A custom completely managed implementation of UnityEngine.Quaternion. Base is decompiled UnityEngine.Quaternion. Doesn't implement methods marked Obsolete. Does implicit coversions to and from UnityEngine.Quaternion

Quaternion.cs

// A custom completely managed implementation of UnityEngine.Quaternion
// Base is decompiled UnityEngine.Quaternion
// Doesn't implement methods marked Obsolete
// Does implicit coversions to and from UnityEngine.Quaternion

// Uses code from:
// https://raw.githubusercontent.com/mono/opentk/master/Source/OpenTK/Math/Quaternion.cs
// http://answers.unity3d.com/questions/467614/what-is-the-source-code-of-quaternionlookrotation.html
// http://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
// http://stackoverflow.com/questions/11492299/quaternion-to-euler-angles-algorithm-how-to-convert-to-y-up-and-between-ha

using System;
using UnityEngine.Internal;
using UnityEngine;


//
// Summary:
//     ///
//     Quaternions are used to represent rotations.
//     ///
//[DefaultMember("Item")]
public struct Quaternion : IEquatable<Quaternion>
{
    const float radToDeg = (float)(180.0 / Mathd.PI);
    const float degToRad = (float)(Mathd.PI / 180.0);

    public const float kEpsilon = 1E-06f; // should probably be used in the 0 tests in LookRotation or Slerp
    public Vector3 xyz
    {
        set
        {
            x = value.x;
            y = value.y;
            z = value.z;
        }
        get
        {
            return new Vector3(x, y, z);
        }
    }
    /// <summary>
    ///   <para>X component of the Quaternion. Don't modify this directly unless you know quaternions inside out.</para>
    /// </summary>
    public float x;
    /// <summary>
    ///   <para>Y component of the Quaternion. Don't modify this directly unless you know quaternions inside out.</para>
    /// </summary>
    public float y;
    /// <summary>
    ///   <para>Z component of the Quaternion. Don't modify this directly unless you know quaternions inside out.</para>
    /// </summary>
    public float z;
    /// <summary>
    ///   <para>W component of the Quaternion. Don't modify this directly unless you know quaternions inside out.</para>
    /// </summary>
    public float w;

    public float this[int index]
    {
        get
        {
            switch (index)
            {
                case 0:
                    return this.x;
                case 1:
                    return this.y;
                case 2:
                    return this.z;
                case 3:
                    return this.w;
                default:
                    throw new IndexOutOfRangeException("Invalid Quaternion index!");
            }
        }
        set
        {
            switch (index)
            {
                case 0:
                    this.x = value;
                    break;
                case 1:
                    this.y = value;
                    break;
                case 2:
                    this.z = value;
                    break;
                case 3:
                    this.w = value;
                    break;
                default:
                    throw new IndexOutOfRangeException("Invalid Quaternion index!");
            }
        }
    }
    /// <summary>
    ///   <para>The identity rotation (RO).</para>
    /// </summary>
    public static Quaternion identity
    {
        get
        {
            return new Quaternion(0f, 0f, 0f, 1f);
        }
    }
    /// <summary>
    ///   <para>Returns the euler angle representation of the rotation.</para>
    /// </summary>
    public Vector3 eulerAngles
    {
        get
        {
            return Quaternion.Internal_ToEulerRad(this) * radToDeg;
        }
        set
        {
            this = Quaternion.Internal_FromEulerRad(value * degToRad);
        }
    }





    #region public float Length

    /// <summary>
    /// Gets the length (magnitude) of the quaternion.
    /// </summary>
    /// <seealso cref="LengthSquared"/>
    public float Length
    {
        get
        {
            return (float)System.Math.Sqrt(x * x + y * y + z * z + w * w);
        }
    }

    #endregion

    #region public float LengthSquared

    /// <summary>
    /// Gets the square of the quaternion length (magnitude).
    /// </summary>
    public float LengthSquared
    {
        get
        {
            return x * x + y * y + z * z + w * w;
        }
    }

    #endregion

    #region public void Normalize()

    /// <summary>
    /// Scales the Quaternion to unit length.
    /// </summary>
    public void Normalize()
    {
        float scale = 1.0f / this.Length;
        xyz *= scale;
        w *= scale;
    }

