3d gizmo for combining transformation

Hi, anyone know where i can get free gizmo for combining 3d axis transformation? let say i have an 3d axis (A) and setup its translation/rotation, then i apply another 3d axis (B) to (A). So if i modify the B then the translaton/rotation value of A now will be relative to B not to world coordinates anymore. I want to get the exact position of A but in the format of world coordinates ( translation/rotaton value of A which is relative to world ).

I can do some algorithm for getting the 3d traslation quiet easy but need a lot of work for doing the rotation , as combining rotation will need quite complex matrices calculation. so if anyone know any usable gizmo/nuke-python script to do that , pls help . I’ve tried nukepedia/creativecrash but haven’t got one .

Thanx

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