Transform physicsTransform(Joint bone, Vector3f localOffset,
            Transform storeResult) {
        Transform result
                = (storeResult == null) ? new Transform() : storeResult;
        /*
         * Start with the body's transform in the bone's local coordinates.
         */
        result.setTranslation(localOffset);
        result.setRotation(rotateIdentity);
        result.setScale(1f);
        /*
         * Convert to mesh coordinates.
         */
        Transform localToMesh = bone.getModelTransform();
        result.combineWithParent(localToMesh);
        /*
         * Convert to world (physics-space) coordinates.
         */
        Transform meshToWorld = meshTransform(null);
        result.combineWithParent(meshToWorld);

        return result;
    }
Calculate the physics transform to match the specified skeleton bone.

@param bone the skeleton bone to match (not null, unaffected)
@param localOffset the location of the body's center (in the bone's local
coordinates, not null, unaffected)
@param storeResult storage for the result (modified if not null)
@return the calculated physics transform (either storeResult or a new
transform, not null)
jme3-jbullet/src/main/java/com/jme3/bullet/animation/DacLinks.java