code: def _jit_get_rotation_matrix(axis, angle):
      
      axis = _jit_normalize(axis)
      a = m.cos(angle / 2)
      b, c, d = axis * m.sin(angle / 2)
      rot_matrix = np.empty((3, 3))
      rot_matrix[0, 0] = a**2 + b**2 - c**2 - d**2
      rot_matrix[0, 1] = 2. * (b * c - a * d)
      rot_matrix[0, 2] = 2. * (b * d + a * c)
      rot_matrix[1, 0] = 2. * (b * c + a * d)
      rot_matrix[1, 1] = a**2 + c**2 - b**2 - d**2
      rot_matrix[1, 2] = 2. * (c * d - a * b)
      rot_matrix[2, 0] = 2. * (b * d - a * c)
      rot_matrix[2, 1] = 2. * (c * d + a * b)
      rot_matrix[2, 2] = a**2 + d**2 - b**2 - c**2
      return rot_matrix
docs: Returns the rotation matrix.
  
      This function returns a matrix for the counterclockwise rotation
      around the given axis.
      The Input angle is in radians.
  
      Args:
          axis (vector):
          angle (float):
  
      Returns:
          Rotation matrix (np.array):