private Matrix GetBoneFromKinectVectors(Vector3 parent, Vector3 child)
        {
            var angle = (float)Math.Acos(Vector3.Dot(parent, child));
            var axis = Vector3.Normalize(Vector3.Cross(parent, child));

            var orientationMatrix = Matrix.CreateFromAxisAngle(axis, angle);

            var translationMatrix = Matrix.CreateTranslation(parent);

            var bone = translationMatrix * orientationMatrix;
            return bone;
        }