EulerMatrix

EulerMatrix[{α, β, γ}] gives the Euler 3D rotation matrix formed by rotating by α around the current z axis, then by β around the current y axis, and then by γ around the current z axis.

EulerMatrix[{α, β, γ}, {a, b, c}] gives the Euler 3D rotation matrix corresponding to rotations around the specified axes a, b, c.

Examples

Create an Euler rotation matrix:

EulerMatrix[{Pi/4, Pi/3, Pi/6}]

Please visit the official Wolfram Language Reference for more details.