Irrlicht Engine

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void rotateNodeInWorldSpace(scene::ISceneNode* node, f32 degs, const core::vector3df& axis)
{
    core::quaternion q;
    q.fromAngleAxis(degs*core::DEGTORAD, axis);
    core::matrix4 m1 = q.getMatrix();
 
    node->updateAbsolutePosition();
    core::matrix4 m2 = node->getAbsoluteTransformation();
    
    core::matrix4 m = m1*m2;
    node->setRotation(m.getRotationDegrees());
    
}

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void rotateNodeInLocalSpace(scene::ISceneNode* node, f32 degs, const core::vector3df& axis)
{
    node->updateAbsolutePosition();
    core::matrix4 m2 = node->getAbsoluteTransformation();
    core::vector3df a = axis;
    m2.rotateVect(a);
    a.normalize();
 
    core::quaternion q;
    q.fromAngleAxis(degs*core::DEGTORAD, a);
    core::matrix4 m1 = q.getMatrix();
 
    core::matrix4 m = m1*m2;
    node->setRotation(m.getRotationDegrees());
    
}

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//both axis and pivot are in world space
void revolveNodeInWorldSpace(scene::ISceneNode* node, f32 degs, const core::vector3df& axis, const core::vector3df& pivot)
{
    node->updateAbsolutePosition();
    core::vector3df p1 = node->getAbsolutePosition();
    core::vector3df p2 = getClosestPointOnLine(axis, pivot, p1);
    core::vector3df vect = p1 - p2;
    
    core::quaternion q;
    q.fromAngleAxis(degs*core::DEGTORAD, axis);
    q.getMatrix().rotateVect(vect);
    
    node->setPosition(p2 + vect);
}

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//both axis and pivot are in local space
void revolveNodeInLocalSpace(scene::ISceneNode* node, f32 degs, const core::vector3df& axis, const core::vector3df& pivot)
{
    moveNodeInLocalSpace(node, pivot);
    rotateNodeInLocalSpace(node, degs, axis);
    moveNodeInLocalSpace(node, -pivot);
}

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//axis is in local space and pivot in world space
void revolveNodeAboutLocalAxis(scene::ISceneNode* node, f32 degs, const core::vector3df& axis, const core::vector3df& pivot)
{
    node->updateAbsolutePosition();
    core::matrix4 m = node->getAbsoluteTransformation();
    core::vector3df a = axis;
    m.rotateVect(a);
    a.normalize();
 
    core::vector3df p1 = node->getAbsolutePosition();
    core::vector3df p2 = getClosestPointOnLine(a, pivot, p1);
    core::vector3df vect = p1 - p2;
 
    core::quaternion q;
    q.fromAngleAxis(degs*core::DEGTORAD, a);
    q.getMatrix().rotateVect(vect);
    
 
    node->setPosition(p2 + vect);
    
}

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void moveNodeInLocalSpace(scene::ISceneNode* node, const core::vector3df& distVect)
{
    node->updateAbsolutePosition();
    core::matrix4 m = node->getAbsoluteTransformation();
    core::vector3df d = distVect;
    m.rotateVect(d);
        
    core::vector3df pos = node->getAbsolutePosition() + d;
    node->setPosition(pos);
}

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void moveNodeInLocalSpace(scene::ISceneNode* node, const core::vector3df& dir, f32 dist)
{
    node->updateAbsolutePosition();
    core::matrix4 m = node->getAbsoluteTransformation();
    core::vector3df d = dir;
    m.rotateVect(d);
    d.normalize();
    
    core::vector3df pos = node->getAbsolutePosition() + d * dist;
    node->setPosition(pos);
}

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// the line is defined by axis direction passing through the pivot
// 3rd argument "point" is the external point
core::vector3df getClosestPointOnLine
(
    const core::vector3df& axis,
    const core::vector3df& pivot,
    const core::vector3df& point
)
{
    core::vector3df c = point - pivot;
    f32 t = axis.dotProduct(c);
    return pivot + axis*t;
}

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revolveNodeInWorldSpace()

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revolveNodeAboutLocalAxis()