That's where the matrix concatenation comes in. This is how it is done for any hierarchy - the transformations of the parent are applied to the child in an accumulative sense. So, as you go down the hierarchy, the matrix accumulates the rotations. One thing to note, the rotations on the children may need to consider the coordinate system of the parents - but I'm uncertain as it didn't affect me in Cinema 4D. Coordinate frame shifts are not very difficult when using matrices.

C makes it easy to shoot yourself in the foot. C++ makes it harder, but when you do, you blow your whole leg off.

 -- Bjarne Stroustrup

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