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-rw-r--r--OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs97
1 files changed, 79 insertions, 18 deletions
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
index 0cbad41..7594691 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
@@ -142,30 +142,91 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
142 public void TestllRot2Euler() 142 public void TestllRot2Euler()
143 { 143 {
144 // 180, 90 and zero degree rotations. 144 // 180, 90 and zero degree rotations.
145 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f), new LSL_Types.Vector3(Math.PI, 0.0f, 0.0f)); 145 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f));
146 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 1.0f, 0.0f, 0.0f), new LSL_Types.Vector3(Math.PI, 0.0f, Math.PI)); 146 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, 0.707107f));
147 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f), new LSL_Types.Vector3(0.0f, 0.0f, Math.PI)); 147 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f));
148 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f), new LSL_Types.Vector3(0.0f, 0.0f, 0.0f)); 148 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, -0.707107f));
149 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f), new LSL_Types.Vector3(0, -Math.PI / 2.0f, Math.PI / 2.0f)); 149 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f));
150 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.0f, -0.707107f), new LSL_Types.Vector3(Math.PI / 2.0f, 0.0f, 0.0f)); 150 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
151 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
152 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
153 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
154 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
155 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
156 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
157 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
158 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
159 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
160 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
161 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
162 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
163 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
164 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
165 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
166 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
167 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
168 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
169
151 // A couple of messy rotations. 170 // A couple of messy rotations.
152 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f), new LSL_Types.Vector3(0.037818f, 0.166447f, -0.095595f)); 171 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f));
153 CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f), new LSL_Types.Vector3(-1.954769f, -0.174533f, 1.151917f)); 172 CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
173
174 // Some deliberately malicious rotations (intended on provoking singularity errors)
175 // The "f" suffexes are deliberately omitted.
176 CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
177 // More malice. The "f" suffixes are deliberately omitted.
178 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
179 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
180 CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
181 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
182 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
183 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
184 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
185 CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
186 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
187 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
188 CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
189 CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
190 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
191 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
192 CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
193 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
194 CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
195 CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
196 CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
197 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
198 CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
199 CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
200 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
201 CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
154 } 202 }
155 203
156 private void CheckllRot2Euler(LSL_Types.Quaternion rot, LSL_Types.Vector3 eulerCheck) 204 // Testing Rot2Euler this way instead of comparing against expected angles because
205 // 1. There are several ways to get to the original Quaternion. For example a rotation
206 // of PI and -PI will give the same result. But PI and -PI aren't equal.
207 // 2. This method checks to see if the calculated angles from a quaternion can be used
208 // to create a new quaternion to produce the same rotation.
209 // However, can't compare the newly calculated quaternion against the original because
210 // once again, there are multiple quaternions that give the same result. For instance
211 // <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
212 // and will still result in the same rotation if the values for X, Y, Z are also changed
213 // to compensate.
214 // However, if two quaternions represent the same rotation, then multiplying the first
215 // quaternion by the conjugate of the second, will give a third quaternion representing
216 // a zero rotation. This can be tested for by looking at the X, Y, Z values which should
217 // be zero.
218 private void CheckllRot2Euler(LSL_Types.Quaternion rot)
157 { 219 {
158 // Call LSL function to convert quaternion rotaion to euler radians. 220 // Call LSL function to convert quaternion rotaion to euler radians.
159 LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot); 221 LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
160 // Check upper and lower bounds of x, y and z. 222 // Now use the euler radians to recalculate a new quaternion rotation
161 // This type of check is performed as opposed to comparing for equal numbers, in order to allow slight 223 LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
162 // differences in accuracy. 224 // Multiple original quaternion by conjugate of quaternion calculated with angles.
163 Assert.Greater(eulerCalc.x, eulerCheck.x - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X lower bounds check fail"); 225 LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
164 Assert.Less(eulerCalc.x, eulerCheck.x + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X upper bounds check fail"); 226
165 Assert.Greater(eulerCalc.y, eulerCheck.y - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y lower bounds check fail"); 227 Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
166 Assert.Less(eulerCalc.y, eulerCheck.y + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y upper bounds check fail"); 228 Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
167 Assert.Greater(eulerCalc.z, eulerCheck.z - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z lower bounds check fail"); 229 Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
168 Assert.Less(eulerCalc.z, eulerCheck.z + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z upper bounds check fail");
169 } 230 }
170 231
171 [Test] 232 [Test]