flightgear/src/Scenery/hitlist.cxx

// hitlist.cxx -
// Height Over Terrain and Assosciated Routines for FlightGear based Scenery
// Written by Norman Vine, started 2000.

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

#ifdef HAVE_WINDOWS_H
#  include <windows.h>
#endif

#include <float.h>
#include <math.h>

#include <GL/glut.h>
#include <GL/gl.h>

#include <plib/sg.h>

#include <simgear/constants.h>
#include <simgear/sg_inlines.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/math/vector.hxx>

#include <Main/globals.hxx>
#include <Main/viewer.hxx>

#include "hitlist.hxx"

extern ssgBranch *terrain_branch;

static int sgdIsectInfLinePlane( sgdVec3 dst, const sgdVec3 l_org,
                                 const sgdVec3 l_vec, const sgdVec4 plane )
{
    SGDfloat tmp = sgdScalarProductVec3 ( l_vec, plane ) ;

  /* Is line parallel to plane? */

    if ( fabs ( tmp ) < FLT_EPSILON )
        return false ;

    sgdScaleVec3 ( dst, l_vec, -( sgdScalarProductVec3 ( l_org, plane )
                                 + plane[3] ) / tmp ) ;
    sgdAddVec3  ( dst, l_org ) ;

    return true ;
}


/*
 * Given a point and a triangle lying on the same plane
 * check to see if the point is inside the triangle
 */
static bool sgdPointInTriangle( sgdVec3 point, sgdVec3 tri[3] )
{
    sgdVec3 dif;

    SGDfloat min, max;
    // punt if outside bouding cube
    SG_MIN_MAX3 ( min, max, tri[0][0], tri[1][0], tri[2][0] );
    if( (point[0] < min) || (point[0] > max) )
        return false;
    dif[0] = max - min;

    SG_MIN_MAX3 ( min, max, tri[0][1], tri[1][1], tri[2][1] );
    if( (point[1] < min) || (point[1] > max) )
        return false;
    dif[1] = max - min;

    SG_MIN_MAX3 ( min, max, tri[0][2], tri[1][2], tri[2][2] );
    if( (point[2] < min) || (point[2] > max) )
        return false;
    dif[2] = max - min;

    // drop the smallest dimension so we only have to work in 2d.
    SGDfloat min_dim = SG_MIN3 (dif[0], dif[1], dif[2]);
    SGDfloat x1, y1, x2, y2, x3, y3, rx, ry;
    if ( fabs(min_dim-dif[0]) <= DBL_EPSILON ) {
        // x is the smallest dimension
        x1 = point[1];
        y1 = point[2];
        x2 = tri[0][1];
        y2 = tri[0][2];
        x3 = tri[1][1];
        y3 = tri[1][2];
        rx = tri[2][1];
        ry = tri[2][2];
    } else if ( fabs(min_dim-dif[1]) <= DBL_EPSILON ) {
        // y is the smallest dimension
        x1 = point[0];
        y1 = point[2];
        x2 = tri[0][0];
        y2 = tri[0][2];
        x3 = tri[1][0];
        y3 = tri[1][2];
        rx = tri[2][0];
        ry = tri[2][2];
    } else if ( fabs(min_dim-dif[2]) <= DBL_EPSILON ) {
        // z is the smallest dimension
        x1 = point[0];
        y1 = point[1];
        x2 = tri[0][0];
        y2 = tri[0][1];
        x3 = tri[1][0];
        y3 = tri[1][1];
        rx = tri[2][0];
        ry = tri[2][1];
    } else {
        // all dimensions are really small so lets call it close
        // enough and return a successful match
        return true;
    }

    // check if intersection point is on the same side of p1 <-> p2 as p3  
    SGDfloat tmp = (y2 - y3) / (x2 - x3);
    int side1 = SG_SIGN (tmp * (rx - x3) + y3 - ry);
    int side2 = SG_SIGN (tmp * (x1 - x3) + y3 - y1);
    if ( side1 != side2 ) {
        // printf("failed side 1 check\n");
        return false;
    }

