diff --git a/src/Spherical.cs b/src/Spherical.cs
index 183aa01..e138e7c 100644
--- a/src/Spherical.cs
+++ b/src/Spherical.cs
@@ -106,7 +106,7 @@ namespace LinearAlgebra {
         // }
 
         public Vector3 ToVector3() {
-            float verticalRad = (float)(Math.PI / 2 - this.direction.vertical) * Angle.Deg2Rad;
+            float verticalRad = (float)(90 - this.direction.vertical) * Angle.Deg2Rad;
             float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
             float cosVertical = (float)Math.Cos(verticalRad);
             float sinVertical = (float)Math.Sin(verticalRad);
diff --git a/src/SwingTwist.cs b/src/SwingTwist.cs
index 22eb0bb..58c1a1a 100644
--- a/src/SwingTwist.cs
+++ b/src/SwingTwist.cs
@@ -29,11 +29,18 @@ namespace LinearAlgebra {
         }
 
 #if UNITY_5_3_OR_NEWER
+        public static SwingTwist FromQuaternion(Quaternion q) {
+            // q.ToAngles(out float right, out float up, out float forward);
+            UnityEngine.Vector3 angles = q.eulerAngles;
+            SwingTwist r = new SwingTwist(angles.y, angles.x, angles.z);
+            return r;
+        }
+
         public Quaternion ToQuaternion() {
             Quaternion q = Quaternion.Euler(-this.swing.vertical,
                                    this.swing.horizontal,
                                    this.twist);
-                                   return q;
+            return q;
         }
 #endif        
     }
diff --git a/test/DirectionTest.cs b/test/DirectionTest.cs
index e31af4c..3cebe1a 100644
--- a/test/DirectionTest.cs
+++ b/test/DirectionTest.cs
@@ -1,3 +1,4 @@
+#if !UNITY_5_6_OR_NEWER
 using NUnit.Framework;
 
 namespace LinearAlgebra.Test {
@@ -14,4 +15,5 @@ namespace LinearAlgebra.Test {
             Assert.True(r);
         }
     };
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file