implemented application and scenegraph

engine/Application.cpp

@@ -0,0 +1,220 @@
+#include "Application.h"
+
+#include "Utilities/CfgParser.h"
+#include "Utilities/Log.h"
+
+#include "ScriptSystem_Application.h"
+#include "ScriptSystem_Camera.h"
+#include "ScriptSystem_Font.h"
+#include "ScriptSystem_Image.h"
+#include "ScriptSystem_Math.h"
+#include "ScriptSystem_RigidBody.h"
+
+namespace BlueCore
+{
+
+void Application::KeySlot(int key, int action)
+{
+	if (key == GLFW_KEY_ESC && action == GLFW_RELEASE)
+		quit();
+}
+
+void Application::MouseMoveSlot(int x, int y)
+{
+	_CameraPhi += (x - _LastMouseX) / 200.0;
+	_LastMouseX = x;
+
+	_CameraTheta += (y - _LastMouseY) / 200.0;
+	_LastMouseY = y;
+}
+
+void Application::MouseWheelSlot(int z)
+{
+	if ((z - _LastWheel) < 0)
+		_CameraRadius *= 2.0;
+	else
+		_CameraRadius *= 0.5;
+
+	if (_CameraRadius < 1.0)
+		_CameraRadius = 1.0;
+
+	_LastWheel = z;
+}
+
+bool Application::initialize()
+{
+	CfgParser cfg;
+	cfg.parseFile("options.cfg");
+
+	int width = cfg.get("width", 640);
+	int height = cfg.get("height", 480);
+	bool fullscreen = cfg.get("fullscreen", false);
+
+	_Window = new RenderWindow();
+	if (_Window->create(width, height, 0, 0, 0, fullscreen) == false)
+		return false;
+
+	_Device = new RenderDevice(_Window);
+	_FontManager = new FontManager(_Device);
+	_MeshManager = new MeshManager(_Device);
+	_TextureManager = new TextureManager();
+	_ScriptSystem = new ScriptSystem();
+	_ShaderManager = new ShaderManager(_Window);
+	_Simulation = new RigidBodySimulation(_ScriptSystem);
+	_ModelManager = new ModelManager (_TextureManager, _ShaderManager, _MeshManager);
+	_RenderQueue = new RenderQueue();
+
+	setupScriptSystem_Application(_ScriptSystem, this);
+	setupScriptSystem_Camera(_ScriptSystem);
+	setupScriptSystem_Font(_ScriptSystem, _FontManager);
+	setupScriptSystem_Image(_ScriptSystem, _TextureManager, _Device);
+	setupScriptSystem_Math(_ScriptSystem);
+	setupScriptSystem_RigidBody(_ScriptSystem, _Simulation);
+
+	if (_ScriptSystem->loadScript("main") == false)
+		return false;
+
+	_ScriptSystem->callFunction("Initialize");
+
+	_Window->KeySignal.connect(this, &Application::KeySlot);
+	_Window->MouseMoveSignal.connect(this, &Application::MouseMoveSlot);
+	_Window->MouseWheelSignal.connect(this, &Application::MouseWheelSlot);
+
+	_Running = true;
+
+	return true;
+}
+
+void Application::shutdown()
+{
+	_ScriptSystem->callFunction("Shutdown");
+}
+
+void Application::quit()
+{
+	_Running = false;
+}
+
+void Application::run()
+{
+	clog << "--- starting main loop..."<< endlog;
+
+	_SimulationTime = 0.0;
+	_StartTime = glfwGetTime();
+	_LastTime = _StartTime;
+
+	double delta = 0.0;
+
+	_Paused = false;
+	_Running = true;
+
+	while (_Window->isOpen() && _Running)
+	{
+		double now = glfwGetTime();
+		delta = now - _LastTime;
+		_LastTime = now;
+
+		_ScriptSystem->callFunction("OnFrame", delta, now - _StartTime);
+
+		_Device->clear();
+
+		//Quaternion q(-_CameraPhi, 0.0, -_CameraTheta);
+		//camera->setPosition(q.apply(Vector3(0.0, 0.0, _CameraRadius)));
+		//camera->setRotation(q);
+		//pos += 5 * _DeltaTime;
+		if (_SceneGraph.valid())
+		{
+			_SceneGraph->queue(_RenderQueue);
+			_RenderQueue->render(_Device);
+		}
+		/*
+		 {
+		 _Device->begin3D(_Camera);
+		 _Device->setAmbientLight(1.0, 1.0, 1.0);
+		 _RenderQueue->clear();
+		 _RenderQueue->addOpaqueItem(model, Vector3(0.0, 0.0, 0.0),
+		 Quaternion());
+		 _RenderQueue->render(_Device);
+		 _Device->end3D();
+		 }
+		 */
+		/*
+		 device->pushAbsoluteTransformation(Vector3(), camera->getRotation());
+
+		 class RenderState
+		 {
+		 bool _Blending;
+		 GLint _BlendFuncSrc;
+		 GLint _BlendFuncDest;
+
+		 bool _DepthTest;
+		 bool _DepthMask;
+
+		 bool _Lighting;
+		 };
+		 GLfloat mat_specular[] =
+		 { 1.0, 1.0, 1.0, 1.0 };
+		 GLfloat mat_shininess[] =
+		 { 2.0 };
+		 glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_specular);
+		 glMaterialfv(GL_FRONT, GL_AMBIENT, mat_specular);
+		 glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
+		 glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
+
+		 glEnable(GL_BLEND);
+		 glBlendFunc(GL_ONE, GL_ONE);
+		 glEnable(GL_DEPTH_TEST);
+		 glDepthMask(GL_FALSE);
+		 glDisable(GL_LIGHTING);
+		 glColor4d( 1.0f, 1.0f, 1.0f, 1.0f);
+
+		 device->setTexture(0, starTexture, true);
+		 starMesh->render();
+
+		 glDisable(GL_BLEND);
+		 device->popTransformation();
+		 */
+		// device->useShader (program);
+		// device->setTexture (stage, name, texture)
+		// device->clearTextures (stage+1);
+		//glEnable (GL_TEXTURE_2D);
+		//glEnable (GL_LIGHTING);
+		//glBindTexture (GL_TEXTURE_2D, texture->getId() );
+
+		// device->
+		//device->
+		//model->render();
+		if (_Paused == false)
+		{
+			_Simulation->saveStates();
+			_Simulation->updateSteps(delta);
+			while (_Simulation->getSteps() > 0)
+			{
+				_ScriptSystem->callFunction("OnStep",
+						_Simulation->getStepSize(), _SimulationTime);
+				_SimulationTime += _Simulation->getStepSize();
+				_Simulation->step();
+			}
+		}
+
+		_Device->begin2D();
+		_ScriptSystem->callFunction("OnOverlay", delta, now - _StartTime);
+		_Device->end2D();
+
+		_Device->swap();
+	}
+
+	clog << "--- main loop finished..."<< endlog;
+}
+
+void Application::setSceneGraph(SceneGraph *graph)
+{
+	_SceneGraph = graph;
+}
+
+void Application::togglePause()
+{
+	_Paused = !_Paused;
+}
+}
+

engine/Application.h

@@ -0,0 +1,60 @@
+#ifndef BLUECORE_APPLICATION_H
+#define BLUECORE_APPLICATION_H
+
+#include "RenderWindow.h"
+#include "RenderDevice.h"
+#include "FontManager.h"
+#include "MeshManager.h"
+#include "TextureManager.h"
+#include "ShaderManager.h"
+#include "ModelManager.h"
+#include "TextureImage.h"
+#include "ScriptSystem.h"
+#include "RigidBodySimulation.h"
+#include "SceneGraph.h"
+
+namespace BlueCore
+{
+class Application : public Referenced, public sigslot::has_slots<>
+{
+	bool _Running;
+	bool _Paused;
+	
+	double _SimulationTime;
+	double _StartTime;
+	double _LastTime;
+
+	double _CameraPhi, _CameraTheta, _CameraRadius;
+	int _LastMouseX, _LastMouseY, _LastWheel;
+
+	ref_ptr<RenderWindow> _Window;
+	ref_ptr<RenderDevice> _Device;
+	ref_ptr<FontManager> _FontManager;
+	ref_ptr<MeshManager> _MeshManager;
+	ref_ptr<TextureManager> _TextureManager;
+	ref_ptr<ScriptSystem> _ScriptSystem;
+	ref_ptr<ShaderManager> _ShaderManager;
+	ref_ptr<RigidBodySimulation> _Simulation;
+	ref_ptr<ModelManager> _ModelManager;
+	ref_ptr<RenderQueue> _RenderQueue;
+	ref_ptr<SceneGraph>	_SceneGraph;
+	
+
+	void KeySlot(int key, int action);
+	void MouseMoveSlot(int x, int y);
+	void MouseWheelSlot(int z);
+
+public:
+
+	bool initialize();
+	void shutdown();
+	void quit();
+	void run();
+	void togglePause();
+	
+	void setSceneGraph (SceneGraph *scenegraph);
+};
+
+}
+
+#endif /*APPLICATION_H_*/

engine/Camera.cpp

@@ -7,44 +7,36 @@
 namespace BlueCore
 {
 
-
+Camera::Camera() :
-Camera::Camera()
+	_LookAt (false), _FoV(45.0), _NearPlane(1.0), _FarPlane(15000.0)
 {
 }
 
-
 Camera::~Camera()
 {
 }
 
-
 void Camera::setFoV(Scalar fov)
 {
 	_FoV = fov;
 }
 
-
-void Camera::setAspectRatio(Scalar aspect)
-{
-	_AspectRatio = aspect;
-}
-
-
 void Camera::setNearPlane(Scalar near)
 {
 	_NearPlane = near;
 }
 
-
 void Camera::setFarPlane(Scalar far)
 {
 	_FarPlane = far;
 }
 
-
 void Camera::setPosition(const Vector3& position)
 {
 	_Position = position;
+
+	if (_LookAt)
+		updateLookAtRotation();
 }
 
 const Vector3& Camera::getPosition()
@@ -52,7 +44,6 @@ const Vector3& Camera::getPosition()
 	return _Position;
 }
 
-
 void Camera::setRotation(const Quaternion& rotation)
 {
 	_Rotation = rotation;
@@ -63,69 +54,6 @@ const Quaternion& Camera::getRotation()
 	return _Rotation;
 }
 
