rotate.java

	/*
	* v - Vector to rotate
	* e - unit Vector about which to rotate
	* th - angle in radians
	*/
	
	private static Vector rotate(Vector v, Vector e, double th){
		
		double cos = Math.cos(th);
		double sin = Math.sin(th);
		
		return (v.clone().multiply(cos)).add(e.clone().crossProduct(v).multiply(sin)).add(e.clone().multiply(e.dot(v)).multiply(1 - cos));
		
	}