The code 
// GLOBAL VARS
public var CubeRotation:Vector3D = new Vector3D();
public var PrevCubeRotation:Vector3D = new Vector3D();
public var QRotationX:Quaternion = new Quaternion();
public var QRotationY:Quaternion = new Quaternion();
public var QRotationZ:Quaternion = new Quaternion();
public var QAccum:Quaternion = new Quaternion();
public var Mat:Matrix3D = new Matrix3D();
// CONVERSIONE GRADI > RADIANTI
protected const DEGREES_TO_RADIANS:Number = Math.PI / 180.0;
// SET MATH 11, 22, 33, 44 to 1
Mat.identity();
/**
* PITCH = Z
*
*/
public function SetPitch( angle:Number )
{
var DRotationAngle:Number = ( CubeRotation.z - PrevCubeRotation.z ) * DEGREES_TO_RADIANS;
QRotationZ.copyFrom( QAccum );
QRotationZ.fromAxisAngle( Vector3D.Z_AXIS, DRotationAngle );
QAccum.multiply( QAccum, QRotationZ );
QAccum.normalize();
PrevCubeRotation.z = CubeRotation.z;
}
/**
* YAW = Y
*
*/
public function SetYaw( angle:Number )
{
var DRotationAngle:Number = ( CubeRotation.y - PrevCubeRotation.y ) * DEGREES_TO_RADIANS;
QRotationY.copyFrom( QAccum );
QRotationY.fromAxisAngle( Vector3D.Y_AXIS, DRotationAngle );
QAccum.multiply( QAccum, QRotationY );
QAccum.normalize();
PrevCubeRotation.y = CubeRotation.y;
}
/**
* ROLL = X
*
*/
public function SetRoll( angle:Number )
{
var DRotationAngle:Number = ( CubeRotation.x - PrevCubeRotation.x ) * DEGREES_TO_RADIANS;
QRotationX.copyFrom( QAccum );
QRotationX.fromAxisAngle( Vector3D.X_AXIS, DRotationAngle );
QAccum.multiply( QAccum, QRotationX );
QAccum.normalize();
PrevCubeRotation.x = CubeRotation.x;
}
// APPLY THE TRANSFORM TO THE OBJECT...
OrientationCube.Mat = OrientationCube.QAccum.toMatrix3D();
OrientationCube.Cube.transform = OrientationCube.Mat;
