diff --git a/include/Engine/Collision/Collision.h b/include/Engine/Collision/Collision.h
index 207d4893..194a18dc 100644
--- a/include/Engine/Collision/Collision.h
+++ b/include/Engine/Collision/Collision.h
@@ -10,8 +10,8 @@
 
 #include "../Core/Ray.h"
 #include "../Core/AABB.h"
-//#include "Engine/Rendering/RawModelAssimp.h"
-#include "Engine/Rendering/RawModelCustom.h"
+#include "Rendering/RawModelCustom.h"
+//#include "Rendering/RawModelAssimp.h"
 #include "../Core/Transform.h"
 #include "../Core/Entity.h"
 #include "../Core/EntityWrapper.h"
diff --git a/include/Engine/Rendering/DebugCameraInputController.h b/include/Engine/Rendering/DebugCameraInputController.h
index 4d74e288..d69098c2 100644
--- a/include/Engine/Rendering/DebugCameraInputController.h
+++ b/include/Engine/Rendering/DebugCameraInputController.h
@@ -61,6 +61,6 @@ public:
 protected:
     glm::vec3 m_Position = glm::vec3(0, 0, 0);
     glm::vec3 m_Velocity = glm::vec3(0, 0, 0);
-    float m_BaseSpeed = 2.0f;
+    float m_BaseSpeed = 50.0f;//2.0f;
     float m_Speed = m_BaseSpeed;
 };
\ No newline at end of file
diff --git a/include/Engine/Rendering/Model.h b/include/Engine/Rendering/Model.h
index 4b83562c..f751a8cc 100644
--- a/include/Engine/Rendering/Model.h
+++ b/include/Engine/Rendering/Model.h
@@ -1,7 +1,8 @@
 #ifndef Model_h__
 #define Model_h__
 
-#include "RawModelCustom.h"
+#include "Rendering/RawModelCustom.h"
+//#include "Rendering/RawModelAssimp.h"
 #include "../OpenGL.h"
 
 class Model : public ThreadUnsafeResource
diff --git a/include/Engine/Rendering/RawModelAssimp.h b/include/Engine/Rendering/RawModelAssimp.h
index 92258782..08df818d 100644
--- a/include/Engine/Rendering/RawModelAssimp.h
+++ b/include/Engine/Rendering/RawModelAssimp.h
@@ -1,6 +1,8 @@
 #ifndef RawModelAssimp_h__
 #define RawModelAssimp_h__
 
+#ifdef USING_ASSIMP_AS_IMPORTER
+
 #include <fstream>
 #include <iostream>
 #include <sstream>
@@ -18,15 +20,17 @@
 #include "Texture.h"
 #include "Skeleton.h"
 
-class RawModel : public Resource
+#define RawModel RawModelAssimp
+
+class RawModelAssimp : public Resource
 {
 	friend class ResourceManager;
 
 protected:
-    RawModel(std::string fileName);
+    RawModelAssimp(std::string fileName);
 
 public:
-	~RawModel();
+	~RawModelAssimp();
 
 	struct Vertex
 	{
@@ -72,3 +76,4 @@ private:
 };
 
 #endif
+#endif
\ No newline at end of file
diff --git a/include/Engine/Rendering/RawModelCustom.h b/include/Engine/Rendering/RawModelCustom.h
index a3c29f62..2dea51ff 100644
--- a/include/Engine/Rendering/RawModelCustom.h
+++ b/include/Engine/Rendering/RawModelCustom.h
@@ -1,6 +1,10 @@
 #ifndef RawModelCustom_h__
 #define RawModelCustom_h__
 
+#ifndef USING_ASSIMP_AS_IMPORTER
+
+#define RawModel RawModelCustom
+
 #include <fstream>
 #include <iostream>
 #include <sstream>
@@ -17,15 +21,17 @@
 
 #include "boost\endian\buffers.hpp"
 
-class RawModel : public Resource
+
+
+class RawModelCustom : public Resource
 {
     friend class ResourceManager;
 
 protected:
-    RawModel(std::string fileName);
+    RawModelCustom(std::string fileName);
 
 public:
-    ~RawModel();
+    ~RawModelCustom();
     
     struct Vertex
     {
@@ -85,4 +91,9 @@ private:
     //void CreateSkeleton(std::vector<std::tuple<std::string, glm::mat4>> &boneInfo, std::map<std::string, int> &boneNameMapping, aiNode* node, int parentID);
 };
 
+#else
+
+#include "RawModelAssimp.h"
+
 #endif
+#endif
\ No newline at end of file
diff --git a/include/Engine/Rendering/Skeleton.h b/include/Engine/Rendering/Skeleton.h
index 4a4d507b..3b89b89b 100644
--- a/include/Engine/Rendering/Skeleton.h
+++ b/include/Engine/Rendering/Skeleton.h
@@ -4,6 +4,7 @@
 #include <sstream>
 #include "Common.h"
 #include "../GLM.h"
+#include <glm/gtx/matrix_decompose.hpp>
 
 //struct Bone
 //{
diff --git a/resources/Schema/Entities/Model.xml b/resources/Schema/Entities/Model.xml
index 6534815c..57856cbd 100644
--- a/resources/Schema/Entities/Model.xml
+++ b/resources/Schema/Entities/Model.xml
@@ -19,7 +19,7 @@
     <Entity>
       <Components>
         <c:Model>
-          <Resource>models/Baljj.mesh</Resource>
+          <Resource>models/animTest.mesh</Resource>
         </c:Model>
         <c:Transform/>
       </Components>
diff --git a/resources/Shaders/ForwardPlus.vert.glsl b/resources/Shaders/ForwardPlus.vert.glsl
index e4b4eacc..aa8c9446 100644
--- a/resources/Shaders/ForwardPlus.vert.glsl
+++ b/resources/Shaders/ForwardPlus.vert.glsl
@@ -3,6 +3,7 @@
 uniform mat4 M;
 uniform mat4 V;
 uniform mat4 P;
+uniform mat4 Bones[100];
 
 layout(location = 0) in vec3 Position;
 layout(location = 1) in vec3 Normal;
@@ -20,9 +21,17 @@ out VertexData{
 
 void main()
 {
-	gl_Position = P*V*M * vec4(Position, 1.0);
 
