code: public Matrix4d rotation(AxisAngle4d angleAxis) {
          return rotation(angleAxis.angle, angleAxis.x, angleAxis.y, angleAxis.z);
      }
docs: Set this matrix to a rotation transformation using the given {@link AxisAngle4d}.
  <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(AxisAngle4d) rotate()} instead.
  <p>
  Reference: <a href="http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle">http://en.wikipedia.org</a>
  
  @see #rotate(AxisAngle4d)
  
  @param angleAxis
  the {@link AxisAngle4d} (needs to be {@link AxisAngle4d#normalize() normalized})
  @return this