code: public static Quaterniond fromAngleRadAxis(double angle, Vector3d axis) {
          return fromAngleRadAxis(angle, axis.getX(), axis.getY(), axis.getZ());
      }
docs: Creates a new quaternion from the rotation double angle in radians around the axis vector.
  
  @param angle The rotation angle in radians
  @param axis The axis of rotation
  @return The quaternion defined by the rotation around the axis