void ComputeAngularVelocities()
{
Vector Axis;
Quaternion qrot = follow.Conjugate() * quat;
float angle = qrot.ToAngleAxis(out Axis);
Vector angularDisplacement = Axis * angle; // * Mathf.Deg2Rad;
//Vector angularSpeed = angularDisplacement / Time.deltaTime;
Velocities = angularDisplacement; // It's possible for this to accumulate extra spins, apparently - will need to be clamped -PI to +PI
follow = follow.Slerp(quat, 0.05f);
matFollow.From(follow);
}
public Quaternion To(Quaternion b)
{
return(this * b.Conjugate());
}
public Quaternion To( Quaternion b )
{
return this * b.Conjugate();
}