updated system numerics extensions (#833)

Runtime/Extensions/SystemNumericsExtensions.cs

@@ -1,30 +1,48 @@
 // Copyright (c) XRTK. All rights reserved.
 // Licensed under the MIT License. See LICENSE in the project root for license information.
 
-using UnityEngine;
-
 namespace XRTK.Extensions
 {
     public static class SystemNumericsExtensions
     {
         /// <summary>
-        /// Converts a <see cref="System.Numerics.Vector3"/> to a Unity engine <see cref="Vector3"/>.
+        /// Converts a Numerics <see cref="System.Numerics.Vector3"/> to a Unity <see cref="UnityEngine.Vector3"/>.
+        /// </summary>
+        /// <param name="v">Vector value to convert.</param>
+        /// <returns><see cref="UnityEngine.Vector3"/>.</returns>
+        public static UnityEngine.Vector3 ToUnity(this System.Numerics.Vector3 v)
+        {
+            return new UnityEngine.Vector3(v.X, v.Y, -v.Z);
+        }
+
+        /// <summary>
+        /// Converts a Unity <see cref="UnityEngine.Vector3"/> to a Numerics <see cref="System.Numerics.Vector3"/>.
         /// </summary>
         /// <param name="v">Vector value to convert.</param>
-        /// <returns>Unity vector.</returns>
-        public static Vector3 ToUnity(this System.Numerics.Vector3 v)
+        /// <returns><see cref="System.Numerics.Vector3"/>.</returns>
+        public static System.Numerics.Vector3 ToNumericsVector3(this UnityEngine.Vector3 v)
+        {
+            return new System.Numerics.Vector3(v.x, v.y, -v.z);
+        }
+
+        /// <summary>
+        /// Converts a Numerics <see cref="System.Numerics.Quaternion"/> to a Unity <see cref="UnityEngine.Quaternion"/>.
+        /// </summary>
+        /// <param name="q">Quaternion value to convert.</param>
+        /// <returns><see cref="UnityEngine.Quaternion"/>.</returns>
+        public static UnityEngine.Quaternion ToUnity(this System.Numerics.Quaternion q)
         {
-            return new Vector3(v.X, v.Y, -v.Z);
+            return new UnityEngine.Quaternion(-q.X, -q.Y, q.Z, q.W);
         }
 
         /// <summary>
-        /// Converts a <see cref="System.Numerics.Quaternion"/> to a Unity engine <see cref="Quaternion"/>.
+        /// Converts a Unity <see cref="UnityEngine.Quaternion"/> to a Numerics <see cref="System.Numerics.Quaternion"/>.
         /// </summary>
         /// <param name="q">Quaternion value to convert.</param>
-        /// <returns>Unity quaternion.</returns>
-        public static Quaternion ToUnity(this System.Numerics.Quaternion q)
+        /// <returns><see cref="System.Numerics.Quaternion"/>.</returns>
+        public static System.Numerics.Quaternion ToNumericsQuaternion(this UnityEngine.Quaternion q)
         {
-            return new Quaternion(-q.X, -q.Y, q.Z, q.W);
+            return new System.Numerics.Quaternion(-q.x, -q.y, q.z, q.w);
         }
     }
-}
+}