Confused about rotational velocity/torque

[FriendlyWarlord]

I'm using IrrNewt, and I have a body with a rotation (x1,y1,z1), and I know the rotation (x2,y2,z2) that I want it to go to. I can interpolate the first rotation with the second rotation to get a rotation in between, and it works perfectly.

But what I want to do is apply torque to the body to change its rotational velocity, so it rotates from (x1,y1,z1) to (x2,y2,z2) over time. The problem is I can't quite grasp what vector the addTorque() function wants. Torque in the Y direction rotates around the Y axis (relative to the world), X torque rotates around X axis (relative to the world)... you get the idea. But I want the X Y and Z to be pitch, yaw, and roll, where the pitch and roll are relative to the Y rotation (think of the pitch/roll of a plane). I just can't figure it out though... clearly I don't know what I'm doing ><

I think it might be the same question that this guy is asking:
http://irrlicht.sourceforge.net/phpBB2/ ... hp?t=33488

Any help would be great ^_^

[FriendlyWarlord]

I managed to fix it somehow, but it was the dumbest solution ever. I'll post again once I figure out why the heck it works