From f1a550e7f33448d0fecfed1ae0b48737d637d218 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 7 Mar 2025 12:23:15 +0100
Subject: [PATCH] Removed dependecies on UnityEngine

---
 LinearAlgebra/Matrix.cs     | 9 ++++++++-
 LinearAlgebra/Quaternion.cs | 4 ++++
 test/UnitTest1.cs           | 6 +++---
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/LinearAlgebra/Matrix.cs b/LinearAlgebra/Matrix.cs
index e1b453c..4d37dda 100644
--- a/LinearAlgebra/Matrix.cs
+++ b/LinearAlgebra/Matrix.cs
@@ -4,8 +4,8 @@ using Passer.LinearAlgebra;
 #if UNITY_5_3_OR_NEWER
 using Vector3Float = UnityEngine.Vector3;
 using Vector2Float = UnityEngine.Vector2;
-#endif
 using Quaternion = UnityEngine.Quaternion;
+#endif
 
 public readonly struct Slice {
     public uint start { get; }
@@ -91,6 +91,7 @@ public class Matrix2 {
         return new Matrix2(result);
     }
 
+#if UNITY_5_3_OR_NEWER
     public Vector3Float GetRow3(int rowIx) {
         uint cols = this.nCols;
         Vector3Float row = new() {
@@ -100,6 +101,7 @@ public class Matrix2 {
         };
         return row;
     }
+#endif    
     public void SetRow(int rowIx, Matrix1 v) {
         for (uint ix = 0; ix < v.size; ix++)
             this.data[rowIx, ix] = v.data[ix];
@@ -430,6 +432,7 @@ public class Matrix1 {
         return new Matrix1(result);
     }
 
+#if UNITY_5_3_OR_NEWER
     public static Matrix1 FromQuaternion(Quaternion q) {
         float[] result = new float[4];
         result[0] = q.x;
@@ -438,6 +441,7 @@ public class Matrix1 {
         result[3] = q.w;
         return new Matrix1(result);
     }
+#endif
 
     public Vector2Float vector2 {
         get {
@@ -453,6 +457,8 @@ public class Matrix1 {
             return new Vector3Float(this.data[0], this.data[1], this.data[2]);
         }
     }
+
+#if UNITY_5_3_OR_NEWER
     public Quaternion quaternion {
         get {
             if (this.size != 4)
@@ -460,6 +466,7 @@ public class Matrix1 {
             return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
         }
     }
+#endif
 
     public Matrix1 Clone() {
         float[] data = new float[this.size];
diff --git a/LinearAlgebra/Quaternion.cs b/LinearAlgebra/Quaternion.cs
index b1146ed..57f8f5d 100644
--- a/LinearAlgebra/Quaternion.cs
+++ b/LinearAlgebra/Quaternion.cs
@@ -1,5 +1,7 @@
 using System;
+#if UNITY_5_3_OR_NEWER
 using Quaternion = UnityEngine.Quaternion;
+#endif
 namespace Passer.LinearAlgebra {
 
     public class QuaternionOf<T> {
@@ -15,6 +17,7 @@ namespace Passer.LinearAlgebra {
             this.w = w;
         }
 
+#if UNITY_5_3_OR_NEWER
         public static Matrix2 ToRotationMatrix(Quaternion q) {
             float w = q.x, x = q.y, y = q.z, z = q.w;
 
@@ -64,6 +67,7 @@ namespace Passer.LinearAlgebra {
 
             return new Quaternion(x, y, z, w);
         }
+#endif        
     }
 
     // public class Quaternion : QuaternionOf<float> {
diff --git a/test/UnitTest1.cs b/test/UnitTest1.cs
index f32d4b8..be1bd9c 100644
--- a/test/UnitTest1.cs
+++ b/test/UnitTest1.cs
@@ -3,7 +3,7 @@ using System;
 using System.Threading;
 using NUnit.Framework;
 
-using Passer.RoboidControl;
+using RoboidControl;
 
 namespace ControlCore.test {
     public class Tests {
@@ -29,7 +29,7 @@ namespace ControlCore.test {
 
         [Test]
         public void Test_SiteServer() {
-            SiteServer siteServer =  new SiteServer(7681);
+            SiteServer siteServer = new SiteServer(7681);
 
             ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
             ulong startTime = milliseconds;
@@ -63,7 +63,7 @@ namespace ControlCore.test {
 
         [Test]
         public void Test_ThingMsg() {
-            SiteServer siteServer = new SiteServer();
+            SiteServer siteServer = new SiteServer(7681);
             Participant participant = new Participant("127.0.0.1");
             Thing thing = new Thing(participant) {
                 name = "First Thing",