ogb912/opensim
1
0
Fork 0
mirror of https://github.com/opensim/opensim.git synced 2026-07-31 13:55:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

cosmetics; remove old unused sop rotation axis ints

Browse Source
This commit is contained in:
UbitUmarov
2024-02-15 18:48:00 +00:00
parent cc3adba92a
commit dd58a3a57c
4 changed files with 119 additions and 170 deletions
Download Patch File Download Diff File Expand all files Collapse all files

196
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@@ -922,62 +922,58 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return VecDist(a, b);
}
//Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke
// Utility function for llRot2Euler
public LSL_Vector llRot2Euler(LSL_Rotation q1)
{
LSL_Vector eul = new();
double sqw = q1.s * q1.s;
double sqx = q1.x * q1.x;
double sqy = q1.z * q1.z;
double sqz = q1.y * q1.y;
double norm = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
double halfnorm = 0.49999 * norm;
double sqw = q1.s*q1.s;
double sqx = q1.x*q1.x;
double sqy = q1.z*q1.z;
double sqz = q1.y*q1.y;
double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
double test = q1.x*q1.z + q1.y*q1.s;
if (test > 0.4999*unit) { // singularity at north pole
eul.z = 2 * Math.Atan2(q1.x,q1.s);
eul.y = Math.PI/2;
eul.x = 0;
return eul;
double test = q1.x * q1.z + q1.y * q1.s;
if (test > halfnorm) // singularity at north pole
{
return new LSL_Vector(
0,
Math.PI / 2,
2 * Math.Atan2(q1.x, q1.s)
);
}
if (test < -0.4999*unit) { // singularity at south pole
eul.z = -2 * Math.Atan2(q1.x,q1.s);
eul.y = -Math.PI/2;
eul.x = 0;
return eul;
if (test < -halfnorm) // singularity at south pole
{
return new LSL_Vector(
0,
-Math.PI / 2,
-2 * Math.Atan2(q1.x, q1.s)
);
}
eul.z = Math.Atan2(2*q1.z*q1.s-2*q1.x*q1.y , sqx - sqy - sqz + sqw);
eul.y = Math.Asin(2*test/unit);
eul.x = Math.Atan2(2*q1.x*q1.s-2*q1.z*q1.y , -sqx + sqy - sqz + sqw);
return eul;
return new LSL_Vector(
Math.Atan2(2 * q1.x * q1.s - 2 * q1.z * q1.y , -sqx + sqy - sqz + sqw),
Math.Asin( 2 * test / norm),
Math.Atan2(2 * q1.z * q1.s - 2 * q1.x * q1.y, sqx - sqy - sqz + sqw)
);
}
public LSL_Rotation llEuler2Rot(LSL_Vector v)
{
double a = v.x * 0.5;
double s1 = Math.Sin(a);
double c1 = Math.Cos(a);
a = v.y * 0.5;
double s2 = Math.Sin(a);
double c2 = Math.Cos(a);
a = v.z * 0.5;
double s3 = Math.Sin(a);
double c3 = Math.Cos(a);
double x,y,z,s;
v.x *= 0.5;
v.y *= 0.5;
v.z *= 0.5;
double c1 = Math.Cos(v.x);
double c2 = Math.Cos(v.y);
double c1c2 = c1 * c2;
double s1 = Math.Sin(v.x);
double s2 = Math.Sin(v.y);
double s1s2 = s1 * s2;
double c1s2 = c1 * s2;
double s1c2 = s1 * c2;
double c3 = Math.Cos(v.z);
double s3 = Math.Sin(v.z);
x = s1c2 * c3 + c1s2 * s3;
y = c1s2 * c3 - s1c2 * s3;
z = s1s2 * c3 + c1c2 * s3;
s = c1c2 * c3 - s1s2 * s3;
return new LSL_Rotation(x, y, z, s);
return new LSL_Rotation(
s1 * c2 * c3 + c1 * s2 * s3,
c1 * s2 * c3 - s1 * c2 * s3,
s1 * s2 * c3 + c1 * c2 * s3,
c1 * c2 * c3 - s1 * s2 * s3
);
}
public LSL_Rotation llAxes2Rot(LSL_Vector fwd, LSL_Vector left, LSL_Vector up)
@@ -1036,12 +1032,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
public LSL_Vector llRot2Fwd(LSL_Rotation r)
{
double x, y, z, m;
m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
// m is always greater than zero
// if m is not equal to 1 then Rotation needs to be normalized
double m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
if (Math.Abs(1.0 - m) > 0.000001)
{
m = 1.0 / Math.Sqrt(m);
@@ -1051,21 +1042,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
r.s *= m;
}
// Fast Algebric Calculations instead of Vectors & Quaternions Product
x = r.x * r.x - r.y * r.y - r.z * r.z + r.s * r.s;
y = 2 * (r.x * r.y + r.z * r.s);
z = 2 * (r.x * r.z - r.y * r.s);
return (new LSL_Vector(x, y, z));
return new LSL_Vector(
r.x * r.x - r.y * r.y - r.z * r.z + r.s * r.s,
2 * (r.x * r.y + r.z * r.s),
2 * (r.x * r.z - r.y * r.s)
);
}
public LSL_Vector llRot2Left(LSL_Rotation r)
{
