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BVH file format questions

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I just started working with BVH files and had a question about how the format works. To apply the correct rotation to an object, do you have to add the rotational values of other objects higher up in the hierarchy. For example, if I want to find the correct rotational value for the foot, must I add all the rotations of the Hip, Upper Leg, and Lower Leg to the rotation of the foot to get the foot to rotate correctly? -Chris

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