wu

[rotate around x]
x = x
y = y*cos(deg) - z*sin(deg)
z = y*sin(deg) + z*cos(deg)

[rotate around y]
x = x*cos(deg) - z*sin(deg)
y = y
z = x*sin(deg) + z*cos(deg)

[rotate around z]
x = x*cos(deg) - y*sin(deg)
y = x*sin(deg) + y*cos(deg)
z = z