Animation nodes: rotate around axis

Question

How do you rotate an object around a given unit vector and angle? I thought I could use this matrix, but I'm unable to create a custom 3x3 matrix inside animation nodes.

$$R= \begin{bmatrix} \cos\theta+u_x^2(1-\cos\theta) & u_xu_y(1-\cos\theta)-u_z\sin\theta & u_xu_z(1-\cos\theta)+u_y\sin\theta\\ u_yu_x(1-\cos\theta)+u_z\sin\theta & \cos\theta+u_y^2(1-\cos\theta) & u_yu_z(1-\cos\theta)-u_x\sin\theta\\ u_zu_x(1-\cos\theta)-u_y\sin\theta & u_zu_y(1-\cos\theta)+u_x\sin\theta & \cos\theta+u_z^2(1-\cos\theta) \end{bmatrix} $$

Answer 1

You can use the Convert Rotation Types node to construct a rotation matrix from Axis Angle model and then use it to rotate the object:

Answer 2

I found a way to create a matrix like this using the script-subprogram method in animation nodes:

Node setup:

And the following script:

import bpy
from mathutils import Matrix

Rotation = Matrix.Rotation(angle, 4, axis)