[JAVA3D] local coords with one TransformGroup?

[Anthony Arobone]

Hi all,     I'm trying to do some rotation and translations with one TransformGroup object.  First I rotate around the Y ( to give yaw ), then I want to rotate around the new local Z ( to give roll ).  But the rotate around the Z is rotating around the original Z not the newly create Z.  I know this is how it is supposed to act, but I can't figure out how to get my rotation done on the local coord Z instead of the original.  Here is a snip of code:      // Save position before move    mTransformGroup.getTransform( mTranslate );    mTranslate.get( mLastPosition );      // Do yaw rotation    mDeltaRadiansY = <calc new delta radians to rotate by>;    mRotate.rotY( mDeltaRadiansY );    mTranslate.mul( mRotate );      // Do roll rotation    if ( (mDeltaRadiansZ != 0) ) {     mDeltaRadiansZ = -mDeltaRadiansZ * 0.19;     mRotate.rotZ( mDeltaRadiansZ );     mTranslate.mul( mRotate );     mDeltaRadiansZ = 0;    }      // Set delta point and transform    mDeltaVector.set( 0, 0, mDeltaTranslate );    mTranslate.transform( mDeltaVector );      <calc new mDeltaVector from collision detection>    // Change actual object    mLastPosition.add( mDeltaVector );    mTranslate.setTranslation(mLastPosition);    mTranslate.normalize();    mTransformGroup.setTransform(mTranslate);   Thanks All, Anthony