function baseRotate(x, y, rz)
    local x2 = x * cos(rz) - y * sin(rz)
    local y2 = x * sin(rz) + x * cos(rz)
    return x2, y2
end

-- ZYX rotation
function rotate(x, y, z, rx, ry, rz)
    y, z = baseRotate(y, z, rx)
    x, z = baseRotate(-x, z, ry)
    x = -x
    x, y = baseRotate(x, y, rz)
    return x, y, z
end

function setTurnVelocityAlong(vehElement, x, y, z, v)
    -- Normalize vector
    local r = sqrt(x * x + y * y + z * z)
    local x2 = x / r
    local y2 = y / r
    local z2 = z / r

    -- Rotate vector
    local rx, ry, rz = getElementRotation(vehElement, "ZYX")
    x, y, z = rotate(x2, y2, z2, rx, ry, rz)

    -- Set turn velocity
    x, y, z = x * v, y * v, z * v
    return setVehicleTurnVelocity(vehElement, x, y, z)
end