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Collision detection with matrix transformations...

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hey guys, i have a problem. i made a silly robot arm using the matrix stack, and i got the crazy idea of making it pick stuff up. i have no idea how to get the world coordinates of the arm and objects so that i could check if they collide. do u suggest that i use my own matrices? if so, plz guide me. i think i know how to calculate the matrices but i don''t know how 2 use it to draw the objects the way i wanna, or mayb there''s a way to get the current matrix and put it in a nice array and checking it? thanks...

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