1 files changed, 31 insertions, 2 deletions

diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index c3255b1..c597661 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -410,8 +410,37 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Types.Quaternion llAxes2Rot(LSL_Types.Vector3 fwd, LSL_Types.Vector3 left, LSL_Types.Vector3 up)
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llAxes2Rot");
-            return new LSL_Types.Quaternion();
+            double x,y,z,s;
+            int f=0;
+                        // Important Note: q1=<x,y,z,s> is equal to q2=<-x,-y,-z,-s>
+                        // Computing quaternion x,y,z,s values        
+                x=((fwd.x-left.y-up.z+1)/4);
+                x*=x;
+                x=Math.Sqrt(Math.Sqrt(x));
+                y=((1-up.z)/2-x*x);
+                y*=y;
+                y=Math.Sqrt(Math.Sqrt(y));
+                z=((1-left.y)/2-x*x);
+                z*=z;
+                z=Math.Sqrt(Math.Sqrt(z));
+                s=(1-x*x-y*y-z*z);
+                s*=s;
+                s=Math.Sqrt(Math.Sqrt(s));
+                
+                        // Set f for signs detection         
+                if (fwd.y+left.x >= 0){f+=1;}
+                if (fwd.z+up.x >= 0){f+=2;}
+                if (left.z-up.y >= 0){f+=4;}
+                        // Set correct quaternion signs based on f value
+                if (f==0){x=-x;}
+                if (f==1){x=-x;y=-y;}
+                if (f==2){x=-x;z=-z;}
+                if (f==3){s=-s;}
+                if (f==4){x=-x;s=-s;}
+                if (f==5){z=-z;}
+                if (f==6){y=-y;}
+                return new LSL_Types.Quaternion(x, y, z, s);
+
         }
 
         public LSL_Types.Vector3 llRot2Fwd(LSL_Types.Quaternion r)