1.1 --- a/org/body.org	Thu Feb 02 02:30:22 2012 -0700
     1.2 +++ b/org/body.org	Thu Feb 02 03:17:11 2012 -0700
     1.3 @@ -69,10 +69,13 @@
     1.4          pre-inv-a (.inverse (.getWorldRotation obj-a))
     1.5          x (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_X))
     1.6          y (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Y))
     1.7 -        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))]
     1.8 -    (println-repl "x:" x)
     1.9 -    (println-repl "y:" y)
    1.10 -    (println-repl "z:" z)
    1.11 +        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))
    1.12 +        tmp-rot-a (.getWorldRotation obj-a)]
    1.13 +    (println-repl "x:" (.mult tmp-rot-a x))
    1.14 +    (println-repl "y:" (.mult tmp-rot-a y))
    1.15 +    (println-repl "z:" (.mult tmp-rot-a z))
    1.16 +    (println-repl "rot-a" (.getWorldRotation obj-a))
    1.17 +    (println-repl "rot-b" (.getWorldRotation obj-b))
    1.18      ;; this function will report proprioceptive information for the
    1.19      ;; joint.
    1.20      (fn []