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author | Dahlia Trimble | 2008-07-21 09:36:22 +0000 |
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committer | Dahlia Trimble | 2008-07-21 09:36:22 +0000 |
commit | ce90e2ecce1426cfcb991848d5214a53833e9f8e (patch) | |
tree | 00735d38e8ce085ea1a36f41405372421dcac98a /OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs | |
parent | does some verification of the quaternion returned by llAxes2Rot and modifies ... (diff) | |
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some optimizations in quaternion normalization in llRot2Fwd, llRot2Left, and llRot2Up. llAxes2Rot now uses these functions for sign error correction instead of vector*quat products.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs | 87 |
1 files changed, 50 insertions, 37 deletions
diff --git a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs index bea805e..68e7425 100644 --- a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs +++ b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs | |||
@@ -456,72 +456,84 @@ namespace OpenSim.Region.ScriptEngine.Common | |||
456 | LSL_Types.Quaternion result = new LSL_Types.Quaternion(x, y, z, s); | 456 | LSL_Types.Quaternion result = new LSL_Types.Quaternion(x, y, z, s); |
457 | 457 | ||
458 | // a hack to correct a few questionable angles :( | 458 | // a hack to correct a few questionable angles :( |
459 | LSL_Types.Vector3 fwdTest = new LSL_Types.Vector3(1, 0, 0); | 459 | if (llVecDist(llRot2Fwd(result), fwd) > 0.001 || llVecDist(llRot2Left(result), left) > 0.001) |
460 | LSL_Types.Vector3 leftTest = new LSL_Types.Vector3(0, 1, 0); | ||
461 | if (llVecDist(fwdTest * result, fwd) > 0.001 || llVecDist(leftTest * result, left) > 0.001) | ||
462 | result.s = -s; | 460 | result.s = -s; |
463 | 461 | ||
464 | return result; | 462 | return result; |
465 | } | 463 | } |
466 | 464 | ||
467 | public LSL_Types.Vector3 llRot2Fwd(LSL_Types.Quaternion r) | 465 | public LSL_Types.Vector3 llRot2Fwd(LSL_Types.Quaternion r) |
468 | { | 466 | { |
469 | m_host.AddScriptLPS(1); | 467 | m_host.AddScriptLPS(1); |
470 | double x,y,z,m; | 468 | |
471 | m = Math.Sqrt(r.x*r.x+r.y*r.y+r.z*r.z+r.s*r.s); | 469 | double x, y, z, m; |
470 | |||
471 | m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s; | ||
472 | // m is always greater than zero | 472 | // m is always greater than zero |
473 | if (m!=1) // if m is not equal to 1 then Rotation needs to be normalized | 473 | // if m is not equal to 1 then Rotation needs to be normalized |
474 | if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision | ||
474 | { | 475 | { |
475 | r.x/=m; | 476 | m = 1.0 / Math.Sqrt(m); |
476 | r.y/=m; | 477 | r.x *= m; |
477 | r.z/=m; | 478 | r.y *= m; |
478 | r.s/=m; | 479 | r.z *= m; |
480 | r.s *= m; | ||
479 | } | 481 | } |
482 | |||
480 | // Fast Algebric Calculations instead of Vectors & Quaternions Product | 483 | // Fast Algebric Calculations instead of Vectors & Quaternions Product |
481 | x = r.x*r.x-r.y*r.y-r.z*r.z+r.s*r.s; | 484 | x = r.x * r.x - r.y * r.y - r.z * r.z + r.s * r.s; |
482 | y = 2*(r.x*r.y+r.z*r.s); | 485 | y = 2 * (r.x * r.y + r.z * r.s); |
483 | z = 2*(r.x*r.z-r.y*r.s); | 486 | z = 2 * (r.x * r.z - r.y * r.s); |
484 | return (new LSL_Types.Vector3(x,y,z)); | 487 | return (new LSL_Types.Vector3(x, y, z)); |
485 | } | 488 | } |
486 | 489 | ||
487 | public LSL_Types.Vector3 llRot2Left(LSL_Types.Quaternion r) | 490 | public LSL_Types.Vector3 llRot2Left(LSL_Types.Quaternion r) |