    #endregion


    #region Normalize

    /// <summary>
    /// Scale the given quaternion to unit length
    /// </summary>
    /// <param name="q">The quaternion to normalize</param>
    /// <returns>The normalized quaternion</returns>
    public static Quaternion Normalize(Quaternion q)
    {
        Quaternion result;
        Normalize(ref q, out result);
        return result;
    }

    /// <summary>
    /// Scale the given quaternion to unit length
    /// </summary>
    /// <param name="q">The quaternion to normalize</param>
    /// <param name="result">The normalized quaternion</param>
    public static void Normalize(ref Quaternion q, out Quaternion result)
    {
        float scale = 1.0f / q.Length;
        result = new Quaternion(q.xyz * scale, q.w * scale);
    }

    #endregion


    /// <summary>
    ///   <para>Constructs new Quaternion with given x,y,z,w components.</para>
    /// </summary>
    /// <param name="x"></param>
    /// <param name="y"></param>
    /// <param name="z"></param>
    /// <param name="w"></param>
    public Quaternion(float x, float y, float z, float w)
    {
        this.x = x;
        this.y = y;
        this.z = z;
        this.w = w;
    }

    /// <summary>
    /// Construct a new Quaternion from vector and w components
    /// </summary>
    /// <param name="v">The vector part</param>
    /// <param name="w">The w part</param>
    public Quaternion(Vector3 v, float w)
    {
        this.x = v.x;
        this.y = v.y;
        this.z = v.z;
        this.w = w;
    }


    /// <summary>
    ///   <para>Set x, y, z and w components of an existing Quaternion.</para>
    /// </summary>
    /// <param name="new_x"></param>
    /// <param name="new_y"></param>
    /// <param name="new_z"></param>
    /// <param name="new_w"></param>
    public void Set(float new_x, float new_y, float new_z, float new_w)
    {
        this.x = new_x;
        this.y = new_y;
        this.z = new_z;
        this.w = new_w;
    }
    /// <summary>
    ///   <para>The dot product between two rotations.</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    public static float Dot(Quaternion a, Quaternion b)
    {
        return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
    }
    /// <summary>
    ///   <para>Creates a rotation which rotates /angle/ degrees around /axis/.</para>
    /// </summary>
    /// <param name="angle"></param>
    /// <param name="axis"></param>
    public static Quaternion AngleAxis(float angle, Vector3 axis)
    {
        return Quaternion.INTERNAL_CALL_AngleAxis(angle, ref axis);
    }
    private static Quaternion INTERNAL_CALL_AngleAxis(float degress, ref Vector3 axis)
    {
        if (axis.sqrMagnitude == 0.0f)
            return identity;

        Quaternion result = identity;
        var radians = degress * degToRad;
        radians *= 0.5f;
        axis.Normalize();
        axis = axis * (float)System.Math.Sin(radians);
        result.x = axis.x;
        result.y = axis.y;
        result.z = axis.z;
        result.w = (float)System.Math.Cos(radians);

        return Normalize(result);
    }
    public void ToAngleAxis(out float angle, out Vector3 axis)
    {
        Quaternion.Internal_ToAxisAngleRad(this, out axis, out angle);
        angle *= radToDeg;
    }
    /// <summary>
    ///   <para>Creates a rotation which rotates from /fromDirection/ to /toDirection/.</para>
    /// </summary>
    /// <param name="fromDirection"></param>
    /// <param name="toDirection"></param>
    public static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection)
    {
        return RotateTowards(LookRotation(fromDirection), LookRotation(toDirection), float.MaxValue);
    }
    /// <summary>
    ///   <para>Creates a rotation which rotates from /fromDirection/ to /toDirection/.</para>
    /// </summary>
    /// <param name="fromDirection"></param>
    /// <param name="toDirection"></param>
    public void SetFromToRotation(Vector3 fromDirection, Vector3 toDirection)
    {
        this = Quaternion.FromToRotation(fromDirection, toDirection);
    }
    /// <summary>
    ///   <para>Creates a rotation with the specified /forward/ and /upwards/ directions.</para>
    /// </summary>
    /// <param name="forward">The direction to look in.</param>
    /// <param name="upwards">The vector that defines in which direction up is.</param>
    public static Quaternion LookRotation(Vector3 forward, [DefaultValue("Vector3.up")] Vector3 upwards)
    {
        return Quaternion.INTERNAL_CALL_LookRotation(ref forward, ref upwards);
    }
    [ExcludeFromDocs]
    public static Quaternion LookRotation(Vector3 forward)
    {
        Vector3 up = Vector3.up;
        return Quaternion.INTERNAL_CALL_LookRotation(ref forward, ref up);
    }

