the
-include/ directory as well as all of the directories that begin with
-the prefix "lib" in the src/ directory (e.g. src/librt/).  All of
-BRL-CAD's libraries, applications, and any content lacking a license
-specification are covered by the terms of the LGPL.
-
-Most of BRL-CAD's build infrastructure including files required by
-the GNU Build System (such as the CMakeLists.txt files), a variety
-of scripts located in the misc/ and sh/ directories, and the testing
-infrastructure (scripts and resources) are provided either under
-the BSD license or are in the public domain.  Similarly, most of
-the geometric models, images, and other data resources are also
-provided under the BSD license.  Refer to each individual file for
-specific terms.
-
-BRL-CAD's documentation consists of manual pages located throughout
-the package, most of the files in the doc/ directory, and the
-top-level administrative project text files (e.g. README & AUTHORS).
-Unless otherwise denoted, all of BRL-CAD's documentation is made
-available under the terms of the BSD Documentation License (BDL) or
-are in the public domain.  Refer to each document for specific terms.
-
-The full text of the LGPL, BDL, and BSD license should be included in
-the source distribution of BRL-CAD in the doc/legal/ directory.  Refer
-to the full license text for more details, information, requirements,
-and implications of each license.
-
-3rd-Party Components
---------------------
-
-The BRL-CAD package utilizes and redistributes several 3rd party
-source codes, libraries, and applications.  Said 3rd party source
-code, libraries, and applications all retain their respective
-agreements, licenses, and copyrights and should be referred to
-individually for their specific terms.  For the purposes of
-redistribution and legal compatibility for all of BRL-CAD's existing
-user base, NO 3RD PARTY LIBRARIES SHALL BE INCLUDED THAT ARE UNDER THE
-TERMS OF THE GNU GENERAL PUBLIC LICENSE or any other license with
-similar legal implications that would impose legal obligations on
-external codes that utilize BRL-CAD as a library.
-
-When referring to BRL-CAD, its source code, documentation, and
-libraries, the reference is not meant to include or imply 3rd party
-source code, libraries, and/or applications unless specifically stated
-otherwise.  No endorsement or claim of authorship is implied to any
-3rd party asset that is included with BRL-CAD.  The majority of the
-3rd party source code, libraries, and applications included with
-BRL-CAD are located in the src/other/ directory of the source code
-distribution.
-
-Copyright
----------
-
-All contributions to BRL-CAD have been provided under agreement.  By
-requiring all contributions be given back to the BRL-CAD developers,
-this agreement allows the BRL-CAD project to continue to grow
-unhindered.  As such, a majority of the source code is copyright by
-the United States Government as represented by the United States Army
-Research Laboratory.
-
-Authors and other BRL-CAD contributors must comply with the copyright
-terms for their respective contributions unless otherwise noted or
-arranged.  This includes an implicit assignment of copyright for any
-and all contributions being made.  The following notice should be
-prominent in the BRL-CAD sources:
-
-  Copyright (c) 1984-2016 United States Government as represented by
-  the U.S. Army Research Laboratory.
-
-Contact
--------
-
-Questions or comments regarding BRL-CAD legal issues pertaining to
-copying, linking, licensing, trademark, or otherwise should be
-directed to the BRL-CAD Development Team at the following address:
-
-BRL-CAD Development Team
-devs@brlcad.org
-http://brlcad.org
-
----
-$Revision$

CTestConfig.cmake

@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "BRL-CAD")
-set(CTEST_NIGHTLY_START_TIME "06:00:00 UTC")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "brlcad.org")
-set(CTEST_DROP_LOCATION "/CDash/submit.php?project=BRL-CAD")
-set(CTEST_DROP_SITE_CDASH TRUE)

Cakefile

@@ -0,0 +1,14 @@
+/*
+ *	Top level Cakefile.
+ *
+ *  This Cakefile serves the same purpose as the top level Makefile,
+ *  ie, to run the "gen.sh" script with the given argument.
+ *
+ *  $Header$
+ */
+
+%&:
+	/bin/sh gen.sh %
+
+all&::
+	/bin/sh gen.sh

Cakefile.lib

@@ -0,0 +1,92 @@
+/*
+ *			C A K E F I L E . L I B
+ *
+ *  Cakefile for building a single library archive.
+ *  Symbol PRODUCTS should be name of a single library
+ *
+ *  Author -
+ *	Michael John Muuss
+ *  
+ *  Source -
+ *	SECAD/VLD Computing Consortium, Bldg 394
+ *	The U. S. Army Ballistic Research Laboratory
+ *	Aberdeen Proving Ground, Maryland  21005-5066
+ *  
+ *  Distribution Status -
+ *	Public Domain, Distribution Unlimitied.
+ *
+ *  $Header$
+ */
+
+#ifndef PRODUCTS
+#	include "Symbol PRODUCTS required to make library"
+#endif
+#ifndef SRCDIR
+#	include "Symbol SRCDIR required"
+#endif
+#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	/**/
+#endif
+
+#ifndef EXTRA_SETUP
+#	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 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 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

Cakefile.prog

@@ -0,0 +1,48 @@
+/*
+ *			C A K E F I L E . P R O G
+ *
+ *  Like Cakefile.lib, this is the common part for compiling programs.
+ *
+ *  Authors -
+ *	Michael John Muuss
+ *	Bob Parker
+ *  
+ *  Source -
+ *	The U. S. Army Research Laboratory
+ *	Aberdeen Proving Ground, Maryland  21005-5068  USA
+ *  
+ *  Distribution Status -
+ *	Public Domain, Distribution Unlimitied.
+ *
+ *  $Header$
+ */
+
+/* Default rule */
+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

Cakefile.rules

@@ -0,0 +1,266 @@
+/*
+ *			C A K E F I L E . R U L E S
+ */
+
+/*
+ *  Patterns to handle the installation and uninstallation
+ *  of products, manuals, and manual stubs.
+ *  This is complicated by the fact that not all directories
+ *  will contain all three types of items.
+ */
+#define	MAN_EXISTS	{{ls ../SRCDIR|grep -s .MANSECTION'$'}}
+#define STUB_EXISTS	{{ls ../SRCDIR|grep -s .MANSECTION.stub'$'}}
+#define ARG_EXISTS	{{ARGS="%"; test '%' != "$ARGS" -o -f %}}
+
+/* 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
+
+do-%.print&:
+	@pr %
+
+/*
+ */
+nroff&:  do-nroff			if MAN_EXISTS
+nroff&:					if not MAN_EXISTS
+
+do-nroff&:  [[SUB X X.nroff ../SRCDIR/''*.MANSECTION ]]
+
+%.nroff&: ../SRCDIR/%
+	@nroff -Tlp -man ../SRCDIR/%
+
+/*
+ *  Typeset all the non-stub manual pages.  Do them all at once,
+ *  to prevent lots of extra header sheets on the printer
+ *
+ *	do-typeset-a	creates the file "troff.out" with the macros in it
+ *	%.troff		adds each manual page to "troff.out"
+ */
+typeset&: do-typeset			if MAN_EXISTS
+typeset&:				if not MAN_EXISTS
+
+do-typeset&:  do-typeset-a troff.out
+	( TYPESET_MAN2 ) < troff.out
+	@rm -f troff.out
+
+do-typeset-a&:
+	TYPESET_MAN0 TYPESET_MAN1 > troff.out
+
+troff.out&:  [[SUB X X.troff ../SRCDIR/''*.MANSECTION ]]
+
+%.troff&:				if ARG_EXISTS
+	TYPESET_MAN0 % >> troff.out
+
+#define SRC_LIST	`SUB X ../SRCDIR/X''SRCSUFF FILES`
+
+lint&:
+	LINT LFLAGS -I''INCDIR SRC_LIST LLIBES > SRCDIR.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
+
+xref&:	[[echo SRC_LIST]]
+	cxref -c -s -w132 -I''INCDIR SRC_LIST > SRCDIR.xref
+
+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]]
+#else
+uninstall-prod&:
+#endif
+
+%.uninstall-prod&:
+	rm -f BINDIR/% BINDIR/%.bak
+
+uninstall-man&:	do-uninstall-man	if MAN_EXISTS
+uninstall-man&:				if not MAN_EXISTS
+
+do-uninstall-man&:  [[SUB ../SRCDIR/X X.ui-man ../SRCDIR/''*.MANSECTION]]
+
+%.ui-man&:
+	rm -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak
+
+uninstall-stub&:  do-uninstall-stub	if STUB_EXISTS
+uninstall-stub&:			if not STUB_EXISTS
+
+do-uninstall-stub&:  [[SUB ../SRCDIR/X.stub X.uninstall-stub ../SRCDIR/''*.stub]]
+
+%.uninstall-stub&:
+	rm -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak
+
+#if !defined(EXTRA_INSTALL_TARGETS)
+#	define EXTRA_INSTALL_TARGETS	/**/
+#endif
+
+#if !defined(DONT_INSTALL)
+install&: install-prod install-man install-stub
+
+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 */
+%.iprod&: %
+	@echo ......checking % 1>&2 ; \
+	if cmp -s BINDIR/% %; \
+	then	exit 0; fi; \
+	mv -f BINDIR/% BINDIR/%.bak 2>/dev/null; \
+	if INS % BINDIR/%; \
+	then	if test x''AFTERINSTALL != x'AFTERINSTALL'; \
+		then	AFTERINSTALL BINDIR/%; fi; \
+		echo "++++++INSTALLED" BINDIR/% 1>&2; \
+		chmod BINPERM BINDIR/%; \
+	fi
+
+%.iprod-nobak&: %
+	@echo ......checking % 1>&2 ; \
+	if cmp -s BINDIR/% %; \
+	then	exit 0; fi; \
+	rm -f BINDIR/% 2>/dev/null; \
+	if INS % BINDIR/%; \
+	then	if test x''AFTERINSTALL != x'AFTERINSTALL'; \
+		then	AFTERINSTALL BINDIR/%; fi; \
+		echo "++++++INSTALLED" BINDIR/% 1>&2; \
+		chmod BINPERM BINDIR/%; \
+	fi
+
+install-man&:  do-install-man	if MAN_EXISTS
+install-man&:			if not MAN_EXISTS
+
+do-install-man&: [[SUB ../SRCDIR/X X.i-man ../SRCDIR/''*.MANSECTION ]]
+
+%.i-man&:	../SRCDIR/%
+	@if cmp -s MANDIR''MANSECTION/% ../SRCDIR/%; \
+	then	exit 0; fi; \
+	mv -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak 2>/dev/null; \
+	if INS ../SRCDIR/% MANDIR''MANSECTION/%; \
+	then	echo "++++++INSTALLED" MANDIR''MANSECTION/% 1>&2; \
+		chmod MANPERM MANDIR''MANSECTION/%; \
+	fi
+
+install-stub&:  do-install-stub	if STUB_EXISTS
+install-stub&:			if not STUB_EXISTS
+
+do-install-stub&: [[SUB ../SRCDIR/X.stub X.install-stub ../SRCDIR/''*.stub]]
+
+%.install-stub&:  ../SRCDIR/%.stub
+	@if cmp -s MANDIR''MANSECTION/% ../SRCDIR/%.stub; \
+	then	exit 0; fi; \
+	mv -f MANDIR''MANSECTION/% MANDIR''MANSECTION/%.bak 2>/dev/null; \
+	if INS ../SRCDIR/%.stub MANDIR''MANSECTION/%; \
+	then	echo "++++++INSTALLED" MANDIR''MANSECTION/% 1>&2; \
+		chmod MANPERM MANDIR''MANSECTION/%; \
+	fi
+
+/*
+ *  Force installation of copies of all sources,
+ *  whether configured in or not, into the distribution tree.
+ */
+#ifndef	STATIC_PRODUCTS
+#	define STATIC_PRODUCTS	/**/
+#endif
+#ifdef NFS
+#define	INSTALL_PATTERNS	STATIC_PRODUCTS \
+	../SRCDIR/Cakefile ../SRCDIR/\\\\*.[hcsfyl] \
+	../SRCDIR/\\\\*.sh \
+	../SRCDIR/\\\\*.MANSECTION ../SRCDIR/\\\\*.MANSECTION.stub \
+	../SRCDIR/\\\\*.doc
+#else
+#define	INSTALL_PATTERNS	STATIC_PRODUCTS \
+	./Cakefile \\\\*.[hcsfyl] \\\\*.sh \
+	\\\\*.MANSECTION \\\\*.MANSECTION.stub \\\\*.doc
+#endif
+
+/* 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
+	mkdir DISTRIBUTION/SRCDIR; chmod 775 DISTRIBUTION/SRCDIR
+
+%.do-inst-dist&:  %.inst-dist	if ARG_EXISTS
+%.do-inst-dist&:		if not ARG_EXISTS
+
+%.inst-dist&:
+	-INS % DISTRIBUTION/SRCDIR/.
+
+#ifndef EXTRA_CLEAN
+#	define	EXTRA_CLEAN	/**/
+#endif
+
+/*
+ *	clean	remove all .o files and by-products
+ *	noprod	remove the final executables
+ *	clobber	perform clean & noprod
+ */
+clobber&:	clean noprod
+
+clean&:
+	-rm -f 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.
+ */
+noprod&:
+	-rm -f PRODUCTS*
+#else
+noprod&:
+	-rm -f PRODUCTS
+#endif
+
+#ifdef never
+/*
+ *  Insist that, by default, Cake work on making the products.
+ *  THIS SHOULD BE THE LAST THING CAKE SEES!
+ *  The double-colon marks this as the main target.
+ */
+"!MAINCAKE!"&::	PRODUCTS
+#endif

Copyright_1989_US_Army

@@ -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 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.

Copyright_1991_US_Army

@@ -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.

Copyright_1994_US_Army

@@ -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.

Copyright_1995_US_Army

@@ -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.

Copyright_2000_US_Army

@@ -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.

