Rotation um die z-Achse:
x' = x * cos(Rotation_z) - y * sin(Rotation_z)
y' = x * sin(Rotation_z) + y * cos(Rotation_z)
Rotation um die x-Achse:
y' = y * cos(Rotation_x) - z * sin(Rotation_x)
z' = y * sin(Rotation_x) + z * cos(Rotation_x)
Rotation um die y-Achse:
z' = z * cos(Rotation_y) - x * sin(Rotation_y)
x' = z * sin(Rotation_y) + x * cos(Rotation_y)
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