getTrafoRotaxis: compute a 4x4 Transformation matrix for rotation around an arbitrary axis

Description

compute a 4x4 Transformation matrix for rotation around an arbitrary axis

Usage

1
getTrafoRotaxis(pt1, pt2, theta)

Arguments

pt1

numeric vector of length 3, defining first point on the rotation axis.

pt2

numeric vector of length 3, defining second point on the rotation axis.

theta

angle to rotate in radians. With pt1 being the viewpoint, the rotation is counterclockwise.

Note

the resulting matrix can be used in applyTransform


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