in reply to Rotate a 3D vector

R_{X}=
| 1 | 0 | 0 |

0 | cos φ | - sin φ | |

0 | sin φ | cos φ |

R_{Y}=
| cos θ | 0 | sin θ |

0 | 1 | 0 | |

0 | -sin θ | cos θ |

R_{Z}=
| cos ψ | -sin ψ | 0 |

sin ψ | cos ψ | 0 | |

0 | 0 | 1 |

`R`, with θ the amount of rotation around the X axis, φ the amount of rotation around the Y axis, and ψ the amount of rotation around the Z axis.

_{X}* R_{Y}* R_{Z}
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