This matrix is a general purpose, on size fit to alot of problems and calculation. While I mainly used it for calculating IK derivatives, its uses are many. Below is the complete code for it.
Definition Skeletal Animation, otherwise known as vertex skinning, is a process of animating a 3D mesh by controlling the mesh’s vertices through a skeletal system of joints. Thus, if a joint moves, then the respective vertices that the joint influences … Continued