Consider the following code:

Transform3D foo = new Transform3D();
// Constructing a vector pointed downward and to the lower left
// with no rotation
AxisAngle4f axisAngle = new AxisAngle4f(-1, -1, -1, (float)0);
foo.setRotation(axisAngle);

After the code is run, why is foo still the identity matrix?  I.e.
why is

foo.equals(new Transform3D())  true?

I would think that the AxisAngle perfectly describes a rotational component pointed 
downward and to the lower left, and that the Transform3D would now be pointed towards 
that direction.   I guess I'm missing something huge.

Thanks in advance,
David B/Omaha NE

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