From 2ae933a88b10eb1e8caf7d0475cce972fe1aead4 Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Tue, 29 Apr 2008 13:40:58 +0000 Subject: * Applying Xantor's patch 0001089 - Added llRot2Angle, llRot2Axis,llAxisAngle2Rot. Re-implemented llRot2Euler, llEuler2Rot --- .../Common/BuiltIn_Commands_BaseClass.cs | 4 +- .../ScriptEngine/Common/LSL_BuiltIn_Commands.cs | 176 ++++++++++++++++++++- .../Common/LSL_BuiltIn_Commands_Interface.cs | 3 +- 3 files changed, 174 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/ScriptEngine/Common') diff --git a/OpenSim/Region/ScriptEngine/Common/BuiltIn_Commands_BaseClass.cs b/OpenSim/Region/ScriptEngine/Common/BuiltIn_Commands_BaseClass.cs index eb2bcb0..95acd23 100644 --- a/OpenSim/Region/ScriptEngine/Common/BuiltIn_Commands_BaseClass.cs +++ b/OpenSim/Region/ScriptEngine/Common/BuiltIn_Commands_BaseClass.cs @@ -1044,9 +1044,9 @@ namespace OpenSim.Region.ScriptEngine.Common return m_LSL_Functions.llRot2Axis(rot); } - public void llRot2Angle() + public double llRot2Angle(LSL_Types.Quaternion rot) { - m_LSL_Functions.llRot2Angle(); + return m_LSL_Functions.llRot2Angle(rot); } public double llAcos(double val) diff --git a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs index 4e7d5ef..e29ee5a 100644 --- a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs +++ b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands.cs @@ -283,6 +283,41 @@ namespace OpenSim.Region.ScriptEngine.Common } //Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke + + // Xantor's new llRot2Euler + public LSL_Types.Vector3 llRot2Euler(LSL_Types.Quaternion r) + { + m_host.AddScriptLPS(1); + double x, y, z; + double sqw = r.s*r.s; + double sqx = r.x*r.x; + double sqy = r.y*r.y; + double sqz = r.z*r.z; + double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor + double test = r.x*r.y + r.z*r.s; + if (test > 0.499 * unit) // singularity at north pole + { + x = 0; + y = 2 * Math.Atan2(r.x, r.s); + z = Math.PI/2; + return new LSL_Types.Vector3(x, y, z); + } + if (test < -0.499 * unit) // singularity at south pole + { + x = 0; + y = -2 * Math.Atan2(r.x,r.s); + z = -Math.PI/2; + return new LSL_Types.Vector3(x, y, z); + } + x = Math.Atan2(2 * r.x * r.s - 2 * r.y * r.z, -sqx + sqy - sqz + sqw); + y = Math.Atan2(2*r.y*r.s-2*r.x*r.z , sqx - sqy - sqz + sqw); + z = Math.Asin(2*test/unit); + return new LSL_Types.Vector3(x, y, z); + } + + + // Old implementation of llRot2Euler + /* public LSL_Types.Vector3 llRot2Euler(LSL_Types.Quaternion r) { m_host.AddScriptLPS(1); @@ -301,7 +336,42 @@ namespace OpenSim.Region.ScriptEngine.Common else return new LSL_Types.Vector3(0.0, -Math.PI / 2, Math.Atan2((r.z * r.s + r.x * r.y), 0.5 - t.x - t.z)); } + */ + + // Xantor's new llEuler2Rot() + /* From wiki: + The Euler angle vector (in radians) is converted to a rotation by doing the rotations around the 3 axes + in Z, Y, X order. So llEuler2Rot(<1.0, 2.0, 3.0> * DEG_TO_RAD) generates a rotation by taking the zero rotation, + a vector pointing along the X axis, first rotating it 3 degrees around the global Z axis, then rotating the resulting + vector 2 degrees around the global Y axis, and finally rotating that 1 degree around the global X axis. + */ + public LSL_Types.Quaternion llEuler2Rot(LSL_Types.Vector3 v) + { + m_host.AddScriptLPS(1); + + double x,y,z,s; + + double c1 = Math.Cos(v.y / 2); + double s1 = Math.Sin(v.y / 2 ); + double c2 = Math.Cos(v.z / 2 ); + double s2 = Math.Sin(v.z / 2 ); + double c3 = Math.Cos(v.x / 2 ); + double s3 = Math.Sin(v.x / 2 ); + + double c1c2 = c1 * c2; + double s1s2 = s1 * s2; + + s = c1c2 * c3 - s1s2 * s3; + x = c1c2 * s3 + s1s2 * c3; + y = s1 * c2 * c3 + c1 * s2 * s3; + z = c1 * s2 * c3 - s1 * c2 * s3; + return new