-	Output.Position = Position;
+
+	mat4 boneTransform = mat4(1);
+	boneTransform = BoneWeights[0] * Bones[int(BoneIndices[0])]
+				  + BoneWeights[1] * Bones[int(BoneIndices[1])]
+				  + BoneWeights[2] * Bones[int(BoneIndices[2])]
+				  + BoneWeights[3] * Bones[int(BoneIndices[3])];
+
+	gl_Position = P*V*M*boneTransform * vec4(Position, 1.0);
+	
+	Output.Position = (boneTransform * vec4(Position, 1.0)).xyz;
 	Output.TextureCoordinate = TextureCoords;
 	Output.Normal = vec3(M * vec4(Normal, 0.0));
 }
\ No newline at end of file
diff --git a/src/Engine/Editor/EditorSystem.cpp b/src/Engine/Editor/EditorSystem.cpp
index 547a96e1..46aad8df 100644
--- a/src/Engine/Editor/EditorSystem.cpp
+++ b/src/Engine/Editor/EditorSystem.cpp
@@ -292,21 +292,33 @@ void EditorSystem::createWidget()
         m_WidgetPlaneX = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetPlaneX, "Transform");
         m_World->AttachComponent(m_WidgetPlaneX, "Model");
+#ifdef USING_ASSIMP_AS_IMPORTER
+        m_World->GetComponent(m_WidgetPlaneX, "Model")["Resource"] = "Models/WidgetPlaneZ.obj"; // 360NoScope widgetPlaneX
+#else
         m_World->GetComponent(m_WidgetPlaneX, "Model")["Resource"] = "Models/coolCube.mesh"; // 360NoScope widgetPlaneX
+#endif
         m_WidgetY = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetY, "Transform");
         m_World->AttachComponent(m_WidgetY, "Model");
         m_WidgetPlaneY = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetPlaneY, "Transform");
         m_World->AttachComponent(m_WidgetPlaneY, "Model");
+#ifdef USING_ASSIMP_AS_IMPORTER
+        m_World->GetComponent(m_WidgetPlaneY, "Model")["Resource"] = "Models/WidgetPlaneZ.obj"; // 360NoScope  widgetPlaneY
+#else
         m_World->GetComponent(m_WidgetPlaneY, "Model")["Resource"] = "Models/coolCube.mesh"; // 360NoScope  widgetPlaneY
+#endif
         m_WidgetZ = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetZ, "Transform");
         m_World->AttachComponent(m_WidgetZ, "Model");
         m_WidgetPlaneZ = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetPlaneZ, "Transform");
         m_World->AttachComponent(m_WidgetPlaneZ, "Model");
+#ifdef USING_ASSIMP_AS_IMPORTER
+        m_World->GetComponent(m_WidgetPlaneZ, "Model")["Resource"] = "Models/WidgetPlaneZ.obj"; // 360NoScope  widgetPlaneZ
+#else
         m_World->GetComponent(m_WidgetPlaneZ, "Model")["Resource"] = "Models/coolCube.mesh"; // 360NoScope  widgetPlaneZ
+#endif
         m_WidgetOrigin = m_World->CreateEntity(m_Widget);
         m_World->AttachComponent(m_WidgetOrigin, "Transform");
         m_World->AttachComponent(m_WidgetOrigin, "Model");
diff --git a/src/Engine/Rendering/DrawFinalPass.cpp b/src/Engine/Rendering/DrawFinalPass.cpp
index 7093b00f..1dd5f9bc 100644
--- a/src/Engine/Rendering/DrawFinalPass.cpp
+++ b/src/Engine/Rendering/DrawFinalPass.cpp
@@ -22,6 +22,8 @@ void DrawFinalPass::InitializeShaderPrograms()
     m_ForwardPlusProgram->Link();
 }
 
+static double tempFrameCounter = 6.348;
+
 void DrawFinalPass::Draw(RenderScene& scene)
 {
     GLERROR("DrawFinalPass::Draw: Pre");
@@ -38,6 +40,7 @@ void DrawFinalPass::Draw(RenderScene& scene)
     glUniformMatrix4fv(glGetUniformLocation(shaderHandle, "P"), 1, GL_FALSE, glm::value_ptr(m_Renderer->Camera()->ProjectionMatrix()));
     glUniform2f(glGetUniformLocation(shaderHandle, "ScreenDimensions"), m_Renderer->Resolution().Width, m_Renderer->Resolution().Height);
 
+    //tempFrameCounter += 0.01;
     //TODO: Render: Add code for more jobs than modeljobs.
     for (auto &job : scene.ForwardJobs) {
         auto modelJob = std::dynamic_pointer_cast<ModelJob>(job);
@@ -54,6 +57,21 @@ void DrawFinalPass::Draw(RenderScene& scene)
                 glBindTexture(GL_TEXTURE_2D, m_WhiteTexture->m_Texture);
             }
 
+            if (modelJob->Model->m_RawModel->m_Skeleton != nullptr) {
+#ifdef USING_ASSIMP_AS_IMPORTER
+                auto animation = modelJob->Model->m_RawModel->m_Skeleton->GetAnimation("combinedAnim_0");
+#else
+                auto animation = modelJob->Model->m_RawModel->m_Skeleton->GetAnimation("running");
+#endif
+                if (animation != nullptr) {
+                    std::vector<glm::mat4> frameBones = modelJob->Model->m_RawModel->m_Skeleton->GetFrameBones(
+                        *animation,
+                        tempFrameCounter
+                        );
+                    glUniformMatrix4fv(glGetUniformLocation(shaderHandle, "Bones"), frameBones.size(), GL_FALSE, glm::value_ptr(frameBones[0]));
+                }
+            }
+             // -3 - 9
             glBindVertexArray(modelJob->Model->VAO);
             glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, modelJob->Model->ElementBuffer);
             glDrawElements(GL_TRIANGLES, modelJob->EndIndex - modelJob->StartIndex + 1, GL_UNSIGNED_INT, (void*)(modelJob->StartIndex * sizeof(unsigned int)));
@@ -61,4 +79,4 @@ void DrawFinalPass::Draw(RenderScene& scene)
     }
     GLERROR("DrawFinalPass::Draw: END");
 