    // from http://answers.unity3d.com/questions/467614/what-is-the-source-code-of-quaternionlookrotation.html
    private static Quaternion INTERNAL_CALL_LookRotation(ref Vector3 forward, ref Vector3 up)
    {
        
        forward = Vector3.Normalize(forward);
        Vector3 right = Vector3.Normalize(Vector3.Cross(up, forward));
        up = Vector3.Cross(forward, right);
        var m00 = right.x;
        var m01 = right.y;
        var m02 = right.z;
        var m10 = up.x;
        var m11 = up.y;
        var m12 = up.z;
        var m20 = forward.x;
        var m21 = forward.y;
        var m22 = forward.z;


        float num8 = (m00 + m11) + m22;
        var quaternion = new Quaternion();
        if (num8 > 0f)
        {
            var num = (float)Math.Sqrt(num8 + 1f);
            quaternion.w = num * 0.5f;
            num = 0.5f / num;
            quaternion.x = (m12 - m21) * num;
            quaternion.y = (m20 - m02) * num;
            quaternion.z = (m01 - m10) * num;
            return quaternion;
        }
        if ((m00 >= m11) && (m00 >= m22))
        {
            var num7 = (float)Math.Sqrt(((1f + m00) - m11) - m22);
            var num4 = 0.5f / num7;
            quaternion.x = 0.5f * num7;
            quaternion.y = (m01 + m10) * num4;
            quaternion.z = (m02 + m20) * num4;
            quaternion.w = (m12 - m21) * num4;
            return quaternion;
        }
        if (m11 > m22)
        {
            var num6 = (float)Math.Sqrt(((1f + m11) - m00) - m22);
            var num3 = 0.5f / num6;
            quaternion.x = (m10 + m01) * num3;
            quaternion.y = 0.5f * num6;
            quaternion.z = (m21 + m12) * num3;
            quaternion.w = (m20 - m02) * num3;
            return quaternion;
        }
        var num5 = (float)Math.Sqrt(((1f + m22) - m00) - m11);
        var num2 = 0.5f / num5;
        quaternion.x = (m20 + m02) * num2;
        quaternion.y = (m21 + m12) * num2;
        quaternion.z = 0.5f * num5;
        quaternion.w = (m01 - m10) * num2;
        return quaternion;
    }
    [ExcludeFromDocs]
    public void SetLookRotation(Vector3 view)
    {
        Vector3 up = Vector3.up;
        this.SetLookRotation(view, up);
    }
    /// <summary>
    ///   <para>Creates a rotation with the specified /forward/ and /upwards/ directions.</para>
    /// </summary>
    /// <param name="view">The direction to look in.</param>
    /// <param name="up">The vector that defines in which direction up is.</param>
    public void SetLookRotation(Vector3 view, [DefaultValue("Vector3.up")] Vector3 up)
    {
        this = Quaternion.LookRotation(view, up);
    }
    /// <summary>
    ///   <para>Spherically interpolates between /a/ and /b/ by t. The parameter /t/ is clamped to the range [0, 1].</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    /// <param name="t"></param>
    public static Quaternion Slerp(Quaternion a, Quaternion b, float t)
    {
        return Quaternion.INTERNAL_CALL_Slerp(ref a, ref b, t);
    }

