   Quaternion Joint Constraints
  Hey GuysI 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   