-}
+}
\ No newline at end of file
diff --git a/src/Engine/Rendering/Model.cpp b/src/Engine/Rendering/Model.cpp
index c8a2bc41..cf4923a3 100644
--- a/src/Engine/Rendering/Model.cpp
+++ b/src/Engine/Rendering/Model.cpp
@@ -15,6 +15,9 @@ Model::Model(std::string fileName)
         if (!group.SpecularMapPath.empty()) {
             group.SpecularMap = std::shared_ptr<Texture>(ResourceManager::Load<Texture>(group.SpecularMapPath));
         }
+        if (!group.IncandescenceMapPath.empty()) {
+            group.IncandescenceMap = std::shared_ptr<Texture>(ResourceManager::Load<Texture>(group.IncandescenceMapPath));
+        }
     }
 
     // Generate GL buffers
diff --git a/src/Engine/Rendering/RawModelAssimp.cpp b/src/Engine/Rendering/RawModelAssimp.cpp
index 259eafc3..6bc3f3f7 100644
--- a/src/Engine/Rendering/RawModelAssimp.cpp
+++ b/src/Engine/Rendering/RawModelAssimp.cpp
@@ -1,6 +1,8 @@
 #include "Rendering/RawModelAssimp.h"
 
-RawModel::RawModel(std::string fileName)
+#ifdef USING_ASSIMP_AS_IMPORTER
+
+RawModelAssimp::RawModelAssimp(std::string fileName)
 {
 	Assimp::Importer importer;
 	const aiScene* scene = importer.ReadFile(fileName, aiProcess_CalcTangentSpace | aiProcess_Triangulate);
@@ -271,16 +273,17 @@ RawModel::RawModel(std::string fileName)
 
 		m_Skeleton->Animations[animationName] = skelAnim;
 	}
+    int k = 0;
 }
 
-RawModel::~RawModel()
+RawModelAssimp::~RawModelAssimp()
 {
 	if (m_Skeleton) {
 		delete m_Skeleton;
 	}
 }
 
-void RawModel::CreateSkeleton(std::vector<std::tuple<std::string, glm::mat4>> &boneInfo, std::map<std::string, int> &boneNameMapping, aiNode* node, int parentID)
+void RawModelAssimp::CreateSkeleton(std::vector<std::tuple<std::string, glm::mat4>> &boneInfo, std::map<std::string, int> &boneNameMapping, aiNode* node, int parentID)
 {
 	std::string nodeName = node->mName.C_Str();
 
@@ -300,3 +303,5 @@ void RawModel::CreateSkeleton(std::vector<std::tuple<std::string, glm::mat4>> &b
 		CreateSkeleton(boneInfo, boneNameMapping, child, parentID);
 	}
 }
+
+#endif
\ No newline at end of file
diff --git a/src/Engine/Rendering/RawModelCustom.cpp b/src/Engine/Rendering/RawModelCustom.cpp
index f7354d92..7c387dd9 100644
--- a/src/Engine/Rendering/RawModelCustom.cpp
+++ b/src/Engine/Rendering/RawModelCustom.cpp
@@ -1,6 +1,8 @@
 #include "Rendering/RawModelCustom.h"
 
-RawModel::RawModel(std::string fileName)
+#ifndef USING_ASSIMP_AS_IMPORTER
+
+RawModelCustom::RawModelCustom(std::string fileName)
 {
     fileName = fileName.erase(fileName.find_last_of("."), fileName.find_last_of(".") - fileName.size());
     ReadMeshFile(fileName);
@@ -9,7 +11,7 @@ RawModel::RawModel(std::string fileName)
     int k = 0;
 }
 
-void RawModel::ReadMeshFile(std::string filePath)
+void RawModelCustom::ReadMeshFile(std::string filePath)
 { 
     char* fileData;
     filePath += ".mesh";
@@ -33,7 +35,7 @@ void RawModel::ReadMeshFile(std::string filePath)
     delete fileData;
 }
 
-void RawModel::ReadMeshFileHeader(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadMeshFileHeader(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     m_Vertices.resize(*(unsigned int*)(fileData + offset));
@@ -44,13 +46,13 @@ void RawModel::ReadMeshFileHeader(unsigned int& offset, char* fileData, unsigned
 #endif
 }
 
-void RawModel::ReadMesh(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadMesh(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
 {
     ReadVertices(offset, fileData, fileByteSize);
     ReadIndices(offset, fileData, fileByteSize);
 }
 
-void RawModel::ReadVertices(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadVertices(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     if (offset +  m_Vertices.size() * sizeof(Vertex) > fileByteSize) {
@@ -63,7 +65,7 @@ void RawModel::ReadVertices(unsigned int& offset, char* fileData, unsigned int&
 #endif
 }
 
-void RawModel::ReadIndices(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadIndices(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     if (offset + m_Indices.size() * sizeof(unsigned int) > fileByteSize) {
@@ -77,7 +79,7 @@ void RawModel::ReadIndices(unsigned int& offset, char* fileData, unsigned int& f
 #endif
 }
 
-void RawModel::ReadMaterialFile(std::string filePath)
+void RawModelCustom::ReadMaterialFile(std::string filePath)
 { 
     char* fileData;
     filePath += ".mtrl";
@@ -100,7 +102,7 @@ void RawModel::ReadMaterialFile(std::string filePath)
     delete fileData;
 }
 
-void RawModel::ReadMaterials(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadMaterials(unsigned int& offset, char* fileData, unsigned int& fileByteSize)
 { 
 #ifdef BOOST_LITTLE_ENDIAN
     unsigned int* numMaterials = (unsigned int*)(fileData);
@@ -114,7 +116,7 @@ void RawModel::ReadMaterials(unsigned int& offset, char* fileData, unsigned int&
 #endif
 }
 
-void RawModel::ReadMaterialSingle(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadMaterialSingle(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
 { 
     MaterialGroup newMaterial;
 
