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Thank you very much, mjm for : 

Fixing LSL multiplication and division operators for quaternions
0.6.0-stable
Charles Krinke 2008-05-16 00:56:55 +00:00
parent fbac37ad8c
commit e25818d832
1 changed files with 9 additions and 14 deletions
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23
OpenSim/Region/ScriptEngine/Common/LSL_Types.cs
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@ -211,21 +211,16 @@ namespace OpenSim.Region.ScriptEngine.Common
Quaternion vq = new Quaternion(v.x, v.y, v.z, 0); Quaternion vq = new Quaternion(v.x, v.y, v.z, 0);
Quaternion nq = new Quaternion(-r.x, -r.y, -r.z, r.s); Quaternion nq = new Quaternion(-r.x, -r.y, -r.z, r.s);
Quaternion result = (r * vq) * nq; // adapted for operator * computing "b * a"
Quaternion result = nq * (vq * r);
return new Vector3(result.x, result.y, result.z); return new Vector3(result.x, result.y, result.z);
} }
// I *think* this is how it works.... public static Vector3 operator /(Vector3 v, Quaternion r)
public static Vector3 operator /(Vector3 vec, Quaternion quat)
{ {
quat.s = -quat.s; r.s = -r.s;
Quaternion vq = new Quaternion(vec.x, vec.y, vec.z, 0); return v * r;
Quaternion nq = new Quaternion(-quat.x, -quat.y, -quat.z, quat.s);
Quaternion result = (quat * vq) * nq;
return new Vector3(result.x, result.y, result.z);
} }
#endregion #endregion
@ -371,9 +366,8 @@ namespace OpenSim.Region.ScriptEngine.Common
public static Quaternion operator /(Quaternion a, Quaternion b) public static Quaternion operator /(Quaternion a, Quaternion b)
{ {
Quaternion c = a * b; b.s = -b.s;
c.s = c.s * -1; return a * b;
return c;
} }
public static Quaternion operator -(Quaternion a, Quaternion b) public static Quaternion operator -(Quaternion a, Quaternion b)
@ -381,7 +375,8 @@ namespace OpenSim.Region.ScriptEngine.Common
return new Quaternion(a.x - b.x, a.y - b.y, a.z - b.z, a.s - b.s); return new Quaternion(a.x - b.x, a.y - b.y, a.z - b.z, a.s - b.s);
} }
public static Quaternion operator *(Quaternion a, Quaternion b) // using the equations below, we need to do "b * a" to be compatible with LSL
public static Quaternion operator *(Quaternion b, Quaternion a)
{ {
Quaternion c; Quaternion c;
c.x = a.s * b.x + a.x * b.s + a.y * b.z - a.z * b.y; c.x = a.s * b.x + a.x * b.s + a.y * b.z - a.z * b.y;