Fixed.

The rolls were 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. And since you have vectors pointing all three directions at cross sections to each other, every operation matters.

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)