How to implement rotation algorithm for cube in OpenGL Java? -

here code created cube in opengl java, how implement algorithm rotation on ox, oy , oz axis without using predefinition function. example how rotate on origin point or point.

import java.awt.displaymode; import javax.media.opengl.gl2; import javax.media.opengl.glautodrawable; import javax.media.opengl.glcapabilities; import javax.media.opengl.gleventlistener; import javax.media.opengl.glprofile; import javax.media.opengl.awt.glcanvas; import javax.media.opengl.glu.glu;  import javax.swing.jframe;  import com.jogamp.opengl.util.fpsanimator;  public class cube implements gleventlistener {     public static displaymode dm, dm_old;    private glu glu = new glu();    private float rquad = 0.0f;     @override    public void display( glautodrawable drawable ) {        final gl2 gl = drawable.getgl().getgl2();       gl.glclear(gl2.gl_color_buffer_bit | gl2.gl_depth_buffer_bit );       gl.glloadidentity();       gl.gltranslatef( 0f, 0f, -5.0f );         // rotate cube on x, y & z       gl.glrotatef(rquad, 1.0f, 1.0f, 1.0f);         //giving different colors different sides       gl.glbegin(gl2.gl_quads); // start drawing cube       gl.glcolor3f(1f,0f,0f); //red color       gl.glvertex3f(1.0f, 1.0f, -1.0f); // top right of quad (top)       gl.glvertex3f( -1.0f, 1.0f, -1.0f); // top left of quad (top)       gl.glvertex3f( -1.0f, 1.0f, 1.0f ); // bottom left of quad (top)       gl.glvertex3f( 1.0f, 1.0f, 1.0f ); // bottom right of quad (top)        gl.glcolor3f( 0f,1f,0f ); //green color       gl.glvertex3f( 1.0f, -1.0f, 1.0f ); // top right of quad       gl.glvertex3f( -1.0f, -1.0f, 1.0f ); // top left of quad       gl.glvertex3f( -1.0f, -1.0f, -1.0f ); // bottom left of quad       gl.glvertex3f( 1.0f, -1.0f, -1.0f ); // bottom right of quad         gl.glcolor3f( 0f,0f,1f ); //blue color       gl.glvertex3f( 1.0f, 1.0f, 1.0f ); // top right of quad (front)       gl.glvertex3f( -1.0f, 1.0f, 1.0f ); // top left of quad (front)       gl.glvertex3f( -1.0f, -1.0f, 1.0f ); // bottom left of quad       gl.glvertex3f( 1.0f, -1.0f, 1.0f ); // bottom right of quad         gl.glcolor3f( 1f,1f,0f ); //yellow (red + green)       gl.glvertex3f( 1.0f, -1.0f, -1.0f ); // bottom left of quad       gl.glvertex3f( -1.0f, -1.0f, -1.0f ); // bottom right of quad       gl.glvertex3f( -1.0f, 1.0f, -1.0f ); // top right of quad (back)       gl.glvertex3f( 1.0f, 1.0f, -1.0f ); // top left of quad (back)        gl.glcolor3f( 1f,0f,1f ); //purple (red + green)       gl.glvertex3f( -1.0f, 1.0f, 1.0f ); // top right of quad (left)       gl.glvertex3f( -1.0f, 1.0f, -1.0f ); // top left of quad (left)       gl.glvertex3f( -1.0f, -1.0f, -1.0f ); // bottom left of quad       gl.glvertex3f( -1.0f, -1.0f, 1.0f ); // bottom right of quad         gl.glcolor3f( 0f,1f, 1f ); //sky blue (blue +green)       gl.glvertex3f( 1.0f, 1.0f, -1.0f ); // top right of quad (right)       gl.glvertex3f( 1.0f, 1.0f, 1.0f ); // top left of quad       gl.glvertex3f( 1.0f, -1.0f, 1.0f ); // bottom left of quad       gl.glvertex3f( 1.0f, -1.0f, -1.0f ); // bottom right of quad       gl.glend(); // done drawing quad       gl.glflush();        rquad -= 0.15f;    }     @override    public void dispose( glautodrawable drawable ) {       // todo auto-generated method stub    }     @override    public void init( glautodrawable drawable ) {        final gl2 gl = drawable.getgl().getgl2();       gl.glshademodel( gl2.gl_smooth );       gl.glclearcolor( 0f, 0f, 0f, 0f );       gl.glcleardepth( 1.0f );       gl.glenable( gl2.gl_depth_test );       gl.gldepthfunc( gl2.gl_lequal );       gl.glhint( gl2.gl_perspective_correction_hint, gl2.gl_nicest );    }     @override    public void reshape( glautodrawable drawable, int x, int y, int width, int height ) {        // todo auto-generated method stub       final gl2 gl = drawable.getgl().getgl2();       if( height lt;= 0 )          height = 1;        final float h = ( float ) width / ( float ) height;       gl.glviewport( 0, 0, width, height );       gl.glmatrixmode( gl2.gl_projection );       gl.glloadidentity();        glu.gluperspective( 45.0f, h, 1.0, 20.0 );       gl.glmatrixmode( gl2.gl_modelview );       gl.glloadidentity();    }     public static void main( string[] args ) {        final glprofile profile = glprofile.get( glprofile.gl2 );       glcapabilities capabilities = new glcapabilities( profile );        // canvas       final glcanvas glcanvas = new glcanvas( capabilities );       cube cube = new cube();        glcanvas.addgleventlistener( cube );       glcanvas.setsize( 400, 400 );        final jframe frame = new jframe ( " multicolored cube" );       frame.getcontentpane().add( glcanvas );       frame.setsize( frame.getcontentpane().getpreferredsize() );       frame.setvisible( true );       final fpsanimator animator = new fpsanimator(glcanvas, 300,true);        animator.start();    } }