changed extensions from .c to .cpp and got compiling as C files as part of the osg core library.
Updated and cleaned up the rest of the OSG to use the new internal GLU.
type is supported at present. The attached osgparticleshader.cpp will
show how it works. It can also be placed in the examples folder. But I
just wonder how this example co-exists with another two (osgparticle
and osgparticleeffect)?
Member variables in Particle, including _alive, _current_size and
_current_alpha, are now merged into one Vec3 variable. Then we can
make use of the set...Pointer() methods to treat them as vertex
attribtues in GLSL. User interfaces are not changed.
Additional methods of ParticleSystem are introduced, including
setDefaultAttributesUsingShaders(), setSortMode() and
setVisibilityDistance(). You can see how they work in
osgparticleshader.cpp.
Additional user-defined particle type is introduced. Set the particle
type to USER and attach a drawable to the template. Be careful because
of possible huge memory consumption. It is highly suggested to use
display lists here.
The ParticleSystemUpdater can accepts ParticleSystem objects as child
drawables now. I myself think it is a little simpler in structure,
than creating a new geode for each particle system. Of course, the
latter is still compatible, and can be used to transform entire
particles in the world.
New particle operators: bounce, sink, damping, orbit and explosion.
The bounce and sink opeartors both use a concept of domains, and can
simulate a very basic collision of particles and objects.
New composite placer. It contains a set of placers and emit particles
from them randomly. The added virtual method size() of each placer
will help determine the probability of generating.
New virtual method operateParticles() for the Operator class. It
actually calls operate() for each particle, but can be overrode to use
speedup techniques like SSE, or even shaders in the future.
Partly fix a floating error of 'delta time' in emitter, program and
updaters. Previously they keep the _t0 variable seperately and compute
different copies of dt by themseleves, which makes some operators,
especially the BounceOperator, work incorrectly (because the dt in
operators and updaters are slightly different). Now a getDeltaTime()
method is maintained in ParticleSystem, and will return the unique dt
value (passing by reference) for use. This makes thing better, but
still very few unexpected behavours at present...
All dotosg and serialzier wrappers for functionalities above are provided.
...
According to some simple tests, the new shader support is slightly
efficient than ordinary glBegin()/end(). That means, I haven't got a
big improvement at present. I think the bottlenack here seems to be
the cull traversal time. Because operators go through the particle
list again and again (for example, the fountain in the shader example
requires 4 operators working all the time).
A really ideal solution here is to implement the particle operators in
shaders, too, and copy the results back to particle attributes. The
concept of GPGPU is good for implementing this. But in my opinion, the
Camera class seems to be too heavy for realizing such functionality in
a particle system. Myabe a light-weight ComputeDrawable class is
enough for receiving data as textures and outputting the results to
the FBO render buffer. What do you think then?
The floating error of emitters
(http://lists.openscenegraph.org/pipermail/osg-users-openscenegraph.org/2009-May/028435.html)
is not solved this time. But what I think is worth testing is that we
could directly compute the node path from the emitter to the particle
system rather than multiplying the worldToLocal and LocalToWorld
matrices. I'll try this idea later.
"
short oit. This rendering technique is also known as depth peeling.
Attached is the example that makes depth peeling work with the fixed function
pipeline. Ok, this is 'old fashioned' but required for our use case that
still has to work on older UNIX OpenGL implementations as well as together
with a whole existing application making use of the fixed function pipeline.
I can imagine to add support for shaders when we have that shader composition
framework where we can add a second depth test in a generic way.
This does *not* implement the dual depth peeling described in a paper from the
ETH Zurich.
This example could serve as a test case for the feature that you can on the
fly remove pre render cameras that you made work a few time ago.
It is also a test case for the new TraversalOrderBin that is used to composite
the depth layers in the correct blend order.
This example also stresses your new texture object cache since you can change
some parameters for the oit implementation at runtime.
You can just load any model with osgoit and see how it works.
Use the usual help key to see what you can change.
There is already an osgdepthpeeling example that I could not really make sense
of up to now. So I just made something new without touching what I do not
understand."
creation of main shader to ShaderComposer and
collection of ShaderComponent to osg::State.
Also added very basic shader set up in osgshadecomposition example.
to get QWidgetImage to a point where it can fill a need we have: to be
able to use Qt to make HUDs and to display widgets over / inside an OSG
scene.
