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@ohisama@github

windows11で、sketchup6 その99

Posted at

概要

windows11に、sketchup6を入れてみた。
rubyで、3Dを書く。
練習問題やってみた。

練習問題

bvhファイルをパースして、モーションをアニメーションせよ。

写真

image.png

サンプルコード

上手く動いていない。どこか、間違えている。

require 'sketchup.rb'


class BVH2
	class Joint
		def initialize(name = nil, offset = [0.0, 0.0, 0.0], channel = [], children = [])
			@name = name
			@offset = offset
			@channel = channel
			@children = children
		end
		attr_accessor :name, :offset, :channel, :children
	end

	attr_reader :joint, :frame, :frame_time

	def root
		@joint - (@joint.collect {|j| j.children }.flatten.uniq)
	end

	def load(src)
		renum = /[-+]?(?:[0-9]+(?:\.[0-9]*)?|(?:\.[0-9]+))(?:[eE][-+]?[0-9]+)?/
		mode = nil
		hierarchy = []
		src.split(/\n/).each do |line|
			case mode
			when :hierarchy
				case line.chomp.strip
				when /^#/ #ignore
				when /^MOTION/
					mode = :motion
				when /^ROOT\s+(\S+)/
					joint = Joint.new($1)
					@joint.push(joint)
					hierarchy.push(joint)
				when /^JOINT\s+(\S+)/
					joint = Joint.new($1)
					@joint.push(joint)
					hierarchy.push(joint)
				when /^End Site/
					joint = Joint.new(nil)
					hierarchy.push(joint)
				when /^CHANNELS\s+(\d+)\s+(.+)/
					hierarchy.last.channel = $2.split(/\s/)
				when /^OFFSET\s+(#{renum})\s+(#{renum})\s+(#{renum})/
					hierarchy.last.offset = [$1.to_f, $2.to_f, $3.to_f]
				when /^\{/
				when /^\}/
					joint = hierarchy.pop
					if hierarchy.last then
						hierarchy.last.children ||= []
						hierarchy.last.children.push(joint)
					end
				end
			when :motion
				case line.chomp.strip
				when /^#/ #ignore
				when /^HIERARCHY/
					mode = :hierarchy
				when /^Frames:\s*(\d+)/
				when /^Frame Time:\s*(#{renum})/
					@frame_time = $1.to_f
				when /^(#{renum}\s*)+/
					data = $&.split(/\s+/).collect {|s| s.to_f}
					frame = {}
					@joint.each do |joint|
						joint_data = {}
						joint.channel.each do |channel|
							joint_data[channel] = data.shift
						end
						frame[joint.name] = joint_data
					end
					@frame.push(frame)
				end
			else
				case line.chomp.strip
				when /^HIERARCHY/
					mode = :hierarchy
				when /^MOTION/
					mode = :motion
				else
					#ignore
				end
			end
		end
		self
	end

	def initialize
		@joint = []
		@frame = []
		@frame_time = 1.0 / 30.0
		model = Sketchup.active_model
		entities = model.active_entities
		@view = model.active_view
		fso = UI.openpanel "Select .bvh file", "", "*.bvh"
		return unless fso
		$bvh = self.load(File.read(fso))

		@hips = entities.add_group
		circle = @hips.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @hips.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@hips.transform! trans
		@hips.material = "Gray"

		@chest = entities.add_group
		circle = @chest.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @chest.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@chest.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[1].offset
		@chest.transform! trans

		@neck = entities.add_group
		circle = @neck.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @neck.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@neck.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[1].offset
		@neck.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[2].offset
		@neck.transform! trans

		@head = entities.add_group
		circle = @head.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @head.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@head.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[1].offset
		@head.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[2].offset
		@head.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[3].offset
		@head.transform! trans
		@head.material = "Gray"

		@leftCollar = entities.add_group
		circle = @leftCollar.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftCollar.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftCollar.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[4].offset
		@leftCollar.transform! trans

