public JVector CalculateRelativeVelocity()
{
float x, y, z;
x = (body2.angularVelocity.Y * relativePos2.Z) - (body2.angularVelocity.Z * relativePos2.Y) + body2.linearVelocity.X;
y = (body2.angularVelocity.Z * relativePos2.X) - (body2.angularVelocity.X * relativePos2.Z) + body2.linearVelocity.Y;
z = (body2.angularVelocity.X * relativePos2.Y) - (body2.angularVelocity.Y * relativePos2.X) + body2.linearVelocity.Z;
JVector relVel;
relVel.X = x - (body1.angularVelocity.Y * relativePos1.Z) + (body1.angularVelocity.Z * relativePos1.Y) - body1.linearVelocity.X;
relVel.Y = y - (body1.angularVelocity.Z * relativePos1.X) + (body1.angularVelocity.X * relativePos1.Z) - body1.linearVelocity.Y;
relVel.Z = z - (body1.angularVelocity.X * relativePos1.Y) + (body1.angularVelocity.Y * relativePos1.X) - body1.linearVelocity.Z;
return relVel;
}