---------------
Current results
---------------
I've attached what I have at this point. The modified QWidgetImage +
QGraphicsViewAdapter classes can be rendered fullscreen (i.e. the Qt
QGraphicsView's size follows the size of the OSG window) or on a quad in
the scene as before. It will let events go through to OSG if no widget
is under the mouse when they happen (useful when used as a HUD with
transparent parts - a click-focus scheme could be added later too). It
also supercedes Martin Scheffler's submission because it adds a
getter/setter for the QGraphicsViewAdapter's background color (and the
user can set their widget to be transparent using
widget->setAttribute(Qt::WA_TranslucentBackground) themselves).
The included osgQtBrowser example has been modified to serve as a test
bed for these changes. It has lots more command line arguments than
before, some of which can be removed eventually (once things are
tested). Note that it may be interesting to change its name or split it
into two examples. Though if things go well, the specific QWebViewImage
class can be removed completely and we can consolidate to using
QWidgetImage everywhere, and then a single example to demonstrate it
would make more sense, albeit not named osgQtBrowser... You can try this
path by using the --useWidgetImage --useBrowser command line arguments -
this results in an equivalent setup to QWebViewImage, but using
QWidgetImage, and doesn't work completely yet for some unknown reason,
see below.
----------------
Remaining issues
----------------
There are a few issues left to fix, and for these I request the
community's assistance. They are not blockers for me, and with my
limited Qt experience I don't feel like I'm getting any closer to fixing
them, so if someone else could pitch in and see what they can find, it
would be appreciated. It would be really nice to get them fixed, that
way we'd really have a first-class integration of Qt widgets in an OSG
scene. The issues are noted in the osgQtBrowser.cpp source file, but
here they are too:
-------------------------------------------------------------------
QWidgetImage still has some issues, some examples are:
1. Editing in the QTextEdit doesn't work. Also when started with
--useBrowser, editing in the search field on YouTube doesn't
work. But that same search field when using QWebViewImage
works... And editing in the text field in the pop-up getInteger
dialog works too. All these cases use QGraphicsViewAdapter
under the hood, so why do some work and others don't?
a) osgQtBrowser --useWidgetImage [--fullscreen] (optional)
b) Try to click in the QTextEdit and type, or to select text
and drag-and-drop it somewhere else in the QTextEdit. These
don't work.
c) osgQtBrowser --useWidgetImage --sanityCheck
d) Try the operations in b), they all work.
e) osgQtBrowser --useWidgetImage --useBrowser [--fullscreen]
f) Try to click in the search field and type, it doesn't work.
g) osgQtBrowser
h) Try the operation in f), it works.
2. Operations on floating windows (--numFloatingWindows 1 or more).
Moving by dragging the titlebar, clicking the close button,
resizing them, none of these work. I wonder if it's because the
OS manages those functions (they're functions of the window
decorations) so we need to do something special for that? But
in --sanityCheck mode they work.
a) osgQtBrowser --useWidgetImage --numFloatingWindows 1
[--fullscreen]
b) Try to drag the floating window, click the close button, or
drag its sides to resize it. None of these work.
c) osgQtBrowser --useWidgetImage --numFloatingWindows 1
--sanityCheck
d) Try the operations in b), all they work.
e) osgQtBrowser --useWidgetImage [--fullscreen]
f) Click the button so that the getInteger() dialog is
displayed, then try to move that dialog or close it with the
close button, these don't work.
g) osgQtBrowser --useWidgetImage --sanityCheck
h) Try the operation in f), it works.
3. (Minor) The QGraphicsView's scrollbars don't appear when
using QWidgetImage or QWebViewImage. QGraphicsView is a
QAbstractScrollArea and it should display scrollbars as soon as
the scene is too large to fit the view.
a) osgQtBrowser --useWidgetImage --fullscreen
b) Resize the OSG window so it's smaller than the QTextEdit.
Scrollbars should appear but don't.
c) osgQtBrowser --useWidgetImage --sanityCheck
d) Try the operation in b), scrollbars appear. Even if you have
floating windows (by clicking the button or by adding
--numFloatingWindows 1) and move them outside the view,
scrollbars appear too. You can't test that case in OSG for
now because of problem 2 above, but that's pretty cool.
