Merge commit '1855aa0705deb54be7886fd6572bf186365559a6'

Assets/NanoBrain/LinearAlgebra/src/Angle.cs

@@ -57,7 +57,7 @@ namespace LinearAlgebra {
         public readonly float inRevolutions => this.value / 360.0f;
 
         public override string ToString() {
-               return $"{this.inDegrees} deg.";
+               return $"{this.inDegrees}\u00B0";
         }
 
         public static readonly AngleFloat zero = Degrees(0);

Assets/NanoBrain/LinearAlgebra/src/Spherical.cs

@@ -124,7 +124,7 @@ namespace LinearAlgebra {
 #endif
 
         public override readonly string ToString() {
-            return $"Spherical(h: {this.direction.horizontal}, v: {this.direction.vertical}, distance: {this.distance})";
+            return $"Spherical({this.distance}, h: {this.direction.horizontal}, v: {this.direction.vertical})";
         }
 
 

Assets/NanoBrain/LinearAlgebra/src/Vector3Float.cs

@@ -119,6 +119,10 @@ namespace LinearAlgebra {
             return new Vector3Float(horizontal, vertical, depth);
         }
 
+        public override string ToString() {
+            return $"({this.horizontal}, {this.vertical}, {this.depth})";
+        }
+
         /// <summary>
         /// A vector with zero for all axis
         /// </summary>

Assets/NanoBrain/LinearAlgebra/test/DirectionTest.cs

@@ -103,7 +103,7 @@ namespace LinearAlgebra.Test {
 
         [Test]
         public void ToVector3AndBack2() {
-            Direction d1 = Direction.Degrees(135, 85);
+            Direction d1 = Direction.Degrees(-135, 85);
             Vector3Float v = d1.ToVector3();
             Direction d2 = Direction.FromVector3(v);
             Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f);

Assets/NanoBrain/LinearAlgebra/test/SphericalTest.cs

@@ -234,6 +234,30 @@ namespace LinearAlgebra.Test {
             Assert.AreEqual(MathF.Cos(alpha), avg.distance, 1e-4f);
         }
 
+        [Test]
+        public void Average_CompareWithVector3() {
+            // Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same polar angle from vertical (alpha)
+            float alpha = MathF.PI / 6f; // polar angle from vertical
+            float elevation = MathF.PI / 2f - alpha; // convert polar-from-vertical to elevation
+            List<Spherical> dirs = new List<Spherical> {
+                new(1f, Direction.Radians(0f,          elevation)),
+                new(2f, Direction.Radians(MathF.PI/2, elevation+1)),
+                new(3f, Direction.Radians(MathF.PI,   elevation+2)),
+                new(4f, Direction.Radians(3*MathF.PI/2, elevation+3))
+            };
+
+            Spherical avg = Spherical.Average(dirs);
+
+            Vector3Float r = Vector3Float.zero;
+            foreach (Spherical dir in dirs) {
+                r += dir.ToVector3();
+            }
+            r = r / 4;
+            Spherical avg2 = Spherical.FromVector3(r);
+
+            Assert.AreEqual(avg, avg2);
+        }
+        
     }
 }
 #endif