@@ -189,7 +191,7 @@ void RawModel::ReadMaterialSingle(unsigned int &offset, char* fileData, unsigned
     MaterialGroups.push_back(newMaterial);
 }
 
-void RawModel::ReadAnimationFile(std::string filePath)
+void RawModelCustom::ReadAnimationFile(std::string filePath)
 { 
     char* fileData;
     filePath += ".anim";
@@ -214,7 +216,7 @@ void RawModel::ReadAnimationFile(std::string filePath)
 #ifdef BOOST_LITTLE_ENDIAN
         unsigned int numBindPoses = *(unsigned int*)(fileData);
         offset += sizeof(unsigned int);
-        unsigned int numAnimations = *(unsigned int*)(fileData);
+        unsigned int numAnimations = *(unsigned int*)(fileData + offset);
         offset += sizeof(unsigned int);
 #else
 #endif
@@ -225,7 +227,7 @@ void RawModel::ReadAnimationFile(std::string filePath)
     delete fileData;
 }
 
-void RawModel::ReadAnimationBindPoses(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadAnimationBindPoses(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     unsigned int* numBones = (unsigned int*)(fileData + offset);
@@ -238,7 +240,7 @@ void RawModel::ReadAnimationBindPoses(unsigned int &offset, char* fileData, unsi
 #endif
 }
 
-void RawModel::ReadAnimationJoint(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
+void RawModelCustom::ReadAnimationJoint(unsigned int &offset, char* fileData, unsigned int& fileByteSize)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     if (offset + sizeof(unsigned int) > fileByteSize) {
@@ -259,7 +261,7 @@ void RawModel::ReadAnimationJoint(unsigned int &offset, char* fileData, unsigned
     glm::mat4 offsetMatrix;
     memcpy(&offsetMatrix, fileData + offset, sizeof(float) * 4 * 4);
     offset += sizeof(float) * 4 * 4;
-
+    
     if (offset + sizeof(int) > fileByteSize) { 
         throw Resource::FailedLoadingException("Reading Joint ID failed");
     }
@@ -280,14 +282,14 @@ void RawModel::ReadAnimationJoint(unsigned int &offset, char* fileData, unsigned
 #endif
 }
 
-void RawModel::ReadAnimationClips(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int numberOfClips)
+void RawModelCustom::ReadAnimationClips(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int numberOfClips)
 {
     for (unsigned int i = 0; i < numberOfClips; i++) {
         ReadAnimationClipSingle(offset, fileData, fileByteSize, i);
     }
 }
 
-void RawModel::ReadAnimationClipSingle(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int clipIndex)
+void RawModelCustom::ReadAnimationClipSingle(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int clipIndex)
 {
 #ifdef BOOST_LITTLE_ENDIAN
     Skeleton::Animation newAnimation;
@@ -332,7 +334,7 @@ void RawModel::ReadAnimationClipSingle(unsigned int &offset, char* fileData, uns
 #endif
 }
 
-void RawModel::ReadAnimationKeyFrame(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int nrOfJoints, Skeleton::Animation& animation)
+void RawModelCustom::ReadAnimationKeyFrame(unsigned int &offset, char* fileData, unsigned int& fileByteSize, unsigned int nrOfJoints, Skeleton::Animation& animation)
 {
     Skeleton::Animation::Keyframe newKeyFrame;
 
@@ -356,12 +358,16 @@ void RawModel::ReadAnimationKeyFrame(unsigned int &offset, char* fileData, unsig
     for (unsigned int i = 0; i < nrOfJoints; i++) {
         memcpy(&newBone, (fileData + offset), sizeof(Skeleton::Animation::Keyframe::BoneProperty));
         offset += sizeof(Skeleton::Animation::Keyframe::BoneProperty);
-        newKeyFrame.BoneProperties[i] = newBone;
+        newKeyFrame.BoneProperties[newBone.ID] = newBone;
     }
     animation.Keyframes.push_back(newKeyFrame);
 }
 
-RawModel::~RawModel()
+RawModelCustom::~RawModelCustom()
 {
+    if (m_Skeleton != nullptr) {
+        delete m_Skeleton;
+    }
+}
 
-}
\ No newline at end of file
+#endif
\ No newline at end of file
diff --git a/src/Engine/Rendering/RenderSystem.cpp b/src/Engine/Rendering/RenderSystem.cpp
index 2a6a49c2..5d9d474d 100644
--- a/src/Engine/Rendering/RenderSystem.cpp
+++ b/src/Engine/Rendering/RenderSystem.cpp
@@ -96,10 +96,18 @@ void RenderSystem::fillModels(std::list<std::shared_ptr<RenderJob>>& jobs, World
             model = ResourceManager::Load<::Model, true>(resource);
         } catch (const Resource::StillLoadingException&) {
             //continue;
+#ifdef USING_ASSIMP_AS_IMPORTER
+            model = ResourceManager::Load<::Model>("Models/WidgetPlaneZ.obj"); // 360NoScope StillLoading mesh
+#else
             model = ResourceManager::Load<::Model>("Models/coolCube.mesh"); // 360NoScope StillLoading mesh
+#endif
         } catch (const std::exception&) {
             try {
+#ifdef USING_ASSIMP_AS_IMPORTER
+                model = ResourceManager::Load<::Model>("Models/WidgetPlaneZ.obj"); // 360NoScope Error mesh
+#else
                 model = ResourceManager::Load<::Model>("Models/coolCube.mesh"); // 360NoScope Error mesh
+#endif
             } catch (const std::exception&) {
                 continue;
             }
diff --git a/src/Engine/Rendering/Skeleton.cpp b/src/Engine/Rendering/Skeleton.cpp
index 44276308..986e634c 100644
--- a/src/Engine/Rendering/Skeleton.cpp
+++ b/src/Engine/Rendering/Skeleton.cpp
@@ -68,7 +68,7 @@ std::vector<glm::mat4> Skeleton::GetFrameBones(const Animation& animation, doubl
 
 void Skeleton::AccumulateBoneTransforms(bool noRootMotion, const Animation::Keyframe &currentFrame, const Animation::Keyframe &nextFrame, float progress, std::map<int, glm::mat4> &boneMatrices, const Bone* bone, glm::mat4 parentMatrix)
 {
-	glm::mat4 boneMatrix;
+    glm::mat4 boneMatrix;
 
 	if (currentFrame.BoneProperties.find(bone->ID) != currentFrame.BoneProperties.end() || nextFrame.BoneProperties.find(bone->ID) != nextFrame.BoneProperties.end()) {
 		Animation::Keyframe::BoneProperty currentBoneProperty = currentFrame.BoneProperties.at(bone->ID);
@@ -84,10 +84,14 @@ void Skeleton::AccumulateBoneTransforms(bool noRootMotion, const Animation::Keyf
 			positionInterp.z = 0;
 		}
 
