code: public static Quaternionf fromAngleRadAxis(float angle, float x, float y, float z) {
          final float halfAngle = angle / 2;
          final float q = TrigMath.sin(halfAngle) / (float) Math.sqrt(x * x + y * y + z * z);
          return new Quaternionf(x * q, y * q, z * q, TrigMath.cos(halfAngle));
      }
docs: Creates a new quaternion from the rotation float angle in radians around the axis vector float components.
  
  @param angle The rotation angle in radians
  @param x The x component of the axis vector
  @param y The y component of the axis vector
  @param z The z component of the axis vector
  @return The quaternion defined by the rotation around the axis