LSL_ApiTest.cs 15 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280
  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. using System.Collections.Generic;
  28. using NUnit.Framework;
  29. using OpenSim.Framework;
  30. using OpenSim.Tests.Common;
  31. using OpenSim.Region.ScriptEngine.Shared;
  32. using OpenSim.Region.Framework.Scenes;
  33. using Nini.Config;
  34. using OpenSim.Region.ScriptEngine.Shared.Api;
  35. using OpenSim.Region.ScriptEngine.Shared.Instance;
  36. using OpenSim.Region.ScriptEngine.Shared.ScriptBase;
  37. using OpenMetaverse;
  38. using System;
  39. using OpenSim.Tests.Common.Mock;
  40. namespace OpenSim.Region.ScriptEngine.Shared.Tests
  41. {
  42. /// <summary>
  43. /// Tests for LSL_Api
  44. /// </summary>
  45. [TestFixture, LongRunning]
  46. public class LSL_ApiTest
  47. {
  48. private const double VECTOR_COMPONENT_ACCURACY = 0.0000005d;
  49. private const double ANGLE_ACCURACY_IN_RADIANS = 1E-6;
  50. private LSL_Api m_lslApi;
  51. [SetUp]
  52. public void SetUp()
  53. {
  54. IConfigSource initConfigSource = new IniConfigSource();
  55. IConfig config = initConfigSource.AddConfig("XEngine");
  56. config.Set("Enabled", "true");
  57. Scene scene = new SceneHelpers().SetupScene();
  58. SceneObjectPart part = SceneHelpers.AddSceneObject(scene).RootPart;
  59. XEngine.XEngine engine = new XEngine.XEngine();
  60. engine.Initialise(initConfigSource);
  61. engine.AddRegion(scene);
  62. m_lslApi = new LSL_Api();
  63. m_lslApi.Initialize(engine, part, null, null);
  64. }
  65. [Test]
  66. public void TestllAngleBetween()
  67. {
  68. TestHelpers.InMethod();
  69. CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1, 1);
  70. CheckllAngleBetween(new Vector3(1, 0, 0), 90, 1, 1);
  71. CheckllAngleBetween(new Vector3(1, 0, 0), 180, 1, 1);
  72. CheckllAngleBetween(new Vector3(0, 1, 0), 0, 1, 1);
  73. CheckllAngleBetween(new Vector3(0, 1, 0), 90, 1, 1);
  74. CheckllAngleBetween(new Vector3(0, 1, 0), 180, 1, 1);
  75. CheckllAngleBetween(new Vector3(0, 0, 1), 0, 1, 1);
  76. CheckllAngleBetween(new Vector3(0, 0, 1), 90, 1, 1);
  77. CheckllAngleBetween(new Vector3(0, 0, 1), 180, 1, 1);
  78. CheckllAngleBetween(new Vector3(1, 1, 1), 0, 1, 1);
  79. CheckllAngleBetween(new Vector3(1, 1, 1), 90, 1, 1);
  80. CheckllAngleBetween(new Vector3(1, 1, 1), 180, 1, 1);
  81. CheckllAngleBetween(new Vector3(1, 0, 0), 0, 1.6f, 1.8f);
  82. CheckllAngleBetween(new Vector3(1, 0, 0), 90, 0.3f, 3.9f);
  83. CheckllAngleBetween(new Vector3(1, 0, 0), 180, 8.8f, 7.4f);
  84. CheckllAngleBetween(new Vector3(0, 1, 0), 0, 9.8f, -9.4f);
  85. CheckllAngleBetween(new Vector3(0, 1, 0), 90, 8.4f, -8.2f);
  86. CheckllAngleBetween(new Vector3(0, 1, 0), 180, 0.4f, -5.8f);
  87. CheckllAngleBetween(new Vector3(0, 0, 1), 0, -6.8f, 3.4f);
  88. CheckllAngleBetween(new Vector3(0, 0, 1), 90, -3.6f, 5.6f);
  89. CheckllAngleBetween(new Vector3(0, 0, 1), 180, -3.8f, 1.1f);
  90. CheckllAngleBetween(new Vector3(1, 1, 1), 0, -7.7f, -2.0f);
  91. CheckllAngleBetween(new Vector3(1, 1, 1), 90, -3.0f, -9.1f);
  92. CheckllAngleBetween(new Vector3(1, 1, 1), 180, -7.9f, -8.0f);
  93. }
  94. private void CheckllAngleBetween(Vector3 axis,float originalAngle, float denorm1, float denorm2)
  95. {
  96. Quaternion rotation1 = Quaternion.CreateFromAxisAngle(axis, 0);
  97. Quaternion rotation2 = Quaternion.CreateFromAxisAngle(axis, ToRadians(originalAngle));
