Skeletal animation

Hello everyone I have a problem and I would like to ask a little help.

I have some problems to rotate the joint of a milkshape model and I can't find answers, if you could help me or guide me I would greatly appreciate.  :smiley:

To achieve different joints move in my model, I'm using the JointController localRefMatrix method to know the joint's position in space relative to its parent. But my problem is that I don't know the spatial joint position at the scene. The joint position at the scene is required to calculate if they are closer or further away from an object.

Thanks for any help