What I asked above can of course be done with a lot of typing. So I did, now
here comes the real question:

Sitiuation: I have a object that has been located with this transformation
matrix somewhere in space:

matrix
<0.000934544,-0.000208202,-0.000288581,-0.000206635,-0.000977747,3.62463e-005,-0.000289705,2.5757e-005,-0.000956769,-1.
40094,-0.307333,2.40367>

Now I need to rotate that object 10 degrees around it's own Z-Axis and after
that 20 degrees around the new resulting Y-Axis.

I found out how to rotate objects around the world axis using matrixes, but I
need to rotate around the objects current axis system. How do I accomplish that?

Thanks,
Andi

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