Is a helper method to rotate models by yaw, pitch, roll angles?

[arekz]

As we know the multiplication of rotation matrix aren't commutative so I need rotate the Object3D at once by three angles (Yaw, Pitch, Roll)
I get this angles form external source (not sensors).

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      obj3d..clearRotation();
      obj3d.rotateY(measurements.yaw);
        obj3d.rotateX(measurements.pitch);
        obj3d.rotateZ(measurements.roll);

So is there any helper method to solve that?
for example in libgdx I used method Matrix..setFromEulerAnglesRad() and then I make multiplication that matrix with transform matrix. Unfortnightly the Object3D class not contain any method rotateByEurelAngles() or similar or I miss something.

[EgonOlsen]

I'm not sure, if I understand the problem correctly!? If I did, just convert from degrees to radians. It's dead simple:

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float rad=euler*(float)Math.PI/180f


[arekz]

My angles are in radius already.

My problem is that if I rotate by X axis then by Y axis and then by Z axis I will have different model pose if I first rotate by Z axis then by Y axis and finally by X axis.
So below code give me diffrent result (model pose)

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    obj3d..clearRotation();
        obj3d.rotateX(measurements.pitch);
      obj3d.rotateY(measurements.yaw);
        obj3d.rotateZ(measurements.roll);

then this one:

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    obj3d..clearRotation();
      obj3d.rotateZ(measurements.roll); 
        obj3d.rotateY(measurements.yaw);
      obj3d.rotateX(measurements.pitch); 

right?

[EgonOlsen]

I see. You can use this method for that: http://www.jpct.net/jpct-ae/doc/com/threed/jpct/Object3D.html#rotateAxis(com.threed.jpct.SimpleVector, float)

Just do something like:

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obj.rotateAxis(obj.getXAxis(), radX);
obj.rotateAxis(obj.getYAxis(), radY);
...