Index: cpp/frams/util/3d.h
===================================================================
--- cpp/frams/util/3d.h	(revision 225)
+++ cpp/frams/util/3d.h	(revision 255)
@@ -15,93 +15,95 @@
 \file 3d.h 3d.cpp
 
-   basic 3d classes and operators     
+basic 3D classes and operators
 *********************************/
 
-/// point in 3d space
-
+/// point in 3D space
 class Pt3D
 {
-public:	double x,y,z;
-static bool report_errors;
+public:
+	double x, y, z;
+	static bool report_errors;
 
-Pt3D(double _x,double _y,double _z):x(_x),y(_y),z(_z) {} ///< constructor initializing all coords
-Pt3D(double xyz):x(xyz),y(xyz),z(xyz) {} ///< all coords equal 
-Pt3D() {} ///< coords will be not initialized!
-Pt3D(const Pt3D &p):x(p.x),y(p.y),z(p.z) {} ///< copy from another point
-bool 	operator==(const Pt3D& p)	{return (x==p.x)&&(y==p.y)&&(z==p.z);}
-void 	operator+=(const Pt3D& p)	{x+=p.x;y+=p.y;z+=p.z;}
-void 	operator-=(const Pt3D& p)	{x-=p.x;y-=p.y;z-=p.z;}
-void  	operator*=(double d)	{x*=d;y*=d;z*=d;}
-Pt3D  	operator*(const Pt3D &p) const {return Pt3D(y*p.z-z*p.y, z*p.x-x*p.z, x*p.y-y*p.x);}
-void 	operator/=(double d)	{x/=d; y/=d; z/=d;}
-//Pt3D 	operator+(const Pt3D& p) const {return Pt3D(x+p.x,y+p.y,z+p.z);}
-//Pt3D 	operator-(const Pt3D& p) const {return Pt3D(x-p.x,y-p.y,z-p.z);}
-Pt3D 	operator-() const {return Pt3D(-x,-y,-z);}
-Pt3D 	operator*(double d) const {return Pt3D(x*d,y*d,z*d);}
-Pt3D 	operator/(double d) const {return Pt3D(x/d,y/d,z/d);}
-bool    allCoordsLowerThan(const Pt3D& p) const {return (x<p.x)&&(y<p.y)&&(z<p.z);}
-bool    allCoordsHigherThan(const Pt3D& p) const {return (x>p.x)&&(y>p.y)&&(z>p.z);}
-void getMin(const Pt3D& p);
-void getMax(const Pt3D& p);
-/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
-double operator()() const;
-/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
-double length() const {return operator()();}
-double length2() const {return x*x+y*y+z*z;}
-double distanceTo(const Pt3D& p) const;
-double manhattanDistanceTo(const Pt3D& p) const;
-/** calculate angle between (0,0)-(dx,dy), @return 1=ok, 0=can't calculate */
-static int getAngle(double dx,double dy,double &angle);
-/** calculate 3 rotation angles translating (1,0,0) into 'X' and (0,0,1) into 'dir' */
-void getAngles(const Pt3D& X,const Pt3D& dir);
-void vectorProduct(const Pt3D& a,const Pt3D& b);
-Pt3D vectorProduct(const Pt3D& p) const {return (*this)*p;}
-Pt3D entrywiseProduct(const Pt3D &p) const {return Pt3D(x*p.x,y*p.y,z*p.z);} ///< also known as Hadamard product or Schur product
-double dotProduct(const Pt3D& p) const {return x*p.x+y*p.y+z*p.z;}
-bool normalize();
+	Pt3D(double _x, double _y, double _z) :x(_x), y(_y), z(_z) {} ///< constructor initializing all coords
+	Pt3D(double xyz) :x(xyz), y(xyz), z(xyz) {} ///< all coords equal 
+	Pt3D() {} ///< coords will be not initialized!
+	Pt3D(const Pt3D &p) :x(p.x), y(p.y), z(p.z) {} ///< copy from another point
+	bool 	operator==(const Pt3D& p)	{ return (x == p.x) && (y == p.y) && (z == p.z); }
+	void 	operator+=(const Pt3D& p)	{ x += p.x; y += p.y; z += p.z; }
+	void 	operator-=(const Pt3D& p)	{ x -= p.x; y -= p.y; z -= p.z; }
+	void  	operator*=(double d)	{ x *= d; y *= d; z *= d; }
+	Pt3D  	operator*(const Pt3D &p) const { return Pt3D(y*p.z - z*p.y, z*p.x - x*p.z, x*p.y - y*p.x); }
+	void 	operator/=(double d)	{ x /= d; y /= d; z /= d; }
+	//Pt3D 	operator+(const Pt3D& p) const {return Pt3D(x+p.x,y+p.y,z+p.z);}
+	//Pt3D 	operator-(const Pt3D& p) const {return Pt3D(x-p.x,y-p.y,z-p.z);}
+	Pt3D 	operator-() const { return Pt3D(-x, -y, -z); }
+	Pt3D 	operator*(double d) const { return Pt3D(x*d, y*d, z*d); }
+	Pt3D 	operator/(double d) const { return Pt3D(x / d, y / d, z / d); }
+	bool    allCoordsLowerThan(const Pt3D& p) const { return (x < p.x) && (y < p.y) && (z<p.z); }
+	bool    allCoordsHigherThan(const Pt3D& p) const { return (x>p.x) && (y > p.y) && (z > p.z); }
+	void getMin(const Pt3D& p);
+	void getMax(const Pt3D& p);
+	/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
+	double operator()() const;
+	/** vector length = \f$\sqrt{x^2+y^2+z^2}\f$  */
+	double length() const { return operator()(); }
+	double length2() const { return x*x + y*y + z*z; }
+	double distanceTo(const Pt3D& p) const;
+	double manhattanDistanceTo(const Pt3D& p) const;
+	/** calculate angle between (0,0)-(dx,dy), @return 1=ok, 0=can't calculate */
+	static int getAngle(double dx, double dy, double &angle);
+	/** calculate 3 rotation angles translating (1,0,0) into 'X' and (0,0,1) into 'dir' */
+	void getAngles(const Pt3D& X, const Pt3D& dir);
+	void vectorProduct(const Pt3D& a, const Pt3D& b);
+	Pt3D vectorProduct(const Pt3D& p) const { return (*this)*p; }
+	Pt3D entrywiseProduct(const Pt3D &p) const { return Pt3D(x*p.x, y*p.y, z*p.z); } ///< also known as Hadamard product or Schur product
+	double dotProduct(const Pt3D& p) const { return x*p.x + y*p.y + z*p.z; }
+	bool normalize();
 };
-Pt3D operator+(const Pt3D &p1,const Pt3D &p2);
-Pt3D operator-(const Pt3D &p1,const Pt3D &p2);
+
+Pt3D operator+(const Pt3D &p1, const Pt3D &p2);
+Pt3D operator-(const Pt3D &p1, const Pt3D &p2);
 