		@leftUpArm = entities.add_group
		circle = @leftUpArm.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftUpArm.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftUpArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[4].offset
		@leftUpArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[5].offset
		@leftUpArm.transform! trans

		@leftLowArm = entities.add_group
		circle = @leftLowArm.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftLowArm.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[4].offset
		@leftLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[5].offset
		@leftLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[6].offset
		@leftLowArm.transform! trans

		@leftHand = entities.add_group
		circle = @leftHand.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftHand.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[4].offset
		@leftHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[5].offset
		@leftHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[6].offset
		@leftHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[7].offset
		@leftHand.transform! trans
		@leftHand.material = "Red"

		@rightCollar = entities.add_group
		circle = @rightCollar.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightCollar.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightCollar.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[8].offset
		@rightCollar.transform! trans

		@rightUpArm = entities.add_group
		circle = @rightUpArm.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightUpArm.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightUpArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[8].offset
		@rightUpArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[9].offset
		@rightUpArm.transform! trans

		@rightLowArm = entities.add_group
		circle = @rightLowArm.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightLowArm.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[8].offset
		@rightLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[9].offset
		@rightLowArm.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[10].offset
		@rightLowArm.transform! trans

		@rightHand = entities.add_group
		circle = @rightHand.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightHand.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[8].offset
		@rightHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[9].offset
		@rightHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[10].offset
		@rightHand.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[11].offset
		@rightHand.transform! trans
		@rightHand.material = "Red"

		@leftUpLeg = entities.add_group
		circle = @leftUpLeg.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftUpLeg.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftUpLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[12].offset
		@leftUpLeg.transform! trans

		@leftLowLeg = entities.add_group
		circle = @leftLowLeg.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftLowLeg.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftLowLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[12].offset
		@leftLowLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[13].offset
		@leftLowLeg.transform! trans

		@leftFoot = entities.add_group
		circle = @leftFoot.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @leftFoot.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@leftFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[12].offset
		@leftFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[13].offset
		@leftFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[14].offset
		@leftFoot.transform! trans
		@leftFoot.material = "Black"

		@rightUpLeg = entities.add_group
		circle = @rightUpLeg.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightUpLeg.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightUpLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[15].offset
		@rightUpLeg.transform! trans

		@rightLowLeg = entities.add_group
		circle = @rightLowLeg.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightLowLeg.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightLowLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[15].offset
		@rightLowLeg.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[16].offset
		@rightLowLeg.transform! trans

		@rightFoot = entities.add_group
		circle = @rightFoot.entities.add_circle [0, 0, 0], [0, 1, 0], 1, 8
		circle_face = @rightFoot.entities.add_face circle
		circle_face.pushpull -3.0
		trans = Geom::Transformation.translation $bvh.joint[0].offset
		@rightFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[15].offset
		@rightFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[16].offset
		@rightFoot.transform! trans
		trans = Geom::Transformation.translation $bvh.joint[17].offset
		@rightFoot.transform! trans
		@rightFoot.material = "Black"

		@n = 0
		@id = UI.start_timer(3.0, true) {
			tick
		}
	end

	def tick
		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@hips.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@hips.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		@hips.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@hips.transform! trans


