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Quaternion Joint Constraints

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Hey Guys I am implementing an animation system and I need a proper way of constraining the joints of my skeleton. I am using Quaternions to represent rotations. I am looking to restrict the joint rotations using Unit quaternions. I have read some stuff but I haven't found something concrete yet. My original thought was to convert back to Euler angles and restrict each joint using the min,max values but as I have read that doesnt work too well. Any suggestions on how to approach this? Thanks

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