code: public Quaternionf rotateX(float angle, Quaternionf dest) {
          float sin = (float) Math.sin(angle * 0.5);
          float cos = (float) Math.cosFromSin(sin, angle * 0.5);
          dest.set(w * sin + x * cos,
                   y * cos + z * sin,
                   z * cos - y * sin,
                   w * cos - x * sin);
          return dest;
      }
docs: /* (non-Javadoc)
  @see org.joml.Quaternionfc#rotateX(float, org.joml.Quaternionf)