-#if 0
-
-void Camera::setupProjectionMatrix()
-{
-	Scalar fW, fH;
-
-	fH = tan ( (_FoV / 2) / 180* Pi ) * _NearPlane;
-	fW = fH * _AspectRatio;
-
-	// setup projectiom matrix
-	glMatrixMode (GL_PROJECTION );
-	glLoadIdentity();
-	glFrustum ( -fW, fW, -fH, fH, _NearPlane, _FarPlane );
-
-	// save variables for frustum culling
-	/*
-	 _near = nearZ;
-	 _far = farZ;
-	 _hNear = tan ( ( fov / 2 ) / 180 * Pi ) * nearZ;
-	 _wNear = _hNear * aspect;
-	 _hFar = tan ( ( fov / 2 ) / 180 * Pi ) * farZ;
-	 _wFar = _hFar * aspect;
-	 */
-}
-
-
-void Camera::setupViewMatrix()
-{
-	// set the view matrix
-	glMatrixMode (GL_MODELVIEW );
-	glLoadIdentity();
-	Matrix4x4 m(_Rotation, _Rotation.applyInversed(_Position * -1.0) );
-	glMultMatrixd ( ( GLdouble * ) &m.m );
-	/*
-	 // calculate frustum planes
-	 Vector3 up = q.apply ( Vector3 ( 0.0, 1.0, 0.0 ) );
-	 Vector3 right = q.apply ( Vector3 ( 1.0, 0.0, 0.0 ) );
-	 Vector3 d = q.apply ( Vector3 ( 0.0, 0.0, -1.0 ) );
-
-	 Vector3 fc = p + d * _far;
-
-	 Vector3 ftl = fc + ( up * _hFar ) - ( right * _wFar );
-	 Vector3 ftr = fc + ( up * _hFar ) + ( right * _wFar );
-	 Vector3 fbl = fc - ( up * _hFar ) - ( right * _wFar );
-	 Vector3 fbr = fc - ( up * _hFar ) + ( right * _wFar );
-
-	 Vector3 nc = p + d * _near;
-
-	 Vector3 ntl = nc + ( up * _hNear ) - ( right * _wNear );
-	 Vector3 ntr = nc + ( up * _hNear ) + ( right * _wNear );
-	 Vector3 nbl = nc - ( up * _hNear ) - ( right * _wNear );
-	 Vector3 nbr = nc - ( up * _hNear ) + ( right * _wNear );
-
-	 _frustumPlanes[RightPlane] = Plane ( nbr, fbr, ntr );
-	 _frustumPlanes[LeftPlane] = Plane ( ntl, fbl, nbl );
-	 _frustumPlanes[BottomPlane] = Plane ( nbl, fbr, nbr );
-	 _frustumPlanes[TopPlane] = Plane ( ntr, ftl, ntl );
-	 _frustumPlanes[FarPlane] = Plane ( ftl, ftr, fbl );
-	 _frustumPlanes[NearPlane] = Plane ( ntl, nbl, ntr );
-	 */
-}
-#endif
-
 Scalar Camera::getNearPlane() const
 {
 	return _NearPlane;
@@ -141,5 +69,19 @@ Scalar Camera::getFov() const
 	return _FoV;
 }
 
-} // namespace BlueCore
+void Camera::lookAt(const Vector3 &point)
+{
+	_LookAt = true;
+	_LookAtPoint = point;
+	_LookAtUp = Vector3(0.0, 1.0, 0.0);
 
+	updateLookAtRotation();
+}
+
+void Camera::updateLookAtRotation()
+{
+	Matrix3x3 m (_LookAtPoint - _Position, _LookAtUp);
+	_Rotation = m.toQuaternion().inversed();
+}
+
+} // namespace BlueCore

engine/Camera.h

@@ -19,12 +19,14 @@ private:
 	Vector3 _LookAtPoint;
 	Vector3 _LookAtUp;
 	bool _LookAt;
-	Scalar _NearPlane, _FarPlane, _FoV, _AspectRatio;
+	Scalar _FoV, _NearPlane, _FarPlane;
 	//Frustum _Frustum;
 
 	Vector3 _Position;
 	Quaternion _Rotation;
 
+	void updateLookAtRotation();
+
 public:
 
 	Camera();
@@ -35,7 +37,6 @@ public:
 	void lookStraight();
 
 	void setFoV(Scalar fov);
-	void setAspectRatio(Scalar aspect);
 	void setNearPlane(Scalar near);
 	void setFarPlane(Scalar far);
 

engine/Math/Matrix.h

@@ -12,26 +12,17 @@
 
 namespace BlueCore
 {
-	template <class T>
+template<class T> class Matrix3x3Template
-	class Matrix3x3Template
 {
 public:
 	T m[9];
 
-		/**
-		 * default constructor
-		 */
 	inline Matrix3x3Template()
 	{
 		identity();
 	}
 
-
+	template<class S> inline Matrix3x3Template(const S a[9])
-		/**
-		 * constructor from array
-		 */
-		template <class S>
-		inline Matrix3x3Template( const S a[9] )
 	{
 		m[0] = static_cast<T>(a[0]);
 		m[1] = static_cast<T>(a[1]);
@@ -46,12 +37,7 @@ namespace BlueCore
 		m[8] = static_cast<T>(a[8]);
 	}
 
-
+	template<class S> inline Matrix3x3Template(const Matrix3x3Template<S> &a)
-		/**
-		 * copy constructor
-		 */
-		template <class S>
-		inline Matrix3x3Template( const Matrix3x3Template<S> &a )
 	{
 		m[0] = static_cast<T>(a.m[0]);
 		m[1] = static_cast<T>(a.m[1]);
@@ -66,18 +52,13 @@ namespace BlueCore
 		m[8] = static_cast<T>(a.m[8]);
 	}
 
-
+	inline Matrix3x3Template(const Vector3Template<T> &h,
-		/**
-		 * constructor from heading and up vectors
-		 */
-		inline Matrix3x3Template(
-			const Vector3Template<T> &h,
 			const Vector3Template<T> &u)
 	{
 		Vector3Template<T> a, b, c;
-			c = h.unit();
+		c = h.normalized();
-			a = h.crossProduct( u ).unit();
+		a = h.cross( u ).normalized();
-			b = c.crossProduct( a ).unit();
+		b = c.cross( a ).normalized();
 
 		m[0] = a.x;
 		m[1] = b.x;
@@ -92,10 +73,6 @@ namespace BlueCore
 		m[8] = c.z;
 	}
 
-
-		/**
-		 * contructor from euler angles
-		 */
 	inline Matrix3x3Template(T a, T e, T t)
 	{
 		T ch = cos(a);
@@ -118,24 +95,15 @@ namespace BlueCore
 		m[8] = -sh*sa*sb + ch*cb;
 	}
 
-				
+	template<class S> inline Matrix3x3Template(const QuaternionTemplate<S> &q)
-		/**
-		 * contructor from quaternion
-		 */
-		template <class S>
-		inline Matrix3x3Template( const QuaternionTemplate<S> &q )
 	{
-			T	xx = static_cast<T>(q.x*q.x),
+		T xx = static_cast<T>(q.x*q.x), xy = static_cast<T>(q.x*q.y), xz =
-				xy = static_cast<T>(q.x*q.y),
+				static_cast<T>(q.x*q.z), xw = static_cast<T>(q.x*q.w),
-				xz = static_cast<T>(q.x*q.z),
-				xw = static_cast<T>(q.x*q.w),
 
-				yy = static_cast<T>(q.y*q.y),
+		yy = static_cast<T>(q.y*q.y), yz = static_cast<T>(q.y*q.z), yw =
-				yz = static_cast<T>(q.y*q.z),
+				static_cast<T>(q.y*q.w),
-				yw = static_cast<T>(q.y*q.w),
 
-				zz = static_cast<T>(q.z*q.z),
+		zz = static_cast<T>(q.z*q.z), zw = static_cast<T>(q.z*q.w);
-				zw = static_cast<T>(q.z*q.w);
 
 		m[0] = 1 - yy - yy - zz - zz;
 		m[1] = xy + xy + zw + zw;
@@ -150,10 +118,13 @@ namespace BlueCore
 		m[8] = 1 - xx - xx - yy - yy;
 	}
 
+	void set(size_t i, Vector3Template<T>& v)
+	{
+		m[i] = v.x;
+		m[i+3] = v.y;
+		m[i+6] = v.z;
+	}
 
-		/**
-		 * set matrix to identity matrix
-		 */
 	inline void identity()
 	{
 		m[0] = static_cast<T>(1);
@@ -169,25 +140,23 @@ namespace BlueCore
 		m[8] = static_cast<T>(1);
 	}
 
-
-		/**
-		 * get transposed matrix
-		 */
 	inline Matrix3x3Template<T> transposed() const
 	{
 		Matrix3x3Template<T> a;
 
-			a.m[0] = m[0]; a.m[3] = m[1]; a.m[6] = m[2];
+		a.m[0] = m[0];
-			a.m[1] = m[3]; a.m[4] = m[4]; a.m[7] = m[5];
+		a.m[3] = m[1];
-			a.m[2] = m[6]; a.m[5] = m[7]; a.m[8] = m[8];
+		a.m[6] = m[2];
+		a.m[1] = m[3];
+		a.m[4] = m[4];
+		a.m[7] = m[5];
+		a.m[2] = m[6];
+		a.m[5] = m[7];
+		a.m[8] = m[8];
 
 		return a;
 	}
 
-
-		/**
-		 * transpose
-		 */
 	inline void transpose()
 	{
 		swap(m[3], m[1]);
@@ -195,14 +164,10 @@ namespace BlueCore
 		swap(m[7], m[5]);
 	}
 
-
-		/**
-		 * determinate
-		 */
 	inline T determinant() const
 	{
-			return ( m[0]*m[4]*m[8] + m[1]*m[5]*m[6] + m[2]*m[3]*m[7] )
+		return (m[0]*m[4]*m[8] + m[1]*m[5]*m[6] + m[2]*m[3]*m[7] ) - (m[6]*m[4]
-				- ( m[6]*m[4]*m[2] + m[7]*m[5]*m[0] + m[8]*m[3]*m[1] );
+				*m[2] + m[7]*m[5]*m[0] + m[8]*m[3]*m[1] );
 	}
 
 	inline Matrix3x3Template<T> inverted()
@@ -224,12 +189,7 @@ namespace BlueCore
 		return result;
 	}
 
-
+	template<class S> inline Matrix3x3Template<T> &operator +=(
-		/**
-		 * add/assign operator
-		 */
-		template <class S>
-		inline Matrix3x3Template<T> &operator += (
 			const Matrix3x3Template<S> &a)
 	{
 		m[0] += static_cast<T>(a.m[0]);
@@ -247,80 +207,51 @@ namespace BlueCore
 		return *this;
 	}
 
-
+	template<class S> inline Matrix3x3Template<T> operator *(
-		/**
+			const Matrix3x3Template<S> &a)
-		 * matrix multiplication
-		 */
-		template <class S> 
-		inline Matrix3x3Template<T> operator * ( const Matrix3x3Template<S> &a )
 	{
 		Matrix3x3Template<T> result;
 
-			result.m[0] = m[0] * static_cast<T>(a.m[0])
+		result.m[0] = m[0] * static_cast<T>(a.m[0]) + m[3]
-				+ m[3] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[6] * static_cast<T>(a.m[2]);
-				+ m[6] * static_cast<T>(a.m[2]);
 
-			result.m[1] = m[1] * static_cast<T>(a.m[0])
+		result.m[1] = m[1] * static_cast<T>(a.m[0]) + m[4]
-				+ m[4] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[7] * static_cast<T>(a.m[2]);
-				+ m[7] * static_cast<T>(a.m[2]);
 
-			result.m[2] = m[2] * static_cast<T>(a.m[0])
+		result.m[2] = m[2] * static_cast<T>(a.m[0]) + m[5]
-				+ m[5] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[8] * static_cast<T>(a.m[2]);
-				+ m[8] * static_cast<T>(a.m[2]);
 
+		result.m[3] = m[0] * static_cast<T>(a.m[3]) + m[3]
+				* static_cast<T>(a.m[4]) + m[6] * static_cast<T>(a.m[5]);
 
-			result.m[3] = m[0] * static_cast<T>(a.m[3])
+		result.m[4] = m[1] * static_cast<T>(a.m[3]) + m[4]
-				+ m[3] * static_cast<T>(a.m[4])
+				* static_cast<T>(a.m[4]) + m[7] * static_cast<T>(a.m[5]);
-				+ m[6] * static_cast<T>(a.m[5]);
 
-			result.m[4] = m[1] * static_cast<T>(a.m[3])
+		result.m[5] = m[2] * static_cast<T>(a.m[3]) + m[5]
-				+ m[4] * static_cast<T>(a.m[4])
+				* static_cast<T>(a.m[4]) + m[8] * static_cast<T>(a.m[5]);
-				+ m[7] * static_cast<T>(a.m[5]);
 
