;	This function gets passed XYZ Euler angles values of Havok bone and Anim bone
Begin Function {fHavokRotX, fHavokRotY, fHavokRotZ, fAnimRotX, fAnimRotY, fAnimRotZ}

;*******   H   A   V   O   K   **********************************
;	Convert Euler angles to quaternions
	QFromEuler fHavokNodeQuatW fHavokNodeQuatX fHavokNodeQuatY fHavokNodeQuatZ fHavokRotX fHavokRotY fHavokRotZ

;	Store quaternions into array
	arHavokNodeQuat = Ar_List fHavokNodeQuatW, fHavokNodeQuatX, fHavokNodeQuatY, fHavokNodeQuatZ

;	Make matrix out of array from above
	arHavokNodeMatrix = Quaternion_GetMatrix arHavokNodeQuat
;***********************************************************


;*******   A   N   I   M   *************************************
;	Convert Euler angles to quaternions
	QFromEuler fAnimNodeQuatW fAnimNodeQuatX fAnimNodeQuatY fAnimNodeQuatZ fAnimRotX fAnimRotY fAnimRotZ

;	Invert Anim quaternions
	fAnimNodeQuatX *= -1
	fAnimNodeQuatY *= -1
	fAnimNodeQuatZ *= -1

;	Store quaternions into array
	arAnimNodeQuat = Ar_List fAnimNodeQuatW, fAnimNodeQuatX, fAnimNodeQuatY, fAnimNodeQuatZ

;	Make matrix out of array from above
	arAnimNodeMatrix = Quaternion_GetMatrix arAnimNodeQuat
;**********************************************************

;	Multiply havok matrix and anim matrix to get the difference between havok rotation and anim rotation
	arMatrixMultResult = Matrix_ApplyOperationWithMatrix arHavokNodeMatrix "*" arAnimNodeMatrix

;	Convert resulting matrix into quaternion
	arMatrixQuat = Matrix3x3_GetQuaternion arMatrixMultResult

;	Convert quaternions back to euler angles
	QToEuler fAngVelX fAngVelY fAngVelZ (arMatrixQuat[0]) (arMatrixQuat[1]) (arMatrixQuat[2]) (arMatrixQuat[3])

;	Store everything into array since UDFs can only return single value
	arAngVelValues = Ar_List fAngVelX, fAngVelY, fAngVelZ

;	UDF will return this array
	SetFunctionValue arAngVelValues
End