    private static Quaternion INTERNAL_CALL_Slerp(ref Quaternion a, ref Quaternion b, float t)
    {
        if (t > 1) t = 1;
        if (t < 0) t = 0;
        return INTERNAL_CALL_SlerpUnclamped(ref a, ref b, t);
    }
    /// <summary>
    ///   <para>Spherically interpolates between /a/ and /b/ by t. The parameter /t/ is not clamped.</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    /// <param name="t"></param>
    public static Quaternion SlerpUnclamped(Quaternion a, Quaternion b, float t)
    {
        return Quaternion.INTERNAL_CALL_SlerpUnclamped(ref a, ref b, t);
    }

    private static Quaternion INTERNAL_CALL_SlerpUnclamped(ref Quaternion a, ref Quaternion b, float t)
    {
        // if either input is zero, return the other.
        if (a.LengthSquared == 0.0f)
        {
            if (b.LengthSquared == 0.0f)
            {
                return identity;
            }
            return b;
        }
        else if (b.LengthSquared == 0.0f)
        {
            return a;
        }


        float cosHalfAngle = a.w * b.w + Vector3.Dot(a.xyz, b.xyz);

        if (cosHalfAngle >= 1.0f || cosHalfAngle <= -1.0f)
        {
            // angle = 0.0f, so just return one input.
            return a;
        }
        else if (cosHalfAngle < 0.0f)
        {
            b.xyz = -b.xyz;
            b.w = -b.w;
            cosHalfAngle = -cosHalfAngle;
        }

        float blendA;
        float blendB;
        if (cosHalfAngle < 0.99f)
        {
            // do proper slerp for big angles
            float halfAngle = (float)System.Math.Acos(cosHalfAngle);
            float sinHalfAngle = (float)System.Math.Sin(halfAngle);
            float oneOverSinHalfAngle = 1.0f / sinHalfAngle;
            blendA = (float)System.Math.Sin(halfAngle * (1.0f - t)) * oneOverSinHalfAngle;
            blendB = (float)System.Math.Sin(halfAngle * t) * oneOverSinHalfAngle;
        }
        else
        {
            // do lerp if angle is really small.
            blendA = 1.0f - t;
            blendB = t;
        }

