The frame local axes for frames with offset joints are determined as follows:
- Calculate the local axes based on the local 1 axis from joint i to joint j, using the basic or advanced local axes parameters specified by the user. This is what is displayed in the GUI.
- After offset, the new local 1 axis along the offset joints may now have a different direction from the original local 1 axis. The dot product of the original and new local 1 axes should be positive.
- The local axes for the offset element make the new local 2 axis parallel to the original local 1-2 plane.
- The new local-3 axis is calculated as the cross product of the new local 1 and 2 axes.
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