// Xantor 29/apr/2008 // converts a Quaternion to X,Y,Z axis rotations public LSL_Vector llRot2Axis(LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return new LSL_Vector(); 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); if (length == 0) return new LSL_Vector(0, 0, 0); length = 1/length; 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 { s = 1/s; x = rot.x*s; // normalise axis y = rot.y*s; z = rot.z*s; } return new LSL_Vector(x, y, z); }
//Now we start getting into quaternions which means sin/cos, matrices and vectors. ckrinke // Old implementation of llRot2Euler. Normalization not required as Atan2 function will // only return values >= -PI (-180 degrees) and <= PI (180 degrees). public LSL_Vector llRot2Euler(LSL_Rotation r) { //This implementation is from http://lslwiki.net/lslwiki/wakka.php?wakka=LibraryRotationFunctions. ckrinke LSL_Rotation t = new LSL_Rotation(r.x*r.x, r.y*r.y, r.z*r.z, r.s*r.s); double m = (t.x + t.y + t.z + t.s); if (m == 0) return new LSL_Vector(); double n = 2*(r.y*r.s + r.x*r.z); double p = m*m - n*n; if (p > 0) return new LSL_Vector(Math.Atan2(2.0*(r.x*r.s - r.y*r.z), (-t.x - t.y + t.z + t.s)), Math.Atan2(n, Math.Sqrt(p)), Math.Atan2(2.0*(r.z*r.s - r.x*r.y), (t.x - t.y - t.z + t.s))); if (n > 0) return new LSL_Vector(0.0, Math.PI*0.5, Math.Atan2((r.z*r.s + r.x*r.y), 0.5 - t.x - t.z)); return new LSL_Vector(0.0, -Math.PI*0.5, Math.Atan2((r.z*r.s + r.x*r.y), 0.5 - t.x - t.z)); }
public DateTime osRezObject(string inventory, LSL_Vector pos, LSL_Vector vel, LSL_Rotation rot, int param, LSL_Integer isRezAtRoot, LSL_Integer doRecoil, LSL_Integer SetDieAtEdge, LSL_Integer CheckPos) { InitLSL(); return m_LSL_Api.llRezPrim(inventory, pos, vel, rot, param, isRezAtRoot == 1, doRecoil == 1, SetDieAtEdge == 1, CheckPos == 1); }
// Returns the angle of a quaternion (see llRot2Axis for the axis) public LSL_Float llRot2Angle(LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return new LSL_Float(); 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); if (length == 0) return 0; // rot.x /= length; // rot.y /= length; // rot.z /= length; rot.s /= length; } double angle = 2*Math.Acos(rot.s); return angle; }
public DateTime llSetLocalRot(LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return DateTime.Now; SetRot(m_host, Rot2Quaternion(rot)); return PScriptSleep(200); }
public void llSetVehicleRotationParam(int param, LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return; if (m_host.ParentEntity != null) { if (!m_host.ParentEntity.IsDeleted) { m_host.ParentEntity.RootChild.SetVehicleRotationParam(param, Rot2Quaternion(rot)); } } }
// convert a LSL_Rotation to a Quaternion protected Quaternion Rot2Quaternion(LSL_Rotation r) { Quaternion q = new Quaternion((float) r.x, (float) r.y, (float) r.z, (float) r.s); q.Normalize(); return q; }
public void llRotLookAt(LSL_Rotation target, double strength, double damping) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return; Quaternion rot = new Quaternion((float) target.x, (float) target.y, (float) target.z, (float) target.s); m_host.RotLookAt(rot, (float) strength, (float) damping); }
public void botSetRot(LSL_Key npc, LSL_Rotation rotation) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.Moderate, "botStandUp", m_host, "bot", m_itemID)) return; IScenePresence sp = World.GetScenePresence(UUID.Parse(npc)); if (sp == null) return; UUID npcId; if (!UUID.TryParse(npc.m_string, out npcId)) return; if (sp != null) sp.Rotation = rotation.ToQuaternion(); }