LSL_Types.Quaternion(x, y, z, s); + } + + + /* + // Old implementation public LSL_Types.Quaternion llEuler2Rot(LSL_Types.Vector3 v) { m_host.AddScriptLPS(1); @@ -337,6 +407,9 @@ namespace OpenSim.Region.ScriptEngine.Common } return a; } + + */ + public LSL_Types.Quaternion llAxes2Rot(LSL_Types.Vector3 fwd, LSL_Types.Vector3 left, LSL_Types.Vector3 up) { @@ -2721,24 +2794,115 @@ namespace OpenSim.Region.ScriptEngine.Common return 0; } + + /* The new / changed functions were tested with the following LSL script: + + default + { + state_entry() + { + rotation rot = llEuler2Rot(<0,70,0> * DEG_TO_RAD); + + llOwnerSay("to get here, we rotate over: "+ (string) llRot2Axis(rot) ); + llOwnerSay("and we rotate for: "+ (llRot2Angle(rot) * RAD_TO_DEG)); + + // convert back and forth between quaternion <-> vector and angle + + rotation newrot = llAxisAngle2Rot(llRot2Axis(rot),llRot2Angle(rot)); + + llOwnerSay("Old rotation was: "+(string) rot); + llOwnerSay("re-converted rotation is: "+(string) newrot); + + llSetRot(rot); // to check the parameters in the prim + } + } + */ + + + + // Xantor 29/apr/2008 + // Returns rotation described by rotating angle radians about axis. + // q = cos(a/2) + i ( x * sin(a/2)) + j (y * sin(a/2)) + k ( z * sin(a/2)) public LSL_Types.Quaternion llAxisAngle2Rot(LSL_Types.Vector3 axis, double angle) { m_host.AddScriptLPS(1); - NotImplemented("llAxisAngle2Rot"); - return new LSL_Types.Quaternion(); + + double x, y, z, s, t; + + s = Math.Cos(angle / 2); + t = Math.Sin(angle / 2); // temp value to avoid 2 more sin() calcs + x = axis.x * t; + y = axis.y * t; + z = axis.z * t; + + return new LSL_Types.Quaternion(x,y,z,s); + // NotImplemented("llAxisAngle2Rot"); } + + // Xantor 29/apr/2008 + // converts a Quaternion to X,Y,Z axis rotations public LSL_Types.Vector3 llRot2Axis(LSL_Types.Quaternion rot) { m_host.AddScriptLPS(1); - NotImplemented("llRot2Axis"); - return new LSL_Types.Vector3(); + double x,y,z; + + if (rot.s > 1) // normalization needed + { + double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y + + rot.z * rot.z + rot.s * rot.s); + + rot.x /= length; + rot.y /= length; + rot.z /= length; + rot.s /= length; + + } + + double angle = 2 * Math.Acos(rot.s); + double s = Math.Sqrt(1 - rot.s * rot.s); + if (s < 0.001) + { + x = 1; + y = z = 0; + } + else + { + x = rot.x / s; // normalise axis + y = rot.y / s; + z = rot.z / s; + } + + + return new LSL_Types.Vector3(x,y,z); + + +// NotImplemented("llRot2Axis"); } - public void llRot2Angle() + + // Returns the angle of a quaternion (see llRot2Axis for the axis) + public double llRot2Angle(LSL_Types.Quaternion rot) { m_host.AddScriptLPS(1); - NotImplemented("llRot2Angle"); + + if (rot.s > 1) // normalization needed + { + double length = Math.Sqrt(rot.x * rot.x + rot.y * rot.y + + rot.z * rot.z + rot.s * rot.s); + + rot.x /= length; + rot.y /= length; + rot.z /= length; + rot.s /= length; + + } + + double angle = 2 * Math.Acos(rot.s); + + return angle; + +// NotImplemented("llRot2Angle"); } public double llAcos(double val) diff --git a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs index 2f58437..ab9f463 100644 --- a/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs +++ b/OpenSim/Region/ScriptEngine/Common/LSL_BuiltIn_Commands_Interface.cs @@ -323,7 +323,8 @@ namespace OpenSim.Region.ScriptEngine.Common LSL_Types.Quaternion llAxisAngle2Rot(LSL_Types.Vector3 axis, double angle); //wiki: vector llRot2Axis(rotation rot) LSL_Types.Vector3 llRot2Axis(LSL_Types.Quaternion rot); - void llRot2Angle(); + //wiki: double llRot2Angle(rotation rot); + double llRot2Angle(LSL_Types.Quaternion rot); //wiki: double llAcos(double val) double llAcos(double val); //wiki: double llAsin(double val) -- cgit v1.1