Hi all. I'm newly to skinning/Collada/openGL so sorry for my ignorance and basic questions.

I have a Collada model file that I am working on rendering using openGL. I am currently working on skinning, but am not doing it correctly. I know that the vertex value needs to be computed:

outv = SUM (((v * BSM) * IBMi * JMi) * JW)

Where does the JMi (Transformation matrix of joint i) come from? I assume it comes from the joint node (and the node's ancestors?). Does it include the "jointOrient{X,Y,Z}" values?

We have it setup so that if we draw the mesh it is placed perfectly in the bind pose (bind pose is the identity matrix). The particular object that we're trying to render should be in the bind pose ... so the final effect of the equation above for this rendering should be: outv = v. Of course I would like to get this equation setup properly for animation.

Thanks,

-joel