  98. rotation1 *= denorm1;
  99. rotation2 *= denorm2;
  100. double deducedAngle = FromLslFloat(m_lslApi.llAngleBetween(ToLslQuaternion(rotation2), ToLslQuaternion(rotation1)));
  101. Assert.That(deducedAngle, Is.EqualTo(ToRadians(originalAngle)).Within(ANGLE_ACCURACY_IN_RADIANS), "TestllAngleBetween check fail");
  102. }
  103. #region Conversions to and from LSL_Types
  104. private float ToRadians(double degrees)
  105. {
  106. return (float)(Math.PI * degrees / 180);
  107. }
  108. // private double FromRadians(float radians)
  109. // {
  110. // return radians * 180 / Math.PI;
  111. // }
  112. private double FromLslFloat(LSL_Types.LSLFloat lslFloat)
  113. {
  114. return lslFloat.value;
  115. }
  116. // private LSL_Types.LSLFloat ToLslFloat(double value)
  117. // {
  118. // return new LSL_Types.LSLFloat(value);
  119. // }
  120. // private Quaternion FromLslQuaternion(LSL_Types.Quaternion lslQuaternion)
  121. // {
  122. // return new Quaternion((float)lslQuaternion.x, (float)lslQuaternion.y, (float)lslQuaternion.z, (float)lslQuaternion.s);
  123. // }
  124. private LSL_Types.Quaternion ToLslQuaternion(Quaternion quaternion)
  125. {
  126. return new LSL_Types.Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
  127. }
  128. #endregion
  129. [Test]
  130. // llRot2Euler test.
  131. public void TestllRot2Euler()
  132. {
  133. TestHelpers.InMethod();
  134. // 180, 90 and zero degree rotations.
  135. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.0f, 1.0f));
  136. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, 0.707107f));
  137. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 1.0f, 0.0f));
  138. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, 0.0f, 0.707107f, -0.707107f));
  139. CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f));
  140. CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, 0.5f, 0.5f));
  141. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.707107f, 0.0f));
  142. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, -0.5f));
  143. CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 0.0f, 0.0f, 0.0f));
  144. CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, -0.707107f, 0.0f, 0.0f));
  145. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -1.0f, 0.0f, 0.0f));
  146. CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, -0.707107f, 0.0f, 0.0f));
  147. CheckllRot2Euler(new LSL_Types.Quaternion(0.707107f, 0.0f, 0.0f, -0.707107f));
  148. CheckllRot2Euler(new LSL_Types.Quaternion(0.5f, -0.5f, -0.5f, -0.5f));
  149. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, -0.707107f, 0.0f));
  150. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, 0.5f));
  151. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, 0.707107f));
  152. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, 0.5f, 0.5f));
  153. CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, 0.707107f, 0.0f));
  154. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, 0.5f, -0.5f));
  155. CheckllRot2Euler(new LSL_Types.Quaternion(0.0f, -0.707107f, 0.0f, -0.707107f));
  156. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, -0.5f, -0.5f, -0.5f));
  157. CheckllRot2Euler(new LSL_Types.Quaternion(-0.707107f, 0.0f, -0.707107f, 0.0f));
  158. CheckllRot2Euler(new LSL_Types.Quaternion(-0.5f, 0.5f, -0.5f, 0.5f));
  159. // A couple of messy rotations.
