code: public Vector3d transform(Vector3dc v, Vector3d dest) {
          double sin = Math.sin(angle);
          double cos = Math.cosFromSin(sin, angle);
          double dot = x * v.x() + y * v.y() + z * v.z();
          dest.set(v.x() * cos + sin * (y * v.z() - z * v.y()) + (1.0 - cos) * dot * x,
                   v.y() * cos + sin * (z * v.x() - x * v.z()) + (1.0 - cos) * dot * y,
                   v.z() * cos + sin * (x * v.y() - y * v.x()) + (1.0 - cos) * dot * z);
          return dest;
      }
docs: Transform the given vector by the rotation transformation described by this {@link AxisAngle4d}
  and store the result in <code>dest</code>.
  
  @param v
  the vector to transform
  @param dest
  will hold the result
  @return dest