Local rotation problem

Question

I am programming a spaceship moving around in Java3D.
My problem is that I want the ship to be able to rotate around its z-axis(roll) and along its x-axis(nose up or down), when I am doing this however only one of the axis will follow the ships local coordinates.
The scene looks like this.
BG - TG1 - TG2 - Model
TG2 is the z-axis rotation, and that works fine since it will rotate when T1, the x-axis rotation rotates. T1 however will be fixed to the world and not be affected by TG2s rotation...
How do I make both rotations move along the axis of the local coordinates of the ship, instead of the world axis (BG axis).

Answer 1

That does not matter, one rotation will cone first and that will mess up the other one. It seems like the first rotation is always locked to the world coordinate axis.
This is my behavior code (after combining both transform groups into one):
class FighterRotate extends Behavior
     double angleX;
     double angleZ;
     TransformGroup targetTG;
     Transform3D rotationX;
     Transform3D rotationZ;
     KeyEvent evt;
     WakeupOnAWTEvent awaken;
     FighterRotate(TransformGroup TG)
          angleX = 0;
          angleZ = 0;
          targetTG = TG;
          rotationX = new Transform3D();
          rotationZ = new Transform3D();
          awaken = new WakeupOnAWTEvent(KeyEvent.KEY_PRESSED);
     public void initialize()
          this.wakeupOn(awaken);
     public void processStimulus(Enumeration criteria)
          evt = (KeyEvent)awaken.getAWTEvent()[0];
          if (evt.getKeyCode() == KeyEvent.VK_UP)
               angleX += 0.1;
          if (evt.getKeyCode() == KeyEvent.VK_DOWN)
               angleX -= 0.1;
          if (evt.getKeyCode() == KeyEvent.VK_RIGHT)
               angleZ += 0.1;
          if (evt.getKeyCode() == KeyEvent.VK_LEFT)
               angleZ -= 0.1;
               rotationX.rotX(angleX);
               rotationZ.rotZ(angleZ);
               rotationX.mul(rotationZ);
               targetTG.setTransform(rotationX);
          this.wakeupOn(awaken);
How can I change this to make my model move as it should?