code: public Quaterniond setAngleAxis(double angle, Vector3dc axis) {
          return setAngleAxis(angle, axis.x(), axis.y(), axis.z());
      }
docs: Set this quaternion to be a representation of the supplied axis and
  angle (in radians).
  
  @param angle
  the angle in radians
  @param axis
  the rotation axis
  @return this