-			result.m[5] = m[2] * static_cast<T>(a.m[3])
+		result.m[6] = m[0] * static_cast<T>(a.m[6]) + m[3]
-				+ m[5] * static_cast<T>(a.m[4])
+				* static_cast<T>(a.m[7]) + m[6] * static_cast<T>(a.m[8]);
-				+ m[8] * static_cast<T>(a.m[5]);
 
+		result.m[7] = m[1] * static_cast<T>(a.m[6]) + m[4]
+				* static_cast<T>(a.m[7]) + m[7] * static_cast<T>(a.m[8]);
 
-			result.m[6] = m[0] * static_cast<T>(a.m[6])
+		result.m[8] = m[2] * static_cast<T>(a.m[6]) + m[5]
-				+ m[3] * static_cast<T>(a.m[7])
+				* static_cast<T>(a.m[7]) + m[8] * static_cast<T>(a.m[8]);
-				+ m[6] * static_cast<T>(a.m[8]);
-				
-			result.m[7] = m[1] * static_cast<T>(a.m[6])
-				+ m[4] * static_cast<T>(a.m[7])
-				+ m[7] * static_cast<T>(a.m[8]);
-				
-			result.m[8] = m[2] * static_cast<T>(a.m[6])
-				+ m[5] * static_cast<T>(a.m[7])
-				+ m[8] * static_cast<T>(a.m[8]);
 
 		return result;
 	}
 
-
+	template<class S> Vector3Template<T> operator *(const Vector3Template<S>& a)
-		/**
-		 * matrix vector multiplication
-		 */
-		template <class S>
-		Vector3Template<T> operator * ( const Vector3Template<S>& a )
 	{
-			return Vector3Template<T>(
+		return Vector3Template<T>(m[0] * static_cast<T>(a.x) + m[3]
-				m[0] * static_cast<T>(a.x)
+				* static_cast<T>(a.y) + m[6] * static_cast<T>(a.z), m[1]
-				+ m[3] * static_cast<T>(a.y)
+				* static_cast<T>(a.x) + m[4] * static_cast<T>(a.y) + m[7]
-				+ m[6] * static_cast<T>(a.z),
+				* static_cast<T>(a.z), m[2] * static_cast<T>(a.x) + m[5]
-				m[1] * static_cast<T>(a.x)
+				* static_cast<T>(a.y) + m[8] * static_cast<T>(a.z) );
-				+ m[4] * static_cast<T>(a.y)
-				+ m[7] * static_cast<T>(a.z),
-				m[2] * static_cast<T>(a.x)
-				+ m[5] * static_cast<T>(a.y)
-				+ m[8] * static_cast<T>(a.z) );
 	}
 
-		/**
+	template<class S> Matrix3x3Template<T> operator *(const S a)
-		 * matrix scalar multiplication
-		 */
-		template <class S>
-		Matrix3x3Template<T> operator * ( const S a )
 	{
 		Matrix3x3Template<T> result;
 
@@ -339,30 +270,72 @@ namespace BlueCore
 
 	friend std::ostream &operator <<(std::ostream& os, Matrix3x3Template<T> m)
 	{
-			os << "( " << m.m[0] << ", " << m.m[1] << ", " << m.m[2] << " )" << std::endl;
+		os << "( " << m.m[0] << ", " << m.m[1] << ", " << m.m[2] << " )"
-			os << "( " << m.m[3] << ", " << m.m[4] << ", " << m.m[5] << " )" << std::endl;
+				<< std::endl;
-			os << "( " << m.m[6] << ", " << m.m[7] << ", " << m.m[8] << " )" << std::endl;
+		os << "( " << m.m[3] << ", " << m.m[4] << ", " << m.m[5] << " )"
+				<< std::endl;
+		os << "( " << m.m[6] << ", " << m.m[7] << ", " << m.m[8] << " )"
+				<< std::endl;
 		return os;
 	}
 
+	QuaternionTemplate<T> toQuaternion() const
+	{
+		// Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
+		// article "Quaternion Calculus and Fast Animation".
+
+		T fTrace = m[0]+m[4]+m[8];
+		T fRoot;
+		QuaternionTemplate<T> q;
+
+		if (fTrace > 0.0)
+		{
+			// |w| > 1/2, may as well choose w > 1/2
+			fRoot = std::sqrt(fTrace + 1.0); // 2w
+			q.w = 0.5*fRoot;
+			fRoot = 0.5/fRoot; // 1/(4w)
+			q.x = (m[7]-m[5])*fRoot;
+			q.y = (m[2]-m[6])*fRoot;
+			q.z = (m[3]-m[1])*fRoot;
+		}
+		else
+		{
+			// |w| <= 1/2
+			static size_t s_iNext[3] =
+			{ 1, 2, 0 };
+			size_t i = 0;
+			if (m[4] > m[0])
+				i = 1;
+			if (m[8] > m[i*3+i])
+				i = 2;
+			size_t j = s_iNext[i];
+			size_t k = s_iNext[j];
+
+			fRoot = std::sqrt(m[i*3+i]-m[j*3+j]-m[k*k+1] + 1.0);
+			T* apkQuat[3] =
+			{ &q.x, &q.y, &q.z };
+			*apkQuat[i] = 0.5*fRoot;
+			fRoot = 0.5/fRoot;
+			q.w = (m[k*3+j]-m[j*3+k])*fRoot;
+			*apkQuat[j] = (m[j*3+i]+m[i*3+j])*fRoot;
+			*apkQuat[k] = (m[k*3+i]+m[i*3+k])*fRoot;
+		}
+
+		return q;
+	}
 };
 
 typedef Matrix3x3Template<float> Matrix3x3Float;
 typedef Matrix3x3Template<double> Matrix3x3Double;
 typedef Matrix3x3Template<Scalar> Matrix3x3;
 
-
+template<class T> class Matrix4x4Template
-	template <class T>
-	class Matrix4x4Template
 {
 
 public:
 
 	T m[16];
 
-		/**
-		 * default constructor
-		 */
 	inline Matrix4x4Template()
 	{
 		identity();
@@ -391,21 +364,26 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-		
-		/**
-		 * constructor from array
-		 */
 	inline Matrix4x4Template(const T a[16])
 	{
-			m[0]  = a[0];  m[1]  = a[1];  m[2]  = a[2];  m[3]   = a[3];
+		m[0] = a[0];
-			m[4]  = a[4];  m[5]  = a[5];  m[6]  = a[6];  m[7]   = a[7];
+		m[1] = a[1];
-			m[8]  = a[8];  m[9]  = a[9];  m[10] = a[10]; m[11]  = a[11];
+		m[2] = a[2];
-			m[12] = a[12]; m[13] = a[13]; m[14] = a[14]; m[15]  = a[15];
+		m[3] = a[3];
+		m[4] = a[4];
+		m[5] = a[5];
+		m[6] = a[6];
+		m[7] = a[7];
+		m[8] = a[8];
+		m[9] = a[9];
+		m[10] = a[10];
+		m[11] = a[11];
+		m[12] = a[12];
+		m[13] = a[13];
+		m[14] = a[14];
+		m[15] = a[15];
 	}
 
-		/**
-		 * constructor from 3x3 matrix, add. element are set to zero
-		 */
 	inline Matrix4x4Template(const Matrix3x3Template<T> &a)
 	{
 		m[0] = a[0];
@@ -429,11 +407,7 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-		/**
+	inline Matrix4x4Template(const Matrix3x3Template<T> &a,
-		 * constructor from 3x3 rotation matrix and translation vector
-		 */
-		inline Matrix4x4Template(
-			const Matrix3x3Template<T> &a,
 			const Vector3Template<T> &b)
 	{
 		m[0] = a[0];
@@ -457,10 +431,6 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-
-		/**
-		 * copy constructor
-		 */
 	inline Matrix4x4Template(const Matrix4x4Template<T> &a)
 	{
 		m[0] = a.m[0];
@@ -484,10 +454,6 @@ namespace BlueCore
 		m[15] = a.m[15];
 	}
 
-
-		/**
-		 * constructor from quaternion
-		 */
 	inline Matrix4x4Template(const QuaternionTemplate<T> &q)
 	{
 		m[0] = 1 - 2*q.y*q.y - 2*q.z*q.z;
@@ -511,12 +477,7 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-
+	inline Matrix4x4Template(const QuaternionTemplate<T> &q,
-		/**
-		 * constructor from quaternion and translation vector
-		 */
-		inline Matrix4x4Template(
-			const QuaternionTemplate<T> &q,
 			const Vector3Template<T> &a)
 	{
 		m[0] = 1 - 2*q.y*q.y - 2*q.z*q.z;
@@ -540,14 +501,8 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-					
+	inline Matrix4x4Template(const Vector3Template<T> &h,
-		/**
+			const Vector3Template<T> &u, const Vector3Template<T> &t)
-		 * constructor from heading, up and translation vectors
-		 */
-		inline Matrix4x4Template(
-			const Vector3Template<T> &h,
-			const Vector3Template<T> &u,
-			const Vector3Template<T> &t )
 	{
 		Vector3Template<T> a, b, c;
 		c = h.unit();
@@ -575,15 +530,7 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-
+	inline Matrix4x4Template(T a, T e, T t, const Vector3Template<T> &tr)
-		/**
-		 * contructor from euler angles
-		 */
-		inline Matrix4x4Template(
-			T a,
-			T e,
-			T t,
-			const Vector3Template<T> &tr )
 	{
 		T ch = cos(a);
 		T sh = sin(a);
@@ -602,7 +549,6 @@ namespace BlueCore
 		m[6] = -ca*sb;
 		m[7] = static_cast<T>(0);
 
-			
 		m[8] = -sh*ca;
 		m[9] = sh*sa*cb + ch*sb;
 		m[10] = -sh*sa*sb + ch*cb;
@@ -614,10 +560,6 @@ namespace BlueCore
 		m[15] = static_cast<T>(1);
 	}
 
-
-		/**
-		 * transpose this matrix
-		 */
 	inline void transpose()
 	{
 		std::swap(m[4], m[1]);
@@ -629,217 +571,102 @@ namespace BlueCore
 		std::swap(m[14], m[11]);
 	}
 
-
-		/**
-		 * get transposed matrix
-		 */
 	inline Matrix4x4Template<T> transposed()
 	{
 		Matrix4x4Template<T> a;
 
-			a.m[0] = m[0]; a.m[4] = m[1]; a.m[8] = m[2]; a.m[12] = m[3];
+		a.m[0] = m[0];
-			a.m[1] = m[4]; a.m[5] = m[5]; a.m[9] = m[6]; a.m[13] = m[7];
+		a.m[4] = m[1];
-			a.m[2] = m[8]; a.m[6] = m[9]; a.m[10] = m[10]; a.m[14] = m[11];
+		a.m[8] = m[2];
-			a.m[3] = m[12]; a.m[7] = m[13]; a.m[11] = m[14]; a.m[15] = m[15];
+		a.m[12] = m[3];
+		a.m[1] = m[4];
+		a.m[5] = m[5];
+		a.m[9] = m[6];
+		a.m[13] = m[7];
+		a.m[2] = m[8];
+		a.m[6] = m[9];
+		a.m[10] = m[10];
+		a.m[14] = m[11];
+		a.m[3] = m[12];
+		a.m[7] = m[13];
+		a.m[11] = m[14];
+		a.m[15] = m[15];
 
 		return a;
 	}
 
-
+	template<class S> inline Matrix4x4Template<T> operator *(
-		/**
+			const Matrix4x4Template<S> &a)
-		 * matrix multiplication
-		 */
-		template <class S> 
-		inline Matrix4x4Template<T> operator * ( const Matrix4x4Template<S> &a )
 	{
 		Matrix4x4Template<T> result;
 
