I've been trying to figure out how to get a skeletal animation system working but one thing i can't figure out is how to do collision against rotated bones.
I've been using a system based on this http://gpwiki.org/index.php/OpenGL:Tutorials:Basic_Bones_System
where I store bones (as opposed to joints) with relative position and rotation and then let OpenGL handle everything by recursively calling glTranslate to move and glRotate to rotate (obviously), this works fine but leaves me not knowing the "world-space" coordinates of the bones.
What I'd need for collisions is (i think) to store joints, and calculate each joint from it's parent position and rotation but I'm unsure about how to do it and the more I think about it, the more confused i get.
I've checked out a bit of matrix math, thinking that if i store the matrixes I can just multiply them for each parent bone (joint?) and get the final coordinates, but since I'm learning the math as i go along it's not really working out. I'm also unsure if i should store a matrix for each joint or each bone?
Anyone have any experience with this kind of thing?