    // check if intersection point is on correct side of p2 <-> p3 as p1
    tmp = (y3 - ry) / (x3 - rx);
    side1 = SG_SIGN (tmp * (x2 - rx) + ry - y2);
    side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
    if ( side1 != side2 ) {
        // printf("failed side 2 check\n");
        return false;
    }

    // check if intersection point is on correct side of p1 <-> p3 as p2
    tmp = (y2 - ry) / (x2 - rx);
    side1 = SG_SIGN (tmp * (x3 - rx) + ry - y3);
    side2 = SG_SIGN (tmp * (x1 - rx) + ry - y1);
    if ( side1 != side2 ) {
        // printf("failed side 3  check\n");
        return false;
    }

    return true;
}


inline static int isZeroAreaTri( sgdVec3 tri[3] )
{
    return( sgdEqualVec3(tri[0], tri[1]) ||
	    sgdEqualVec3(tri[1], tri[2]) ||
	    sgdEqualVec3(tri[2], tri[0]) );
}

/*
 * Given a point and a triangle lying on the same plane
 * check to see if the point is inside the triangle
 */

#if 0
static bool PointInTri( sgdVec3 P, sgdVec3 V[3] )
{
    sgdVec3 X,W1,W2;
    sgdSubVec3(X,P,V[0]);
    sgdSubVec3(W1,V[1],V[2]);
    sgdSubVec3(W2,V[2],V[0]);

    sgdVec3 C;
    sgdVectorProductVec3(C, W1, W2);

    double d = sgdScalarProductVec3(X,C);

    // Test not needed if you KNOW point is on plane of triangle
    // and triangle is not degenerate
    if( d > -FLT_EPSILON && d < FLT_EPSILON )
	return false;

    double u11 = sgdScalarProductVec3(W1,W1);
    double u22 = sgdScalarProductVec3(W2,W2);
    double u12 = sgdScalarProductVec3(W1,W2);

    double y1 = sgdScalarProductVec3(X,W1);
    double y2 = sgdScalarProductVec3(X,W2);
    double z1 = (y1*u22 - y2*u12)/d;

    if( z1>0 || z1>1 )
	return false;

    double z2 = (y2*u11 - y1*u12)/d;

    if( z2>0 || z2>1 )
	return false;

    return true;
}
#endif

/*
   Find the intersection of an infinite line with a leaf
   the line being defined by a point and direction.

   Variables
    In:
     ssgLeaf pointer  -- leaf
     qualified matrix -- m
     line origin      -- orig
     line direction   -- dir
    Out:
     result  -- intersection point
     normal  -- intersected tri's normal

   Returns:
    true if intersection found
    false otherwise

   !!! WARNING !!!
    If you need an exhaustive list of hitpoints YOU MUST use
    the generic version of this function as the specialized
    versions will do an early out of expensive tests if the point
    can not be the closest one found
   !!! WARNING !!!
*/
int FGHitList::IntersectLeaf( ssgLeaf *leaf, sgdMat4 m,
			      sgdVec3 orig, sgdVec3 dir )
{
    int num_hits = 0;
    int i = 0;

    for ( ; i < leaf->getNumTriangles(); ++i ) {
	short i1, i2, i3;
	leaf->getTriangle( i, &i1, &i2, &i3 );

	sgdVec3 tri[3];
	sgdSetVec3( tri[0], leaf->getVertex( i1 ) );
	sgdSetVec3( tri[1], leaf->getVertex( i2 ) );
	sgdSetVec3( tri[2], leaf->getVertex( i3 ) );

	// avoid division by zero when two points are the same
	if( isZeroAreaTri( tri ) )
	    continue;

	sgdVec4 plane;
	sgdMakePlane( plane, tri[0], tri[1], tri[2] );

	sgdVec3 point;
	if( sgdIsectInfLinePlane( point, orig, dir, plane ) ) {
	    if( sgdPointInTriangle( point, tri ) ) {
				// transform point into passed into desired coordinate frame
		sgdXformPnt3( point, point, m );
		add(leaf,i,point,plane);
		num_hits++;
	    }
	}
    }
    return num_hits;
}


//=================
int FGHitList::IntersectPolyOrFanLeaf( ssgLeaf *leaf, sgdMat4 m,
				       sgdVec3 orig, sgdVec3 dir )
{
    double tmp_dist;

