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1 eva 1 /*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27  
28 using System.Collections.Generic;
29 using NUnit.Framework;
30 using OpenSim.Framework;
31 using OpenSim.Tests.Common;
32 using OpenSim.Region.ScriptEngine.Shared;
33 using OpenSim.Region.Framework.Scenes;
34 using Nini.Config;
35 using OpenSim.Region.ScriptEngine.Shared.Api;
36 using OpenSim.Region.ScriptEngine.Shared.Instance;
37 using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
38 using OpenMetaverse;
39 using System;
40 using OpenSim.Tests.Common.Mock;
41  
42 namespace OpenSim.Region.ScriptEngine.Shared.Tests
43 {
44 /// <summary>
45 /// Tests for LSL_Api
46 /// </summary>
47 [TestFixture, LongRunning]
48 public class LSL_ApiTest
49 {
50 private const double VECTOR_COMPONENT_ACCURACY = 0.0000005d;
51 private const double ANGLE_ACCURACY_IN_RADIANS = 1E-6;
52 private LSL_Api m_lslApi;
53  
54 [SetUp]
55 public void SetUp()
56 {
57 IConfigSource initConfigSource = new IniConfigSource();
58 IConfig config = initConfigSource.AddConfig("XEngine");
59 config.Set("Enabled", "true");
60  
61 Scene scene = new SceneHelpers().SetupScene();
62 SceneObjectPart part = SceneHelpers.AddSceneObject(scene).RootPart;
63  
64 XEngine.XEngine engine = new XEngine.XEngine();
65 engine.Initialise(initConfigSource);
66 engine.AddRegion(scene);
67  
68 m_lslApi = new LSL_Api();
69 m_lslApi.Initialize(engine, part, null, null);
70 }
71  
72 [Test]
73 public void TestllAngleBetween()
74 {
75 TestHelpers.InMethod();
76  
77 CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1, 1);
78 CheckllAngleBetween(new Vector3(1, 0, 0), 90, 1, 1);
79 CheckllAngleBetween(new Vector3(1, 0, 0), 180, 1, 1);
80  
81 CheckllAngleBetween(new Vector3(0, 1, 0), 0, 1, 1);
82 CheckllAngleBetween(new Vector3(0, 1, 0), 90, 1, 1);
83 CheckllAngleBetween(new Vector3(0, 1, 0), 180, 1, 1);
84  
85 CheckllAngleBetween(new Vector3(0, 0, 1), 0, 1, 1);
86 CheckllAngleBetween(new Vector3(0, 0, 1), 90, 1, 1);
87 CheckllAngleBetween(new Vector3(0, 0, 1), 180, 1, 1);
88  
89 CheckllAngleBetween(new Vector3(1, 1, 1), 0, 1, 1);
90 CheckllAngleBetween(new Vector3(1, 1, 1), 90, 1, 1);
91 CheckllAngleBetween(new Vector3(1, 1, 1), 180, 1, 1);
92  
93 CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1.6f, 1.8f);
94 CheckllAngleBetween(new Vector3(1, 0, 0), 90, 0.3f, 3.9f);
95 CheckllAngleBetween(new Vector3(1, 0, 0), 180, 8.8f, 7.4f);
96  
97 CheckllAngleBetween(new Vector3(0, 1, 0), 0, 9.8f, -9.4f);
98 CheckllAngleBetween(new Vector3(0, 1, 0), 90, 8.4f, -8.2f);
99 CheckllAngleBetween(new Vector3(0, 1, 0), 180, 0.4f, -5.8f);
100  
101 CheckllAngleBetween(new Vector3(0, 0, 1), 0, -6.8f, 3.4f);
102 CheckllAngleBetween(new Vector3(0, 0, 1), 90, -3.6f, 5.6f);
103 CheckllAngleBetween(new Vector3(0, 0, 1), 180, -3.8f, 1.1f);
104  
105 CheckllAngleBetween(new Vector3(1, 1, 1), 0, -7.7f, -2.0f);
106 CheckllAngleBetween(new Vector3(1, 1, 1), 90, -3.0f, -9.1f);
107 CheckllAngleBetween(new Vector3(1, 1, 1), 180, -7.9f, -8.0f);
108 }
109  
110 private void CheckllAngleBetween(Vector3 axis,float originalAngle, float denorm1, float denorm2)
111 {
112 Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0);
113 Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle));
114 rotation1 *= denorm1;
115 rotation2 *= denorm2;
116  
117 double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1)));
118  
119 Assert.That(deducedAngle, Is.EqualTo(ToRadians(originalAngle)).Within(ANGLE_ACCURACY_IN_RADIANS), "TestllAngleBetween check fail");
120 }
121  
122 #region Conversions to and from LSL_Types
123  
124 private float ToRadians(double degrees)
125 {
126 return (float)(Math.PI * degrees / 180);
127 }
128  
129 // private double FromRadians(float radians)
130 // {
131 // return radians * 180 / Math.PI;
132 // }
133  
134 private double FromLslFloat(LSL_Types.LSLFloat lslFloat)
135 {
136 return lslFloat.value;
137 }
138  
139 // private LSL_Types.LSLFloat ToLslFloat(double value)
140 // {
141 // return new LSL_Types.LSLFloat(value);
142 // }
143  
144 // private Quaternion FromLslQuaternion(LSL_Types.Quaternion lslQuaternion)
145 // {
146 // return new Quaternion((float)lslQuaternion.x, (float)lslQuaternion.y, (float)lslQuaternion.z, (float)lslQuaternion.s);
147 // }
148  
149 private LSL_Types.Quaternion ToLslQuaternion(Quaternion quaternion)
150 {
151 return new LSL_Types.Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
152 }
153  
154 #endregion
155  
156 [Test]
157 // llRot2Euler test.