        Quaternion result = new Quaternion(blendA * a.xyz + blendB * b.xyz, blendA * a.w + blendB * b.w);
        if (result.LengthSquared > 0.0f)
            return Normalize(result);
        else
            return identity;
    }
    /// <summary>
    ///   <para>Interpolates between /a/ and /b/ by /t/ and normalizes the result afterwards. The parameter /t/ is clamped to the range [0, 1].</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    /// <param name="t"></param>
    public static Quaternion Lerp(Quaternion a, Quaternion b, float t)
    {
        if (t > 1) t = 1;
        if (t < 0) t = 0;
        return INTERNAL_CALL_Slerp(ref a, ref b, t); // TODO: use lerp not slerp, "Because quaternion works in 4D. Rotation in 4D are linear" ???
    }
    /// <summary>
    ///   <para>Interpolates between /a/ and /b/ by /t/ and normalizes the result afterwards. The parameter /t/ is not clamped.</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    /// <param name="t"></param>
    public static Quaternion LerpUnclamped(Quaternion a, Quaternion b, float t)
    {
        return INTERNAL_CALL_Slerp(ref a, ref b, t);
    }
    /// <summary>
    ///   <para>Rotates a rotation /from/ towards /to/.</para>
    /// </summary>
    /// <param name="from"></param>
    /// <param name="to"></param>
    /// <param name="maxDegreesDelta"></param>
    public static Quaternion RotateTowards(Quaternion from, Quaternion to, float maxDegreesDelta)
    {
        float num = Quaternion.Angle(from, to);
        if (num == 0f)
        {
            return to;
        }
        float t = Mathf.Min(1f, maxDegreesDelta / num);
        return Quaternion.SlerpUnclamped(from, to, t);
    }
    /// <summary>
    ///   <para>Returns the Inverse of /rotation/.</para>
    /// </summary>
    /// <param name="rotation"></param>
    public static Quaternion Inverse(Quaternion rotation)
    {
        float lengthSq = rotation.LengthSquared;
        if (lengthSq != 0.0)
        {
            float i = 1.0f / lengthSq;
            return new Quaternion(rotation.xyz * -i, rotation.w * i);
        }
        return rotation;
    }
    /// <summary>
    ///   <para>Returns a nicely formatted string of the Quaternion.</para>
    /// </summary>
    /// <param name="format"></param>
    public override string ToString()
    {
        return string.Format("({0:F1}, {1:F1}, {2:F1}, {3:F1})", new object[]
        {
                this.x,
                this.y,
                this.z,
                this.w
        });
    }
    /// <summary>
    ///   <para>Returns a nicely formatted string of the Quaternion.</para>
    /// </summary>
    /// <param name="format"></param>
    public string ToString(string format)
    {
        return string.Format("({0}, {1}, {2}, {3})", new object[]
        {
                this.x.ToString(format),
                this.y.ToString(format),
                this.z.ToString(format),
                this.w.ToString(format)
        });
    }
    /// <summary>
    ///   <para>Returns the angle in degrees between two rotations /a/ and /b/.</para>
    /// </summary>
    /// <param name="a"></param>
    /// <param name="b"></param>
    public static float Angle(Quaternion a, Quaternion b)
    {
        float f = Quaternion.Dot(a, b);
        return Mathf.Acos(Mathf.Min(Mathf.Abs(f), 1f)) * 2f * radToDeg;
    }
    /// <summary>
    ///   <para>Returns a rotation that rotates z degrees around the z axis, x degrees around the x axis, and y degrees around the y axis (in that order).</para>
    /// </summary>
    /// <param name="x"></param>
    /// <param name="y"></param>
    /// <param name="z"></param>
    public static Quaternion Euler(double x, double y, double z)
    {
        return Quaternion.Internal_FromEulerRad(new Vector3((float)x, (float)y, (float)z) * degToRad);
    }
    /// <summary>
    ///   <para>Returns a rotation that rotates z degrees around the z axis, x degrees around the x axis, and y degrees around the y axis (in that order).</para>
    /// </summary>
    /// <param name="x"></param>
    /// <param name="y"></param>
    /// <param name="z"></param>
    public static Quaternion Euler(float x, float y, float z)
    {
        return Quaternion.Internal_FromEulerRad(new Vector3(x, y, z) * degToRad);
    }
    /// <summary>
    ///   <para>Returns a rotation that rotates z degrees around the z axis, x degrees around the x axis, and y degrees around the y axis (in that order).</para>
    /// </summary>
    /// <param name="euler"></param>
    public static Quaternion Euler(Vector3 euler)
    {
        return Quaternion.Internal_FromEulerRad(euler * degToRad);

    }

    // from http://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
    private static Vector3 Internal_ToEulerRad(Quaternion rotation)
    {
        float sqw = rotation.w * rotation.w;
        float sqx = rotation.x * rotation.x;
        float sqy = rotation.y * rotation.y;
        float sqz = rotation.z * rotation.z;
        float unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
        float test = rotation.x * rotation.w - rotation.y * rotation.z;
        Vector3 v;

        if (test > 0.4995f * unit)
        { // singularity at north pole
            v.y = 2f * Mathf.Atan2(rotation.y, rotation.x);
            v.x = Mathf.PI / 2;
            v.z = 0;
            return NormalizeAngles(v * Mathf.Rad2Deg);
        }
        if (test < -0.4995f * unit)
        { // singularity at south pole
            v.y = -2f * Mathf.Atan2(rotation.y, rotation.x);
            v.x = -Mathf.PI / 2;
            v.z = 0;
            return NormalizeAngles(v * Mathf.Rad2Deg);
        }
        Quaternion q = new Quaternion(rotation.w, rotation.z, rotation.x, rotation.y);
        v.y = (float)Math.Atan2(2f * q.x * q.w + 2f * q.y * q.z, 1 - 2f * (q.z * q.z + q.w * q.w));     // Yaw
        v.x = (float)Math.Asin(2f * (q.x * q.z - q.w * q.y));                             // Pitch
        v.z = (float)Math.Atan2(2f * q.x * q.y + 2f * q.z * q.w, 1 - 2f * (q.y * q.y + q.z * q.z));      // Roll
        return NormalizeAngles(v * Mathf.Rad2Deg);
    }
    private static Vector3 NormalizeAngles(Vector3 angles)
    {
        angles.x = NormalizeAngle(angles.x);
        angles.y = NormalizeAngle(angles.y);
        angles.z = NormalizeAngle(angles.z);
        return angles;
    }

    private static float NormalizeAngle(float angle)
    {
		float modAngle = angle % 360.0f;
		
		if (modAngle < 0.0f)
			return modAngle + 360.0f;
		else
			return modAngle;
    }

