def localRotation(self,xspd,yspd,zspd): self.orientation = math.multiplyMatrix(math.rotateMatrix(xspd,yspd,zspd),self.orientation)
def globalRotation(self,xspd,yspd,zspd): self.orientation = math.multiplyMatrix(self.orientation,math.rotateMatrix(xspd,yspd,zspd))