二维旋转：
因为
x1=cos(α)*r,y1=sin(α)*r,x2=cos(α+β)*r,y2=sin(α+β)*r
所以
x2=cos(α+β)*r=cos(α)*cos(β)*r-sin(α)*sin(β)*r=cos(β)*x1-sin(β)*y1
y2=sin(α+β)*r=sin(α)*cos(β)*r+cos(α)*sin(β)*r=y1*cos(β)+x1*sin(β)
三维旋转：
参考博客：http://blog.csdn.net/csxiaoshui/article/details/65446125