🚀 go-pugleaf

    I'm having trouble with some 3D programming.  I'm sure its a well
documented problem and would appreciate it if someone could email me the
answer.  The Problem is that I don't know how to make it so that when I
rotate a viewpoint, Pitch and Yaw still correspond to looking up or down
and left or right.  For example, say I Roll 90 degrees.  This makes my
Pitch and Yaw trade places... Pitch becomes Yaw and vice versa.  The Same
scenario applies to pitching 90 degrees and trying to Yaw.  Yaw and Roll
Switch Places.
    The Other situation I have is translation of the Viewpoint responding
to Yaw Pitch and Roll.    I want to be able to move the viewpoint forward,
backward, up, down, left, and right (6 DOF), but When I roll 90 degrees,
moving side to side becomes moving up and down... and pitching 90 degrees
makes up-down and forward-backward switch places... while Yawing 90 Degrees
switches left-right and forward-backward.

I know the way to fix this has something to do with sin/cos and PI, but I
can't figure it out.   If anyone has this information I would greatly
appreciate it if you would email it to me at overman@wolfenet.com

Thank You
Richard L. Overman