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