rotate around local axes

Hi,

I have 3 rotation angles for a global orientation of a ****p. From that I
can 
create a transformation matrix.

Now I want to have a function to rotate that _rotated_ ****p around it's 
local axes.

Something like:
mat1 = Mak*****Matrix(rx,ry,rz)
mat2 = Mak*****Matrix(deltax, deltay, deltaz)
mat = MultMatrix(mat, mat2) // or the other way round!?
GetEulerAngles(mat, &rx, &ry, &rz)

I don't know if that is right. Can someone shed light, please?



-- 
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Gernot Frisch
http://www.glbasic.com