3D Rotations - 2.0.0

pyopengl geometrian 3d system rotation matrix coordinate coordinates euler rotations matrices

OK, before you start, you need to know a little math.
For starters, the 2D games most people make use 1 angle.
Spherical coordinates use 2.
This uses 3, and is comparable in complexity to a 4-dimensional coordianate system.
To solve this problem, I had to resort to matrices to do my trigonometry. Anyway, it was all very complicated, and I spent all day yesterday, working an hour into today to make it work. It doesn't look like much, but it was really, really, really, so hard.
Naturally, since I'm SUCH a nice person, I'm giving it here so you don't waste half your weekend staring into space trying to get this working.