INSTALL

@@ -1,794 +0,0 @@
-The Installation Guide to BRL-CAD
-=================================
-
-Please read this document if you are interested in installing BRL-CAD.
-
-This document covers the basics of installing BRL-CAD from either a
-source or binary distribution.  Please see the 'Reporting Problems'
-section if you run into any trouble installing BRL-CAD.
-
-Some platforms have additional platform-specific documentation
-provided in the doc/ directory of the source distribution that should
-be consulted if that is the platform you are installing on.  This
-presently includes the following:
-
-  doc/README.AIX        -- IBM's Advanced Interactive eXecutive OS
-  doc/README.BSD        -- FreeBSD, NetBSD, OpenBSD, etc.
-  doc/README.IRIX	-- SGI IRIX and IRIX64
-  doc/README.Linux	-- Various Linux distributions
-  doc/README.MacOSX	-- Apple Mac OS X
-  doc/README.Solaris    -- Oracle Solaris, OpenIndiana (Illumos), etc.
-  doc/README.Windows    -- Microsoft Windows
-  doc/README.VAX        -- Virtual Address eXtension architecture from DEC.
-                           One of the original BRL-CAD platforms. These
-                           days, re-created using the simh simulator.
-
-
-TABLE OF CONTENTS
------------------
-  Introduction
-  Table of Contents
-  Quick Installation
-  Installing from Binary
-  Installing from Source
-  Testing Functionality
-  Post-Installation
-  Reporting Problems
-  Configuration Options
-
-
-QUICK INSTALLATION
-------------------
-
-Note that the downloaded files have two check sums calculated
-automatically by the Source Forge file release system.  The values are
-used to verify the integrity of the files as distributed.  Get those
-data by clicking on the 'i' button at the end of each file's name.
-You should ensure those data are retained and kept with the files if
-you re-distribute them.
-
-
-If you downloaded a binary distribution of BRL-CAD for your system,
-please read the INSTALLING FROM BINARY section of this document down
-below.  The rest of this quick installation section is only relevant
-to source code distributions of BRL-CAD.
-
-For the impatient or simplistic, the following steps should compile,
-test, and install an optimized BRL-CAD quickly into the /usr/brlcad/rel-X.Y.Z
-directory if CMake is installed on your system:
-
-  gunzip brlcad-X.Y.Z.tar.gz
-  tar -xvf brlcad-X.Y.Z.tar
-  mkdir brlcad-build
-  cd brlcad-build
-  cmake ../brlcad-X.Y.Z -DBRLCAD_BUNDLED_LIBS=ON -DCMAKE_BUILD_TYPE=Release
-  make
-  make benchmark
-  make regress
-  make install   # as root, e.g. sudo make install
-
-If any of the listed steps fail, then something unexpected happened.
-See the REPORTING PROBLEMS section of this document to report the
-problem or the INSTALLING FROM SOURCE section for more comprehensive
-instructions.
-
-Once installed, add /usr/brlcad/rel-X.Y.Z/bin to your path, and you should be
-able to run any of the 400+ applications that constitute BRL-CAD.  For
-example, to run the MGED solid modeler:
-
-PATH=/usr/brlcad/rel-X.Y.Z/bin:$PATH ; export PATH
-mged
-
-If you use tcsh or another C-shell based command shell, use this
-instead:
-
-set path=( /usr/brlcad/rel-X.Y.Z/bin $path ) ; rehash
-mged
-
-
-INSTALLING FROM BINARY
-----------------------
-
-There are a variety of different kinds of binary distributions of
-BRL-CAD.  Some of the binary distributions are sufficiently generic and
-are simply a binary compressed tarball distribution.  Others are
-specific to a particular platform such as Debian, Mac OS X, FreeBSD,
-and Windows etc.
-
-
-Generic Binary Distributions:
-
-For the unspecialized binary distributions that are basically
-compressed tarballs of the installation root, they should contain the
-entire hierarchy of the distribution.  To put that hierarchy in its
-"installed" location, you just create the directory and move the
-expanded tarball contents:
-
-gunzip BRL-CAD_7.2.4_Linux_ia64.tar.gz
-tar -xvf BRL-CAD_7.2.4_Linux_ia64.tar
-sudo mkdir /usr/brlcad/rel-7.2.4
-sudo mv BRL-CAD_7.2.4_Linux_ia64/* /usr/brlcad/rel-7.2.4/
-
-Of course, there are other compression options possible including zip
-and bzip2.  By default, BRL-CAD expects to be installed into
-/usr/brlcad/rel-7.2.4. On some platforms the binary may be relocatable,
-but this is not guaranteed. It's recommended that you start from a source
-distribution if you would like to install into an alternate installation
-location.  That said, if you do desire to install and/or run BRL-CAD from
-a different location, give it a try...on some platforms it will work.
-
-Something to be aware of, even if a binary distribution IS relocatable:
-it will use its local copies of things like libraries only so long as the
-"final" installed target directory that the build was compiled for
-does not contain a BRL-CAD installation.  Due to the way path logic
-is set, an installed copy of a library in the correct location will
-always be loaded first, regardless of the presence of a "local" copy.
-
-
-Mac OS X Disk Mounting Image:
-
-Mount the .dmg and run the Installer .pkg contained therein.  This
-will install into /usr/brlcad/rel-X.Y.Z and will only require confirming that
-your environment is set up properly (i.e. add /usr/brlcad/rel-X.Y.Z/bin to your
-path) as described in the Quick Installation section.
-
-
-INSTALLING FROM SOURCE
-----------------------
-
-There are a couple of ways to obtain the BRL-CAD sources, usually via
-one of the following starting points:
-
-  1) from a SVN checkout/export, or
-  2) from a source distribution tarball
-
-Using the latest SVN sources is recommended where possible since it
-will have the latest changes.  See the corresponding section below for
-details on how to install from either starting point.
-
-
-Starting From a SVN Checkout/Export:
-
-With CMake, there is no longer any difference between building from
-a subversion checkout and a tarball--follow the Source Distribution
-instructions below.
-
-Starting From a Source Distribution:
-
-There are many different ways to build BRL-CAD and depending on what
-you need/want will determine which configuration options you should
-use.  See the CONFIGURATION OPTIONS section below for details on how
-to go about selecting which options are appropriate for you.
-
-By default, the default configuration will prepare the build system
-to perform a Debug build and install into the /usr/brlcad/dev-X.Y.Z
-directory.   The CMAKE_INSTALL_PREFIX option may be used to change
-that directory, or a Release build type may be specified to install to
-/usr/brlcad/rel-X.Y.Z - more on this below.  The
-tradition of non-system installation paths goes back a couple of decades
-and is a convenient means to isolate the BRL-CAD solid modeling
-system from your system, resolves conflicts, facilitates uninstalls,
-and simplifies upgrades.  The default configuration is performed by
-running `cmake'.  It is not required to do the build in a directory
-different from your source directory, but it is much cleaner and
-*highly* recommended - this guide will illustrate the build process
-with the assumption that the BRL-CAD source code is in the directory
-brlcad-7.2.4 and the directory intended to hold the build output is
-brlcad-build, located in the same parent directory as brlcad-7.2.4:
-
-  .
-  ./brlcad-7.2.4
-  ./brlcad-build
-
-To start the build process, cd into brlcad-build and run CMake,
-pointing it to the source directory:
-
-  cd brlcad-build
-  cmake ../brlcad-7.2.4
-
-As mentioned earlier, CMake uses two "build types", controlled by
-the CMAKE_BUILD_TYPE variable, that are useful for specific purposes:
-
-* Debug (-DCMAKE_BUILD_TYPE=Debug) - Debug is the configuration that most
-  developers will want to use when working on BRL-CAD.  It will add
-  debug flags to the compile, and sets the default install directory to
-  be /usr/brlcad/dev-X.Y.Z - in order to run the resulting installed
-  binaries, the developer should ensure that the dev-X.Y.Z  path is
-  first in his or her PATH environment variable.
-
-* Release (-DCMAKE_BUILD_TYPE=Release) - A release build is intended for
-  final consumption by end users and as such has optimizations enabled.
-  It also sets the install path to /usr/brlcad/rel-X.Y.Z - best practice
-  for release installation is to set up symbolic links in /usr/brlcad to
-  point to the most current BRL-CAD release, while allowing older versions
-  to remain installed on the system in case they are needed.
-
-In both of these cases any individual variable may be overridden - for
-example, setting -DCMAKE_INSTALL_PREFIX=/usr/brlcad in a Debug build will
-override the ../brlcad-install default.  Build types are a convenient way
-to bundle sets of settings, but they do not prevent overrides if a more
-custom setup is needed.
-
-By default, all components and functionality will be built.
-Note that BRL-CAD does require and include several 3rd party
-components.  If your system does not include a sufficient version of
-those required 3rd party components, they will be automatically
-configured for compilation.
-
-If the autodetection mechanisms fail to produce a working configuration,
-the next simplest approach is typically to enable ALL the third party
-components - this is typically a well tested configuration, but will
-increase both the build time and final install size of BRL-CAD on
-the system.  To set this variable on the command line, use -D to
-define BRLCAD_BUNDLED_LIBS for CMake:
-
-  -DBRLCAD_BUNDLED_LIBS=Bundled
-
-If the graphical interface (cmake-gui) is in use, it will list this
-and other common options by default, allowing the user change them
-graphically.  This is often quicker and more convenient than
-defining options on the command line, but both will work.
-
-You can also force on or off any individual 3rd party library by
-setting the BRL-CAD variable for that feature to either on or off:
-
-  -DBRLCAD_<LIBRARY>=ON
-
-Other variables control BRL-CAD features.  For example, to NOT
-enable functionality using OpenGL, set
-
-  -DBRLCAD_ENABLE_OPENGL=OFF
-
-To obtain an optimized build (for example, for BRL-CAD Benchmark
-performance evaluation), enable BRLCAD_FLAGS_OPTIMIZATION:
-
-  -DBRLCAD_FLAGS_OPTIMIZATION=ON
-
-See the CONFIGURATION OPTIONS below for more details on all of the
-possible settings.
-
-You can specify options or preferences you want to always use by
-default.  For example, to always enable all local libs the following
-line can be added to your own configuration file:
-
-  set(BRLCAD_BUNDLED_LIBS "Bundled" CACHE STRING "Enable all local libs")
-
-You can define your own configuration file in one of three ways.  The
-build system will search for the file in this order:
-
-  ${BRLCAD_SOURCE_DIR}/../BRL-CAD_CONFIG.GLOBAL
-
-  ${BRLCAD_SOURCE_DIR}/BRL-CAD_CONFIG.GLOBAL
-
-  the file defined in the environment variable "BRLCAD_USER_GLOBAL_CONFIG_FILE"
-
-The build system will use the first file defined that exists.
-
-Once configured, you should be able to successfully build BRL-CAD via
-make:
-
-  make
-
-(On multicore systems, adding the -j flag (e.g. -j6) is recommended)
-
-Installing the Compilation:
-
-After the build successfully completes and assuming the benchmark also
-produces correct results, installation may begin.  Like any package,
-you must have sufficient filesystem permissions to install.  To
-install into a system location, you can generally either become a
-super user via the su command and run
-
-  make install
-
-or on operating systems set up to use sudo:
-
-  sudo make install
-
-
-TESTING FUNCTIONALITY
----------------------
-
-To test BRL-CAD before installation, you can run the BRL-CAD benchmark.
-The benchmark will report if the results are correct, testing a
-majority of the core functionality of BRL-CAD in addition to testing
-your system's performance:
-
-  make benchmark
-
-Note that the benchmark target will build ONLY the pieces required for
-the benchmark tests, unless a general make has already been performed.
-For more testing, you can run the regression test suite:
-
-  make regress
-
-
-POST-INSTALLATION
------------------
-
-Permissions:
-
-Something to be aware of with CMake installations is that umask settings
-are ignored by current versions of CMake.  It is a common situation in
-Unix environments to want "group" members to have read/write access -
-to achieve this, after installation the following find command can be
-run (of course, substituting the actual BRL-CAD version for X.Y.Z):
-
-find /usr/brlcad/rel-X.Y.Z -type d -exec chmod ug+rwx {} \; -exec chmod o+rx {} \; -o -type f -exec chmod ug+rw {} \; -exec chmod o+r {} \;
-
-The above 'find' line will set up permissions across a /usr/brlcad
-rooted installation such that 'user' and 'group' will have read-write
-access and 'other' will have read access consistently across all
-files.
-
-
-System PATH:
-
-Normally, BRL-CAD's install directories are not in system PATH lists and
-consequently BRL-CAD's executables will not be invokable without specifying
-their full path.  This is normally handled in Unix environments by adding
-the desired BRL-CAD installation's binary directory to the user's local path:
-
-In the bash shell: export PATH=/usr/brlcad/rel-X.Y.Z:$PATH
-In the csh shell:  setenv PATH /usr/brlcad/rel-X.Y.Z:$PATH
-
-REPORTING PROBLEMS
-------------------
-
-Please report any bugs encountered to the project bug tracker at
-http://sourceforge.net/tracker/?group_id=105292&atid=640802
-
-Similarly, please post any request for feature enhancements or support
-to http://sourceforge.net/tracker/?group_id=105292&atid=640805 and
-http://sourceforge.net/tracker/?group_id=105292&atid=640803
-respectively.
-
-
-CONFIGURATION OPTIONS
----------------------
-
---- BRLCAD_BUNDLED_LIBS ---
-
-Enables compilation of all 3rd party sources that are provided within a BRL-CAD
-source distribution.  If used this option sets all other 3rd party library
-build flags to ON by default.  However, that setting can be overridden by
-manually setting individual variables. Default is "AUTO" - 3rd party sources
-are compiled only if they are not detected as being available and functioning
-as expected.
-
-Aliases:  ENABLE_ALL
-
-
---- BRLCAD_ENABLE_OPENGL ---
-
-Enable support for OpenGL based Display Managers in BRL-CAD.
-Default depends on whether OpenGL is successfully detected -
-if it is, default is to enable.
-
-Aliases:  ENABLE_OPENGL
-
-
---- BRLCAD_ENABLE_RUNTIME_DEBUG ---
-
-Enables support for application and library debugging facilities.
-Disabling the run-time debugging facilities can provide a significant
-(10%-30%) performance boost at the expense of extensive error
-checking (that in turn help prevent corruption of your data).
-Default is "ON", and should only be disabled for read-only render
-work where performance is critical.
-
-Aliases:  ENABLE_RUNTIME_DEBUG, ENABLE_RUN_TIME_DEBUG, ENABLE_RUNTIME_DEBUGGING
-          ENABLE_RUN_TIME_DEBUGGING
-
-
---- BRLCAD_FLAGS_DEBUG ---
-
-Add compiler flags to aid in program debugging.  Defaults to ON.
-
-Aliases:  ENABLE_DEBUG, ENABLE_FLAGS_DEBUG, ENABLE_DEBUG_FLAGS
-
-
---- BRLCAD_ENABLE_COMPILER_WARNINGS ---
-
-Use extra compiler warning flags when compiling C/C++ code.  Defaults to ON.
-
-Aliases:  ENABLE_WARNINGS, ENABLE_COMPILER_WARNINGS
-
-
---- BRLCAD_ENABLE_STRICT ---
-
-Causes all compilation warnings for C code to be treated as errors.  This is now
-the default for BRL-CAD source code, and developers should address issues
-discovered by these flags whenever possible rather than disabling strict
-mode.
-
-Aliases:  ENABLE_STRICT, ENABLE_STRICT_COMPILE, ENABLE_STRICT_COMPILE_FLAGS
-
-
---- ENABLE_ALL_CXX_COMPILE ---
-
-Build all C and C++ files with a C++ compiler.  Defaults to OFF.
-
-EXPERIMENTAL!
-
-Aliases:  ENABLE_ALL_CXX
-
-
---- ENABLE_POSIX_COMPLIANCE ---
-
-Build with strict POSIX compliance checking.  Defaults to OFF.
-
-Causes compiler options to be set for strict compliance with the
-minimum C and C++ standards acceptable according to current BRL-CAD
-policy.  The current minimum C standard is ??.
-There is no currently defined minimum C++ standard.
-
-Aliases:  ENABLE_POSIX
-
-
---- ENABLE_STRICT_COMPILER_STANDARD_COMPLIANCE ---
-
-Build with strict ISO C compliance checking.  Defaults to OFF.
-
-Causes C compiler options to be set for strict compliance with the
-appropriate ISO C standard.
-
-Aliases:  STRICT_ISO_C
-
-
---- BRLCAD_EXTRADOCS ---
-
-The core option that enables and disables building of BRL-CAD's
-DocBook based documentation (includes manuals and man pages for
-commands, among other things).  Defaults to ON, but only HTML and MAN
-formats are enabled by default - PDF must be enabled separately by use
-of this option or one of its aliases.  Note that you may set
-environment variable APACHE_FOP to point to your locally installed fop
-executable file (which on Linux is usually a shell script with 0755
-permissions).
-
-Aliases:  ENABLE_DOCS, ENABLE_EXTRA_DOCS, ENABLE_DOCBOOK
-
-
---- BRLCAD_LEMON ---
-
-Option for enabling and disabling compilation of the lemon parser
-provided with BRL-CAD's source distribution.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_LEMON
-
-
---- BRLCAD_RE2C ---
-
-Option for enabling and disabling compilation of the re2c scanner
-utility provided with BRL-CAD's source distribution.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_RE2C
-
-
---- BRLCAD_PERPLEX ---
-
-Option for enabling and disabling compilation of the perplex scanner
-generator provided with BRL-CAD's source distribution.  Default is
-AUTO, responsive to the toplevel BRLCAD_BUNDLED_LIBS option and
-testing first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO.  perplex requires a working re2c.
-
-Aliases:  ENABLE_PERPLEX
-
-
---- BRLCAD_ASTYLE ---
-
-Option for enabling and disabling compilation of the Artistic Style
-(astyle) utility provided with BRL-CAD's source distribution.  Default is
-AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_ASTYLE
-
-
---- BRLCAD_XSLTPROC ---
-
-Option for enabling and disabling compilation of the xsltproc XML
-transformation utility provided with BRL-CAD's source distribution.
-Used for DocBook documentation processing.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-Depends on BRLCAD_EXTRADOCS.
-
-Aliases:  ENABLE_XSLTPROC
-
-
---- BRLCAD_XMLLINT ---
-
-Option for enabling and disabling compilation of the xmllint XML
-validation utility provided with BRL-CAD's source distribution.  Used
-for DocBook documentation validation.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_XMLLINT
-
-
---- BRLCAD_REGEX ---
-
-Option for enabling and disabling compilation of the Regular
-Expression Library provided with BRL-CAD's source distribution.
-Default is AUTO, responsive to the toplevel BRLCAD_BUNDLED_LIBS option
-and testing first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO.
-
-Aliases:  ENABLE_REGEX
-
-
---- BRLCAD_ZLIB ---
-
-Option for enabling and disabling compilation of the zlib library
-provided with BRL-CAD's source distribution.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_ZLIB, ENABLE_LIBZ
-
-
---- BRLCAD_TINYCTHREAD ---
-
-Option for enabling and disabling compilation of the tinycthread library
-provided with BRL-CAD's source distribution.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_TINYCTHREAD
-
-
---- BRLCAD_FREETYPE ---
-
-Option for enabling and disabling compilation of the FreeType
-libraries provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_FREETYPE
-
-
---- BRLCAD_TERMLIB ---
-
-Option for enabling and disabling compilation of the termlib library
-provided with BRL-CAD's source distribution.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO. (Except when building with Visual Studio, where it is
-disabled. Windows does not support the termlib API.)
-
-Aliases:  ENABLE_TERMLIB
-
-
---- BRLCAD_NETPBM ---
-
-Option for enabling and disabling compilation of the netpbm library
-provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_NETPBM
-
-
---- BRLCAD_PNG ---
-
-Option for enabling and disabling compilation of the Portable Network
-Graphics library provided with BRL-CAD's source distribution.  Default
-is AUTO, responsive to the toplevel BRLCAD_BUNDLED_LIBS option and
-testing first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO.
-
-Aliases:  ENABLE_PNG
-
-
---- BRLCAD_UTAHRLE ---
-
-Option for enabling and disabling compilation of the Utah Raster
-Toolkit library provided with BRL-CAD's source code.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_UTAHRLE
-
-
---- BRLCAD_TCL ---
-
-Option for enabling and disabling compilation of the Tcl library
-provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_TCL
-
-
---- BRLCAD_TK ---
-
-Option for enabling and disabling compilation of the Tk library
-provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the BRLCAD_TCL option and testing first for a system version if
-BRLCAD_BUNDLED_LIBS is also AUTO. Option for enabling and disabling
-compilation of the Tk graphics package for Tcl provided with BRL-CAD's
-source distribution.  Default is AUTO, auto-enabling if the BRLCAD_TCL
-option is set to BUNDLED and testing first for a system version if
-BRLCAD_TCL is set to AUTO or SYSTEM.  If BRLCAD_TK is set to BUNDLED,
-local copy is built even if a system version is present.  This option
-also depends on BRLCAD_ENABLE_TK being ON.
-
-Aliases:  ENABLE_TK
-
-
---- BRLCAD_ITCL ---
-
-Option for enabling and disabling compilation of the IncrTcl package
-for Tcl objects provided with BRL-CAD's source distribution.  Default
-is AUTO, auto-enabling if the BRLCAD_TCL option is set to BUNDLED and
-testing first for a system version if BRLCAD_TCL is set to AUTO or
-SYSTEM.  If BRLCAD_ITCL is set to BUNDLED, local copy is built even if
-a system version is present.
-
-Aliases:  ENABLE_ITCL
-
-
---- BRLCAD_ITK ---
-
-Option for enabling and disabling compilation of the IncrTcl itk
-package for Tk objects provided with BRL-CAD's source distribution.
-Default is AUTO, auto-enabling if the BRLCAD_TCL option is set to
-BUNDLED and testing first for a system version if BRLCAD_TCL is set to
-AUTO or SYSTEM.  If BRLCAD_ITK is set to BUNDLED, local copy is built
-even if a system version is present.  This package will be disabled if
-BRLCAD_ENABLE_TK is OFF.
-
-Aliases:  ENABLE_ITK
-
-
---- BRLCAD_IWIDGETS ---
-
-Option for enabling and disabling compilation of the IWidgets Tk
-widget package provided with BRL-CAD's source distribution.  Default
-is AUTO, auto-enabling if the BRLCAD_TCL option is set to BUNDLED and
-testing first for a system version if BRLCAD_TCL is set to AUTO or
-SYSTEM.  If BRLCAD_IWIDGETS is set to BUNDLED, local copy is built even if
-a system version is present.  This package will be disabled if
-BRLCAD_ENABLE_TK is OFF.
-
-Aliases:  ENABLE_IWIDGETS
-
-
---- BRLCAD_TKHTML ---
-
-Option for enabling and disabling compilation of the Tkhtml HTML
-viewing package provided with BRL-CAD's source distribution.  Default
-is AUTO, auto-enabling if the BRLCAD_TCL option is set to BUNDLED and
-testing first for a system version if BRLCAD_TCL is set to AUTO or
-SYSTEM.  If BRLCAD_TKHTML is set to BUNDLED, local copy is built even if
-a system version is present.  This package will be disabled if
-BRLCAD_ENABLE_TK is OFF.
-
-Aliases:  ENABLE_TKHTML
-
-
---- BRLCAD_TKPNG ---
-
-Option for enabling and disabling compilation of the tkpng PNG image
-viewing package provided with BRL-CAD's source distribution.  Default
-is AUTO, auto-enabling if the BRLCAD_TCL option is set to BUNDLED and
-testing first for a system version if BRLCAD_TCL is set to AUTO or
-SYSTEM.  If BRLCAD_TKPNG is set to BUNDLED, local copy is built even if
-a system version is present.  This package will be disabled if
-BRLCAD_ENABLE_TK is OFF.
-
-Aliases:  ENABLE_TKPNG
-
-
---- BRLCAD_TKTABLE ---
-
-Option for enabling and disabling compilation of the Tktable graphical
-table widget package provided with BRL-CAD's source distribution.
-Default is AUTO, auto-enabling if the BRLCAD_TCL option is set to
-BUNDLED and testing first for a system version if BRLCAD_TCL is set to
-AUTO or SYSTEM.  If BRLCAD_TKTABLE is set to BUNDLED, local copy is built
-even if a system version is present.  This package will be disabled if
-BRLCAD_ENABLE_TK is OFF.
-
-Aliases:  ENABLE_TKTABLE
-
-
---- BRLCAD_OPENNURBS ---
-
-Option for enabling and disabling compilation of the openNURBS library
-provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_OPENNURBS
-
-
---- BRLCAD_SPR ---
-
-Option for enabling and disabling compilation of the PoissonRecon library
-provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_SPR
-
-
---- BRLCAD_SC ---
-
-Option for enabling and disabling compilation of the NIST Step Class
-Libraries provided with BRL-CAD's source code.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_SCL, ENABLE_STEP, ENABLE_STEP_CLASS_LIBRARIES
-
-
---- BRLCAD_GECODE ---
-
-Option for enabling and disabling compilation of the Gecode Constraint
-Solving Libraries provided with BRL-CAD's source code.  Default is AUTO,
-responsive to the toplevel BRLCAD_BUNDLED_LIBS option and testing
-first for a system version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_GECODE
-
-
---- BRLCAD_VDS ---
-
-Option for enabling and disabling compilation of the libvds triangle
-simplification library provided with BRL-CAD's source code.  Default
-is AUTO, responsive to the toplevel BRLCAD_BUNDLED_LIBS option and
-testing first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO.
-
-Aliases:  ENABLE_VDS
-
-
---- BRLCAD_OSG ---
-
-Option for enabling and disabling compilation of the OpenSceneGraph
-libraries provided with BRL-CAD's source code.  Default is AUTO, responsive to
-the toplevel BRLCAD_BUNDLED_LIBS option and testing first for a system
-version if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_OPENSCENEGRAPH
-
-
---- BRLCAD_GDIAM ---
-
-Option for enabling and disabling compilation of the libgdiam approximate
-tight bounding box library provided with BRL-CAD's source code.  Default
-is AUTO, responsive to the toplevel BRLCAD_BUNDLED_LIBS option and
-testing first for a system version if BRLCAD_BUNDLED_LIBS is also
-AUTO.
-
-Aliases:  ENABLE_GDIAM
-
-
---- BRLCAD_BULLET ---
-
-Option for enabling and disabling compilation of the Bullet Realtime
-Physics Simulation Libraries provided with BRL-CAD's source
-distribution.  Default is AUTO, responsive to the toplevel
-BRLCAD_BUNDLED_LIBS option and testing first for a system version
-if BRLCAD_BUNDLED_LIBS is also AUTO.
-
-Aliases:  ENABLE_BULLET
-
-
-
-*** Note - Do not add or edit configuration option descriptions and alias
-   lists in this file - those entries are auto-generated from information in
-   the toplevel CMakeLists.txt file and src/other/CMakeLists.txt - any changes
-   should be made in those files.  The CMake configuration process will
-   automatically re-generate INSTALL with the new descriptions and alias
-   information.

Makefile

@@ -0,0 +1,78 @@
+#################################################################
+#								#
+#			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 $@
+tcl:
+	-@sh gen.sh $@
+install-tcl:
+	-@sh gen.sh $@
+tclIndex:
+	-@sh gen.sh $@
+tags:
+	-@sh gen.sh $@
+TAGS:
+	-@sh gen.sh $@

