Is there a way to achieve the desired result mathematically without changing the object's parent or geometry? What modifications would need to be made to its transform matrix, rotation, position, quaternion, etc, in order to accomplish this while adhering to those constraints?
To start, take the pivot matrix and invert it. This inverted matrix will move the pivot to the world origin while keeping your object in place relative to the pivot point [0,0,0].
Next, apply any transformations that you want to be relative to the pivot point.
This example breaks down each step for clarity, but all steps can be combined into a single formula:
object.matrix = inverse(pivot.matrix) * someTransformationMatrix * pivot.matrixFor a demonstration, check out this working demo: https://jsfiddle.net/mmalex/hd8ex0ok/
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