4. (Minor) In sanity check mode, the widget added to the
QGraphicsView is centered. With QGraphicsViewAdapter, it is not.
a) osgQtBrowser --useWidgetImage [--fullscreen]
b) The QTextEdit and button are not in the center of the image
generated by the QGraphicsViewAdapter.
c) osgQtBrowser --useWidgetImage --sanityCheck
d) The QTextEdit and button are in the center of the
QGraphicsView.
-------------------------------------------------------------------
As you can see I've put specific repro steps there too, so it's clear
what I mean by a given problem. The --sanityCheck mode is useful to see
what should happen in a "normal" Qt app that demonstrates the same
situation, so hopefully we can get to a point where it behaves the same
with --sanityCheck and without."
graphics context and link it with a slave camera. I don't know the
reason we perform like that, which will cause a problem that the
GUIEventHandler may not obtain correct window coordinates because the
main camera will use a default input range to receive events from the
slave camera's graphics context. It is also weird to see the
addSlave() used in non-cluster applications, which beginners will be
confused with.
I've make a slightly modification to the osgviewerMFC example to make
it work without setting slave cameras. I've tested with the MDI
framework and everything seems fine."
bool observer_ptr<>::lock(ref_ptr<T>&) to avoid the temporary ref_ptr<>'s
being created and destroyed on the stack along with the associated ref/unref() operations
The new example, named osgviewerQtContext (because of deriving from GraphicsContext), works fine on Windows XP SP3 and Qt 4.5.0, with 4 widgets in QGridLayout and a popup window and 60Hz frame rate. I haven't tested it on Unix/Linux and Mac OSX yet. So any feedback from these platforms is appreciated. I wish this example be a useful complement to current osgviewerQt and osgviewerQtWidgets ones. :)
Some unfinished functionalities: inheritedWindowData, sharedContext, and more tests needed."
few headers and the osgAnimation sources are also modified to make
everything goes well, including:
A new REGISTER_OBJECT_WRAPPER2 macro to wrap classes like
Skeleton::UpdateSkeleton.
A bug fix in the Seralizer header which avoids setting default values
to objects.
Naming style fixes in osgAnimation headers and sources, also in the
deprecated dotosg wrappers.
A bug fix for the XML support, to write char values correctly.
A small change in the osg::Geometry wrapper to ignore the
InternalGeometry property, which is used by the MorphGeometry and
should not be set by user applications.
The avatar.osg, nathan.osg and robot.osg data files all work fine with
serializers, with some 'unsupported wrapper' warnings when converting.
I'm thinking of removing these warnings by disabling related property
serializers (ComputeBoundingBoxCallback and Drawable::UpdateCallback),
which are seldom recorded by users.
By the way, I still wonder how would we handle the C4121 problem,
discussed some days before. The /Zp compile option is set to 16 in the
attached cmake script file. And is there a better solution now?"
- OsgMacroUtils.cmake, SETUP_LINK_LIBRARIES macro : allow linking with debug/release external libraries
- osgQt/CMakeLists.txt : fix the linking to Qt librairies + linking to debug Qt librairies if found
- examples/ qt examples : linking to debug Qt librairies if found"
It solves the problem on XP and Win7 on Qt 4.5 and 4.62
It isn't necessary on Linux (ubuntu 8.10/9.04 Qt 4.5/4.6.2) but doesn't cause any harm.
But I have #ifdef'ed it with WIN32. I can't test it on 64bit windows (not sure if x64 defines WIN32?)"
Bone now inherit from MatrixTransform. It simplify a lot the update of
Bone matrix. It helps to have the bone system more generic. eg it's now
possible to have animation data with precomputed bind matrix. The other
benefit, is now the collada plugin will be able to use osgAnimation to
display skinned mesh. Michael Plating did a great work to improve this
aspect, he is working on the collada plugin and should be able to submit
a new version soon.
The RigGeometry has been refactored so now it works when you save and
reload RigGeometry because the source is not touched anymore. The
benefit with this update is that it should be now possible to use a
MorphGeometry as source for a RigGeometry.
The bad news is that the format has changed, so i have rebuild osg-data
related to osgAnimation data, updated the blender exporter to export to
the new format.
The fbx plugin could be touched about this commit, i dont compile it so
i can't give more information about it.
The bvh plugin has been updated by Wang rui so this one is fixed with
the new code of osgAnimation.
The examples has been updated to work with the new code too...