Makefile.defs

@@ -0,0 +1,451 @@
+#################################################################
+#								#
+#			Makefile.defs				#
+#								#
+#  This Makefile contains definitions common to most of the	#
+#  software packages contained in this distribution.		#
+#  Combined with Makefile.rules and a directory-specific	#
+#  Makefile.loc to create full MAKE input.			#
+#								#
+#  Each source directory contains a Makefile with these		#
+#  contents:							#
+#								#
+#everything:							#
+#	make $(MFLAGS) -$(MAKEFLAGS) \				#
+#		-f ../Makefile.defs -f Makefile.loc \		#
+#		-f ../Makefile.rules				#
+#.DEFAULT:							#
+#	make $(MFLAGS) -$(MAKEFLAGS) \				#
+#		-f ../Makefile.defs -f Makefile.loc \		#
+#		-f ../Makefile.rules $@				#
+#								#
+#  so that the local rules and definitions for each directory	#
+#  are combined with the common rules and definitions.		#
+#								#
+#  Author -							#
+#	Michael John Muuss					#
+#								#
+#  Source -							#
+#	SECAD/VLD Computing Consortium, Bldg 394		#
+#	The U. S. Army Ballistic Research Laboratory		#
+#	Aberdeen Proving Ground, Maryland  21005		#
+#								#
+#  Acknowledgements -						#
+#	This Makefile draws heavily on Doug Gwyn's		#
+#	VLD Standard Makefile, and Doug Kingston's		#
+#	MMDF Global Makefile.					#
+#								#
+#  $Header$		#
+#								#
+#################################################################
+
+#################################################################
+#								#
+#  Operating System Definition and Compiler Flags		#
+#								#
+#  Either "BSD" or "SYSV" *MUST* be defined			#
+#								#
+#  Oddball compiler/loader directives should also go here	#
+#  On parallel machines, if h/machine.h does not define		#
+#  the PARALLEL flag, it should be done here.			#
+#								#
+#################################################################
+
+#VAX#SYSTEM	= -DBSD
+#SYSV#SYSTEM	= -DSYSV
+#VLD#SYSTEM	= -DSYSV -DVLDSYSV
+# Silicon Graphics, -Zf if Weitek FP chip installed
+#SGI#SYSTEM	= -DSYSV -Zf
+#SGI#SYSTEM	= -DSYSV
+#ALLIANT#SYSTEM	= -DBSD -ce
+#GOULD#SYSTEM	= -DBSD -m 8
+#XMP#SYSTEM	= -DSYSV -DPARALLEL
+#XMP2.1#SYSTEM	= -DSYSV -DPARALLEL -holevel_0
+#CRAY2#SYSTEM	= -DSYSV -DPARALLEL -Dcray
+# Sun3, select correct floating point flag, or -fswitch if unsure (slower)
+#SUN3#SYSTEM	= -DBSD -f68881
+#SUN3#SYSTEM	= -DBSD -ffpa
+#SUN3#SYSTEM	= -DBSD -fswitch
+#PYRAMID#SYSTEM	= -DBSD -Dvoid=int
+#ULTRIX1#SYSTEM	= -DBSD -Dvoid=int
+
+#################################################################
+#								#
+#  System-Version information, for special handling within one	#
+#  type of $SYSTEM.						#
+#								#
+#  Currently meaningful settings are:				#
+#								#
+#	SGI34	SGI release 3.4 and below, with EXCELAN TCP.	#
+#	SGI35	SGI release 3.5 and above, with real TCP.	#
+#	UNICOS20	Cray UNICOS 2.0, with TCP		#
+#	SUN3		SUN UNIX version 3.2 or above		#
+#								#
+#################################################################
+
+#SGI#SYSVERS	= SGI34
+#SGI#SYSVERS	= SGI35
+#4D#SYSVERS	= 4D32
+#XMP#SYSVERS	= UNICOS20
+#CRAY2#SYSVERS	= UNICOS20
+#SUN#SYSVERS	= SUN3
+
+#################################################################
+#								#
+#  Definitions specific to one portion of the CAD distribution,	#
+#  but collected here for ease of configuration			#
+#								#
+#################################################################
+
+#################################################################
+#								#
+#		Configuration for libpkg			#
+#								#
+#################################################################
+
+#SGI34#LIBPKG_CONFIG	= -I/usr/include/EXOS -DSGI_EXCELAN
+#SGI35#LIBPKG_CONFIG	= -I/usr/include/bsd -DBSD
+#4D32#LIBPKG_CONFIG	= -I/usr/include/bsd -DBSD
+#XMP#LIBPKG_CONFIG	= -I/usr/win-include -DBSD -DSHORT_IDENT -DCRAY
+#CRAY2#LIBPKG_CONFIG	= -I/usr/win-include -DBSD -DSHORT_IDENT -DCRAY
+
+#################################################################
+#								#
+#		Configuration for remrt				#
+#								#
+#################################################################
+
+#SGI34#REMRT_CONFIG	= -I/usr/include/EXOS -DSGI_EXCELAN
+#SGI35#REMRT_CONFIG	= -I/usr/include/bsd -DBSD
+#4D32#REMRT_CONFIG	= -I/usr/include/bsd -DBSD
+#XMP#REMRT_CONFIG	= -I/usr/win-include -DBSD -DSHORT_IDENT -DCRAY
+#CRAY2#REMRT_CONFIG	= -I/usr/win-include -DBSD -DSHORT_IDENT -DCRAY
+
+#################################################################
+#								#
+#		Configuration for rfbd				#
+#								#
+#################################################################
+
+#SGI35#RFBD_CONFIG	= -I/usr/include/bsd -DBSD
+#4D32#RFBD_CONFIG	= -I/usr/include/bsd -DBSD
+
+#################################################################
+#								#
+#		Configuration for libfb				#
+#								#
+#  Specify all OPTIONAL framebuffer interfaces to attach.	#
+#  Select from:							#
+#	if_remote	Network access to remote display	#
+#	if_adage	Adage RDS-3000 ("Ikonas")		#
+#	if_sgi		SGI IRIS display			#
+#	if_ptty		AT&T 5620 w/special Moss layer		#
+#	if_sun		SUNView interface			#
+#	if_ug		Ultra Graphics device			#
+#	if_rat		Raster Technology One/80 (24-bit RGB)	#
+#	if_4d		SGI 4D/60T "clover" workstation
+#								#
+#  Edit all three LIBFB_* lines below similarly.		#
+#  NOTES:							#
+#  1)  When TCP exists and if_remote is desired, set		#
+#	LIBFB_OBJS = if_remote.o pkg.o				#
+#	to gain access to the PKG routines.			#
+#								#
+#  2)  For SGI release 3.4 and below, but not 3.5 and above:	#
+#	LIBFB_OBJS = if_remote.o ../libpkg/pkg.o sgiselect.o	#
+#								#
+#  3)  For SGIs which have MC 68010 CPUs (not Turbos or		#
+#	30xx machines), be certain to uncomment -DMC_68010,	#
+#	because the default is a 68020				#
+#								#
+LIBFB_CFILES	= if_remote.c \
+		  if_ptty.c
+#VAX#		  if_adage.c
+#SGI#		  if_sgi.c
+#SUN#		  if_sun.c
+#4D32#		  if_4d.c
+LIBFB_OBJS	= if_remote.o pkg.o \
+		  if_ptty.o
+#VAX#		  if_adage.o
+#SGI35#		  if_sgi.o
+#SGI34#		  if_sgi.o sgiselect.o
+#SUN#		  if_sun.o
+#4D32#		  if_4d.o
+LIBFB_CONFIG	= -DIF_REMOTE \
+		  -DIF_PTTY
+#VAX#		  -DIF_ADAGE
+#SGI#		  -DIF_SGI	# -DMC_68010
+#SUN#		  -DIF_SUN
+#4D32#		  -DIF_4D
+#USNA#		  -DIF_ADAGE -DGM256
+#								#
+#################################################################
+
+#################################################################
+#								#
+#		Configuration for librt				#
+#								#
+# Select one of:						#
+#	timer42		4.2 BSD, 4.3 BSD (Berkeley UNIX)	#
+#	timerunix	Generic UNIX, System III, V, etc.	#
+#	timer52brl	For BRL's System 5-under-4.n BSD	#
+#	timerhep	Denelcor HEP				#
+#	timercray	Cray-X/MP UNICOS			#
+LIBRT_TIMER	= timer42
+#SYSV#LIBRT_TIMER	= timerunix
+#XMP#LIBRT_TIMER	= timercray
+#								#
+#################################################################
+
+#################################################################
+#								#
+#		Configuration for RT				#
+#								#
+#	Mostly useful for specification of multi-processing	#
+#	versions of libc, etc.					#
+#								#
+#XMP#RT_CONFIG	= -L/lib/multi -lu
+#CRAY2#RT_CONFIG	= -lmt
+#4D32#RT_CONFIG	= 	-lbsd
+#								#
+#################################################################
+
+#################################################################
+#								#
+#		Configuration for mged				#
+#								#
+# If you wish MGED usage logging, add				#
+#	-DLOGFILE=/file/name to MGED_CONFIG			#
+#								#
+# At present, MGED operates on these types of			#
+# display hardware by default:					#
+#	dm-plot		any UNIX-plot filter			#
+#	dm-tek		Tektronix 4014 and family		#
+#	dm-tek4109	Tektronix 4109				#
+# and also supports these optional display devices:		#
+#	dm-vg		Vector General 3300			#
+#	dm-mg		Megatek 7250				#
+#	dm-ir		SGI IRIS 2400,3030  (uses lib -lgl2)	#
+#	dm-sun		SUN 3.2 Pixwin				#
+#	dm-rat		Raster Tech One/180,380			#
+#	dm-rat80	Raster Tech One/80			#
+#	dm-ps		E&S Picture System 300			#
+#	dm-4d		Silicon Graphics 4D/60T
+#	dm-mer		Megatek Merlin 9200	[ Marginal ]	#
+#	dm-sab		Saber w/GOPS		[ Marginal ]	#
+#								#
+#  Specify all OPTIONAL display managers to attach.		#
+#								#
+#VAX#MGED_CFILES	= dm-mg.c dm-vg.c
+#VAX#MGED_OBJS		= dm-mg.o dm-vg.o
+#VAX#MGED_CONFIG	= -DDM_MG -DDM_VG
+#VAX#MGED_LIBES		=
+#
+#4D32#MGED_CFILES	= dm-4d.c
+#4D32#MGED_OBJS		= dm-4d.o
+#4D32#MGED_CONFIG	= -G 64 -DDM_4D
+#4D32#MGED_LIBES	= -lbsd -lgl
+#
+#SGI#MGED_CFILES	= dm-ir.c
+#SGI#MGED_OBJS		= dm-ir.o
+#SGI#MGED_CONFIG	= -DDM_IR	# -DMC_68010
+#SGIXNS#MGED_CONFIG	= -DDM_IR -DNONBLOCK	# -DMC_68010
+#SGI35#MGED_LIBES	= -lbsd -lgl2
+#SGI34#MGED_LIBES	= ../libfb/sgiselect.o -lgl2
+#								#
+#SUN#MGED_CFILES	= dm-sun.c
+#SUN#MGED_OBJS	= dm-sun.o
+#SUN#MGED_CONFIG	= -DDM_SUNPW
+#SUN#MGED_LIBES	= -lsuntool -lsunwindow -lpixrect
+#								#
+#  Pick the right script for generating the version string:	#
+#  Depends on differing behaviors of "echo" command		#
+#								#
+MGED_VERS	= newvers.sh
+#SYSV#MGED_VERS	= newvers5.sh
+#VLD#MGED_VERS	= newversVLD.sh
+#								#
+#################################################################
+
+#################################################################
+#								#
+#  Paths for programs, libraries, etc				#
+#  Defined here to provide "optimal managerial flexibility"	#
+#								#
+#  Note:  Don't add comments after a definition, 		#
+#	the extra white space can ruin some of the expansions.	#
+#								#
+#################################################################
+
+CC		= /bin/cc
+#4D32#CC	= /usr/bin/cc
+#VLD#CC		= /usr/5bin/cc
+
+SHELL		= /bin/sh
+
+MAKE		= /bin/make
+
+# Makefiles to print
+MAKEFILE	= ../Makefile.defs ./Makefile.loc ../Makefile.rules ./Makefile
+
+# Program to get name of current system
+GETHOST		= hostname
+#SYSV#GETHOST	= uname -n
+#4D32#GETHOST	= hostname
+
+# If BSD42, use ranlib on archives.  For SYSV, set to "echo" (except SGI).
+RANLIB		= ranlib
+#SYSV#RANLIB	= echo
+#VLD#RANLIB	= ranlib
+#SGI#RANLIB	= ranlib
+#4D32#RANLIB	= ar ts
+
+# Place to install binary executable
+BINDIR		= /usr/brlcad/bin
+#VLD#BINDIR	= /vld/bin
+
+# Place to install (and find) libraries
+LIBDIR		= /usr/brlcad/lib
+#VLD#LIBDIR	= /vld/lib
+
+# Place to install daemons and other non-user-command type programs
+ETCDIR		= /usr/brlcad/etc
+
+# Suffix for archives.  Won't change for most UNIX machines, but...
+ARCH_SUF	= a
+#XMP#ARCH_SUF	= o
+
+# For utilities that wish to USE our libraries, here are the popular ones:
+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		= ../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}
+LIBTERMLIB	= -ltermlib
+#XMP#LIBTERMLIB	= -lcurses
+LIBTERMIO	= ../libtermio.'`sh ../mtype.sh`'/libtermio.${ARCH_SUF}
+LIBCURSOR	= ../libcursor.'`sh ../mtype.sh`'/libcursor.${ARCH_SUF}
+LIBSYSV		= ../libsysv.'`sh ../mtype.sh`'/libsysv.${ARCH_SUF}
+#SYSV#LIBSYSV	=
+
+# For strictly serial machines, the Princeton malloc() in libmalloc
+# uses address space and physical memory more efficiently than the
+# Berkeley/CalTech malloc(), but with the same performance advantage.
+# It works well on VAXen and Goulds and SGIs.  Sadly, it does not work
+# on the SUNs.
+# For parallel machines, the vendor's malloc() typically needs to be
+# used, to handle parallel stack frame expansion, etc.  This is
+# significant on the Cray and HEP, and perhaps others.
+LIBMALLOC	= ../libmalloc/libmalloc.${ARCH_SUF}
+#SUN#LIBMALLOC	=	# Forced to use vendor malloc
+#XMP#LIBMALLOC	=	# Forced to use vendor malloc
+#CRAY2#LIBMALLOC	=	# Forced to use vendor malloc
+
+# Directory within CAD Package for header files
+INCDIR		= ../h
+
+# Directory where users can find installed copies of header files.
+INCLUDE_DIR	= /usr/include/brlcad
+#VLD#INCLUDE_DIR	= /vld/include
+
+# Directory for Manual pages, when ${MANSECTION} appended
+MANDIR		= /usr/man/man
+#SYSV#MANDIR	= /usr/man/u_man/man
+#VLD#MANDIR	= /usr/5lib/man/local/man
+
+# Permissions for files to be installed
+BINPERM		= 775
+MANPERM		= 664
+LIBPERM		= 664
+DIRPERM		= 775
+
+# Compiler Flags
+PROFILE		=
+CFLAGS		= -O ${PROFILE} -I${INCDIR} ${SYSTEM} ${CONFIGDEFS}
+#4D#CFLAGS	= -O2 ${PROFILE} -I${INCDIR} ${SYSTEM} ${CONFIGDEFS}
+
+# Loader Flags.  Note that ${CC} is used to invoke the loader
+LDFLAGS 	= ${SYSTEM} ${PROFILE}
+#4D#LDFLAGS 	= -O2 ${SYSTEM} ${PROFILE}
+
+# Lint Flags
+LINT		= lint
+LFLAGS		= -hbvxac ${SYSTEM} ${CONFIGDEFS}
+#SYSV#LFLAGS	= ${SYSTEM} ${CONFIGDEFS}
+
+# Name of the object module archiver, for use with the loader.
+AR		= ar
+#XMP#AR	= ../cray-ar.sh
+
+# Regular libraries.  Everybody gets the math library;  most need it.
+LIBES		= -lm
+
+# Lint libraries
+LLIBES		= -lm
+
+# Program to install executables
+INS		= cp
+
+# Command string to typeset manual pages
+# Usage is:   ${TYPESET_MAN1} *.${MANSECTION} ${TYPESET_MAN2}
+#
+TYPESET_MAN1	= tbl /usr/lib/tmac/tmac.an
+TYPESET_MAN2	= | /usr/5lib/troff -Ti300 | /usr/5bin/dimp -t | \
+		    qpr -q im231
+#TYPESET_MAN1	= tbl /usr/lib/tmac/tmac.an 
+#TYPESET_MAN2	= | /usr/5lib/troff -Ti10 | /usr/5bin/di10 -t | \
+		    qpr -q im328-raw
+#TYPESET_MAN1	= troff -man
+#TYPESET_MAN2	= 
+
+#################################################################
+#								#
+#  Definition of master source machine, and master distribution	#
+#  directory.  Please don't change these values.		#
+#  When the current host is == MASTERHOST, the "make install"	#
+#  rules will also handle the distribution source management.	#
+#  Even if you have lots of disk space, you don't want that	#
+#  to happen.							#
+#								#
+#################################################################
+MASTERHOST	= brl-vgr
+DISTRIBUTION	= /m/dist
+
+#################################################################
+#								#
+#  Variables that will be defined in xxx/Makefile.loc		#
+#								#
+#################################################################
+
+# Full names of final products
+PRODUCTS	= product
+
+# Names of local headers that contribute to product
+HEADERS 	=
+
+# Names of C source files that contribute to product
+CFILES		= cfiles.c
+
+# Names of Shell files that contribute to product
+SHFILES		=
+
+# Section of manual to install pages in.
+# All the manual pages in a given directory MUST be in the same section.
+MANSECTION	= 99
+
+# ASCII Test files:  input, and expected output
+TFILES		=
+
+# Any Configuration-specific definitions to pass to ${CC}, ie, -Dfoo=1
+CONFIGDEFS	=
+
+# Name of directory that holds the sources
+SRCDIR		= xxx
+
+# If special things (like ranlib) need doing after "make install",
+# xxx/Makefile.loc should set AFTERINSTALL=${RANLIB}
+AFTERINSTALL	= echo
+#								#
+#################################################################

Makefile.rules

@@ -0,0 +1,217 @@
+#################################################################
+#								#
+#			Makefile.rules				#
+#								#
+#  Author -							#
+#	Michael John Muuss					#
+#								#
+#  Source -							#
+#	SECAD/VLD Computing Consortium, Bldg 394		#
+#	The U. S. Army Ballistic Research Laboratory		#
+#	Aberdeen Proving Ground, Maryland  21005		#
+#								#
+#  $Header$	#
+#								#
+#################################################################
+
+#  Define default list of targets to be made
+all:		${PRODUCTS}
+
+#	Generic SCCS rule:
+#.DEFAULT:
+#	$(GET) $(GFLAGS) -p s.$@ > $@
+#	touch $@
+
+# This is how to make the product, but may not always apply (eg, libs).
+# Also, this construct only works with the SysV make.
+#${PRODUCTS}:	$$@.o ${OBJS}
+#	$(CC) -o $@ ${LDFLAGS} $@.o ${OBJS} ${LIBES} 
+#	size $@
+
+# Format sources for printing on stdout.
+# The invoker is responsible for diverting to their printer of choice.
+print:		${MAKEFILE} ${HEADERS} ${CFILES} ${TFILES}
+	@pr ${MAKEFILE} ${HEADERS} ${CFILES} ${TFILES} *.${MANSECTION}
+	@nroff -Tlp -man *.${MANSECTION}
+
+# Don't bother doing the stub pages
+typeset:
+	${TYPESET_MAN1} *.${MANSECTION} ${TYPESET_MAN2}
+
+lint:		${HEADERS} ${CFILES}
+	${LINT} ${LFLAGS} -I${INCDIR} ${CFILES} ${LLIBES} > ${SRCDIR}.lint
+
+
+tags:		${HEADERS} ${CFILES}
+	ctags ${HEADERS} ${CFILES}
+
+flow:		${HEADERS} ${CFILES}
+	cflow -I${INCDIR} ${CFILES} > ${SRCDIR}.flow
+
+xref:		${HEADERS} ${CFILES}
+	cxref -c -s -w132 -I${INCDIR} ${CFILES} > ${SRCDIR}.xref
+
+compare:	all
+	for prod in ${PRODUCTS} ; \
+		do	cmp ${BINDIR}/$$prod $$prod; \
+		done
+
+uninstall:	all
+	-@if test -n "${PRODUCTS}" ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) uninst-prod ; \
+	fi
+	-@files=`echo *.${MANSECTION}` ; \
+	if test "$$files" != '*'.${MANSECTION} ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) uninst-man ; \
+	fi
+	-@files=`echo *.${MANSECTION}.stub` ; \
+	if test "$$files" != '*'.${MANSECTION}.stub ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) uninst-stub ; \
+	fi
+
+uninst-prod:
+	-@for prod in ${PRODUCTS} ; \
+	do	rm -f ${BINDIR}/$$prod ${BINDIR}/$$prod.bak 2>/dev/null; \
+	done
+
+uninst-man:
+	-@for man in *.${MANSECTION} ; \
+	do	rm -f ${MANDIR}${MANSECTION}/$$man \
+		    ${MANDIR}${MANSECTION}/$$man.bak 2>/dev/null ; \
+	done
+
+uninst-stub:
+	-@for stub in *.${MANSECTION}.stub ; \
+	do	man=`basename $$stub .stub`; \
+		rm -f ${MANDIR}${MANSECTION}/$$man \
+		    ${MANDIR}${MANSECTION}/$$man.bak 2>/dev/null ; \
+	done
+
+# Handle all phases of final installation
+install:	all
+	-@if test -n "${PRODUCTS}" ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) inst-prod ; \
+	fi
+	-@files=`echo *.${MANSECTION}` ; \
+	if test "$$files" != '*'.${MANSECTION} ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) inst-man ; \
+	fi
+	-@files=`echo *.${MANSECTION}.stub` ; \
+	if test "$$files" != '*'.${MANSECTION}.stub ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) inst-stub ; \
+	fi
+	-@sh -c "if test `${GETHOST}` = ${MASTERHOST} ; then $(MAKE) inst-dist; else exit 0 ; fi"
+
+# Install all products
+inst-prod:	${PRODUCTS}
+	-@for prod in ${PRODUCTS} ; \
+	do	if cmp -s ${BINDIR}/$$prod $$prod; \
+		 then	echo $$prod unchanged; \
+		 else	mv -f ${BINDIR}/$$prod ${BINDIR}/$$prod.bak 2>/dev/null; \
+			${INS} $$prod ${BINDIR} && \
+			${AFTERINSTALL} ${BINDIR}/$$prod && \
+			echo "++++++INSTALLED" ${BINDIR}/$$prod && \
+			${AFTERINSTALL} ${BINDIR}/$$prod.bak && \
+			chmod ${BINPERM} ${BINDIR}/$$prod; \
+		 fi \
+	done
+
+# Install the actual manual pages
+inst-man:
+	-@for man in *.${MANSECTION} ; \
+	do	if cmp -s ${MANDIR}${MANSECTION}/$$man $$man; \
+		 then	echo $$man unchanged; \
+		 else	mv -f ${MANDIR}${MANSECTION}/$$man \
+			    ${MANDIR}${MANSECTION}/$$man.bak 2>/dev/null ; \
+			${INS} $$man ${MANDIR}${MANSECTION} && \
+			echo "++++++INSTALLED" ${MANDIR}${MANSECTION}/$$man && \
+			chmod ${MANPERM} ${MANDIR}${MANSECTION}/$$man; \
+		 fi \
+	done
+
+# Install the "stub" manual pages, which just source some other page
+inst-stub:
+	-@for stub in *.${MANSECTION}.stub ; \
+	do	man=`basename $$stub .stub`; \
+		if cmp -s ${MANDIR}${MANSECTION}/$$man $$stub; \
+		 then	echo $$man unchanged; \
+		 else	mv -f ${MANDIR}${MANSECTION}/$$man \
+			    ${MANDIR}${MANSECTION}/$$man.bak 2>/dev/null ; \
+			${INS} $$stub ${MANDIR}${MANSECTION}/$$man && \
+			echo "++++++INSTALLED" ${MANDIR}${MANSECTION}/$$man && \
+			chmod ${MANPERM} ${MANDIR}${MANSECTION}/$$man; \
+		 fi \
+	done
+
+
+# It might be better to say ${HEADERS} ${CFILES} ${SFILES},
+# but that would miss routines that were not configured in a particular system.
+inst-dist:
+	-rm -fr ${DISTRIBUTION}/${SRCDIR}/*
+	-${INS} ./Makefile.loc Makefile *.[hcfs] ${SHFILES} \
+		*.${MANSECTION} *.${MANSECTION}.stub \
+		*.doc \
+		${DISTRIBUTION}/${SRCDIR}/.
+
+#  running "make clobber" or "make clean noprod" will remove all binary files.
+#  "clean" is intended to remove .o files and by-products.
+#  "noprod" is intended to remove the final executables.
+#  Either can be used without the other, depending on the effect desired.
+clobber:	clean noprod
+
+clean:
+	-rm -f core *~ *.o \
+		${SRCDIR}.out ${SRCDIR}.err ${SRCDIR}.xref \
+		${SRCDIR}.flow ${SRCDIR}.lint
+
+noprod:
+	-rm -f ${PRODUCTS}
+
+
+#
+#  Automaticly build #include dependencies.
+#
+#  This code can't be simply replaced by the 4.3 BSD "cc -M".
+#
+#  The convention for writing #include directives is:
+#	#include "./file"	gives file in current directory
+#	#include "/file"	gives file at absolute path
+#	#include "file"		gives file in ${INCDIR}
+#	#include <file>		leaves to CPP
+#
+#  Note that there MUST be a SPACE after the "#include" in order to
+#  be seen;  this allows conditional includes (if needed) to be indicated
+#  by a #include TAB, so as to not cause trouble.
+depend:
+	-@if test -n "${CFILES}" ; \
+	then	$(MAKE) $(MFLAGS) -$(MAKEFLAGS) do-depend ; \
+	fi
+
+do-depend:
+	cd ../${SRCDIR}; \
+	mv -f Makefile.loc Makefile.bak; \
+	cp Makefile.bak Makefile.loc; \
+	chmod 664 Makefile.loc; \
+	for k in ${CFILES}; do \
+		i=`basename $$k .c`; \
+		echo $$i.o: ../${SRCDIR}/$$k >>makedep; \
+		grep '^#include ' /dev/null ../${SRCDIR}/$$k | sed \
+			-e 's,^../'${SRCDIR}'/,,' \
+			-e 's,c:[^"]*"\./\([^"]*\)".*,o: \1,' \
+			-e 's,c:[^"]*"/\([^"]*\)".*,o: /\1,' \
+			-e 's,c:[^"]*"\([^"]*\)".*,o: '${INCDIR}'/\1,' \
+			-e '/debug.h/d' \
+			-e '/c:[^<]*<\(.*\)>/d' \
+			>>makedep; \
+		echo '	$$(CC) $$(CFLAGS) -c ../'${SRCDIR}/$$k >>makedep; \
+	done; \
+	echo '# DO NOT DELETE THIS LINE -- make depend uses it' >>Makefile.loc; \
+	echo '# IF YOU PUT STUFF HERE IT WILL GO AWAY' >> Makefile.loc; \
+	echo '/^# DO NOT DELETE THIS LINE/+1,$$d' >eddep; \
+	echo '$$r makedep' >>eddep; \
+	echo 'w' >>eddep; \
+	ed - Makefile.loc < eddep; \
+	rm eddep makedep; \
+	echo '# DEPENDENCIES MUST END AT END OF FILE' >> Makefile.loc; \
+	echo '# IF YOU PUT STUFF HERE IT WILL GO AWAY' >> Makefile.loc; \
+	echo '# see make depend above' >> Makefile.loc

