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Thanks again to Alondria for adding: math support for

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rot * rot, vec / rot, == and != overriders for Rotations and Vectors.
Also: llRotBetween(), llGetRegionTimeDilation(). And fixing:
Error in LSL2CSConverter that botched a variable with a type name in it (ex: rotationCenter)
Fixed: Error in LSL2CSConverter that parsed which() loops incorrectly.
Fixed: Changed definition of Quaternion to <x, y, z, r> from <x, y, z, t> (As per LSL)
Finished: llEuler2Rot()
This commit is contained in:
Charles Krinke
2007-12-15 16:26:32 +00:00
parent 653a41fa03
commit fd360406b9
3 changed files with 181 additions and 63 deletions
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40
OpenSim/Region/ScriptEngine/DotNetEngine/Compiler/Server_API/LSL_BuiltIn_Commands.cs
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@@ -191,19 +191,19 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
public LSL_Types.Vector3 llRot2Euler(LSL_Types.Quaternion r)
{
//This implementation is from http://lslwiki.net/lslwiki/wakka.php?wakka=LibraryRotationFunctions. ckrinke
LSL_Types.Quaternion t = new LSL_Types.Quaternion(r.x*r.x, r.y*r.y, r.z*r.z, r.r*r.r);
double m = (t.x + t.y + t.z + t.r);
LSL_Types.Quaternion t = new LSL_Types.Quaternion(r.x*r.x, r.y*r.y, r.z*r.z, r.s*r.s);
double m = (t.x + t.y + t.z + t.s);
if (m == 0) return new LSL_Types.Vector3();
double n = 2*(r.y*r.r + r.x*r.z);
double n = 2*(r.y*r.s + r.x*r.z);
double p = m*m - n*n;
if (p > 0)
return new LSL_Types.Vector3(Math.Atan2(2.0*(r.x*r.r - r.y*r.z), (-t.x - t.y + t.z + t.r)),
return new LSL_Types.Vector3(Math.Atan2(2.0*(r.x*r.s - r.y*r.z), (-t.x - t.y + t.z + t.s)),
Math.Atan2(n, Math.Sqrt(p)),
Math.Atan2(2.0*(r.z*r.r - r.x*r.y), (t.x - t.y - t.z + t.r)));
Math.Atan2(2.0*(r.z*r.s - r.x*r.y), (t.x - t.y - t.z + t.s)));
else if (n > 0)
return new LSL_Types.Vector3(0.0, Math.PI/2, Math.Atan2((r.z*r.r + r.x*r.y), 0.5 - t.x - t.z));
return new LSL_Types.Vector3(0.0, Math.PI/2, Math.Atan2((r.z*r.s + r.x*r.y), 0.5 - t.x - t.z));
else
return new LSL_Types.Vector3(0.0, -Math.PI/2, Math.Atan2((r.z*r.r + r.x*r.y), 0.5 - t.x - t.z));
return new LSL_Types.Vector3(0.0, -Math.PI/2, Math.Atan2((r.z*r.s + r.x*r.y), 0.5 - t.x - t.z));
}
public LSL_Types.Quaternion llEuler2Rot(LSL_Types.Vector3 v)
@@ -219,6 +219,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
LSL_Types.Quaternion a1 = new LSL_Types.Quaternion(0.0, 0.0, cz, cw);
LSL_Types.Quaternion a2 = new LSL_Types.Quaternion(0.0, by, 0.0, bw);
LSL_Types.Quaternion a3 = new LSL_Types.Quaternion(ax, 0.0, 0.0, aw);
LSL_Types.Quaternion a = (a1 * a2) * a3;
//This multiplication doesnt compile, yet. a = a1 * a2 * a3;
LSL_Types.Quaternion b = new LSL_Types.Quaternion(ax*bw*cw + aw*by*cz,
aw*by*cw - ax*bw*cz, aw*bw*cz + ax*by*cw,
@@ -230,13 +231,14 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
if ((Math.Abs(c.x) > err && Math.Abs(d.x) > err) ||
(Math.Abs(c.y) > err && Math.Abs(d.y) > err) ||
(Math.Abs(c.z) > err && Math.Abs(d.z) > err) ||
(Math.Abs(c.r) > err && Math.Abs(d.r) > err))
(Math.Abs(c.s) > err && Math.Abs(d.s) > err))
{
return b;
//return a new Quaternion that is null until I figure this out
// return b;
// return a;
}
return new LSL_Types.Quaternion();
return a;
}
public LSL_Types.Quaternion llAxes2Rot(LSL_Types.Vector3 fwd, LSL_Types.Vector3 left, LSL_Types.Vector3 up)
@@ -258,12 +260,19 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
{
return new LSL_Types.Vector3();
}
public LSL_Types.Quaternion llRotBetween(LSL_Types.Vector3 start, LSL_Types.Vector3 end)
public LSL_Types.Quaternion llRotBetween(LSL_Types.Vector3 a, LSL_Types.Vector3 b)
{
return new LSL_Types.Quaternion();
}
//A and B should both be normalized
double dotProduct = LSL_Types.Vector3.Dot(a, b);
LSL_Types.Vector3 crossProduct = LSL_Types.Vector3.Cross(a, b);
double magProduct = LSL_Types.Vector3.Mag(a) * LSL_Types.Vector3.Mag(b);
double angle = Math.Acos(dotProduct / magProduct);
LSL_Types.Vector3 axis = LSL_Types.Vector3.Norm(crossProduct);
double s = Math.Sin(angle / 2);
return new LSL_Types.Quaternion(axis.x * s, axis.y * s, axis.z * s, (float)Math.Cos(angle / 2));
}
public void llWhisper(int channelID, string text)
{
World.SimChat(Helpers.StringToField(text),
@@ -629,7 +638,6 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
}
if (face == -1)
{
LLObject.TextureEntryFace texface;
for (int i = 0; i < 32; i++)
{
if (tex.FaceTextures[i] != null)
@@ -729,7 +737,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
public void llSetRot(LSL_Types.Quaternion rot)
{
m_host.UpdateRotation(new LLQuaternion((float) rot.x, (float) rot.y, (float) rot.z, (float) rot.r));
m_host.UpdateRotation(new LLQuaternion((float) rot.x, (float) rot.y, (float) rot.z, (float) rot.s));
}
public LSL_Types.Quaternion llGetRot()
@@ -1778,7 +1786,7 @@ namespace OpenSim.Region.ScriptEngine.DotNetEngine.Compiler
public double llGetRegionTimeDilation()
{
return 1.0f;
return (double)World.TimeDilation;
}
public double llGetRegionFPS()