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-rw-r--r--OpenSim/Region/ClientStack/Linden/Caps/FetchInventory2Module.cs151
-rw-r--r--OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs14
-rw-r--r--OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs156
3 files changed, 280 insertions, 41 deletions
diff --git a/OpenSim/Region/ClientStack/Linden/Caps/FetchInventory2Module.cs b/OpenSim/Region/ClientStack/Linden/Caps/FetchInventory2Module.cs
new file mode 100644
index 0000000..14501c7
--- /dev/null
+++ b/OpenSim/Region/ClientStack/Linden/Caps/FetchInventory2Module.cs
@@ -0,0 +1,151 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections;
30using System.Reflection;
31using log4net;
32using Nini.Config;
33using Mono.Addins;
34using OpenMetaverse;
35using OpenSim.Framework;
36using OpenSim.Framework.Servers.HttpServer;
37using OpenSim.Region.Framework.Interfaces;
38using OpenSim.Region.Framework.Scenes;
39using OpenSim.Services.Interfaces;
40using Caps = OpenSim.Framework.Capabilities.Caps;
41using OpenSim.Capabilities.Handlers;
42
43namespace OpenSim.Region.ClientStack.Linden
44{
45 /// <summary>
46 /// This module implements both WebFetchInventoryDescendents and FetchInventoryDescendents2 capabilities.
47 /// </summary>
48 [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
49 public class FetchInventory2Module : INonSharedRegionModule
50 {
51// private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
52
53 public bool Enabled { get; private set; }
54
55 private Scene m_scene;
56
57 private IInventoryService m_inventoryService;
58
59 private string m_fetchInventory2Url;
60
61 private FetchInventory2Handler m_fetchHandler;
62
63 #region ISharedRegionModule Members
64
65 public void Initialise(IConfigSource source)
66 {
67 IConfig config = source.Configs["ClientStack.LindenCaps"];
68 if (config == null)
69 return;
70
71 m_fetchInventory2Url = config.GetString("Cap_FetchInventory2", string.Empty);
72
73 if (m_fetchInventory2Url != string.Empty)
74 Enabled = true;
75 }
76
77 public void AddRegion(Scene s)
78 {
79 if (!Enabled)
80 return;
81
82 m_scene = s;
83 }
84
85 public void RemoveRegion(Scene s)
86 {
87 if (!Enabled)
88 return;
89
90 m_scene.EventManager.OnRegisterCaps -= RegisterCaps;
91 m_scene = null;
92 }
93
94 public void RegionLoaded(Scene s)
95 {
96 if (!Enabled)
97 return;
98
99 m_inventoryService = m_scene.InventoryService;
100
101 // We'll reuse the same handler for all requests.
102 if (m_fetchInventory2Url == "localhost")
103 m_fetchHandler = new FetchInventory2Handler(m_inventoryService);
104
105 m_scene.EventManager.OnRegisterCaps += RegisterCaps;
106 }
107
108 public void PostInitialise() {}
109
110 public void Close() {}
111
112 public string Name { get { return "FetchInventory2Module"; } }
113
114 public Type ReplaceableInterface
115 {
116 get { return null; }
117 }
118
119 #endregion
120
121 private void RegisterCaps(UUID agentID, Caps caps)
122 {
123 RegisterFetchCap(agentID, caps, "FetchInventory2", m_fetchInventory2Url);
124 }
125
126 private void RegisterFetchCap(UUID agentID, Caps caps, string capName, string url)
127 {
128 string capUrl;
129
130 if (url == "localhost")
131 {
132 capUrl = "/CAPS/" + UUID.Random();
133
134 IRequestHandler reqHandler
135 = new RestStreamHandler("POST", capUrl, m_fetchHandler.FetchInventoryRequest);
136
137 caps.RegisterHandler(capName, reqHandler);
138 }
139 else
140 {
141 capUrl = url;
142
143 caps.RegisterHandler(capName, capUrl);
144 }
145
146// m_log.DebugFormat(
147// "[FETCH INVENTORY2 MODULE]: Registered capability {0} at {1} in region {2} for {3}",
148// capName, capUrl, m_scene.RegionInfo.RegionName, agentID);
149 }
150 }
151}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 3bc8750..466e540 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -5096,15 +5096,19 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
5096 return (double)Math.Asin(val); 5096 return (double)Math.Asin(val);
5097 } 5097 }
5098 5098
5099 // Xantor 30/apr/2008 5099 // jcochran 5/jan/2012
5100 public LSL_Float llAngleBetween(LSL_Rotation a, LSL_Rotation b) 5100 public LSL_Float llAngleBetween(LSL_Rotation a, LSL_Rotation b)
5101 { 5101 {
5102 m_host.AddScriptLPS(1); 5102 m_host.AddScriptLPS(1);
5103 5103
5104 double angle = Math.Acos(a.x * b.x + a.y * b.y + a.z * b.z + a.s * b.s) * 2; 5104 double aa = (a.x * a.x + a.y * a.y + a.z * a.z + a.s * a.s);
5105 if (angle < 0) angle = -angle; 5105 double bb = (b.x * b.x + b.y * b.y + b.z * b.z + b.s * b.s);
5106 if (angle > Math.PI) return (Math.PI * 2 - angle); 5106 double aa_bb = aa * bb;
5107 return angle; 5107 if (aa_bb == 0) return 0.0;
5108 double ab = (a.x * b.x + a.y * b.y + a.z * b.z + a.s * b.s);
5109 double quotient = (ab * ab) / aa_bb;
5110 if (quotient >= 1.0) return 0.0;