double x, y, z, m;
m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
// m is always greater than zero
// if m is not equal to 1 then Rotation needs to be normalized
double m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision
{
m = 1.0 / Math.Sqrt(m);
@@ -1075,20 +1061,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
r.s *= m;
}
// Fast Algebric Calculations instead of Vectors & Quaternions Product
x = 2 * (r.x * r.y - r.z * r.s);
y = -r.x * r.x + r.y * r.y - r.z * r.z + r.s * r.s;
z = 2 * (r.x * r.s + r.y * r.z);
return (new LSL_Vector(x, y, z));
return new LSL_Vector(
2 * (r.x * r.y - r.z * r.s),
-r.x * r.x + r.y * r.y - r.z * r.z + r.s * r.s,
2 * (r.x * r.s + r.y * r.z)
);
}
public LSL_Vector llRot2Up(LSL_Rotation r)
{
double x, y, z, m;
m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
// m is always greater than zero
// if m is not equal to 1 then Rotation needs to be normalized
double m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s;
if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision
{
m = 1.0 / Math.Sqrt(m);
@@ -1098,11 +1080,11 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
r.s *= m;
}
// Fast Algebric Calculations instead of Vectors & Quaternions Product
x = 2 * (r.x * r.z + r.y * r.s);
y = 2 * (-r.x * r.s + r.y * r.z);
z = -r.x * r.x - r.y * r.y + r.z * r.z + r.s * r.s;
return (new LSL_Vector(x, y, z));
return new LSL_Vector(
2 * (r.x * r.z + r.y * r.s),
2 * (-r.x * r.s + r.y * r.z),
-r.x * r.x - r.y * r.y + r.z * r.z + r.s * r.s
);
}
public LSL_Rotation llRotBetween(LSL_Vector a, LSL_Vector b)
@@ -1514,7 +1496,30 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
if (m_host is null || m_host.ParentGroup is null || m_host.ParentGroup.IsDeleted)
return;
int statusrotationaxis = 0;
if ((status & ScriptBaseClass.STATUS_CAST_SHADOWS) != 0)
m_host.AddFlag(PrimFlags.CastShadows);
if ((status & ScriptBaseClass.STATUS_BLOCK_GRAB) != 0)
m_host.BlockGrab = value != 0;
if ((status & ScriptBaseClass.STATUS_BLOCK_GRAB_OBJECT) != 0)
m_host.ParentGroup.BlockGrabOverride = value != 0;
if ((status & ScriptBaseClass.STATUS_DIE_AT_EDGE) != 0)
m_host.SetDieAtEdge(value != 0);
if ((status & ScriptBaseClass.STATUS_RETURN_AT_EDGE) != 0)
m_host.SetReturnAtEdge(value != 0);
if ((status & ScriptBaseClass.STATUS_SANDBOX) != 0)
m_host.SetStatusSandbox(value != 0);
int statusrotationaxis = status & (ScriptBaseClass.STATUS_ROTATE_X | ScriptBaseClass.STATUS_ROTATE_Y | ScriptBaseClass.STATUS_ROTATE_Z);
if (statusrotationaxis != 0)
m_host.ParentGroup.SetAxisRotation(statusrotationaxis, value);
if ((status & ScriptBaseClass.STATUS_PHANTOM) != 0)
m_host.ParentGroup.ScriptSetPhantomStatus(value != 0);
if ((status & ScriptBaseClass.STATUS_PHYSICS) != 0)
{
@@ -1557,39 +1562,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
m_host.ScriptSetPhysicsStatus(false);
}
}
if ((status & ScriptBaseClass.STATUS_PHANTOM) != 0)
m_host.ParentGroup.ScriptSetPhantomStatus(value != 0);
if ((status & ScriptBaseClass.STATUS_CAST_SHADOWS) != 0)
m_host.AddFlag(PrimFlags.CastShadows);
if ((status & ScriptBaseClass.STATUS_ROTATE_X) != 0)
statusrotationaxis |= ScriptBaseClass.STATUS_ROTATE_X;
if ((status & ScriptBaseClass.STATUS_ROTATE_Y) !=0)
statusrotationaxis |= ScriptBaseClass.STATUS_ROTATE_Y;
if ((status & ScriptBaseClass.STATUS_ROTATE_Z) != 0)
statusrotationaxis |= ScriptBaseClass.STATUS_ROTATE_Z;
if ((status & ScriptBaseClass.STATUS_BLOCK_GRAB) != 0)
m_host.BlockGrab = value != 0;
if ((status & ScriptBaseClass.STATUS_BLOCK_GRAB_OBJECT) != 0)
m_host.ParentGroup.BlockGrabOverride = value != 0;
if ((status & ScriptBaseClass.STATUS_DIE_AT_EDGE) != 0)
m_host.SetDieAtEdge(value != 0);
if ((status & ScriptBaseClass.STATUS_RETURN_AT_EDGE) != 0)
m_host.SetReturnAtEdge(value != 0);
if ((status & ScriptBaseClass.STATUS_SANDBOX) != 0)
m_host.SetStatusSandbox(value != 0);
if (statusrotationaxis != 0)
m_host.SetAxisRotation(statusrotationaxis, value);
}
private bool IsPhysical()