ReceiverWorkingSL

integer     CHANNEL         = -1;

//vector      base_initial_pos;
vector      cur_base_pos;
rotation    base_initial_rot;
rotation    cur_base_rot;

vector      object_initial_pos=<-1,-1,-1>;
rotation    object_initial_rot;



list parsecmd(string msg)
{
    return llParseStringKeepNulls(msg,["|"],["|"]);
}
rotate_around_point()
{

    vector center = cur_base_pos;
    llOwnerSay("base pos: "+(string)cur_base_pos+ " center "+(string)center);
    vector point = object_initial_pos;
    // divide current rotation by the initial_rotation
    // gives the actual rotation made

    rotation diffrot = cur_base_rot / base_initial_rot;
    llOwnerSay("cur_base_pos: "+(string)cur_base_pos+"object_initial_pos: "+(string)point+" rot:"+(string)cur_base_rot+" base_initial_rot:"+(string)base_initial_rot+" diffrot:"+(string)diffrot);
    // get actual rotation in radians
    vector eulero = llRot2Euler(diffrot);
    float theta = eulero.z;

    vector object_pos = llGetPos();
    // according to https://academo.org/demos/rotation-about-point/
    llOwnerSay("Rotating by "+(string)(theta));

    // 1) first we need to get transform such that center is the center of coordinate
    float sin = llSin(theta);
    float cos = llCos(theta);

    // translate point back to origin:
    float px = point.x - center.x;
    float py = point.y - center.y;
    llOwnerSay("px: "+(string)px+" py: "+(string)py+" sin: "+(string)sin+" cos: "+(string)cos);

    // rotate point this is the core of rotation
    float xnew = px * cos - py * sin;
    float ynew = px * sin + py * cos;

    // translate point back:
    float nx = xnew + center.x;
    float ny = ynew + center.y;
    vector newpos =  <nx,ny,point.z>;
    llOwnerSay("would change pos to  "+(string)newpos);
    //llOwnerSay("rotated by "+(string)(theta*RAD_TO_DEG)+" degrees ");
    llSetLinkPrimitiveParamsFast( LINK_THIS, [
        PRIM_POSITION, newpos,
        PRIM_ROTATION, object_initial_rot*diffrot]);

}

default
{
    state_entry()
    {
        llListen(CHANNEL,"","","");
    }
    listen(integer channel, string name, key id, string msg)
    {
        if(object_initial_pos==<-1,-1,-1>)
        {
            llOwnerSay("MUST reset the base before touching!");
            return;
        }
        list result=parsecmd(msg);
        //llOwnerSay(llList2CSV(result));
        string cmd = llList2String(result,0);
        cur_base_pos = (vector)llList2String(result,1);
        //llOwnerSay("cur_base_pos: "+(string)cur_base_pos);
        cur_base_rot = (rotation)llList2String(result,2);

        if(cmd=="RESET")
        {
            llOwnerSay("Reset");

            base_initial_rot = cur_base_rot;
            //base_initial_pos = pos;
            object_initial_pos = llGetPos();
            object_initial_rot = llGetRot();

        }
        if(cmd=="ROTATED")
        {
            rotate_around_point();
        }


    }
}