merge

10 files changed, 106 insertions, 17 deletions

diff --git a/indra/llmath/CMakeLists.txt b/indra/llmath/CMakeLists.txt
index 9006a8a284..7957c32be2 100644
--- a/indra/llmath/CMakeLists.txt
+++ b/indra/llmath/CMakeLists.txt
@@ -64,6 +64,7 @@ set(llmath_HEADER_FILES
     llv4vector3.h
     llvolume.h
     llvolumemgr.h
+    llsdutil_math.h
     m3math.h
     m4math.h
     raytrace.h
diff --git a/indra/llmath/llbbox.cpp b/indra/llmath/llbbox.cpp
index acf93a2a38..914cbfdc12 100644
--- a/indra/llmath/llbbox.cpp
+++ b/indra/llmath/llbbox.cpp
@@ -30,6 +30,8 @@
  * $/LicenseInfo$
  */
 
+#include "linden_common.h"
+
 // self include
 #include "llbbox.h"
 
diff --git a/indra/llmath/llmath.h b/indra/llmath/llmath.h
index f85c4f39f4..7a5d51ff76 100644
--- a/indra/llmath/llmath.h
+++ b/indra/llmath/llmath.h
@@ -35,6 +35,7 @@
 
 #include <cmath>
 #include <cstdlib>
+#include <complex>
 #include "lldefs.h"
 //#include "llstl.h" // *TODO: Remove when LLString is gone
 //#include "llstring.h" // *TODO: Remove when LLString is gone
diff --git a/indra/llmath/llquaternion.cpp b/indra/llmath/llquaternion.cpp
index cfd6183ec4..fdcc19d657 100644
--- a/indra/llmath/llquaternion.cpp
+++ b/indra/llmath/llquaternion.cpp
@@ -121,7 +121,7 @@ void	LLQuaternion::quantize16(F32 lower, F32 upper)
 	mQ[VZ] = z;
 	mQ[VS] = s;
 
-	normQuat();
+	normalize();
 }
 
 void	LLQuaternion::quantize8(F32 lower, F32 upper)
@@ -131,7 +131,7 @@ void	LLQuaternion::quantize8(F32 lower, F32 upper)
 	mQ[VZ] = U8_to_F32(F32_to_U8_ROUND(mQ[VZ], lower, upper), lower, upper);
 	mQ[VS] = U8_to_F32(F32_to_U8_ROUND(mQ[VS], lower, upper), lower, upper);
 
-	normQuat();
+	normalize();
 }
 
 // LLVector3 Magnitude and Normalization Functions
@@ -346,7 +346,7 @@ const LLQuaternion&	LLQuaternion::setQuat(const LLMatrix4 &mat)
 //    mQ[VZ] = (F32)(cosX*cosY*sinZ - sinX*sinY*cosZ);
 //#endif
 //
-//	normQuat();
+//	normalize();
 //	return (*this);
 }
 
diff --git a/indra/llmath/llquaternion.h b/indra/llmath/llquaternion.h
index 5db9c5be2e..0769f29f23 100644
--- a/indra/llmath/llquaternion.h
+++ b/indra/llmath/llquaternion.h
@@ -469,20 +469,30 @@ inline const LLQuaternion&	operator*=(LLQuaternion &a, const LLQuaternion &b)
 	return a;
 }
 
+const F32 ONE_PART_IN_A_MILLION = 0.000001f;
+
 inline F32	LLQuaternion::normalize()
 {
 	F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
 
 	if (mag > FP_MAG_THRESHOLD)
 	{
-		F32 oomag = 1.f/mag;
-		mQ[VX] *= oomag;
-		mQ[VY] *= oomag;
-		mQ[VZ] *= oomag;
-		mQ[VS] *= oomag;
+		// Floating point error can prevent some quaternions from achieving
+		// exact unity length.  When trying to renormalize such quaternions we
+		// can oscillate between multiple quantized states.  To prevent such
+		// drifts we only renomalize if the length is far enough from unity.
+		if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
+		{
+			F32 oomag = 1.f/mag;
+			mQ[VX] *= oomag;
+			mQ[VY] *= oomag;
+			mQ[VZ] *= oomag;
+			mQ[VS] *= oomag;
+		}
 	}
 	else
 	{
+		// we were given a very bad quaternion so we set it to identity
 		mQ[VX] = 0.f;
 		mQ[VY] = 0.f;
 		mQ[VZ] = 0.f;
@@ -499,11 +509,15 @@ inline F32	LLQuaternion::normQuat()
 
 	if (mag > FP_MAG_THRESHOLD)
 	{
-		F32 oomag = 1.f/mag;
-		mQ[VX] *= oomag;
-		mQ[VY] *= oomag;
-		mQ[VZ] *= oomag;
-		mQ[VS] *= oomag;
+		if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
+		{
+			// only renormalize if length not close enough to 1.0 already
+			F32 oomag = 1.f/mag;
+			mQ[VX] *= oomag;
+			mQ[VY] *= oomag;
+			mQ[VZ] *= oomag;
+			mQ[VS] *= oomag;
+		}
 	}
 	else
 	{
diff --git a/indra/llmath/llsdutil_math.cpp b/indra/llmath/llsdutil_math.cpp
index c5176681ce..1bd12ae513 100644
--- a/indra/llmath/llsdutil_math.cpp
+++ b/indra/llmath/llsdutil_math.cpp
@@ -34,7 +34,7 @@
 
