void CustomJoint::CalculateLocalMatrix (const dMatrix& pinsAndPivotFrame, dMatrix& localMatrix0, dMatrix& localMatrix1) const
{
dMatrix matrix0;
// Get the global matrices of each rigid body.
NewtonBodyGetMatrix(m_body0, &matrix0[0][0]);
dMatrix matrix1 (dGetIdentityMatrix());
if (m_body1) {
NewtonBodyGetMatrix(m_body1, &matrix1[0][0]);
}
// create a global matrix at the pivot point with front vector aligned to the pin vector
dAssert (pinsAndPivotFrame.SanityCheck());
// calculate the relative matrix of the pin and pivot on each body
localMatrix0 = pinsAndPivotFrame * matrix0.Inverse();
localMatrix1 = pinsAndPivotFrame * matrix1.Inverse();
}
