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I am implementing ragdolls for bone animated models,
sometimes there may be a bone which does not need to be simulated(a shoulder perhaps, or fingers).
When the object becomes a ragdoll the bone matrices are all updated by the physics, this works great.
But I need to manually update the bones that are not simulated,
my idea is to glue them to their nearest simulated bone with the correct offset(position and rotation),
gluing is easy enough but I don't know how to find the offset matrix of
one bone relative to the other(eg fingers from the hand).
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