Revert "..."

This reverts commit 0f3fb4a941f03b1fb5de769d203bd1983500f4f2.
Revert "orient functions ready for test"

This reverts commit 676cd2bd6809b2a695eeab5c94db57ec7e0b6899.
Revert "draft orientationtoworldup function"

This reverts commit 839997649f20072d705634a5089e15c587b5e078.
Revert "try to simplify"

This reverts commit 2494228269c92ec0586d6554f169e2fbdd60ddd2.
Revert "starting on roll, may have to backtrack from here though"

This reverts commit 10d05c7433b8b60a4c0896d57c446801ad06b9fa.