# AxisAngle(float3, float)

> Returns a RigidTransform representing a rotation around a unit axis by an angle in radians. The rotation direction is clockwise when looking along the rotation axis towards the origin.

## Definition

* **Type:** Method
* **Namespace:** [Unity.Mathematics](/engine/6000.7/script-reference/unity/mathematics.md)
* **Assembly:** UnityEngine.MathematicsModule

```csharp
public static RigidTransform AxisAngle(float3 axis, float angle)
```

### Parameters

**** (\[float3]\(/engine/6000.7/script-reference/unity/mathematics/float3)): The axis of rotation.**** (\[float]\(https\://learn.microsoft.com/dotnet/api/system.single)): The rotation angle in radians.

### Returns

| Type                                                                                  | Description                                                    |
| ------------------------------------------------------------------------------------- | -------------------------------------------------------------- |
| [RigidTransform](/engine/6000.7/script-reference/unity/mathematics/rigidtransform.md) | The RigidTransform from a rotation axis and angle of rotation. |