How to draw a line knowing pitch, roll and yaw

I have a point in 3d space and i have the roll, pitch, yaw and a distance where Iwould like to create such a point. I have seen that it is possible to do this quite easily in 2D, but not 3D. Could someone please explain how this could be done?

origin = [ 0 0 1];
dist = 4;
roll = 10;
pitch = 5;
yaw = 0;