Tip: Matrix-Fu for Solving Rigging Problems

Sometimes when trying to figure out rigging problems (e.g. working out a hack to patch around some weirdness with bone rolls, or maybe coding your own little transform tools), it pays to know a few tricks about matrices. In this post, I'm going to try and provide some "practical" advice about working with matrices, particularly for those found in Blender.

Unlike many other guides about these topics you'll likely encounter, I'm going to do away with most of the formalisms and so forth that usually happens, and just tailor this specifically for Blender, and for the sole purpose of describing the 3D transforms of an object or bone. For many years I've been meaning to write a guide like this, so let's get started!