// CREATE OBJECTS A & B

	var A = ActiveSceneRoot.AddNull("A");

	var B = ActiveSceneRoot.AddNull("B");

	// GET GLOBAL TRANSFORM OF A & B

	var gksA = A.kinematics.global; 

	var gksB = B.kinematics.global; 

	var tgA = gksA.transform;

	var tgB = gksB.transform;

	// TRANSLATE & ROTATE A

	var vA = XSIMath.CreateVector3(2, 2, 0);

	tgA.SetTranslation( vA );		

	var rA = XSIMath.CreateRotation();

	rA.SetFromXYZAnglesValues( 0, 0, XSIMath.DegreesToRadians( 45 ) ); 

	tgA.SetRotation( rA );		

	gksA.transform = tgA;

	// GET LOCAL TRANSFORM OF B RELATIVE TO A

	var mA = XSIMath.CreateMatrix3();

	var mB = XSIMath.CreateMatrix3();

	tgA.GetRotationMatrix3(mA);

	tgB.GetRotationMatrix3(mB);

	mA.TransposeInPlace();

	mB.MulInPlace( mA );

	// GET ORIENTATION OF B RELATIVE TO A AS A QUATERNION

	var qB = XSIMath.CreateQuaternion();

	mB.GetQuaternion(qB);

	// log result

	var aXYZ = new VBArray(qB.GetXYZAngleValues2()).toArray();

	Application.LogMessage( "R(" + 

		XSIMath.RadiansToDegrees(aXYZ[0]) + "," +

		XSIMath.RadiansToDegrees(aXYZ[1]) + "," + 

		XSIMath.RadiansToDegrees(aXYZ[2]) + ")" );