The matrices used to describe model transformations are affine 4x4 matriceswhich are D3D style, row major with translations in the 4th row. 1  2  3  4 5  6  7  8 9 10 11 1213 14 15 16The translation vector Tx,Ty,Tz is in elements 13,14,15If you use the transposed scheme, which is:1 5  9 132 6 10 143 7 11 154 8 12 16With the translation vector in elements 13,14,15 you can usethis matrix without any conversion.It is also important to note that the transformations should includeno scaling, as it disrupts the consistency of the collision model.