[ODE] angles between two orientation

[Krystian Ligenza]

Hi,

again I have problems with math. I'm still in problem of ragdoll. When I'm
setting bone's from motion capture data, I have to set joint limits when
connecting two bodys. I have setup of limist for T-pose, but when I'm
retargeting from motion capture I have to count offset's from that limits
( when setting joint it's init orientation is in 0 rotation for all axis).
To do this I need to find offset's for all of 3 axis. I can't find the
trick to do this. Can somebody help me?

Thanks
Krystian