/**
* This method is used to get the relative angular velocities of the parent and child bodies of joint i,
* expressed in parent's local coordinates.
* We'll assume that i is in the range 0 - joints.size()-1!!!
*/
public Vector3 getRelativeAngularVelocity(int i)
{
CWJoint joint = this.joints[i] as CWJoint;
Quaternion parentOri = joint.getParent().getOrientation();
return(Quaternion.Inverse(parentOri) * (joint.getChild().getAngularVelocity() - joint.getParent().getAngularVelocity()));
}
/**
* This method is used to populate the relative orientation of the parent and child bodies of joint i.
*/
public Quaternion getRelativeOrientation(int i)
{
CWJoint joint = this.joints[i] as CWJoint;
Quaternion parentOri = joint.getParent().getOrientation();
Quaternion childOri = joint.getChild().getOrientation();
return(Quaternion.Inverse(parentOri) * childOri);
}