/// <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]);
}
}
}
