----------------------------------------------------------------------------- Purpose: Builds the matrix for a counterclockwise rotation about an arbitrary axis. | ax2 + (1 - ax2)cosQ axay(1 - cosQ) - azsinQ azax(1 - cosQ) + aysinQ | Ra(Q) = | axay(1 - cosQ) + azsinQ ay2 + (1 - ay2)cosQ ayaz(1 - cosQ) - axsinQ | | azax(1 - cosQ) - aysinQ ayaz(1 - cosQ) + axsinQ az2 + (1 - az2)cosQ | Inp
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