def METHOD_NAME(dim,theta,rx,ry,rz):
  PI = 3.14159265358979323846
  theta *= PI/180.0
  r = [rx,ry,rz]
  norm3(r)
  q = axisangle_to_quat(r,theta)
  rotmat = quat_to_mat(q)
  d = 3*[0.0]
  for pt in pts:
    d[0] = pt[0] - origin[0];
    d[1] = pt[1] - origin[1];
    d[2] = pt[2] - origin[2];
    dnew = matvec(rotmat,d)
    pt[0] = dnew[0] + origin[0];
    pt[1] = dnew[1] + origin[1];
    if dim == 3: pt[2] = dnew[2] + origin[2];