How to: rotate camera with mouse on all axis

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I use multiple pivots and only turn each one in one direction. eg.

Rostrum_Pan=createpivot()
Rostrum_Tilt=createpivot(Rostrum_pan)
Rostrum_Roll=createpivot(Rostrum_tilt)
camera=createcamera(Rostrum_Roll)

Then when you want to turn on X axis, use
TurnEntity rostrum_pan,xx,0,0

and for y
TurnEntity rostrum_tilt,0,xx,0

and for z
TurnEntity rostrum_roll,0,0,xx