code: public Matrix4d rotation(double angle, Vector3dc axis) {
          return rotation(angle, axis.x(), axis.y(), axis.z());
      }
docs: Set this matrix to a rotation matrix which rotates the given radians about a given axis.
  <p>
  The axis described by the <code>axis</code> vector needs to be a unit vector.
  <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.
  
  @param angle
  the angle in radians
  @param axis
  the axis to rotate about
  @return this