public LSL_Float llAngleBetween(LSL_Rotation a, LSL_Rotation b) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return new LSL_Float(); double aa = (a.x*a.x + a.y*a.y + a.z*a.z + a.s*a.s); double bb = (b.x*b.x + b.y*b.y + b.z*b.z + b.s*b.s); double aa_bb = aa*bb; if (aa_bb == 0) return 0.0; double ab = (a.x*b.x + a.y*b.y + a.z*b.z + a.s*b.s); double quotient = (ab*ab)/aa_bb; if (quotient >= 1.0) return 0.0; return Math.Acos(2*quotient - 1); }
public void osForceDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.High, "osForceDropAttachmentAt", m_host, "OSSL", m_itemID)) return; DropAttachmentAt(false, pos, rot); }
public void osDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachmentAt", m_host, "OSSL", m_itemID)) return; DropAttachmentAt(true, pos, rot); }
protected void DropAttachmentAt(bool checkPerms, LSL_Vector pos, LSL_Rotation rot) { if (checkPerms && ShoutErrorOnLackingOwnerPerms(ScriptBaseClass.PERMISSION_ATTACH, "Cannot drop attachment")) { return; } IAttachmentsModule attachmentsModule = World.RequestModuleInterface<IAttachmentsModule>(); IScenePresence sp = attachmentsModule == null ? null : World.GetScenePresence(m_host.OwnerID); if (attachmentsModule != null && sp != null) { attachmentsModule.DetachSingleAttachmentToGround(m_host.ParentEntity.UUID, sp.ControllingClient, pos.ToVector3(), rot.ToQuaternion()); } }
public LSL_Vector llRot2Up(LSL_Rotation r) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return new LSL_Vector(); double m = r.x*r.x + r.y*r.y + r.z*r.z + r.s*r.s; // m is always greater than zero // if m is not equal to 1 then Rotation needs to be normalized if (Math.Abs(1.0 - m) > 0.000001) // allow a little slop here for calculation precision { m = 1.0/Math.Sqrt(m); r.x *= m; r.y *= m; r.z *= m; r.s *= m; } // Fast Algebric Calculations instead of Vectors & Quaternions Product double x = 2*(r.x*r.z + r.y*r.s); double y = 2*(-r.x*r.s + r.y*r.z); double z = -r.x*r.x - r.y*r.y + r.z*r.z + r.s*r.s; return (new LSL_Vector(x, y, z)); }
private void SetLinkRot(ISceneChildEntity obj, LSL_Rotation rot) { if (obj.ParentID == 0) { // special case: If we are root, rotate complete SOG to new rotation SetRot(obj, Rot2Quaternion(rot)); } else { // we are a child. The rotation values will be set to the one of root modified by rot, as in SL. Don't ask. ISceneEntity group = obj.ParentEntity; if (group != null) // a bit paranoid, maybe { ISceneChildEntity rootPart = group.RootChild; if (rootPart != null) // again, better safe than sorry { SetRot(obj, rootPart.GetRotationOffset()*Rot2Quaternion(rot)); } } } }
public LSL_Rotation llRotBetween(LSL_Vector a, LSL_Vector b) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return new LSL_Rotation(); //A and B should both be normalized LSL_Rotation rotBetween; // Check for zero vectors. If either is zero, return zero rotation. Otherwise, // continue calculation. if (a == new LSL_Vector(0.0f, 0.0f, 0.0f) || b == new LSL_Vector(0.0f, 0.0f, 0.0f)) { rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f); } else { a = LSL_Vector.Norm(a); b = LSL_Vector.Norm(b); double dotProduct = LSL_Vector.Dot(a, b); // There are two degenerate cases possible. These are for vectors 180 or // 0 degrees apart. These have to be detected and handled individually. // // Check for vectors 180 degrees apart. // A dot product of -1 would mean the angle between vectors is 180 degrees. if (dotProduct < -0.9999999f) { // First assume X axis is orthogonal to the vectors. LSL_Vector orthoVector = new LSL_Vector(1.0f, 0.0f, 0.0f); orthoVector = orthoVector - a*(a.x/LSL_Vector.Dot(a, a)); // Check for near zero vector. A very small non-zero number here will create // a rotation in an undesired direction. rotBetween = LSL_Vector.Mag(orthoVector) > 0.0001 ? new LSL_Rotation(orthoVector.x, orthoVector.y, orthoVector.z, 0.0f) : new LSL_Rotation(0.0f, 0.0f, 1.0f, 0.0f); } // Check for parallel vectors. // A