public static Rot4 FromTangentExponential(Vector3 move, Vector3 turn, float dt)
{
Vector3 left = (move + turn) / 2f * dt;
Vector3 right = (move - turn) / 2f * dt;
return(new Rot4(Rot4.Exp(left), Rot4.Exp(right)));
}
public static Rot4 FromTangentExponential(Vector3 move, Vector3 turn, float dt)
{
Vector3 left = (move + turn) / 2f * dt;
Vector3 right = (move - turn) / 2f * dt;
return(new Rot4(Rot4.Exp(left), Rot4.Exp(right)));
}