diff --git a/Assets/NanoBrain/LinearAlgebra/src/Direction.cs b/Assets/NanoBrain/LinearAlgebra/src/Direction.cs
index ed82901..a962589 100644
--- a/Assets/NanoBrain/LinearAlgebra/src/Direction.cs
+++ b/Assets/NanoBrain/LinearAlgebra/src/Direction.cs
@@ -102,17 +102,7 @@ namespace LinearAlgebra {
             }
         }
 
-#if !UNITY_5_3_OR_NEWER
-        /// <summary>
-        /// Convert the direction into a carthesian vector
-        /// </summary>
-        /// <returns>The carthesian vector corresponding to this direction.</returns>
-        public Vector3Float ToVector3Float() {
-            Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
-            Vector3Float v = q * Vector3Float.forward;
-            return v;
-        }
-#else        
+#if UNITY_5_3_OR_NEWER
         /// <summary>
         /// Convert the direction into a carthesian vector
         /// </summary>
@@ -122,7 +112,30 @@ namespace LinearAlgebra {
             UnityEngine.Vector3 v = q * UnityEngine.Vector3.forward;
             return v;
         }
-#endif        
+
+        /// <summary>
+        /// Convert a carthesian vector into a direction
+        /// </summary>
+        /// <param name="v">The carthesian vector</param>
+        /// <returns>The direction</returns>
+        /// <remarks>Information about the length of the carthesian vector is not
+        /// included in this transformation</remarks>
+        public static Direction FromVector3(UnityEngine.Vector3 v) {
+            AngleFloat horizontal = AngleFloat.Atan2(v.x, v.z);
+            AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.y);
+            Direction d = new(horizontal, vertical);
+            return d;
+        }
+#else
+        /// <summary>
+        /// Convert the direction into a carthesian vector
+        /// </summary>
+        /// <returns>The carthesian vector corresponding to this direction.</returns>
+        public Vector3Float ToVector3() {
+            Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
+            Vector3Float v = q * Vector3Float.forward;
+            return v;
+        }
 
         /// <summary>
         /// Convert a carthesian vector into a direction
@@ -137,6 +150,8 @@ namespace LinearAlgebra {
             Direction d = new(horizontal, vertical);
             return d;
         }
+#endif        
+
 
         /// <summary>
         /// Tests the equality of two directions
diff --git a/Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs b/Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs
index 4437c4f..df6e048 100644
--- a/Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs
+++ b/Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs
@@ -1,6 +1,6 @@
-#if !UNITY_5_3_OR_NEWER
-using UnityEngine;
-#endif
+// #if !UNITY_5_3_OR_NEWER
+// using UnityEngine;
+// #endif
 
 namespace LinearAlgebra {
 
@@ -46,7 +46,45 @@ namespace LinearAlgebra {
             return s;
         }
 
-#if !UNITY_5_3_OR_NEWER
+#if UNITY_5_3_OR_NEWER
+        /// <summary>
+        /// A zero angle rotation
+        /// </summary>
+        public static readonly SwingTwist zero = Degrees(0, 0, 0);
+
+        public Spherical ToAngleAxis() {
+            UnityEngine.Quaternion q = this.ToQuaternion();
+            q.ToAngleAxis(out float angle, out UnityEngine.Vector3 axis);
+            Direction direction = Direction.FromVector3(axis);
+
+            Spherical r = new(angle, direction);
+            return r;
+        }
+
+        public static SwingTwist FromAngleAxis(Spherical r) {
+            UnityEngine.Vector3 vectorAxis = r.direction.ToVector3();
+            UnityEngine.Quaternion q = UnityEngine.Quaternion.AngleAxis(r.distance, vectorAxis);
+            return FromQuaternion(q);
+        }
+
+        /// <summary>
+        /// Convert a quaternion in a swing/twist rotation
+        /// </summary>
+        /// <param name="q">The quaternion to convert</param>
+        /// <returns>The swing/twist rotation</returns>
+        public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) {
+            UnityEngine.Vector3 angles = q.eulerAngles;
+            SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
+            return r;
+        }
+
+        public UnityEngine.Quaternion ToQuaternion() {
+            UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees,
+                                   this.swing.horizontal.inDegrees,
+                                   this.twist.inDegrees);
+            return q;
+        }
+#else
         /// <summary>
         /// A zero angle rotation
         /// </summary>
@@ -92,25 +130,7 @@ namespace LinearAlgebra {
             return r;
         }
 #endif
-#if UNITY_5_3_OR_NEWER
-        /// <summary>
-        /// Convert a quaternion in a swing/twist rotation
-        /// </summary>
-        /// <param name="q">The quaternion to convert</param>
-        /// <returns>The swing/twist rotation</returns>
-        public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) {
-            UnityEngine.Vector3 angles = q.eulerAngles;
-            SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
-            return r;
-        }
-
-        public UnityEngine.Quaternion ToUnityQuaternion() {
-            UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees,
-                                   this.swing.horizontal.inDegrees,
-                                   this.twist.inDegrees);
-            return q;
-        }
-#endif        
+ 
     }
 
 }
\ No newline at end of file