README

@@ -1,290 +1,154 @@
-			    BRL-CAD
-			 Release 7.26.2
-		       http://brlcad.org/
-
-BRL-CAD is a powerful cross-platform open source combinatorial
-Constructive Solid Geometry (CSG) solid modeling system that includes
-an interactive 3D solid geometry editor, a network-distributed
-symmetric multiprocessing high-performance ray-tracer,
-network-distributed framebuffer support, image and signal-processing
-tools, ray-tracing support for rendering and geometric analysis,
-path-tracing and photon mapping support for realistic image synthesis,
-animation capabilities, ray-tracing and numerical processing
-libraries, a system performance analysis benchmark suite, an embedded
-scripting interface, and a robust high-performance geometric
-representation and analysis library.
-
-
-TABLE OF CONTENTS
------------------
-  Introduction
-  Table of Contents
-  Getting Started
-  Compile and Install
-  Benchmark
-  Communication
-  Bug Reports/Feature Requests
-  Distribution Details
-  Background Information
-  Future Events
-  Getting Help
-
-
-GETTING STARTED
-----------------
-
-This README file exists only to provide you a brief roadmap to the
-contents of the BRL-CAD distribution.
-
-Some platforms have additional platform-specific documentation that
-should be consulted after reading this file:
-
-  doc/README.AIX        -- IBM's Advanced Interactive eXecutive OS
-  doc/README.BSD        -- FreeBSD, NetBSD, OpenBSD, etc.
-  doc/README.IRIX       -- SGI IRIX and IRIX64
-  doc/README.Linux      -- Various Linux distributions
-  doc/README.MacOSX     -- Apple Mac OS X
-  doc/README.Solaris    -- Oracle Solaris, OpenIndiana (Illumos), etc.
-  doc/README.Windows    -- Microsoft Windows
-
-The information on how to install and operate the software, to become
-involved with the development of the package, or to run the benchmark
-performance test suite have each become sufficiently large that their
-details are covered in more detail in standalone documents.  For more
-details on what BRL-CAD provides, see the documentation provided on
-the website at http://brlcad.org/.
-
-Information relevant to those interested in the source code is
-contained in the HACKING and COPYING files.  See doc/benchmark.tr file
-for benchmark suite information.  There is a variety of other
-documentation and information also available in the doc/ directory.
-
-Please note that this distribution package does not include the
-various military-specific model analysis tools such as MUVES, GIFT,
-SAR, SLAVE, VAST, etc., nor does it include any military geometry
-databases.  If you desire to have access to this material, please
-contact one of the BRL-CAD developers.
-
-
-COMPILE AND INSTALL
--------------------
-
-See the INSTALL file for details on configuring, compiling, and
-installing BRL-CAD.  In order to compile and install BRL-CAD from a
-source distribution, the build tool CMake is required (minimum version
-currently required is 2.8.4) - see the website at http://www.cmake.org
-for source and binary installers.  CMake is also available in many
-Linux and *BSD distributions.
-
-Once CMake is installed, the following steps may be taken for a full
-default install (starting with a source tarball):
-
-  tar -xvzf brlcad-X.Y.Z.tar.gz
-  mkdir brlcad-build
-  cd brlcad-build
-  cmake ../brlcad-X.Y.Z
-  make
-  make install
-
-where "X.Y.Z" is the version number of BRL-CAD.  For those who prefer
-a curses interface, substitute ccmake for cmake above. If the graphical
-interface available from CMake is installed cmake-gui may be
-substituted for cmake.  These interfaces will display the various
-configuration options available when building BRL-CAD, or the options
-may be set directly via command line -D options.
-The configure wrapper script may be substituted for cmake in the above
-steps for a more autotools-like configuration experience.
-
-Users on multiprocessor systems will be able to speed up their builds
-by passing the -j option to make (e.g. make -j4, assuming GNU make).
-
-Once the build completes and assuming you have proper filesystem
-permissions, you should be able to begin the installation by running
-the "make install" .  By default, the package is configured to install
-entirely into /usr/brlcad/.
-
-You will need to add /usr/brlcad/bin to your path (or whatever path the
-variable CMAKE_INSTALL_PREFIX was set to during configure) in order for
-the BRL-CAD binaries to be in your path.
-
-
-BENCHMARK
----------
-
-After the build successfully completes, you will be able to verify
-basic functionality by running the BRL-CAD Benchmark.  Running the
-benchmark suite is integrated into the build system such that any time
-after running CMake (in the cmake gui, configure and generate must both
-be performed) you may run:
-
-  make benchmark
-
-If the build is successful, you will see "CORRECT" numbers and a
-performance summary at the end.  The "vgr" line effectively shows you
-approximately how much faster your machine is to a VAX 11/780.  After
-installing BRL-CAD, you may run the 'benchmark' tool as well to run
-the BRL-CAD Benchmark.
-
-See the paper in doc/benchmark.tr for information on analyzing and
-comparing the results of the benchmark tests in more detail.
-
-
-COMMUNICATION
--------------
-
-You are invited to participate in the InterNet (aka "ARPANET")
-electronic mailing list on the BRL-CAD software.  There are various
-BRL-CAD mailing lists available on the project website at
-http://sourceforge.net/mail/?group_id=105292 including three
-developer-oriented lists, a user list, and a read-only news
-announcement list.  See the posted archives to get a feel for the
-volume of list traffic for each list and to read/search past
-discussions.
-
-On-line web forums are likewise available on the project site at
-http://sourceforge.net/forum/?group_id=105292
-
-A variety of information on BRL-CAD is available via the
-World-Wide-Web.  Papers, documentation, and the software repository
-may be found at:
-
-  http://brlcad.org
-
-In addition to the above, there is an official BRL-CAD IRC channel on
-the Freenode network that may be reached by joining #brlcad on
-irc.freenode.net connecting via port 6667.  For first-time users,
-there is a web-based IRC client available for certain browsers at:
-
-  http://irc.brlcad.org
-
-IRC is the preferred method of communication to interact with the
-BRL-CAD developers, to get involved with the project, obtain support,
-or provide direct feedback.
-
-
-BUG REPORTS AND FEATURE REQUESTS
---------------------------------
-
-Please report any bugs encountered to the project bug tracker at
-http://sourceforge.net/tracker/?group_id=105292&atid=640802
-
-Similarly, please post any request for feature enhancements or support
-request to http://sourceforge.net/tracker/?group_id=105292&atid=640805
-and http://sourceforge.net/tracker/?group_id=105292&atid=640803
-respectively.
-
-
-DISTRIBUTION DETAILS
---------------------
-
-BRL-CAD is freely available and distributed in both binary and source
-code form through the BRL-CAD project website on Sourceforge:
-
-  http://sf.net/projects/brlcad/
-
-The package is similarly available via a Subversion repository.  To
-obtain the latest, follow the directions for anonymous checkout at:
-
-  http://sourceforge.net/svn/?group_id=105292
-
-There is also a paid-for full-service support distribution available
-for those interested through SURVICE Engineering, Inc., and the
-Survivability/Vulnerability Information Analysis Center (SURVIAC).
-
-SURVICE provides their own BRL-CAD distribution that comes with
-commercial support, documentation, and installation media.  Full
-technical assistance is provided to their commercial distributions by
-phone, FAX, postal mail, or e-mail.  Agencies of the Federal
-Government may acquire the full service distribution with a MIPR or
-OGA funds transfer.
-
+.\" $Header$
+.\"	groff -ms README | print-postscript
+.TL
+README
+.sp
+The BRL-CAD Package
+.br
+Release 4.4
+.br
+(October-1994)
+.RT
+.IP "VERSION"
+.sp
+This document is printed from the README file in the BRL-CAD distribution.
+The version in the printed manuals are usually somewhat older
+than the version on the actual distribution tape.
+When attempting to
+install the software, please refer to the documentation
+versions actually contained on the distribution tape.
+.sp
+.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,
+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 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 (410)-278-6647.
+.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
+the benchmark tests.
+.sp
+.IP "BENCHMARK"
+.sp
+See the paper in doc/benchmark.doc for information on
+analyzing the results of the benchmark tests.
+Comparisons between various different computers are listed.
+.sp
+.IP "BACKGROUND MATERIAL"
+.sp
+For overview information on the whole package, consult
+the overview paper in the file papers/overview, and
+the brlcad(1) manual page in the file util/brlcad.1.
+For a discussion of the significance of this software,
+read the paper "Understanding the Preparation and Analysis of Solid
+Models", included in the file papers/solid-models.
+.sp
+.IP "DISTRIBUTION DETAILS"
+.sp
+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
+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.mil (address
+128.63.16.158) from file "brl-cad/agreement". One printed set of BRL-CAD
+documentation will be mailed to you at no cost. No installation
+assistance or telephone support will be available.
+.sp
+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
 For further details, contact:
-
-BRL-CAD Distribution
-SURVIAC Aberdeen Satellite Office
-4695 Millennium Drive
-Belcamp, MD 210017-1505  USA
-
-
-BACKGROUND INFORMATION
-----------------------
-
-BRL-CAD is the primary tri-service solid modeling CAD system used by
-the U.S. military to model weapons systems for vulnerability and
-lethality analyses.  The solid modeling system is frequently used in a
-wide range of military and industrial application including in the
-design and analysis of vehicles, mechanical parts, and architecture.
-The package has also been used in radiation dose planning, medical
-visualization, computer graphics education, CSG concepts and modeling
-education, and system performance benchmark testing among other
-purposes.
-
-Actively developed since 1979, BRL-CAD is a collection of more than
-400 tools, utilities, and applications comprising more than a million
-lines of source code.  BRL-CAD supports a great variety of geometric
-representations including an extensive set of traditional CSG
-primitive implicit solids such as boxes, ellipsoids, cones, and tori,
-as well as explicit solids made from closed collections of Uniform
-B-Spline Surfaces, Non-Uniform Rational B-Spline (NURBS) surfaces,
-n-Manifold Geometry (NMG), and purely faceted mesh geometry.  All
-geometric objects may be combined using boolean set-theoretic CSG
-operations including union, intersection, and difference.
-
-BRL-CAD has been under active development for more than 20 years with
-a portability heritage that includes systems such as a DEC VAX-11/780
-running 4.3 BSD; DECStations running ULTRIX; Silicon Graphics 3030, 4D
-"IRIS", O2, Onyx, and Origin systems running various versions of IRIX;
-Sun Microsystems Sun-3 and Sun-4 Sparcs running SunOS; the Cray 1,
-Cray X-MP, Cray Y-MP, and Cray 2 running UNICOS; DEC Alpha AXP running
-OSF/1; Apple Macintosh II running A/UX; iPSC/860 Hypercube running
-NX/2; the Alliant FX/8, FX/80, and FX/2800; Gould/Encore SEL PowerNode
-6000/9000 and NP1; NeXT workstations; IBM RS/6000; HPPA 9000/700
-running HPUX; Ardent/Stardent; Encore Multi-Max; and much much more.
-BRL-CAD's extensive portability of course also includes a plethora of
-common desktop and server versions of BSD, IRIX, Solaris, Mac OS X,
-Linux, and Windows.
-
-The BRL-CAD package is intentionally designed to be extensively
-cross-platform and is actively developed on and maintained for many
-common operating system environments including for BSD, IRIX, Linux,
-Solaris, Mac OS X, and Windows among others.  The entire package is
-distributed in binary and source code form as free open source
-software (FOSS), provided under Open Source Initiative (OSI) approved
-license terms.  BRL-CAD was released as open source in December 2004.
-See the COPYING file for more details.
-
-
-FUTURE EVENTS
--------------
-
-It is expected that new releases of BRL-CAD will be issued
-approximately once a month.  A new release is scheduled for
-distribution at the beginning of every month, usually being posted
-sometime within the first week of every month.
-
-Depending on need, demand, and activity, additional releases may also
-be made.  The additional releases will be heavily dependent upon the
-level of user involvement and contributions in particular.
-Information about new releases will be routinely provided by
-electronic mail to recipients of this software as well as to the
-BRL-CAD NEWS mailing list:
-
-  http://sourceforge.net/mail/?group_id=105292
-
-Periodically, training and user group meetings are provided with
-announcements similarly posted to the BRL-CAD NEWS mailing list.
-Several BRL-CAD developers also regularly attend the ACM Siggraph
-conference, the ACM Solid and Physical Modeling conference, and other
-similar conferences, conventions, and symposiums as well.
-
-
-GETTING HELP
-------------
-
-Feel free to direct any unanswered questions relating to BRL-CAD via
-e-mail or to any of the other contact means described above in the
-COMMUNICATIONS section of this document.
-
+.sp .5
+	BRL-CAD Distribution
+	SURVIAC Aberdeen Satellite Office
+	1003 Old Philadelphia Road
+	Suite 103
+	Aberdeen MD  21001  USA
+.fi
+.sp .5
+or call Ms. Carla Moyer at USA (410)-273-7794, send
+E-mail to <cad-dist@arl.mil>, FAX your letter to USA (410)-272-6763,
+or write to the above address.
+.fi
+.sp
+.ne 1i
+.IP "COMMUNICATION"
+.sp
+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 @ ARL.MIL>.
+.sp .5
+Bug reports and discussions of new features
+are the main topics;  volume of messages has been light (so far).
+Direct your bug reports to this address.  Request a subscription by
+sending to
+.sp .5
+.ti +1i
+<CAD-REQUEST @ ARL.MIL>.
+.sp .5
+If you find bugs, please report your experiences via E-mail.
+.sp
+A variety of information on BRL-CAD is available via the World-Wide-Web.
+Papers and documentation can be found at
+.sp .5
+.ti +1i
+http://web.arl.mil/software/brl-cad/
+.sp .5
+The software repository can be found at
+.sp .5
+.ti +1i
+http://ftp.arl.mil/ftp/brl-cad/
+.sp
+.IP "FUTURE EVENTS"
+.sp
+It is expected that new releases of this software will be issued
+between once and twice a year.
+Information about new releases will be routinely provided
+by both paper and electronic mail
+to recipients of this software.
+If your address changes, please let us
+know, so we can update our records.
+.sp
+.KS
+.nf
 Best Wishes,
-The BRL-CAD Development Team
-devs@brlcad.org
+ -Mike Muuss
+.sp
+Leader, Advanced Computer Systems Team
+The US Army Research Laboratory
+APG, MD  21005-5068  USA
+.sp
+E-mail:  <Mike @ ARL.MIL>
+.KE
+.fi

anim/Cakefile

@@ -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"

anim/anim_cascade.1

@@ -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@BRL.MIL>.

anim/anim_cascade.c

@@ -0,0 +1,292 @@
+/*	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 "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
+
+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;
+
+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;
+	}
+
+}
+
+#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);
+}

anim/anim_fly.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@BRL.MIL>.

anim/anim_fly.c

@@ -0,0 +1,316 @@
+/*			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;
+
+#define PREP	-1
+#define START	0
+#define MIDDLE	1
+#define WANE	2
+#define	END	3
+#define STOP	4
+
+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);
+		}
+	}
+}
+
+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);
+}
+

anim/anim_fly.old.c

@@ -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);
+}
+

anim/anim_hardtrack.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@BRL.MIL>.
+

anim/anim_hardtrack.c

@@ -0,0 +1,502 @@
+/*			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"
+#include <math.h>
+#include <stdio.h>
+#include "machine.h"
+#include "vmath.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 */
+
+main(argc,argv)
+int argc;
+char **argv;
+{
+	void anim_dir2mat(), anim_y_p_r2mat(), anim_add_trans(),anim_mat_print();
+	int get_args(), get_link(), 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,"%*lf %*lf %*lf");
+			num_wheels++;
+		}
+	} else {
+		while (!feof(stream)) {
+			fscanf(stream,"%*lf %*lf %*lf %*lf");
+			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;
+	}
+}
+
+
+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);
+	}*/
+}
+

anim/anim_keyread.1

@@ -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@BRL.MIL>.

anim/anim_keyread.c

@@ -0,0 +1,156 @@
+/*                         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"
+
+#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;
+
+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]);
+		}
+	}
+}
+
+
+#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);
+}
+

anim/anim_lookat.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@BRL.MIL>.

anim/anim_lookat.c

@@ -0,0 +1,151 @@
+/*			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"
+
+#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;
+
+main(argc,argv)
+int argc;
+char **argv;
+{
+	fastf_t time, vsize;
+	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;
+		}
+
+
+	}
+}
+
+#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);
+}
+

anim/anim_offset.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@BRL.MIL>.

anim/anim_offset.c

@@ -0,0 +1,104 @@
+/*			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 "anim.h"
+
+extern int bu_optind;
+extern char *bu_optarg;
+
+int full_print = 0;
+vect_t offset;
+
+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");
+	}
+
+}
+
+#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);
+}
+
+
+

anim/anim_orient.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@BRL.MIL>.
+

anim/anim_orient.c

@@ -0,0 +1,279 @@
+/*			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 <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
+
+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;
+
+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");
+		}
+
+	}
+}
+
+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);
+}

anim/anim_script.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@BRL.MIL>.
+

anim/anim_script.c

@@ -0,0 +1,257 @@
+/*			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"
+
+#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;
+
+ /* 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 */
+
+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++;
+	}
+
+}
+
+#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);
+}
+

anim/anim_sort.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@BRL.MIL>.

anim/anim_sort.c

@@ -0,0 +1,184 @@
+/*			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 */
+
+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;
+		}
+	}
+}
+
+#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);
+}
+
+		

anim/anim_time.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@BRL.MIL>.

anim/anim_time.c

@@ -0,0 +1,284 @@
+/*			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;
+
+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);
+
+}
+
+main(argc,argv)
+int argc;
+char **argv;
+{
+	fastf_t *l, *x, *y, *z;
+	fastf_t temp0,temp1,temp2,start,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[]");
+
+}
+
+/* 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);
+}

anim/anim_track.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@BRL.MIL>.
+

anim/anim_track.c

@@ -0,0 +1,685 @@
+/*			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"
+#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 */
+
+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;
+	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,"%*lf %*lf %*lf");
+			num_wheels++;
+		}
+	} else {
+		while (!feof(stream)) {
+			fscanf(stream,"%*lf %*lf %*lf %*lf");
+			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);
+}
+
+#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);
+	}*/
+}
+

anim/anim_turn.1

@@ -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@BRL.MIL>.

anim/anim_turn.c

@@ -0,0 +1,180 @@
+/*			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 "anim.h"
+
+#ifndef M_PI
+#define M_PI	3.14159265358979323846
+#endif
+
+
+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;
+
+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++;
+	}
+
+}
+
+#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);
+}
+

anim/cattrack.c

@@ -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);
+}
+

anim/chan_add.c

@@ -0,0 +1,64 @@
+/*			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 <stdio.h>
+
+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;
+	}
+}

anim/chan_mult.1

@@ -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@BRL.MIL>.

anim/chan_mult.c

@@ -0,0 +1,63 @@
+/*			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 <stdio.h>
+
+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;
+	}
+}

anim/chan_permute.1

@@ -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@BRL.MIL>.

anim/chan_permute.c

@@ -0,0 +1,141 @@
+/*			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 <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";
+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 );
+}

awf/AWF_COPYRIGHT

@@ -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.

awf/Cakefile

@@ -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"

awf/awf.1

@@ -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.

awf/common

@@ -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

awf/dev.dumb

@@ -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]

awf/mac.man

@@ -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)

awf/mac.ms

@@ -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

awf/pass1

@@ -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
+}

awf/pass2.base

@@ -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
+}

awf/pass2.man

@@ -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
+}

awf/pass2.ms

@@ -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
+}

awf/pass3

@@ -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
+}

bench/CMakeLists.txt

@@ -1,65 +0,0 @@
-add_subdirectory(ref)
-
-include_directories(${BU_INCLUDE_DIRS})
-
-add_definitions(
-  -DHAVE_CONFIG_H
-  -DBRLCADBUILD
-  -DCONSOLE
-  )
-
-BRLCAD_ADDEXEC(pixcmp pixcmp.c libbu)
-
-configure_file(run.sh "${CMAKE_CURRENT_BINARY_DIR}/benchmark" COPYONLY)
-install(PROGRAMS "${CMAKE_CURRENT_BINARY_DIR}/benchmark" DESTINATION ${BIN_DIR})
-if(CMAKE_CONFIGURATION_TYPES)
-  foreach(CFG_TYPE ${CMAKE_CONFIGURATION_TYPES})
-    string(TOUPPER "${CFG_TYPE}" CFG_TYPE_UPPER)
-    configure_file(run.sh ${CMAKE_BINARY_DIR_${CFG_TYPE_UPPER}}/bin/benchmark COPYONLY)
-  endforeach(CFG_TYPE ${CMAKE_CONFIGURATION_TYPES})
-else(CMAKE_CONFIGURATION_TYPES)
-  configure_file(run.sh ${CMAKE_BINARY_DIR}/bin/benchmark COPYONLY)
-endif(CMAKE_CONFIGURATION_TYPES)
-
-file(WRITE  "${CMAKE_BINARY_DIR}/CMakeTmp/benchmsg.cmake" "message(\"---\")\n")
-file(APPEND "${CMAKE_BINARY_DIR}/CMakeTmp/benchmsg.cmake" "message(\"Run 'make benchmark-clean' in the bench directory to delete the logic\")\n")
-file(APPEND "${CMAKE_BINARY_DIR}/CMakeTmp/benchmsg.cmake" "message(\"and image files generated during the benchmark analysis.\")\n")
-
-CMAKEFILES(lgt.sh run.sh try.sh viewdiff.sh)
-
-if(SH_EXEC)
-  # CTest enabled short run of the benchmark suite
-  add_test(NAME benchmark COMMAND ${SH_EXEC} "${CMAKE_BINARY_DIR}/bin/benchmark" run TIMEFRAME=1)
-  set_tests_properties(benchmark PROPERTIES LABELS "Benchmark")
-  add_custom_target(benchmark-check
-    COMMAND ${CMAKE_CTEST_COMMAND} -L Benchmark --output-on-failure
-    DEPENDS rt pixcmp BENCHMARK_PIX_cp PIX_LOG_cp
-    )
-  add_dependencies(benchmark-check bldg391.g m35.g moss.g sphflake.g star.g world.g)
-  if(TARGET check)
-    add_dependencies(check benchmark-check)
-  endif(TARGET check)
-
-  # Full run of the benchmark suite
-  add_custom_target(benchmark
-    COMMAND ${SH_EXEC} ${CMAKE_BINARY_DIR}/bin/benchmark run
-    COMMAND ${CMAKE_COMMAND} -P "${CMAKE_BINARY_DIR}/CMakeTmp/benchmsg.cmake"
-    DEPENDS rt pixcmp BENCHMARK_PIX_cp PIX_LOG_cp
-    )
-  add_dependencies(benchmark bldg391.g m35.g moss.g sphflake.g star.g world.g)
-
-  # benchmark cleanup targets
-  add_custom_target(benchmark-clean
-    ${SH_EXEC} ${CMAKE_BINARY_DIR}/bin/benchmark clean
-    )
-  add_custom_target(benchmark-clobber
-    ${SH_EXEC} ${CMAKE_BINARY_DIR}/bin/benchmark clobber
-    )
-endif(SH_EXEC)
-
-# Local Variables:
-# tab-width: 8
-# mode: cmake
-# indent-tabs-mode: t
-# End:
-# ex: shiftwidth=2 tabstop=8

bench/Cakefile

@@ -0,0 +1,38 @@
+/*
+ *			bench/Cakefile
+ */
+
+#define SRCDIR	bench
+#define	PRODUCTS	pixcmp
+#define	SRCSUFF	.c
+#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
+	rm -f %.sh
+	ln ../SRCDIR/%.sh %.sh
+#endif
+
+#include "../Cakefile.prog"
+
+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
+	rm -f *.log.* *.pix.*	# old versions
+	rm -f *.log *.pix	# last try
+
+#define clobber	xxclober	/* rename "clobber" in Cakefile.rules */
+
+pixcmp:		OBJ
+	CC LDFLAGS -o pixcmp OBJ
+
+#include "../Cakefile.rules"

bench/lgt.sh

@@ -1,76 +1,49 @@
 #!/bin/sh
-#                          L G T . S H
-# BRL-CAD
-#
-# Copyright (c) 2004-2016 United States Government as represented by
-# the U.S. Army Research Laboratory.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above
-# copyright notice, this list of conditions and the following
-# disclaimer in the documentation and/or other materials provided
-# with the distribution.
-#
-# 3. The name of the author may not be used to endorse or promote
-# products derived from this software without specific prior written
-# permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
-# OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
-# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
-# GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-###
 # A Shell script to test LGT
 #  @(#)$Header$ (BRL)
 
 # Ensure /bin/sh
 export PATH || (echo "This isn't sh."; sh $0 $*; kill $$)
-path_to_lgt_sh=`dirname $0`
 
-expected="$path_to_lgt_sh/../src/lgt/lgt"
-if ! test -f "$expected" ; then
-    echo "Can't find LGT"
-    exit 1
+eval `machinetype.sh -b`	# sets MACHINE, UNIXTYPE, HAS_TCP
+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
+		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
 
-# force locale setting to C so things like date output as expected
-LC_ALL=C
-
-LGT="$expected"
-DB="$path_to_lgt_sh/../db"
-
-CMP="$path_to_lgt_sh/pixcmp"
-if test ! -f $CMP ; then
-    cake pixcmp
+CMP=./pixcmp
+if test ! -f $CMP
+then
+	cake pixcmp
 fi
 
 # Alliant NFS hack
-if test x${MACHINE} = xfx ; then
-    cp ${LGT} /tmp/lgt
-    cp ${CMP} /tmp/pixcmp
-    LGT=/tmp/lgt
-    CMP=/tmp/pixcmp
+if test x${MACHINE} = xfx
+then
+	cp ${LGT} /tmp/lgt
+	cp ${CMP} /tmp/pixcmp
+	LGT=/tmp/lgt
+	CMP=/tmp/pixcmp
 fi
 
