===== Transformation: Rotation in 3D around z-axis =====
**Definition**: inverse mapping\\
x'=x*cos(theta)+y*sin(theta)\\
y'=-x*sin(theta)+y*cos(theta)\\

**Call**: hfRotate3DZ(xt,theta);

**Parameters**:

xt - point coordinates array to be changed

theta - rotation angle in radians

**Test file**: [[http://hyperfun.org/rotate.hf|rotate.hf]]

===== Transformation: Rotation in 3D around y-axis =====
**Definition**: inverse mapping\\
z'=z*cos(theta)+x*sin(theta)\\
x'=-z*sin(theta)+x*cos(theta)\\ 

**Call**: hfRotate3DY(xt,theta);

**Parameters**:

xt - point coordinates array to be changed

theta - rotation angle in radians

**Test file**: [[http://hyperfun.org/rotate.hf|rotate.hf]]

===== Transformation: Rotation in 3D around x-axis =====
**Definition**: inverse mapping\\
y'=y*cos(theta)+z*sin(theta)\\
z'=-y*sin(theta)+z*cos(theta)\\

**Call**: hfRotate3DX(xt,theta);

**Parameters**:

xt - point coordinates array to be changed

theta - rotation angle in radians

**Test file**: [[http://hyperfun.org/rotate.hf|rotate.hf]]