158 public void TestllRot2Euler()
159 {
160 TestHelpers.InMethod();
161  
162 // 180, 90 and zero degree rotations.
163 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f));
164 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, 0.707107f));
165 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f));
166 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, -0.707107f));
167 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f));
168 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
169 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
170 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
171 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
172 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
173 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
174 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
175 CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
176 CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
177 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
178 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
179 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
180 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
181 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
182 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
183 CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
184 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
185 CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
186 CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
187  
188 // A couple of messy rotations.
189 CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f));
190 CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
191  
192 // Some deliberately malicious rotations (intended on provoking singularity errors)
193 // The "f" suffexes are deliberately omitted.
194 CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
195 // More malice. The "f" suffixes are deliberately omitted.
196 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
197 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
198 CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
199 CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
200 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
201 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
202 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
203 CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
204 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
205 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
206 CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
207 CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
208 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
209 CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
210 CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
211 CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
212 CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
213 CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
214 CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
215 CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
216 CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
217 CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
218 CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
219 CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
220 }
221  
222 /// <summary>
223 /// Check an llRot2Euler conversion.
224 /// </summary>
225 /// <remarks>
226 /// Testing Rot2Euler this way instead of comparing against expected angles because
227 /// 1. There are several ways to get to the original Quaternion. For example a rotation
228 /// of PI and -PI will give the same result. But PI and -PI aren't equal.
229 /// 2. This method checks to see if the calculated angles from a quaternion can be used
230 /// to create a new quaternion to produce the same rotation.
231 /// However, can't compare the newly calculated quaternion against the original because
232 /// once again, there are multiple quaternions that give the same result. For instance
233 /// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
234 /// and will still result in the same rotation if the values for X, Y, Z are also changed
235 /// to compensate.
236 /// However, if two quaternions represent the same rotation, then multiplying the first
237 /// quaternion by the conjugate of the second, will give a third quaternion representing
238 /// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
239 /// be zero.
240 /// </remarks>
241 /// <param name="rot"></param>
242 private void CheckllRot2Euler(LSL_Types.Quaternion rot)
243 {
244 // Call LSL function to convert quaternion rotaion to euler radians.
245 LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
246 // Now use the euler radians to recalculate a new quaternion rotation
247 LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
248 // Multiple original quaternion by conjugate of quaternion calculated with angles.
249 LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
250  
251 Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
252 Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
253 Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
254 }
255  
256 [Test]
257 public void TestllVecNorm()
258 {
259 TestHelpers.InMethod();
260  
261 // Check special case for normalizing zero vector.
262 CheckllVecNorm(new LSL_Types.Vector3(0.0d, 0.0d, 0.0d), new LSL_Types.Vector3(0.0d, 0.0d, 0.0d));
263 // Check various vectors.
264 CheckllVecNorm(new LSL_Types.Vector3(10.0d, 25.0d, 0.0d), new LSL_Types.Vector3(0.371391d, 0.928477d, 0.0d));
265 CheckllVecNorm(new LSL_Types.Vector3(1.0d, 0.0d, 0.0d), new LSL_Types.Vector3(1.0d, 0.0d, 0.0d));
266 CheckllVecNorm(new LSL_Types.Vector3(-90.0d, 55.0d, 2.0d), new LSL_Types.Vector3(-0.853128d, 0.521356d, 0.018958d));
267 CheckllVecNorm(new LSL_Types.Vector3(255.0d, 255.0d, 255.0d), new LSL_Types.Vector3(0.577350d, 0.577350d, 0.577350d));
268 }
269  
270 public void CheckllVecNorm(LSL_Types.Vector3 vec, LSL_Types.Vector3 vecNormCheck)
271 {
272 // Call LSL function to normalize the vector.
273 LSL_Types.Vector3 vecNorm = m_lslApi.llVecNorm(vec);
274 // Check each vector component against expected result.
275 Assert.AreEqual(vecNorm.x, vecNormCheck.x, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on x component");
276 Assert.AreEqual(vecNorm.y, vecNormCheck.y, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on y component");
277 Assert.AreEqual(vecNorm.z, vecNormCheck.z, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on z component");
278 }
279 }
280 }