rotate3d

void rotate3D(double inX, double inY, double inZ, double rotX_sin, double rotX_cos, double rotY_sin, double rotY_cos, double * outL, double * outR)
{
    double help_11 = inX*rotX_cos - inY*rotX_sin;
    double help_12 = inX*rotX_sin + inY*rotX_cos;

    double help_21 = help_11*rotY_cos - inZ*rotY_sin;
    double help_22 = help_11*rotY_sin + inZ*rotY_cos;

    *outL = help_21;
    *outR = help_12;
}