-			result.m[0] = m[0] * static_cast<T>(a.m[0])
+		result.m[0] = m[0] * static_cast<T>(a.m[0]) + m[4]
-				+ m[4] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[8] * static_cast<T>(a.m[2])
-				+ m[8] * static_cast<T>(a.m[2])
 				+ m[12] * static_cast<T>(a.m[3]);
 
-			result.m[1] = m[1] * static_cast<T>(a.m[0])
+		result.m[1] = m[1] * static_cast<T>(a.m[0]) + m[5]
-				+ m[5] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[9] * static_cast<T>(a.m[2])
-				+ m[9] * static_cast<T>(a.m[2])
 				+ m[13] * static_cast<T>(a.m[3]);
 
-			result.m[2] = m[2] * static_cast<T>(a.m[0])
+		result.m[2] = m[2] * static_cast<T>(a.m[0]) + m[6]
-				+ m[6] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[10] * static_cast<T>(a.m[2])
-				+ m[10] * static_cast<T>(a.m[2])
 				+ m[14] * static_cast<T>(a.m[3]);
 
-			result.m[3] = m[3] * static_cast<T>(a.m[0])
+		result.m[3] = m[3] * static_cast<T>(a.m[0]) + m[7]
-				+ m[7] * static_cast<T>(a.m[1])
+				* static_cast<T>(a.m[1]) + m[11] * static_cast<T>(a.m[2])
-				+ m[11] * static_cast<T>(a.m[2])
 				+ m[15] * static_cast<T>(a.m[3]);
 
-
+		result.m[4] = m[0] * static_cast<T>(a.m[4]) + m[4]
-			result.m[4] = m[0] * static_cast<T>(a.m[4])
+				* static_cast<T>(a.m[5]) + m[8] * static_cast<T>(a.m[6])
-				+ m[4] * static_cast<T>(a.m[5])
-				+ m[8] * static_cast<T>(a.m[6])
 				+ m[12] * static_cast<T>(a.m[7]);
 
-			result.m[5] = m[1] * static_cast<T>(a.m[4])
+		result.m[5] = m[1] * static_cast<T>(a.m[4]) + m[5]
-				+ m[5] * static_cast<T>(a.m[5])
+				* static_cast<T>(a.m[5]) + m[9] * static_cast<T>(a.m[6])
-				+ m[9] * static_cast<T>(a.m[6])
 				+ m[13] * static_cast<T>(a.m[7]);
 
-			result.m[6] = m[2] * static_cast<T>(a.m[4])
+		result.m[6] = m[2] * static_cast<T>(a.m[4]) + m[6]
-				+ m[6] * static_cast<T>(a.m[5])
+				* static_cast<T>(a.m[5]) + m[10] * static_cast<T>(a.m[6])
-				+ m[10] * static_cast<T>(a.m[6])
 				+ m[14] * static_cast<T>(a.m[7]);
 
-			result.m[7] = m[3] * static_cast<T>(a.m[4])
+		result.m[7] = m[3] * static_cast<T>(a.m[4]) + m[7]
-				+ m[7] * static_cast<T>(a.m[5])
+				* static_cast<T>(a.m[5]) + m[11] * static_cast<T>(a.m[6])
-				+ m[11] * static_cast<T>(a.m[6])
 				+ m[15] * static_cast<T>(a.m[7]);
 
-
+		result.m[8] = m[0] * static_cast<T>(a.m[8]) + m[4]
-			result.m[8] = m[0] * static_cast<T>(a.m[8])
+				* static_cast<T>(a.m[9]) + m[8] * static_cast<T>(a.m[10])
-				+ m[4] * static_cast<T>(a.m[9])
-				+ m[8] * static_cast<T>(a.m[10])
 				+ m[12] * static_cast<T>(a.m[11]);
 
-			result.m[9] = m[1] * static_cast<T>(a.m[8])
+		result.m[9] = m[1] * static_cast<T>(a.m[8]) + m[5]
-				+ m[5] * static_cast<T>(a.m[9])
+				* static_cast<T>(a.m[9]) + m[9] * static_cast<T>(a.m[10])
-				+ m[9] * static_cast<T>(a.m[10])
 				+ m[13] * static_cast<T>(a.m[11]);
 
-			result.m[10] = m[2] * static_cast<T>(a.m[8])
+		result.m[10] = m[2] * static_cast<T>(a.m[8]) + m[6]
-				+ m[6] * static_cast<T>(a.m[9])
+				* static_cast<T>(a.m[9]) + m[10] * static_cast<T>(a.m[10])
-				+ m[10] * static_cast<T>(a.m[10])
 				+ m[14] * static_cast<T>(a.m[11]);
 
-			result.m[11] = m[3] * static_cast<T>(a.m[8])
+		result.m[11] = m[3] * static_cast<T>(a.m[8]) + m[7]
-				+ m[7] * static_cast<T>(a.m[9])
+				* static_cast<T>(a.m[9]) + m[11] * static_cast<T>(a.m[10])
-				+ m[11] * static_cast<T>(a.m[10])
 				+ m[15] * static_cast<T>(a.m[11]);
 
-
+		result.m[12] = m[0] * static_cast<T>(a.m[12]) + m[4]
-			result.m[12] = m[0] * static_cast<T>(a.m[12])
+				* static_cast<T>(a.m[13]) + m[8] * static_cast<T>(a.m[14])
-				+ m[4] * static_cast<T>(a.m[13])
-				+ m[8] * static_cast<T>(a.m[14])
 				+ m[12] * static_cast<T>(a.m[15]);
 
-			result.m[13] = m[1] * static_cast<T>(a.m[12])
+		result.m[13] = m[1] * static_cast<T>(a.m[12]) + m[5]
-				+ m[5] * static_cast<T>(a.m[13])
+				* static_cast<T>(a.m[13]) + m[9] * static_cast<T>(a.m[14])
-				+ m[9] * static_cast<T>(a.m[14])
 				+ m[13] * static_cast<T>(a.m[15]);
 
-			result.m[14] = m[2] * static_cast<T>(a.m[12])
+		result.m[14] = m[2] * static_cast<T>(a.m[12]) + m[6]
-				+ m[6] * static_cast<T>(a.m[13])
+				* static_cast<T>(a.m[13]) + m[10] * static_cast<T>(a.m[14])
-				+ m[10] * static_cast<T>(a.m[14])
 				+ m[14] * static_cast<T>(a.m[15]);
 
-			result.m[15] = m[3] * static_cast<T>(a.m[12])
+		result.m[15] = m[3] * static_cast<T>(a.m[12]) + m[7]
-				+ m[7] * static_cast<T>(a.m[13])
+				* static_cast<T>(a.m[13]) + m[11] * static_cast<T>(a.m[14])
-				+ m[11] * static_cast<T>(a.m[14])
 				+ m[15] * static_cast<T>(a.m[15]);
 
 		return result;
 	}
 
-		/**
-		 * matrix multiplication
-		 */
-/*
-		template <class S> 
-		inline Matrix4x4Template<T> operator *= ( const Matrix4x4Template<S> &a )
-		{
-			Matrix4x4Template<T> result;
-			
-			result.m[0] = m[0] * static_cast<T>(a.m[0])
-				+ m[4] * static_cast<T>(a.m[1])
-				+ m[8] * static_cast<T>(a.m[2]);
-				+ m[12] * static_cast<T>(a.m[3]);
-				
-			result.m[1] = m[1] * static_cast<T>(a.m[0])
-				+ m[5] * static_cast<T>(a.m[1])
-				+ m[9] * static_cast<T>(a.m[2]);
-				+ m[13] * static_cast<T>(a.m[3]);
-				
-			result.m[2] = m[2] * static_cast<T>(a.m[0])
-				+ m[6] * static_cast<T>(a.m[1])
-				+ m[10] * static_cast<T>(a.m[2]);
-				+ m[14] * static_cast<T>(a.m[3]);
-
-			result.m[3] = m[3] * static_cast<T>(a.m[0])
-				+ m[7] * static_cast<T>(a.m[1])
-				+ m[11] * static_cast<T>(a.m[2]);
-				+ m[15] * static_cast<T>(a.m[3]);
-
-
-			result.m[4] = m[0] * static_cast<T>(a.m[4])
-				+ m[4] * static_cast<T>(a.m[5])
-				+ m[8] * static_cast<T>(a.m[6]);
-				+ m[12] * static_cast<T>(a.m[7]);
-				
-			result.m[5] = m[1] * static_cast<T>(a.m[4])
-				+ m[5] * static_cast<T>(a.m[5])
-				+ m[9] * static_cast<T>(a.m[6]);
-				+ m[13] * static_cast<T>(a.m[7]);
-				
-			result.m[6] = m[2] * static_cast<T>(a.m[4])
-				+ m[6] * static_cast<T>(a.m[5])
-				+ m[10] * static_cast<T>(a.m[6]);
-				+ m[14] * static_cast<T>(a.m[7]);
-
-			result.m[7] = m[3] * static_cast<T>(a.m[4])
-				+ m[7] * static_cast<T>(a.m[5])
-				+ m[11] * static_cast<T>(a.m[6]);
-				+ m[15] * static_cast<T>(a.m[7]);
-
-
-			result.m[8] = m[0] * static_cast<T>(a.m[8])
-				+ m[4] * static_cast<T>(a.m[9])
-				+ m[8] * static_cast<T>(a.m[10]);
-				+ m[12] * static_cast<T>(a.m[11]);
-				
-			result.m[9] = m[1] * static_cast<T>(a.m[8])
-				+ m[5] * static_cast<T>(a.m[9])
-				+ m[9] * static_cast<T>(a.m[10]);
-				+ m[13] * static_cast<T>(a.m[11]);
-				
-			result.m[10] = m[2] * static_cast<T>(a.m[8])
-				+ m[6] * static_cast<T>(a.m[9])
-				+ m[10] * static_cast<T>(a.m[10]);
-				+ m[14] * static_cast<T>(a.m[11]);
-
-			result.m[11] = m[3] * static_cast<T>(a.m[8])
-				+ m[7] * static_cast<T>(a.m[9])
-				+ m[11] * static_cast<T>(a.m[10]);
-				+ m[15] * static_cast<T>(a.m[11]);
-
-
-			result.m[12] = m[0] * static_cast<T>(a.m[12])
-				+ m[4] * static_cast<T>(a.m[13])
-				+ m[8] * static_cast<T>(a.m[14]);
-				+ m[12] * static_cast<T>(a.m[15]);
-				
-			result.m[13] = m[1] * static_cast<T>(a.m[12])
-				+ m[5] * static_cast<T>(a.m[13])
-				+ m[9] * static_cast<T>(a.m[14]);
-				+ m[13] * static_cast<T>(a.m[15]);
-				
-			result.m[14] = m[2] * static_cast<T>(a.m[12])
-				+ m[6] * static_cast<T>(a.m[13])
-				+ m[10] * static_cast<T>(a.m[14]);
-				+ m[14] * static_cast<T>(a.m[15]);
-
-			result.m[15] = m[3] * static_cast<T>(a.m[12])
-				+ m[7] * static_cast<T>(a.m[13])
-				+ m[11] * static_cast<T>(a.m[14]);
-				+ m[15] * static_cast<T>(a.m[15]);
-			
-			m = result.m;
-			
-			return *this;			
-		}
-	*/			
-		/**
-		 * matrix vector multiplication
-		 */
 	Vector3Template<T> operator *(const Vector3Template<T> &a)
 	{
 		Vector3Template<T> result;

engine/Math/Quaternion.h

@@ -5,16 +5,11 @@
 
 namespace BlueCore
 {
-	template <class T>
+template<class T> class QuaternionTemplate
-	class QuaternionTemplate
 {
 public:
 	T w, x, y, z;
 
