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3d flight and issues with matrices

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Ello, wonder if anyone could help me. I''m pretty good at maths but unfortunately my screwed up Maths syllabus meant that at no point have I studied matrices and I fear that they may hold the answer to this question. I have a 3d object for which I have a struct containing its X, Y and Z positions and its X, Y and Z rotations (relative to the global axis). I want to rotate it along *ITS* X or Y axis (that is to rotate on its Y axis would be to turn left or right as it sees) and yet for the data in the struct to be kept correct. I know that I could apply the X Y and Z rotations to the rotation matrix and then apply the rotation that I want but I don''t know how to extract the result out and update the struct with it. Thanks very much Ian (By the way, if any people know of a good ''Maths for 3d programming'' website then a URL would be greatly appreciated!)

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