void drawDualQuaternion(DualQuaternion q)
{
Vector3 x = Vector3.right * 5.0f;
Vector3 y = Vector3.up * 5.0f;
Vector3 z = Vector3.forward * 5.0f;
Vector3 p = Vector3.zero;
var x1 = q.transformPoint(x);
var y1 = q.transformPoint(y);
var z1 = q.transformPoint(z);
var p1 = q.transformPoint(p);
Gizmos.DrawLine(p1, x1);
Gizmos.DrawLine(p1, y1);
Gizmos.DrawLine(p1, z1);
}