Right-handed rotation matrix for roll/pitch/yaw

Specifically, an three-dimensional orthogonal matrix corresponding to a counter-clockwise/right-handed rotation where roll is the rotation about the x-axis, pitch is the rotation about the y-axis, and yaw is the rotation about the z-axis.

You wouldn't think this would be hard to find online, but go figure.

Thanks to Phaedrus for his explanations and...well, doing most of the work.

Note: this matrix effectively yaws first, then pitches, then rolls.  For the opposite order (and the one I ended up using), look below.

[	cos(pitch)*cos(yaw)	-sin(yaw)*cos(pitch)	sin(pitch)	]
	cos(yaw)*sin(pitch)*sin(roll)     + sin(yaw)*cos(roll)	-sin(yaw)*sin(pitch)*sin(roll)     + cos(yaw)*cos(roll)	-cos(pitch)*sin(roll)
	-cos(yaw)*sin(pitch)*cos(roll)     + sin(yaw)*sin(roll)	sin(yaw)*sin(pitch)*cos(roll)     + cos(yaw)*sin(roll)	cos(pitch)*cos(roll)

 And to put it another way:

//Top row

rotation[0][0] = cos(pitch)*cos(yaw);

rotation[0][1] = -sin(yaw)*cos(pitch);

rotation[0][2] = sin(pitch);

//Middle row

rotation[1][0] = cos(yaw)*sin(pitch)*sin(roll) + sin(yaw)*cos(roll);

rotation[1][1] = -sin(yaw)*sin(pitch)*sin(roll) + cos(yaw)*cos(roll);

rotation[1][2] = -cos(pitch)*sin(roll);

//Bottom row

rotation[2][0] = -cos(yaw)*sin(pitch)*cos(roll) + sin(yaw)*sin(roll);

rotation[2][1] = sin(yaw)*sin(pitch)*cos(roll) + cos(yaw)*sin(roll);

rotation[2][2] = cos(pitch)*cos(roll);

Note: this matrix effectively rolls first, then pitches, then yaws.  This turned out to be the one I used for my system.

[	cos(pitch)*cos(yaw)	-sin(yaw)*cos(roll)     + cos(yaw)*sin(pitch)*sin(roll)	sin(roll)*sin(yaw)     + cos(yaw)*sin(pitch)*cos(roll)	]
	cos(pitch)*sin(yaw)	cos(yaw)*cos(roll)     + sin(pitch)*sin(yaw)*sin(roll)	-sin(roll)*cos(yaw)     + sin(pitch)*sin(yaw)*cos(roll)
	-sin(pitch)	cos(pitch)*sin(roll)	cos(pitch)*cos(roll)

//Top row
rotation[0][0] = cos(pitch)*cos(yaw);
rotation[0][1] = -sin(yaw)*cos(roll) + cos(yaw)*sin(pitch)*sin(roll);
rotation[0][2] = sin(roll)*sin(yaw) + cos(yaw)*sin(pitch)*cos(roll);

//Middle row
rotation[1][0] = cos(pitch)*sin(yaw);
rotation[1][1] = cos(yaw)*cos(roll) + sin(pitch)*sin(yaw)*sin(roll);
rotation[1][2] = -sin(roll)*cos(yaw) + sin(pitch)*sin(yaw)*cos(roll);

//Bottom row
rotation[2][0] = -sin(pitch);
rotation[2][1] = cos(pitch)*sin(roll);
rotation[2][2] = cos(pitch)*cos(roll);