OrbitTool

public void rotate(double angleDiff, Axis axis) {
    Vec3d vec3d = SpaceTransforms.rotateOnPlaneBy(angleDiff, c.getAngle());

    switch (axis) {
    case X:
        addRotate(this, new Rotate(0, Rotate.X_AXIS), relativeRotate(vec3d.x, Rotate.X_AXIS));
        break;
    case Y:
        addRotate(this, new Rotate(0, Rotate.Y_AXIS), relativeRotate(vec3d.y, Rotate.Y_AXIS));
        break;
    case Z:
        addRotate(this, new Rotate(0, Rotate.Z_AXIS), relativeRotate(vec3d.z, Rotate.Z_AXIS));
        break;
    }
    //TransformUtil.cleanupTransform(this);
}

private void addRotate(Node node, Rotate rotate, double angle) {
    Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
    double A11 = affine.getMxx(), A12 = affine.getMxy(), A13 = affine.getMxz();
    double A21 = affine.getMyx(), A22 = affine.getMyy(), A23 = affine.getMyz();
    double A31 = affine.getMzx(), A32 = affine.getMzy(), A33 = affine.getMzz();
    // rotations over local axis
    Rotate newRotateX = new Rotate(angle, new Point3D(A11, A21, A31));
    Rotate newRotateY = new Rotate(angle, new Point3D(A12, A22, A32));
    Rotate newRotateZ = new Rotate(angle, new Point3D(A13, A23, A33));
    // apply rotation
    affine.prepend(rotate.getAxis() == Rotate.X_AXIS ?
            newRotateX :
            rotate.getAxis() == Rotate.Y_AXIS ? newRotateY : newRotateZ);
    node.getTransforms().setAll(affine);
}

private double relativeRotate(double rotate, Point3D axis) {
    Vec3d oa = TransformUtil.getAngle(this);
    Vec3d ca = TransformUtil.getAngle(c);
    System.out.println("x: " + oa.x + ", y: " + oa.y + ", z: " + oa.z);
    /*if (axis == Rotate.X_AXIS) {
        return changeSign(rotate, Math.abs(oa.x - ca.x));
    } else if (axis == Rotate.Y_AXIS) {
        return changeSign(rotate, Math.abs(oa.y - ca.y));
    } else if (axis == Rotate.Z_AXIS) {
        return changeSign(rotate, Math.abs(oa.z - ca.z));
    } else*/
    return rotate;
}


TransformUtil.java ...
public static Vec3d getAngle(Node n) {
        Transform T = n.getLocalToSceneTransform();
        double roll = Math.atan2(-T.getMyx(), T.getMxx());
        double pitch = Math.atan2(-T.getMzy(), T.getMzz());
        double yaw = Math.atan2(T.getMzx(), Math.sqrt(T.getMzy() * T.getMzy() + T.getMzz() * T.getMzz()));
        return new Vec3d(roll, pitch, yaw);
}
...