void drawGizmos(Color color)
{
var oldColor = Gizmos.color;
Gizmos.color = color;
var pos = transform.position;
var rot = transform.rotation;
var q = DualQuaternion.fromUnityTransform(rot, pos); //new DualQuaternion(rot.conjugate(), pos);//o_O Well, whatever.
drawDualQuaternion(q);
foreach (Transform cur in transform)
{
var childQ = DualQuaternion.fromUnityTransform(cur.transform.localRotation, cur.transform.localPosition);
//new DualQuaternion(cur.transform.localRotation.conjugate(), cur.transform.localPosition);
var childQ2 = q * childQ;
drawDualQuaternion(childQ2);
const int numSteps = 10;
for (int i = 1; i < numSteps; i++)
{
float t = (float)i / (float)numSteps;
var tmpQ = q.sclerp(childQ2, t);
drawDualQuaternion(tmpQ);
}
}
Gizmos.color = oldColor;
}