Animation nodes: rotate around axis How do you rotate an object around a given unit vector and angle? I thought I could use this matrix, but I'm unable to create a custom 3x3 matrix inside animation nodes.

$$R=
\begin{bmatrix}
\cos\theta+u_x^2(1-\cos\theta) &amp; u_xu_y(1-\cos\theta)-u_z\sin\theta &amp; u_xu_z(1-\cos\theta)+u_y\sin\theta\\
u_yu_x(1-\cos\theta)+u_z\sin\theta &amp; \cos\theta+u_y^2(1-\cos\theta) &amp; u_yu_z(1-\cos\theta)-u_x\sin\theta\\
u_zu_x(1-\cos\theta)-u_y\sin\theta &amp; u_zu_y(1-\cos\theta)+u_x\sin\theta &amp; \cos\theta+u_z^2(1-\cos\theta)
\end{bmatrix}
$$
You can use the Convert Rotation Types node to construct a rotation matrix from Axis Angle model and then use it to rotate the object: