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* Applying Xantor's patch 0001089 - Added llRot2Angle, llRot2Axis,llAxisAngle2Rot. Re-implemented llRot2Euler, llEuler2Rot

0.6.0-stable
Teravus Ovares 2008-04-29 13:40:58 +00:00
parent 80ea0b94b9
commit 2ae933a88b
4 changed files with 175 additions and 9 deletions
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1
CONTRIBUTORS.txt
View File

@ -53,6 +53,7 @@ Patches
* lulurun
* Melanie Thielker
* John R Sohn(XenReborn)
* Xantor
LSL Devs

4
OpenSim/Region/ScriptEngine/Common/BuiltIn_Commands_BaseClass.cs
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@ -1044,9 +1044,9 @@ namespace OpenSim.Region.ScriptEngine.Common
return m_LSL_Functions.llRot2Axis(rot);
}
public void llRot2Angle()
public double llRot2Angle(LSL_Types.Quaternion rot)
{
m_LSL_Functions.llRot2Angle();
return m_LSL_Functions.llRot2Angle(rot);
}
public double llAcos(double val)

176
OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs
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@ -283,6 +283,41 @@ namespace OpenSim.Region.ScriptEngine.Common
}
//Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke
// Xantor's new llRot2Euler
public LSL_Types.Vector3 llRot2Euler(LSL_Types.Quaternion r)
{
m_host.AddScriptLPS(1);
double x, y, z;
double sqw = r.s*r.s;
double sqx = r.x*r.x;
double sqy = r.y*r.y;
double sqz = r.z*r.z;
double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
double test = r.x*r.y + r.z*r.s;
if (test > 0.499 * unit) // singularity at north pole
{
x = 0;
y = 2 * Math.Atan2(r.x, r.s);
z = Math.PI/2;
return new LSL_Types.Vector3(x, y, z);
}
if (test < -0.499 * unit) // singularity at south pole
{
x = 0;
y = -2 * Math.Atan2(r.x,r.s);
z = -Math.PI/2;
return new LSL_Types.Vector3(x, y, z);
}
x = Math.Atan2(2 * r.x * r.s - 2 * r.y * r.z, -sqx + sqy - sqz + sqw);
y = Math.Atan2(2*r.y*r.s-2*r.x*r.z , sqx - sqy - sqz + sqw);
z = Math.Asin(2*test/unit);
return new LSL_Types.Vector3(x, y, z);
}
// Old implementation of llRot2Euler
/*
public LSL_Types.Vector3 llRot2Euler(LSL_Types.Quaternion r)
{
m_host.AddScriptLPS(1);
@ -301,7 +336,42 @@ namespace OpenSim.Region.ScriptEngine.Common
else
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));
}
*/
// Xantor's new llEuler2Rot()
/* From wiki:
The Euler angle vector (in radians) is converted to a rotation by doing the rotations around the 3 axes
in Z, Y, X order. So llEuler2Rot(<1.0, 2.0, 3.0> * DEG_TO_RAD) generates a rotation by taking the zero rotation,
a vector pointing along the X axis, first rotating it 3 degrees around the global Z axis, then rotating the resulting
vector 2 degrees around the global Y axis, and finally rotating that 1 degree around the global X axis.
*/
public LSL_Types.Quaternion llEuler2Rot(LSL_Types.Vector3 v)
{
m_host.AddScriptLPS(1);
double x,y,z,s;
double c1 = Math.Cos(v.y / 2);
double s1 = Math.Sin(v.y / 2 );
double c2 = Math.Cos(v.z / 2 );
double s2 = Math.Sin(v.z / 2 );
double c3 = Math.Cos(v.x / 2 );
double s3 = Math.Sin(v.x / 2 );
double c1c2 = c1 * c2;
double s1s2 = s1 * s2;
s = c1c2 * c3 - s1s2 * s3;
x = c1c2 * s3 + s1s2 * c3;
y = s1 * c2 * c3 + c1 * s2 * s3;
z = c1 * s2 * c3 - s1 * c2 * s3;
return new LSL_Types.Quaternion(x, y, z, s);
}
/*
// Old implementation
public LSL_Types.Quaternion llEuler2Rot(LSL_Types.Vector3 v)