+
 		boneMatrix = parentMatrix * (glm::translate(positionInterp) * glm::toMat4(rotationInterp) * glm::scale(scaleInterp));
 		boneMatrices[bone->ID] = boneMatrix * bone->OffsetMatrix;
+        int k = 0;
 	} else {
-		boneMatrix = parentMatrix * bone->Parent->OffsetMatrix; // * glm::inverse(bone->OffsetMatrix);
+        if (bone->Parent) {
+            boneMatrix = parentMatrix * bone->Parent->OffsetMatrix * glm::translate(glm::vec3(1.718, 0, 0)); // * glm::inverse(bone->OffsetMatrix);
+        }
 		boneMatrices[bone->ID] = boneMatrix; // * bone->OffsetMatrix;
 	}
 
@@ -95,6 +99,7 @@ void Skeleton::AccumulateBoneTransforms(bool noRootMotion, const Animation::Keyf
 		std::string name = child->Name;
 		AccumulateBoneTransforms(noRootMotion, currentFrame, nextFrame, progress, boneMatrices, child, boneMatrix);
 	}
+
 }
 
 int Skeleton::GetBoneID(std::string name)
diff --git a/src/Tests/CollisionTest.cpp b/src/Tests/CollisionTest.cpp
index 4ba7ca87..767fbe3a 100644
--- a/src/Tests/CollisionTest.cpp
+++ b/src/Tests/CollisionTest.cpp
@@ -27,7 +27,9 @@ using boost::unit_test_framework::test_case;
 void RayTest(std::string fileName) {
     //simple box test
     Ray ray(glm::vec3(-50, 0, 0), glm::vec3(1, 0, 0));
-    //using a rawmodel here, else we have to init the renderingsystem
+    //using a 
+    
+    here, else we have to init the renderingsystem
     ResourceManager::RegisterType<RawModel>("RawModel");
     auto unitBox = ResourceManager::Load<RawModel>(fileName);
     BOOST_REQUIRE(unitBox != nullptr);
diff --git a/tools/MayaExporter/MayaExporter/Export.cpp b/tools/MayaExporter/MayaExporter/Export.cpp
index d25faa4c..d8f1abd4 100644
--- a/tools/MayaExporter/MayaExporter/Export.cpp
+++ b/tools/MayaExporter/MayaExporter/Export.cpp
@@ -7,26 +7,56 @@ Export::Export()
 
 bool Export::Meshes(std::string pathName, bool selectedOnly)
 { 
+    MStatus status;
     if (pathName.empty()) {
         MGlobal::displayError(MString() + "Export::Meshes() got no pathName. Do not know where to write file");
         return false;
     }
+
     MSelectionList selectedOnStart;
     MGlobal::getActiveSelectionList(selectedOnStart);
-   
+    if (selectedOnStart.length() > 0) {
+        for (int i = 0; i < selectedOnStart.length(); i++) {
+            MObject item;
+            selectedOnStart.getDependNode(i, item);
+            MGlobal::unselect(item);
+        }
+    }
+    MGlobal::displayInfo(MString() + "Disabel IKSolvers");
+    status = MGlobal::executeCommand("doEnableNodeItems false all;");
+    if (status != MS::kSuccess) {
+        MGlobal::displayError(MString() + "EnableNodeItems false all failed: " + status.errorString());
+    }
+    MGlobal::displayInfo(MString() + "Has disabel IKSolvers");
     MObjectArray Objects;
     if (selectedOnly) {
         // Retrieving the objects we currently have selected
-        MSelectionList selected;
-        MGlobal::getActiveSelectionList(selected);
 
         // Loop through or list of selection(s)
-        for (unsigned int i = 0; i < selected.length(); i++) {
+        for (unsigned int i = 0; i < selectedOnStart.length(); i++) {
             MObject object;
-            selected.getDependNode(i, object);
+            selectedOnStart.getDependNode(i, object);
 
             if (object.hasFn(MFn::kMesh)) {
-                MFnDependencyNode thisNode(object);
+                MFnMesh shape(object);
+                
+                for (unsigned int k = 0; k < shape.parentCount(); k++) {                 
+                    MFnDependencyNode thisNode(object);
+                    MPlugArray connections;
+                    thisNode.findPlug("inMesh").connectedTo(connections, true, true);
+
+                    for (unsigned int i = 0; i < connections.length(); i++) {
+                        if (connections[i].node().apiType() == MFn::kSkinClusterFilter) {
+                            MGlobal::select(shape.parent(i), MGlobal::kReplaceList);
+                            MGlobal::displayInfo(MString() + "Moving " + thisNode.name() + " to bindPose.");
+                            status = MGlobal::executeCommand("GoToBindPose;");
+                            if (status != MS::kSuccess) {
+                                MGlobal::displayError(MString() + "GoToBindPose: " + status.errorString());
+                            }
+                            MGlobal::displayInfo(MString() + "Has moved " + thisNode.name() + " to bindPose.");
+                        }
+                    }
+                }
                 Objects.append(object);
             }
         }
@@ -42,7 +72,9 @@ bool Export::Meshes(std::string pathName, bool selectedOnly)
             for (unsigned int i = 0; i < connections.length(); i++) {
                 if (connections[i].node().apiType() == MFn::kSkinClusterFilter) {
                     MGlobal::select(node);
-                    MGlobal::executeCommand("gotoBindPose");
+                    MGlobal::displayInfo(MString() + "Moving " + thisNode.name() + " to bindPose.");
+                    MGlobal::executeCommand("GoToBindPose");
+                    MGlobal::displayInfo(MString() + "Has moved " + thisNode.name() + " to bindPose.");
                 }
             }
 
