code: public void rotate(Vector3D axis, double angle) {
  		Quaternion q = new Quaternion();
  		q.setAxisAngle(axis, angle);
  		rotate(q, null);
  	}
docs: Rotate the plane with the given angle around the given axis.
  The rotation is done around the pivot point.
  
  @param axis the rotation axis.
  @param angle the rotation angle.