title: Body axes to earth axes using rotation matrix? [openGL]
body: <p>I'm currently working on a project that is supposed to represent data collected from gyroscope as a simple 3d graph, but what I wrote doesn't quite work - I simply integrated axes and then rotated the object.</p>
  
  <p>Been looking for a solution and found something called rotation matrix, but I don't quite understand how it works - guess I need to take start angles [0,0,0] and convert them into such matrix, then take gyro data [yaw,pitch,roll] and convert them into similar matrix, multiply them and calculate new angles based on this new matrix? And repeat this every time I get new package of gyro data using previous matrix as 'base'?</p>
  
  <p>Did I get it right? What I need is how to rotate object that's already rotated, are there any resources about on this subject somewhere? Been looking for '3d rotation matrix' but not quite what I've been looking for...</p>