[ODE] How to get an angle between an axis of a cylinder and X axis?

[Patrick McColgan]

Get the cylinder rotation matrix, you can then multiply a vector (so for 
an arbitrary axis like x use {1.0, 0.0, 0.0}) and you should get a body 
relative x axis.

Normalise and dotproduct the two x axis to get the angle between them, 
note for the local axis you may want to flatten some dimensions to get 
axis specific rotations.

Kuldip wrote:

> Hi all,
>  
>  
> For some point in time during a simulation if I want to check the 
> angle between the axis of a cylinder and one of the major axis ( say X 
> axis)?
>  
> The cylinder is moving, It is the waist of a robot specificaly.
>  
> Thanks in anticipation
>  
> Kuldip
>  
>  
> ------
> Attitude -- not aptitude -- determines your altitude.
>  
> Kuldip Patel
> M.Tech CSE, IIT Kanpur
>
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