davidfoster

#if UNITY_EDITOR
using System;
using System.Collections.Generic;
using System.Globalization;
using System.Text;
using UnityEditor;
using UnityEditor.Compilation;
using UnityEngine;

/// <summary>

davidfoster

// deconstruct our rotation into angle/axis formation.
float rotationAngle;
Vector3 rotationAxis;
transform.rotation.ToAngleAxis(out rotationAngle, out rotationAxis);

// construct a new rotation from axis and angle.
// Qv,θ = |v * sin(θ/2), cos(θ/2)|, where v = axis, θ = angle in radians.
float sinThetaOver2 = Mathf.Sin((rotationAngle * Mathf.Deg2Rad) / 2f);
float cosThetaOver2 = Mathf.Cos((rotationAngle * Mathf.Deg2Rad) / 2f);
Quaternion newRotation = new Quaternion(

davidfoster

using System.Collections.Generic;

/// <summary>A Kalman filter implementation for <c>float</c> values.</summary>
public class KalmanFilterFloat {

	//-----------------------------------------------------------------------------------------
	// Constants:
	//-----------------------------------------------------------------------------------------

	public const float DEFAULT_Q = 0.000001f;

davidfoster

public static class QuaternionExtensions {

	//-----------------------------------------------------------------------------------------
	// Public Methods:
	//-----------------------------------------------------------------------------------------

	/// <summary>Returns a <c>Quaternion</c> with the same orientation but with a magnitude of 1.</summary>
	public static Quaternion Normalise(this Quaternion self) {

		// work out the magnitude, and if it's too small, return identity.

davidfoster

using UnityEngine;

public static class QuaternionExtensions {

	//-----------------------------------------------------------------------------------------
	// Public Methods:
	//-----------------------------------------------------------------------------------------

	/// <summary>Returns a <c>Vector3</c> angular velocity representation of this <c>Quaternion</c>.</summary>
	public static Vector3 ToAngularVelocity(this Quaternion self) {

davidfoster

using System;
using System.Collections.Generic;
using System.Text.RegularExpressions;
using UnityEngine;

#if UNITY_EDITOR
using UnityEditor;

[InitializeOnLoad]
#endif