    // from http://stackoverflow.com/questions/11492299/quaternion-to-euler-angles-algorithm-how-to-convert-to-y-up-and-between-ha
    private static Quaternion Internal_FromEulerRad(Vector3 euler)
    {
        var yaw = euler.x;
        var pitch = euler.y;
        var roll = euler.z;
        float rollOver2 = roll * 0.5f;
        float sinRollOver2 = (float)Math.Sin((double)rollOver2);
        float cosRollOver2 = (float)Math.Cos((double)rollOver2);
        float pitchOver2 = pitch * 0.5f;
        float sinPitchOver2 = (float)Math.Sin((double)pitchOver2);
        float cosPitchOver2 = (float)Math.Cos((double)pitchOver2);
        float yawOver2 = yaw * 0.5f;
        float sinYawOver2 = (float)Math.Sin((double)yawOver2);
        float cosYawOver2 = (float)Math.Cos((double)yawOver2);
        Quaternion result;
        result.x = cosYawOver2 * cosPitchOver2 * cosRollOver2 + sinYawOver2 * sinPitchOver2 * sinRollOver2;
        result.y = cosYawOver2 * cosPitchOver2 * sinRollOver2 - sinYawOver2 * sinPitchOver2 * cosRollOver2;
        result.z = cosYawOver2 * sinPitchOver2 * cosRollOver2 + sinYawOver2 * cosPitchOver2 * sinRollOver2;
        result.w = sinYawOver2 * cosPitchOver2 * cosRollOver2 - cosYawOver2 * sinPitchOver2 * sinRollOver2;
        return result;

    }
    private static void Internal_ToAxisAngleRad(Quaternion q, out Vector3 axis, out float angle)
    {
        if (Math.Abs(q.w) > 1.0f)
            q.Normalize();


        angle = 2.0f * (float)System.Math.Acos(q.w); // angle
        float den = (float)System.Math.Sqrt(1.0 - q.w * q.w);
        if (den > 0.0001f)
        {
            axis = q.xyz / den;
        }
        else
        {
            // This occurs when the angle is zero. 
            // Not a problem: just set an arbitrary normalized axis.
            axis = new Vector3(1, 0, 0);
        }
    }
    


    #region Obsolete methods
    /*
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public static Quaternion EulerRotation(float x, float y, float z)
    {
        return Quaternion.Internal_FromEulerRad(new Vector3(x, y, z));
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public static Quaternion EulerRotation(Vector3 euler)
    {
        return Quaternion.Internal_FromEulerRad(euler);
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public void SetEulerRotation(float x, float y, float z)
    {
        this = Quaternion.Internal_FromEulerRad(new Vector3(x, y, z));
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public void SetEulerRotation(Vector3 euler)
    {
        this = Quaternion.Internal_FromEulerRad(euler);
    }
    [Obsolete("Use Quaternion.eulerAngles instead. This function was deprecated because it uses radians instead of degrees")]
    public Vector3 ToEuler()
    {
        return Quaternion.Internal_ToEulerRad(this);
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public static Quaternion EulerAngles(float x, float y, float z)
    {
        return Quaternion.Internal_FromEulerRad(new Vector3(x, y, z));
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public static Quaternion EulerAngles(Vector3 euler)
    {
        return Quaternion.Internal_FromEulerRad(euler);
    }
    [Obsolete("Use Quaternion.ToAngleAxis instead. This function was deprecated because it uses radians instead of degrees")]
    public void ToAxisAngle(out Vector3 axis, out float angle)
    {
        Quaternion.Internal_ToAxisAngleRad(this, out axis, out angle);
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public void SetEulerAngles(float x, float y, float z)
    {
        this.SetEulerRotation(new Vector3(x, y, z));
    }
    [Obsolete("Use Quaternion.Euler instead. This function was deprecated because it uses radians instead of degrees")]
    public void SetEulerAngles(Vector3 euler)
    {
        this = Quaternion.EulerRotation(euler);
    }
    [Obsolete("Use Quaternion.eulerAngles instead. This function was deprecated because it uses radians instead of degrees")]
    public static Vector3 ToEulerAngles(Quaternion rotation)
    {
        return Quaternion.Internal_ToEulerRad(rotation);
    }
    [Obsolete("Use Quaternion.eulerAngles instead. This function was deprecated because it uses radians instead of degrees")]
    public Vector3 ToEulerAngles()
    {
        return Quaternion.Internal_ToEulerRad(this);
    }
    [Obsolete("Use Quaternion.AngleAxis instead. This function was deprecated because it uses radians instead of degrees")]
    public static Quaternion AxisAngle(Vector3 axis, float angle)
    {
        return Quaternion.INTERNAL_CALL_AxisAngle(ref axis, angle);
    }