488 | { | 491 | { |
489 | m_host.AddScriptLPS(1); | 492 | m_host.AddScriptLPS(1); |
490 | double x,y,z,m; | 493 | |
491 | m = Math.Sqrt(r.x*r.x+r.y*r.y+r.z*r.z+r.s*r.s); | 494 | double x, y, z, m; |
495 | |||
496 | m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s; | ||
492 | // m is always greater than zero | 497 | // m is always greater than zero |
493 | if (m!=1) // if m is not equal to 1 then Rotation needs to be normalized | 498 | // if m is not equal to 1 then Rotation needs to be normalized |
499 | if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision | ||
494 | { | 500 | { |
495 | r.x/=m; | 501 | m = 1.0 / Math.Sqrt(m); |
496 | r.y/=m; | 502 | r.x *= m; |
497 | r.z/=m; | 503 | r.y *= m; |
498 | r.s/=m; | 504 | r.z *= m; |
505 | r.s *= m; | ||
499 | } | 506 | } |
507 | |||
500 | // Fast Algebric Calculations instead of Vectors & Quaternions Product | 508 | // Fast Algebric Calculations instead of Vectors & Quaternions Product |
501 | x = 2*(r.x*r.y-r.z*r.s); | 509 | x = 2 * (r.x * r.y - r.z * r.s); |
502 | y = -r.x*r.x+r.y*r.y-r.z*r.z+r.s*r.s; | 510 | y = -r.x * r.x + r.y * r.y - r.z * r.z + r.s * r.s; |
503 | z = 2*(r.x*r.s+r.y*r.z); | 511 | z = 2 * (r.x * r.s + r.y * r.z); |
504 | return (new LSL_Types.Vector3(x,y,z)); | 512 | return (new LSL_Types.Vector3(x, y, z)); |
505 | } | 513 | } |
506 | 514 | ||
507 | public LSL_Types.Vector3 llRot2Up(LSL_Types.Quaternion r) | 515 | public LSL_Types.Vector3 llRot2Up(LSL_Types.Quaternion r) |
508 | { | 516 | { |
509 | m_host.AddScriptLPS(1); | 517 | m_host.AddScriptLPS(1); |
510 | double x,y,z,m; | 518 | double x, y, z, m; |
511 | m = Math.Sqrt(r.x*r.x+r.y*r.y+r.z*r.z+r.s*r.s); | 519 | |
520 | m = r.x * r.x + r.y * r.y + r.z * r.z + r.s * r.s; | ||
512 | // m is always greater than zero | 521 | // m is always greater than zero |
513 | if (m!=1) // if m is not equal to 1 then Rotation needs to be normalized | 522 | // if m is not equal to 1 then Rotation needs to be normalized |
523 | if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision | ||
514 | { | 524 | { |
515 | r.x/=m; | 525 | m = 1.0 / Math.Sqrt(m); |
516 | r.y/=m; | 526 | r.x *= m; |
517 | r.z/=m; | 527 | r.y *= m; |
518 | r.s/=m; | 528 | r.z *= m; |
529 | r.s *= m; | ||
519 | } | 530 | } |
531 | |||
520 | // Fast Algebric Calculations instead of Vectors & Quaternions Product | 532 | // Fast Algebric Calculations instead of Vectors & Quaternions Product |
521 | x = 2*(r.x*r.z+r.y*r.s); | 533 | x = 2 * (r.x * r.z + r.y * r.s); |
522 | y = 2*(-r.x*r.s+r.y*r.z); | 534 | y = 2*(-r.x * r.s + r.y * r.z); |
523 | z = -r.x*r.x-r.y*r.y+r.z*r.z+r.s*r.s; | 535 | z = -r.x * r.x - r.y * r.y + r.z * r.z + r.s * r.s; |
524 | return (new LSL_Types.Vector3(x,y,z)); | 536 | return (new LSL_Types.Vector3(x, y, z)); |
525 | } | 537 | } |
526 | 538 | ||
527 | public LSL_Types.Quaternion llRotBetween(LSL_Types.Vector3 a, LSL_Types.Vector3 b) | 539 | public LSL_Types.Quaternion llRotBetween(LSL_Types.Vector3 a, LSL_Types.Vector3 b) |
@@ -537,6 +549,7 @@ namespace OpenSim.Region.ScriptEngine.Common | |||
537 | 549 | ||
538 | return new LSL_Types.Quaternion(axis.x * s, axis.y * s, axis.z * s, (float)Math.Cos(angle / 2)); | 550 | return new LSL_Types.Quaternion(axis.x * s, axis.y * s, axis.z * s, (float)Math.Cos(angle / 2)); |
539 | } | 551 | } |
552 | |||
540 | public void llWhisper(int channelID, string text) | 553 | public void llWhisper(int channelID, string text) |
541 | { | 554 | { |
542 | m_host.AddScriptLPS(1); | 555 | m_host.AddScriptLPS(1); |