如何绕任意轴旋转点?

我想在OpenGL中围绕任意轴旋转一个点。我想利用它来旋转球体。

这是我到目前为止得到的：

float degreeBetweenTwoVec(glm::vec3 &a, glm::vec3 b)
{
float prod = b.x * a.x + b.y * a.y + b.z * a.z;
float mag_axis = sqrt((b.x * b.x) + (b.y * b.y) + (b.z * b.z));
float mag_vec = sqrt((a.x * a.x) + (a.y * a.y) + (a.z * a.z));
float degree = prod / (mag_axis * mag_vec);
return acos(degree) * 180.0 / PI;;
}

void rotAroundZ(glm::vec3 &point, float degree) 
{
glm::vec3 n_point;
n_point.x = (point.x * cos(degree * PI / 180.0)) - (point.y * sin(degree * PI / 180.0));
n_point.y = (point.x * sin(degree * PI / 180.0)) + (point.y * cos(degree * PI / 180.0));
n_point.z = point.z;
point.x = n_point.x;
point.y = n_point.y;
point.z = n_point.z;
}

void rotAroundY(glm::vec3& point, float degree)
{
glm::vec3 n_point;
n_point.x = (point.x * cos(degree * PI / 180.0)) + (point.z * sin(degree * PI / 180.0));
n_point.y = point.y;
n_point.z = ((point.x * -1.0f) * sin(degree * PI / 180.0)) + (point.z * cos(degree * PI / 180.0));;
point.x = n_point.x;
point.y = n_point.y;
point.z = n_point.z;
}

void rotAroundA(glm::vec3& point, glm::vec3 &axis, float zdegree)
{
float xdegree = degreeBetweenTwoVec(axis, glm::vec3{ 1.0f, 0.0f, 0.0f });
float ydegree = degreeBetweenTwoVec(axis, glm::vec3{ 0.0f, 1.0f, 0.0f });
rotAroundZ(point,  xdegree);
rotAroundY(point,  ydegree);
rotAroundZ(point,  zdegree);
rotAroundY(point, -ydegree);
rotAroundZ(point, -xdegree);
}

void rotAObject(Object& obj, glm::vec3 &axis, float degree)
{
axis = glm::normalize(axis);
translate(axis, glm::vec3{ axis.x, axis.y, axis.z });
for (int i = 0; i < obj.vertices.size(); i++)
{
rotAroundA(obj.vertices[i], axis, degree);
}
rotAroundA(obj.mp, axis, degree);
translate(axis, glm::vec3{ axis.x * -1.0f, axis.y * -1.0f, axis.z * -1.0f });
}

如果给定的轴恰好在全局轴之一上，则此方法可以正常工作。但是，如果不是，并且给定的轴基本上围绕其他东西旋转。有某种轴它正在旋转，但是一旦改变给定的轴，例如围绕z轴旋转它，它就会绕一个与以前完全不同的轴旋转。看起来对于给定轴可以采取的每个位置，对象实际上都在旋转其他一些轴。

任何帮助不胜感激！