The transformations described in this section are for left-handed coordinate systems, and so may be different from transformation matrices you have seen elsewhere.
The following transformation rotates the point (x, y, z) around the x-axis, producing a new point (x', y', z'):
The following transformation rotates the point around the y-axis:
The following transformation rotates the point around the z-axis:
Note that in these example matrices, the Greek letter theta stands for the angle of rotation, specified in radians. Angles are measured clockwise when looking along the rotation axis toward the origin.