From bc24c0e5d7f40abd1d0f1c02bb88f35cdd6c9bcf Mon Sep 17 00:00:00 2001
From: Charles Krinke
Date: Fri, 18 Jul 2008 01:20:06 +0000
Subject: Mantis#1768. Thank you kindly, Junta_Kohime for a patch that:
 llRot2Fwd function modified, using fast algebric calculations instead of
 vectors and quaternions products. The accuracy is the same. Normalization is
 now implemented.

---
 .../ScriptEngine/Shared/Api/Implementation/LSL_Api.cs    | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/ScriptEngine/Shared/Api')

diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 260457b..e7313e1 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -417,7 +417,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Types.Vector3 llRot2Fwd(LSL_Types.Quaternion r)
         {
             m_host.AddScriptLPS(1);
-            return (new LSL_Types.Vector3(1,0,0) * r);
+            double x,y,z,m;
+            m = Math.Sqrt(r.x*r.x+r.y*r.y+r.z*r.z+r.s*r.s);
+            // m is always greater than zero
+            if (m!=1) // if m is not equal to 1 then Rotation needs to be normalized
+            {
+            	r.x/=m;
+            	r.y/=m;
+            	r.z/=m;
+            	r.s/=m;
+            }
+            // Fast Algebric Calculations instead of Vectors & Quaternions Product
+            x = r.x*r.x-r.y*r.y-r.z*r.z+r.s*r.s;
+            y = 2*(r.x*r.y+r.z*r.s);
+            z = 2*(r.x*r.z-r.y*r.s);
+            return (new LSL_Types.Vector3(x,y,z)); 
         }
 
         public LSL_Types.Vector3 llRot2Left(LSL_Types.Quaternion r)
-- 
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