I have a gyroscope on a rocket. It outputs an angle for X, Y, and Z (relative to a fixed frame).

Since Processing's rotateX(), rotateY(), and rotateZ() are relative to the local frame, how might I convert my gyro values to be accepted into Processing's functions? I attempted to do an applyMatrix() but was seeing the same results (might have applied an incorrect matrix though.)

1. pushMatrix();
2.       translate(.......); // center matrix in view window
3. 
   
4.       // Draw XYZ Fixed Frame
   
5.       stroke(0xFFFF00FF);
6.       line(0, 0, 0, 100, 0, 0);
7.       stroke(0xFFFFFF00);
8.       line(0, 0, 0, 0, 100, 0);
9.       stroke(0xFF00FFFF);
10.       line(0, 0, 0, 0, 0, 100);
11. 
    
12.       // Rotations should go here
13.       // rotateX(), rotateY(), and rotateZ() are relative to the moving frame not the fixed frame.
14.       // Multiple rotations on different axis will therefore be invalid.
    
15. 
    
16.       // Draw cute box
17.       box(40);
18. 
    
19.       // Draw box's local XYZ
    
20.       stroke(0xFFFF00FF);
21.       line(0, 0, 0, 100, 0, 0);
22.       stroke(0xFFFFFF00);
23.       line(0, 0, 0, 0, 100, 0);
24.       stroke(0xFF00FFFF);
25.       line(0, 0, 0, 0, 0, 100);
26. popMatrix();