 # This test of LGT assumes a "live" framebuffer here.
-if test x$FB_FILE = x ; then
-    echo "Environment variable FB_FILE must be set to a real framebuffer"
-    echo "for this test of LGT to operate correctly."
-    exit 1
+if test x$FB_FILE = x
+then
+	echo "Environment variable FB_FILE must be set to a real framebuffer"
+	echo "for this test of LGT to operate correctly."
+	exit 1
 fi
 
 # Run the first set of tests
@@ -94,7 +67,7 @@ G 64 0 0 0.0
 p 0
 # change background to mauve
 b 111 66 66
-# read key frame
+# read key frame 
 j ../db/lgt-test.key
 # display view #3
 R
@@ -153,46 +126,33 @@ o
 # bye
 q
 EOF
-if test $? = 0 ; then
-    :
-else
-    echo "Abnormal lgt exit"
-    exit 1
+if test $? = 0
+then	:;
+else	echo "Abnormal lgt exit"; exit 1
 fi
 
 # Run the second set of tests.  The scripts were created above.
-./script1 < /dev/null &&
-./script2 < /dev/null &&
-./script3 < /dev/null || { echo "Script test failed."; exit 1; }
+ ./script1 < /dev/null &&
+ ./script2 < /dev/null &&
+ ./script3 < /dev/null || { echo "Script test failed."; exit 1; }
 
 FAIL=0
-for i in 1 2 3 ; do
-    if ${CMP} "$path_to_lgt_sh/../pix/lgt${i}.pix" lgt${i}a.pix ; then
-	:
-    else
-	echo "Test $i A failed."
-	FAIL=1
-    fi
-    if ${CMP} "$path_to_lgt_sh/../pix/lgt${i}.pix" lgt${i}b.pix
-	then
-	:
-    else
-	echo "Test $i B failed."
-	FAIL=1
-    fi
+for i in 1 2 3
+do
+	if ${CMP} ../pix/lgt${i}.pix lgt${i}a.pix
+	then :;
+	else echo "Test $i A failed."; FAIL=1
+	fi
+	if ${CMP} ../pix/lgt${i}.pix lgt${i}b.pix
+	then :;
+	else echo "Test $i B failed."; FAIL=1
+	fi
 done
-if test "$FAIL" -eq 0 ; then
-    echo "LGT Tested OK."
-    exit 0
+if test "$FAIL" -eq 0
+then
+	echo "LGT Tested OK."
+	exit 0
 fi
 echo "*** LGT does NOT work on this platform ***"
 exit 2
 
-# Local Variables:
-# mode: sh
-# tab-width: 8
-# sh-indentation: 4
-# sh-basic-offset: 4
-# indent-tabs-mode: t
-# End:
-# ex: shiftwidth=4 tabstop=8

bench/perf.sh

@@ -0,0 +1,74 @@
+#!/bin/sh
+# A Shell script to extract the benchmark statistics, and build an
+# entry suitable for the tables in doc/benchmark.doc.
+# Note well that the command-line args may have embedded spaces.
+#  Mike Muuss & Susan Muuss, 11-Sept-88.
+#  @(#)$Header$ (BRL)
+
+# Ensure /bin/sh
+export PATH || (sh $0 $*; kill $$)
+
+NAME=$0
+if test "x$1" = x
+then
+	echo "Usage:  $NAME hostname [note1] [note2]"
+	exit 1
+fi
+
+#  Save three args, because arg list will be reused below.
+#  They may have embedded spaces in them.
+HOST="$1"
+NOTE1="$2"
+NOTE2="$3"
+
+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/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 | \
+	sed -n -e 's/^.*= *//' -e 's/ rays.*//p' | \
+	tr '\012' '\011' `
+CURVALS=`grep RTFM $NEW_FILES | \
+	sed -n -e 's/^.*= *//' -e 's/ rays.*//p' | \
+	tr '\012' '\011' `
+
+RATIO_LIST=""
+
+# 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 $# -lt 6
+do	echo "${NAME}: Warning, only $# times found, adding a zero."
+	CURVALS="${CURVALS}0	"
+	set $CURVALS
+done
+
+for ref in $VGRREF
+do
+	cur=$1
+	shift
+	RATIO=`echo "2k $cur $ref / p" | dc`
+	# Note: append new value and a trail TAB to existing list.
+	RATIO_LIST="${RATIO_LIST}$RATIO	"
+done
+
+# The number of plus signs must be one less than the number of elements.
+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
+echo "Abs	${HOST}	${CURVALS}${MEAN_ABS}	$NOTE1"
+echo "*vgr	${HOST}	${RATIO_LIST}${MEAN_REL}	$NOTE2"

bench/pixcmp.c

@@ -1,341 +1,126 @@
-/*                        P I X C M P . C
- * BRL-CAD
- *
- * Copyright (c) 2004-2016 United States Government as represented by
- * the U.S. Army Research Laboratory.
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * version 2.1 as published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public
- * License along with this file; see the file named COPYING for more
- * information.
- *
- */
-/** @file pixcmp.c
- *
- * Compute and summarily report differences between two .pix files.
- *
- * This routine operates on a pixel-by-pixel basis, and thus
- * is independent of the resolution of the image.
- *
- */
-
-#include "common.h"
-
-#include <stdlib.h>
-#include <string.h>
-#ifdef HAVE_SYS_STAT_H
-#  include <sys/stat.h>
-#endif
-#include "bio.h"
-
-#include "bu/getopt.h"
-#include "bu/log.h"
-#include "bu/file.h"
-#include "bu/str.h"
-
-/* exit codes for argument processing errors */
-#define OPTS_ERROR 127
-#define FILE_ERROR 126
-
-/* exit codes for normal operation */
-#define OFF_BY_NONE 0
-#define OFF_BY_ONE  1
-#define OFF_BY_MANY 2
-
-
-HIDDEN void
-usage(const char *name)
-{
-    const char *unknown = "pixcmp";
-    if (!name) {
-	name = unknown;
-    }
-    /* this must be split, ISO C90 has a max static string length of 509 */
-    bu_log("Usage: %s [OPTIONS] FILE1 [FILE2 [SKIP1 [SKIP2]]]\n%s", name,
-	   "Compare two PIX image files pixel by pixel.\n\n"
-	   "  -l   List pixel numbers and values for all pixels that differ.\n"
-	   "  -b   Output and process by bytes instead of pixels.\n"
-	   "  -i SKIP\n"
-	   "       Skip the first SKIP pixels of input (for FILE1 and FILE2)\n");
-    bu_log("  -i SKIP1:SKIP2\n"
-	   "       Skip the first SKIP1 pixels in FILE1 and SKIP2 pixels in FILE2.\n"
-	   "  -s   Silent output.  Only return an exit status.\n\n"
-	   "If FILE is `-' or is missing, then input is read from standard input.\n"
-	   "If the `-b' option is used, SKIP values are bytes instead of pixels.\n"
-	   "Pixel numbers and bytes are indexed linearly from one.\n");
-    return;
-}
-
-
-HIDDEN void
-handle_i_opt(const char *arg, off_t *skip1, off_t *skip2)
-{
-    const char *endptr = arg;
-    if ((arg == NULL) || ((skip1 == NULL) && (skip2 == NULL))) {
-	/* nothing to do */
-	return;
-    }
-    while ((endptr != NULL) && (endptr[0] != ':') && (endptr[0] != '\0')) {
-	endptr++;
-    }
-    if (endptr == arg) {
-	/* probably empty string */
-	if (skip2) {
-	    endptr++;
-	    *skip2 = strtol(endptr, NULL, 10);
-	}
-    } else if ((endptr == NULL) || (endptr[0] == '\0')) {
-	/* no : found */
-	if (skip2) {
-	    *skip2 = strtol(arg, NULL, 10);
-	}
-	if (skip1 && skip2) {
-	    *skip1 = *skip2;
-	}
-    } else if (endptr[0] == ':') {
-	/* found : */
-	if (skip1) {
-	    *skip1 = strtol(arg, NULL, 10);
-	}
-	if (skip2) {
-	    endptr++; /* skip over : */
-	    *skip2 = strtol(endptr, NULL, 10);
-	}
-    } else {
-	bu_exit(OPTS_ERROR, "Unexpected input processing [%s]\n", arg);
-    }
-}
-
-
-int
-main(int argc, char *argv[])
-{
-    FILE *f1 = NULL;
-    FILE *f2 = NULL;
-    struct stat sf1, sf2;
-
-    long matching = 0;
-    long off1 = 0;
-    long offmany = 0;
-
-    int c;
-    int list_pixel_values = 0;
-    int print_bytes = 0;
-    int silent = 0;
-    off_t f1_skip = 0;
-    off_t f2_skip = 0;
-
-    long int bytes = 0;
-
-    /* process opts */
-    while ((c = bu_getopt(argc, argv, "lbi:s")) != -1) {
-	switch (c) {
-	    case 'l':
-		list_pixel_values = 1;
-		break;
-	    case 'b':
-		print_bytes = 1;
-		break;
-	    case 'i':
-		handle_i_opt(bu_optarg, &f1_skip, &f2_skip);
-		break;
-	    case 's':
-		silent = 1;
-		break;
-	    default:
-		bu_log("\n");
-		usage(argv[0]);
-		exit(OPTS_ERROR);
-	}
-    }
-    argc -= bu_optind;
-    argv += bu_optind;
-
-    /* validate what is left over */
-    if (argc < 1 || argc > 4) {
-	bu_log("ERROR: incorrect number of arguments provided\n\n");
-	usage(argv[0]);
-	exit(OPTS_ERROR);
-    }
-    if ((argc > 0 && !argv[0]) || (argc > 1 && !argv[1])) {
-	bu_log("ERROR: bad filename\n\n");
-	usage(argv[0]);
-	exit(OPTS_ERROR);
-    }
-    if ((argc > 2 && !argv[2]) || (argc > 3 && !argv[3])) {
-	bu_log("ERROR: bad skip value\n\n");
-	usage(argv[0]);
-	exit(OPTS_ERROR);
-    }
-
-    /* handle optional SKIP1 and SKIP2 following filenames */
-    if (argc > 2) {
-	char range[64] = {0};
-	if (argc > 3) {
-	    snprintf(range, 64, "%s:%s", argv[2], argv[3]);
-	} else {
-	    snprintf(range, 64, "%s", argv[2]);
-	}
-	handle_i_opt(range, &f1_skip, &f2_skip);
-    }
-
-    /* printf("Skip from FILE1: %ld and from FILE2: %ld\n", f1_skip, f2_skip); */
-
-    if (BU_STR_EQUAL(argv[0], "-")) {
-	f1 = stdin;
-    } else if ((f1 = fopen(argv[0], "rb")) == NULL) {
-	perror(argv[0]);
-	exit(FILE_ERROR);
-    }
-    if ((argc < 2) || BU_STR_EQUAL(argv[1], "-")) {
-	f2 = stdin;
-    } else if ((f2 = fopen(argv[1], "rb")) == NULL) {
-	perror(argv[1]);
-	exit(FILE_ERROR);
-    }
-
-    stat(argv[0], &sf1);
-    stat(argv[1], &sf2);
-
-    if (sf1.st_size != sf2.st_size) {
-	bu_exit(FILE_ERROR, "Different file sizes found: %s(%d) and %s(%d).  Cannot perform pixcmp.\n", argv[0], sf1.st_size, argv[1], sf2.st_size);
-    }
-
-    if (!print_bytes) {
-	f1_skip *= 3;
-	f2_skip *= 3;
-    }
-
-    /* skip requested pixels/bytes in FILE1 */
-    if (f1_skip && bu_fseek(f1, f1_skip, SEEK_SET)) {
-	bu_log("ERROR: Unable to seek %zd %s%s in FILE1\n",
-	       f1_skip,
-	       print_bytes?"byte":"pixel",
-	       f1_skip==1?"":"s");
-	perror("FILE1 fseek failure");
-	exit(FILE_ERROR);
-    }
-
-    /* skip requested pixels in FILE2 */
-    if (f2_skip && bu_fseek(f2, f2_skip, SEEK_SET)) {
-	bu_log("ERROR: Unable to seek %zd %s%s in FILE2\n",
-	       f1_skip,
-	       print_bytes?"byte":"pixel",
-	       f1_skip==1?"":"s");
-	perror("FILE2 fseek failure");
-	exit(FILE_ERROR);
-    }
-
-    /* iterate over the pixels/bytes in the files */
-    while ((!feof(f1) && !feof(f2)) &&
-	   (!ferror(f1) && !ferror(f2))) {
-	register int r1, r2, g1, g2, b1, b2;
-	r1 = r2 = g1 = g2 = b1 = b2 = -1;
-
-	r1 = fgetc(f1);
-	r2 = fgetc(f2);
-	if (feof(f1) || feof(f2)) break;
-	bytes++;
-	if (!print_bytes) {
-	    g1 = fgetc(f1);
-	    g2 = fgetc(f2);
-	    if (feof(f1) || feof(f2)) break;
-	    bytes++;
-	    b1 = fgetc(f1);
-	    b2 = fgetc(f2);
-	    if (feof(f1) || feof(f2)) break;
-	    bytes++;
-	}
-
-	if ((r1 == r2) && (g1 == g2) && (b1 == b2)) {
-	    matching++;
-	    continue;
-	}
-
-	/* tabulate differing pixels */
-	if (((r1 != r2) && (g1 == g2) && (b1 == b2)) ||
-	    ((r1 == r2) && (g1 != g2) && (b1 == b2)) ||
-	    ((r1 == r2) && (g1 == g2) && (b1 != b2))) {
-	    /* off by one channel */
-	    if (r1 != r2) {
-		if ((r1 > r2 ? r1 - r2 : r2 - r1) > 1) {
-		    offmany++;
-		} else {
-		    off1++;
-		}
-	    } else if (g1 != g2) {
-		if ((g1 > g2 ? g1 - g2 : g2 - g1) > 1) {
-		    offmany++;
-		} else {
-		    off1++;
-		}
-	    } else if (b1 != b2) {
-		if ((b1 > b2 ? b1 - b2 : b2 - b1) > 1) {
-		    offmany++;
-		} else {
-		    off1++;
-		}
-	    }
-	} else {
-	    /* off by many */
-	    offmany++;
-	}
-
-	/* they're different, so print something */
-	if (list_pixel_values) {
-	    if (print_bytes) {
-		printf("%ld %3d %3d\n", bytes, r1, r2);
-	    } else {
-		printf("%ld\t(%3d, %3d, %3d)\t(%3d, %3d, %3d)\n", bytes / 3, r1, g1, b1, r2, g2, b2);
-	    }
-	}
-    }
-
-    /* print summary */
-    if (!silent) {
-	printf("pixcmp %s: %8ld matching, %8ld off by 1, %8ld off by many\n",
-	       print_bytes?"bytes":"pixels",
-	       matching, off1, offmany);
-    }
-
-    /* check for errors */
-    if (ferror(f1) || ferror(f2)) {
-	perror("pixcmp file error");
-	return FILE_ERROR;
-    }
-
-    /* if files were of different lengths, consider it an error */
-    if (feof(f1) != feof(f2)) {
-	return FILE_ERROR;
-    }
-
-    /* indicate how many differences there were overall */
-    if (offmany) {
-	return OFF_BY_MANY;
-    }
-    if (off1) {
-	return OFF_BY_ONE;
-    }
-
-    /* Success! */
-    return OFF_BY_NONE;
-}
-
-
 /*
- * Local Variables:
- * mode: C
- * tab-width: 8
- * indent-tabs-mode: t
- * c-file-style: "stroustrup"
- * End:
- * ex: shiftwidth=4 tabstop=8
+ *			P I X C M P . C
+ *
+ *  Compute the difference between two .pix files.
+ *  To establish context, a monochrome image is produced when there
+ *  are no differences;  otherwise the channels that differ are
+ *  highlighted on differing pixels.
+ *
+ *  This routine operates on a pixel-by-pixel basis, and thus
+ *  is independent of the resolution of the image.
+ *
+ *  Author -
+ *	Charles M. Kennedy
+ *	Michael John Muuss
+ *
+ *  Source -
+ *	SECAD/VLD Computing Consortium, Bldg 394
+ *	The U. S. Army Ballistic Research Laboratory
+ *	Aberdeen Proving Ground, Maryland  21005
+ *  
+ *  Copyright Notice -
+ *	This software is Copyright (C) 1988 by the United States Army.
+ *	All rights reserved.
  */
+#ifndef lint
+static char RCSid[] = "@(#)$Header$ (BRL)";
+#endif
+
+#include "conf.h"
+
+#include <stdio.h>
+
+long	matching;
+long	off1;
+long	offmany;
+
+char usage[] = "Usage: pixcmp f1.pix f2.pix\n";
+
+main(argc, argv)
+char **argv;
+{
+	register FILE *f1, *f2;
+
+	if( argc != 3 )  {
+		fprintf(stderr, "%s", usage);
+		exit(0);
+	}
+
+	if( strcmp( argv[1], "-" ) == 0 )
+		f1 = stdin;
+	else if( (f1 = fopen( argv[1], "r" ) ) == NULL )  {
+		perror( argv[1] );
+		exit(1);
+	}
+	if( strcmp( argv[2], "-" ) == 0 )
+		f2 = stdin;
+	else if( (f2 = fopen( argv[2], "r" ) ) == NULL )  {
+		perror( argv[2] );
+		exit(1);
+	}
+	while(1)  {
+		register int r1, g1, b1;
+		int r2, g2, b2;
+
+		r1 = fgetc( f1 );
+		g1 = fgetc( f1 );
+		b1 = fgetc( f1 );
+		r2 = fgetc( f2 );
+		g2 = fgetc( f2 );
+		b2 = fgetc( f2 );
+		if( feof(f1) || feof(f2) )  break;
+
+		if( r1 != r2 || g1 != g2 || b1 != b2 )  {
+			register int i;
+
+			/* Highlight differing channels */
+			if( r1 != r2 )  {
+				if( (i = r1 - r2) < 0 )  i = -i;
+				if( i > 1 )  {
+					offmany++;
+				} else {
+					off1++;
+				}
+			} else {
+				matching++;
+			}
+			if( g1 != g2 )  {
+				if( (i = g1 - g2) < 0 )  i = -i;
+				if( i > 1 )  {
+					offmany++;
+				} else {
+					off1++;
+				}
+			} else {
+				matching++;
+			}
+			if( b1 != b2 )  {
+				if( (i = b1 - b2) < 0 )  i = -i;
+				if( i > 1 )  {
+					offmany++;
+				} else {
+					off1++;
+				}
+			} else {
+				matching++;
+			}
+		}  else  {
+			/* Common case:  equal.  Give B&W NTSC average */
+			matching += 3;
+		}
+	}
+	fprintf(stderr,
+		"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 */
+	if( feof(f1) != feof(f2) )
+		exit(2);
+
+	/* If any pixels were off by more than +/- 1, that is an error */
+	if( offmany)
+		exit(1);
+
+	/* Success! */
+	exit(0);
+}

bench/pretty.sh

@@ -0,0 +1,15 @@
+#!/bin/sh
+# WARNING THIS IS A REAL CPU HOG
+../rt/rt -p90 -f1024 -H3 -M $*\
+ -o cube.pix\
+ ../db/cube.g\
+ 'all.g' \
+ 2> cube.log\
+ <<EOF
+6.847580140e+03
+3.699276190e+03 3.032924070e+03 3.658674860e+03
+-5.735762590e-01 8.191521640e-01 0.000000000e+00 0.000000000e+00 
+-3.461885920e-01 -2.424037690e-01 9.063078880e-01 0.000000000e+00 
+7.424040310e-01 5.198366640e-01 4.226181980e-01 0.000000000e+00 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 1.000000000e+00 
+EOF

bench/recheck.sh

@@ -0,0 +1,52 @@
+#!/bin/sh
+# A Shell script to re-check the most recent results of the benchmark
+#  @(#)$Header$ (BRL)
+
+# 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 ../.util.$MACHINE/pixdiff
+then
+	PIXDIFF=../.util.$MACHINE/pixdiff
+	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=../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
+then
+	cp ${PIXDIFF} /tmp/pixdiff
+	cp ${PIX_FB} /tmp/pix-fb
+	PIXDIFF=/tmp/pixdiff
+	PIX_FB=/tmp/pix-fb
+fi
+
+echo +++++ moss.pix
+${PIXDIFF} ../pix/moss.pix moss.pix | ${PIX_FB}
+
+echo +++++ world.pix
+${PIXDIFF} ../pix/world.pix world.pix  | ${PIX_FB}
+
+echo +++++ star.pix
+${PIXDIFF} ../pix/star.pix star.pix  | ${PIX_FB}
+
+echo +++++ bldg391.pix
+${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}

bench/ref/CMakeLists.txt

@@ -1,31 +0,0 @@
-set(BENCHMARK_PIX
-  bldg391.pix
-  m35.pix
-  moss.pix
-  sphflake.pix
-  star.pix
-  world.pix
-  )
-
-
-set(PIX_LOG
-  bldg391.log
-  m35.log
-  moss.log
-  sphflake.log
-  star.log
-  world.log
-  )
-
-BRLCAD_ADDDATA(BENCHMARK_PIX pix)
-BRLCAD_ADDDATA(PIX_LOG pix)
-
-CMAKEFILES(${BENCHMARK_PIX})
-CMAKEFILES(${PIX_LOG})
-
-# Local Variables:
-# tab-width: 8
-# mode: cmake
-# indent-tabs-mode: t
-# End:
-# ex: shiftwidth=2 tabstop=8

bench/try.sh

@@ -1,74 +1,133 @@
 #!/bin/sh
-#                          T R Y . S H
-# BRL-CAD
-#
-# Copyright (c) 2004-2016 United States Government as represented by
-# the U.S. Army Research Laboratory.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above
-# copyright notice, this list of conditions and the following
-# disclaimer in the documentation and/or other materials provided
-# with the distribution.
-#
-# 3. The name of the author may not be used to endorse or promote
-# products derived from this software without specific prior written
-# permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
-# OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
-# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
-# GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-###
-# A Shell script to run the BRL-CAD Benchmark, with output going to
-# a framebuffer rather than to a file.
-#
-# Authors -
-#  Mike Muuss
-#  Christopher Sean Morrison
-#
+# A Shell script to run the BRL-CAD Benchmark Test,
+# with output going to the current framebuffer, rather than a file.
 #  @(#)$Header$ (BRL)
 
 # Ensure /bin/sh
 export PATH || (echo "This isn't sh."; sh $0 $*; kill $$)
-path_to_this=`dirname $0`
 
-# force locale setting to C so things like date output as expected
-LC_ALL=C
+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
 
-TIMEFRAME=1 ; export TIMEFRAME
-MAXTIME=1 ; export MAXTIME
-
-ARGS="-F/dev/Xl $*"
-
-if test -f "$path_to_this/run.sh"  ; then
-    $path_to_this/run.sh $ARGS
-elif test -f "$path_to_this/benchmark"  ; then
-    $path_to_this/benchmark $ARGS
-elif test -f "/usr/brlcad/bin/benchmark"  ; then
-    /usr/brlcad/bin/benchmark $ARGS
+CMP=./pixcmp
+if test ! -f $CMP
+then
+	cake pixcmp
 fi
 
