// Spine (spine/chest/upper chest) rotation
quaternion GetSpineRotation()
{
// Constant bending
var r1 = quaternion.RotateX(deg2rad(_spineBend));
// Noise
var r2 = Noise.Rotation(_noise, deg2rad(_spineRotationNoise), 1);
return(math.mul(r1, r2));
}
// Body (hip) rotation
quaternion GetBodyRotation()
{
// Base offset
var r1 = quaternion.RotateY(-math.PI / 2);
// Right direction vector based on the foot positions
var right = RightFootPosition - LeftFootPosition;
right.y = 0;
right = math.normalize(right);
// Horizontal rotation
var r2 = quaternion.LookRotation(right, Up);
// Noise
var r3 = Noise.Rotation(_noise, deg2rad(_hipRotationNoise), 0);
return(math.mul(math.mul(r1, r2), r3));
}