Fixed.

The rolls are backwards. Also, the HLU is not a vector but three different vectors at right angles to each other. You do not rotate the vector around the X,Y,Z but rather around either H,L, or U. 

I didn't tweak it to make it work better, but just got it working.

It still does a cos() and sin() op each time it calls for the matrix (even though the angle is static the whole time. I didn't nest the identical commands for the roll pitch and yaw. There's plenty to smooth out. Pretty sure it can be done in a single matrix mult. Just got it working though.

![wXxncdU](https://f.cloud.github.com/assets/3302478/115199/d76728ce-6bc5-11e2-8b40-aecbfb3cf6b6.png)