some lsl cleanup
UbitUmarov
parent
8c74e47557
commit
d1df9c9ee5
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@ -917,51 +917,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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return eul;
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return eul;
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}
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}
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/* From wiki:
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The Euler angle vector (in radians) is converted to a rotation by doing the rotations around the 3 axes
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in Z, Y, X order. So llEuler2Rot(<1.0, 2.0, 3.0> * DEG_TO_RAD) generates a rotation by taking the zero rotation,
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a vector pointing along the X axis, first rotating it 3 degrees around the global Z axis, then rotating the resulting
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vector 2 degrees around the global Y axis, and finally rotating that 1 degree around the global X axis.
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*/
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/* How we arrived at this llEuler2Rot
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*
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* Experiment in SL to determine conventions:
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* llEuler2Rot(<PI,0,0>)=<1,0,0,0>
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* llEuler2Rot(<0,PI,0>)=<0,1,0,0>
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* llEuler2Rot(<0,0,PI>)=<0,0,1,0>
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*
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* Important facts about Quaternions
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* - multiplication is non-commutative (a*b != b*a)
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* - http://en.wikipedia.org/wiki/Quaternion#Basis_multiplication
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*
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* Above SL experiment gives (c1,c2,c3,s1,s2,s3 as defined in our llEuler2Rot):
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* Qx = c1+i*s1
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* Qy = c2+j*s2;
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* Qz = c3+k*s3;
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*
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* Rotations applied in order (from above) Z, Y, X
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* Q = (Qz * Qy) * Qx
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* ((c1+i*s1)*(c2+j*s2))*(c3+k*s3)
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* (c1*c2+i*s1*c2+j*c1*s2+ij*s1*s2)*(c3+k*s3)
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* (c1*c2+i*s1*c2+j*c1*s2+k*s1*s2)*(c3+k*s3)
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* c1*c2*c3+i*s1*c2*c3+j*c1*s2*c3+k*s1*s2*c3+k*c1*c2*s3+ik*s1*c2*s3+jk*c1*s2*s3+kk*s1*s2*s3
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* c1*c2*c3+i*s1*c2*c3+j*c1*s2*c3+k*s1*s2*c3+k*c1*c2*s3 -j*s1*c2*s3 +i*c1*s2*s3 -s1*s2*s3
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* regroup: x=i*(s1*c2*c3+c1*s2*s3)
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* y=j*(c1*s2*c3-s1*c2*s3)
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* z=k*(s1*s2*c3+c1*c2*s3)
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* s= c1*c2*c3-s1*s2*s3
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*
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* This implementation agrees with the functions found here:
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* http://lslwiki.net/lslwiki/wakka.php?wakka=LibraryRotationFunctions
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* And with the results in SL.
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*
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* It's also possible to calculate llEuler2Rot by direct multiplication of
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* the Qz, Qy, and Qx vectors (as above - and done in the "accurate" function
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* from the wiki).
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* Apparently in some cases this is better from a numerical precision perspective?
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*/
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public LSL_Rotation llEuler2Rot(LSL_Vector v)
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public LSL_Rotation llEuler2Rot(LSL_Vector v)
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{
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{
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m_host.AddScriptLPS(1);
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m_host.AddScriptLPS(1);
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@ -1122,48 +1077,26 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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{
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{
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//A and B should both be normalized
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//A and B should both be normalized
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m_host.AddScriptLPS(1);
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m_host.AddScriptLPS(1);
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/* This method is more accurate than the SL one, and thus causes problems
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for scripts that deal with the SL inaccuracy around 180-degrees -.- .._.
