VEX : Matrix rotation about a pivot point

Matrix Rotation

f@angle = chf("angle") * 2 * $PI;         // angle is a float slider with range from  0 - 1
v@axis  = chv("axis") + point(1, "N", 0);   // axis is a 3 float vector {0.0, 0.0, 0.0}

3@imatrix = ident();
rotate(@imatrix, @angle, @axis);

@P = (@P - point(1, "P", 0)) * @imatrix + point(1, "P", 0);