    // number of hits but there could be more that
    // were not found because of short circut switch !
    // so you may want to use the unspecialized IntersectLeaf()
    int num_hits = 0;

    int ntri = leaf->getNumTriangles();
    for ( int n = 0; n < ntri; ++n ) {
	sgdVec3 tri[3];

	if ( !n ) {
	    sgdSetVec3( tri[0], leaf->getVertex( short(0) ) );
	    sgdSetVec3( tri[1], leaf->getVertex( short(1) ) );
	    sgdSetVec3( tri[2], leaf->getVertex( short(2) ) );
	} else {
	    sgdCopyVec3( tri[1], tri[2] );
	    sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
	}

	if( isZeroAreaTri( tri ) )
	    continue;

	sgdVec4 plane;
	sgdMakePlane( plane, tri[0], tri[1], tri[2] );

	sgdVec3 point;

	//inlined IsectInfLinePlane( point dst, orig, dir, plane )
	{
	    SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;

	    /* Is line parallel to plane? */
	    if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ )
		continue ;

	    sgdScaleVec3 ( point, dir,
			   -( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
			   / tmp ) ;

	    sgdAddVec3  ( point, orig ) ;
	}  // end of inlined intersection routine 

	// short circut if this point is further away then a previous hit
	tmp_dist = sgdScalarProductVec3(point,point);
	if( tmp_dist > test_dist )
	    continue;

	if( sgdPointInTriangle( point, tri ) ) {
	    // transform point into passed coordinate frame
	    sgdXformPnt3( point, point, m );
	    add(leaf,n,point,plane);
	    test_dist = tmp_dist;
	    num_hits++;
	}
    }
    return num_hits;
}


//===============

int FGHitList::IntersectTriLeaf( ssgLeaf *leaf, sgdMat4 m,
				 sgdVec3 orig, sgdVec3 dir )
{
    double tmp_dist;
	
    // number of hits but there could be more that
    // were not found because of short circut switch !
    // so you may want to use the unspecialized IntersectLeaf()
    int num_hits = 0;

    int ntri = leaf->getNumTriangles();
    for ( int n = 0; n < ntri; ++n ) {
	sgdVec3 tri[3];
	sgdSetVec3( tri[0], leaf->getVertex( short(n*3) ) );
	sgdSetVec3( tri[1], leaf->getVertex( short(n*3+1) ) );
	sgdSetVec3( tri[2], leaf->getVertex( short(n*3+2) ) );

	// avoid division by zero when two points are the same
	if( isZeroAreaTri( tri ) )
	    continue;

	sgdVec4 plane;
	sgdMakePlane( plane, tri[0], tri[1], tri[2] );

	sgdVec3 point;
	//inlined IsectInfLinePlane( point dst, orig, dir, plane )
	{
	    SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;

	    /* Is line parallel to plane? */
	    if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ )
		continue ;

	    sgdScaleVec3 ( point, dir,
			   -( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
			   / tmp ) ;

	    sgdAddVec3  ( point, orig ) ;
	}  // end of inlined intersection routine 

	// short circut if this point is further away then a previous hit
	tmp_dist = sgdScalarProductVec3(point,point);
	if( tmp_dist > test_dist )
	    continue;

	if( sgdPointInTriangle( point, tri ) ) {
	    // transform point into passed coordinate frame
	    sgdXformPnt3( point, point, m );
	    add(leaf,n,point,plane);
	    test_dist = tmp_dist;
	    num_hits++;
	}
    }
    return num_hits;
}

//============================

int FGHitList::IntersectStripLeaf( ssgLeaf *leaf, sgdMat4 m,
				   sgdVec3 orig, sgdVec3 dir )
{
    double tmp_dist;