-
-		/**
-		 * constructor
-		 */
 	inline QuaternionTemplate()
 	{
 		w = static_cast<T>(1.0);
@@ -23,12 +18,7 @@ namespace BlueCore
 		z = static_cast<T>(0.0);
 	}
 
-
+	template<class S> inline QuaternionTemplate(S w, S x, S y, S z)
-		/**
-		 * contructor
-		 */
-		template <class S>
-		inline QuaternionTemplate( S w, S x, S y, S z )
 	{
 		this->w = static_cast<T>(w);
 		this->x = static_cast<T>(x);
@@ -36,12 +26,7 @@ namespace BlueCore
 		this->z = static_cast<T>(z);
 	}
 
-
+	template<class S> inline QuaternionTemplate(Vector3Template<S> axis, S angle)
-		/**
-		 * contructor
-		 */
-		template <class S>
-		inline QuaternionTemplate( Vector3Template<S> axis, S angle )
 	{
 		T half_angle = static_cast<T>(angle)/static_cast<T>(2.0);
 		T sin_half_angle = static_cast<T>(sin(half_angle) );
@@ -52,12 +37,7 @@ namespace BlueCore
 		z = sin_half_angle * static_cast<T>(axis.z);
 	}
 
-
+	template<class S> inline QuaternionTemplate(S h, S a, S b)
-		/**
-		 * contructor
-		 */
-		template <class S>
-		inline QuaternionTemplate( S h, S a, S b )
 	{
 		T c1 = static_cast<T>(cos(h / 2.0) );
 		T c2 = static_cast<T>(cos(a / 2.0) );
@@ -72,10 +52,6 @@ namespace BlueCore
 		z = c1 * s2 * c3 - s1 * c2 * s3;
 	}
 
-
-		/**
-		 * identity
-		 */
 	inline void identity()
 	{
 		w = static_cast<T>(1.0);
@@ -84,27 +60,15 @@ namespace BlueCore
 		z = static_cast<T>(0.0);
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> operator +(
-		/**
-		 * operator +
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> operator + (
 			const QuaternionTemplate<S> &a) const
 	{
-			return QuaternionTemplate<T>(
+		return QuaternionTemplate<T>(w + static_cast<T>(a.w), x
-				w + static_cast<T>(a.w),
+				+ static_cast<T>(a.x), y + static_cast<T>(a.y), z
-				x + static_cast<T>(a.x),
+				+ static_cast<T>(a.z) );
-				y + static_cast<T>(a.y),
-				z + static_cast<T>(a.z) );
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> &operator +=(
-		/**
-		 * operator +=
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> &operator += (
 			const QuaternionTemplate<S> &a)
 	{
 		w += static_cast<T>(a.w);
@@ -115,74 +79,44 @@ namespace BlueCore
 		return *this;
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> operator -(
-		/**
-		 * operator -
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> operator - (
 			const QuaternionTemplate<S> &a) const
 	{
-			return QuaternionTemplate<T>(
+		return QuaternionTemplate<T>(w - static_cast<T>(a.w), x
-				w - static_cast<T>(a.w),
+				- static_cast<T>(a.x), y - static_cast<T>(a.y), z
-				x - static_cast<T>(a.x),
+				- static_cast<T>(a.z) );
-				y - static_cast<T>(a.y),
-				z - static_cast<T>(a.z) );
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> operator *(
-		/**
-		 * operator *
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> operator * (
 			const QuaternionTemplate<S> &a) const
 	{
-			return QuaternionTemplate<T>(
+		return QuaternionTemplate<T>(w * static_cast<T>(a.w) - x
-				w * static_cast<T>(a.w) -
+				* static_cast<T>(a.x) - y * static_cast<T>(a.y) - z
-				x * static_cast<T>(a.x) -
+				* static_cast<T>(a.z), w * static_cast<T>(a.x) + x
-				y * static_cast<T>(a.y) -
+				* static_cast<T>(a.w) + y * static_cast<T>(a.z) - z
-				z * static_cast<T>(a.z), 
+				* static_cast<T>(a.y), w * static_cast<T>(a.y) - x
-				w * static_cast<T>(a.x) +
+				* static_cast<T>(a.z) + y * static_cast<T>(a.w) + z
-				x * static_cast<T>(a.w) +
+				* static_cast<T>(a.x), w * static_cast<T>(a.z) + x
-				y * static_cast<T>(a.z) -
+				* static_cast<T>(a.y) - y * static_cast<T>(a.x) + z
-				z * static_cast<T>(a.y),
+				* static_cast<T>(a.w) );
-				w * static_cast<T>(a.y) -
-				x * static_cast<T>(a.z) +
-				y * static_cast<T>(a.w) +
-				z * static_cast<T>(a.x),
-				w * static_cast<T>(a.z) +
-				x * static_cast<T>(a.y) -
-				y * static_cast<T>(a.x) +
-				z * static_cast<T>(a.w) );
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> &operator *=(
-		/**
-		 * operator *=
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> &operator *=(
 			const QuaternionTemplate<S> &a)
 	{
-			w = w * static_cast<T>(a.w) - x * static_cast<T>(a.x) -
+		w = w * static_cast<T>(a.w) - x * static_cast<T>(a.x) - y
-				y * static_cast<T>(a.y) - z * static_cast<T>(a.z);
+				* static_cast<T>(a.y) - z * static_cast<T>(a.z);
-			x = w * static_cast<T>(a.x) + x * static_cast<T>(a.w) +
+		x = w * static_cast<T>(a.x) + x * static_cast<T>(a.w) + y
-				y * static_cast<T>(a.z) - z * static_cast<T>(a.y);
+				* static_cast<T>(a.z) - z * static_cast<T>(a.y);
-			y = w * static_cast<T>(a.y) - x * static_cast<T>(a.z) +
+		y = w * static_cast<T>(a.y) - x * static_cast<T>(a.z) + y
-				y * static_cast<T>(a.w) + z * static_cast<T>(a.x);
+				* static_cast<T>(a.w) + z * static_cast<T>(a.x);
-			z = w * static_cast<T>(a.z) + x * static_cast<T>(a.y) -
+		z = w * static_cast<T>(a.z) + x * static_cast<T>(a.y) - y
-				y * static_cast<T>(a.x) + z * static_cast<T>(a.w);
+				* static_cast<T>(a.x) + z * static_cast<T>(a.w);
 
 		return *this;
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> &operator -=(
-		/**
-		 * operator -=
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> &operator -= (
 			const QuaternionTemplate<S> &a)
 	{
 		w -= static_cast<T>(a.w);
@@ -193,12 +127,7 @@ namespace BlueCore
 		return *this;
 	}
 
-
+	template<class S> inline QuaternionTemplate<T> &operator =(
-		/**
-		 * operator =
-		 */
-		template <class S>
-		inline QuaternionTemplate<T> &operator = (
 			const QuaternionTemplate<S> &a)
 	{
 		w = static_cast<T>(a.w);
@@ -209,28 +138,17 @@ namespace BlueCore
 		return *this;
 	}
 
-
-		/**
-		 * unit
-		 */
 	inline QuaternionTemplate<T> unit() const
 	{
 		T d = 1/sqrt(w*w + x*x + y*y + z*z);
 		return QuaternionTemplate<T>(w * d, x * d, y * d, z * d);
 	}
 
-
-		/**
-		 * inversed
-		 */
 	inline QuaternionTemplate<T> inversed() const
 	{
 		return QuaternionTemplate<T>(w, -x, -y, -z);
 	}
 
-		/**
-		 * inversed
-		 */
 	inline void inverse()
 	{
 		x = -x;
@@ -238,10 +156,6 @@ namespace BlueCore
 		z = -z;
 	}
 
-
-		/**
-		 * normalize
-		 */
 	inline QuaternionTemplate<T> &normalize()
 	{
 		T d = 1/sqrt(w*w + x*x + y*y + z*z);
@@ -253,106 +167,64 @@ namespace BlueCore
 		return *this;
 	}
 
-
+	template<class S> inline const Vector3Template<T> apply(
-		/**
-		 * apply
-		 */
-		template <class S>
-		inline const Vector3Template<T> apply(
 			const Vector3Template<S> &a) const
 	{
-			T	xx = x*x, xy = x*y, xz = x*z, xw = x*w,
+		T xx = x*x, xy = x*y, xz = x*z, xw = x*w, yy = y*y, yz = y*z, yw = y*w,
-				yy = y*y, yz = y*z, yw = y*w,
 				zz = z*z, zw = z*w;
 
-			return Vector3Template<T>(
+		return Vector3Template<T>( 2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy
-				2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy - zz ) +
+				- zz ) + static_cast<T>(a.y) * (xy - zw ) + static_cast<T>(a.z)
-				static_cast<T>(a.y) * ( xy - zw ) +
+				* (xz + yw ) ),
-				static_cast<T>(a.z) * ( xz + yw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xy + zw ) +
+		2.0 * ( static_cast<T>(a.x) * (xy + zw ) + static_cast<T>(a.y) * ( 0.5
-				static_cast<T>(a.y) * ( 0.5 - xx - zz ) +
+				- xx - zz ) + static_cast<T>(a.z) * (yz - xw ) ),
-				static_cast<T>(a.z) * ( yz - xw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xz - yw ) +
+		2.0 * ( static_cast<T>(a.x) * (xz - yw ) + static_cast<T>(a.y) * (yz
-				static_cast<T>(a.y) * ( yz + xw ) +
+				+ xw ) + static_cast<T>(a.z) * ( 0.5 - xx - yy ) ));
-				static_cast<T>(a.z) * ( 0.5 - xx - yy ) ) );
 	}
 
-
+	template<class S> inline const Vector3Template<T> operator *(
-		/**
-		 * apply
-		 */
-		template <class S>
-		inline const Vector3Template<T> operator * (
 			const Vector3Template<S> &a) const
 	{
-			T	xx = x*x, xy = x*y, xz = x*z, xw = x*w,
+		T xx = x*x, xy = x*y, xz = x*z, xw = x*w, yy = y*y, yz = y*z, yw = y*w,
-				yy = y*y, yz = y*z, yw = y*w,
 				zz = z*z, zw = z*w;
 
-			return Vector3Template<T>(
+		return Vector3Template<T>( 2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy
-				2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy - zz ) +
+				- zz ) + static_cast<T>(a.y) * (xy - zw ) + static_cast<T>(a.z)
-				static_cast<T>(a.y) * ( xy - zw ) +
+				* (xz + yw ) ),
-				static_cast<T>(a.z) * ( xz + yw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xy + zw ) +
+		2.0 * ( static_cast<T>(a.x) * (xy + zw ) + static_cast<T>(a.y) * ( 0.5
-				static_cast<T>(a.y) * ( 0.5 - xx - zz ) +
+				- xx - zz ) + static_cast<T>(a.z) * (yz - xw ) ),
-				static_cast<T>(a.z) * ( yz - xw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xz - yw ) +
+		2.0 * ( static_cast<T>(a.x) * (xz - yw ) + static_cast<T>(a.y) * (yz
-				static_cast<T>(a.y) * ( yz + xw ) +
+				+ xw ) + static_cast<T>(a.z) * ( 0.5 - xx - yy ) ));
-				static_cast<T>(a.z) * ( 0.5 - xx - yy ) ) );
 	}
 
-
+	template<class S> inline Vector3Template<T> applyInversed(
-		/**
-		 * applyInversed
-		 */
-		template <class S>
-		inline Vector3Template<T> applyInversed(
 			const Vector3Template<S> &a) const
 	{
-			T	xx = x*x, xy = x*y, xz = x*z, xw = -x*w,
+		T xx = x*x, xy = x*y, xz = x*z, xw = -x*w, yy = y*y, yz = y*z, yw = -y
-				yy = y*y, yz = y*z, yw = -y*w,
+				*w, zz = z*z, zw = -z*w;
-				zz = z*z, zw = -z*w;
 