+# Alliant NFS hack
+if test x${MACHINE} = xfx
+then
+	cp ${RT} /tmp/rt
+	cp ${CMP} /tmp/pixcmp
+	RT=/tmp/rt
+	CMP=/tmp/pixcmp
+fi
+
+# Run the tests
+
+echo +++++ moss
+
+time $RT -B -M -s512 $* \
+	$DB/moss.g all.g \
+	<< EOF
+viewsize 1.572026215e+02;
+eye_pt 6.379990387e+01 3.271768951e+01 3.366661453e+01;
+viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00 
+0.000000000e+00 -3.461886346e-01 -2.424038798e-01 9.063078165e-01 
+0.000000000e+00 7.424039245e-01 5.198368430e-01 4.226182699e-01 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 0.000000000e+00 
+1.000000000e+00 ;
+start 0;
+end;
+EOF
+
+echo +++++ world
+
+time $RT -B -M -s512 $* \
+	$DB/world.g all.g \
+	<< EOF
+viewsize 1.572026215e+02;
+eye_pt 6.379990387e+01 3.271768951e+01 3.366661453e+01;
+viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00
+0.000000000e+00 -3.461886346e-01 -2.424038798e-01 9.063078165e-01 
+0.000000000e+00 7.424039245e-01 5.198368430e-01 4.226182699e-01 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 0.000000000e+00 
+1.000000000e+00 ;
+start 0;
+end;
+EOF
+
+echo +++++ star
+
+time $RT -B -M -s512 $* \
+	$DB/star.g all \
+	<<EOF
+viewsize 2.500000000e+05;
+eye_pt 2.102677960e+05 8.455500000e+04 2.934714650e+04;
+viewrot -6.733560560e-01 6.130643360e-01 4.132114880e-01 0.000000000e+00 
+5.539599410e-01 4.823888300e-02 8.311441420e-01 0.000000000e+00 
+4.896120540e-01 7.885590550e-01 -3.720948210e-01 0.000000000e+00 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 1.000000000e+00 ;
+start 0;
+end;
+EOF
+
+echo +++++ bldg391
+
+time $RT -B -M -s512 $* \
+	$DB/bldg391.g all.g \
+	<<EOF
+viewsize 1.800000000e+03;
+eye_pt 6.345012207e+02 8.633251343e+02 8.310771484e+02;
+viewrot -5.735764503e-01 8.191520572e-01 0.000000000e+00 
+0.000000000e+00 -3.461886346e-01 -2.424038798e-01 9.063078165e-01 
+0.000000000e+00 7.424039245e-01 5.198368430e-01 4.226182699e-01 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 0.000000000e+00 
+1.000000000e+00 ;
+start 0;
+end;
+EOF
+
+echo +++++ m35
+
+time $RT -B -M -s512 $* \
+	$DB/m35.g all.g \
+	<< EOF
+viewsize 6.787387985e+03;
+eye_pt 3.974533127e+03 1.503320754e+03 2.874633221e+03;
+viewrot -5.527838919e-01 8.332423558e-01 1.171090926e-02 0.000000000e+00 
+-4.815587087e-01 -3.308784486e-01 8.115544728e-01 0.000000000e+00 
+6.800964482e-01 4.429747496e-01 5.841593895e-01 0.000000000e+00 
+0.000000000e+00 0.000000000e+00 0.000000000e+00 1.000000000e+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
 
-# Local Variables:
-# mode: sh
-# tab-width: 8
-# sh-indentation: 4
-# sh-basic-offset: 4
-# indent-tabs-mode: t
-# End:
-# ex: shiftwidth=4 tabstop=8

bench/viewdiff.sh

@@ -1,183 +0,0 @@
-#!/bin/sh
-#                    V I E W D I F F . S H
-# BRL-CAD
-#
-# Copyright (c) 2004-2016 United States Government as represented by
-# the U.S. Army Research Laboratory.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice, this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above
-# copyright notice, this list of conditions and the following
-# disclaimer in the documentation and/or other materials provided
-# with the distribution.
-#
-# 3. The name of the author may not be used to endorse or promote
-# products derived from this software without specific prior written
-# permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
-# OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
-# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
-# GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-###
-# A Shell script to view the differences of a benchmark run,
-# displaying the results in a framebuffer window.
-#
-# The following environment variables will modify how the view diff
-# behaves (in case you're not running from a source distribution, for
-# example):
-#
-#   PIX - the directory containing the pix files to be compare
-#   PIXDIFF - the name of a pix diff tool
-#   PIXFB - the name of a pix to framebuffer tool (e.g. pix-fb)
-#
-# Authors -
-#  Mike Muuss
-#  Christopher Sean Morrison
-#
-#  @(#)$Header$
-
-# Ensure /bin/sh
-export PATH || (echo "This isn't sh."; sh $0 $*; kill $$)
-path_to_this="`dirname $0`"
-
-echo Looking for benchmark images ...
-# find pix reference image directory if we do not already know where
-# it is.  PIX environment variable overrides
-if test "x${PIX}" = "x" ; then
-    if test -f "$path_to_this/../pix/sphflake.pix" ; then
-	echo ...found .pix image files in $path_to_this/../pix
-	PIX="$path_to_this/../pix"
-    elif test -f "$path_to_this/sphflake.pix" ; then
-	echo ...found .pix image files in $path_to_this
-	PIX="$path_to_this"
-    elif test -f "$path_to_this/../share/brlcad/pix/sphflake.pix" ; then
-	echo ...found .pix image files in $path_to_this/../share/brlcad/pix
-	PIX="$path_to_this/../share/brlcad/pix"
-    fi
-else
-    echo ...using $PIX from PIX environment variable setting
-fi
-
-
-echo Checking for pixel diff utility...
-# find pixel diff utility
-# PIXDIFF environment variable overrides
-if test "x${PIXDIFF}" = "x" ; then
-    if test -x $path_to_this/pixdiff ; then
-	echo ...found $path_to_this/pixdiff
-	PIXDIFF="$path_to_this/pixdiff"
-    elif test -x $path_to_this/../src/util/pixdiff ; then
-	echo ...found $path_to_this/../src/util/pixdiff
-	PIXDIFF="$path_to_this/../src/util/pixdiff"
-    else
-	if test -f "$path_to_this/../src/util/pixdiff.c" ; then
-	    echo ...need to build pixdiff
-
-	    for compiler in $CC gcc cc ; do
-		COMPILE="$compiler"
-
-		if test "x$COMPILE" = "x" ; then
-		    continue
-		fi
-
-		$COMPILE -o pixdiff "$path_to_this/../src/util/pixdiff.c"
-		if test "x$?" = "x0" ; then
-		    break
-		fi
-		if test -f "pixdiff" ; then
-		    break;
-		fi
-	    done
-
-	    if test -f "pixdiff" ; then
-		echo ...built pixdiff with $COMPILE -o pixdiff pixdiff.c
-		PIXDIFF="./pixdiff"
-	    fi
-	fi
-    fi
-else
-    echo ...using $PIXDIFF from PIXDIFF environment variable setting
-fi
-
-
-echo Checking for pix to framebuffer utility...
-# find pix to framebuffer utility
-# PIXFB environment variable overrides
-if test "x${PIXFB}" = "x" ; then
-    if test -x $path_to_this/pix-fb ; then
-	echo ...found $path_to_this/pix-fb
-	PIXFB="$path_to_this/pix-fb"
-    elif test -x $path_to_this/../src/fb/pix-fb ; then
-	echo ...found $path_to_this/../src/fb/pix-fb
-	PIXFB="$path_to_this/../src/fb/pix-fb"
-    else
-	if test -f "$path_to_this/../src/fb/pix-fb.c" ; then
-	    echo ...need to build pix-fb
-
-	    for compiler in $CC gcc cc ; do
-		COMPILE="$compiler"
-
-		if test "x$COMPILE" = "x" ; then
-		    continue
-		fi
-
-		$COMPILE -o pix-fb "$path_to_this/../src/fb/pix-fb.c"
-		if test "x$?" = "x0" ; then
-		    break
-		fi
-		if test -f "pix-fb" ; then
-		    break;
-		fi
-	    done
-
-	    if test -f "pix-fb" ; then
-		echo ...built pix-fb with $COMPILE -o pix-fb pix-fb.c
-		PIXFB="./pix-fb"
-	    fi
-	fi
-    fi
-else
-    echo ...using $PIXFB from PIXFB environment variable setting
-fi
-
-echo +++++ moss.pix
-${PIXDIFF} ${PIX}/moss.pix moss.pix | ${PIXFB}
-
-echo +++++ world.pix
-${PIXDIFF} ${PIX}/world.pix world.pix  | ${PIXFB}
-
-echo +++++ star.pix
-${PIXDIFF} ${PIX}/star.pix star.pix  | ${PIXFB}
-
-echo +++++ bldg391.pix
-${PIXDIFF} ${PIX}/bldg391.pix bldg391.pix  | ${PIXFB}
-
-echo +++++ m35.pix
-${PIXDIFF} ${PIX}/m35.pix m35.pix  | ${PIXFB}
-
-echo +++++ sphflake.pix
-${PIXDIFF} ${PIX}/sphflake.pix sphflake.pix  | ${PIXFB}
-
-# Local Variables:
-# mode: sh
-# tab-width: 8
-# sh-indentation: 4
-# sh-basic-offset: 4
-# indent-tabs-mode: t
-# End:
-# ex: shiftwidth=4 tabstop=8

brlman/Cakefile

@@ -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"

brlman/awf

@@ -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

brlman/brlman

@@ -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

brlman/brlman.1

@@ -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@BRL.MIL>.

burst/Cakefile

@@ -0,0 +1,55 @@
+/*
+			burst/Cakefile
+
+	Author:		Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+
+	$Header$ (BRL)
+
+ */
+/* 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
+#define	SRCSUFF	.c
+#define MANSECTION	1
+#define FILES	burst error fb glob grid gridrotate idents\
+		paint plot prnt trie ui\
+		Hm HmGetc HmGlob Sc
+#include "../Cakefile.defs"
+#include "../Cakefile.prog"
+
+/* Explicit composition of each product */
+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&:	../.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.bak4.0
+	@if test $? -ne 0 \\
+	then	echo "Test failed."; exit 1 \\
+	fi
+	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 \\
+		tfiles/ktank.pix tfiles/ktank.g tfiles/ktank.log
+
+tfiles/ktank.g:
+	asc2g < ../burst/tfiles/ktank.asc > tfiles/ktank.g
+
+#include "../Cakefile.rules"

burst/Hm.h

@@ -0,0 +1,325 @@
+/*
+	Author:	Gary S. Moss
+		U. S. Army Ballistic Research Laboratory
+		Aberdeen Proving Ground
+		Maryland 21005-5066
+
+	$Header$ (BRL)
+*/
+/**
+	<Hm.h> -- MUVES "Hm" (hierarchical menu) package definitions
+**/
+#ifndef Hm_H_INCLUDE
+#define Hm_H_INCLUDE
+/**
+
+	This software and documentation is derived in part from the
+	menuhit(9.3) manual pages (not source code) in AT&T 9th Edition
+	UNIX, Version 1 Programmer's Manual.
+
+	The Hm package provides a pop-up menu implementation which uses
+	a terminal-independent screen management facility (Sc package)
+	to simulate the necessary graphics using the ASCII character set.
+	Only a few keyboard characters are required to control the menus,
+	but when possible, as with DMD terminals running a MYX terminal
+	emulator, the menus can be controlled with the mouse.
+
+**/
+/**
+	Each menu is defined by the following structure:
+
+	typedef struct
+		{
+		HmItem	*item;
+		HmItem	*(*generator)();
+		short	prevtop;
+		short	prevhit;
+		bool	sticky;
+		}
+	HmMenu;
+
+	A menu can be built as an array of HmItem's, pointed to by item,
+	or with a generator function.  If item is (HmItem *) 0, the
+	generator field is assumed to be valid.  The generator function
+	is passed an integer parameter, and must return the pointer to
+	an HmItem in a static area (the result is only needed until the
+	next call).  The n's are guaranteed to start at 0 and increase
+	by 1 each invocation until generator returns (HmItem *) 0.
+	Prevtop will contain the index of the menu item which appeared
+	at the top of the menu the last time it was displayed.  Prevhit
+	will contain the index of the last item traversed (indices begin
+	at 0).  If sticky is true, the menu will hang around after an
+	entry is selected so that another entry may be chosen and the
+	menu must be exited explicitly with the appropriate key-stroke
+	or equivalent mouse operation.  Otherwise, the menu will exit
+	after selection of an item (and any actions resulting from that
+	selection such as submenus have finished).  WARNING: if a menu
+	is to be used more than once during recursive calls to HmHit,
+	there needs to be distinct copies (allocated storage) since the
+	item field is filled in by the generator function, and the
+	prevtop and prevhit fields should be private to the current
+	invocation of HmHit.
+ 
+**/
+
+struct HmMenu;
+
+typedef struct
+	{
+	char	*text;		/* menu item string			*/
+	char	*help;		/* help string				*/
+	struct HmMenu *next;	/* sub-menu pointer or NULL		*/
+	void	(*dfn)();
+	void	(*bfn)();
+	void	(*hfn)();
+	long	data;
+	}
+HmItem;
+
+/**
+	Menu items are defined by the following structure:
+
+	typedef struct
+		{
+		char	*text;
+		char	*help;
+		HmMenu	*next;
+		void	(*dfn)();
+		void	(*bfn)();
+		void	(*hfn)();
+		long	data;
+		}
+	HmItem;
+
+	The text field will be displayed as the name of the item.
+	Characters with the 0200 bit set are regarded as fill characters.
+	For example, the string "\240X" will appear in the menu as a
+	right-justified X (040 is the ASCII space character).  Menu
+	strings without fill characters are drawn centered in the menu.
+	Whether generated statically or dynamically, the list of HmItem's
+	must be terminated by a NULL text field.  The help string will be
+	displayed when the user presses the help key.  If next is not
+	equal to (HmMenu *) 0, it is assumed to point to a submenu,
+	"dfn()" if non-zero is called just  before the submenu is invoked,
+	and "bfn()" likewise just afterwards.  These functions are passed
+	the current menu item.  If the menu item is selected and next is
+	0, "hfn()" is called (if non-zero), also with the current menu
+	item.  The "data" field is reserved for the user to pass
+	information between these functions and the calling routine.
+ 
+**/
+typedef struct HmMenu
+	{
+	HmItem	*item;		/* List of menu items or 0.		*/
+	HmItem	*(*generator)();/* If item == 0, generates items.	*/
+	short	prevtop;	/* Top entry currently visable		*/
+	short	prevhit;	/* Offset from top of last select	*/
+	bool	sticky;		/* If true, menu stays around after SELECT,
+					and until QUIT. */
+	}
+HmMenu;
+
+/* Structure used internally for screen management.  These are stacked
+	dynamically with calls to HmHit() such that the head of the chain
+	is the current menu, and the end of the chain such that next is
+	0, is the top-level menu.
+ */
+typedef struct HmWin
+	{
+	struct HmWin *next;	/* Parent of this menu.			*/
+	HmMenu	*menup;		/* Address of menu data structure.	*/
+	int	menux;		/* Position on screen where top-left	*/
+	int	menuy;		/*    corner of menu will be displayed.	*/
+	int	width;		/* Width of menu, not including border.	*/
+	int	height;		/* Number of menu entries.		*/
+	int	*dirty;		/* Dynamically allocated bitmap. ON bits
+					mean character needs a redraw.	*/
+	}
+HmWindow;
+
+/**
+
+	bool	HmInit( int x, int y, int maxvis )
+
+	HmInit() must be called before any other routines in the
+	Hm package to initialize the screen position of the top-left
+	corner of the top-level menu to x and y and to set the
+	maximum number of menu entries which will be visable at one
+	time to maxvis.  If the number of entries in a menu exceeds
+	maxvis, the menu will scroll to accommodate them.  The values
+	of x, y and maxvis are stored in these external variables:
+
+	int	HmLftMenu
+	int	HmTopMenu
+	int	HmMaxVis
+
+	If this routine is not called, default parameters will be used.
+
+	HmInit() also opens "/dev/tty" for input and stores it's file
+	descriptor in HmTtyFd and associated stream handle in HmTtyFp.
+
+	int	HmTtyFd
+	FILE	*HmTtyFp
+
+	This routine returns true or false on success or failure to open
+	"/dev/tty".
+**/
+#if __STDC__
+extern bool	HmInit( int x, int y, int maxvis );
+#else
+extern bool	HmInit();
+#endif
+extern FILE	*HmTtyFp;
+extern int	HmLftMenu;
+extern int	HmTopMenu;
+extern int	HmMaxVis;
+extern int	HmLastMaxVis;
+extern int	HmTtyFd;
+/**
+	
+	HmItem	*HmHit( HmMenu	*menup )
+
+	HmHit() presents the user with a menu specified by HmMenu
+	pointer menup and returns a pointer to the selected HmItem
+	or 0 if nothing was selected.  The menu is presented to
+	the user with the item corresponding to prevhit (current
+	item) highlighted.  If a menu has not been accessed yet,
+	prevhit will be set to the first item.  The user may move
+	the cursor to the item below the current one by pressing the
+	'd' key, or move up by pressing the 'u'.  If the user
+	presses 'h', the help message for the current item will be
+	displayed until another key is struck.  To select an item,
+	the user presses the space bar.  An actual selection has
+	been made when the selected item does not have a submenu,
+	otherwise, it may be termed a traversal of that item.
+	Traversing an item does change the value of prevhit, but
+	is not final as the submenu can be exited by the user
+	pressing 'q', before selecting an item.  In case the screen
+	becomes disturbed (i.e. by the output of another process),
+	holding down the <control> key and striking an 'l' will
+	re-display all of the menus.
+
+	Both the help and warning (non-fatal error) messages will
+	be displayed in the one-line window at HmYCOMMO.  For
+	instance, if the user hits any keys other than the ones
+	mentioned above, an error message will appear in this
+	window.  Also, a one-line window is reserved for application
+	prompts at HmYPROMPT.  The prompt window is cleared just
+	prior to blocking on user input, and the message window
+	is cleared when the user provides input (strikes a key).
+
+	If a menu has more items than can be displayed at once,
+	the corners of the menu will indicate this as follows:
+
+	'+' means the adjacent displayed item is the actual first
+	    (or last if a bottom corner) item in the menu.
+	'v' means that the entry displayed in the previous line
+	    is not the last, and the menu can be scrolled upwards.
+	'^' means that the entry displayed on the next line is
+	    not actually the first, and the menu can be scrolled
+	    downwards.
+
+	Attempting to move the cursor below the bottom entry of
+	the menu will cause the menu to scroll half a page or
+	until the entries run out, which ever comes first.  If
+	there are no entries to scroll the terminal will beep.
+	The analagous holds true for attempting to move upward
+	past the top entry of the menu.  If a DMD terminal with
+	MYX running is used, a special cursor will appear, and
+	the user may use the mouse rather than the keyboard as
+	follows:  Clicking button 1 of the mouse while the
+	cursor is outside the "current menu", will cause the
+	terminal to beep.  If the cursor is on an item, that item
+	will be made "current".  If on the "current" item, that
+	item will be selected.  If on the top border of the
+	current menu, that menu will scroll down if possible, and
+	if not, that menu will exit.  If on the bottom border,
+	that menu will scroll upward if possible and beep if not.
+
+**/
+#if __STDC__
+extern HmItem	*HmHit( HmMenu *menup );
+#else
+extern HmItem	*HmHit();
+#endif
+
+/**
+	
+	void	HmRedraw( void )
+
+	HmRedraw() will force the entire set of active menus to
+	be redrawn on the next call to HmHit().  This is useful
+	when an application interferes with the portion of the
+	screen used by the Hm package (from HmTopMenu to HmYCOMMO).
+
+**/
+#if __STDC__
+extern void	HmRedraw( void );
+#else
+extern void	HmRedraw();
+#endif
+
+/**
+
+	void	HmError( char *string )
+
+	HmError() will display string on line HmYCOMMO.
+
+**/
+#if __STDC__
+extern void	HmError( char *str );
+#else
+extern void	HmError();
+#endif
+
+#define HmYCOMMO	(HmTopMenu+HmMaxVis+HmHGTBORDER)
+#define HmYPROMPT	(HmYCOMMO+1)
+#define HmXPROMPT	1
+#define HmYBORDER	(HmYPROMPT+1)
+/**
+
+	int	HmGetchar( void )
+	int	HmUngetchar( int c )
+
+	HmGetchar() and HmUngetchar() are used by the Hm package to
+	read a character from the keyboard and to stuff one character
+	back on the input stream.  They may be both be supplied by
+	the application if the default behavior is not desirable.
+	HmGetchar() returns the next character on the standard input.
+	This command will block until input is available.
+	HmUngetchar() inserts the character c on the standard input.
+	An EOF will be returned if this is not possible or c is
+	equal to EOF.  In general, this is guaranteed to work for one
+	character assuming that something has already been read with
+	HmGetchar() and the input stream is buffered.
+
+**/
+#if __STDC__
+extern int	HmGetchar( void );
+extern int	HmUngetchar( int c );
+#else
+extern int	HmGetchar();
+extern int	HmUngetchar();
+#endif
+/**
+
+	void	HmTtySet( void )
+	void	HmTtyReset( void )
+
+	HmTtySet() and HmTtyReset() set/restore the terminal modes for
+	the menus to work properly.  These are mainly internal routines
+	which are called from HmHit(), but are provided in case an
+	escape from the program is provided by the application or job
+	control is enabled in the underlying shell, in which case,
+	these routines can be called from a menu function or signal
+	handler.
+
+**/
+extern void	HmTtySet();
+extern void	HmTtyReset();
+		
+
+#define HmMAXLINE 	132
+#define HmHGTBORDER	2
+
+#endif		/* Hm_H_INCLUDE */

burst/HmGetc.c

@@ -0,0 +1,36 @@
+/*
+	Author:		Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+
+	$Header$ (BRL)
+*/
+#if ! defined( lint )
+static char RCSid[] = "@(#)$Header$ (BRL)";
+#endif
+#include <stdio.h>
+#include "./burst.h"
+#include "./Hm.h"
+/*LINTLIBRARY*/
+int
+#if __STDC__
+HmGetchar( void )
+#else
+HmGetchar()
+#endif
+	{	int	c;
+	while( (c = getc( HmTtyFp )) == EOF )
+		;
+	return	c;
+	}
+
+int
+#if __STDC__
+HmUngetchar( int c )
+#else
+HmUngetchar( c )
+#endif
+	{
+	return	ungetc( c, HmTtyFp );
+	}

burst/HmGlob.c

@@ -0,0 +1,19 @@
+/*
+	Author:	Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+
+	$Header$ (BRL)
+*/
+/*LINTLIBRARY*/
+#ifndef lint
+static char RCSid[] = "@(#)$Header$ (BRL)";
+#endif
+#include <stdio.h>
+FILE	*HmTtyFp = NULL;   /* read keyboard, not stdin */
+int	HmLftMenu = 1;	   /* default top-level menu position */
+int	HmTopMenu = 1;
+int	HmMaxVis = 10;	   /* default maximum menu items displayed */
+int	HmLastMaxVis = 10; /* track changes in above parameter */
+int	HmTtyFd; 	   /* read keyboard, not stdin */

burst/Mm.h

@@ -0,0 +1,22 @@
+/*
+	Author:	Gary S. Moss
+		U. S. Army Ballistic Research Laboratory
+		Aberdeen Proving Ground
+		Maryland 21005-5066
+
+	$Header$ (BRL)
+ */
+/* Emulate MUVES Mm package using malloc. */
+#if __STDC__
+#include <stdlib.h>
+#include <string.h>
+#else
+extern char	*malloc();
+extern char	*strcpy();
+#endif
+#define MmAllo( typ )		(typ *) malloc( sizeof(typ) )
+#define MmFree( typ, ptr )	free( (char *) ptr )
+#define MmVAllo( ct, typ )	(typ *) malloc( (ct)*sizeof(typ) )
+#define MmVFree( ct, typ, ptr )	free( (char *) ptr )
+#define MmStrDup( str )		strcpy( malloc( strlen(str)+1 ), str )
+#define MmStrFree( str )	free( str )

