直线外一点（x1,y1,z1），围绕该直线（(x0,y0,z0)是直线上的点，(m,n,p)为直线的方向向量）旋转一个角度alpha (-π~π),得到旋转后的点坐标。-Straight outer point (x1, y1, z1), around the straight line ((x0, y0, z0) is the point on the line, (m, n, p) of the straight line direction vector) rotated at an angle alpha (-蟺 ~ 蟺 ), obtained after rotation point coordinates.