fromRotation = (out, rad, axis) => {
  let [x, y, z] = axis
  const lengthSquared = x * x + y * y + z * z

  if (Math.abs(lengthSquared) < EPS) {
    // axis is 0,0,0 or almost
    return identity(out)
  }

  const len = 1 / Math.sqrt(lengthSquared)
  x *= len
  y *= len
  z *= len

  const s = sin(rad)
  const c = cos(rad)
  const t = 1 - c

  // Perform rotation-specific matrix multiplication
  out[0] = x * x * t + c
  out[1] = y * x * t + z * s
  out[2] = z * x * t - y * s
  out[3] = 0
  out[4] = x * y * t - z * s
  out[5] = y * y * t + c
  out[6] = z * y * t + x * s
  out[7] = 0
  out[8] = x * z * t + y * s
  out[9] = y * z * t - x * s
  out[10] = z * z * t + c
  out[11] = 0
  out[12] = 0
  out[13] = 0
  out[14] = 0
  out[15] = 1
  return out
}
Creates a matrix from a given angle around a given axis
This is equivalent to (but much faster than):

    mat4.identity(dest)
    mat4.rotate(dest, dest, rad, axis)

@param {mat4} out - receiving matrix
@param {Number} rad - angle to rotate the matrix by
@param {vec3} axis - axis of which to rotate around
@returns {mat4} out
@alias module:modeling/maths/mat4.fromRotation
@example
let matrix = fromRotation(create(), TAU / 4, [0, 0, 3])