[Closed] align obj pivot to world

Hi All,

I have been trying to write a function which will orientate an objects pivot to the world but without rotating or moving the mesh. I dont want the pivot to jump to the origin, I just want it to rotate the pivot`s xyz axis so they line up with the world.

My feable function only works when an object is rotated in a couple of AXIS but it gives strange results when an object is rotated in all 3 axis. i know this is because I dont understand offset matrix and quats, can somebody show me an example of how to go about this.

Thanks for reading

Dan