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Numerical Behavior

Spline solving relies on lightweight iterative updates instead of a large general-purpose nonlinear solver.

Angle normalization

MathUtils.Mod2Pi() keeps tangent deltas in a stable range. This matters when segments rotate across the -pi to pi boundary.

Initial tangent seeding

TwoParamSpline.InitialThs() estimates starting tangents from neighboring chords. Good initialization is important because the iterative solve only makes incremental corrections.

Iterative refinement

TwoParamSpline.IterDumb():

  • updates endpoint tangents when they are unconstrained
  • estimates local curvature mismatch between adjacent spans
  • applies bounded interior angle corrections

This is simple and robust, but it is intentionally not a full Newton solve.

Curvature blending

Curvature blending is applied only after the base tangent solve is complete. When the incoming and outgoing curvature signs disagree, the blend is forced to zero rather than attempting to smooth through a reversal.