		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@chest.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@chest.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@chest.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@chest.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Xrotation"] - $bvh.frame[@n - 1]["Chest"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, X_AXIS, (sa).degrees
		@chest.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Yrotation"] - $bvh.frame[@n - 1]["Chest"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Y_AXIS, (sa).degrees
		@chest.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Zrotation"] - $bvh.frame[@n - 1]["Chest"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Z_AXIS, (sa).degrees
		@chest.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@neck.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Xrotation"] - $bvh.frame[@n - 1]["Chest"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, X_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Yrotation"] - $bvh.frame[@n - 1]["Chest"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Y_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Zrotation"] - $bvh.frame[@n - 1]["Chest"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Z_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Xrotation"] - $bvh.frame[@n - 1]["Neck"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, X_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Yrotation"] - $bvh.frame[@n - 1]["Neck"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Y_AXIS, (sa).degrees
		@neck.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Zrotation"] - $bvh.frame[@n - 1]["Neck"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Z_AXIS, (sa).degrees
		@neck.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@head.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Xrotation"] - $bvh.frame[@n - 1]["Chest"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, X_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Yrotation"] - $bvh.frame[@n - 1]["Chest"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Y_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Chest"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Chest"]["Zrotation"] - $bvh.frame[@n - 1]["Chest"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @chest.bounds.center, Z_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Xrotation"] - $bvh.frame[@n - 1]["Neck"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @neck.bounds.center, X_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Yrotation"] - $bvh.frame[@n - 1]["Neck"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @neck.bounds.center, Y_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Neck"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Neck"]["Zrotation"] - $bvh.frame[@n - 1]["Neck"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @neck.bounds.center, Z_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Head"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Head"]["Xrotation"] - $bvh.frame[@n - 1]["Head"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @head.bounds.center, X_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Head"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Head"]["Yrotation"] - $bvh.frame[@n - 1]["Head"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @head.bounds.center, Y_AXIS, (sa).degrees
		@head.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Head"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Head"]["Zrotation"] - $bvh.frame[@n - 1]["Head"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @head.bounds.center, Z_AXIS, (sa).degrees
		@head.transform! trans



		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftCollar.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, X_AXIS, (sa).degrees
		@leftCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Y_AXIS, (sa).degrees
		@leftCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Z_AXIS, (sa).degrees
		@leftCollar.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftUpArm.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, X_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Y_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Z_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, X_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Y_AXIS, (sa).degrees
		@leftUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Z_AXIS, (sa).degrees
		@leftUpArm.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftLowArm.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, X_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Y_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Z_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, X_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Y_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Z_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Xrotation"] - $bvh.frame[@n - 1]["LeftLowArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, X_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Yrotation"] - $bvh.frame[@n - 1]["LeftLowArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, Y_AXIS, (sa).degrees
		@leftLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Zrotation"] - $bvh.frame[@n - 1]["LeftLowArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, Z_AXIS, (sa).degrees
		@leftLowArm.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftHand.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Xrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, X_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Yrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Y_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftCollar"]["Zrotation"] - $bvh.frame[@n - 1]["LeftCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftCollar.bounds.center, Z_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, X_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Y_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpArm.bounds.center, Z_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Xrotation"] - $bvh.frame[@n - 1]["LeftLowArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, X_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Yrotation"] - $bvh.frame[@n - 1]["LeftLowArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, Y_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowArm"]["Zrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowArm.bounds.center, Z_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Xrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, X_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Yrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, Y_AXIS, (sa).degrees
		@leftHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Zrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, Z_AXIS, (sa).degrees
		@leftHand.transform! trans


		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightCollar.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, X_AXIS, (sa).degrees
		@rightCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Y_AXIS, (sa).degrees
		@rightCollar.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Z_AXIS, (sa).degrees
		@rightCollar.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightUpArm.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, X_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Y_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Z_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, X_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Y_AXIS, (sa).degrees
		@rightUpArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Z_AXIS, (sa).degrees
		@rightUpArm.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightLowArm.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, X_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Y_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Z_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, X_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Y_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Z_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Xrotation"] - $bvh.frame[@n - 1]["RightLowArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, X_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Yrotation"] - $bvh.frame[@n - 1]["RightLowArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, Y_AXIS, (sa).degrees
		@rightLowArm.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Zrotation"] - $bvh.frame[@n - 1]["RightLowArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, Z_AXIS, (sa).degrees
		@rightLowArm.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightHand.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Xrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, X_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Yrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Y_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightCollar"]["Zrotation"] - $bvh.frame[@n - 1]["RightCollar"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightCollar.bounds.center, Z_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, X_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Y_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpArm"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpArm"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpArm.bounds.center, Z_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Xrotation"] - $bvh.frame[@n - 1]["RightLowArm"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, X_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Yrotation"] - $bvh.frame[@n - 1]["RightLowArm"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, Y_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowArm"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightLowArm"]["Zrotation"] - $bvh.frame[@n - 1]["RightHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowArm.bounds.center, Z_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Xrotation"] - $bvh.frame[@n - 1]["RightHand"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, X_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Yrotation"] - $bvh.frame[@n - 1]["RightHand"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, Y_AXIS, (sa).degrees
		@rightHand.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Zrotation"] - $bvh.frame[@n - 1]["RightHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, Z_AXIS, (sa).degrees
		@rightHand.transform! trans