@@ -51,6 +83,19 @@ bool Export::Meshes(std::string pathName, bool selectedOnly)
     }
     GetMeshData(Objects);
     WriteMeshData(pathName);
+    MGlobal::displayInfo(MString() + "Enabling IKSolvers");
+    status = MGlobal::executeCommand("doEnableNodeItems true all;");
+    if (status != MS::kSuccess) {
+        MGlobal::displayError(MString() + "doEnableNodeItems true all: " + status.errorString());
+    }
+    MGlobal::displayInfo(MString() + "Has enabling IKSolvers");
+    if (selectedOnStart.length() > 0) {
+        for (int i = 0; i < selectedOnStart.length(); i++) {
+            MObject item;
+            selectedOnStart.getDependNode(i, item);
+            MGlobal::select(item);
+        }
+    }
     return true;
 }
 
diff --git a/tools/MayaExporter/MayaExporter/MayaIncludes.h b/tools/MayaExporter/MayaExporter/MayaIncludes.h
index 66527470..7322bdc5 100644
--- a/tools/MayaExporter/MayaExporter/MayaIncludes.h
+++ b/tools/MayaExporter/MayaExporter/MayaIncludes.h
@@ -42,6 +42,9 @@
 #include <maya/MItGeometry.h>
 #include <maya/MItMeshVertex.h>
 #include <maya/MFnWeightGeometryFilter.h>
+#include <maya/MItDependencyGraph.h>
+#include <maya/MQuaternion.h>
+#include <maya/MFnNumericAttribute.h>
 
 
 // Wrappers
diff --git a/tools/MayaExporter/MayaExporter/Menu.cpp b/tools/MayaExporter/MayaExporter/Menu.cpp
index a03788a6..897cc655 100644
--- a/tools/MayaExporter/MayaExporter/Menu.cpp
+++ b/tools/MayaExporter/MayaExporter/Menu.cpp
@@ -60,7 +60,7 @@ Menu::Menu(QDialog* dialog)
 
 	m_ExportPath = new QLineEdit;
 	m_FileDialog = new QFileDialog;
-    QString tmpPath("C:/Users/Nickelodion/Desktop/Baljj");
+    QString tmpPath("C:/Users/Nickelodion/Desktop/animTest");
     m_ExportPath->setText(tmpPath);
 	QLabel* exportLabel = new QLabel;
 	exportLabel->setText("Export Path:");
@@ -175,6 +175,13 @@ void Menu::ExportAll(bool)
         return;
     }
 
+    if (m_ExportMaterialButton->isChecked()) {
+        if (!m_Export.Materials(m_ExportPath->text().toLocal8Bit().constData())) {
+            MGlobal::displayError(MString() + "Could not export materials");
+            return;
+        }
+    }
+
     std::vector<Export::AnimationInfo> animations;
     for (unsigned int i = 0; i < m_AnimationClipName.size(); i++) {
         Export::AnimationInfo thisClip;
@@ -191,13 +198,6 @@ void Menu::ExportAll(bool)
             return;
         }
     }
-
-    if (m_ExportMaterialButton->isChecked()) {
-        if (!m_Export.Materials(m_ExportPath->text().toLocal8Bit().constData())){ 
-            MGlobal::displayError(MString() + "Could not export materials");
-            return;
-        }
-    }
 }
 
 void Menu::CancelClicked(bool)
diff --git a/tools/MayaExporter/MayaExporter/Mesh.cpp b/tools/MayaExporter/MayaExporter/Mesh.cpp
index 2062bad5..26d5c7b2 100644
--- a/tools/MayaExporter/MayaExporter/Mesh.cpp
+++ b/tools/MayaExporter/MayaExporter/Mesh.cpp
@@ -68,7 +68,6 @@ std::map<int, MeshClass::WeightInfo> MeshClass::GetWeightData()
                 break;
             }
             MFnDependencyNode test(comp);
-
             unsigned int nrOfWeights = 0;
 
             for (unsigned int j = 0; j < weights.length() && nrOfWeights != 4; j++) {
@@ -90,7 +89,7 @@ std::map<int, MeshClass::WeightInfo> MeshClass::GetWeightData()
 
 
             for (unsigned int k = 0; k!=nrOfWeights; k++) {
-                //MGlobal::displayInfo(MString() + "influence: " + weightInfo.BoneIndices[k] + " weight: " + weightInfo.BoneWeights[k]);
+                MGlobal::displayInfo(MString() + "influence: " + weightInfo.BoneIndices[k] + " weight: " + weightInfo.BoneWeights[k]);
             }
             geomIter.next();
         }
@@ -109,6 +108,26 @@ Mesh MeshClass::GetMeshData(MObjectArray object)
         if (!object[ObjectID].hasFn(MFn::kMesh))
             continue;
 
+        MObject node = object[ObjectID];
+        MFnDependencyNode thisNode(node);
+        MPlugArray connections;
+        thisNode.findPlug("inMesh").connectedTo(connections, true, true);
+        MGlobal::displayInfo(MString() + "inMesh");
+        bool hasSkin = false;
+        MPlug weightList, weights;
+        MObject weightListObject;
+        for (unsigned int i = 0; i < connections.length(); i++) {
+            if (connections[i].node().apiType() == MFn::kSkinClusterFilter) {
+                MFnSkinCluster skinCluster(connections[i].node());
+                weightList = skinCluster.findPlug("weightList", &status);
+                weightListObject = weightList.attribute();
+                weights = skinCluster.findPlug("weights");
+                hasSkin = true;
+                break;
+            }
+        }
+
+
         // In here, we retrieve triangulated polygons from the mesh
         MFnMesh mesh(object[ObjectID]);
         MDagPathArray dagPaths;
@@ -178,7 +197,7 @@ Mesh MeshClass::GetMeshData(MObjectArray object)
                 }
             }
 
