/// <summary>
/// Check an llRot2Euler conversion.
/// </summary>
/// <remarks>
/// Testing Rot2Euler this way instead of comparing against expected angles because
/// 1. There are several ways to get to the original Quaternion. For example a rotation
/// of PI and -PI will give the same result. But PI and -PI aren't equal.
/// 2. This method checks to see if the calculated angles from a quaternion can be used
/// to create a new quaternion to produce the same rotation.
/// However, can't compare the newly calculated quaternion against the original because
/// once again, there are multiple quaternions that give the same result. For instance
/// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
/// and will still result in the same rotation if the values for X, Y, Z are also changed
/// to compensate.
/// However, if two quaternions represent the same rotation, then multiplying the first
/// quaternion by the conjugate of the second, will give a third quaternion representing
/// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
/// be zero.
/// </remarks>
/// <param name="rot"></param>
private void CheckllRot2Euler(LSL_Types.Quaternion rot)
{
// Call LSL function to convert quaternion rotaion to euler radians.
LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
// Now use the euler radians to recalculate a new quaternion rotation
LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
// Multiple original quaternion by conjugate of quaternion calculated with angles.
LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
}
private void CheckllRot2Euler(LSL_Types.Quaternion rot, LSL_Types.Vector3 eulerCheck)
{
// Call LSL function to convert quaternion rotaion to euler radians.
LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
// Check upper and lower bounds of x, y and z.
// This type of check is performed as opposed to comparing for equal numbers, in order to allow slight
// differences in accuracy.
Assert.Greater(eulerCalc.x, eulerCheck.x - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X lower bounds check fail");
Assert.Less(eulerCalc.x, eulerCheck.x + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler X upper bounds check fail");
Assert.Greater(eulerCalc.y, eulerCheck.y - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y lower bounds check fail");
Assert.Less(eulerCalc.y, eulerCheck.y + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Y upper bounds check fail");
Assert.Greater(eulerCalc.z, eulerCheck.z - ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z lower bounds check fail");
Assert.Less(eulerCalc.z, eulerCheck.z + ANGLE_ACCURACY_IN_RADIANS, "TestllRot2Euler Z upper bounds check fail");
}