		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftUpLeg.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, X_AXIS, (sa).degrees
		@leftUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@leftUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@leftUpLeg.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftLowLeg.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, X_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Xrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, X_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Yrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, Y_AXIS, (sa).degrees
		@leftLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Zrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, Z_AXIS, (sa).degrees
		@leftLowLeg.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@leftFoot.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, X_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["LeftUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Xrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, X_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Yrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, Y_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftLowLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftLowLeg"]["Zrotation"] - $bvh.frame[@n - 1]["LeftLowLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftLowLeg.bounds.center, Z_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Xrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, X_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Yrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, Y_AXIS, (sa).degrees
		@leftFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["LeftHand"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["LeftHand"]["Zrotation"] - $bvh.frame[@n - 1]["LeftHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @leftHand.bounds.center, Z_AXIS, (sa).degrees
		@leftFoot.transform! trans


		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightUpLeg.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, X_AXIS, (sa).degrees
		@rightUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@rightUpLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@rightUpLeg.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightLowLeg.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, X_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Xrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, X_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Yrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, Y_AXIS, (sa).degrees
		@rightLowLeg.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Zrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, Z_AXIS, (sa).degrees
		@rightLowLeg.transform! trans

		trans = Geom::Transformation.translation [$bvh.frame[@n]["Hips"]["Xposition"] / 4, $bvh.frame[@n]["Hips"]["Yposition"] / 4, $bvh.frame[@n]["Hips"]["Zposition"] / 4]
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Xrotation"] - $bvh.frame[@n - 1]["Hips"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, X_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Yrotation"] - $bvh.frame[@n - 1]["Hips"]["Yrotation"]
		end
		@rightFoot.transform! trans
		trans = Geom::Transformation.rotation @hips.bounds.center, Y_AXIS, (sa).degrees
		if @n == 0
			sa = $bvh.frame[@n]["Hips"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["Hips"]["Zrotation"] - $bvh.frame[@n - 1]["Hips"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @hips.bounds.center, Z_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Xrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, X_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Yrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Y_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightUpLeg"]["Zrotation"] - $bvh.frame[@n - 1]["RightUpLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightUpLeg.bounds.center, Z_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Xrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, X_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Yrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, Y_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightLowLeg"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightLowLeg"]["Zrotation"] - $bvh.frame[@n - 1]["RightLowLeg"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightLowLeg.bounds.center, Z_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Xrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Xrotation"] - $bvh.frame[@n - 1]["RightHand"]["Xrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, X_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Yrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Yrotation"] - $bvh.frame[@n - 1]["RightHand"]["Yrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, Y_AXIS, (sa).degrees
		@rightFoot.transform! trans
		if @n == 0
			sa = $bvh.frame[@n]["RightHand"]["Zrotation"]
		else
			sa = $bvh.frame[@n]["RightHand"]["Zrotation"] - $bvh.frame[@n - 1]["RightHand"]["Zrotation"]
		end
		trans = Geom::Transformation.rotation @rightHand.bounds.center, Z_AXIS, (sa).degrees
		@rightFoot.transform! trans

		@view.invalidate
		@n = @n + 1
	end
end

以上。

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