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Merge branch 'master' of ssh://3dhosting.de/var/git/careminster

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Melanie
2012-01-06 21:37:01 +01:00
parent f1846045a6 11c48ac807
commit de9d6096a5
8 changed files with 516 additions and 51 deletions
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14
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@@ -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)

150
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
@@ -142,30 +159,97 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
public void TestllRot2Euler()
{
// 180, 90 and zero degree rotations.
CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f), new LSL_Types.Vector3(Math.PI, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 1.0f, 0.0f, 0.0f), new LSL_Types.Vector3(Math.PI, 0.0f, Math.PI));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f), new LSL_Types.Vector3(0.0f, 0.0f, Math.PI));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f), new LSL_Types.Vector3(0.0f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f), new LSL_Types.Vector3(0, -Math.PI / 2.0f, Math.PI / 2.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.0f, -0.707107f), new LSL_Types.Vector3(Math.PI / 2.0f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, 0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, -0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
// A couple of messy rotations.
CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f), new LSL_Types.Vector3(0.037818f, 0.166447f, -0.095595f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f), new LSL_Types.Vector3(-1.954769f, -0.174533f, 1.151917f));
CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f));
CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
// Some deliberately malicious rotations (intended on provoking singularity errors)
// The "f" suffexes are deliberately omitted.
CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
// More malice. The "f" suffixes are deliberately omitted.
CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
}
private void CheckllRot2Euler(LSL_Types.Quaternion rot, LSL_Types.Vector3 eulerCheck)
/// <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.
LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
// Check upper and lower bounds of x, y and z.
// This type of check is performed as opposed to comparing for equal numbers, in order to allow slight
// differences in accuracy.
Assert.Greater(eulerCalc.x, eulerCheck.x - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X lower bounds check fail");
Assert.Less(eulerCalc.x, eulerCheck.x + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X upper bounds check fail");
Assert.Greater(eulerCalc.y, eulerCheck.y - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y lower bounds check fail");
Assert.Less(eulerCalc.y, eulerCheck.y + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y upper bounds check fail");
Assert.Greater(eulerCalc.z, eulerCheck.z - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z lower bounds check fail");
Assert.Less(eulerCalc.z, eulerCheck.z + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z upper bounds check fail");
// Now use the euler radians to recalculate a new quaternion rotation
LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
// Multiple original quaternion by conjugate of quaternion calculated with angles.
LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
}
[Test]