The example osg-data/example.osg should be remove, it's an old example
that does not work.
For people using blender the blender exporter up to date is here:
http://hg.plopbyte.net/osgexport2/
it will be merge to http://hg.plopbyte.net/osgexport/ as soon as the
modification will be push in the trunk.
"
Issue:
osgQtBrowser fails to compile because it can not find the QTCore header files
Fix:
Add the QT_QTCORE_INCLUDE_DIR to the CMakeList.txt file
Patch:
...\OpenSceneGraphSVN\examples\osgQtBrowser\CMakeLists.txt
change (line 17): INCLUDE_DIRECTORIES(${QT_INCLUDE_DIR} )
to (line 17): INCLUDE_DIRECTORIES(${QT_INCLUDE_DIR} ${QT_QTCORE_INCLUDE_DIR})
"
examples\osgautocapture\osgautocapture.cpp
-fixed a bug with --active command line option not rendering
-added --pbuffer command line option
-changed very confusing #ifdef 0
-added OSG_GLES GL_RGB readPixels support if available (UNTESTED)"
Currently osg2cpp removes "\n" line endings to replace them with a textual equivalent ("\\n") in order for the string representing the shader to contain line endings in the string. But if the file that was read contained Windows line endings ("\r\n"), the resulting file looked really weird (the \r were left there and editors interpreted that as an additional newline). Also, I can imagine that if the shader file that was read had Mac line endings ("\r") then the output shader would all end up in one long line since there are no "\n"...
What I've done:
I've added a search and replace of "\r\n" to "\n", and then "\r" to "\n" (note that the order is important).
I've also changed the filename handling so that the output file will be put in the same directory as the input file in case it was specified with a path. Previous functionality is retained for files specified with the filename only.""
osgcamera -r 5 --vbo cow.osg
Which repeats construction of the viewer 5 times in a row, and enables VBO, and on each repeat a new model is loaded.
osgcamera -r 2 --vbo --shared cow.osg
Which repeats construction of the viewer 2 times in a row, and enables VBO, and on each loads the model once and shares it between each instance of the viewer.
The texture in data/Images should be copied to osg-data. I created the texture myself with the help of an explosion generator, so no license issues there.
"
functionality and I also modified osgmovie example to support "seek"."
Note from Robert Osfield, changes osgmovie to use '>' for the seek as '+' was already used in a separate submission that had been merged.
- play and pause now stop and play all streams given in the command line
(not only the first)
- add key + - to increase decrease the speed of all streams
- add key o to display all stream frame rate
"
Most notable the __hpux define stuff. The __hpux__ variant seems to be not
defined which resulted in a compile error at this time. Consequently I have
replaced all occurances of __hpux__ with __hpux. And huge surprise: now osg
plugins are found and loaded correctly ...
The next notable one is the MSVC_IDE fix which makes the nmake Makefiles cmake
generator target behave like the ide one. Showed up because I started to do
scripted builds with nmake instead of devenv...
The rest is the usual bunch of stuff that just happens during normal
coding ..."
Added support for automatic aliasing of vertex, normal, color etc. arrays to Vertex Attribute equivelants.
Added new osg::GLBeginEndAdapter class for runtime conversion from glBegin/glEnd codes to vertex arrray equivelants.
Added automatic shader source conversion from gl_ to osg_ builtins.
Selection is now just a typedef of osg::MatrixTransform, and is deprecated
CommandManager is shell class that just sets values directly on Dragger, and is deprecated
Dragger now has list of DraggerCallback that takes over the roll of tracking changes to the Dragger, and
allows users to track the dragger in any way they wish.
Dragger now has a convinience method making MatrixTransforms track a dragger.
Selection and CommandManager are no longer required for use of osgManipulator and are kept around for backwards compatibility.
I believe this is now fixed ... I have attached the new DistanceAccumulator.cpp, along with a modified example file that uses a PositionAttitudeTransform to draw the Earth's orbit around the Sun."
Very simple cases of state configuration are supported (all the ones I really need):
- single per pixel not attenuated non spot light source ON/OFF
- exp2 fog ON/OFF
- diffuse texture in rgb + optional specular gloss in alpha (Texture unit 0) ON/OFF
- normal map texture (Texture unit 1 and Tangent in VertexAttribArray 6) ON/OFF
- blending and alpha testing (not in shader pipeline)
To view fixed function pipeline files and paged databases simply run >osgshadergen myfile.osg"
Added handling of Image::getPixelAspectRatio() in geometry sizing.
