# Rotating voxels in 3d space amongst the x axis

I have a very simple voxel engine and so far it works based on coordinates, e.g. x, y, z. I was wondering if there is a formula for rotating groups of voxels/coordinates from the x axis(e.g. [0, 1, 0][1, 0, 1] rotates to [1, 0, 0][0, 0, 1] when rotated 90 degrees anticlockwise along the x axis) from a certain point, but I hear it involves matrixes and quaternions which sound scary.

Rotated along x-axis: swap Y/Z to Z/-Y