For some reason, someone decided that the joint definitions should be 'channels' on the body part.  I can understand each 'actor' containing its joint specifications, but there is little reason to do them as channels.  They are not visible dials in Poser and changing the value really wouldn't change anything - as the real controls of joints are the Rotate channels/dials.

As stated at my site (thanks jevans69), the sphereMatsRaw section gives the matrices for the innerMatSphere and outerMatSphere in right-handed matrix form.  What that means (if you need the specifics) is that the rows of each 4x4 matrix represent these:

x-axis basis, 0
y-axis basis, 0
z-axis basis, 0
translation, 1

Of course, the (0,0,0,1) column vector is the homogeneous coordinate basis (usually you can ignore this).  This is strictly for higher spacial dimension representations.

The axial bases contain scaling, rotation, and shearing information for the coordinate system applied to the unit sphere.  Because the spheres are in the world system, shearing can be ignored.  If you need to know how to convert the right-handed matrix to left-hand, that information can be provided.

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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