    // number of hits but there could be more that
    // were not found because of short circut switch !
    // so you may want to use the unspecialized IntersectLeaf()
    int num_hits = 0;

    int ntri = leaf->getNumTriangles();
    for ( int n = 0; n < ntri; ++n ) {
	sgdVec3 tri[3];

	if ( !n ) {
	    sgdSetVec3( tri[0], leaf->getVertex( short(0) ) );
	    sgdSetVec3( tri[1], leaf->getVertex( short(1) ) );
	    sgdSetVec3( tri[2], leaf->getVertex( short(2) ) );
	} else {
	    if ( n & 1 ) {
		sgdSetVec3( tri[0], leaf->getVertex( short(n+2) ) );
		sgdCopyVec3( tri[1], tri[2] );
		sgdCopyVec3( tri[2], tri[1] );

	    } else {
		sgdCopyVec3( tri[0], tri[1] );
		sgdCopyVec3( tri[1], tri[2] );
		sgdSetVec3( tri[2], leaf->getVertex( short(n+2) ) );
	    }
	}
		
	if( isZeroAreaTri( tri ) )
	    continue;

	sgdVec4 plane;
	sgdMakePlane( plane, tri[0], tri[1], tri[2] );

	sgdVec3 point;

	//inlined IsectInfLinePlane( point dst, orig, dir, plane )
	{
	    SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;

	    /* Is line parallel to plane? */
	    if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ )
		continue ;

	    sgdScaleVec3 ( point, dir,
			   -( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
			   / tmp ) ;

	    sgdAddVec3  ( point, orig ) ;
	}  // end of inlined intersection routine 

	// short circut if this point is further away then a previous hit
	tmp_dist = sgdScalarProductVec3(point,point);
	if( tmp_dist > test_dist )
	    continue;

	if( sgdPointInTriangle( point, tri ) ) {
	    // transform point into passed coordinate frame
	    sgdXformPnt3( point, point, m );
	    add(leaf,n,point,plane);
	    test_dist = tmp_dist;
	    num_hits++;
	}
    }
    return num_hits;
}

// ======================

int FGHitList::IntersectQuadsLeaf( ssgLeaf *leaf, sgdMat4 m,
				   sgdVec3 orig, sgdVec3 dir )
{
    double tmp_dist;

    // number of hits but there could be more that
    // were not found because of short circut switch !
    // so you may want to use the unspecialized IntersectLeaf()
    int num_hits = 0;

    int ntri = leaf->getNumTriangles();
    for ( int n = 0; n < ntri; ++n ) {
	sgdVec3 tri[3];

	sgdSetVec3( tri[0], leaf->getVertex( short(n*2) ) );
	sgdSetVec3( tri[1], leaf->getVertex( short(n*2+1) ) );
	sgdSetVec3( tri[2], leaf->getVertex( short(n*2 + 2 - (n&1)*4) ) );

	if( isZeroAreaTri( tri ) )
	    continue;

	sgdVec4 plane;
	sgdMakePlane( plane, tri[0], tri[1], tri[2] );

	sgdVec3 point;

	//inlined IsectInfLinePlane( point dst, orig, dir, plane )
	{
	    SGDfloat tmp = sgdScalarProductVec3 ( dir, plane ) ;

	    /* Is line parallel to plane? */
	    if ( sgdAbs ( tmp ) < FLT_EPSILON /*DBL_EPSILON*/ )
		continue ;

	    sgdScaleVec3 ( point, dir,
			   -( sgdScalarProductVec3 ( orig, plane ) + plane[3] )
			   / tmp ) ;

	    sgdAddVec3  ( point, orig ) ;
	}  // end of inlined intersection routine 

	// short circut if this point is further away then a previous hit
	tmp_dist = sgdScalarProductVec3(point,point);
	if( tmp_dist > test_dist )
	    continue;

	if( sgdPointInTriangle( point, tri ) ) {
	    // transform point into passed coordinate frame
	    sgdXformPnt3( point, point, m );
	    add(leaf,n,point,plane);
	    test_dist = tmp_dist;
	    num_hits++;
	}
    }
    return num_hits;
}



