option explicit

	' CREATE OBJECTS A & B

	dim A : set A = ActiveSceneRoot.AddNull("A")

	dim B : set B = ActiveSceneRoot.AddNull("B")

	' GET GLOBAL TRANSFORM OF A & B

	dim gksA : set gksA = A.kinematics.global 

	dim gksB : set gksB = B.kinematics.global 

	dim tgA : set tgA = gksA.transform

	dim tgB : set tgB = gksB.transform

	' TRANSLATE & ROTATE A

	dim vA : set vA = XSIMath.CreateVector3(2, 2, 0)

	tgA.SetTranslation vA 		

	dim rA : set rA = XSIMath.CreateRotation( 0, 0, XSIMath.DegreesToRadians( 45 ) )

	tgA.SetRotation rA 

	gksA.transform = tgA

	' GET LOCAL TRANSFORM OF B RELATIVE TO A

	dim mA : set mA = XSIMath.CreateMatrix3

	dim mB : set mB = XSIMath.CreateMatrix3

	tgA.GetRotationMatrix3 mA

	tgB.GetRotationMatrix3 mB

	mA.TransposeInPlace()

	mB.MulInPlace mA 

	' GET ORIENTATION OF B RELATIVE TO A AS A QUATERNION

	dim qB : set qB = XSIMath.CreateQuaternion

	mB.GetQuaternion qB

	' log result

	dim x,y,z : qB.GetXYZAngleValues x, y, z

	Application.LogMessage( "R(" & _

		XSIMath.RadiansToDegrees(x) & "," & _

		XSIMath.RadiansToDegrees(y) & "," & _

		XSIMath.RadiansToDegrees(z) & ")" )