public static float GetAngleBetweenChildAndParent(RigidNode child)
{
BHingedConstraint hinge = child.GetJoint <BHingedConstraint>();
if (hinge != null)
{
return(((HingeConstraint)hinge.GetConstraint()).HingeAngle);
}
RigidBody childRB = (RigidBody)child.MainObject.GetComponent <BRigidBody>().GetCollisionObject();
RigidBody parentRB = (RigidBody)((RigidNode)child.GetParent()).MainObject.GetComponent <BRigidBody>().GetCollisionObject();
Vector3 childUp = BulletSharp.Math.Quaternion.RotationMatrix(childRB.WorldTransform).ToUnity() * Vector3.up;
Vector3 parentUp = BulletSharp.Math.Quaternion.RotationMatrix(parentRB.WorldTransform).ToUnity() * Vector3.up;
return(MathfExt.ToDegrees(Mathf.Acos(Vector3.Dot(childUp, parentUp) / (childUp.magnitude * parentUp.magnitude))));
}