// Need these because of mixed matrix types
static void sgMultMat4(sgdMat4 dst, sgdMat4 m1, sgMat4 m2)
{
    for ( int j = 0 ; j < 4 ; j++ ) {
	dst[0][j] = m2[0][0] * m1[0][j] +
	    m2[0][1] * m1[1][j] +
	    m2[0][2] * m1[2][j] +
	    m2[0][3] * m1[3][j] ;

	dst[1][j] = m2[1][0] * m1[0][j] +
	    m2[1][1] * m1[1][j] +
	    m2[1][2] * m1[2][j] +
	    m2[1][3] * m1[3][j] ;

	dst[2][j] = m2[2][0] * m1[0][j] +
	    m2[2][1] * m1[1][j] +
	    m2[2][2] * m1[2][j] +
	    m2[2][3] * m1[3][j] ;

	dst[3][j] = m2[3][0] * m1[0][j] +
	    m2[3][1] * m1[1][j] +
	    m2[3][2] * m1[2][j] +
	    m2[3][3] * m1[3][j] ;
    }
}

/*
 *
 */

void FGHitList::IntersectBranch( ssgBranch *branch, sgdMat4 m, 
				 sgdVec3 orig, sgdVec3 dir )
{
    /* the lookat vector and matrix in branch's coordinate frame
     * but we won't determine these unless needed,
     * This 'lazy evaluation' is a result of profiling data */
    sgdVec3 orig_leaf, dir_leaf;
    sgdMat4 m_leaf;


    // 'lazy evaluation' flag
    int first_time = 1;
	
    for ( ssgEntity *kid = branch->getKid( 0 );
	  kid != NULL; 
	  kid = branch->getNextKid() )
    {
	if ( kid->getTraversalMask() & SSGTRAV_HOT ) {
	    sgdVec3 center;
	    sgdSetVec3( center,
			kid->getBSphere()->getCenter()[0],
			kid->getBSphere()->getCenter()[1],
			kid->getBSphere()->getCenter()[2] ); 
	    sgdXformPnt3( center, m ) ;

	    // sgdClosestPointToLineDistSquared( center, orig, dir ) 
	    // inlined here because because of profiling results
	    sgdVec3 u, u1, v;
	    sgdSubVec3(u, center, orig);
	    sgdScaleVec3( u1, dir, sgdScalarProductVec3(u,dir)
			  / sgdScalarProductVec3(dir,dir) );
	    sgdSubVec3(v, u, u1);

	    // doubles because of possible overflow
#define SQUARE(x) (x*x)
	    if( sgdScalarProductVec3(v, v)
		< SQUARE( double(kid->getBSphere()->getRadius()) ) )
	    {
		// possible intersections
		if ( kid->isAKindOf ( ssgTypeBranch() ) ) {
		    sgdMat4 m_new;
		    if ( kid->isA( ssgTypeTransform() ) )
		    {
			sgMat4 fxform;
			((ssgTransform *)kid)->getTransform( fxform );
			sgMultMat4(m_new, m, fxform);
		    } else {
			sgdCopyMat4(m_new, m);
		    }
		    IntersectBranch( (ssgBranch *)kid, m_new, orig, dir );
		} else if ( kid->isAKindOf( ssgTypeLeaf() ) ) {
		    if ( first_time ) {
			// OK we need these
			sgdTransposeNegateMat4( m_leaf, m);
			sgdXformPnt3( orig_leaf, orig, m_leaf );
			sgdXformPnt3( dir_leaf,  dir,  m_leaf );
			first_time = 0;
		    }
					
		    GLenum primType = ((ssgLeaf *)kid)->getPrimitiveType();
					
		    switch ( primType ) {
		    case GL_POLYGON :
		    case GL_TRIANGLE_FAN :
			IntersectPolyOrFanLeaf( (ssgLeaf *)kid, m,
						orig_leaf, dir_leaf );
			break;
		    case GL_TRIANGLES :
			IntersectTriLeaf( (ssgLeaf *)kid, m,
					  orig_leaf, dir_leaf );
			break;
		    case GL_TRIANGLE_STRIP :
		    case GL_QUAD_STRIP :
			IntersectStripLeaf( (ssgLeaf *)kid, m,
					    orig_leaf, dir_leaf );
			break;
		    case GL_QUADS :
			IntersectQuadsLeaf( (ssgLeaf *)kid, m,
					    orig_leaf, dir_leaf );
			break;
		    default:
			IntersectLeaf( (ssgLeaf *)kid, m,
				       orig_leaf, dir_leaf );
		    }
		}
	    } else {
		// end of the line for this branch
	    }
	} else {
	    // branch requested not to be traversed
	}
    }
}

void ssgGetEntityTransform(ssgEntity *entity, sgMat4 m )
{
    /*
      Walk backwards up the tree, transforming the
      vertex by all the matrices along the way.