    private static Quaternion INTERNAL_CALL_AxisAngle(ref Vector3 axis, float angle)
    {

    }
    [Obsolete("Use Quaternion.AngleAxis instead. This function was deprecated because it uses radians instead of degrees")]
    public void SetAxisAngle(Vector3 axis, float angle)
    {
        this = Quaternion.AxisAngle(axis, angle);
    }
    */
    #endregion
    public override int GetHashCode()
    {
        return this.x.GetHashCode() ^ this.y.GetHashCode() << 2 ^ this.z.GetHashCode() >> 2 ^ this.w.GetHashCode() >> 1;
    }
    public override bool Equals(object other)
    {
        if (!(other is Quaternion))
        {
            return false;
        }
        Quaternion quaternion = (Quaternion)other;
        return this.x.Equals(quaternion.x) && this.y.Equals(quaternion.y) && this.z.Equals(quaternion.z) && this.w.Equals(quaternion.w);
    }

    public bool Equals(Quaternion other)
    {
        return this.x.Equals(other.x) && this.y.Equals(other.y) && this.z.Equals(other.z) && this.w.Equals(other.w);
    }

    public static Quaternion operator *(Quaternion lhs, Quaternion rhs)
    {
        return new Quaternion(lhs.w * rhs.x + lhs.x * rhs.w + lhs.y * rhs.z - lhs.z * rhs.y, lhs.w * rhs.y + lhs.y * rhs.w + lhs.z * rhs.x - lhs.x * rhs.z, lhs.w * rhs.z + lhs.z * rhs.w + lhs.x * rhs.y - lhs.y * rhs.x, lhs.w * rhs.w - lhs.x * rhs.x - lhs.y * rhs.y - lhs.z * rhs.z);
    }
    public static Vector3 operator *(Quaternion rotation, Vector3 point)
    {
        float num = rotation.x * 2f;
        float num2 = rotation.y * 2f;
        float num3 = rotation.z * 2f;
        float num4 = rotation.x * num;
        float num5 = rotation.y * num2;
        float num6 = rotation.z * num3;
        float num7 = rotation.x * num2;
        float num8 = rotation.x * num3;
        float num9 = rotation.y * num3;
        float num10 = rotation.w * num;
        float num11 = rotation.w * num2;
        float num12 = rotation.w * num3;
        Vector3 result;
        result.x = (1f - (num5 + num6)) * point.x + (num7 - num12) * point.y + (num8 + num11) * point.z;
        result.y = (num7 + num12) * point.x + (1f - (num4 + num6)) * point.y + (num9 - num10) * point.z;
        result.z = (num8 - num11) * point.x + (num9 + num10) * point.y + (1f - (num4 + num5)) * point.z;
        return result;
    }
    public static bool operator ==(Quaternion lhs, Quaternion rhs)
    {
        return Quaternion.Dot(lhs, rhs) > 0.999999f;
    }
    public static bool operator !=(Quaternion lhs, Quaternion rhs)
    {
        return Quaternion.Dot(lhs, rhs) <= 0.999999f;
    }

