Rotationsmatrizen um die Achsen:[br]x-Achse: {{1,0,0},{0, cos(w), - sin(w)},{0,sin(w), cos(w)}}[br]y-Achse: {{cos(w),0,sin(w)},{0,1,0},{-sin(w),0, cos(w)}}[br]z-Achse: {{cos(w),-sin(w),0},{sin(w),cos(w),0}{0,0,1}}