dot product of 1 would mean the angle between vectors is 0 degrees. else if (dotProduct > 0.9999999f) { // Set zero rotation. rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f); } else { // All special checks have been performed so get the axis of rotation. LSL_Vector crossProduct = LSL_Vector.Cross(a, b); // Quarternion s value is the length of the unit vector + dot product. double qs = 1.0 + dotProduct; rotBetween = new LSL_Rotation(crossProduct.x, crossProduct.y, crossProduct.z, qs); // Normalize the rotation. double mag = LSL_Rotation.Mag(rotBetween); // We shouldn't have to worry about a divide by zero here. The qs value will be // non-zero because we already know if we're here, then the dotProduct is not -1 so // qs will not be zero. Also, we've already handled the input vectors being zero so the // crossProduct vector should also not be zero. rotBetween.x = rotBetween.x/mag; rotBetween.y = rotBetween.y/mag; rotBetween.z = rotBetween.z/mag; rotBetween.s = rotBetween.s/mag; // Check for undefined values and set zero rotation if any found. This code might not actually be required // any longer since zero vectors are checked for at the top. if (Double.IsNaN(rotBetween.x) || Double.IsNaN(rotBetween.y) || Double.IsNaN(rotBetween.z) || Double.IsNaN(rotBetween.s)) { rotBetween = new LSL_Rotation(0.0f, 0.0f, 0.0f, 1.0f); } } } return rotBetween; }
public void llLinkRotLookAt(LSL_Integer link, LSL_Rotation target, double strength, double damping) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return; Quaternion rot = new Quaternion((float) target.x, (float) target.y, (float) target.z, (float) target.s); List<ISceneChildEntity> parts = GetLinkParts(link); foreach (ISceneChildEntity part in parts) part.RotLookAt(rot, (float) strength, (float) damping); }
public LSL_Integer llRotTarget(LSL_Rotation rot, double error) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return 0; return m_host.registerRotTargetWaypoint( new Quaternion((float) rot.x, (float) rot.y, (float) rot.z, (float) rot.s), (float) error); }
public void llLinkSitTarget(LSL_Integer link, LSL_Vector offset, LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return; // LSL quaternions can normalize to 0, normal Quaternions can't. if (rot.s == 0 && rot.x == 0 && rot.y == 0 && rot.z == 0) rot.z = 1; // ZERO_ROTATION = 0,0,0,1 List<ISceneChildEntity> entities = GetLinkParts(link); if (entities.Count == 0) return; entities[0].SitTargetPosition = new Vector3((float) offset.x, (float) offset.y, (float) offset.z); entities[0].SitTargetOrientation = Rot2Quaternion(rot); }
public DateTime llSetRot(LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return DateTime.Now; // try to let this work as in SL... SetLinkRot(m_host, rot); return PScriptSleep(200); }
public DateTime llRezObject(string inventory, LSL_Vector pos, LSL_Vector vel, LSL_Rotation rot, int param) { return llRezPrim(inventory, pos, vel, rot, param, false, true, true, true); }
public void llSitTarget(LSL_Vector offset, LSL_Rotation rot) { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "LSL", m_host, "LSL", m_itemID)) return; // LSL quaternions can normalize to 0, normal Quaternions can't. if (rot.s == 0 && rot.x == 0 && rot.y == 0 && rot.z == 0) rot.z = 1; // ZERO_ROTATION = 0,0,0,1 m_host.SitTargetPosition = new Vector3((float) offset.x, (float) offset.y, (float) offset.z); m_host.SitTargetOrientation = Rot2Quaternion(rot); }
public LSL_Rotation aaGetTextColor() { if (!ScriptProtection.CheckThreatLevel(ThreatLevel.None, "aaGetTextColor", m_host, "AA", m_itemID)) return new LSL_Rotation(); LSL_Rotation v = new LSL_Rotation(m_host.Color.R, m_host.Color.G, m_host.Color.B, m_host.Color.A); return v; }