 #include "linden_common.h"
 
-#include "llsdutil.h"
+#include "llsdutil_math.h"
 
 #include "v3math.h"
 #include "v4math.h"
diff --git a/indra/llmath/llsdutil_math.h b/indra/llmath/llsdutil_math.h
new file mode 100644
index 0000000000..121f4b746a
--- /dev/null
+++ b/indra/llmath/llsdutil_math.h
@@ -0,0 +1,70 @@
+/** 
+ * @file llsdutil_math.h
+ * @author Brad
+ * @date 2009-05-19
+ * @brief Utility classes, functions, etc, for using structured data with math classes.
+ *
+ * $LicenseInfo:firstyear=2009&license=viewergpl$
+ * 
+ * Copyright (c) 2009-2009, Linden Research, Inc.
+ * 
+ * Second Life Viewer Source Code
+ * The source code in this file ("Source Code") is provided by Linden Lab
+ * to you under the terms of the GNU General Public License, version 2.0
+ * ("GPL"), unless you have obtained a separate licensing agreement
+ * ("Other License"), formally executed by you and Linden Lab.  Terms of
+ * the GPL can be found in doc/GPL-license.txt in this distribution, or
+ * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
+ * 
+ * There are special exceptions to the terms and conditions of the GPL as
+ * it is applied to this Source Code. View the full text of the exception
+ * in the file doc/FLOSS-exception.txt in this software distribution, or
+ * online at
+ * http://secondlifegrid.net/programs/open_source/licensing/flossexception
+ * 
+ * By copying, modifying or distributing this software, you acknowledge
+ * that you have read and understood your obligations described above,
+ * and agree to abide by those obligations.
+ * 
+ * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
+ * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
+ * COMPLETENESS OR PERFORMANCE.
+ * $/LicenseInfo$
+ */
+
+#ifndef LL_LLSDUTIL_MATH_H
+#define LL_LLSDUTIL_MATH_H
+
+class LL_COMMON_API LLSD;
+
+// vector3
+class LLVector3;
+LLSD ll_sd_from_vector3(const LLVector3& vec);
+LLVector3 ll_vector3_from_sd(const LLSD& sd, S32 start_index = 0);
+
+// vector4
+class LLVector4;
+LLSD ll_sd_from_vector4(const LLVector4& vec);
+LLVector4 ll_vector4_from_sd(const LLSD& sd, S32 start_index = 0);
+
+// vector3d (double)
+class LLVector3d;
+LLSD ll_sd_from_vector3d(const LLVector3d& vec);
+LLVector3d ll_vector3d_from_sd(const LLSD& sd, S32 start_index = 0);
+
+// vector2
+class LLVector2;
+LLSD ll_sd_from_vector2(const LLVector2& vec);
+LLVector2 ll_vector2_from_sd(const LLSD& sd);
+
+// Quaternion
+class LLQuaternion;
+LLSD ll_sd_from_quaternion(const LLQuaternion& quat);
+LLQuaternion ll_quaternion_from_sd(const LLSD& sd);
+
+// color4
+class LLColor4;
+LLSD ll_sd_from_color4(const LLColor4& c);
+LLColor4 ll_color4_from_sd(const LLSD& sd);
+
+#endif // LL_LLSDUTIL_MATH_H
diff --git a/indra/llmath/tests/llbbox_test.cpp b/indra/llmath/tests/llbbox_test.cpp
index b310baf07f..3031310a5d 100644
--- a/indra/llmath/tests/llbbox_test.cpp
+++ b/indra/llmath/tests/llbbox_test.cpp
@@ -32,6 +32,8 @@
  * $/LicenseInfo$
  */
 
+#include "linden_common.h"
+
 #include "../test/lltut.h"
 
 #include "../llbbox.h"
diff --git a/indra/llmath/tests/llbboxlocal_test.cpp b/indra/llmath/tests/llbboxlocal_test.cpp
index ae75e056d1..fb51deab4a 100644
--- a/indra/llmath/tests/llbboxlocal_test.cpp
+++ b/indra/llmath/tests/llbboxlocal_test.cpp
@@ -32,11 +32,10 @@
  * $/LicenseInfo$
  */
 
+#include "linden_common.h"
 #include "../test/lltut.h"
-
 #include "../llbboxlocal.h"
 
-
 namespace tut
 {
 	struct LLBBoxLocalData
diff --git a/indra/llmath/tests/llrect_test.cpp b/indra/llmath/tests/llrect_test.cpp
index 4b39f77772..c5e9e425bb 100644
--- a/indra/llmath/tests/llrect_test.cpp
+++ b/indra/llmath/tests/llrect_test.cpp
@@ -32,8 +32,8 @@
  * $/LicenseInfo$
  */
 
+#include "linden_common.h"
 #include "../test/lltut.h"
-
 #include "../llrect.h"
 
 namespace tut