Added scaling of the projection matrix to ensure that aspect ratio is honoured with running in fullscreen mode
"Summary of changes:
From Roland
-Added MorphGeometry
-Bone Bindmatrix is only calculated if needed
-osgAnimation plugin now supports all available channel types (before only linear vec3 or quat channels)
-osgAnimation plugin now supports MorphGeometry
-osgAnimation plugin now supports animation and channel weights, animation playmode, duration and starttime
-removed osgAnimationManager.cpp from CMakeList
From Cedric
-fixed the last_update field (it was only updated at the first update) in BasicAnimationManager.cpp
- Refactore some part of MorphGeometry minor changes
- Add osganimationmorph as example
"
DisplaySettings.cpp: OSG_COMPIlE_CONTEXTS -> OSG_COMPILE_CONTEXTS
AnimtkViewer.cpp: is a 3d poker game client -> is an example for viewing
osgAnimation animations"
equivalent to the GLSL shaders sample) that displays the forest with
shaders on Intel 945 GM hardware. This card supports OpenGL 1.4 and
ARB_fragment/vertex_program only.
I would be pleased if this change made it into the official set of
examples, as it illustrates the use of ARB shaders quite nicely. I did
not find any other example covering this topic."
osgAnimation.
- Animation : removed the _name attribute that is never used.
- BasicAnimationManager : fix a crash on Windows with the example
osganimationviewer. The _lastUpdate attribute was not initialized when
using copy constructor.
- CMakeLists.txt : add RigGeometry to the headers list"
LD_LIBRARY_PATH so the XUL libs would be found) I noticed that although
the gecko plugin was found it could not be loaded. But this did not
trigger any visible warning/error message (at least not without INFO
notify level). Would you mind if we change the notify level for a
dlerror() to WARNING? This will also make it more explicit for the case
when a plugin isn't actually found, which seems to come up a lot for
novice users (e.g. no freetype on win32, so no freetype plugin, etc).
Also, the current error message is misleading ("Warning: Could not FIND
plugin to ...") because the it's not always a case of not finding the
plugin. I slightly enhanced the situation of not finding a plugin versus
finding it but not being able to load it.
Here's also a few fixes to some of the examples:
- osgfont: make usage help line more in line with the actual behaviour
- osgcompositeviewer: complain when no model file was provided
- osgmovie: don't include quicktime-dependent feature on Linux
- osgocclussionquery: comment addition (as I was surprised that lines
were being drawn in a function called createRandomTriangles())"
the workaround we discussed for adding/removing views in a composite
viewer at runtime. A dummy view is added to the viewer to always keep
it live.
Also, I added a #define to the Qt event relay methods to not override
them on a Windows system. This fixes the bug where duplicate events
are being sent and making it impossible to throw the trackball."
- The text and dark background rectangles are now correctly placed, and
slightly resized here and there.
- All counters (vertices, etc) now use a fixed formatting with 0 digits
precision, to prevent the text from being shown in scientific notation
when the number get large (e.g. 6.34344e+6). I tested with a scene
containing roughly 4 million vertices, to make sure its stats would
display correctly.
I also made slight changes to osgcompositeviewer (attached) to aid in
testing the stats display, specifically displaying of camera and view
names."
examples/osganimationviewer/AnimtkViewer.cpp:
- add option to display bone (--drawbone)
- dont crash if the file does not contains a AnimationManagerBase, display the content only
examples/osganimationviewer/AnimtkViewerGUI.cpp:
- adjust the path of image for the gui
include/osgAnimation/Interpolator:
- add warn message instead of old assert
include/osgAnimation/Bone:
src/osgAnimation/Skeleton.cpp:
- change a method name to fit better with what it does. setMatrixInSkeletonSpace instead of setBoneInSkeletonSpace
include/osgAnimation/Skinning:
src/osgAnimation/RigGeometry.cpp:
- add patch from Fabien Lavignotte to compute normal correctly
include/osgAnimation/Sampler:
- adjust behviour without assert, return 0 instead of crashing
"
address some OS X issues. Most of these fixes were previously submitted by Julian Scheid. However, this patch however should not break the example for non-OS X builds and has been tested on 64-bit Linux as well as Mac OS X 10.5.
