+
+ # relative bone matrix
+ if rb.parent is not None:
+ offset_mtx = rb.parent.matrix_local
+ offset_mtx = offset_mtx.inverted_safe() @ \
+ rb.matrix_local
+
+ inv_parent = pb.parent.matrix @ offset_mtx
+ inv_parent.invert_safe()
+ fpm = inv_parent @ pb.matrix
+ else:
+ bone_mtx = rb.matrix.to_4x4()
+ local_inv = rb.matrix_local.inverted_safe()
+ fpm = bone_mtx @ local_inv @ pb.matrix
+
+ loc, rot, sca = fpm.decompose()