  160. CheckllRot2Euler(new LSL_Types.Quaternion(1.0f, 5.651f, -3.1f, 67.023f));
  161. CheckllRot2Euler(new LSL_Types.Quaternion(0.719188f, -0.408934f, -0.363998f, -0.427841f));
  162. // Some deliberately malicious rotations (intended on provoking singularity errors)
  163. // The "f" suffexes are deliberately omitted.
  164. CheckllRot2Euler(new LSL_Types.Quaternion(0.50001f, 0.50001f, 0.50001f, 0.50001f));
  165. // More malice. The "f" suffixes are deliberately omitted.
  166. CheckllRot2Euler(new LSL_Types.Quaternion(-0.701055, 0.092296, 0.701055, -0.092296));
  167. CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683010, 0.183005, 0.683010));
  168. CheckllRot2Euler(new LSL_Types.Quaternion(-0.430460, -0.560982, 0.430460, 0.560982));
  169. CheckllRot2Euler(new LSL_Types.Quaternion(-0.701066, 0.092301, -0.701066, 0.092301));
  170. CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, -0.683010, 0.183013, 0.683010));
  171. CheckllRot2Euler(new LSL_Types.Quaternion(-0.183005, -0.683014, -0.183005, -0.683014));
  172. CheckllRot2Euler(new LSL_Types.Quaternion(-0.353556, 0.612375, 0.353556, -0.612375));
  173. CheckllRot2Euler(new LSL_Types.Quaternion(0.353554, -0.612385, -0.353554, 0.612385));
  174. CheckllRot2Euler(new LSL_Types.Quaternion(-0.560989, 0.430450, 0.560989, -0.430450));
  175. CheckllRot2Euler(new LSL_Types.Quaternion(-0.183013, 0.683009, -0.183013, 0.683009));
  176. CheckllRot2Euler(new LSL_Types.Quaternion(0.430457, -0.560985, -0.430457, 0.560985));
  177. CheckllRot2Euler(new LSL_Types.Quaternion(0.353552, 0.612360, -0.353552, -0.612360));
  178. CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500003, 0.499991, -0.500003));
  179. CheckllRot2Euler(new LSL_Types.Quaternion(-0.353555, -0.612385, -0.353555, -0.612385));
  180. CheckllRot2Euler(new LSL_Types.Quaternion(0.701066, -0.092301, -0.701066, 0.092301));
  181. CheckllRot2Euler(new LSL_Types.Quaternion(-0.499991, 0.500007, 0.499991, -0.500007));
  182. CheckllRot2Euler(new LSL_Types.Quaternion(-0.683002, 0.183016, -0.683002, 0.183016));
  183. CheckllRot2Euler(new LSL_Types.Quaternion(0.430458, 0.560982, 0.430458, 0.560982));
  184. CheckllRot2Euler(new LSL_Types.Quaternion(0.499991, -0.500003, -0.499991, 0.500003));
  185. CheckllRot2Euler(new LSL_Types.Quaternion(-0.183009, 0.683011, -0.183009, 0.683011));
  186. CheckllRot2Euler(new LSL_Types.Quaternion(0.560975, -0.430457, 0.560975, -0.430457));
  187. CheckllRot2Euler(new LSL_Types.Quaternion(0.701055, 0.092300, 0.701055, 0.092300));
  188. CheckllRot2Euler(new LSL_Types.Quaternion(-0.560990, 0.430459, -0.560990, 0.430459));
  189. CheckllRot2Euler(new LSL_Types.Quaternion(-0.092302, -0.701059, -0.092302, -0.701059));
  190. }
  191. /// <summary>
  192. /// Check an llRot2Euler conversion.
