matrix - compute pitch, roll and yaw movement of an object in Matlab -

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i working, matlab, on 3d simulator aim move object (currently it's simple circle) in space (using plot3).

although it's easy compute trajectory without rotation of object, not manage rotate object around own axis. indeed, have computed 3 well-known rotation matrix (of course) rotate object (represented set of points) around axis of figure (in "world" system).

for example, center of inertia of object (currently center of circle) coordinates (xi,yi,zi). thus, suppose need define additional system object able rotate object these 3 new axis composing such system...

i like:

[x2,y2,z2]=mat*[x1,y1,z1] [x1,y1,z1] coordinates of point of object before rotation, [x2,y2,z2] coordinates after rotation , mat matrix looking for. of course, center of inertia must unchanged whichever rotation (yaw and/or pitch or/and roll)

however have no idea way compute such matrix. link below summarizes wish.

drawing of problem


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