private void SplitBendAndTwist(Vector3 axis, Quaternion sourceRotation, Dictionary <string, Quaternion> target, string bendName, string twistName)
{
OrientationSpace orientationSpace = boneSystem.BonesByName[twistName].GetOrientationSpace(outputs);
orientationSpace.DecomposeIntoTwistThenSwing(axis, sourceRotation, out Quaternion twist, out Quaternion swing);
target[twistName] = twist;
target[bendName] = swing;
}
public void TestDecomposeIntoSwingThenTwistInOrientedSpace()
{
Quaternion orientation = Quaternion.RotationYawPitchRoll(0.4f, 0.3f, 0.2f);
OrientationSpace orientationSpace = new OrientationSpace(orientation);
Quaternion q = Quaternion.RotationYawPitchRoll(0.1f, 0.2f, 0.3f);
orientationSpace.DecomposeIntoTwistThenSwing(Vector3.UnitX, q, out var twist, out var swing);
Quaternion twistThenSwing = twist.Chain(swing);
Assert.AreEqual(twistThenSwing, q);
}