/** * 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); }