Merge branch 'main' of https://git.passer.life/RoboidControl/RoboidControl-Csharp

src/Angle.cs

@@ -12,8 +12,8 @@ namespace LinearAlgebra
         // public static float Rad2Deg = 360.0f / ((float)Math.PI * 2);
         // public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f;
 
-        public const float Deg2Rad = 360.0f / ((float)Math.PI * 2); //0.0174532924F;
-        public const float Rad2Deg = ((float)Math.PI * 2) / 360.0f; //57.29578F;
+        public const float Rad2Deg = 360.0f / ((float)Math.PI * 2); //0.0174532924F;
+        public const float Deg2Rad = ((float)Math.PI * 2) / 360.0f; //57.29578F;
 
         /// <summary>
         /// Clamp the angle between the given min and max values

src/Direction.cs

@@ -1,3 +1,8 @@
+using System;
+#if UNITY_5_3_OR_NEWER
+using Vector3Float = UnityEngine.Vector3;
+#endif
+
 namespace LinearAlgebra
 {
 
@@ -32,6 +37,23 @@ namespace LinearAlgebra
                 this.horizontal += 180;
                 this.vertical = 180 - this.vertical;
             }
+        }
+
+                public Vector3Float ToVector3()
+        {
+            float verticalRad = (Angle.pi / 2) - this.vertical * Angle.Deg2Rad;
+            float horizontalRad = this.horizontal * Angle.Deg2Rad;
+            float cosVertical = (float)Math.Cos(verticalRad);
+            float sinVertical = (float)Math.Sin(verticalRad);
+            float cosHorizontal = (float)Math.Cos(horizontalRad);
+            float sinHorizontal = (float)Math.Sin(horizontalRad);
+
+            float x = sinVertical * sinHorizontal;
+            float y = cosVertical;
+            float z = sinVertical * cosHorizontal;
+
+            Vector3Float v = new(x, y, z);
+            return v;
         }
     }
 

src/SwingTwist.cs

@@ -1,3 +1,8 @@
+using System.Numerics;
+#if UNITY_5_3_OR_NEWER
+using Quaternion = UnityEngine.Quaternion;
+#endif
+
 namespace LinearAlgebra
 {
 
@@ -27,6 +32,15 @@ namespace LinearAlgebra
             SwingTwist r = new SwingTwist(up, right, forward);
             return r;
         }
+
+#if UNITY_5_3_OR_NEWER
+        public Quaternion ToQuaternion() {
+            Quaternion q = Quaternion.Euler(-this.swing.vertical,
+                                   this.swing.horizontal,
+                                   this.twist);
+                                   return q;
+        }
+#endif        
     }
 
 }

test/AngleTest.cs

@@ -1,3 +1,4 @@
+#if !UNITY_5_6_OR_NEWER
 using NUnit.Framework;
 
 namespace LinearAlgebra.Test
@@ -166,4 +167,5 @@ namespace LinearAlgebra.Test
 
         }
     }
-}
+}
+#endif