-			return Vector3Template<T>(
+		return Vector3Template<T>( 2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy
-				2.0 * ( static_cast<T>(a.x) * ( 0.5 - yy - zz ) +
+				- zz ) + static_cast<T>(a.y) * (xy - zw ) + static_cast<T>(a.z)
-				static_cast<T>(a.y) * ( xy - zw ) +
+				* (xz + yw ) ),
-				static_cast<T>(a.z) * ( xz + yw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xy + zw ) +
+		2.0 * ( static_cast<T>(a.x) * (xy + zw ) + static_cast<T>(a.y) * ( 0.5
-				static_cast<T>(a.y) * ( 0.5 - xx - zz ) +
+				- xx - zz ) + static_cast<T>(a.z) * (yz - xw ) ),
-				static_cast<T>(a.z) * ( yz - xw ) ),
 
-				2.0 * ( static_cast<T>(a.x) * ( xz - yw ) +
+		2.0 * ( static_cast<T>(a.x) * (xz - yw ) + static_cast<T>(a.y) * (yz
-				static_cast<T>(a.y) * ( yz + xw ) +
+				+ xw ) + static_cast<T>(a.z) * ( 0.5 - xx - yy ) ));
-				static_cast<T>(a.z) * ( 0.5 - xx - yy ) ) );
 	}
 
-		/**
+	inline QuaternionTemplate<T> slerp(const QuaternionTemplate<T> &q,
-		 * transform from ode to gl coodinates
+			const Scalar &t)
-		 */
-		inline QuaternionTemplate<T> toGl() const
 	{
-			return QuaternionTemplate<T>( w, x, z, -y );
+		T phi = acos(w*q.w + x*q.x + y*q.y + z*q.z);
-		}
+		T s = 1 / sin(phi);
-
+		T a = sin(phi*(1-t)) * s;
-		/**
+		T b = sin(phi*t) * s;
-		 * transform from gl to ode coodinates
-		 */
-		inline QuaternionTemplate<T> toOde() const
-		{
-			return QuaternionTemplate<T>( w, x, -z, y );
-		}
-		
-		inline QuaternionTemplate<T> slerp( const QuaternionTemplate<T> &q, const Scalar &t )
-		{
-			Scalar phi = acos(w*q.w + x*q.x + y*q.y + z*q.z);
-			Scalar s = 1 / sin(phi);
-			Scalar a = sin(phi*(1-t)) * s; 
-			Scalar b = sin(phi*t) * s;
 
 		return QuaternionTemplate<T>(a*w+b*q.w, a*x+b*q.x, a*y+b*q.y, a*z+b*q.z);
 	}

engine/ModelManager.cpp

@@ -20,21 +20,17 @@ namespace BlueCore
 void Model::render(RenderDevice *device) const
 {
 	ModelMesh->render();
-	//glEnable(GL_LIGHTING);
+/*	
-	//glDepthFunc ( GL_LEQUAL );
+	glEnable(GL_LIGHTING);
-	//glEnable ( GL_DEPTH_TEST );
+	glDepthFunc ( GL_LEQUAL );
-	//glDepthMask ( GL_TRUE );
+	glEnable ( GL_DEPTH_TEST );
-
+	glDepthMask ( GL_TRUE );
+*/
 	/*
 	 glEnableClientState (GL_VERTEX_ARRAY );
 	 glEnableClientState (GL_TEXTURE_COORD_ARRAY );
 	 glEnableClientState (GL_NORMAL_ARRAY );
 
-	 glMatrixMode (GL_MODELVIEW );
-	 glPushMatrix();
-	 Matrix4x4 m(_AbsoluteRotation, _AbsoluteTranslation);
-	 glMultMatrixd ( ( GLdouble * ) &m.m );
-
 	 mesh->vertex_buffer.bind();
 	 mesh->index_buffer.bind();
 	 */

engine/RenderDevice.cpp

@@ -137,11 +137,13 @@ void RenderDevice::setupProjectionMatrix()
 void RenderDevice::setupViewMatrix()
 {
 	if (_Camera.valid())
+	{
 		glMatrixMode(GL_MODELVIEW);
 		glLoadIdentity();
 		Matrix4x4 m(_Camera->getRotation(), _Camera->getRotation().applyInversed(_Camera->getPosition() * -1.0) );
 		glMultMatrixd( ( GLdouble * ) &m.m );
 	}
+}
 
 void RenderDevice::pushTransformation(const Vector3& position,
 		const Quaternion& orientation)

engine/RigidBodySimulation.cpp

@@ -545,7 +545,6 @@ bool RigidBodySimulation::step()
 {
 	if (_steps > 0)
 	{
-		_ScriptSystem->callFunction("OnStep", _stepSize);
 		dSpaceCollide(_space, 0, &nearCallback);
 		dWorldQuickStep(_world, _stepSize);
 		StepSignal(_stepSize);

engine/RigidBodySimulation.h

@@ -25,7 +25,7 @@ namespace BlueCore
 {
 class RigidBodySimulation;
 
-class RigidBody
+class RigidBody : public Referenced
 {
 	Vector3 _Position;
 	Quaternion _Orientation;

engine/SceneGraph.cpp

@@ -0,0 +1,35 @@
+#include "SceneGraph.h"
+
+namespace BlueCore
+{
+
+SceneGraph::SceneGraph()
+{
+	_RootNode = new SceneNode();
+}
+SceneGraph::~SceneGraph()
+{
+
+}
+
+SceneNode* SceneGraph::getRootNode()
+{
+	return _RootNode.pointer();
+}
+
+void SceneGraph::setCamera(Camera *camera)
+{
+	_Camera = camera;
+}
+
+void SceneGraph::update(Scalar time)
+{
+	_RootNode->update (time);
+}
+
+void SceneGraph::queue (RenderQueue *queue)
+{
+	_RootNode->queue (queue, _Camera);
+}
+
+}

engine/SceneGraph.h

@@ -0,0 +1,29 @@
+#ifndef BLUECORE_SCENEGRAPH_H
+#define BLUECORE_SCENEGRAPH_H
+
+#include "SceneNode.h"
+
+namespace BlueCore
+{
+
+class SceneGraph : public Referenced
+{
+	ref_ptr<SceneNode> _RootNode;
+	ref_ptr<Camera> _Camera;
+	
+public:
+	SceneGraph();
+	~SceneGraph();
+	
+	SceneNode* getRootNode();
+	
+	void setCamera(Camera *camera);
+    
+	void update(Scalar time);
+    void queue (RenderQueue *queue);
+
+};
+
+}
+
+#endif /*SCENEGRAPH_H_*/

engine/SceneNode.cpp

@@ -1,10 +1,10 @@
 #include "SceneNode.h"
 
-namespace BlueCore {
+namespace BlueCore
+{
 
 #define DEBUG_SCENEGRAPH
 
-//------------------------------------------------------------------------------
 SceneNode::SceneNode() :
 	Named("unnamed SceneNode"), _Parent(0)
 {
@@ -13,7 +13,6 @@ SceneNode::SceneNode() :
 #endif
 }
 
-//------------------------------------------------------------------------------
 SceneNode::SceneNode(const std::string &name) :
 	Named(name), _Parent(0)
 {
@@ -22,7 +21,6 @@ SceneNode::SceneNode(const std::string &name) :
 #endif
 }
 
-//------------------------------------------------------------------------------
 SceneNode::~SceneNode()
 {
 	detachAll();
@@ -32,7 +30,6 @@ SceneNode::~SceneNode()
 #endif
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::attach(SceneNode *node)
 {
 	if (node == 0)
@@ -45,12 +42,12 @@ void SceneNode::attach(SceneNode *node)
 	node->addReference();
 
 #ifdef DEBUG_SCENEGRAPH
-  clog << "SceneNode '" << node->getName() << "' attached to '" << this->getName() << "'" << endline;
+	clog << "SceneNode '" << node->getName() << "' attached to '"
+			<< this->getName() << "'" << endline;
 
 #endif
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::detach(SceneNode *node)
 {
 	node->_Parent = 0;
@@ -59,11 +56,11 @@ void SceneNode::detach(SceneNode *node)
 	_Children.remove(node);
 
 #ifdef DEBUG_SCENEGRAPH
-  clog << "SceneNode '" << node->getName() << "' detach from '" << this->getName() << "'" << endline;
+	clog << "SceneNode '" << node->getName() << "' detach from '"
+			<< this->getName() << "'" << endline;
 #endif
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::detachAll()
 {
 	SceneNodeList::iterator i;
@@ -77,26 +74,22 @@ void SceneNode::detachAll()
 	_Children.clear();
 }
 
-//------------------------------------------------------------------------------
 SceneNode *SceneNode::getParent() const
 {
 	return _Parent;
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::detachFromParent()
 {
 	if (_Parent)
 		_Parent->detach( this);
 }
 
-//------------------------------------------------------------------------------
 const SceneNode::SceneNodeList& SceneNode::getChildren() const
 {
 	return _Children;
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::update(Scalar time)
 {
 	updateAbsoluteTransformation();
@@ -110,8 +103,7 @@ void SceneNode::update(Scalar time)
 	}
 }
 
-//------------------------------------------------------------------------------
+void SceneNode::queue(RenderQueue *queue, Camera *camera)
-void SceneNode::render(RenderDevice *device, Camera *camera)
 {
 	if (isActive())
 	{
@@ -119,12 +111,11 @@ void SceneNode::render(RenderDevice *device, Camera *camera)
 
 		for (i = _Children.begin(); i != _Children.end(); i++)
 		{
-      ( *i )->render(device, camera);
+			( *i )->queue(queue, camera);
 		}
 	}
 }
 
-//------------------------------------------------------------------------------
 const Transformation& SceneNode::getRelativeTransformation()
 {
 	return _RelativeTransformation;
@@ -135,19 +126,16 @@ const Transformation& SceneNode::getAbsoluteTransformation()
 	return _AbsoluteTransformation;
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::setRelativeTranslation(const Vector3 &translation)
 {
 	_RelativeTransformation.translation = translation;
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::setRelativeRotation(const Quaternion &rotation)
 {
 	_RelativeTransformation.rotation = rotation;
 }
 
-//------------------------------------------------------------------------------
 void SceneNode::updateAbsoluteTransformation()
 {
 	/*

engine/SceneNode.h

@@ -2,7 +2,9 @@
 #define BLUECORE_SCENE_NODE_H
 
 #include "Camera.h"
-#include "RenderDevice.h"
+#include "RenderQueue.h"
+#include "RigidBodySimulation.h"
+#include "ModelManager.h"
 
 #include "Utilities/Referenced.h"
 #include "Utilities/Named.h"
@@ -30,6 +32,9 @@ class SceneNode : public Referenced, public Named, public Activated
     Transformation _RelativeTransformation;
     Transformation _AbsoluteTransformation;
 
+    weak_ptr<RigidBody> _RigidBody;
+    weak_ptr<Model> _Model;
+    
   public:
 
