3x3 Rotation matrix with an angle and an arbitrary vector

AngleAxis3x3.hlsl

// Rotation with angle (in radians) and axis
float3x3 AngleAxis3x3(float angle, float3 axis)
{
    float c, s;
    sincos(angle, s, c);

    float t = 1 - c;
    float x = axis.x;
    float y = axis.y;
    float z = axis.z;

    return float3x3(
        t * x * x + c,      t * x * y - s * z,  t * x * z + s * y,
        t * x * y + s * z,  t * y * y + c,      t * y * z - s * x,
        t * x * z - s * y,  t * y * z + s * x,  t * z * z + c
    );
}