   Skinning with Dual Quaternions
  Hello!I want to change my animation system to dual quaternions: http://isg.cs.tcd.ie/projects/DualQuaternions/I have a working shader and DualQuaternion class, but after some testing and searching I have some theoretical questions:1.) In the example code they convert the final matrices to dual quaternions and then use them in the shader. After reading the paper I thought I could/should do all the calculations with dual quaternions. Is it possible? Or should I only convert at the end?2.) If it is possible: I tried it, but it doesn't work. My way:A ... absolute of the parent boneR ... relative to the parentT ... from the animationB ... inverse bindpose ??? (from bone space to bindpose)F ... final (used in the shader)F = A * R * T * BF = A * R * B works, is always the identityI had the same/similiar problem with quaternions and vectors instead of matrices, because unlike matrices the rotate about the body center and not around the parent bone. But after reading the paper I thought that this was one of the advantages of dual quaternions. 3.) Has somebody experience with it? Is it worth it? thanks for the help!   