code: public Matrix3d rotation(AxisAngle4f axisAngle) {
          return rotation(axisAngle.angle, axisAngle.x, axisAngle.y, axisAngle.z);
      }
docs: Set this matrix to a rotation transformation using the given {@link AxisAngle4f}.
  <p>
  When used with a right-handed coordinate system, the produced rotation will rotate a vector
  counter-clockwise around the rotation axis, when viewing along the negative axis direction towards the origin.
  When used with a left-handed coordinate system, the rotation is clockwise.
  <p>
  The resulting matrix can be multiplied against another transformation
  matrix to obtain an additional rotation.
  <p>
  In order to apply the rotation transformation to an existing transformation,
  use {@link #rotate(AxisAngle4f) rotate()} instead.
  <p>
  Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
  
  @see #rotate(AxisAngle4f)
  
  @param axisAngle
  the {@link AxisAngle4f} (needs to be {@link AxisAngle4f#normalize() normalized})
  @return this