Function rotation_from_axis_angle 

pub fn rotation_from_axis_angle<T: FloatScalar>(
    axis: &Vector3<T>,
    angle: T,
    epsilon: T,
) -> Option<Matrix4<T>>

Creates a 4x4 rotation matrix from an axis and angle.

Parameters

• axis: The rotation axis (will be normalized)
• angle: The rotation angle in radians
• epsilon: Minimum axis length to treat as valid

Returns

• Some(matrix) for a valid axis
• None if the axis length is too small