/// <summary> Fill the appropriate unity Quaternion and Vector3 arrays based on a single joing chain (finger or glove semgent) </summary>
    /// <param name="chain"></param>
    /// <param name="positions"></param>
    /// <param name="angles"></param>
    /// <param name="rotations"></param>
    /// <param name="lengths"></param>
    protected static void GetLinkVariables(ref SenseGloveCs.Kinematics.JointChain chain, ref Vector3[] positions, ref Vector3[] angles, ref Quaternion[] rotations, ref Vector3[] lengths)
    {
        int n = chain.joints.Length;

        positions = new Vector3[n];
        angles    = new Vector3[n];
        rotations = new Quaternion[n];
        lengths   = new Vector3[n - 1];

        for (int j = 0; j < n; j++)
        {
            positions[j] = SG_Util.ToUnityPosition(chain.joints[j].position);
            angles[j]    = SG_Util.ToUnityEuler(chain.joints[j].relativeAngle);
            rotations[j] = SG_Util.ToUnityQuaternion(chain.joints[j].rotation);
            if (j < n - 1)
            {
                lengths[j] = SG_Util.ToUnityPosition(chain.lengths[j]);
            }
        }
    }