%%%
%%% Create a 3x3 rotation matrix from three rotation angles (in degrees).
%%%

function [RM] =  rotmat(Rx,Ry,Rz)

Cos_Rx = cos( Rx*pi/180 );
Sin_Rx = sin( Rx*pi/180 );
Cos_Ry = cos( Ry*pi/180 );
Sin_Ry = sin( Ry*pi/180 );
Cos_Rz = cos( Rz*pi/180 );
Sin_Rz = sin( Rz*pi/180 );

RMx    = [ 1 0 0 ; 0 Cos_Rx -Sin_Rx ; 0 Sin_Rx Cos_Rx ];
RMy    = [ Cos_Ry 0 Sin_Ry ; 0 1 0 ; -Sin_Ry 0 Cos_Ry ];
RMz    = [ Cos_Rz -Sin_Rz 0 ; Sin_Rz Cos_Rz 0 ; 0 0 1 ];
RM     = RMz * RMy * RMx;