code: public Matrix4f set(AxisAngle4d axisAngle) {
          double x = axisAngle.x;
          double y = axisAngle.y;
          double z = axisAngle.z;
          double angle = axisAngle.angle;
          double n = Math.sqrt(x*x + y*y + z*z);
          n = 1/n;
          x *= n;
          y *= n;
          z *= n;
          double s = Math.sin(angle);
          double c = Math.cosFromSin(s, angle);
          double omc = 1.0 - c;
          this._m00((float)(c + x*x*omc));
          this._m11((float)(c + y*y*omc));
          this._m22((float)(c + z*z*omc));
          double tmp1 = x*y*omc;
          double tmp2 = z*s;
          this._m10((float)(tmp1 - tmp2));
          this._m01((float)(tmp1 + tmp2));
          tmp1 = x*z*omc;
          tmp2 = y*s;
          this._m20((float)(tmp1 + tmp2));
          this._m02((float)(tmp1 - tmp2));
          tmp1 = y*z*omc;
          tmp2 = x*s;
          this._m21((float)(tmp1 - tmp2));
          this._m12((float)(tmp1 + tmp2));
          this._m03(0.0f);
          this._m13(0.0f);
          this._m23(0.0f);
          this._m30(0.0f);
          this._m31(0.0f);
          this._m32(0.0f);
          this._m33(1.0f);
          this._properties(PROPERTY_AFFINE | PROPERTY_ORTHONORMAL);
          return this;
      }
docs: Set this matrix to be equivalent to the rotation specified by the given {@link AxisAngle4d}.
  
  @param axisAngle
  the {@link AxisAngle4d}
  @return this