y´=y*cos(a)-z*sin(a) z´=y*sin(a)+z*cos(a)
x´ = x * cos (a) + z * sin (a) z´ = - x * sin (a) + z * cos (a)
x´ = x * cos (a) - y * sin (a) y´ = x * sin (a) + y * cos (a)
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