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How can track the position and rotation in world corordinate?

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Image a 3ds model, for example. an persion with arms, when the person changes his position and rotation (in world coordinate), his arms also change rotation and position (in local coordinate).How can i track the persion''s position and his arm''s position,both in world coordinate? I have read some articles about extract infomation from projection and modelview matrix plus camera''s position in OpenGL,but fail. can anyone give me an example or tuturial? thanks!!

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when you are changing postion and rotation im assuming your useing glTranslateX and glRotateX so all you need to do in this case is know the point on the hand of the model and rotate it manually useing some math. such math can be found in the Articles & Resources if you don''t know it.

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