I'm trying to write bvh files to animate models using Kinect. So far, I managed to build the hierarchy of the skeleton, but I have problems understanding how to get the Motion part. Since it's a bvh file, I only need to retrieve the rotation matrix (Rz, Rx, Ry) for each bone, but I have to take into account the relative angles of the parent bones. I'm a bit lost in this part, any help would be appreciated.
