如何在JavaFX中围绕自定义枢轴旋转对象？

我想围绕一个自定义枢轴旋转一个对象,这是它的重点,所以我有这样的代码:

private final EventHandler mouseEventHandler = new EventHandler() {
        @Override
        public void handle(MouseEvent mouseEvent) {
            if (mouseEvent.getEventType() == MouseEvent.MOUSE_PRESSED) {
                dragStartX = mouseEvent.getSceneX();
                dragStartY = mouseEvent.getSceneY();
                mousePosX = mouseEvent.getSceneX();
                mousePosY = mouseEvent.getSceneY();
                mouseOldX = mouseEvent.getSceneX();
                mouseOldY = mouseEvent.getSceneY();

                if (mouseEvent.isMiddleButtonDown()) {
                    pivot = mouseEvent.getPickResult().getIntersectedPoint();
                    camForm1.rx.setPivotX(pivot.getX());
                    camForm1.ry.setPivotY(pivot.getY());
                    camForm1.rz.setPivotZ(pivot.getZ());
                    System.out.println(pivot);
                }

            } else if (mouseEvent.getEventType() == MouseEvent.MOUSE_DRAGGED) {

                double modifier = 1.0;
                double modifierFactor = 0.3;

                if (mouseEvent.isControlDown()) {
                    modifier = 0.1;
                }
                if (mouseEvent.isShiftDown()) {
                    modifier = 10.0;
                }

                mouseOldX = mousePosX;
                mouseOldY = mousePosY;
                mousePosX = mouseEvent.getSceneX();
                mousePosY = mouseEvent.getSceneY();
                mouseDeltaX = (mousePosX - mouseOldX); //*DELTA_MULTIPLIER;
                mouseDeltaY = (mousePosY - mouseOldY); //*DELTA_MULTIPLIER;

                double flip = -1.0;

                if (mouseEvent.isPrimaryButtonDown() && mouseEvent.isSecondaryButtonDown()) {
                    camForm2.t.setX(camForm2.t.getX() + flip * mouseDeltaX * modifierFactor * modifier * 0.3);  // -
                    camForm2.t.setY(camForm2.t.getY() + mouseDeltaY * modifierFactor * modifier * 0.3);  // -  yFlip*
                } else if (mouseEvent.isSecondaryButtonDown()) {
                    camForm1.ry.setAngle(camForm1.ry.getAngle() - mouseDeltaX * modifierFactor * modifier * 2.0);  // + yFlip*
                    camForm1.rx.setAngle(camForm1.rx.getAngle() + flip * mouseDeltaY * modifierFactor * modifier * 2.0);  // -

                }
            }
        }
    };

camForm1并且camForm2是XForm类的例子.

    public class XForm extends Group {

        public enum RotateOrder {
            XYZ, XZY, YXZ, YZX, ZXY, ZYX
        }

        public Translate t  = new Translate();
        public Translate p  = new Translate();
        public Translate ip = new Translate();
        public Rotate rx = new Rotate(0.0, 0.0, 0.0, 0.0, Rotate.X_AXIS);
        public Rotate ry = new Rotate(0.0, 0.0, 0.0, 0.0, Rotate.Y_AXIS);
        public Rotate rz = new Rotate(0.0, 0.0, 0.0, 0.0, Rotate.Z_AXIS);
        public Scale s = new Scale();

        public XForm() {
            super();
            getTransforms().addAll(t, rz, ry, rx, s);
        }
...
}

但是旋转是在点O(0,0,0)附近.我究竟做错了什么？