Getting Rotation Angle for ArticulationBody

Is there an easy way to calculate the rotation angle for a given ArticulationBody?

The editor displays the transform's x rotation increasing between [-180, 180] (with y and z remaining 0)

However, running the line

Debug.Log(transform.localEulerAngles); 

from a C# script results in different values, where the x value increases 0->90 (with y and z equal to 0), then decreases 90->0 (with y and z equal to 180).

I acknowledge that these are equivalent euler angles, and that quaternions are the superior way to represent angles, however I've made this a Revolute Joint Type, intending for it to only move in one dimension, so it seems like there should be an easy way to get a single float value that represents the rotation angle.

ToAngleAxis seems as though it may help, but it still flips back and forth between positive and negative axes.

 

Check the joint position for that:
https://docs.unity3d.com/ScriptReference/ArticulationBody-jointPosition.html

Depending on the kind of joint, the joint position contains an array of values. In your case, only one since the position can be described by only one value. IIRC this value does not wrap, so you can track multiple revolutions as well.

 

Works like a charm, thanks!