public void TwistSwing()
{
Quaternion twist;
Quaternion swing;
QuaternionHelper.DecomposeQuaternion(t1.rotation, Vector3.up, out twist, out swing);
t2.rotation = twist;
t3.rotation = swing;
t4.rotation = twist * swing;
}
private void Start()
{
QuaternionHelper.DecomposeQuaternion(transform.rotation, Vector3.up, out yaw, out pitch);
}