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How can i rotate around a specific vector

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How can i rotate around a specific vector... i have an object with its own X Axis. If I want to rotate the object around this axis, then i have to change the X Y and Z Rotations around the MainAxis before i draw it. Or is their a way, to rotate around a specific vector? (i want no rotationmatrix, which rotates vectors around a vector, my problem is the drawing of the object) sorry about my english... is not one of my best skills

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