VEX: Point Pitch, Yaw, Roll

matrix3 m = maketransform(@N,@up);
@orient = quaternion(m);

vector4 pitch = quaternion({1,0,0}ch(‘pitch’)); vector4 yaw = quaternion({0,1,0}ch(‘yaw’));
vector4 roll = quaternion({0,0,1}*ch(‘roll’));

@orient = qmultiply(@orient, pitch);
@orient = qmultiply(@orient, yaw);
@orient = qmultiply(@orient, roll);