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Proper object rotation in all three dimensions
By
ramad77
, in Graphics and GPU Programming

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By
ramad77
, in Graphics and GPU Programming
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Good explanation about rotation matrices, and its construction.
https://www.fastgraph.com/makegames/3drotation/
If you are using DirectX, you could use DirectXMath library that has several methods to apply operations on matrices.
https://msdn.microsoft.com/enus/library/windows/desktop/ee415594(v=vs.85).aspx
If you want to read a book, I recommend 3D Math Primer 2nd Edition. It has geometric and mathematic explanation about many topics, in particular, rotation matrices.
https://www.amazon.com/MathPrimerGraphicsGameDevelopment/dp/1568817231/ref=sr_1_1?ie=UTF8&qid=1498480799&sr=81&keywords=3d+math+primer