5111 return Math.Acos(2 * quotient - 1);
5108 } 5112 }
5109 5113
5110 public LSL_String llGetInventoryKey(string name) 5114 public LSL_String llGetInventoryKey(string name)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
index 0cbad41..3baa723 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Tests/LSL_ApiTest.cs
@@ -75,32 +75,49 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
75 [Test] 75 [Test]
76 public void TestllAngleBetween() 76 public void TestllAngleBetween()
77 { 77 {
78 CheckllAngleBetween(new Vector3(1, 0, 0), 0); 78 CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1, 1);
79 CheckllAngleBetween(new Vector3(1, 0, 0), 90); 79 CheckllAngleBetween(new Vector3(1, 0, 0), 90, 1, 1);
80 CheckllAngleBetween(new Vector3(1, 0, 0), 180); 80 CheckllAngleBetween(new Vector3(1, 0, 0), 180, 1, 1);
81 81
82 CheckllAngleBetween(new Vector3(0, 1, 0), 0); 82 CheckllAngleBetween(new Vector3(0, 1, 0), 0, 1, 1);
83 CheckllAngleBetween(new Vector3(0, 1, 0), 90); 83 CheckllAngleBetween(new Vector3(0, 1, 0), 90, 1, 1);
84 CheckllAngleBetween(new Vector3(0, 1, 0), 180); 84 CheckllAngleBetween(new Vector3(0, 1, 0), 180, 1, 1);
85 85
86 CheckllAngleBetween(new Vector3(0, 0, 1), 0); 86 CheckllAngleBetween(new Vector3(0, 0, 1), 0, 1, 1);
87 CheckllAngleBetween(new Vector3(0, 0, 1), 90); 87 CheckllAngleBetween(new Vector3(0, 0, 1), 90, 1, 1);
88 CheckllAngleBetween(new Vector3(0, 0, 1), 180); 88 CheckllAngleBetween(new Vector3(0, 0, 1), 180, 1, 1);
89 89
90 CheckllAngleBetween(new Vector3(1, 1, 1), 0); 90 CheckllAngleBetween(new Vector3(1, 1, 1), 0, 1, 1);
91 CheckllAngleBetween(new Vector3(1, 1, 1), 90); 91 CheckllAngleBetween(new Vector3(1, 1, 1), 90, 1, 1);
92 CheckllAngleBetween(new Vector3(1, 1, 1), 180); 92 CheckllAngleBetween(new Vector3(1, 1, 1), 180, 1, 1);
93
94 CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1.6f, 1.8f);
95 CheckllAngleBetween(new Vector3(1, 0, 0), 90, 0.3f, 3.9f);
96 CheckllAngleBetween(new Vector3(1, 0, 0), 180, 8.8f, 7.4f);
97
98 CheckllAngleBetween(new Vector3(0, 1, 0), 0, 9.8f, -9.4f);
99 CheckllAngleBetween(new Vector3(0, 1, 0), 90, 8.4f, -8.2f);
100 CheckllAngleBetween(new Vector3(0, 1, 0), 180, 0.4f, -5.8f);
101
102 CheckllAngleBetween(new Vector3(0, 0, 1), 0, -6.8f, 3.4f);
103 CheckllAngleBetween(new Vector3(0, 0, 1), 90, -3.6f, 5.6f);
104 CheckllAngleBetween(new Vector3(0, 0, 1), 180, -3.8f, 1.1f);
105
106 CheckllAngleBetween(new Vector3(1, 1, 1), 0, -7.7f, -2.0f);
107 CheckllAngleBetween(new Vector3(1, 1, 1), 90, -3.0f, -9.1f);
108 CheckllAngleBetween(new Vector3(1, 1, 1), 180, -7.9f, -8.0f);
93 } 109 }
94 110
95 private void CheckllAngleBetween(Vector3 axis,float originalAngle) 111 private void CheckllAngleBetween(Vector3 axis,float originalAngle, float denorm1, float denorm2)
96 { 112 {
97 Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0); 113 Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0);
98 Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle)); 114 Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle));
115 rotation1 *= denorm1;
116 rotation2 *= denorm2;
99 117
100 double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1))); 118 double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1)));
101 119
102 Assert.Greater(deducedAngle, ToRadians(originalAngle) - ANGLE_ACCURACY_IN_RADIANS); 120 Assert.That(deducedAngle, Is.EqualTo(ToRadians(originalAngle)).Within(ANGLE_ACCURACY_IN_RADIANS), "TestllAngleBetween check fail");
103 Assert.Less(deducedAngle, ToRadians(originalAngle) + ANGLE_ACCURACY_IN_RADIANS);
104 } 121 }
105 122
106 #region Conversions to and from LSL_Types 123 #region Conversions to and from LSL_Types
@@ -142,30 +159,97 @@ namespace OpenSim.Region.ScriptEngine.Shared.Tests
142 public void TestllRot2Euler() 159 public void TestllRot2Euler()
143 { 160 {
144 // 180, 90 and zero degree rotations. 161 // 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)); 162 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)); 163 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)); 164 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)); 165 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)); 166 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)); 167 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
168 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
169 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
170 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
171 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
172 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
173 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
174 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
175 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