o The value returned by QWidget::winId() is not usable as input for
WindowData under OS X the way it is for both Windows and Unix. Julian's fix
for this uses the Carbon API. Since the fix for X11 in unknown, it is now
assumed that OSG has been built with OSG_WINDOWING_SYSTEM='Carbon' for this
example to work at all when running under OS X.
o The CompositeViewer version would hang on exit with the original timer start
argument. Changing the argument value to match the non-composite version
seemed to cure the hanging.
o Julian's patch altered the setGeometry position to 30/30 in order to see any
window decorations. I did not have this problem, but left his changes intact.
o The non-composite viewer needed it's camera initialization defered until
after the ViewerQOSG's Qt base class had been initialized. Otherwise, the view
did not cover the entire window.
"
* When used PDS RenderStage::runCameraSetUp sets flag that FBO has already stencil,depth buffer attached. Prevents adding next depth buffer.
* Sets correct traits for p-buffer if used PDS and something goes wrong with FBO setup or p-buffer is used directly.
* Adds warning to camera if user add depth/stencil already attached through PDS.
* Sets blitMask when use blit to resolve buffer.
There is also new example with using multisampled FBO."
Example:
osgsidebyside -o cow.dae cow.osg
This example will read cow.osg, write cow.dae, read cow.dae and display cow.osg on the left side and cow.dae on the right side of the view.
Possible interactions:
KEY_UP Speedup DOF animation
KEY_DOWN SlowDown DOF animation
KEY_RIGHT Toggle all MultiSwitches"
" The code below is to show how a heirarchy of objects can be made within a scenegraph.
In other words, how there can be a parent/child relationship between objects such
that when a parent is rotated or translated, the children move is respect to it's
parent movement. A robotic arm is used in this example because this is what I'm
using OSG for."
I have found some errors on the example osgGeometryShaders. It's about the varying in the geometry shader.
take a look at the varying vec4 v_color.
In the vertex shader, v_color is initialized to gl_vertex
then in the geometry shader v_color is initialized to gl_PositionIn[0]
and in the fragment shader v_color is used as the fragment color.
Try to initialized v_color to vec4(1.0, 0.0, 0.0, 1.0) in the vertex shader and comment the line :
" v_color = v;\n" in the geometry shader, and you will see the lines as black !
It's because you have to use keywords in and out.
extract from : http://www.opengl.org/registry/specs/EXT/geometry_shader4.txt :
in - for function parameters passed into a function or for input varying
variables (geometry only)
out - for function parameters passed back out of a function, but not
initialized for use when passed in. Also for output varying variables
(geometry only).
Then for a geometry shader, a varying must be an array :
extract from : http://www.opengl.org/registry/specs/EXT/geometry_shader4.txt :
Since a geometry shader operates on primitives, each input varying variable needs to be
declared as an array. Each element of such an array corresponds to a
vertex of the primitive being processed. If the varying variable is
declared as a scalar or matrix in the vertex shader, it will be a
one-dimensional array in the geometry shader. Each array can optionally
have a size declared. If a size is not specified, it inferred by the
linker and depends on the value of the input primitive type.
Here is a patch based on the svn version of osg that correct that.
"
set.
The optimization is based on the observation that matrix matrix multiplication
with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a
transform, or scale matrix is only 4^2 operations. Which is a gain of a
*FACTOR*4* for these special cases.
The change implements these special cases, provides a unit test for these
implementation and converts uses of the expensiver dense matrix matrix
routine with the specialized versions.
Depending on the transform nodes in the scenegraph this change gives a
noticable improovement.
For example the osgforest code using the MatrixTransform is about 20% slower
than the same codepath using the PositionAttitudeTransform instead of the
MatrixTransform with this patch applied.
If I remember right, the sse type optimizations did *not* provide a factor 4
improovement. Also these changes are totally independent of any cpu or
instruction set architecture. So I would prefer to have this current kind of
change instead of some hand coded and cpu dependent assembly stuff. If we
need that hand tuned stuff, these can go on top of this changes which must
provide than hand optimized additional variants for the specialized versions
to give a even better result in the end.
An other change included here is a change to rotation matrix from quaterion
code. There is a sqrt call which couold be optimized away. Since we divide in
effect by sqrt(length)*sqrt(length) which is just length ...
"
