How to rotate a Quaternion based on angularVelocity in Unity3D? - unity3d

Question

I am trying to do client side prediction a rotation. I was thinking this would work is similar to how I did the position. But I can't seem to find a way to rotate my Quaternion.
// These are synced over the network
private Vector3 bestGuessPosition;
private Vector3 velocity;
private Quaternion bestGuessRotation;
private Vector3 angularVelocity;
// Postion
bestGuessPosition = bestGuessPosition + (velocity * Time.deltaTime);
transform.position = Vector3.Lerp(transform.position, bestGuessPosition, Time.deltaTime * latencySmoothingFactor);
// Rotation (not working)
bestGuessRotation = bestGuessRotation + (angularVelocity * Time.deltaTime);
transform.rotation = Quaternion.Lerp(transform.rotation, bestGuessRotation, Time.deltaTime * latencySmoothingFactor);
How do I rotate my bestGuessRotation? There doesn't seem to be a .Rotate like there is on a Transform.

Answer 1

In Unity two Quaternions are combined using "multiplaction" * (order matters!)
You can convert your Vector3 rotation angularVelocity from Euler space to a Quaternion using Quaternion.Euler
bestGuessRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
Btw also the position can easier be written as
bestGuessPosition += velocity * Time.deltaTime;
Just guessing you are using this in Update using Lerp might not be the best option here depending what exactly you expect from this rotation.
If using Lerp in Update for example as a simple smoothing algorithm you should remove the Time.deltaTime as the interpolation factor is a percentage value and in this case should stay the same.