m11
= vx2 + cosq (1- vx2)
m12 = vxvy(1-cosq ) - vz sen q
m13 = vzvx(1-cosq ) + vy sen q
m21 = vxvy(1-cosq ) + vz sen q
m22
= vy2 + cosq (1- vy2)
m23 = vyvz(1-cosq ) - vx sen q
m31 = vxvz (1-cosq ) - vy sen q
m32 = vyvz(1-cosq )+ vx sen q
m22
= vz2 + cosq (1- vz2)