Something

float xRotation[3][3];float yRotation[3][3];float zRotation[3][3];float xVec[3] = {1.0, 0.0, 0.0};float yVec[3] = {0.0, 1.0, 0.0};float zVec[3] = {0.0, 0.0, 1.0};VecRotToMat3( &xVec[0], yaw, xRotation);VecRotToMat3( &yVec[0], pitch, yRotation);VecRotToMat3( &zVec[0], roll, zRotation);float xInv[3][3];float yInv[3][3];float zInv[3][3];for (int i=0; i < 3; i++) {	for (int j=0; j < 3; j++) {		xInv[i][j] = xRotation[j][i];	        yInv[i][j] = yRotation[j][i];		zInv[i][j] = zRotation[j][i];	}}MT_Matrix3x3 newOrient = MT_Matrix3x3(&xRotation[0][0]) * MT_Matrix3x3(&yRotation[0][0]) * MT_Matrix3x3(&zRotation[0][0]);MT_Matrix3x3 invOrient = MT_Matrix3x3(&xInv[0][0]) * MT_Matrix3x3(&yInv[0][0]) * MT_Matrix3x3(&zInv[0][0]);////ob->SetLocalOrientation(newOrient);ob->SetLocalOrientation(invOrient);