x2(1-c)+c  xy(1-c)-zs xz(1-c)+ys 0

                         yx(1-c)+zs y2(1-c)+c  yz(1-c)-xs 0

                         xz(1-c)-ys yz(1-c)+xs z2(1-c)+c  0

                             0          0          0      1

       Where  c=cos(angle),  s=sin(angle),  and  ||(x,y,z)||=1 (if not, the GL
       will normalize this vector).