Is there a way to rotate an object around its local coordinate
axes?  What I have is this:

Box
scale  [ 34.000  10.000  60.000]
rotate [  5.000 -53.975   0.000]
transl [-44.000  21.000  -8.000]
  local coords
scale  [  1.000   1.000   1.000]
rotate [  0.000   0.000   0.000]
transl [ -1.000   1.000   0.000]

I am trying to make it intersect points
     A [-32.000   0.000  76.000]
     B [-88.000  16.000 -40.000]
     C [  0.000  26.000  24.000]
to difference it from an object.  I have it rotated to where
I want it XY, but when I try rotating it around its Z axis,
it rotates around the WORLD axis, not its own, and the local
coordinate rotation just shears the box at whatever angle,
not at all what I want.

So, what do I do to get the effect I want?  If I need to
rotate it on the real-world axes, what formulas do I use
to figure out all 3 angles at the same time?
-- 
Tim Cook
http://empyrean.scifi-fantasy.com

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