Update with the big picture: I think the rotationAxisAngle example in the article is fine. The problem isn't that it exists and uses angles/trig: There are legit uses for that function! The problem is that it's not the best tool for aligning the spaceship. So: Problem is not that fn or angles/trig: It's using the wrong tool.

> You can change out Matrices for Quaternions.

Better use spin groups: they work in every dimension.