The original function suffered from unexpected results due to rounding
errors. An error of only 1 or 2 ulps would cause the code to not detect
a singularity at Y rotation +/- PI/2 and take the non-singularity code
path. The replacement code does not suffer from wildly inaccurate
results at the +/- PI/2 singularity. The check in the code for the
singularity isn't strictly needed, but gives more consistent results
At the singularity, the X and Z rotations add. The if check simply
forces the X rotation to be zero so the entirety of the X+Z rotation is
carried by Z.
Additionally, the test code has been updated to include test cases that
caused the old code to fail. The test algorithm is also updated to
perform a more meaningful test. The original code checked if the values
against expected values. This could fail at +/- PI rotations since a
rotation around an axis by PI causes the identical effect as a rotation
by -PI. The new test code checks that the returned angles can be used
to recreate a quaternion that causes the same rotation.
* LongVersion nIni may be causing the test thread death. Pausing OpenSimulator during startup causes a nIni error that makes debugging startup operations difficult for users. It might be because when it's in pause mode, something else reads from the nini config passed? If it is, it might not be fixable.. however, if it's concurrency that causes nini death it would make sense to give each section of the tests a new IConfigSource so that they don't read from the same configsource at the same time.
Changing the names of these methods because they were being picked up by
nunit as tests even though they were marked private. Naming them Check*
after the original Test*.
It seems overloading the method TestllAngleBetween confused nunit a bit
and caused it to try running the private TestllAngleBetween method. The
method's access modified prevented that from happening, and nunit
complained.
* Now, the 144 unit tests takes roughly as long time to run (16s on my laptop) that the 10 long running takes. The database tests takes forever.
* Feel free to run the unit tests as you code, and the rest before commit.
Created nunit test for LSL API and example test for
llAngleBetween which was marked untested in wiki.
Run new test succesfully with NUnitGUI and nant build.