      Upwards recursion hurts my head.
    */

    sgMat4 mat ;

    /*
      If this node has a parent - get the composite
      matrix for the parent.
    */

    if ( entity->getNumParents() > 0 )
	ssgGetEntityTransform ( entity->getParent(0), mat ) ;
    else 
	sgMakeIdentMat4 ( mat ) ;

  /*
  If this node has a transform - then concatenate it.
  */

    if ( entity -> isAKindOf ( ssgTypeTransform () ) ) {
	sgMat4 this_mat ;
	((ssgTransform *) entity) -> getTransform ( this_mat ) ;
	sgPostMultMat4 ( mat, this_mat ) ;
    }

    sgCopyMat4 ( m, mat ) ;
}
#if 0
// previously used method
// This expects the inital m to be the identity transform
void ssgGetEntityTransform(ssgEntity *branch, sgMat4 m )
{
    for ( ssgEntity *parent = branch->getParent(0);
          parent != NULL;
	  parent = parent->getParent(0) )
    {
	// recurse till we are at the scene root
	// then just unwinding the stack should 
	// give us our cumulative transform :-)  NHV
	ssgGetEntityTransform( parent, m );
	if ( parent->isA( ssgTypeTransform() ) ) {
	    sgMat4 xform;
	    ((ssgTransform *)parent)->getTransform( xform );
	    sgPreMultMat4( m, xform );
	}
    }
}
#endif // 0

// return the passed entitity's bsphere's center point radius and
// fully formed current model matrix for entity
void ssgGetCurrentBSphere( ssgEntity *entity, sgVec3 center,
			   float *radius, sgMat4 m )
{
    sgSphere *bsphere = entity->getBSphere();
    *radius = (double)bsphere->getRadius();
    sgCopyVec3( center, bsphere->getCenter() );
    sgMakeIdentMat4 ( m ) ;
    ssgGetEntityTransform( entity, m );
}


void FGHitList::Intersect( ssgBranch *scene, sgdVec3 orig, sgdVec3 dir ) {
    sgdMat4 m;
    clear();
    sgdMakeIdentMat4 ( m ) ;
    IntersectBranch( scene, m, orig, dir);
}


static void CurrentNormalInLocalPlane(sgVec3 dst, sgVec3 src) {
    sgVec3 tmp;
    sgSetVec3(tmp, src[0], src[1], src[2] );
    sgMat4 TMP;
    sgTransposeNegateMat4 ( TMP, globals->get_current_view()->get_UP() ) ;
    sgXformVec3(tmp, tmp, TMP);
    sgSetVec3(dst, tmp[2], tmp[1], tmp[0] );
}


// a temporary hack until we get everything rewritten with sgdVec3
static inline Point3D operator + (const Point3D& a, const sgdVec3 b)
{
    return Point3D(a.x()+b[0], a.y()+b[1], a.z()+b[2]);
}


/*
 * This method is faster
 */

void FGHitList::Intersect( ssgBranch *scene, sgdMat4 m, sgdVec3 orig,
			   sgdVec3 dir )
{
    clear();
    IntersectBranch( scene, m, orig, dir);
}


// Determine scenery altitude via ssg.
// returned results are in meters
bool fgCurrentElev( sgdVec3 abs_view_pos, sgdVec3 scenery_center,
		    FGHitList *hit_list,
		    double *terrain_elev, double *radius, double *normal)
{
    sgdVec3 view_pos;
    sgdSubVec3( view_pos, abs_view_pos, scenery_center );

    sgdVec3 orig, dir;
    sgdCopyVec3(orig, view_pos );
    sgdCopyVec3(dir, abs_view_pos );
    // sgdNormalizeVec3(dir);

    // !! why is terrain not globals->get_terrain()
    hit_list->Intersect( terrain_branch, orig, dir );

    int this_hit=0;
    Point3D geoc;
    double result = -9999;
    Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;