     SceneNode();
@@ -45,7 +50,7 @@ class SceneNode : public Referenced, public Named, public Activated
     void detachFromParent();
     
     virtual void update(Scalar time);
-    virtual void render (RenderDevice *device, Camera *camera);
+    virtual void queue (RenderQueue *queue, Camera *camera);
 
     const Transformation& getRelativeTransformation();
     const Transformation& getAbsoluteTransformation();

engine/ScriptSystem.cpp

@@ -200,4 +200,20 @@ void ScriptSystem::callFunction(const std::string &name, double value)
 	}
 	sq_pop(_VM, 1);
 }
+
+void ScriptSystem::callFunction(const std::string &name, double value1, double value2)
+{
+	sq_pushroottable(_VM);
+	sq_pushstring(_VM, name.c_str(), -1);
+	if (SQ_SUCCEEDED(sq_get(_VM, -2)) )
+	{
+		sq_pushroottable(_VM);
+		sq_pushfloat(_VM, value1);
+		sq_pushfloat(_VM, value2);
+		sq_call(_VM, 3, SQFalse, SQTrue);
+		sq_pop(_VM, 1);
+	}
+	sq_pop(_VM, 1);
+}
+
 }

engine/ScriptSystem.h

@@ -31,6 +31,8 @@ class ScriptSystem : public Referenced
 
     void callFunction(const std::string &name);
     void callFunction(const std::string &name, double value);
+    void callFunction(const std::string &name, double value1, double value2);
+    void callFunction(const std::string &name, double value1, double value2, double value3);
 };
 
 } // namespace BlueCore

engine/ScriptSystem_Application.cpp

@@ -0,0 +1,59 @@
+#include "Application.h"
+
+namespace BlueCore
+{
+
+static weak_ptr<Application> gApplication;
+
+static SQInteger _quit(HSQUIRRELVM v)
+{
+	if (gApplication.valid())
+		gApplication->quit();
+	return 0;
+}
+
+static SQInteger _toggle_pause(HSQUIRRELVM v)
+{
+	if (gApplication.valid())
+		gApplication->togglePause();
+	return 0;
+}
+
+static SQInteger _setscenegraph(HSQUIRRELVM v)
+{
+	SceneGraph *scenegraph = 0;
+
+	sq_getinstanceup(v, -1, ( void ** ) &scenegraph, 0);
+
+	gApplication->setSceneGraph(scenegraph);
+
+	return 0;
+}
+
+void setupScriptSystem_Application(ScriptSystem* scriptsystem,
+		Application* application)
+{
+	if (application == 0)
+		return;
+
+	gApplication = application;
+
+	HSQUIRRELVM vm = scriptsystem->getVM();
+	sq_pushroottable(vm);
+
+	sq_pushstring(vm, "quit", -1);
+	sq_newclosure(vm, _quit, 0);
+	sq_newslot(vm, -3, false);
+
+	sq_pushstring(vm, "togglePause", -1);
+	sq_newclosure(vm, _toggle_pause, 0);
+	sq_newslot(vm, -3, false);
+
+	sq_pushstring(vm, "setSceneGraph", -1);
+	sq_newclosure(vm, _setscenegraph, 0);
+	sq_newslot(vm, -3, false);
+
+	sq_pop(vm, 1);
+}
+
+}

engine/ScriptSystem_Application.h

@@ -0,0 +1,11 @@
+#ifndef BLUECORE_SCRIPTING_APPLICATION_H
+#define BLUECORE_SCRIPTING_APPLICATION_H
+
+#include "Application.h"
+
+namespace BlueCore
+{
+	void setupScriptSystem_Application(ScriptSystem* scriptsystem, Application* application);
+}
+
+#endif

engine/ScriptSystem_Camera.cpp

@@ -0,0 +1,125 @@
+#include "ScriptSystem_Camera.h"
+#include "ScriptSystem_Math.h"
+
+#include "Camera.h"
+
+namespace BlueCore
+{
+
+static SQInteger _camera_releasehook(SQUserPointer p, SQInteger size)
+{
+	Camera *camera = (Camera *)p;
+
+	if (camera)
+		camera->removeReference();
+
+	return 1;
+}
+
+static SQInteger _camera_constructor(HSQUIRRELVM vm)
+{
+	SQInteger argc = sq_gettop(vm);
+
+	if (argc < 1)
+		return 0;
+
+	Camera *camera = new Camera();
+	camera->addReference();
+
+	sq_setinstanceup(vm, 1, (void *)camera );
+	sq_setreleasehook(vm, 1, _camera_releasehook);
+
+	return 0;
+}
+
+static SQInteger _camera_setposition(HSQUIRRELVM v)
+{
+	Camera *camera = 0;
+
+	sq_getinstanceup(v, 1, ( void ** ) &camera, 0);
+
+	if (camera)
+	{
+		Vector3 position;
+		int argc = sq_gettop(v);
+
+		if (argc == 2)
+		{
+			_getvectorvalues(v, 2, position.x, position.y, position.z);
+		}
+		else if (argc == 4)
+		{
+			sq_getfloat(v, 2, &position.x);
+			sq_getfloat(v, 3, &position.y);
+			sq_getfloat(v, 4, &position.z);
+		}
+
+		camera->setPosition(position);
+	}
+
+	return 0;
+}
+
+static SQInteger _camera_lookat(HSQUIRRELVM v)
+{
+	Camera *camera = 0;
+
+	sq_getinstanceup(v, 1, ( void ** ) &camera, 0);
+
+	if (camera)
+	{
+		Vector3 position;
+		int argc = sq_gettop(v);
+
+		if (argc == 2)
+		{
+			_getvectorvalues(v, 2, position.x, position.y, position.z);
+		}
+		else if (argc == 4)
+		{
+			sq_getfloat(v, 2, &position.x);
+			sq_getfloat(v, 3, &position.y);
+			sq_getfloat(v, 4, &position.z);
+		}
+
+		camera->lookAt(position);
+	}
+
+	return 0;
+}
+
+void setupScriptSystem_Camera(ScriptSystem* scriptsystem)
+{
+	if (scriptsystem == 0)
+		return;
+
+	HSQUIRRELVM vm = scriptsystem->getVM();
+
+	sq_pushroottable(vm);
+
+	// push class
+	sq_pushstring(vm, "Camera", -1);
+
+	if (SQ_SUCCEEDED(sq_newclass(vm, SQFalse) ) )
+	{
+		// register constructor
+		sq_pushstring(vm, "constructor", -1);
+		sq_newclosure(vm, _camera_constructor, 0);
+		sq_newslot(vm, -3, false);
+
+		sq_pushstring(vm, "setPosition", -1);
+		sq_newclosure(vm, _camera_setposition, 0);
+		sq_newslot(vm, -3, false);
+
+		sq_pushstring(vm, "lookAt", -1);
+		sq_newclosure(vm, _camera_lookat, 0);
+		sq_newslot(vm, -3, false);
+
+		// create class
+		sq_newslot(vm, -3, false);
+	}
+
+	sq_poptop(vm);
+}
+
+}

engine/ScriptSystem_Camera.h

@@ -0,0 +1,11 @@
+#ifndef BLUECORE_SCRIPTING_CAMERA_H
+#define BLUECORE_SCRIPTING_CAMERA_H
+
+#include "ScriptSystem.h"
+
+namespace BlueCore
+{
+	void setupScriptSystem_Camera(ScriptSystem* scriptsystem);
+}
+
+#endif

engine/ScriptSystem_SceneGraph.cpp

@@ -0,0 +1,81 @@
+#include "ScriptSystem_Camera.h"
+#include "ScriptSystem_Math.h"
+
+#include "SceneGraph.h"
+
+namespace BlueCore
+{
+
+static SQInteger _scenegraph_releasehook(SQUserPointer p, SQInteger size)
+{
+	SceneGraph *scenegraph = (SceneGraph *)p;
+
+	if (scenegraph)
+		scenegraph->removeReference();
+
+	return 1;
+}
+
+static SQInteger _scenegraph_constructor(HSQUIRRELVM vm)
+{
+	SQInteger argc = sq_gettop(vm);
+
+	if (argc < 1)
+		return 0;
+
+	SceneGraph *scenegraph = new SceneGraph();
+	scenegraph->addReference();
+
+	sq_setinstanceup(vm, 1, (void *)scenegraph );
+	sq_setreleasehook(vm, 1, _scenegraph_releasehook);
+
+	return 0;
+}
+
+static SQInteger _set_camera(HSQUIRRELVM v)
+{
+	SceneGraph *scenegraph = 0;
+
+	sq_getinstanceup(v, 1, ( void ** ) &scenegraph, 0);
+
+	if (scenegraph)
+	{
+		Camera *camera;
+		sq_getinstanceup (v, 2, ( void ** ) &camera, 0);
+		scenegraph->setCamera(camera);
+	}
+
+	return 0;
+}
+
+void setupScriptSystem_SceneGraph(ScriptSystem* scriptsystem)
+{
+	if (scriptsystem == 0)
+		return;
+
+	HSQUIRRELVM vm = scriptsystem->getVM();
+
+	sq_pushroottable(vm);
+
+	// push class
+	sq_pushstring(vm, "SceneGraph", -1);
+
+	if (SQ_SUCCEEDED(sq_newclass(vm, SQFalse) ) )
+	{
+		// register constructor
+		sq_pushstring(vm, "constructor", -1);
+		sq_newclosure(vm, _scenegraph_constructor, 0);
+		sq_newslot(vm, -3, false);
+
+		sq_pushstring(vm, "setCamera", -1);
+		sq_newclosure(vm, _set_camera, 0);
+		sq_newslot(vm, -3, false);
+
+		// create class
+		sq_newslot(vm, -3, false);
+	}
+
+	sq_poptop(vm);
+}
+
+}

engine/ScriptSystem_SceneGraph.h

@@ -0,0 +1,11 @@
+#ifndef BLUECORE_SCRIPTING_CAMERA_H
+#define BLUECORE_SCRIPTING_CAMERA_H
+
+#include "ScriptSystem.h"
+
+namespace BlueCore
+{
+	void setupScriptSystem_SceneGraph(ScriptSystem* scriptsystem);
+}
+
+#endif

engine/Utilities/CfgParser.cpp

@@ -5,7 +5,8 @@
 
 using namespace std;
 
-namespace BlueCore {
+namespace BlueCore
+{
 
 void CfgParser::parseFile(const std::string& filename)
 {
@@ -19,8 +20,6 @@ void CfgParser::parseFile (const std::string& filename)
 	}
 }
 
-
-
 void CfgParser::parseLine(const std::string& line)
 {
 	std::string::size_type i(line.find_first_of('='));
@@ -34,8 +33,6 @@ void CfgParser::parseLine (const std::string& line)
 	_Pairs[key] = value;
 }
 
-
-
 void CfgParser::parse(const char* buffer, unsigned int length)
 {
 	const char* ptr = buffer;
@@ -58,8 +55,6 @@ void CfgParser::parse (const char* buffer, unsigned int length)
 	}
 }
 
-
-
 double CfgParser::get(const std::string& key, double defaultValue)
 {
 	double value;
@@ -70,8 +65,6 @@ double CfgParser::get (const std::string& key, double defaultValue)
 		return value;
 }
 
-
-
 bool CfgParser::getDouble(const std::string& key, double& value)
 {
 	std::map<std::string, std::string>::const_iterator result;
@@ -86,8 +79,6 @@ bool CfgParser::getDouble (const std::string& key, double& value)
 		return false;
 }
 
-
-
 int CfgParser::get(const std::string& key, int defaultValue)
 {
 	int value;
@@ -98,8 +89,6 @@ int CfgParser::get (const std::string& key, int defaultValue)
 		return value;
 }
 
-
-
 bool CfgParser::getInteger(const std::string& key, int& value)
 {
 	std::map<std::string, std::string>::const_iterator result;
@@ -114,7 +103,6 @@ bool CfgParser::getInteger (const std::string& key, int& value)
 		return false;
 }
 
-
 bool CfgParser::get(const std::string& key, bool defaultValue)
 {
 	bool value;
@@ -125,8 +113,6 @@ bool CfgParser::get (const std::string& key, bool defaultValue)
 		return value;
 }
 