176 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
177 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
178 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
179 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
180 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
181 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
182 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
183 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
184 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
185 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
186
151 // A couple of messy rotations. 187 // 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)); 188 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)); 189 CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
190
191 // Some deliberately malicious rotations (intended on provoking singularity errors)
192 // The "f" suffexes are deliberately omitted.
193 CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
194 // More malice. The "f" suffixes are deliberately omitted.
195 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
196 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
197 CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
198 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
199 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
200 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
201 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
202 CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
203 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
204 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
205 CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
206 CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
207 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
208 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
209 CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
210 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
211 CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
212 CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
213 CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
214 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
215 CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
216 CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
217 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
218 CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
154 } 219 }
155 220
156 private void CheckllRot2Euler(LSL_Types.Quaternion rot, LSL_Types.Vector3 eulerCheck) 221 /// <summary>
222 /// Check an llRot2Euler conversion.
223 /// </summary>
224 /// <remarks>
225 /// Testing Rot2Euler this way instead of comparing against expected angles because
226 /// 1. There are several ways to get to the original Quaternion. For example a rotation
227 /// of PI and -PI will give the same result. But PI and -PI aren't equal.
228 /// 2. This method checks to see if the calculated angles from a quaternion can be used
229 /// to create a new quaternion to produce the same rotation.
230 /// However, can't compare the newly calculated quaternion against the original because
231 /// once again, there are multiple quaternions that give the same result. For instance
232 /// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
233 /// and will still result in the same rotation if the values for X, Y, Z are also changed
234 /// to compensate.
235 /// However, if two quaternions represent the same rotation, then multiplying the first
236 /// quaternion by the conjugate of the second, will give a third quaternion representing
237 /// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
238 /// be zero.
239 /// </remarks>
240 /// <param name="rot"></param>
241 private void CheckllRot2Euler(LSL_Types.Quaternion rot)
157 { 242 {
158 // Call LSL function to convert quaternion rotaion to euler radians. 243 // Call LSL function to convert quaternion rotaion to euler radians.
159 LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot); 244 LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
160 // Check upper and lower bounds of x, y and z. 245 // 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 246 LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
162 // differences in accuracy. 247 // 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"); 248 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"); 249
165 Assert.Greater(eulerCalc.y, eulerCheck.y - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y lower bounds check fail"); 250 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"); 251 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"); 252 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 } 253 }
170 254
171 [Test] 255 [Test]