I have a shape with spherical coordinate (r, theta, phi) which I can convert to Cartesian. I want to apply rotation to the shape by incrementing theta & phi.(adsbygoogle = window.adsbygoogle || []).push({});

I figured out the matrix for rotating azimuth angle is

{

{cos(theta), -sin(theta), 0}

{sin(theta), cos(theta), 0}

{ 0, 0, 1}

}

How to find the rotation matrix for Zenith angle?.

Thanks.

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# Rotation matrix for azimuth and zenith angles

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