 class Pt3D_DontReportErrors
 {
-bool state;
+	bool state;
 public:
-Pt3D_DontReportErrors() {state=Pt3D::report_errors; Pt3D::report_errors=false;}
-~Pt3D_DontReportErrors() {Pt3D::report_errors=state;}
+	Pt3D_DontReportErrors() { state = Pt3D::report_errors; Pt3D::report_errors = false; }
+	~Pt3D_DontReportErrors() { Pt3D::report_errors = state; }
 };
 
-///  orientation in 3d space = rotation matrix
-
+///  orientation in 3D space = rotation matrix
 class Matrix44;
 
 class Orient
 {
-public: Pt3D x,y,z; ///< 3 vectors (= 3x3 matrix)
+public:
+	Pt3D x, y, z; ///< 3 vectors (= 3x3 matrix)
 
 	Orient() {}
-	Orient(const Orient& src) {x=src.x; y=src.y; z=src.z;}
-	Orient(const Pt3D& a,const Pt3D& b,const Pt3D& c):x(a),y(b),z(c) {}
-//	Orient(const Pt3D& rot) {*this=rot;}
+	Orient(const Orient& src) { x = src.x; y = src.y; z = src.z; }
+	Orient(const Pt3D& a, const Pt3D& b, const Pt3D& c) :x(a), y(b), z(c) {}
+	//	Orient(const Pt3D& rot) {*this=rot;}
 	Orient(const Matrix44& m);
 	void operator=(const Pt3D &rot);
 	void rotate(const Pt3D &); ///< rotate matrix around 3 axes
 
-	void transform(Pt3D &target,const Pt3D &src) const;	///< transform a vector
-	void revTransform(Pt3D &target,const Pt3D &src) const;	///< reverse transform
-	Pt3D transform(const Pt3D &src) const {Pt3D t; transform(t,src); return t;}
-	Pt3D revTransform(const Pt3D &src) const {Pt3D t; revTransform(t,src); return t;}
+	void transform(Pt3D &target, const Pt3D &src) const;	///< transform a vector
+	void revTransform(Pt3D &target, const Pt3D &src) const;	///< reverse transform
+	Pt3D transform(const Pt3D &src) const { Pt3D t; transform(t, src); return t; }
+	Pt3D revTransform(const Pt3D &src) const { Pt3D t; revTransform(t, src); return t; }
 
