HumanoidControl_Free/LowLevelMessages.cs

using Passer;

public class LowLevelMessages {
    public static Spherical ReceiveSpherical(byte[] data, ref uint ix) {
        float horizontal = ReceiveAngle8(data, ref ix);
        float vertical = ReceiveAngle8(data, ref ix);
        float distance = ReceiveFloat16(data, ref ix);
        Spherical v = new(distance, horizontal, vertical);
        return v;
    }

    public static Quat32 ReceiveQuat32(byte[] data, ref uint ix) {
        Quat32 q = new(
            (data[ix++] - 128.0F) / 127.0F,
            (data[ix++] - 128.0F) / 127.0F,
            (data[ix++] - 128.0F) / 127.0F,
            data[ix++] / 255.0F);
        return q;
    }

    public static float ReceiveAngle8(byte[] data, ref uint ix) {
        float value = (data[ix++] * 180) / 128.0F;
        return value;
    }

    public static float ReceiveFloat16(byte[] data, ref uint ix) {
        ushort value = (ushort)(data[ix++] << 8 | data[ix++]);
        float16 f16 = new();
        f16.SetBinary(value);
        float f = f16.toFloat();
        return f;
    }


}