I thought it would clash with an existing P3D rotate() method but it seems not. Always thought it should be more like rotateAt() or rotateAround(). I have a few extra methods like that in PraxisLIVE (such as 7 parameter image()) but haven’t quite got around to this one yet.
Interestingly, there is a 4 parameter version of rotate() in Processing already though -
/**
* Rotate around an arbitrary vector, similar to glRotate(), except that it
* takes radians (instead of degrees).
*/
public void rotate(float angle, float v0, float v1, float v2)