TFormRotation ?

How do you transform a rotation ?
When I have 4 objects, each parented to to each other:
body->upperarm->lowerarm->hand
And I want to calculate the pitch/yaw/roll for the last object in the chain (the hand), should I just add up all their pitches, yaws and rolls ? Since, it works up to a point, but then starts behaving a bit strange. So now I would like to know if the method is wrong or if it's something else.

if these are entities, you may use the blitz internal commands. eg:

after parenting everything together as you said, rotate them all to 0,0,0 locally, then use turnentity with the local flag for every childs wanted relative pitch/yaw/roll

If your question is more about maths then - sorry, I never worried to learn about the internal maths :)

The question was about math initially, but I gave it a try and it works nice. So, I'm still (vaguely :D) interested in the maths but I can now stop worrying about it, too. Muchos thanks.