I'm working on avoiding gimbal lock, i found some java code here which i want to use to give it a try.
http://www.java-gaming.org/index.php?action=printpage;topic=19261.0

I allready changed some things but now i get the error:
The function mrotate(double, double, double, double) does not exist.

why? cause the function does exist.

1. Point3D p;
   
   double one = 1.0;
   
   void setup() {
     p =new Point3D();
     p.x=200;
     p.y=100;
     p.y=50;
     //p.mrotate(Math.PI*0.25, 1.0, 1.0, 1.0);//gives a float error casue double is needed
     p.mrotate(Math.PI*0.25, one, one, one);
   }
   
   void draw() {
   }
   
   
   public class Point3D {
   
     public double x,y,z;
   
     Point3D() {
       //empty constructor
     }
   
     public mrotate(double angle,double x,double y,double z)
     {
   
       //normalize axis in case of
       double n=Math.sqrt(x*x+y*y+z*z);
       if(n==0.0) return this;
       double in=1.0/n;
       x*=in;
       y*=in;
       z*=in;
   
       double nzx=Math.sqrt(x*x+z*z);
   
       double rx=Math.asin(y);
       double ry=0;
       if(nzx!=0.0)
       {
         ry=-Math.acos(z/nzx);
         if(x<0)
           ry=-ry;
       }
       else
       {   
         if(y>0)
           rx=Math.PI*0.5;
         else
           rx=-Math.PI*0.5;
         ry=0;
       }
   
       //Add here the -T translation for arbitrary axis (not starting at 0,0,0)
       this.rotateY(-ry);
       this.rotateX(-rx);
       this.rotateZ(angle);
       this.rotateX(rx);
       this.rotateY(ry);
       //Add here the +T translation for arbitrary axis (not starting at 0,0,0)
       return this;
     }
   
     //rotate around world x axis
     public mrotateX(double angle)
     {
       double tY=y,tZ=z;
       double cosa=Math.cos(angle);
       double sina=Math.sin(angle);
       y=tY*cosa + tZ*sina;
       z=-tY*sina + tZ*cosa;
       return this;
     }
   
     //rotate around world y axis
     public mrotateY(double angle)
     {
       double tX=x,tZ=z;
       double cosa=Math.cos(angle);
       double sina=Math.sin(angle);
       x=tX*cosa - tZ*sina;
       z=tX*sina + tZ*cosa;
       return this;
     }
   
     //rotate around world z axis   
     public mrotateZ(double angle)
     {
       double tY=y,tX=x;
       double cosa=Math.cos(angle);
       double sina=Math.sin(angle);
       x=tX*cosa + tY*sina;
       y=-tX*sina + tY*cosa;
       return this;
     }
     // add method
     public plus(Point3D p)
     {
       this.x+=p.x;
       this.y+=p.y;
       this.z+=p.z;
     }
     //sub method
     public sub(Point3D p)
     {
       this.x-=p.x;
       this.y-=p.y;
       this.z-=p.z;
     }
   }