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Fix bugs in llRot2Euler() 

Applies patch in http://opensimulator.org/mantis/view.php?id=4482.
Thanks Micheil Merlin!
0.7-release
Justin Clark-Casey (justincc) 2010-07-17 00:26:26 +01:00 committed by Diva Canto
parent 02019abf22
commit 4a898fdf8d
1 changed files with 7 additions and 21 deletions
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28
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
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@ -465,22 +465,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
//Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke
// Utility function for llRot2Euler
// normalize an angle between -PI and PI (-180 to +180 degrees)
protected double NormalizeAngle(double angle)
{
if (angle > -Math.PI && angle < Math.PI)
return angle;
int numPis = (int)(Math.PI / angle);
double remainder = angle - Math.PI * numPis;
if (numPis % 2 == 1)
return Math.PI - angle;
return remainder;
}
// Old implementation of llRot2Euler, now normalized
// Old implementation of llRot2Euler. Normalization not required as Atan2 function will
// only return values >= -PI (-180 degrees) and <= PI (180 degrees).
public LSL_Vector llRot2Euler(LSL_Rotation r)
{
@ -492,13 +478,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
double n = 2 * (r.y * r.s + r.x * r.z);
double p = m * m - n * n;
if (p > 0)
return new LSL_Vector(NormalizeAngle(Math.Atan2(2.0 * (r.x * r.s - r.y * r.z), (-t.x - t.y + t.z + t.s))),
NormalizeAngle(Math.Atan2(n, Math.Sqrt(p))),
NormalizeAngle(Math.Atan2(2.0 * (r.z * r.s - r.x * r.y), (t.x - t.y - t.z + t.s))));
return new LSL_Vector(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.s - r.x * r.y), (t.x - t.y - t.z + t.s)));
else if (n > 0)
return new LSL_Vector(0.0, Math.PI * 0.5, NormalizeAngle(Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z)));
return new LSL_Vector(0.0, Math.PI * 0.5, Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z));
else
return new LSL_Vector(0.0, -Math.PI * 0.5, NormalizeAngle(Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z)));
return new LSL_Vector(0.0, -Math.PI * 0.5, Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z));
}
/* From wiki: