Local coordiantes to global

It is sometimes useful, especially for integration or Advanced ActiveX purposes, to convert the coordinates of a part from its local coordinate system to the global one (Root).
The coordinates of a part displayed in the smgXml file are always local. This means that the position of a part is always defined in the coordinate system (frame) of its parent.
Here is a PDF document that will help understanding the matrix convention to turn a local coordinates of a part to a global one.