  193. /// </summary>
  194. /// <remarks>
  195. /// Testing Rot2Euler this way instead of comparing against expected angles because
  196. /// 1. There are several ways to get to the original Quaternion. For example a rotation
  197. /// of PI and -PI will give the same result. But PI and -PI aren't equal.
  198. /// 2. This method checks to see if the calculated angles from a quaternion can be used
  199. /// to create a new quaternion to produce the same rotation.
  200. /// However, can't compare the newly calculated quaternion against the original because
  201. /// once again, there are multiple quaternions that give the same result. For instance
  202. /// <X, Y, Z, S> == <-X, -Y, -Z, -S>. Additionally, the magnitude of S can be changed
  203. /// and will still result in the same rotation if the values for X, Y, Z are also changed
  204. /// to compensate.
  205. /// However, if two quaternions represent the same rotation, then multiplying the first
  206. /// quaternion by the conjugate of the second, will give a third quaternion representing
  207. /// a zero rotation. This can be tested for by looking at the X, Y, Z values which should
  208. /// be zero.
  209. /// </remarks>
  210. /// <param name="rot"></param>
  211. private void CheckllRot2Euler(LSL_Types.Quaternion rot)
  212. {
  213. // Call LSL function to convert quaternion rotaion to euler radians.
  214. LSL_Types.Vector3 eulerCalc = m_lslApi.llRot2Euler(rot);
  215. // Now use the euler radians to recalculate a new quaternion rotation
  216. LSL_Types.Quaternion newRot = m_lslApi.llEuler2Rot(eulerCalc);
  217. // Multiple original quaternion by conjugate of quaternion calculated with angles.
  218. LSL_Types.Quaternion check = rot * new LSL_Types.Quaternion(-newRot.x, -newRot.y, -newRot.z, newRot.s);
  219. Assert.AreEqual(0.0, check.x, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler X bounds check fail");
  220. Assert.AreEqual(0.0, check.y, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Y bounds check fail");
  221. Assert.AreEqual(0.0, check.z, VECTOR_COMPONENT_ACCURACY, "TestllRot2Euler Z bounds check fail");
  222. }
  223. [Test]
  224. public void TestllVecNorm()
  225. {
  226. TestHelpers.InMethod();
  227. // Check special case for normalizing zero vector.
  228. CheckllVecNorm(new LSL_Types.Vector3(0.0d, 0.0d, 0.0d), new LSL_Types.Vector3(0.0d, 0.0d, 0.0d));
  229. // Check various vectors.
  230. CheckllVecNorm(new LSL_Types.Vector3(10.0d, 25.0d, 0.0d), new LSL_Types.Vector3(0.371391d, 0.928477d, 0.0d));
  231. CheckllVecNorm(new LSL_Types.Vector3(1.0d, 0.0d, 0.0d), new LSL_Types.Vector3(1.0d, 0.0d, 0.0d));
  232. CheckllVecNorm(new LSL_Types.Vector3(-90.0d, 55.0d, 2.0d), new LSL_Types.Vector3(-0.853128d, 0.521356d, 0.018958d));
  233. CheckllVecNorm(new LSL_Types.Vector3(255.0d, 255.0d, 255.0d), new LSL_Types.Vector3(0.577350d, 0.577350d, 0.577350d));
  234. }
  235. public void CheckllVecNorm(LSL_Types.Vector3 vec, LSL_Types.Vector3 vecNormCheck)
  236. {
  237. // Call LSL function to normalize the vector.
  238. LSL_Types.Vector3 vecNorm = m_lslApi.llVecNorm(vec);
  239. // Check each vector component against expected result.
  240. Assert.AreEqual(vecNorm.x, vecNormCheck.x, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on x component");
  241. Assert.AreEqual(vecNorm.y, vecNormCheck.y, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on y component");
  242. Assert.AreEqual(vecNorm.z, vecNormCheck.z, VECTOR_COMPONENT_ACCURACY, "TestllVecNorm vector check fail on z component");
  243. }
  244. }
  245. }