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EulerMatrix

Build a rotation matrix from a list of Euler angles. The default axis sequence is {3, 2, 3} (ZYZ); an explicit axis sequence can be given as a second argument.

$ wo 'EulerMatrix[{0, 0, 0}]'
{{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}

$ wo 'EulerMatrix[{Pi/2, 0, 0}]'
{{0, -1, 0}, {1, 0, 0}, {0, 0, 1}}

$ wo 'EulerMatrix[{Pi, 0, 0}]'
{{-1, 0, 0}, {0, -1, 0}, {0, 0, 1}}