Index: src/com/xith3d/scenegraph/Transform3D.java
===================================================================
RCS file: /cvs/xith3d/src/com/xith3d/scenegraph/Transform3D.java,v
retrieving revision 1.6
diff -u -r1.6 Transform3D.java
--- src/com/xith3d/scenegraph/Transform3D.java	3 Aug 2003 23:18:26 -0000	1.6
+++ src/com/xith3d/scenegraph/Transform3D.java	19 Aug 2003 01:35:48 -0000
@@ -146,9 +146,32 @@
      * elements of this transform are unchanged.
      */
     public final void setRotation(Matrix3f m) {
-        matrix.set(m);
+        matrix.setRotation(m);
     }
 
+    /**
+     * Rotates the matrix around the passed axis by the passed angle.
+     * Non rotational elements are unchanged.
+     * @param a1 Rotation amount and axis of rotation 
+     */
+    public final void setRotation(AxisAngle4f a1) {
+	
+	// Extracts the axis
+	Vector3f axis = new Vector3f(a1.x, a1.y, a1.z);
+	
+	// Extracts the angle
+	float angle = a1.angle;
+	
+	// Calculates the rotation matrix by rotating a Transform
+	Transform3D rotation = new Transform3D();
+	Matrix3f rotationMatrix = new Matrix3f();
+	rotation.rotAxis(axis, angle);  //performs the rotation
+	rotation.getRotation(rotationMatrix); //extracts the rotation
+	
+	// Applies rotation matrix to the current Transform3D
+	setRotation(rotationMatrix);	
+    }
+    
     /**
      * Copy the rotation, the upper 3x3 matrix values of this transform
      * into the Matrix3f m.