public void alignAxisToVec(String axisName, Vector3f vec) {
Vector3f alignAxis = axis(axisName);
Vector3f rotAxis = new Vector3f();
rotAxis.cross(alignAxis, vec);
if (rotAxis.length() == 0) rotAxis = axis(("XYZ".indexOf(axisName) + 1) % 3);
Matrix3f rotMatrix = Matrix3f.rotation(rotAxis, alignAxis.angle(vec));
Matrix3f ori = orientation();
rotMatrix.mul(ori);
orientation(rotMatrix);
}
public void rotateLocal(float x, float y, float z) {
Matrix3f ori = orientation();
Matrix3f rot = new Matrix3f();
MatrixUtil.setEulerZYX(rot, x, y, z);
ori.mul(rot);
orientation(ori);
}