Hi All,
I have been working on a proprietory plugin for a game-engine which needs the joint information in a certain way.
I am writing it in the API, but perhaps the resident Mel guru's know this one too : is there a way and if so what is the method of retrieving the final rotation relative to a joint's parent, taking the axis, orientation and rotation into account?
It would also help if you could tell me what the exact function of these three factors is, to better understand the philosophy behind the scale/rotate/translate pivots, which will prevent me from posting any 'obvious' questions 
Thank you very much!