Whip's ApplyGyroOverride Method v9

//Whip's ApplyGyroOverride Method v9 - 8/19/17
void ApplyGyroOverride(double pitch_speed, double yaw_speed, double roll_speed, List<IMyTerminalBlock> gyro_list, IMyTerminalBlock reference)
{
    var rotationVec = new Vector3D(-pitch_speed, yaw_speed, roll_speed);

    var shipMatrix = reference.WorldMatrix;
    var relativeRotationVec = Vector3D.TransformNormal(rotationVec, shipMatrix);

    foreach (IMyGyro thisGyro in gyro_list)
    {
        var gyroMatrix = thisGyro.WorldMatrix;
        var transformedRotationVec = Vector3D.TransformNormal(relativeRotationVec, Matrix.Transpose(gyroMatrix));

        thisGyro.Pitch = (float)transformedRotationVec.X; //because keen does some weird stuff with signs
        thisGyro.Yaw = (float)transformedRotationVec.Y;
        thisGyro.Roll = (float)transformedRotationVec.Z;
        thisGyro.GyroOverride = true;
    }
}