BRIX5

  //rotateZ(radians(roll));

  //rotateX(radians(pitch)); // extrinsic rotation

  //rotateY(radians(yaw));

  float c1 = cos(radians(roll));

  float s1 = sin(radians(roll));

  float c2 = cos(radians(pitch)); // intrinsic rotation

  float s2 = sin(radians(pitch));

  float c3 = cos(radians(yaw));

  float s3 = sin(radians(yaw));

  applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,

               -s2, c1*c2, c2*s1, 0,

               c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,

               0, 0, 0, 1);