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

1 | ```
getTrafoRotaxis(pt1, pt2, theta)
``` |

`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. |

the resulting matrix can be used in `applyTransform`

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