[ODE] Relative velocity

[Romain MOURA]

Hi,
I am working on a flying drone simulator using Raydium and ODE.
I need to get the relative velocity of the drone to calaculat forces whitch
need to be aplicated to him.
But in ODE, i found only fonctions to get the global velocity. So, if you
know some thing to get it, please help me.
sincerely
MOURA Romain
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