[x3d-public] SAI > X3DMatrix3 > setTransform > rotation > SFVec3f?

[GPU Group]

https://www.web3d.org/documents/specifications/19777-1/V3.3/Part1/functions.html#Matrix3

https://www.web3d.org/documents/specifications/19775-2/V3.3/index.html
https://en.wikipedia.org/wiki/Transformation_matrix#Affine_transformations
Am I right to assume we want to use Matrix3 for Affine 2D transforms?
if so how should I use an SFVec3f for a 2D rotation?
If not how should I use an SFVec3f for a 3D rotation?
Thanks,
-Doug
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