This is the definition of matrices. Understanding matrices will definitely help you solve this. I recommend watching this: Linear transformations and matrices | Essence of linear algebra, chapter 3*   As for how to rotate around an axis, in 3D, you can look at how utility method is implemented in JOML: https://github.com/JOML-CI/JOML/blob/c312304fefbe757e3d37cba866f5742b3448a85c/src/org/joml/Matrix4f.java#L11379   This is generic use case, but now i have to correc
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