* (1 - ca) + u * sa, w * w + (1 - w * w) * ca);
}
public static Matrix33 createRotationMatrix(AVector v, double angle) {
if (!(v.length() == 3))
throw new VectorzException(
"Rotation matrix requires a 3d axis vector");
return createRotationMatrix(v.unsafeGet(0), v.unsafeGet(1),
v.unsafeGet(2), angle);
}