burst/Sc.c

@@ -0,0 +1,451 @@
+/*
+	Author:	Gary S. Moss
+		U. S. Army Ballistic Research Laboratory
+		Aberdeen Proving Ground
+		Maryland 21005-5066
+
+	$Header$ (BRL)
+
+*/
+/*LINTLIBRARY*/
+#ifndef lint
+static char RCSid[] = "@(#)$Header$ (BRL)";
+#endif
+#include <stdio.h>
+#ifdef BSD
+#include <strings.h>
+#endif
+#ifdef SYSV
+#include <string.h>
+#endif
+#ifndef cray
+#if defined( VLDSYSV )
+#include <sys/_ioctl.h>
+#else
+#include <sys/ioctl.h>
+#define _winsize winsize	/* For compatibility with _ioctl.h.	*/
+#endif
+#endif
+#include "./Sc.h"
+
+/* Externals from termlib(3). */
+#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 );
+#else
+extern char	*tgoto();
+extern char	*tgetstr();
+extern int	tgetent();
+#endif
+
+/* Externals from the C library. */
+#if __STDC__
+extern char	*getenv( char *s );
+#else
+extern char	*getenv();
+extern char	*strncpy();
+#endif
+
+static FILE	*out_fp;		/* Output stream.	*/
+static char	tstrings[ScTCAPSIZ];    /* Individual TCS.	*/
+static char	*tstr_addr = tstrings;	/* Used by tgetstr().	*/
+static int	fd_stdout = 1;
+
+/* This is a global buffer for the terminal capabilities entry.	*/
+char		ScTermcap[ScTCAPSIZ];
+
+/* This is a global buffer for the name of the terminal.	*/
+char		ScTermname[ScTERMSIZ] = "UNKNOWN";
+
+/* Individual terminal control strings (TCS).			*/
+char		*ScBC, /* Backspace character.			*/
+		*ScPC, /* Padding character.			*/
+		*ScUP, /* Cursor up one line.			*/
+		*ScCS, /* Change scrolling region.		*/
+		*ScSO, /* Begin standout mode.			*/
+		*ScSE, /* End standout mode.			*/
+		*ScCE, /* Clear to end of line.			*/
+		*ScCL, /* Clear display and home cursor.	*/
+		*ScHO, /* Home cursor.				*/
+		*ScCM, /* Screen-relative cursor motion.	*/
+		*ScTI, /* Initialize terminal.			*/
+		*ScAL, /* Insert line.				*/
+		*ScDL, /* Delete line.				*/
+		*ScSR, /* Scroll text down.			*/
+		*ScSF; /* Scroll text up.			*/
+
+/* Individual terminal parameters.				*/
+int		ScLI, /* Number of lines on screen.		*/
+		ScCO; /* Number of columns on screen.		*/
+
+/*
+	static void ScLoadTP( void )
+
+	Get the terminal parameters.
+
+ */
+static void
+#if __STDC__
+ScLoadTP( void )
+#else
+ScLoadTP()
+#endif
+	{
+#ifdef TIOCGWINSZ
+	/* Get window size for DMD layers support.			*/
+	struct _winsize		window;
+
+	if(	ioctl( fd_stdout, TIOCGWINSZ, &window ) == 0
+	    &&	window.ws_row != 0 && window.ws_col != 0
+		)
+		{
+		ScLI = (int) window.ws_row;
+		ScCO = (int) window.ws_col;
+		}
+	else
+#endif
+		{
+		ScLI = tgetnum( "li" );
+		ScCO = tgetnum( "co" );
+		}
+	return;
+	}
+
+/*
+	static void ScLoadTCS( void )
+
+	Get the terminal control strings.
+ */
+static void
+#if __STDC__
+ScLoadTCS( void )
+#else
+ScLoadTCS()
+#endif
+	{;
+	ScCS = tgetstr( "cs", &tstr_addr );
+	ScSE = tgetstr( "se", &tstr_addr );
+	ScSO = tgetstr( "so", &tstr_addr );
+	ScCE = tgetstr( "ce", &tstr_addr );
+	ScCL = tgetstr( "cl", &tstr_addr );
+	ScHO = tgetstr( "ho", &tstr_addr );
+	ScCM = tgetstr( "cm", &tstr_addr );
+	ScBC = tgetstr( "bc", &tstr_addr );
+	ScPC = tgetstr( "pc", &tstr_addr );
+	ScUP = tgetstr( "up", &tstr_addr );
+	ScTI = tgetstr( "ti", &tstr_addr );
+	ScAL = tgetstr( "al", &tstr_addr );
+	ScDL = tgetstr( "dl", &tstr_addr );
+	ScSR = tgetstr( "sr", &tstr_addr );
+	ScSF = tgetstr( "sf", &tstr_addr );
+	return;
+	}
+
+/*
+	int	PutChr( char c )
+
+	This function prevents the default "PutChr" from being pulled in
+	from the termcap library (-ltermlib).  DO NOT change its name or
+	STDOUT will be assumed as the output stream for terminal control.
+	Some applications might want to open "/dev/tty" so that they can
+	use STDOUT for something else.
+	
+ */
+int
+#if __STDC__
+PutChr( char c )
+#else
+PutChr( c )
+char	c;
+#endif
+	{
+	return	putc( c, out_fp );
+	}
+
+/*
+	bool	ScInit( FILE *fp )
+
+	ScInit() must be invoked before any other function in the Sc package.
+	Stream fp must be open for writing and all terminal control sequences
+	will be sent to fp, giving the application the option of using STDOUT
+	for other things.  Besides setting the output stream, ScInit() does
+	the following:
+
+	Initializes the terminal.  Fills terminal name and capabilities
+	into external buffers.  Gets terminal control strings into external
+	variables.  Gets individual terminal parameters into external
+	variables.  Returns "true" for success, "false" for failure and
+	prints appropriate diagnostics on STDERR if $TERM is not set or
+	there is a problem in retrieving the corresponding termcap entry.
+ */
+bool
+#if __STDC__
+ScInit( FILE *fp )
+#else
+ScInit( fp )
+FILE	*fp;
+#endif
+	{	char	*term; /* Name of terminal from environment. */
+	out_fp = fp;
+	fd_stdout = fileno( out_fp );
+	if( (term = getenv( "TERM" )) == NULL )
+		{
+		(void) fprintf( stderr, "TERM not set or exported!\n" );
+		return	false;
+		}
+	(void) strncpy( ScTermname, term, ScTERMSIZ-1 );
+
+	/* Get terminal entry.						*/
+	switch( tgetent( ScTermcap, term ) )
+		{
+	case -1 :
+		(void) fprintf( stderr, "Can't open termcap file!\n" );
+		return	false;
+	case  0 :
+		(void) fprintf( stderr,
+				"Terminal type not in termcap file!\n"
+				);
+		return	false;
+		}
+
+	/* Get individual terminal parameters and control strings.	*/
+	ScLoadTP();
+	ScLoadTCS();
+
+	tputs( ScTI, 1, PutChr );	/* Initialize terminal.			*/
+	return	true;		/* All is well.				*/
+	}
+
+/*
+	bool	ScClrEOL( void )
+
+	Clear from the cursor to the end of that line.
+
+ */
+bool
+#if __STDC__
+ScClrEOL( void )
+#else
+ScClrEOL()
+#endif
+	{
+	if( ScCE == NULL )
+		return	false;
+	tputs( ScCE, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScClrScrlReg( void )
+
+	Reset the scrolling region to the entire screen.
+
+ */
+bool
+#if __STDC__
+ScClrScrlReg( void )
+#else
+ScClrScrlReg()
+#endif
+	{
+	if( ScCS == NULL )
+		return	false;
+	tputs( tgoto( ScCS, ScLI-1, 0 ), 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScClrStandout( void )
+
+	End standout mode.
+
+ */
+bool
+#if __STDC__
+ScClrStandout( void )
+#else
+ScClrStandout()
+#endif
+	{
+	if( ScSE == NULL )
+		return	false;
+	tputs( ScSE, 1, PutChr );
+	return	true;
+	}
+
+/*	bool	ScClrText( void )
+
+	Clear the screen and "home" the cursor.
+
+ */
+bool
+#if __STDC__
+ScClrText( void )
+#else
+ScClrText()
+#endif
+	{
+	if( ScCL == NULL )
+		return	false;
+	tputs( ScCL, ScLI, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScInsertLn( void )
+
+	Insert a the line under the cursor.
+
+ */
+bool
+#if __STDC__
+ScInsertLn( void )
+#else
+ScInsertLn()
+#endif
+	{
+	if( ScAL == NULL )
+		return	false;
+	tputs( ScAL, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScDeleteLn( void )
+
+	Delete the line under the cursor.
+
+ */
+bool
+#if __STDC__
+ScDeleteLn( void )
+#else
+ScDeleteLn()
+#endif
+	{
+	if( ScDL == NULL )
+		return	false;
+	tputs( ScDL, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScDnScroll( void )
+
+	Scroll backward 1 line.
+
+ */
+bool
+#if __STDC__
+ScDnScroll( void )
+#else
+ScDnScroll()
+#endif
+	{
+	if( ScSR == NULL )
+		return	false;
+	tputs( ScSR, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScHmCursor( void )
+
+	Move the cursor to the top-left corner of the screen.
+
+ */
+bool
+#if __STDC__
+ScHmCursor( void )
+#else
+ScHmCursor()
+#endif
+	{
+	if( ScHO == NULL )
+		return	false;
+	tputs( ScHO, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScMvCursor( int x, int y )
+
+	Move the cursor to screen coordinates x, y (for column and row,
+		respectively).
+
+ */
+bool
+#if __STDC__
+ScMvCursor( int x, int y )
+#else
+ScMvCursor( x, y )
+int	x, y;
+#endif
+	{
+	if( ScCM == NULL )
+		return	false;
+
+	--x; --y; /* Tgoto() adds 1 to each coordinate!? */
+	tputs( tgoto( ScCM, x, y ), 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScSetScrlReg( int top, int btm )
+
+	Set the scrolling region to be from "top" line to "btm" line,
+		inclusive.
+
+ */
+bool
+#if __STDC__
+ScSetScrlReg( int top, int btm )
+#else
+ScSetScrlReg( top, btm )
+int	top, btm;
+#endif
+	{
+	if( ScCS == NULL )
+		return	false;
+	tputs( tgoto( ScCS, btm-1, top-1 ), 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScSetStandout( void )
+
+	Begin standout mode.
+
+ */
+bool
+#if __STDC__
+ScSetStandout( void )
+#else
+ScSetStandout()
+#endif
+	{
+	if( ScSO == NULL )
+		return	false;
+	tputs( ScSO, 1, PutChr );
+	return	true;
+	}
+
+/*
+	bool	ScUpScroll( void )
+
+	Scroll text forward 1 line.
+	
+ */
+bool
+#if __STDC__
+ScUpScroll( void )
+#else
+ScUpScroll()
+#endif
+	{
+	if( ScSF == NULL )
+		return	false;
+	tputs( ScSF, 1, PutChr );
+	return	true;
+	}

burst/Sc.h

@@ -0,0 +1,174 @@
+/*
+	Author:	Gary S. Moss
+	U. S. Army Ballistic Research Laboratory
+	Aberdeen Proving Ground
+	Maryland 21005-5066
+
+	$Header$ (BRL)
+
+*/
+/**
+	<Sc.h> -- MUVES "Sc" (Screen manager) package definitions
+**/
+
+/**
+
+	The Sc package provides an interface to the termcap library
+	(termlib(3)) for doing cursor movement, character attribute,
+	and other low-level screen management operations.  It is
+	intended for use in building terminal-independent full-screen
+	user interfaces.  Do to its use of the tgoto() termlib(3)
+	routine, programs that use this package should turn off TAB3
+	in the terminal handler.
+
+**/
+#ifndef Sc_H_INCLUDE
+#define Sc_H_INCLUDE
+#include "./burst.h"
+#include "./Tc.h"
+
+/**
+	bool	ScInit( FILE *fp )
+
+	ScInit() must be invoked before any other function in the Sc
+	package.  Stream fp must be open for writing and all terminal
+	control sequences will be sent to fp, giving the application
+	the option of using STDOUT for other things.  Besides setting
+	the output stream, ScInit() does the following:
+
+	Initializes the terminal.
+
+	Fills terminal name and capabilities into these externals:
+
+	char	ScTermname[ScTERMSIZ]	(terminal name from $TERM)
+	char	ScTermcap[ScTCAPSIZ]	(terminal capabilities entry)
+
+	Gets terminal control strings into external variables (here
+	are some that don't have individual functions to output them,
+	the ones that DO are below):
+
+	char	*ScBC	(backspace character)	
+	char	*ScPC	(padding character)
+	char	*ScUP	(move the cursor up one line)
+	char	*ScTI	(initialize the terminal)
+
+	Gets individual terminal parameters into these externals:
+
+	int	ScLI	(number of lines on screen)
+	int	ScCO	(number of columns on screen)
+
+	Returns "true" for success, "false" for failure and prints
+	appropriate diagnostics on STDERR if $TERM is not set or
+	there is a problem in retrieving the corresponding termcap
+	entry.
+**/
+#if _STDC_
+extern bool	ScInit( FILE *fp );
+#else
+extern bool	ScInit();
+#endif
+
+/**
+
+	Below are functions paired with terminal control strings that
+	they output to the stream specified with ScInit().  It is not
+	recommended that the control strings be used directly, but it
+	may be useful in certain applications to check their value;
+	if ScInit() has not been invoked or the corresponding terminal
+	capability does not exist, its control string will be NULL,
+	AND the function will return "false".  Otherwise, they will
+	return "true" (assuming that it worked).  There is no way to
+	be sure of this.
+
+	char	*ScCE 	(clear from under the cursor to end of line)
+	bool	ScClrEOL( void )
+
+	char	*ScCS	(change scrolling region)
+	bool	ScClrScrlReg( void )
+
+	char	*ScSE	(end standout mode)
+	bool	ScClrStandout( void )
+
+	char	*ScCL	(clear screen, and home cursor)
+	bool	ScClrText( void )
+
+	char	*ScAL	(insert a line under the cursor)
+	bool	ScInsertLn( void )
+
+	char	*ScDL	(delete the line under the cursor)
+	bool	ScDeleteLn( void )
+
+	char	*ScSR	(scroll text backwards 1 line)
+	bool	ScDnScroll( void )
+
+	char	*ScHO	(move cursor to top-left corner of screen)
+	bool	ScHmCursor( void )
+
+	char	*ScCM	(move cursor to column and row <x,y>)
+	bool	ScMvCursor( x, y )
+
+	char	*ScCS	(set scrolling region from top to btm incl.)
+	bool	ScSetScrlReg( top, btm )
+
+	char	*ScSO	(begin standout mode)
+	bool	ScSetStandout( void )
+
+	char	*ScSF	(scroll text forwards 1 line)
+	bool	ScUpScroll( void )
+
+**/
+extern char	*ScBC;
+extern char	*ScPC;
+extern char	*ScUP;
+extern char	*ScCS;
+extern char	*ScSO;
+extern char	*ScSE;
+extern char	*ScCE;
+extern char	*ScCL;
+extern char	*ScHO;
+extern char	*ScCM;
+extern char	*ScTI;
+extern char	*ScDL;
+extern char	*ScSR;
+extern char	*ScSF;
+
+extern int	ScLI;
+extern int	ScCO;
+
+#if _STDC_
+extern bool	ScClrEOL( void );
+extern bool	ScClrScrlReg( void );
+extern bool	ScClrStandout( void );
+extern bool	ScClrText( void );
+extern bool	ScDeleteLn( void );
+extern bool	ScDnScroll( void );
+extern bool	ScHmCursor( void );
+extern bool	ScInsertLn( void );
+extern bool	ScMvCursor( int x, int y );
+extern bool	ScSetScrlReg( int top, int btm );
+extern bool	ScSetStandout( void );
+extern bool	ScUpScroll( void );
+#else
+extern bool	ScClrEOL();
+extern bool	ScClrScrlReg();
+extern bool	ScClrStandout();
+extern bool	ScClrText();
+extern bool	ScDeleteLn();
+extern bool	ScDnScroll();
+extern bool	ScHmCursor();
+extern bool	ScInsertLn();
+extern bool	ScMvCursor();
+extern bool	ScSetScrlReg();
+extern bool	ScSetStandout();
+extern bool	ScUpScroll();
+#endif
+
+#define ScTCAPSIZ	1024
+#define ScTERMSIZ	80
+
+extern char	ScTermcap[];
+extern char	ScTermname[];
+
+#endif		/* Sc_H_INCLUDE */
+
+

burst/Tc.c

@@ -0,0 +1,397 @@
+/*
+	XXX Outdated : should not be used
+  
+	SCCS id:	%Z% %M%	%I%
+	Modified: 	%G% at %U%
+	Retrieved: 	%H% at %T%
+	SCCS archive:	%P%
+
+	Author:	Gary S. Moss
+	U. S. Army Ballistic Research Laboratory
+	Aberdeen Proving Ground
+	Maryland 21005-5066
+*/
+
+#if 0
+
+/*LINTLIBRARY*/
+#ifndef lint
+static char RCSid[] = "@(#)$Header$ (BRL)";
+static char sccsTag[] = "%Z% %M% %I%, modified %G% at %U%, archive %P%";
+#endif
+
+#include <stdio.h>
+#include <fcntl.h>
+
+#ifdef SYSV
+
+/**#ifndef	TANDEM	*/
+/* USG derivatives */
+#include <termio.h>
+#include <memory.h>
+#ifndef _NFILE
+#define _NFILE	32
+#endif /* _NFILE */
+static struct termio	save_tio[_NFILE], curr_tio[_NFILE];
+#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 */
+#define TCSETA	TIOCSETP
+#define TCGETA	TIOCGETP
+#ifndef	XTABS
+#define	XTABS	(TAB1 | TAB2)
+#endif /* XTABS */
+
+static struct sgttyb	save_tio[_NFILE], curr_tio[_NFILE];
+#endif /* BSD */
+
+void			TcSaveTty(), TcResetTty();
+void			TcSetCbreak(), TcClrCbreak();
+void			TcSetRaw(), TcClrRaw();
+void			TcSetEcho(), TcClrEcho();
+void			TcSetTabs(), TcClrTabs();
+void			TcSetHUPCL();
+void			TcClrCRNL();
+void			prnt_Tio();
+static void		copy_Tio();
+
+/*	
+	void	TcClrCbreak( int fd )
+
+	Clear CBREAK mode, for file descriptor "fd".
+ */
+void
+#if __STDC__
+TcClrCbreak( int fd )
+#else
+TcClrCbreak( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags &= ~CBREAK;	/* CBREAK mode OFF.	*/
+#else
+	curr_tio[fd].c_lflag |= ICANON;		/* Canonical input ON.	*/
+#ifndef CRAY2
+	curr_tio[fd].c_cc[VEOF] = 4;		/* defaults!		*/
+	curr_tio[fd].c_cc[VEOL] = 0;		/*   best we can do.... */
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcSetCbreak( int fd )
+
+	Set CBREAK mode, "fd".
+ */
+void
+#if __STDC__
+TcSetCbreak( int fd )
+#else
+TcSetCbreak( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags |= CBREAK;	/* CBREAK mode ON.	*/
+#else
+	curr_tio[fd].c_lflag &= ~ICANON;	/* Canonical input OFF. */
+#ifndef CRAY2
+	curr_tio[fd].c_cc[VMIN] = 1;
+	curr_tio[fd].c_cc[VTIME] = 0;
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcClrRaw( int fd )
+
+	Set cooked mode, "fd".
+ */
+void
+clr_Raw( fd )
+int	fd;
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags &= ~RAW;		/* Raw mode OFF.	*/
+#else
+	curr_tio[fd].c_lflag |= ICANON;		/* Canonical input ON.	*/
+#ifndef CRAY2
+	curr_tio[fd].c_lflag |= ISIG;		/* Signals ON.		*/
+	curr_tio[fd].c_cc[VEOF] = 4;		/* defaults!		*/
+	curr_tio[fd].c_cc[VEOL] = 0;		/*   best we can do.... */
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcSetRaw( int fd )
+
+	Set raw mode, "fd".
+ */
+void
+#if __STDC__
+TcSetRaw( int fd )
+#else
+TcSetRaw( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags |= RAW;		/* Raw mode ON.		*/
+#else
+	curr_tio[fd].c_lflag &= ~ICANON;	/* Canonical input OFF. */
+#ifndef CRAY2
+	curr_tio[fd].c_lflag &= ~ISIG;		/* Signals OFF.		*/
+	curr_tio[fd].c_cc[VMIN] = 1;
+	curr_tio[fd].c_cc[VTIME] = 0;
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcSetEcho( int fd )
+
+	Set echo mode, "fd".
+ */
+void
+#if __STDC__
+TcSetEcho( int fd )
+#else
+TcSetEcho( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags |= ECHO;		/* Echo mode ON.	*/
+#else
+	curr_tio[fd].c_lflag |= ECHO;		/* Echo mode ON.	*/
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcClrEcho( int fd )
+
+	Clear echo mode, "fd".
+ */
+void
+#if __STDC__
+TcClrEcho( int fd )
+#else
+TcClrEcho( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags &= ~ECHO;		/* Echo mode OFF.	*/
+#else
+	curr_tio[fd].c_lflag &= ~ECHO;		/* Echo mode OFF.	*/
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcSetTabs( int fd )
+
+	Turn on tab expansion, "fd".
+ */
+void
+#if __STDC__
+TcSetTabs( int fd )
+#else
+TcSetTabs( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags |= XTABS;		/* Tab expansion ON.	*/
+#else
+#ifndef CRAY2
+	curr_tio[fd].c_oflag |= TAB3;		/* Tab expansion ON.	*/
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcClrTabs( int fd )
+
+	Turn off tab expansion, "fd".
+ */
+void
+#if __STDC__
+TcClrTabs( int fd )
+#else
+TcClrTabs( fd )
+int	fd;
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags &= ~XTABS;	/* Tab expans. OFF.	*/
+#else
+#ifndef CRAY2
+	curr_tio[fd].c_oflag &= ~TAB3;		/* Tab expans. OFF.	*/
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcSetHUPCL( int fd )
+
+	Turn on "Hang up on last close", "fd".
+ */
+void
+#if __STDC__
+TcSetHUPCL( int fd )
+#else
+TcSetHUPCL( fd )
+int	fd;
+#endif
+	{
+#ifndef CRAY2
+#ifdef BSD
+	(void) ioctl( fd, TIOCHPCL, NULL );
+#else
+	curr_tio[fd].c_cflag |= HUPCL;
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+#endif
+#endif
+	return;
+	}
+
+/*
+	void	TcClrCRNL( int fd )
+
+	Turn off CR/LF mapping, "fd".
+ */
+void
+#if __STDC__
+TcClrCRNL( int fd )
+#else
+TcClrCRNL( fd )
+#endif
+	{
+#ifdef BSD
+	curr_tio[fd].sg_flags &= ~CRMOD;
+#else
+#ifndef CRAY2
+	curr_tio[fd].c_oflag &= ~(ONLCR|OCRNL);
+	curr_tio[fd].c_iflag &= ~(ICRNL|INLCR);
+#endif
+#endif
+	(void) ioctl( fd, TCSETA, &curr_tio[fd] );
+	}
+
+/*
+	void	TcSaveTty( int fd )
+
+	Get and save terminal parameters, "fd".
+ */
+void
+#if __STDC__
+TcSaveTty( int fd )
+#else
+TcSaveTty( fd )
+int	fd;
+#endif
+	{
+	(void) ioctl( fd, TCGETA, &save_tio[fd] );
+	copy_Tio( &curr_tio[fd], &save_tio[fd] );
+	return;
+	}
+
+/*
+	void	TcResetTty( int fd )
+
+	Set the terminal back to the mode that the user had last time
+	TcSaveTty() was called for "fd".
+ */
+void
+#if __STDC__
+TcResetTty( int fd )
+#else
+TcResetTty( fd )
+int	fd;
+#endif
+	{
+	(void) ioctl( fd, TCSETA, &save_tio[fd] ); /* Write setting.		*/
+	return;
+	}
+
+/*	c o p y _ T i o ( )						*/
+static void
+copy_Tio( to, from )
+#ifdef BSD
+struct sgttyb	*to, *from;
+#else
+struct termio	*to, *from;
+#endif
+	{
+#ifdef BSD
+	(void) bcopy( (char *)from, (char*)to, sizeof(struct sgttyb) );
+#else
+	(void) memcpy( (char *) to, (char *) from, (int) sizeof(struct termio) );
+#endif
+	return;
+	}
+
+/*	p r n t _ T i o ( )						*/
+void
+prnt_Tio( msg, tio_ptr )
+char		*msg;
+#ifdef BSD
+struct sgttyb	*tio_ptr;
+#else
+struct termio	*tio_ptr;
+#endif
+	{	register int	i;
+	(void) fprintf( stderr, "%s :\n\r", msg );
+#ifdef BSD
+	(void) fprintf( stderr, "\tsg_ispeed=%d\n\r", (int) tio_ptr->sg_ispeed );
+	(void) fprintf( stderr, "\tsg_ospeed=%d\n\r", (int) tio_ptr->sg_ospeed );
+	(void) fprintf( stderr, "\tsg_erase='%c'\n\r", tio_ptr->sg_erase );
+	(void) fprintf( stderr, "\tsg_kill='%c'\n\r", tio_ptr->sg_kill );
+	(void) fprintf( stderr, "\tsg_flags=0x%x\n\r", tio_ptr->sg_flags );
+#else
+
+	(void) fprintf( stderr, "\tc_iflag=0x%x\n\r", tio_ptr->c_iflag );
+	(void) fprintf( stderr, "\tc_oflag=0x%x\n\r", tio_ptr->c_oflag );
+	(void) fprintf( stderr, "\tc_cflag=0x%x\n\r", tio_ptr->c_cflag );
+	(void) fprintf( stderr, "\tc_lflag=0x%x\n\r", tio_ptr->c_lflag );
+	(void) fprintf( stderr, "\tc_line=%c\n\r", tio_ptr->c_line );
+	for( i = 0; i < NCC; ++i )
+		{
+		(void) fprintf( stderr,
+				"\tc_cc[%d]=0%o\n\r",
+				i,
+				tio_ptr->c_cc[i]
+				);
+		}
+#endif
+	return;
+	}
+
+#endif

