mat3 rot(vec3 ang)
{
	mat3 x = mat3(1.0,0.0,0.0,0.0,cos(ang.x),-sin(ang.x),0.0,sin(ang.x),cos(ang.x));
	mat3 y = mat3(cos(ang.y),0.0,sin(ang.y),0.0,1.0,0.0,-sin(ang.y),0.0,cos(ang.y));
	mat3 z = mat3(cos(ang.z),-sin(ang.z),0.0,sin(ang.z),cos(ang.z),0.0,0.0,0.0,1.0);
	return x*y*z;
}