-            map<int, WeightInfo> vertexWeights = GetWeightData();
+           // map<int, WeightInfo> vertexWeights = GetWeightData();
             status = mesh.getTangents(Tangents, MSpace::kObject);
             if (status != MS::kSuccess) {
                 MGlobal::displayError(MString() + "mesh.getTangents ERROR: " + status.errorString()  + " for " + thisMeshPath.fullPathName());
@@ -288,27 +307,25 @@ Mesh MeshClass::GetMeshData(MObjectArray object)
                         thisVertex.Uv[0] = UV[0];
                         thisVertex.Uv[1] = UV[1];
 
-                        thisVertex.BoneIndices[0] = vertexWeights[faceVert.vertId()].BoneIndices[0];
-                        thisVertex.BoneIndices[1] = vertexWeights[faceVert.vertId()].BoneIndices[1];
-                        thisVertex.BoneIndices[2] = vertexWeights[faceVert.vertId()].BoneIndices[2];
-                        thisVertex.BoneIndices[3] = vertexWeights[faceVert.vertId()].BoneIndices[3];
-                        if (abs(vertexWeights[faceVert.vertId()].BoneWeights[0]) > 0.0001)
-                            thisVertex.BoneWeights[0] = vertexWeights[faceVert.vertId()].BoneWeights[0];
-                        if (abs(vertexWeights[faceVert.vertId()].BoneWeights[1]) > 0.0001)
-                            thisVertex.BoneWeights[1] = vertexWeights[faceVert.vertId()].BoneWeights[1];
-                        if (abs(vertexWeights[faceVert.vertId()].BoneWeights[2]) > 0.0001)
-                            thisVertex.BoneWeights[2] = vertexWeights[faceVert.vertId()].BoneWeights[2];
-                        if (abs(vertexWeights[faceVert.vertId()].BoneWeights[3]) > 0.0001)
-                            thisVertex.BoneWeights[3] = vertexWeights[faceVert.vertId()].BoneWeights[3];
-
-                        float totalWeight = thisVertex.BoneWeights[0] + thisVertex.BoneWeights[1] + thisVertex.BoneWeights[2] + thisVertex.BoneWeights[3];
-                        if (totalWeight < 1.00f && totalWeight > 0.01f) {
-                            thisVertex.BoneWeights[0] /= totalWeight;
-                            thisVertex.BoneWeights[1] /= totalWeight;
-                            thisVertex.BoneWeights[2] /= totalWeight;
-                            thisVertex.BoneWeights[3] /= totalWeight;
+                        
+                        if (hasSkin) {
+                            MIntArray jointIDs /* ??? */;
+                            weights.selectAncestorLogicalIndex(vertexIndex, weightListObject);
+                            weights.getExistingArrayAttributeIndices(jointIDs);
+                            for (unsigned int i = 0; i < jointIDs.length() && i < 4; i++) {
+                                thisVertex.BoneIndices[i] = jointIDs[i];
+                                thisVertex.BoneWeights[i] = weights[i].asFloat();
+                            }
                         }
 
+                        //float totalWeight = thisVertex.BoneWeights[0] + thisVertex.BoneWeights[1] + thisVertex.BoneWeights[2] + thisVertex.BoneWeights[3];
+                        //if (totalWeight > 0.0001f) {
+                        //    thisVertex.BoneWeights[0] /= totalWeight;
+                        //    thisVertex.BoneWeights[1] /= totalWeight;
+                        //    thisVertex.BoneWeights[2] /= totalWeight;
+                        //    thisVertex.BoneWeights[3] /= totalWeight;
+                        //}
+
                         std::vector<VertexLayout>::iterator it = std::find(vertexList.begin(), vertexList.end(), thisVertex);
                         array<unsigned int, 2> tmp;
                         if (it != vertexList.end()) {
diff --git a/tools/MayaExporter/MayaExporter/Skeleton.cpp b/tools/MayaExporter/MayaExporter/Skeleton.cpp
index 9f887561..c30311b8 100644
--- a/tools/MayaExporter/MayaExporter/Skeleton.cpp
+++ b/tools/MayaExporter/MayaExporter/Skeleton.cpp
@@ -64,6 +64,7 @@ std::string attr[9] = { "scaleX", "scaleY", "scaleZ", "translateX", "translateY"
 
 Animation Skeleton::GetAnimData(std::string animationName, int startFrame, int endFrame)
 {
+    MStatus status;
     std::vector<MObject> animatedJoints;
     std::vector<MObject> m_Hierarchy;
 
@@ -121,7 +122,7 @@ Animation Skeleton::GetAnimData(std::string animationName, int startFrame, int e
 					MFnMatrixData MartixFn(DataHandle.data());
 					MMatrix BindPoseMatrix = MartixFn.matrix();
 
-					if (BindPoseMatrix != MayaJoint.transformationMatrix())
+					if (!BindPoseMatrix.isEquivalent(MayaJoint.transformationMatrix()))
 					{
 						MGlobal::displayError(MString() + animationName.c_str() + " is using " + MayaJoint.name() + " that is not in bind pose nor is it key framed in the animation, the exported animation will NOT correspond to the animation in Maya");
 					}
@@ -153,19 +154,43 @@ Animation Skeleton::GetAnimData(std::string animationName, int startFrame, int e
 				MGlobal::displayError(MString() + "Could not find joint ID for: " + thisJoint.name());
 			}
 			
