public int ID;
        public int Parent;
        public Quaternion Direction;
        public Vector3 Translation;
//seems to work
        public Bone(int id, int parent, Quaternion direction, Vector3 translation)
        {
            ID = id;
            Parent = parent;
            Direction = direction;
            Translation = translation;
        }
//not so much
        public Bone(Bone[] bones, int id, int parent, Vector3 dest)
        {
            ID = id;
            Parent = parent;
            Vector3 bonepos = dest;
            Vector3 parentbonepos = bones[parent].GetBindTranslation(bones);
            //(length)
            Translation = new Vector3(0,0, (bonepos - parentbonepos).Length());
            Vector3 notneeded;
            Vector3 alsonotneeded;
            Matrix.CreateLookAt(bonepos,parentbonepos,  Vector3.Up).Decompose(out notneeded, out Direction, out alsonotneeded);
        }
        public Matrix GetBindPose(Bone[] bones)
        {
            if(Parent == -1)
                return Matrix.CreateTranslation(Translation)*Matrix.CreateFromQuaternion(Direction);
            return Matrix.CreateTranslation(Translation) * Matrix.CreateFromQuaternion(Direction) * bones[Parent].GetBindPose(bones);
        }
        public Vector3 GetBindTranslation(Bone[] bones)
        {
                return Vector3.Transform(Vector3.Zero, GetBindPose(bones));

        }