// Convert an array of rotation vectors back to quaternions
public static Quaternion[] RotVecsToQuats(Vector3[] rotVecs, Quaternion q0)
{
Quaternion[] quaternions = new Quaternion[rotVecs.Length - 1];
Quaternion qProd = q0;
for (int i = 0; i < rotVecs.Length - 1; i++)
{
for (int j = 0; j < i - 1; j++)
{
qProd *= QuaternionUtil.Exp(rotVecs[j + 1] - rotVecs[j]);
}
quaternions[i] = qProd;
qProd = q0;
}
return(quaternions);
}