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I am trying to rotate a point in 3d space. I have a point p and a xrotation rx, yrotation yr and a zrotation zr.

How can I use this arbitrary rotation function

enter image description here

To get the rotated point p' which has the new x,y,z values.

Can anyone explain?

Thanks

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    Treat point as a vector $p$. You can use your formula $p_r=Rp$. – 2017-02-07
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    but I have 3 rotation values, yet $R$ just uses 1 theta variable. How do I get theta? – 2017-02-07
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    And is $p = (u_x, u_y, u_z)$ in my case? – 2017-02-07
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    If you have 3 rotations compose them $R=R_1 R_2 R_3$. You don't have to find $\theta$. – 2017-02-07
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    Isn't the point of this arbitrary rotation matrix to do all 3 rotations in 1 matrix calculation? – 2017-02-07
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    this matrix is a rotation matrix for axis-angle representation.. you can use it if you have axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle – 2017-02-07

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