QUATERNION - AXIX/ANGLE
>>> change quaternion: 4D vector (input also not normalized) * if vector(0,0,0,w) - change first 0
vector ( xq , yq , zq , wq )
vector ( xq , yq , zq , wq )

axis ( xa , ya , za ) ... angle * PI = rad = deg
axis ( xa , ya , za ) ... angle
>>> change axis 3D vector (input also not normalized) and angle