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double dotProduct = LSL_Vector.Dot(a, b);
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LSL_Vector crossProduct = LSL_Vector.Cross(a, b);
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double magProduct = LSL_Vector.Mag(a) * LSL_Vector.Mag(b);
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double angle = Math.Acos(dotProduct / magProduct);
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LSL_Vector axis = LSL_Vector.Norm(crossProduct);
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double s = Math.Sin(angle / 2);
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double x = axis.x * s;
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double y = axis.y * s;
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double z = axis.z * s;
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double w = Math.Cos(angle / 2);
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if (Double.IsNaN(x) || Double.IsNaN(y) || Double.IsNaN(z) || Double.IsNaN(w))
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return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
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return new LSL_Rotation((float)x, (float)y, (float)z, (float)w);
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*/
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// This method mimics the 180 errors found in SL
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// This method mimics the 180 errors found in SL
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// See www.euclideanspace.com... angleBetween
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// See www.euclideanspace.com... angleBetween
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LSL_Vector vec_a = a;
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LSL_Vector vec_b = b;
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// Eliminate zero length
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// Eliminate zero length
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LSL_Float vec_a_mag = LSL_Vector.Mag(vec_a);
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LSL_Float vec_a_mag = LSL_Vector.MagSquare(a);
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LSL_Float vec_b_mag = LSL_Vector.Mag(vec_b);
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LSL_Float vec_b_mag = LSL_Vector.MagSquare(b);
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if (vec_a_mag < 0.00001 ||
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if (vec_a_mag < 1e-12 ||
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vec_b_mag < 0.00001)
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vec_b_mag < 1e-12)
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{
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{
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return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
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return new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f);
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}
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}
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// Normalize
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// Normalize
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vec_a = llVecNorm(vec_a);
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a = llVecNorm(a);
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vec_b = llVecNorm(vec_b);
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b = llVecNorm(b);
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// Calculate axis and rotation angle
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// Calculate axis and rotation angle
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LSL_Vector axis = vec_a % vec_b;
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LSL_Vector axis = a % b;
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LSL_Float cos_theta = vec_a * vec_b;
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LSL_Float cos_theta = a * b;
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// Check if parallel
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// Check if parallel
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if (cos_theta > 0.99999)
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if (cos_theta > 0.99999)
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@ -1174,8 +1107,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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// Check if anti-parallel
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// Check if anti-parallel
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else if (cos_theta < -0.99999)
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else if (cos_theta < -0.99999)
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{
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{
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LSL_Vector orthog_axis = new LSL_Vector(1.0, 0.0, 0.0) - (vec_a.x / (vec_a * vec_a) * vec_a);
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LSL_Vector orthog_axis = new LSL_Vector(1.0, 0.0, 0.0) - (a.x / (a * a) * a);
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if (LSL_Vector.Mag(orthog_axis) < 0.000001) orthog_axis = new LSL_Vector(0.0, 0.0, 1.0);
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if (LSL_Vector.MagSquare(orthog_axis) < 1e-12)
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orthog_axis = new LSL_Vector(0.0, 0.0, 1.0);
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return new LSL_Rotation((float)orthog_axis.x, (float)orthog_axis.y, (float)orthog_axis.z, 0.0);
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return new LSL_Rotation((float)orthog_axis.x, (float)orthog_axis.y, (float)orthog_axis.z, 0.0);
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}
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}
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else // other rotation
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else // other rotation
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@ -11199,10 +11133,9 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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/// http://lslwiki.net/lslwiki/wakka.php?wakka=llGetBoundingBox
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/// http://lslwiki.net/lslwiki/wakka.php?wakka=llGetBoundingBox
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/// Returns local bounding box of avatar without attachments
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/// Returns local bounding box of avatar without attachments
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/// if target is non-seated avatar or prim/mesh in avatar attachment.
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/// if target is non-seated avatar or prim/mesh in avatar attachment.
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/// Returns local bounding box of object including seated avatars
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/// Returns local bounding box of object
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/// if target is seated avatar or prim/mesh in object.
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/// if target is seated avatar or prim/mesh in object.
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/// Uses meshing of prims for high accuracy
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/// Uses less accurate box models for speed.
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/// or less accurate box models for speed.
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/// </summary>
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/// </summary>
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public LSL_List llGetBoundingBox(string obj)
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public LSL_List llGetBoundingBox(string obj)
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{
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{
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@ -13482,6 +13415,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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public void llSetPayPrice(int price, LSL_List quick_pay_buttons)
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public void llSetPayPrice(int price, LSL_List quick_pay_buttons)
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{
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{
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m_host.AddScriptLPS(1);
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m_host.AddScriptLPS(1);
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if(m_host.LocalId != m_host.ParentGroup.RootPart.LocalId)
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return;
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if (quick_pay_buttons.Data.Length < 4)
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if (quick_pay_buttons.Data.Length < 4)
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{
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{
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