Good catch. I believe your version of the rotation matrix is using the left handed coordinate system, and the version in the book is using the right handed coordinate system.

So in your version, the Z axis is pointing away from you (X is right, Y is up), but the book is assuming that Z is coming towards you.

Looking through that section in the book, there is no indication of which handed coordinate system is being used. Always a pain in our sides, this left/right handed business. Direct3D uses the left handed system, but 3D Studio Max defaults to the right handed system. And some middleware 3D engines like Gamebryo use the right handed system. We need some totalitarian overlord to come by and standardize which system gets used in all 3D packages.

Whoops, true. I thought this was dependent on which coordinate system you were using, but after doing the math, this really is an error in the book.

Dang it. I'm glad I already spent my advance!!!

Thanks for the correction - I'll make sure it gets in the reprint.

This will be fixed in the 3rd edition text.