algorithm - Rotation of Point in 3D Space -

I have a problem related to rotation of the point in 3D-space.

Suppose me a point

by the user-defined degree
And now I will rotate it, one of these three ways By specifying rotation in:
2. From user-defined axis of rotation
3. Around user-defined point (relative) < / Ol>
  I found a good link, but this is not the address point 3. Can anyone help me solve that problem?
  All the rotation will go around the original so you translate to the original, rotate, then return Translate From the global coordinates for the user coordinates, rotate around the translation R = root (such as in your link) (T ^ -1) = back point x Xrotated = (T ^ -1) Translate * r * t * x
  If you have several points to rotate again, multiply the matrix together:
```
  A = (T ^ -1) * R * T X_rotated = A * X    

 


  
```
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algorithm - Rotation of Point in 3D Space -

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