typescriptで三次元ベクトルを回転させてみた。

/**
 * 3次元ベクトルの回転を行う。
 *
 * @param number vector_x
 * @param number vector_y
 * @param number vector_z
 * @param number angle_x
 * @param number angle_y
 * @param number angle_z
 * @return {x:number, y:number, z:number}
 */
const rotate3dVector = (
  vector_x: number,
  vector_y: number,
  vector_z: number,
  angle_x: number,
  angle_y: number,
  angle_z: number
): { x: number; y: number; z: number } => {
  // 角度→ラジアンに変換
  const razian_x = angle_x * (Math.PI / 180)
  const razian_y = angle_y * (Math.PI / 180)
  const razian_z = angle_z * (Math.PI / 180)

  // x軸周りに右回転した座標を取得する表現行列
  const matrix_x = [
    [1, 0, 0],
    [0, Math.cos(razian_x), -Math.sin(razian_x)],
    [0, Math.sin(razian_x), Math.cos(razian_x)],
  ]

  // // y軸周り右回転した座標を取得する表現行列
  const matrix_y = [
    [Math.cos(razian_y), 0, Math.sin(razian_y)],
    [0, 1, 0],
    [-Math.sin(razian_y), 0, Math.cos(razian_y)],
  ]

  // z軸周りに右回転した座標を取得する表現行列
  const matrix_z = [
    [Math.cos(razian_z), -Math.sin(razian_z), 0],
    [Math.sin(razian_z), Math.cos(razian_z), 0],
    [0, 0, 1],
  ]

  /**
   * 回転行列を使ってベクトルの回転を行う。
   *
   * @param number[][] matrix
   * @param number[] vector
   * @return {x:number, y:number, z:number}
   */
  const calc = (
    matrix: number[][],
    vector: number[]
  ): { x: number; y: number; z: number } => {
    return {
      x:
        matrix[0][0] * vector[0] +
        matrix[0][1] * vector[1] +
        matrix[0][2] * vector[2],
      y:
        matrix[1][0] * vector[0] +
        matrix[1][1] * vector[1] +
        matrix[1][2] * vector[2],
      z:
        matrix[2][0] * vector[0] +
        matrix[2][1] * vector[1] +
        matrix[2][2] * vector[2],
    }
  }

  // x軸回りの回転
  let rotational_vector = calc(matrix_x, [vector_x, vector_y, vector_z])
  // y軸回りの回転
  rotational_vector = calc(matrix_y, [
    rotational_vector.x,
    rotational_vector.y,
    rotational_vector.z,
  ])
  // z軸回りの回転
  rotational_vector = calc(matrix_z, [
    rotational_vector.x,
    rotational_vector.y,
    rotational_vector.z,
  ])

  return {
    x: rotational_vector.x,
    y: rotational_vector.y,
    z: rotational_vector.z,
  }
}