/// <summary> Normalize a set of (euler) angles to fall within a -180... 180 range. </summary>
/// <param name="angles"></param>
/// <returns></returns>
public static Vector3 NormalizeAngles(Vector3 angles)
{
return(new Vector3
(
SG_Util.NormalizeAngle(angles.x),
SG_Util.NormalizeAngle(angles.y),
SG_Util.NormalizeAngle(angles.z)
));
}
//-------------------------------------------------------------------------------------------------------------------------
// Velocities / Transforms
#region Transforms
/// <summary> Calculate the angular velocity of a GameObject, using its current rotation and that of the previous frame. </summary>
/// <param name="currentRot"></param>
/// <param name="previousRot"></param>
/// <remarks>Placed here because it may be used by other scripts as well.</remarks>
/// <returns></returns>
public static Vector3 CalculateAngularVelocity(Quaternion currentRot, Quaternion previousRot, float deltaTime)
{
Quaternion dQ = currentRot * Quaternion.Inverse(previousRot);
Vector3 dE = dQ.eulerAngles;
Vector3 res = new Vector3
(
SG_Util.NormalizeAngle(dE.x),
SG_Util.NormalizeAngle(dE.y),
SG_Util.NormalizeAngle(dE.z)
);
return((res * Mathf.Deg2Rad) / deltaTime); //convert from deg to rad / sec
}