Can I ask a question? Let say I've a point $P = (2, 5)$ and another $C = (1, 1)$.
$C$ is a child point of $P$, that means it use $P$ as reference, so its relative (local) coordinates are $C_l = (2, 5)$ while its world coordinates are $C_w = (3, 6)$.
So, in order to get world coordinates, I must do $referencePoint + child$.
And if I want to get relative coordinates $worldPoint - referencePoint$.
Is that right?
I just want to know if that is true or not. Because I am using it and it's not working in my program, so I want to know if I'm having a math error or a programming error.