function axisRotate(m, axis, angleInRadians, dst) {
  dst = dst || new MatType(16);
  var x = axis[0];
  var y = axis[1];
  var z = axis[2];
  var n = Math.sqrt(x * x + y * y + z * z);
  x /= n;
  y /= n;
  z /= n;
  var xx = x * x;
  var yy = y * y;
  var zz = z * z;
  var c = Math.cos(angleInRadians);
  var s = Math.sin(angleInRadians);
  var oneMinusCosine = 1 - c;
  var r00 = xx + (1 - xx) * c;
  var r01 = x * y * oneMinusCosine + z * s;
  var r02 = x * z * oneMinusCosine - y * s;
  var r10 = x * y * oneMinusCosine - z * s;
  var r11 = yy + (1 - yy) * c;
  var r12 = y * z * oneMinusCosine + x * s;
  var r20 = x * z * oneMinusCosine + y * s;
  var r21 = y * z * oneMinusCosine - x * s;
  var r22 = zz + (1 - zz) * c;
  var m00 = m[0];
  var m01 = m[1];
  var m02 = m[2];
  var m03 = m[3];
  var m10 = m[4];
  var m11 = m[5];
  var m12 = m[6];
  var m13 = m[7];
  var m20 = m[8];
  var m21 = m[9];
  var m22 = m[10];
  var m23 = m[11];
  dst[0] = r00 * m00 + r01 * m10 + r02 * m20;
  dst[1] = r00 * m01 + r01 * m11 + r02 * m21;
  dst[2] = r00 * m02 + r01 * m12 + r02 * m22;
  dst[3] = r00 * m03 + r01 * m13 + r02 * m23;
  dst[4] = r10 * m00 + r11 * m10 + r12 * m20;
  dst[5] = r10 * m01 + r11 * m11 + r12 * m21;
  dst[6] = r10 * m02 + r11 * m12 + r12 * m22;
  dst[7] = r10 * m03 + r11 * m13 + r12 * m23;
  dst[8] = r20 * m00 + r21 * m10 + r22 * m20;
  dst[9] = r20 * m01 + r21 * m11 + r22 * m21;
  dst[10] = r20 * m02 + r21 * m12 + r22 * m22;
  dst[11] = r20 * m03 + r21 * m13 + r22 * m23;

  if (m !== dst) {
    dst[12] = m[12];
    dst[13] = m[13];
    dst[14] = m[14];
    dst[15] = m[15];
  }

  return dst;
}
Rotates the given 4-by-4 matrix around the given axis by the
given angle.
@param {module:twgl/m4.Mat4} m The matrix.
@param {module:twgl/v3.Vec3} axis The axis
    about which to rotate.
@param {number} angleInRadians The angle by which to rotate (in radians).
@param {module:twgl/m4.Mat4} [dst] matrix to hold result. If not passed a new one is created.
@return {module:twgl/m4.Mat4} The rotated matrix.
@memberOf module:twgl/m4