static Matrix rotation(double a, double x, double y, double z) { return rotation(Angle::from_radians(a), Vector3(x, y, z)); }
static Matrix rotation(double a, const Vector3 &x) { return rotation(Angle::from_radians(a), x); }
static Matrix rotation_deg(double a, double x, double y, double z) { return rotation(Angle::from_degrees(a), Vector3(x, y, z)); }
static Matrix rotation(double a, double x, double y, double z) { return rotation(Angle::from_radians(a), Vector3(x, y, z)); }
static Matrix rotation(double a, const Vector3 &x) { return rotation(Angle::from_radians(a), x); }
static Matrix rotation_deg(double a, double x, double y, double z) { return rotation(Angle::from_degrees(a), Vector3(x, y, z)); }