fix(Matrix4): Fix matrix calculation error of lookAt (Orillusion#231)

Fix matrix calculation error when executing the lookAt function from a special angle(90/270). Delete the wrong Euler angles calculation method Delete the wrong Euler angles calculation method Delete the wrong Euler angles calculation method.
0xKiKi · Jun 28, 2023 · a1617f6 · a1617f6
1 parent 13608a8
commit a1617f6
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Showing 3 changed files with 16 additions and 58 deletions.
diff --git a/src/components/Transform.ts b/src/components/Transform.ts
@@ -397,39 +397,18 @@ export class Transform extends ComponentBase {
      * @param up up direction
      */
     public lookAt(pos: Vector3, target: Vector3, up: Vector3 = Vector3.UP) {
-        this._targetPos = target.clone();
-        this._localPos.copyFrom(pos);
-        this.notifyLocalChange();
+        this._targetPos ||= new Vector3();
+        this._targetPos.copyFrom(target);
+
+        this.localPosition = pos;
 
         Matrix4.helpMatrix.lookAt(pos, target, up);
         Matrix4.helpMatrix.invert();
         var prs: Vector3[] = Matrix4.helpMatrix.decompose(Orientation3D.QUATERNION);
-        Quaternion.CALCULATION_QUATERNION.x = prs[1].x;
-        Quaternion.CALCULATION_QUATERNION.y = prs[1].y;
-        Quaternion.CALCULATION_QUATERNION.z = prs[1].z;
-        Quaternion.CALCULATION_QUATERNION.w = prs[1].w;
-        Quaternion.CALCULATION_QUATERNION.toEulerAngles(this._localRot);
-
-        if (this.eventPositionChange) {
-            this.eventDispatcher.dispatchEvent(this.eventPositionChange);
-        }
-
-        if (this.onPositionChange) {
-            this.onPositionChange();
-        }
 
-        if (this.onRotationChange) {
-            this.onRotationChange();
-        }
-
-        if (this.eventRotationChange) {
-            this.eventDispatcher.dispatchEvent(this.eventRotationChange);
-        }
+        this.localRotQuat = Quaternion.CALCULATION_QUATERNION.copyFrom(prs[1]);
     }
 
-
-
-
     public decomposeFromMatrix(matrix: Matrix4, orientationStyle: string = 'eulerAngles'): this {
         let prs = matrix.decompose(orientationStyle);
 

diff --git a/src/math/Matrix4.ts b/src/math/Matrix4.ts
@@ -348,8 +348,7 @@ export class Matrix4 {
      */
     public lookAt(eye: Vector3, at: Vector3, up: Vector3 = Vector3.Y_AXIS): void {
         let data = this.rawData;
-        at.subtract(eye, Vector3.HELP_0);
-        let zAxis: Vector3 = Vector3.HELP_0;
+        let zAxis: Vector3 = at.subtract(eye, Vector3.HELP_0);
         if (zAxis.length < 0.0001) {
             zAxis.z = 1;
         }
@@ -362,14 +361,12 @@ export class Matrix4 {
             } else {
                 zAxis.z += 0.0001;
             }
+            zAxis.normalize();
         }
 
-        zAxis.normalize();
-        up.cross(zAxis, xAxis);
-
+        xAxis = up.cross(zAxis, xAxis).normalize();
 
-        xAxis.normalize(); //
-        let yAxis = zAxis.crossProduct(xAxis, Vector3.HELP_2);
+        let yAxis = zAxis.crossProduct(xAxis, Vector3.HELP_2).normalize();
 
         data[0] = xAxis.x;
         data[1] = yAxis.x;
@@ -1433,6 +1430,7 @@ export class Matrix4 {
         return this;
     }
 
+    private static decomposeRawData = new Float32Array(16).fill(0)
     /**
      * Decompose the current matrix
      * @param orientationStyle The default decomposition type is Orientation3D.EULER_ANGLES
@@ -1445,8 +1443,8 @@ export class Matrix4 {
     public decompose(orientationStyle: string = 'eulerAngles', target?: Vector3[]): Vector3[] {
         let q: Quaternion = Quaternion.CALCULATION_QUATERNION;
         let vec: Vector3[] = target ? target : Matrix4._prs;
-        this.copyRawDataTo(Matrix4.helpMatrix.rawData);
-        let mr = Matrix4.helpMatrix.rawData;
+        this.copyRawDataTo(Matrix4.decomposeRawData);
+        let mr = Matrix4.decomposeRawData;
 
         let pos: Vector3 = vec[0];
         pos.x = mr[12];
@@ -1548,7 +1546,7 @@ export class Matrix4 {
                     q.y = (mr[6] + mr[9]) / (4 * q.z);
                     q.w = (mr[1] - mr[4]) / (4 * q.z);
                 }
-                q.toEulerAngles(rot);
+                q.getEulerAngles(rot);
 
                 break;
         }

diff --git a/src/math/Quaternion.ts b/src/math/Quaternion.ts
@@ -332,26 +332,6 @@ export class Quaternion {
         return this;
     }
 
-    /**
-     * Fills a target Vector3D object with the Euler angles that form the rotation represented by this quaternion.
-     * @param target An optional Vector3D object to contain the Euler angles. If not provided, a new object is created.
-     * @returns The Vector3D containing the Euler angles.
-     */
-    public toEulerAngles(target: Vector3 = null): Vector3 {
-        target ||= new Vector3();
-        target.x = Math.atan2(2.0 * (this.w * this.x + this.y * this.z), 1.0 - 2.0 * (this.x * this.x + this.y * this.y));
-
-        var temp: number = 2.0 * (this.w * this.y - this.z * this.x);
-        temp = this.clampf(temp, -1.0, 1.0);
-        target.y = Math.asin(temp);
-        target.z = Math.atan2(2.0 * (this.w * this.z + this.x * this.y), 1.0 - 2.0 * (this.y * this.y + this.z * this.z));
-
-        target.x /= DEGREES_TO_RADIANS;
-        target.y /= DEGREES_TO_RADIANS;
-        target.z /= DEGREES_TO_RADIANS;
-        return target;
-    }
-
     /**
      * Sets the current quaternion from the rotation matrix
      * @param m 
@@ -418,7 +398,7 @@ export class Quaternion {
         var qw;
         var a2;
 
-        eulers = eulers === undefined ? new Vector3() : eulers;
+        eulers ||= new Vector3();
 
         qx = this.x;
         qy = this.y;
@@ -538,12 +518,13 @@ export class Quaternion {
      * Copies the data from a quaternion into this instance.
      * @param q The quaternion to copy from.
      */
-    public copyFrom(q: Quaternion | Vector3) {
+    public copyFrom(q: Quaternion | Vector3): this {
         var v = this;
         v.x = q.x;
         v.y = q.y;
         v.z = q.z;
         v.w = q.w;
+        return this;
     }
 
     /**