    // cout << "hits = ";
    int hitcount = hit_list->num_hits();
    for ( int i = 0; i < hitcount; ++i ) {
        geoc = sgCartToPolar3d( sc + hit_list->get_point(i) );      
        double lat_geod, alt, sea_level_r;
        sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, 
                     &alt, &sea_level_r);
	// cout << alt << " ";
        if ( alt > result && alt < 10000 ) {
            result = alt;
            this_hit = i;
        }
    }
    // cout << endl;

    if ( result > -9000 ) {
        *terrain_elev = result;
        *radius = geoc.radius();
        sgVec3 tmp;
        sgSetVec3(tmp, hit_list->get_normal(this_hit));
        // cout << "cur_normal: " << tmp[0] << " " << tmp[1] << " "
        //      << tmp[2] << endl;
        /* ssgState *IntersectedLeafState =
           ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
        CurrentNormalInLocalPlane(tmp, tmp);
        sgdSetVec3( normal, tmp );
        // cout << "NED: " << tmp[0] << " " << tmp[1] << " " << tmp[2] << endl;
        return true;
    } else {
	SG_LOG( SG_TERRAIN, SG_INFO, "no terrain intersection" );
	*terrain_elev = 0.0;
	float *up = globals->get_current_view()->get_world_up();
	sgdSetVec3(normal, up[0], up[1], up[2]);
	return false;
    }
}


// Determine scenery altitude via ssg.
// returned results are in meters
bool fgCurrentElev( sgdVec3 abs_view_pos, sgdVec3 scenery_center,
		    ssgTransform *terra_transform,
		    FGHitList *hit_list,
		    double *terrain_elev, double *radius, double *normal)
{
#ifndef FAST_HITLIST__TEST
    return fgCurrentElev( abs_view_pos, scenery_center, hit_list,
			  terrain_elev,radius,normal);
#else
    sgdVec3 view_pos;
    sgdSubVec3( view_pos, abs_view_pos, scenery_center );

    sgdVec3 orig, dir;
    sgdCopyVec3(orig, view_pos );

    sgdCopyVec3(dir, abs_view_pos );
    sgdNormalizeVec3(dir);

    sgMat4 fxform;
    sgMakeIdentMat4 ( fxform ) ;
    ssgGetEntityTransform( terra_transform, fxform );

    sgdMat4 xform;
    sgdSetMat4(xform,fxform);
    hit_list->Intersect( terra_transform, xform, orig, dir );

    int this_hit=0;
    Point3D geoc;
    double result = -9999;
    Point3D sc(scenery_center[0], scenery_center[1], scenery_center[2]) ;

    int hitcount = hit_list->num_hits();
    for ( int i = 0; i < hitcount; ++i ) {
	geoc = sgCartToPolar3d( sc + hit_list->get_point(i) );      
	double lat_geod, alt, sea_level_r;
	sgGeocToGeod(geoc.lat(), geoc.radius(), &lat_geod, 
		     &alt, &sea_level_r);
	if ( alt > result && alt < 20000 ) {
	    result = alt;
	    this_hit = i;
	}
    }

    if ( result > -9000 ) {
	*terrain_elev = result;
	*radius = geoc.radius();
	sgVec3 tmp;
	sgSetVec3(tmp, hit_list->get_normal(this_hit));
	// cout << "cur_normal: " << tmp[0] << " " << tmp[1] << " "
	//      << tmp[2] << endl;
	/* ssgState *IntersectedLeafState =
           ((ssgLeaf*)hit_list->get_entity(this_hit))->getState(); */
	CurrentNormalInLocalPlane(tmp, tmp);
	sgdSetVec3( normal, tmp );
	// cout << "NED: " << tmp[0] << " " << tmp[1] << " " << tmp[2] << endl;
	return true;
    } else {
	SG_LOG( SG_TERRAIN, SG_DEBUG, "DOING FULL TERRAIN INTERSECTION" );
	return fgCurrentElev( abs_view_pos, scenery_center, hit_list,
			      terrain_elev,radius,normal);
    }
#endif // !FAST_HITLIST__TEST
}