{
m_host.AddScriptLPS(1);
@ -338,6 +408,9 @@ namespace OpenSim.Region.ScriptEngine.Common
return a;
}
*/
public LSL_Types.Quaternion llAxes2Rot(LSL_Types.Vector3 fwd, LSL_Types.Vector3 left, LSL_Types.Vector3 up)
{
m_host.AddScriptLPS(1);
@ -2721,24 +2794,115 @@ namespace OpenSim.Region.ScriptEngine.Common
return 0;
}
/* The new / changed functions were tested with the following LSL script:
default
{
state_entry()
{
rotation rot = llEuler2Rot(<0,70,0> * DEG_TO_RAD);
llOwnerSay("to get here, we rotate over: "+ (string) llRot2Axis(rot) );
llOwnerSay("and we rotate for: "+ (llRot2Angle(rot) * RAD_TO_DEG));
// convert back and forth between quaternion <-> vector and angle
rotation newrot = llAxisAngle2Rot(llRot2Axis(rot),llRot2Angle(rot));
llOwnerSay("Old rotation was: "+(string) rot);
llOwnerSay("re-converted rotation is: "+(string) newrot);
llSetRot(rot); // to check the parameters in the prim
}
}
*/
// Xantor 29/apr/2008
// Returns rotation described by rotating angle radians about axis.
// q = cos(a/2) + i ( x * sin(a/2)) + j (y * sin(a/2)) + k ( z * sin(a/2))
public LSL_Types.Quaternion llAxisAngle2Rot(LSL_Types.Vector3 axis, double angle)
{
m_host.AddScriptLPS(1);
NotImplemented("llAxisAngle2Rot");
return new LSL_Types.Quaternion();
double x, y, z, s, t;
s = Math.Cos(angle / 2);
t = Math.Sin(angle / 2); // temp value to avoid 2 more sin() calcs
x = axis.x * t;
y = axis.y * t;
z = axis.z * t;
return new LSL_Types.Quaternion(x,y,z,s);
// NotImplemented("llAxisAngle2Rot");
}
// Xantor 29/apr/2008
// converts a Quaternion to X,Y,Z axis rotations
public LSL_Types.Vector3 llRot2Axis(LSL_Types.Quaternion rot)
{
m_host.AddScriptLPS(1);
NotImplemented("llRot2Axis");
return new LSL_Types.Vector3();
double x,y,z;
if (rot.s > 1) // normalization needed
{
double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y +
rot.z * rot.z + rot.s * rot.s);
rot.x /= length;
rot.y /= length;
rot.z /= length;
rot.s /= length;
}
public void llRot2Angle()
double angle = 2 * Math.Acos(rot.s);
double s = Math.Sqrt(1 - rot.s * rot.s);
if (s < 0.001)
{
x = 1;
y = z = 0;
}
else
{
x = rot.x / s; // normalise axis
y = rot.y / s;
z = rot.z / s;
}
return new LSL_Types.Vector3(x,y,z);
// NotImplemented("llRot2Axis");
}
// Returns the angle of a quaternion (see llRot2Axis for the axis)
public double llRot2Angle(LSL_Types.Quaternion rot)
{
m_host.AddScriptLPS(1);
NotImplemented("llRot2Angle");
if (rot.s > 1) // normalization needed
{
double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y +
rot.z * rot.z + rot.s * rot.s);
rot.x /= length;
rot.y /= length;
rot.z /= length;
rot.s /= length;
}
double angle = 2 * Math.Acos(rot.s);
return angle;
// NotImplemented("llRot2Angle");
}
public double llAcos(double val)

3
OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs
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@ -323,7 +323,8 @@ namespace OpenSim.Region.ScriptEngine.Common
LSL_Types.Quaternion llAxisAngle2Rot(LSL_Types.Vector3 axis, double angle);
//wiki: vector llRot2Axis(rotation rot)
LSL_Types.Vector3 llRot2Axis(LSL_Types.Quaternion rot);
void llRot2Angle();
//wiki: double llRot2Angle(rotation rot);
double llRot2Angle(LSL_Types.Quaternion rot);
//wiki: double llAcos(double val)
double llAcos(double val);
//wiki: double llAsin(double val)