Transform Matrices

Unless otherwise specified, all transformation matrices used in HumanIK are in global space, and consist of a 3x3 rotation and scaling matrix followed by a translation matrix.

Thes values in the matrix are expressed in an array of 16 numbers, with the following significance:

array index	description
0	The magnitude of the normalized orientation of the local Right axis along the global X axis. This is equivalent to the cosine of the angle between: The direction of the local Right (X) axis of the orientation vector (orthogonally to the right of the facing direction), and the direction of the global X axis, multiplied by the scale along the local Right (X) axis.
1	The magnitude of the normalized orientation of the local Right axis along the global Y axis. This is equivalent to the cosine of the angle between: The direction of the local Right (X) axis of the orientation vector (orthogonally to the right of the facing direction), and the direction of the global Y axis, multiplied by the scale along the local Right (X) axis.
2	The magnitude of the normalized orientation of the local Right axis along the global Z axis. This is equivalent to the cosine of the angle between: The direction of the local Right (X) axis of the orientation vector (orthogonally to the right of the facing direction), and the direction of the global Z axis, multiplied by the scale along the local Right (X) axis.
3	0.0
4	The magnitude of the normalized orientation of the local Up axis along the global X axis. This is equivalent to the cosine of the angle between: The direction of the local Up (Y) axis of the orientation vector (orthogonally up from the facing direction), and the direction of the global X axis, multiplied by the scale along the local Up (Y) axis.
5	The magnitude of the normalized orientation of the local Up axis along the global Y axis. This is equivalent to the cosine of the angle between: The direction of the local Up (Y) axis of the orientation vector (orthogonally up from the facing direction), and the direction of the global Y axis, multiplied by the scale along the local Up (Y) axis.
6	The magnitude of the normalized orientation of the local Up axis along the global Z axis. This is equivalent to the cosine of the angle between: The direction of the local Up (Y) axis of the orientation vector (orthogonally up from the facing direction), and the direction of the global Z axis, multiplied by the scale along the local Up (Y) axis.
7	0.0
8	The magnitude of the normalized orientation of the local Front axis along the global X axis. This is equivalent to the cosine of the angle between: The direction of the local Front (Z) axis of the orientation vector (its facing direction), and the direction of the global X axis, multiplied by the scale along the local Front (Z) axis.
9	The magnitude of the normalized orientation of the local Front axis along the global Y axis. This is equivalent to the cosine of the angle between: The direction of the local Front (Z) axis of the orientation vector (its facing direction), and the direction of the global Y axis, multiplied by the scale along the local Front (Z) axis.
10	The magnitude of the normalized orientation of the local Front axis along the global Z axis. This is equivalent to the cosine of the angle between: The direction of the local Front (Z) axis of the orientation vector (its facing direction), and the direction of the global Z axis, multiplied by the scale along the local Front (Z) axis.
11	0.0
12	Translation along the X axis.
13	Translation along the Y axis.
14	Translation along the Z axis.
15	1.0

For information on the axis conventions and units used by HumanIK to represent global space, see also Coordinates and Units.