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280 lines
15 KiB
C#
280 lines
15 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System.Collections.Generic;
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using NUnit.Framework;
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using OpenSim.Framework;
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using OpenSim.Tests.Common;
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using OpenSim.Region.ScriptEngine.Shared;
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using OpenSim.Region.Framework.Scenes;
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using Nini.Config;
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using OpenSim.Region.ScriptEngine.Shared.Api;
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using OpenSim.Region.ScriptEngine.Shared.Instance;
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using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
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using OpenMetaverse;
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using System;
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namespace OpenSim.Region.ScriptEngine.Shared.Tests
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{
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/// <summary>
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/// Tests for LSL_Api
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/// </summary>
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[TestFixture, LongRunning]
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public class LSL_ApiTest
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{
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private const double VECTOR_COMPONENT_ACCURACY = 0.0000005d;
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private const double ANGLE_ACCURACY_IN_RADIANS = 1E-6;
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private LSL_Api m_lslApi;
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[SetUp]
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public void SetUp()
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{
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IConfigSource initConfigSource = new IniConfigSource();
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IConfig config = initConfigSource.AddConfig("XEngine");
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config.Set("Enabled", "true");
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Scene scene = new SceneHelpers().SetupScene();
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SceneObjectPart part = SceneHelpers.AddSceneObject(scene).RootPart;
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XEngine.XEngine engine = new XEngine.XEngine();
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engine.Initialise(initConfigSource);
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engine.AddRegion(scene);
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m_lslApi = new LSL_Api();
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m_lslApi.Initialize(engine, part, null, null);
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}
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[Test]
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public void TestllAngleBetween()
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{
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TestHelpers.InMethod();
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CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1, 1);
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CheckllAngleBetween(new Vector3(1, 0, 0), 90, 1, 1);
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CheckllAngleBetween(new Vector3(1, 0, 0), 180, 1, 1);
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CheckllAngleBetween(new Vector3(0, 1, 0), 0, 1, 1);
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CheckllAngleBetween(new Vector3(0, 1, 0), 90, 1, 1);
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CheckllAngleBetween(new Vector3(0, 1, 0), 180, 1, 1);
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CheckllAngleBetween(new Vector3(0, 0, 1), 0, 1, 1);
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CheckllAngleBetween(new Vector3(0, 0, 1), 90, 1, 1);
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CheckllAngleBetween(new Vector3(0, 0, 1), 180, 1, 1);
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CheckllAngleBetween(new Vector3(1, 1, 1), 0, 1, 1);
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CheckllAngleBetween(new Vector3(1, 1, 1), 90, 1, 1);
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CheckllAngleBetween(new Vector3(1, 1, 1), 180, 1, 1);
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CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1.6f, 1.8f);
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CheckllAngleBetween(new Vector3(1, 0, 0), 90, 0.3f, 3.9f);
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CheckllAngleBetween(new Vector3(1, 0, 0), 180, 8.8f, 7.4f);
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CheckllAngleBetween(new Vector3(0, 1, 0), 0, 9.8f, -9.4f);
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CheckllAngleBetween(new Vector3(0, 1, 0), 90, 8.4f, -8.2f);
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CheckllAngleBetween(new Vector3(0, 1, 0), 180, 0.4f, -5.8f);
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CheckllAngleBetween(new Vector3(0, 0, 1), 0, -6.8f, 3.4f);
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CheckllAngleBetween(new Vector3(0, 0, 1), 90, -3.6f, 5.6f);
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CheckllAngleBetween(new Vector3(0, 0, 1), 180, -3.8f, 1.1f);
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CheckllAngleBetween(new Vector3(1, 1, 1), 0, -7.7f, -2.0f);
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CheckllAngleBetween(new Vector3(1, 1, 1), 90, -3.0f, -9.1f);
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CheckllAngleBetween(new Vector3(1, 1, 1), 180, -7.9f, -8.0f);
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}
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private void CheckllAngleBetween(Vector3 axis,float originalAngle, float denorm1, float denorm2)
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{
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Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0);
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Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle));
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rotation1 *= denorm1;
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rotation2 *= denorm2;
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double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1)));
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Assert.That(deducedAngle, Is.EqualTo(ToRadians(originalAngle)).Within(ANGLE_ACCURACY_IN_RADIANS), "TestllAngleBetween check fail");
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}
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#region Conversions to and from LSL_Types
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private float ToRadians(double degrees)
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{
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return (float)(Math.PI * degrees / 180);
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}
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// private double FromRadians(float radians)
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// {
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// return radians * 180 / Math.PI;
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// }
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private double FromLslFloat(LSL_Types.LSLFloat lslFloat)
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{
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return lslFloat.value;
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}
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// private LSL_Types.LSLFloat ToLslFloat(double value)
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// {
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// return new LSL_Types.LSLFloat(value);
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// }
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// private Quaternion FromLslQuaternion(LSL_Types.Quaternion lslQuaternion)
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// {
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// return new Quaternion((float)lslQuaternion.x, (float)lslQuaternion.y, (float)lslQuaternion.z, (float)lslQuaternion.s);
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// }
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private LSL_Types.Quaternion ToLslQuaternion(Quaternion quaternion)
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{
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return new LSL_Types.Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
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}
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#endregion
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[Test]
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// llRot2Euler test.
