Rodrigues' Rotation Formula https://en.wikipedia.org/wiki/Rodrigues'_rotation_formula v′ = vcos(θ) + k(k⋅v)(1−cos(θ)) + (k*v)sin(θ)
Rodrigues' Rotation Formula https://en.wikipedia.org/wiki/Rodrigues'_rotation_formula v′ = vcos(θ) + k(k⋅v)(1−cos(θ)) + (k*v)sin(θ)