[x3d-public] Keyframe animation (rotate) subtrees of a Blender object hierarchy in python

[John Carlson]

Blender experts.  I need real, human intelligence to solve this problem.

Keyframe animation (rotate) subtrees of a Blender object hierarchy in
python.

That's my problem.

I'm guessing it's going to involve some linear algebra, like sending the
object's location (along with the rest of the subtree) to the origin,
rotating, then sending the object back to the original location (along with
the rest of the subtree), all in the same keyframe.

At least, that's what I remember learning 40 years ago. Is it still true
today, or does Blender have some shortcuts?  How do I do it while
keyframing?

Yes, this is kind of for HAnim, but it might apply to other areas besides
HAnim.

I've seen some mention of rotation deltas and I have the whole orientation
interpolator available to me, so that's possible.  Most of my efforts, when
not tied to a Blender bone, rotate around the root object.  I want to
rotate around a sub object, like joints.

animation - Getting local coordinate (parented) axis_angle rotation
keyframing working in Blender 4.1 Python - Blender Stack Exchange
<https://blender.stackexchange.com/questions/319365/getting-local-coordinate-parented-axis-angle-rotation-keyframing-working-in-bl>

John
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