burst/Tc.h

@@ -0,0 +1,114 @@
+/*
+	SCCS id:	%Z% %M%	%I%
+	Modified: 	%G% at %U%
+	Retrieved: 	%H% at %T%
+	SCCS archive:	%P%
+
+	Author:	Gary S. Moss
+	U. S. Army Ballistic Research Laboratory
+	Aberdeen Proving Ground
+	Maryland 21005-5066
+
+*/
+/**
+	<Tc.h> -- MUVES "Tc" (terminal control) package definitions
+
+	Rewritten to use BRL-CAD's libtermio
+**/
+
+/**
+
+	The Tc package provides an interface to the terminal handler
+	for controlling I/O processing.
+
+**/
+#ifndef Tc_H_INCLUDE
+#define Tc_H_INCLUDE
+
+#if 0
+
+/**
+
+	All of these functions take effect on the stream specified
+	by fd.  Fd is assumed to be open.  This enables the application
+	to control several terminal-style devices at once.
+
+	void	TcSaveTty( int fd )
+
+	Saves the current terminal modes.  This function should be
+	called once at the beginning of the program to save the user's
+	settings so that they can be restored via TcResetTty() when the
+	program exits, is suspended via job control, or for whatever
+	reason wishes to revert to the default terminal handler settings.
+
+	void	TcResetTty( int fd )	restore the terminal modes
+
+	void	TcClrCRNL( int fd )	turn off CR to NL mapping
+
+	void	TcClrCbreak( int fd )	turn off cbreak mode
+
+	void	TcClrEcho( int fd )	turn off echo mode
+
+	void	TcClrRaw( int fd )	turn off raw mode
+
+	void	TcClrTabs( int fd )	turn off tab expansion
+
+	void	TcSetCbreak( int fd )	turn on cbreak mode
+
+	void	TcSetEcho( int fd )	turn on echo mode
+
+	void	TcSetHUPCL( int fd )	turn on "hang up on next close"
+
+	void	TcSetRaw( int fd )	turn on raw mode
+
+	void	TcSetTabs( int fd )	turn on tab expansion
+
+**/
+#if _STDC_
+extern void	TcClrCRNL( int fd );
+extern void	TcClrCbreak( int fd );
+extern void	TcClrEcho( int fd );
+extern void	TcClrRaw( int fd );
+extern void	TcClrTabs( int fd );
+extern void	TcResetTty( int fd );
+extern void	TcSaveTty( int fd );
+extern void	TcSetCbreak( int fd );
+extern void	TcSetEcho( int fd );
+extern void	TcSetHUPCL( int fd );
+extern void	TcSetRaw( int fd );
+extern void	TcSetTabs( int fd );
+#else
+extern void	TcClrCRNL();
+extern void	TcClrCbreak();
+extern void	TcClrEcho();
+extern void	TcClrRaw();
+extern void	TcClrTabs();
+extern void	TcResetTty();
+extern void	TcSaveTty();
+extern void	TcSetCbreak();
+extern void	TcSetEcho();
+extern void	TcSetHUPCL();
+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 */
+
+

burst/ascii.h

@@ -0,0 +1,35 @@
+/*
+	Author:		Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+
+	$Header$
+*/
+#define NUL		'\000'
+#define SOH		'\001'
+#define	STX		'\002'
+#define INTR		'\003'
+#define	EOT		'\004'
+#define ACK		'\006'
+#define BEL		'\007'
+#define	BS		'\010'
+#define HT		'\011'
+#define LF		'\012'
+#define FF		'\014'
+#define	CR		'\015'
+#define DLE		'\020'
+#define	DC1		'\021'
+#define	DC2		'\022'
+#define	DC3		'\023'
+#define	DC4		'\024'
+#define	KILL		'\025'
+#define	CAN		'\030'
+#define	ESC		'\033'
+#define	GS		'\035'
+#define	RS		'\036'
+#define	US		'\037'
+#define SP		'\040'
+#define DEL		'\177'
+
+#define Ctrl(chr)	((int)chr&037)

burst/burst.c

@@ -0,0 +1,267 @@
+/*
+	Author:		Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+*/
+#ifndef lint
+static char RCSid[] = "@(#)$Header$ (BRL)";
+#endif
+
+#ifndef DEBUG
+#define NDEBUG
+#define STATIC static
+#else
+#define STATIC
+#endif
+
+#include <assert.h>
+
+#include <stdio.h>
+#include <signal.h>
+
+#include "./burst.h"
+#include "./trie.h"
+#include "./ascii.h"
+#include "./extern.h"
+
+#define DEBUG_BURST	0	/* 1 enables debugging for this module */
+
+/*
+	bool getCommand( char *name, char *buf, int len, FILE *fp )
+
+	Read next command line into buf and stuff the command name into name
+	from input stream fp.  buf must be at least len bytes long.
+
+	RETURN:	true for success
+
+		false for end of file 
+ */
+STATIC bool
+#if STD_C
+getCommand( char *name, char *buf, int len, FILE *fp )
+#else
+getCommand( name, buf, len, fp )
+char *name;
+char *buf;
+int len;
+FILE *fp;
+#endif
+	{
+	assert( name != NULL );
+	assert( buf != NULL );
+	assert( fp != NULL );
+	while( fgets( buf, len, fp ) != NULL )
+		{
+		if( buf[0] != CHAR_COMMENT )
+			{
+			if( sscanf( buf, "%s", name ) == 1 )
+				{
+				buf[strlen(buf)-1] = NUL; /* clobber newline */
+				return	true;
+				}
+			else /* Skip over blank lines. */
+				continue;
+			}
+		else
+			{ /* Generate comment command. */
+			(void) strcpy( name, CMD_COMMENT );
+			return	true;
+			}
+		}
+	return	false; /* EOF */
+	}
+
+/*
+	void setupSigs( void )
+
+	Initialize all signal handlers.
+ */
+STATIC void
+#if STD_C
+setupSigs( void )
+#else
+setupSigs()
+#endif
+	{	register int i;
+	for( i = 0; i < NSIG; i++ )
+		switch( i )
+			{
+		case SIGINT :
+			if( (norml_sig = signal( i, SIG_IGN )) == SIG_IGN )
+				abort_sig = SIG_IGN;
+			else
+				{
+				norml_sig = intr_sig;
+				abort_sig = abort_RT;
+				(void) signal( i,  norml_sig );
+				}
+			break;
+#if defined( BSD )
+		case SIGCHLD :
+#else
+		case SIGCLD :
+#endif
+			break; /* leave SIGCLD alone */
+		case SIGPIPE :
+			(void) signal( i, SIG_IGN );
+			break;
+		case SIGQUIT :
+			break;
+#if ! defined( SYSV )
+#if ! defined( SIGTSTP )
+#define SIGTSTP	18
+#endif
+		case SIGTSTP :
+			break;
+#endif
+			}
+	return;
+	}
+
+/*
+	int parsArgv( int argc, char **argv )
+
+	Parse program command line.
+ */
+STATIC int
+#if STD_C
+parsArgv( int argc, char **argv )
+#else
+parsArgv( argc, argv )
+int argc;
+char **argv;
+#endif
+	{	register int c;
+		extern int optind;
+		extern char *optarg;
+	/* Parse options.						*/
+	while( (c = getopt( argc, argv, "b" )) != EOF )
+		{
+		switch( c )
+			{
+		case 'b' :
+			tty = false;
+			break;
+		case '?' :
+			return	0;
+			}
+		}
+	return	true;
+	}
+
+/*
+	void readBatchInput( FILE *fp )
+
+	Read and execute commands from input stream fp.
+ */
+void
+#if STD_C
+readBatchInput( FILE *fp )
+#else
+readBatchInput( fp )
+FILE *fp;
+#endif
+	{
+	assert( fp != (FILE *) NULL );
+	batchmode = true;
+	while( getCommand( cmdname, cmdbuf, LNBUFSZ, fp ) )
+		{	Func	*cmdfunc;
+		if( (cmdfunc = getTrie( cmdname, cmdtrie )) == NULL )
+			{	register int i, len = strlen( cmdname );
+			brst_log( "ERROR -- command syntax:\n" );
+			brst_log( "\t%s\n", cmdbuf );
+			brst_log( "\t" );
+			for( i = 0; i < len; i++ )
+				brst_log( " " );
+			brst_log( "^\n" );
+			}
+		else
+		if( strcmp( cmdname, CMD_COMMENT ) == 0 )
+			{ /* special handling for comments */
+			cmdptr = cmdbuf;
+			cmdbuf[strlen(cmdbuf)-1] = '\0'; /* clobber newline */
+			(*cmdfunc)( (HmItem *) 0 );
+			}
+		else
+			{ /* Advance pointer past nul at end of
+				command name. */
+			cmdptr = cmdbuf + strlen( cmdname ) + 1;
+			(*cmdfunc)( (HmItem *) 0 );
+			}
+		}
+	batchmode = false;
+	return;
+	}
+
+/*
+	int main( int argc, char *argv[] )
+ */
+int
+#if STD_C
+main( int argc, char *argv[] )
+#else
+main( argc, argv )
+int argc;
+char *argv[];
+#endif
+	{
+#if ! defined( BSD ) && ! defined( sgi )
+	setvbuf( stderr, (char *) NULL, _IOLBF, BUFSIZ );
+#endif
+	if(	tmpnam( tmpfname ) == NULL
+	     ||	(tmpfp = fopen( tmpfname, "w" )) == (FILE *) NULL
+		)
+		{
+		perror( tmpfname );
+		(void) fprintf( stderr,
+				"Write access denied for file (%s).\n",
+				tmpfname );
+		goto	death;
+		}
+	if( ! parsArgv( argc, argv ) )
+		{
+		prntUsage();
+		goto	clean;
+		}
+
+	setupSigs();
+	if( ! initUi() ) /* must be called before any output is produced */
+		goto	clean;
+
+#if DEBUG_BURST
+	prntTrie( cmdtrie, 0 );
+#endif
+	assert( airids.i_next == NULL );
+	assert( armorids.i_next == NULL );
+	assert( critids.i_next == NULL );
+
+	if( ! isatty( 0 ) || ! tty )
+		readBatchInput( stdin );
+	if( tty )
+		(void) HmHit( mainhmenu );
+	exitCleanly( EXIT_SUCCESS );
+clean:	(void) unlink( tmpfname );
+death:	return	EXIT_FAILURE;
+	}
+
+/*
+	void exitCleanly( int code )
+
+	Should be only exit from program after success of initUi().
+ */
+void
+#if STD_C
+exitCleanly( int code )
+#else
+exitCleanly( code )
+int code;
+#endif
+	{
+	if( tty )
+		closeUi(); /* keep screen straight */
+	(void) fclose( tmpfp );
+	if( unlink( tmpfname ) == -1 )
+		locPerror( tmpfname );
+	exit( code );
+	}

burst/burst.format

@@ -21,7 +21,7 @@ data:		horizontal coordinate of shotline in grid plane (Y')
 
 record type:	3
 description:	information about component intersected by shotline
-format:		'3',1x,f8.2,1x,f7.3,1x,f7.2,1x,i5,2(1x,f8.2),1x,i2,2(1x,f7.2)
+format:		'3',1x,f8.2,1x,f7.3,1x,f7.2,1x,i4,2(1x,f8.2),1x,i2,2(1x,f7.2)
 data:		X'-coordinate of intersection with component
 		sine of fallback angle of component exit normal
 		rotation angle in degrees of exit normal
@@ -55,7 +55,7 @@ data:		horizontal coordinate of shotline in grid plane (Y')
 record type:	3
 description:	information about component intersected by shotline
 ICD reference:	Line Number 3, Figure 20.
-format:		'3',2(1x,f8.2),1x,i5,1x,i2,1x,f7.3,1x,f7.2,1x,f7.3
+format:		'3',2(1x,f8.2),1x,i4,1x,i2,1x,f7.3,1x,f7.2,1x,f7.3
 data:		X'-coordinate of intersection with component
 		line-of-sight thickness of component
 		component code number
@@ -75,7 +75,7 @@ data:		ray azimuth angle WRT shotline in radians
 record type:	5
 description:	information about component intersected by burst ray
 ICD reference:	Line Number 20, Figure 20.
-format:		'5',1x,f10.3,2(1x,f9.3),1x,i4,1x,i5,1x,f6.3
+format:		'5',1x,f10.3,2(1x,f9.3),2(1x,i4),1x,f6.3
 data:		distance to first contact with component from burst point
 		line-of-sight thickness of component
 		normal thickness of component

burst/burst.h

@@ -0,0 +1,247 @@
+/*
+	Author:		Gary S. Moss
+			U. S. Army Ballistic Research Laboratory
+			Aberdeen Proving Ground
+			Maryland 21005-5066
+
+	$Header$ (BRL)
+ */
+#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 */
+#define false	0
+#define true	1
+/* ANSI C definitions */
+/* Defense against some silly systems defining __STDC__ to random things. */
+#ifdef STD_C
+#undef STD_C
+#endif
+#ifdef __STDC__
+#if __STDC__ > 0
+#define STD_C   __STDC__                /* use this instead of __STDC__ */
+#endif
+#endif
+#if STD_C
+typedef void *pointer;			/* generic pointer */
+#else
+typedef char *pointer;			/* generic pointer */
+#define const		/* nothing */	/* ANSI C type qualifier */
+/* There really is no substitute for the following, but these might work: */
+#define signed          /* nothing */   /* ANSI C type specifier */
+#define volatile        /* nothing */   /* ANSI C type qualifier */
+#endif
+#ifndef EXIT_SUCCESS
+#define EXIT_SUCCESS	0
+#endif
+#ifndef EXIT_FAILURE
+#define EXIT_FAILURE	1
+#endif
+#define DEGRAD	57.2957795130823208767981548141051703324054724665642
+
+/* allow for SGI screw-up, the single-precision math libraries */
+#if defined( sgi ) && ! defined( mips )
+#define SINGLE_PRECISION 1
+#else
+#define SINGLE_PRECISION 0
+#endif
+
+/* allow for SGI screw-up, winclose() dumps core on some systems */
+#if defined(SGI4D_Rel2)
+#define SGI_WINCLOSE_BUG 1
+#else
+#define SGI_WINCLOSE_BUG 0
+#endif
+
+/* allow for BSD screw-up, declaring signal handlers as 'int' functions */
+#if STD_C || (defined(SYSV) && ! defined(cray))
+#define STD_SIGNAL_DECLS 1
+#else
+#define STD_SIGNAL_DECLS 0
+#endif
+
+/* menu configuration */
+#define MENU_LFT	1
+#define MENU_TOP	2
+#define MENU_MAXVISITEMS	10
+
+/* prompt line configuration */
+#define PROMPT_X	HmXPROMPT
+#define PROMPT_Y	HmYPROMPT
+
+/* banner (border) configuration */
+#define BORDER_CHR	'_'
+#define BORDER_Y	(PROMPT_Y+1)
+
+/* grid offset printing window */
+#define GRID_X		55	/* where grid indices are printed */
+#define GRID_Y		BORDER_Y
+
+/* scroll region configuration */
+#define SCROLL_TOP	(BORDER_Y+1)
+#define SCROLL_BTM	(ScLI-1) /* bottom line causes scroll */
+
+/* timer (cpu statistics) window configuration */
+#define TIMER_X		1
+#define TIMER_Y		1
+
+/* buffer sizes */
+#define LNBUFSZ		133	/* buffer for one-line messages */
+#define MAXDEVWID	1024	/* maximum width of frame buffer */
+
+#define CHAR_COMMENT	'#'
+#define CMD_COMMENT	"comment"
+
+/* default parameters */
+#define DFL_AZIMUTH	0.0
+#define DFL_BARRIERS	100
+#define DFL_BDIST	0.0
+#define DFL_CELLSIZE	101.6
+#define DFL_CONEANGLE	(45.0/DEGRAD)
+#define DFL_DEFLECT	false
+#define DFL_DITHER	false
+#define DFL_ELEVATION	0.0
+#define DFL_NRAYS	200
+#define DFL_OVERLAPS	true
+#define DFL_RIPLEVELS	1
+#define DFL_UNITS	U_MILLIMETERS
+
+/* firing mode bit definitions */
+#define ASNBIT(w,b)	(w = (b))
+#define SETBIT(w,b)	(w |= (b))
+#define CLRBIT(w,b)	(w &= ~(b))
+#define TSTBIT(w,b)	((w)&(b))	
+#define FM_GRID  0	/* generate grid of shotlines */
+#define FM_DFLT	 FM_GRID
+#define FM_PART  (1)	/* bit 0: ON = partial envelope, OFF = full */
+#define FM_SHOT	 (1<<1)	/* bit 1: ON = discrete shots, OFF = gridding */
+#define FM_FILE	 (1<<2)	/* bit 2: ON = file input, OFF = direct input */
+#define FM_3DIM	 (1<<3)	/* bit 3: ON = 3-D coords., OFF = 2-D coords */
+#define FM_BURST (1<<4) /* bit 4: ON = discrete burst points, OFF = shots */
+
+/* flags for notify() */
+#define	NOTIFY_APPEND	1
+#define NOTIFY_DELETE	2
+#define NOTIFY_ERASE	4
+
+#define NOTIFY_DELIM	':'
+
+#define PB_ASPECT_INIT		'1'
+#define PB_CELL_IDENT		'2'
+#define PB_RAY_INTERSECT	'3'
+#define PB_RAY_HEADER		'4'
+#define PB_REGION_HEADER	'5'
+
+#define PS_ASPECT_INIT		'1'
+#define PS_CELL_IDENT		'2'
+#define PS_SHOT_INTERSECT	'3'
+
+#define TITLE_LEN	72
+#define TIMER_LEN	72
+
+#define U_INCHES	0
+#define U_FEET		1
+#define U_MILLIMETERS	2
+#define U_CENTIMETERS	3
+#define U_METERS	4
+#define U_BAD		-1
+
+#define UNITS_INCHES		"inches"
+#define UNITS_FEET		"feet"
+#define UNITS_MILLIMETERS	"millimeters"
+#define UNITS_CENTIMETERS	"centimeters"
+#define UNITS_METERS		"meters"
+
+/* white space in input tokens */
+#define WHITESPACE	" \t"
+
+/* colors for UNIX plot files */
+#define R_GRID		255	/* grid - yellow */
+#define G_GRID		255
+#define B_GRID		0
+
+#define R_BURST		255	/* burst cone - red */
+#define G_BURST		0
+#define B_BURST		0
+
+#define R_OUTAIR	100	/* outside air - light blue */
+#define G_OUTAIR	100
+#define B_OUTAIR	255
+
+#define R_INAIR		100	/* inside air - light green */
+#define G_INAIR		255
+#define B_INAIR		100
+
+#define R_COMP		0	/* component (default) - blue */
+#define G_COMP		0
+#define B_COMP		255
+
+#define R_CRIT		255	/* critical component (default) - purple */
+#define G_CRIT		0
+#define B_CRIT		255
+
+#define C_MAIN		0
+#define C_CRIT		1
+
+#define TWO_PI		6.28318530717958647692528676655900576839433879875022
+
+#define COS_TOL		0.01
+#define LOS_TOL		0.1
+#define VEC_TOL		0.001
+#define OVERLAP_TOL	0.25	/* thinner overlaps not reported */
+#define EXIT_AIR	9	/* exit air is called 09 air */
+#define OUTSIDE_AIR	1	/* outside air is called 01 air */
+
+#define Air(rp)		((rp)->reg_aircode > 0)
+#define DiffAir(rp,sp)	((rp)->reg_aircode != (sp)->reg_aircode)
+#define SameAir(rp,sp)	((rp)->reg_aircode == (sp)->reg_aircode)
+#define SameCmp(rp,sp)	((rp)->reg_regionid == (sp)->reg_regionid)
+#define OutsideAir(rp)	((rp)->reg_aircode == OUTSIDE_AIR)
+#define InsideAir(rp)	(Air(rp)&& !OutsideAir(rp))
+
+#define Malloc_Bomb( _bytes_ ) \
+                brst_log( "\"%s\"(%d) : allocation of %d bytes failed.\n",\
+                                __FILE__, __LINE__, _bytes_ )
+
+#define Swap_Doubles( a_, b_ ) \
+		{	fastf_t	f_ = a_; \
+		a_ = b_; \
+		b_ = f_; \
+		}
+#define Toggle(f)	(f) = !(f)
+
+typedef struct ids	Ids;
+struct ids
+	{
+	short	i_lower;
+	short	i_upper;
+	Ids	*i_next;
+	};
+#define IDS_NULL	(Ids *) 0
+
+typedef struct colors	Colors;
+struct colors
+	{
+	short	c_lower;
+	short	c_upper;
+	unsigned char	c_rgb[3];
+	Colors	*c_next;
+	};
+#define COLORS_NULL	(Colors *) 0
+
+typedef struct pt_queue	Pt_Queue;
+struct pt_queue
+	{
+	struct partition	*q_part;
+	Pt_Queue		*q_next;
+	};
+
+#define PT_Q_NULL	(Pt_Queue *) 0
+#endif /* INCL_BURST */