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How to find the local basis orientation with respect to the world space

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Say the frame of a bone has a transformation matrix of certain values.
But how do I know how this local space is orientated
around the world space (the local basis quaternion with respect to the world)
How do I get this?
Thanks
Jack

Edited by lucky6969b

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The bones should contain a local to-parent transformation matrix AND an offset matrix which is probably what you're looking for.

Edited by Ryder052

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