/// <summary>
/// Returns angular velocity from lastRotation to rotation
/// </summary>
public static Vector3 GetAngularVelocity(Quaternion lastRotation, Quaternion rotation, float deltaTime)
{
Quaternion rotationDelta = rotation * Quaternion.Inverse(lastRotation);
float angle = 0f;
Vector3 aV = Vector3.zero;
rotationDelta.ToAngleAxis(out angle, out aV);
if (float.IsNaN(aV.x))
{
return(Vector3.zero);
}
if (float.IsInfinity(aV.x))
{
return(Vector3.zero);
}
angle *= Mathf.Deg2Rad;
angle /= deltaTime;
angle = QuaTools.ToBiPolar(angle);
aV *= angle;
return(aV);
}