79         dQuaternion qcross, qq, qrel;  in getAngles()  local
107         dQMultiply2( qrel, qq, qrel1 );  in getAngles()
109         *angle1 = getHingeAngleFromRelativeQuat( qrel, axis1 );  in getAngles()
136         qrel[0] = 0;                // equivalent to cos(Pi/2)  in getAngles()
137         qrel[1] = ax1[0] + ax2[0];  // equivalent to x*sin(Pi/2); since sin(Pi/2) = 1  in getAngles()
138         qrel[2] = ax1[1] + ax2[1];  in getAngles()
139         qrel[3] = ax1[2] + ax2[2];  in getAngles()
141         dReal l = dRecip( sqrt( qrel[1] * qrel[1] + qrel[2] * qrel[2] + qrel[3] * qrel[3] ) );  in getAngles()
142         qrel[1] *= l;  in getAngles()
143         qrel[2] *= l;  in getAngles()
144         qrel[3] *= l;  in getAngles()
146         dQMultiply0( qcross2, qrel, qcross );  in getAngles()
151             dQMultiply2( qrel, qq, qrel2 );  in getAngles()
156             dQMultiply2( qrel, qcross2, qrel2 );  in getAngles()
159         *angle2 = - getHingeAngleFromRelativeQuat( qrel, axis2 );  in getAngles()
176         dQuaternion qcross, qq, qrel;  in getAngle1()  local
202         dQMultiply2( qrel, qq, qrel1 );  in getAngle1()
204         return getHingeAngleFromRelativeQuat( qrel, axis1 );  in getAngle1()
218         dQuaternion qcross, qq, qrel;  in getAngle2()  local
242             dQMultiply2( qrel, qq, qrel2 );  in getAngle2()
247             dQMultiply2( qrel, qcross, qrel2 );  in getAngle2()
250         return - getHingeAngleFromRelativeQuat( qrel, axis2 );  in getAngle2()