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public void TestllRot2Euler()
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{
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TestHelpers.InMethod();
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// 180, 90 and zero degree rotations.
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, 0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, -0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
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// A couple of messy rotations.
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CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
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// Some deliberately malicious rotations (intended on provoking singularity errors)
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// The "f" suffexes are deliberately omitted.
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CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
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// More malice. The "f" suffixes are deliberately omitted.
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
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CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
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CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
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}
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/// <summary>
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/// Check an llRot2Euler conversion.
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/// </summary>
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/// <remarks>
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/// Testing Rot2Euler this way instead of comparing against expected angles because
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/// 1. There are several ways to get to the original Quaternion. For example a rotation
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/// of PI and -PI will give the same result. But PI and -PI aren't equal.
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/// 2. This method checks to see if the calculated angles from a quaternion can be used
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/// to create a new quaternion to produce the same rotation.
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/// However, can't compare the newly calculated quaternion against the original because
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/// once again, there are multiple quaternions that give the same result. For instance
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/// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
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/// and will still result in the same rotation if the values for X, Y, Z are also changed
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/// to compensate.
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/// However, if two quaternions represent the same rotation, then multiplying the first
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/// quaternion by the conjugate of the second, will give a third quaternion representing
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/// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
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/// be zero.
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/// </remarks>
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/// <param name="rot"></param>
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private void CheckllRot2Euler(LSL_Types.Quaternion rot)
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{
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// Call LSL function to convert quaternion rotaion to euler radians.
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LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
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// Now use the euler radians to recalculate a new quaternion rotation
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LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
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// Multiple original quaternion by conjugate of quaternion calculated with angles.
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LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
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Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
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Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
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Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
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}
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[Test]
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public void TestllVecNorm()
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{
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TestHelpers.InMethod();
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// Check special case for normalizing zero vector.
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CheckllVecNorm(new LSL_Types.Vector3(0.0d, 0.0d, 0.0d), new LSL_Types.Vector3(0.0d, 0.0d, 0.0d));
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// Check various vectors.
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CheckllVecNorm(new LSL_Types.Vector3(10.0d, 25.0d, 0.0d), new LSL_Types.Vector3(0.371391d, 0.928477d, 0.0d));
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CheckllVecNorm(new LSL_Types.Vector3(1.0d, 0.0d, 0.0d), new LSL_Types.Vector3(1.0d, 0.0d, 0.0d));
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CheckllVecNorm(new LSL_Types.Vector3(-90.0d, 55.0d, 2.0d), new LSL_Types.Vector3(-0.853128d, 0.521356d, 0.018958d));
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CheckllVecNorm(new LSL_Types.Vector3(255.0d, 255.0d, 255.0d), new LSL_Types.Vector3(0.577350d, 0.577350d, 0.577350d));
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}
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public void CheckllVecNorm(LSL_Types.Vector3 vec, LSL_Types.Vector3 vecNormCheck)
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{
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// Call LSL function to normalize the vector.
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LSL_Types.Vector3 vecNorm = m_lslApi.llVecNorm(vec);
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// Check each vector component against expected result.
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Assert.AreEqual(vecNorm.x, vecNormCheck.x, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on x component");
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Assert.AreEqual(vecNorm.y, vecNormCheck.y, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on y component");
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Assert.AreEqual(vecNorm.z, vecNormCheck.z, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on z component");
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}
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}
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}
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