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