-	void transform(Orient& target,const Orient& src) const;    ///< transform other orient
-	void revTransform(Orient& target,const Orient& src) const; ///< reverse transform other orient
-	Orient transform(const Orient& src) const {Orient o; transform(o,src); return o;}    ///< transform other orient
-	Orient revTransform(const Orient& src) const {Orient o; revTransform(o,src); return o;} ///< reverse transform other orient
+	void transform(Orient& target, const Orient& src) const;    ///< transform other orient
+	void revTransform(Orient& target, const Orient& src) const; ///< reverse transform other orient
+	Orient transform(const Orient& src) const { Orient o; transform(o, src); return o; }    ///< transform other orient
+	Orient revTransform(const Orient& src) const { Orient o; revTransform(o, src); return o; } ///< reverse transform other orient
 
-	void transformSelf(const Orient &rot) {Orient tmp; rot.transform(tmp,*this); *this=tmp;}
-	void revTransformSelf(const Orient &rot) {Orient tmp; rot.revTransform(tmp,*this); *this=tmp;}
+	void transformSelf(const Orient &rot) { Orient tmp; rot.transform(tmp, *this); *this = tmp; }
+	void revTransformSelf(const Orient &rot) { Orient tmp; rot.revTransform(tmp, *this); *this = tmp; }
 
 	void getAngles(Pt3D &) const; ///< calculate rotation from current matrix
-	Pt3D getAngles() const {Pt3D ret; getAngles(ret); return ret;}; ///< calculate rotation from current matrix
-	void lookAt(const Pt3D &X,const Pt3D &dir); ///< calculate orientation matrix from 2 vectors
+	Pt3D getAngles() const { Pt3D ret; getAngles(ret); return ret; }; ///< calculate rotation from current matrix
+	void lookAt(const Pt3D &X, const Pt3D &dir); ///< calculate orientation matrix from 2 vectors: X becomes (normalized) Orient.x, dir is the preferred "up" direction (Orient.z). Use lookAt(Pt3D) if only X is relevant.
+	void lookAt(const Pt3D &X); ///< calculate orientation matrix from 1 vector, X becomes (normalized) Orient.x, the other coordinates are deterministic but not continuous. Use lookAt(Pt3D,Pt3D) if you need more control.
 
 	bool normalize();
@@ -111,18 +113,18 @@
 {
 public:
-double m[16];
-Matrix44() {}
-Matrix44(const Matrix44& src) {memcpy(m,src.m,sizeof(m));}
-Matrix44(double *srcm) {memcpy(m,srcm,sizeof(m));}
-Matrix44(const Orient &rot);
+	double m[16];
+	Matrix44() {}
+	Matrix44(const Matrix44& src) { memcpy(m, src.m, sizeof(m)); }
+	Matrix44(double *srcm) { memcpy(m, srcm, sizeof(m)); }
+	Matrix44(const Orient &rot);
 
-const double& operator()(int i,int j) const {return m[i+16*j];}
-const double& operator[](int i) const {return m[i];}
-double& operator()(int i,int j) {return m[i+16*j];}
-double& operator[](int i) {return m[i];}
+	const double& operator()(int i, int j) const { return m[i + 16 * j]; }
+	const double& operator[](int i) const { return m[i]; }
+	double& operator()(int i, int j) { return m[i + 16 * j]; }
+	double& operator[](int i) { return m[i]; }
 
-void operator+=(const Pt3D &); ///< translate matrix
-void operator*=(const Pt3D &); ///< scale matrix
-void operator*=(double sc); ///< scale matrix
+	void operator+=(const Pt3D &); ///< translate matrix
+	void operator*=(const Pt3D &); ///< scale matrix
+	void operator*=(double sc); ///< scale matrix
 };
 
@@ -131,7 +133,7 @@
 extern Matrix44 Matrix44_1; ///< standard unit matrix: 1000 0100 0010 0001
 
-void rotate2D(double,double &,double &); ///< rotate 2d vector, given angle
-void rotate2D(double,double,double &,double &); ///< rotate 2d vector, given sin and cos
-double d2(double,double); ///< distance in 2D
+void rotate2D(double, double &, double &); ///< rotate 2d vector, given angle
+void rotate2D(double, double, double &, double &); ///< rotate 2d vector, given sin and cos
+double d2(double, double); ///< distance in 2D
 
 #endif