    public static implicit operator UnityEngine.Quaternion(Quaternion me)
    {
        return new UnityEngine.Quaternion(me.x, me.y, me.z, me.w);
    }
    public static implicit operator Quaternion(UnityEngine.Quaternion other)
    {
        return new Quaternion(other.x, other.y, other.z, other.w);
    }
}
 

holy shit this is just what i needed lol

This is an amazing resource, thank you. One issue I've come across is the FromToRotation() method seems to be wrong. I don't know what the true original source is, but I replaced it with this and things seem to be working again:

public static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection)
{
	Vector3 axis = Vector3.Cross(fromDirection, toDirection);
	float angle = Vector3.Angle(fromDirection, toDirection);
	return AngleAxis(angle, axis.normalized);
}

Hey just wanted to say that this implementation is pretty good, but Internal_FromEulerRad(...) is not quite right. https://gist.github.com/HelloKitty/91b7af87aac6796c3da9#file-quaternion-cs-L644

This implementation slightly differs, but only the bottom portion is what matters:

// accepts x, y, z as degrees
Quaternion Quaternion::euler(float x, float y, float z) {
    float yaw = x * 0.0174532924f;
    float sinYawOver2 = std::sin(yaw * 0.5f);
    float cosYawOver2 = std::cos(yaw * 0.5f);

    float pitch = y * 0.0174532924f;
    float sinPitchOver2 = std::sin(pitch * 0.5f);
    float cosPitchOver2 = std::cos(pitch * 0.5f);

    float roll = z * 0.0174532924f;
    float sinRollOver2 = std::sin(roll * 0.5f);
    float cosRollOver2 = std::cos(roll * 0.5f);
    
    // Important for precision (manual inlining might affect precision)
    float sinYawCosPitch = (sinYawOver2 * cosPitchOver2);
    float cosYawSinPitch = (cosYawOver2 * sinPitchOver2);
    float cosYawCosPitch = (cosYawOver2 * cosPitchOver2);
    sinYawOver2 = -sinYawOver2 * sinPitchOver2;

    Quaternion result;      
    result.x = cosRollOver2 * sinYawCosPitch + sinRollOver2 * cosYawSinPitch;
    result.y = cosRollOver2 * cosYawSinPitch - sinRollOver2 * sinYawCosPitch;
    result.z = cosRollOver2 * sinYawOver2 + sinRollOver2 * cosYawCosPitch;
    result.w = cosRollOver2 * cosYawCosPitch - sinRollOver2 * sinYawOver2;

    return result;
}

I created a custom test case (put into the Start method of any Unity Mono object). You can use this to have some definitive Unity values for later tests:

        Debug.Log("::::::::::::::::::::QuaternionTest::::::::::::::::::::");
        UnityEngine.Random.InitState(-55571);
        for (int i = 0; i < 5;  i++)
        {
            var x = UnityEngine.Random.Range(-360f, 360f);
            var y = UnityEngine.Random.Range(-360f, 360f);
            var z = UnityEngine.Random.Range(-360f, 360f);
            var quat = Quaternion.Euler(x, y, z);
            Debug.Log("" + x + ", " + y + ", " + z + " (" + 
                quat + ") ||| hex " 
                + ByteArrayToHex(BitConverter.GetBytes(x)) + " "
                + ByteArrayToHex(BitConverter.GetBytes(y)) + " "
                + ByteArrayToHex(BitConverter.GetBytes(z)) + " | "
                + ByteArrayToHex(BitConverter.GetBytes(quat.x)) + " "
                + ByteArrayToHex(BitConverter.GetBytes(quat.y)) + " "
                + ByteArrayToHex(BitConverter.GetBytes(quat.z)) + " "
                + ByteArrayToHex(BitConverter.GetBytes(quat.w)) + " "
                );
              
        }

Then printed each float normally and as hex.

I printed as hex because C# trims floats beyond 7 decimals, when really I need the exact byte representation for an equivalent float for testing purposes. I used this to retrieve the real float when entering the hex https://www.scadacore.com/tools/programming-calculators/online-hex-converter/.

Hope this helps someone who is confused as I was.