diff --git a/include/osgSim/DOFTransform b/include/osgSim/DOFTransform
index 9fc1ec875..795d69b3d 100644
--- a/include/osgSim/DOFTransform
+++ b/include/osgSim/DOFTransform
@@ -35,6 +35,7 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
 
         virtual void traverse(osg::NodeVisitor& nv);
 
+
         void setMinHPR(const osg::Vec3& hpr) { _minHPR = hpr;}
         const osg::Vec3& getMinHPR() const { return _minHPR;}
 
@@ -48,14 +49,14 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
         const osg::Vec3& getCurrentHPR() const {return _currentHPR;}
 
         void updateCurrentHPR(const osg::Vec3& hpr);
-        
+
 
         void setMinTranslate(const osg::Vec3& translate) {_minTranslate = translate;}
         const osg::Vec3& getMinTranslate() const { return _minTranslate;}
-        
+
         void setMaxTranslate(const osg::Vec3& translate) {_maxTranslate = translate;}
         const osg::Vec3& getMaxTranslate() const { return _maxTranslate;}
-        
+
         void setIncrementTranslate(const osg::Vec3& translate) { _incrementTranslate = translate;}
         const osg::Vec3& getIncrementTranslate() const { return _incrementTranslate;}
 
@@ -89,6 +90,18 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
         void setLimitationFlags(unsigned long flags) { _limitationFlags = flags;}
         inline unsigned long getLimitationFlags() const {return _limitationFlags;}
 
+        enum MultOrder
+        {
+            PRH,
+            PHR,
+            HPR,
+            HRP,
+            RPH,
+            RHP
+        };
+
+        void setHPRMultOrder(const MultOrder order) {_multOrder = order;}
+        inline const MultOrder getHPRMultOrder() const { return _multOrder;}
 
         inline void setAnimationOn(bool do_animate) {_animationOn = do_animate;}
         inline bool getAnimationOn() const {return _animationOn;}
@@ -153,7 +166,10 @@ class OSGSIM_EXPORT DOFTransform : public osg::Transform
         8 = z scale
         */
         unsigned short _increasingFlags;
-};
+
+        MultOrder _multOrder;
+
+    };
 
 }
 #endif
diff --git a/src/osgPlugins/osgSim/IO_DOFTransform.cpp b/src/osgPlugins/osgSim/IO_DOFTransform.cpp
index afd3919cf..898ed68c1 100644
--- a/src/osgPlugins/osgSim/IO_DOFTransform.cpp
+++ b/src/osgPlugins/osgSim/IO_DOFTransform.cpp
@@ -91,6 +91,16 @@ bool DOFTransform_readLocalData(Object& obj, Input& fr)
     ReadVec3(setMaxScale,"maxScale")
     ReadVec3(setIncrementScale,"incrementScale")
     ReadVec3(setCurrentScale,"currentScale")
+
+    if (fr[0].matchWord("multOrder"))
+    {
+        if (fr[1].matchWord("PRH")) dof.setHPRMultOrder(DOFTransform::PRH);
+        else if(fr[1].matchWord("PHR")) dof.setHPRMultOrder(DOFTransform::PHR);
+        else if(fr[1].matchWord("HPR")) dof.setHPRMultOrder(DOFTransform::HPR);
+        else if(fr[1].matchWord("HRP")) dof.setHPRMultOrder(DOFTransform::HRP);
+        else if(fr[1].matchWord("RHP")) dof.setHPRMultOrder(DOFTransform::RHP);
+        else if(fr[1].matchWord("RPH")) dof.setHPRMultOrder(DOFTransform::RPH);
+    }
     
 
     if (fr.matchSequence("limitationFlags %i"))
@@ -151,6 +161,10 @@ bool DOFTransform_writeLocalData(const Object& obj, Output& fw)
     fw.indent()<<"incrementScale     "<<transform.getIncrementScale()<<std::endl;
     fw.indent()<<"currentScale       "<<transform.getCurrentScale()<<std::endl;
 
+
+    const char* mOrderStr[] = {"PRH", "PHR", "HPR", "HRP", "RPH", "RHP"};
+    fw.indent()<<"multOrder          "<<mOrderStr[transform.getHPRMultOrder()]<<std::endl;
+
     fw.indent()<<"limitationFlags    0x"<<hex<<transform.getLimitationFlags()<<dec<<std::endl;
 
     fw.indent()<<"animationOn        ";
diff --git a/src/osgSim/DOFTransform.cpp b/src/osgSim/DOFTransform.cpp
index d797f0a0f..5241307e3 100644
--- a/src/osgSim/DOFTransform.cpp
+++ b/src/osgSim/DOFTransform.cpp
@@ -31,7 +31,8 @@ DOFTransform::DOFTransform():
     _previousTime(0.0),
     _limitationFlags(0), 
     _animationOn(true), 
-    _increasingFlags(0xffff)
+    _increasingFlags(0xffff),
+    _multOrder(PRH)
 {
     setNumChildrenRequiringUpdateTraversal(1);
 }
@@ -56,7 +57,8 @@ DOFTransform::DOFTransform(const DOFTransform& dof, const osg::CopyOp& copyop):
     _inversePut(dof._inversePut),
     _limitationFlags(dof._limitationFlags),
     _animationOn(dof._animationOn),
-    _increasingFlags(dof._increasingFlags)
+    _increasingFlags(dof._increasingFlags),
+    _multOrder(dof._multOrder)
 {
     setNumChildrenRequiringUpdateTraversal(getNumChildrenRequiringUpdateTraversal()+1);            
 }
@@ -92,9 +94,43 @@ bool DOFTransform::computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisito
     current.makeTranslate(getCurrentTranslate());
 
     //now create the local rotation:
-    current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
-    current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
-    current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+    if(_multOrder == PRH)
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+    }
+    else if(_multOrder == PHR)
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+    }
+    else if(_multOrder == HPR)
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+    }
+    else if(_multOrder == HRP)
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+    }
+    else if(_multOrder == RHP)
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+    }
+    else // _multOrder == RPH
+    {
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.preMult(osg::Matrix::rotate(getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+    }
+
 
     //and scale:
     current.preMult(osg::Matrix::scale(getCurrentScale()));
@@ -128,11 +164,42 @@ bool DOFTransform::computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisito
     current.makeTranslate(-getCurrentTranslate());
 
     //now create the local rotation:
-
-
-    current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
-    current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
-    current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+    if(_multOrder == PRH)
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+    }
+    else if(_multOrder == PHR)
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+    }
+    else if(_multOrder == HPR)
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+    }
+    else if(_multOrder == HRP)
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+    }
+    else if(_multOrder == RHP)
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+    }
+    else // _multOrder == MultOrder::RPH
+    {
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[0], 0.0, 0.0, 1.0));//heading
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[1], 1.0, 0.0, 0.0));//pitch
+        current.postMult(osg::Matrix::rotate(-getCurrentHPR()[2], 0.0, 1.0, 0.0));//roll
+    }
 
     //and scale:
     current.postMult(osg::Matrix::scale(1./getCurrentScale()[0], 1./getCurrentScale()[1], 1./getCurrentScale()[2]));