-			MMatrix Matrix = thisJoint.transformationMatrix();
-			
+			MTransformationMatrix Matrix = thisJoint.transformation();
+            MPlug BindPose = thisJoint.findPlug("bindPose");
+            MDataHandle DataHandle;
+            BindPose.getValue(DataHandle);
+            MFnMatrixData MartixFn(DataHandle.data());
+            MMatrix BindPoseMatrix = MartixFn.matrix();
+            Matrix = Matrix.asMatrix();
+            
+            MObject jointOrientObj = thisJoint.attribute("jointOrient");
+            MFnNumericAttribute jointOrient(jointOrientObj);
+            double jointOrientDouble[3];
+            jointOrient.getDefault(jointOrientDouble[0], jointOrientDouble[1], jointOrientDouble[2]);
+            //MGlobal::displayError(MString() + "Joint Matrix: ");
+            //MGlobal::displayError(MString() + Matrix.asMatrix()[0][0] + " " + Matrix.asMatrix()[0][1] + " " + Matrix.asMatrix()[0][2] + " " + Matrix.asMatrix()[0][3]);
+            //MGlobal::displayError(MString() + Matrix.asMatrix()[1][0] + " " + Matrix.asMatrix()[1][1] + " " + Matrix.asMatrix()[1][2] + " " + Matrix.asMatrix()[1][3]);
+            //MGlobal::displayError(MString() + Matrix.asMatrix()[2][0] + " " + Matrix.asMatrix()[2][1] + " " + Matrix.asMatrix()[2][2] + " " + Matrix.asMatrix()[2][3]);
+            //MGlobal::displayError(MString() + Matrix.asMatrix()[3][0] + " " + Matrix.asMatrix()[3][1] + " " + Matrix.asMatrix()[3][2] + " " + Matrix.asMatrix()[3][3]);
+
+            MEulerRotation joEuler(jointOrientDouble[0], jointOrientDouble[1], jointOrientDouble[2]);
+            MQuaternion jo = joEuler.asQuaternion();
+
 			double tmp[4];
-			thisJoint.getRotationQuaternion(tmp[0], tmp[1], tmp[2], tmp[3]);
+            Matrix.getRotationQuaternion(tmp[0], tmp[1], tmp[2], tmp[3]);
+            MQuaternion rotation(tmp);
+
+            rotation = rotation * jo;
+            rotation.get(tmp);
+
 			joint.Rotation[0] = tmp[0];
 			joint.Rotation[1] = tmp[1];
 			joint.Rotation[2] = tmp[2];
 			joint.Rotation[3] = tmp[3];
-			thisJoint.getTranslation(MSpace::kPreTransform).get(tmp);
+            Matrix.getTranslation(MSpace::kTransform).get(tmp);
 			joint.Position[0] = tmp[0];
 			joint.Position[1] = tmp[1];
 			joint.Position[2] = tmp[2];
-			thisJoint.getScale(tmp);
+            Matrix.getScale(tmp, MSpace::kTransform);
 			joint.Scale[0] = tmp[0];
 			joint.Scale[1] = tmp[1];
 			joint.Scale[2] = tmp[2];
@@ -184,6 +209,7 @@ Animation Skeleton::GetAnimData(std::string animationName, int startFrame, int e
 
 std::vector<BindPoseSkeletonNode> Skeleton::GetBindPoses()
 {
+    MStatus status;
 	std::vector<BindPoseSkeletonNode> m_AllSkeletons;
 	std::vector<MObject> m_Hierarchy;
 
@@ -214,12 +240,76 @@ std::vector<BindPoseSkeletonNode> Skeleton::GetBindPoses()
 		}
 		m_Hierarchy.push_back(MayaJoint.object());
 
-		MPlug BindPose = MayaJoint.findPlug("bindPose");
+		MPlug BindPose = MayaJoint.findPlug("bindPose", &status);
+        if (status != MS::kSuccess) { 
+            MGlobal::displayError(MString() + "Could not find bindPose plug: " + status.errorString());
+        }
 		MDataHandle DataHandle;
 		BindPose.getValue(DataHandle);
 		MFnMatrixData MartixFn(DataHandle.data());
 		MMatrix Matrix = MartixFn.matrix();
 
+
+        MVector tmp = MayaJoint.transformation().getTranslation(MSpace::kObject);
+        MGlobal::displayError(MString() + "translation befor: " + tmp[0] + " " + tmp[1] + " " + tmp[2]);
+        //Matrix[3][0] *= -1;
+        //Matrix[3][2] *= -1;
+        //Matrix[3][1] *= -1;
+
+        double test[3];
+        MayaJoint.transformation().getScale(test, MSpace::kObject);
+        MGlobal::displayError(MString() + "scale: " + test[0] + " " + test[1] + " " + test[2]);
+
+        MTransformationMatrix::RotationOrder order = MTransformationMatrix::RotationOrder::kXYZ;
+        MayaJoint.transformation().getRotation(test, order);
+        MGlobal::displayError(MString() + "rotation: " + test[0] + " " + test[1] + " " + test[2]);
+       
+        //----- test
+
+
+        //MDataHandle DataHandle;
+        //MObject jointObject(jointIt.currentItem());
+        //MFnDependencyNode jointDependNode(jointObject);
+        //MPlug worldMatrixArray(jointObject, jointDependNode.attribute("worldMatrix"));
+
+        //MMatrix Matrix;
+        //for (int i = 0; i < worldMatrixArray.numElements(); i++) {
+        //    MPlugArray connections;
+
+        //    MPlug element = worldMatrixArray[i];
+        //    unsigned int logicalIndex = element.logicalIndex();
+
+        //    MItDependencyGraph it(element, MFn::kSkinClusterFilter);
+
+        //    for (; !it.isDone(); it.next()) {
+        //        MFnSkinCluster skinCluster(it.thisNode());
+
+        //        MPlug bindPreMatrixArrayPlug =
+        //            skinCluster.findPlug("bindPreMatrix", &status);
+
+        //        if (status != MS::kSuccess) {
+        //            MGlobal::displayError(MString() + "Could not find bindPreMatrix plug: " + status.errorString());
+        //            break;
+        //        }
+
+        //        MPlug bindPreMatrixPlug =
+        //            bindPreMatrixArrayPlug.elementByLogicalIndex(logicalIndex);
+        //        MObject dataObject;
+        //        bindPreMatrixPlug.getValue(dataObject);
+
+        //        MFnMatrixData matDataFn(dataObject);
+
+        //        MMatrix invMat = matDataFn.matrix();
+        //        Matrix = invMat.inverse();
+        //    }
+        //}
+
+
+        //----- end test
+
+
+        Matrix = Matrix.inverse();
+
 		for (int i = 0; i < 4; i++) {
 			for (int j = 0; j < 4; j++) {
 				NewJoint.OffsetMatrix[i][j] = Matrix.matrix[i][j];