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fix: mathematical precision #938

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fix: mathematical precision #938

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2ea3e91
fix: mathematical precision
cptbtptpbcptdtptp Aug 10, 2022
0e08f42
fix: mathematical precision
cptbtptpbcptdtptp Aug 11, 2022
0fd4cd4
fix: mathematical precision
cptbtptpbcptdtptp Aug 11, 2022
7c053e7
fix: mathematical precision
cptbtptpbcptdtptp Aug 11, 2022
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4 changes: 2 additions & 2 deletions packages/core/src/Transform.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -508,7 +508,7 @@ export class Transform extends Component {
const zAxis = Transform._tempVec30;
Vector3.subtract(this.worldPosition, targetPosition, zAxis);
let axisLen = zAxis.length();
if (axisLen <= MathUtil.zeroTolerance) {
if (axisLen < MathUtil.zeroTolerance) {
// The current position and the target position are almost the same.
return;
}
Expand All @@ -520,7 +520,7 @@ export class Transform extends Component {
xAxis.set(zAxis.z, 0, -zAxis.x);
}
axisLen = xAxis.length();
if (axisLen <= MathUtil.zeroTolerance) {
if (axisLen < MathUtil.zeroTolerance) {
// @todo:
// 1.worldUp is（0,0,0）
// 2.worldUp is parallel to zAxis
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15 changes: 6 additions & 9 deletions packages/math/src/CollisionUtil.ts
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Expand Up @@ -123,16 +123,13 @@ export class CollisionUtil {

const position = Vector3.dot(normal, ray.origin);
let distance = (-plane.distance - position) / dir;

if (distance < 0) {
if (distance < -zeroTolerance) {
return -1;
}

distance = 0;
if (distance >= 0) {
return distance;
} else if (distance > -zeroTolerance) {
return 0;
} else {
return -1;
}

return distance;
}

/**
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4 changes: 2 additions & 2 deletions packages/math/src/MathUtil.ts
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Expand Up @@ -3,7 +3,7 @@
*/
export class MathUtil {
/** The value for which all absolute numbers smaller than are considered equal to zero. */
static readonly zeroTolerance: number = 1e-6;
static readonly zeroTolerance: number = 1e-15;
/** The conversion factor that radian to degree. */
static readonly radToDegreeFactor: number = 180 / Math.PI;
/** The conversion factor that degree to radian. */
Expand All @@ -28,7 +28,7 @@ export class MathUtil {
* @returns True if a almost equal to b, false otherwise
*/
static equals(a: number, b: number): boolean {
return Math.abs(a - b) <= MathUtil.zeroTolerance;
return Math.abs(a - b) < MathUtil.zeroTolerance;
}

/**
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2 changes: 1 addition & 1 deletion packages/math/src/Matrix.ts
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Expand Up @@ -1012,7 +1012,7 @@ export class Matrix implements IClone<Matrix>, ICopy<Matrix, Matrix> {
const e = this.elements;
let trace = e[0] + e[5] + e[10];

if (trace > MathUtil.zeroTolerance) {
if (trace >= MathUtil.zeroTolerance) {
let s = Math.sqrt(trace + 1.0) * 2;
out._w = 0.25 * s;
out._x = (e[6] - e[9]) / s;
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16 changes: 8 additions & 8 deletions packages/math/src/Quaternion.ts
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Expand Up @@ -209,7 +209,7 @@ export class Quaternion implements IClone<Quaternion>, ICopy<QuaternionLike, Qua
static invert(a: Quaternion, out: Quaternion): void {
const { _x: x, _y: y, _z: z, _w: w } = a;
const dot = x * x + y * y + z * z + w * w;
if (dot > MathUtil.zeroTolerance) {
if (dot >= MathUtil.zeroTolerance) {
const invDot = 1.0 / dot;
out._x = -x * invDot;
out._y = -y * invDot;
Expand Down Expand Up @@ -300,7 +300,7 @@ export class Quaternion implements IClone<Quaternion>, ICopy<QuaternionLike, Qua
static normalize(a: Quaternion, out: Quaternion): void {
const { _x, _y, _z, _w } = a;
let len = Math.sqrt(_x * _x + _y * _y + _z * _z + _w * _w);
if (len > MathUtil.zeroTolerance) {
if (len >= MathUtil.zeroTolerance) {
len = 1 / len;
out._x = _x * len;
out._y = _y * len;
Expand Down Expand Up @@ -557,14 +557,14 @@ export class Quaternion implements IClone<Quaternion>, ICopy<QuaternionLike, Qua
out._x = 1;
out._y = 0;
out._z = 0;

out._onValueChanged && out._onValueChanged();
return 0;
} else {
const inv = 1.0 / length;
out._x = this._x * inv;
out._y = this._y * inv;
out._z = this._z * inv;

out._x = _x * inv;
out._y = _y * inv;
out._z = _z * inv;
out._onValueChanged && out._onValueChanged();
return Math.acos(this._w) * 2.0;
}
}
Expand Down Expand Up @@ -789,7 +789,7 @@ export class Quaternion implements IClone<Quaternion>, ICopy<QuaternionLike, Qua
const xw = _x * _w;

out._y = Math.asin(2.0 * (xw - yz));
if (Math.cos(out.y) > MathUtil.zeroTolerance) {
if (Math.cos(out.y) >= MathUtil.zeroTolerance) {
out._z = Math.atan2(2.0 * (xy + zw), 1.0 - 2.0 * (zz + xx));
out._x = Math.atan2(2.0 * (zx + yw), 1.0 - 2.0 * (yy + xx));
} else {
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2 changes: 1 addition & 1 deletion packages/math/src/Vector2.ts
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Expand Up @@ -160,7 +160,7 @@ export class Vector2 implements IClone<Vector2>, ICopy<Vector2Like, Vector2> {
static normalize(left: Vector2, out: Vector2): void {
const { _x, _y } = left;
let len = Math.sqrt(_x * _x + _y * _y);
if (len > MathUtil.zeroTolerance) {
if (len >= MathUtil.zeroTolerance) {
len = 1 / len;
out._x = _x * len;
out._y = _y * len;
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7 changes: 5 additions & 2 deletions packages/math/src/Vector3.ts
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Expand Up @@ -192,9 +192,12 @@ export class Vector3 implements IClone<Vector3>, ICopy<Vector3Like, Vector3> {
static normalize(a: Vector3, out: Vector3): void {
const { _x, _y, _z } = a;
let len = Math.sqrt(_x * _x + _y * _y + _z * _z);
if (len > MathUtil.zeroTolerance) {
if (len >= MathUtil.zeroTolerance) {
len = 1 / len;
out.set(_x * len, _y * len, _z * len);
out._x = _x * len;
out._y = _y * len;
out._z = _z * len;
out._onValueChanged && out._onValueChanged();
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Use out.set(_x * len, _y * len, _z * len); is better?

}
}

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2 changes: 1 addition & 1 deletion packages/math/src/Vector4.ts
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Expand Up @@ -187,7 +187,7 @@ export class Vector4 implements IClone<Vector4>, ICopy<Vector4Like, Vector4> {
static normalize(a: Vector4, out: Vector4): void {
const { _x, _y, _z, _w } = a;
let len = Math.sqrt(_x * _x + _y * _y + _z * _z + _w * _w);
if (len > MathUtil.zeroTolerance) {
if (len >= MathUtil.zeroTolerance) {
len = 1 / len;
out._x = _x * len;
out._y = _y * len;
Expand Down