sub eul2mat {
        my $phi_rad=deg2rad($_[0]);
        my $theta_rad=deg2rad($_[1]);
        my $psi_rad=deg2rad($_[2]);
        print "$phi_rad $theta_rad $psi_rad\n";
        my @rot_mat;
        $rot_mat[0][0]=cos($phi_rad)*cos($theta_rad)*cos($psi_rad)-sin($phi_rad)*sin($psi_rad);
        $rot_mat[0][1]=cos($phi_rad)*cos($theta_rad)*sin($psi_rad)+sin($phi_rad)*cos($psi_rad);
        $rot_mat[0][2]=-cos($phi_rad)*sin($theta_rad);
        $rot_mat[1][0]=-sin($phi_rad)*cos($theta_rad)*cos($psi_rad)-sin($psi_rad)*cos($phi_rad);
        $rot_mat[1][1]=-sin($phi_rad)*cos($theta_rad)*sin($psi_rad)+cos($phi_rad)*cos($psi_rad);
        $rot_mat[1][2]=sin($phi_rad)*sin($theta_rad);
        $rot_mat[2][0]=sin($theta_rad)*cos($psi_rad);
        $rot_mat[2][1]=sin($theta_rad)*sin($psi_rad);
        $rot_mat[2][2]=cos($theta_rad);
        print "@rot_mat";
        print "\n";
        return @rot_mat;
}