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Merge branch 'master' into careminster

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Conflicts:
	OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
	OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
This commit is contained in:
Melanie
2012-01-06 21:41:36 +00:00
parent e9b9eb6a4c 9bab43b4d1
commit 11c48ac807
8 changed files with 451 additions and 47 deletions
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14
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
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@@ -5096,15 +5096,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return (double)Math.Asin(val);
}
// Xantor 30/apr/2008
// jcochran 5/jan/2012
public LSL_Float llAngleBetween(LSL_Rotation a, LSL_Rotation b)
{
m_host.AddScriptLPS(1);
double angle = Math.Acos(a.x * b.x + a.y * b.y + a.z * b.z + a.s * b.s) * 2;
if (angle < 0) angle = -angle;
if (angle > Math.PI) return (Math.PI * 2 - angle);
return angle;
double aa = (a.x * a.x + a.y * a.y + a.z * a.z + a.s * a.s);
double bb = (b.x * b.x + b.y * b.y + b.z * b.z + b.s * b.s);
double aa_bb = aa * bb;
if (aa_bb == 0) return 0.0;
double ab = (a.x * b.x + a.y * b.y + a.z * b.z + a.s * b.s);
double quotient = (ab * ab) / aa_bb;
if (quotient >= 1.0) return 0.0;
return Math.Acos(2 * quotient - 1);
}
public LSL_String llGetInventoryKey(string name)

81
OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
View File

@@ -75,32 +75,49 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
[Test]
public void TestllAngleBetween()
{
CheckllAngleBetween(new Vector3(1, 0, 0), 0);
CheckllAngleBetween(new Vector3(1, 0, 0), 90);
CheckllAngleBetween(new Vector3(1, 0, 0), 180);
CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1, 1);
CheckllAngleBetween(new Vector3(1, 0, 0), 90, 1, 1);
CheckllAngleBetween(new Vector3(1, 0, 0), 180, 1, 1);
CheckllAngleBetween(new Vector3(0, 1, 0), 0);
CheckllAngleBetween(new Vector3(0, 1, 0), 90);
CheckllAngleBetween(new Vector3(0, 1, 0), 180);
CheckllAngleBetween(new Vector3(0, 1, 0), 0, 1, 1);
CheckllAngleBetween(new Vector3(0, 1, 0), 90, 1, 1);
CheckllAngleBetween(new Vector3(0, 1, 0), 180, 1, 1);
CheckllAngleBetween(new Vector3(0, 0, 1), 0);
CheckllAngleBetween(new Vector3(0, 0, 1), 90);
CheckllAngleBetween(new Vector3(0, 0, 1), 180);
CheckllAngleBetween(new Vector3(0, 0, 1), 0, 1, 1);
CheckllAngleBetween(new Vector3(0, 0, 1), 90, 1, 1);
CheckllAngleBetween(new Vector3(0, 0, 1), 180, 1, 1);
CheckllAngleBetween(new Vector3(1, 1, 1), 0);
CheckllAngleBetween(new Vector3(1, 1, 1), 90);
CheckllAngleBetween(new Vector3(1, 1, 1), 180);
CheckllAngleBetween(new Vector3(1, 1, 1), 0, 1, 1);
CheckllAngleBetween(new Vector3(1, 1, 1), 90, 1, 1);
CheckllAngleBetween(new Vector3(1, 1, 1), 180, 1, 1);
CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1.6f, 1.8f);
CheckllAngleBetween(new Vector3(1, 0, 0), 90, 0.3f, 3.9f);
CheckllAngleBetween(new Vector3(1, 0, 0), 180, 8.8f, 7.4f);
CheckllAngleBetween(new Vector3(0, 1, 0), 0, 9.8f, -9.4f);
CheckllAngleBetween(new Vector3(0, 1, 0), 90, 8.4f, -8.2f);
CheckllAngleBetween(new Vector3(0, 1, 0), 180, 0.4f, -5.8f);
CheckllAngleBetween(new Vector3(0, 0, 1), 0, -6.8f, 3.4f);
CheckllAngleBetween(new Vector3(0, 0, 1), 90, -3.6f, 5.6f);
CheckllAngleBetween(new Vector3(0, 0, 1), 180, -3.8f, 1.1f);
CheckllAngleBetween(new Vector3(1, 1, 1), 0, -7.7f, -2.0f);
CheckllAngleBetween(new Vector3(1, 1, 1), 90, -3.0f, -9.1f);
CheckllAngleBetween(new Vector3(1, 1, 1), 180, -7.9f, -8.0f);
}
private void CheckllAngleBetween(Vector3 axis,float originalAngle)
private void CheckllAngleBetween(Vector3 axis,float originalAngle, float denorm1, float denorm2)
{
Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0);
Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle));
rotation1 *= denorm1;
rotation2 *= denorm2;
double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1)));
Assert.Greater(deducedAngle, ToRadians(originalAngle) - ANGLE_ACCURACY_IN_RADIANS);
Assert.Less(deducedAngle, ToRadians(originalAngle) + ANGLE_ACCURACY_IN_RADIANS);
Assert.That(deducedAngle, Is.EqualTo(ToRadians(originalAngle)).Within(ANGLE_ACCURACY_IN_RADIANS), "TestllAngleBetween check fail");
}
#region Conversions to and from LSL_Types
@@ -201,20 +218,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
}
// Testing Rot2Euler this way instead of comparing against expected angles because
// 1. There are several ways to get to the original Quaternion. For example a rotation
// of PI and -PI will give the same result. But PI and -PI aren't equal.
// 2. This method checks to see if the calculated angles from a quaternion can be used
// to create a new quaternion to produce the same rotation.
// However, can't compare the newly calculated quaternion against the original because
// once again, there are multiple quaternions that give the same result. For instance
// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
// and will still result in the same rotation if the values for X, Y, Z are also changed
// to compensate.
// However, if two quaternions represent the same rotation, then multiplying the first
// quaternion by the conjugate of the second, will give a third quaternion representing
// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
// be zero.
/// <summary>
/// Check an llRot2Euler conversion.
/// </summary>
/// <remarks>
/// Testing Rot2Euler this way instead of comparing against expected angles because
/// 1. There are several ways to get to the original Quaternion. For example a rotation
/// of PI and -PI will give the same result. But PI and -PI aren't equal.
/// 2. This method checks to see if the calculated angles from a quaternion can be used
/// to create a new quaternion to produce the same rotation.
/// However, can't compare the newly calculated quaternion against the original because
/// once again, there are multiple quaternions that give the same result. For instance
/// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
/// and will still result in the same rotation if the values for X, Y, Z are also changed
/// to compensate.
/// However, if two quaternions represent the same rotation, then multiplying the first
/// quaternion by the conjugate of the second, will give a third quaternion representing
/// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
/// be zero.
/// </remarks>
/// <param name="rot"></param>
private void CheckllRot2Euler(LSL_Types.Quaternion rot)
{
// Call LSL function to convert quaternion rotaion to euler radians.