// Returns the angle of a quaternion (see llRot2Axis for the axis)
public LSL_Float llRot2Angle(LSL_Rotation rot)
{
m_host.AddScriptLPS(1);
if (Math.Abs(rot.s) > 1) // normalization needed
rot.Normalize();
double angle = 2 * Math.Acos(rot.s);
if (angle > Math.PI)
angle = 2 * Math.PI - angle;
return angle;
}
/// <summary>
/// Returns the axis of rotation for a quaternion
/// </summary>
/// <returns></returns>
/// <param name='rot'></param>
public LSL_Vector llRot2Axis(LSL_Rotation rot)
{
m_host.AddScriptLPS(1);
if (Math.Abs(rot.s) > 1) // normalization needed
rot.Normalize();
double s = Math.Sqrt(1 - rot.s * rot.s);
if (s < 0.001)
{
return new LSL_Vector(1, 0, 0);
}
else
{
double invS = 1.0 / s;
if (rot.s < 0) invS = -invS;
return new LSL_Vector(rot.x * invS, rot.y * invS, rot.z * invS);
}
}