-
-
 bool CfgParser::getBoolean(const std::string& key, bool& value)
 {
 	std::map<std::string, std::string>::const_iterator result;
@@ -149,8 +135,6 @@ bool CfgParser::getBoolean (const std::string& key, bool& value)
 		return false;
 }
 
-
-
 std::string CfgParser::get(const std::string& key, std::string defaultValue)
 {
 	std::string value;
@@ -161,8 +145,6 @@ std::string CfgParser::get (const std::string& key, std::string defaultValue)
 		return value;
 }
 
-
-
 bool CfgParser::getString(const std::string& key, std::string& value)
 {
 	std::map<std::string, std::string>::const_iterator result;
@@ -177,8 +159,6 @@ bool CfgParser::getString (const std::string& key, std::string& value)
 		return false;
 }
 
-
-
 bool CfgParser::getStrings(const std::string& key, std::vector<string>& strings)
 {
 	std::map<std::string, std::string>::const_iterator result;
@@ -193,6 +173,23 @@ bool CfgParser::getStrings (const std::string& key, std::vector<string>& strings
 		return false;
 }
 
+bool CfgParser::getDoubles(const std::string& key, std::vector<double>& doubles)
+{
+	std::map<std::string, std::string>::const_iterator result;
+	result = _Pairs.find(key);
+
+	if (result != _Pairs.end())
+	{
+		std::vector<std::string> strings;
+		explode(result->second, strings, true, ",");
+		std::vector<std::string>::iterator i;
+		for (i = strings.begin(); i != strings.end(); i++)
+			doubles.push_back(atof((*i).c_str()));
+		return true;
+	}
+	else
+		return false;
+}
 
 } // namespace BlueCore
 

engine/Utilities/CfgParser.h

@@ -28,6 +28,8 @@ public:
 
 	bool getStrings (const std::string& key, std::vector<std::string>& strings);
 
+	bool getDoubles (const std::string& key, std::vector<double>& doubles);
+
 private:
 
 	std::map<std::string, std::string> _Pairs;

engine/data/main.nut

@@ -71,16 +71,26 @@ lastFPS <- 0;
 frameCount <- 0;
 FPS <- 1;
 body <- null;
+camera <- null;
+mainSceneGraph <- null;
 
 function Initialize()
 {
 	::font = Font();//Font ("DejaVuSans.ttf", 24, 1 );
 	::logo = Image ("image.png", 0.0, 0.0, 1.0, 1.0);
 	::body = RigidBody();
-
+	::camera = Camera();
+	::mainSceneGraph = SceneGraph();
+	::camera.lookAt (0.0, 0.0, 0.0);	
+	::mainSceneGraph.setCamera (::camera);
 }
 
-function OnFrame( delta )
+function OnFrame (delta, total)
+{
+	::camera.setPosition (::body.getPosition());
+}
+
+function OnOverlay (delta, total)
 {
 	::frameCount += 1
 	::lastFPS += delta;
@@ -92,20 +102,30 @@ function OnFrame( delta )
 		::lastFPS -= 0.1;
 	}
 
+	if (total < 2.0)
+		::logo.draw (0.5, 0.5);
+	else
+	{
+		v <- ::body.getPosition();
+		::font.print(10, 40, "Position: " + v.x + ", " + v.y + ", " + v.z, 1, 1 ); 
+
+		local seconds = floor(total % 60);
+		if (seconds < 10)
+			::font.print(10, 70, "Time: " + floor(total / 60.0) + ":0" +  seconds, 1, 1 );
+		else 
+			::font.print(10, 70, "Time: " + floor(total / 60.0) + ":" +  seconds, 1, 1 );
+
 		if (::FPS > 0)
 		{
 			local fps = "FPS: " + FPS + " / " + (1.0/::FPS)*1000.0 + " ms";
 			::font.print( 10, 10, fps, 1, 1 );
 		}
-	// ::logo.draw (0.5, 0.5);
+	}
-	
-	v <- ::body.getPosition();
-	::font.print(10, 40, "Position: " + v.x + ", " + v.y + ", " + v.z, 1, 1 ); 
 }
 
-function OnStep( delte )
+function OnStep (delta, total)
 {
-	::body.applyLocalForce( Vector(0.0, 0.0, 1.0) );
+	::body.applyLocalForce( Vector(1.0, 0.0, 1.0) );
 }
 
 function Shutdown()

engine/main.cpp

@@ -1,26 +1,5 @@
-#include "GL/glew.h"
+#include "Application.h"
-
-#include "RenderWindow.h"
-#include "RenderDevice.h"
-#include "FontManager.h"
-#include "MeshManager.h"
-#include "TextureManager.h"
-#include "ShaderManager.h"
-#include "ModelManager.h"
-#include "TextureImage.h"
-#include "ScriptSystem.h"
-#include "ScriptSystem_Font.h"
-#include "ScriptSystem_Image.h"
-#include "ScriptSystem_Math.h"
-#include "ScriptSystem_RigidBody.h"
-#include "RigidBodySimulation.h"
-
-#include "Camera.h"
-#include "SceneNode.h"
-
-#include "Utilities/CfgParser.h"
 #include "Utilities/Log.h"
-#include "Utilities/Kernel.h"
 
 #include "physfs.h"
 
@@ -65,193 +44,17 @@ void shutdownPhysfs()
 	PHYSFS_deinit();
 }
 
-class Application : public sigslot::has_slots<>
-{
-	bool _Running;
-	double _DeltaTime;
-	double _LastTime;
-
-	void KeySlot(int key, int action)
-	{
-		if (key == GLFW_KEY_ESC && action == GLFW_RELEASE)
-			quit();
-	}
-
-	ref_ptr<RenderWindow> _Window;
-	ref_ptr<RenderDevice> _Device;
-	ref_ptr<FontManager> _FontManager;
-	ref_ptr<MeshManager> _MeshManager;
-	ref_ptr<TextureManager> _TextureManager;
-	ref_ptr<ScriptSystem> _ScriptSystem;
-	ref_ptr<ShaderManager> _ShaderManager;
-	ref_ptr<RigidBodySimulation> _Simulation;
-	ref_ptr<ModelManager> _ModelManager;
-	ref_ptr<Camera> _Camera;
-	ref_ptr<RenderQueue> _RenderQueue;
-
-public:
-
-	bool initialize()
-	{
-		CfgParser cfg;
-		cfg.parseFile("options.cfg");
-
-		int width = cfg.get("width", 640);
-		int height = cfg.get("height", 480);
-		bool fullscreen = cfg.get("fullscreen", false);
-
-		_Window = new RenderWindow();
-		if (_Window->create(width, height, 0, 0, 0, fullscreen) == false)
-			return false;
-
-		_Device = new RenderDevice(_Window);
-		_FontManager = new FontManager(_Device);
-		_MeshManager = new MeshManager(_Device);
-		_TextureManager = new TextureManager();
-		_ScriptSystem = new ScriptSystem();
-		_ShaderManager = new ShaderManager(_Window);
-		_Simulation = new RigidBodySimulation(_ScriptSystem);
-		_ModelManager = new ModelManager (_TextureManager, _ShaderManager, _MeshManager);
-		_Camera = new Camera();
-		_RenderQueue = new RenderQueue();
-
-		setupScriptSystem_Font(_ScriptSystem, _FontManager);
-		setupScriptSystem_Image(_ScriptSystem, _TextureManager, _Device);
-		setupScriptSystem_Math(_ScriptSystem);
-		setupScriptSystem_RigidBody(_ScriptSystem, _Simulation);
-
-		_ScriptSystem->loadScript("main");
-		_ScriptSystem->callFunction("Initialize");
-
-		_Window->KeySignal.connect(this, &Application::KeySlot);
-		
-		_Running = true;
-		
-		return true;
-	}
-	/*
-	 if (window.valid() && device.valid())
-	 {
-
-	 camera->setFoV(45.0);
-	 camera->setAspectRatio((double)width/(double)height);
-	 camera->setNearPlane(1.0);
-	 camera->setFarPlane(15000.0);
-	 camera->setPosition(Vector3(0.0, 0.0, 20.0));
-
-	 device->setAmbientLight(1.0, 1.0, 1.0);
-
-	 //ref_ptr<SceneNode> rootnode(new SceneNode("root node"));
-
-
-	 ref_ptr<Model> model = modelmanager->loadModel("combat");
-
-	 }
-	 */
-
-	void shutdown()
-	{
-		_ScriptSystem->callFunction("Shutdown");
-	}
-
-	void quit()
-	{
-		_Running = false;
-	}
-
-	void run()
-	{
-		clog << "--- starting main loop..."<< endlog;
-
-		_DeltaTime = 0;
-		_LastTime = glfwGetTime();
-
-		while (_Window->isOpen() && _Running)
-		{
-			double time = glfwGetTime();
-			_DeltaTime = time - _LastTime;
-			_LastTime = time;
-
-			_Device->clear();
-			/*
-			 camera->setRotation(Quaternion(Vector3(0.0, 1.0, 0.0), fmod(time
-			 /5.0, 6.2)));
-			 device->begin3D(camera);
-			 queue->clear();
-			 queue->addOpaqueItem(model, Vector3(10.0, 0.0, 0.0), Quaternion());
-			 queue->render(device);
-
-			 device->pushAbsoluteTransformation(Vector3(), camera->getRotation());
-
-			 class RenderState
-			 {
-			 bool _Blending;
-			 GLint _BlendFuncSrc;
-			 GLint _BlendFuncDest;
-
-			 bool _DepthTest;
-			 bool _DepthMask;
-
-			 bool _Lighting;
-			 };
-			 GLfloat mat_specular[] =
-			 { 1.0, 1.0, 1.0, 1.0 };
-			 GLfloat mat_shininess[] =
-			 { 2.0 };
-			 glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_specular);
-			 glMaterialfv(GL_FRONT, GL_AMBIENT, mat_specular);
-			 glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
-			 glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
-
-			 glEnable(GL_BLEND);
-			 glBlendFunc(GL_ONE, GL_ONE);
-			 glEnable(GL_DEPTH_TEST);
-			 glDepthMask(GL_FALSE);
-			 glDisable(GL_LIGHTING);
-			 glColor4d( 1.0f, 1.0f, 1.0f, 1.0f);
-
-			 device->setTexture(0, starTexture, true);
-			 starMesh->render();
-
-			 glDisable(GL_BLEND);
-			 device->popTransformation();
-			 */
-			// device->useShader (program);
-			// device->setTexture (stage, name, texture)
-			// device->clearTextures (stage+1);
-			//glEnable (GL_TEXTURE_2D);
-			//glEnable (GL_LIGHTING);
-			//glBindTexture (GL_TEXTURE_2D, texture->getId() );
-
-			// device->
-			//device->
-			//model->render();
-
-			_Simulation->saveStates();
-			_Simulation->updateSteps(_DeltaTime);
-			while (_Simulation->step())
-				;
-
-			_ScriptSystem->callFunction("OnFrame", _DeltaTime);
-
-			_Device->swap();
-		}
-
-		clog << "--- main loop finished..."<< endlog;
-	}
-};
-
 int main(int argc, char **argv)
 {
 	initializePhysfs(argv[0]);
 
-	Application app;
+	ref_ptr<Application> app = new Application();
 
-	if (app.initialize())
+	if (app->initialize())
 	{
-		app.run();
+		app->run();
 	}
-	app.shutdown();
+	app->shutdown();
 
 	shutdownPhysfs();
 }

engine/todo.txt

@@ -7,10 +7,16 @@ Scripting
 ---------
 
 	* make event based input available
+	* make font height available
+
+SceneGraph
+----------
+
+	* create scene graph
 	
 * make ShaderProgram a class
 * create RenderSet AND/OR RenderQueue
- 
+* RenderQueueVisitor 
 
  #if 0
 	/*