I am still having trouble, but my requirements have changed...

I have a vector, which is the rotational pivot.

I have a vector and angle - axis, and angle.

I need to rotate a point around a pivot, in the direction in the axis, and the amount specified in the angle.

I have this...

//The rotation matrix.

Matrix matrix = new Matrix();

matrix.rotateAxis(new SimpleVector(rotateX,rotateY,rotateZ), rotateAngle);

//Translation vector.

SimpleVector pivot = new SimpleVector(translateX,translateY,translateZ);

SimpleVector myPoint = new SimpleVector(???,???,???);

myPoint.matMul(matrix);

myPoint.translate(pivot);

Should that be working? I fear it does not.

It could be something else, but this is where my confusion lies, so

I would greatly appreciate some opinions before I seek other reasons.

Oh, and the ERROR is:

It seems to ALWAYS rotate around the origin(0,0,0), instead of the pivot vector.