PK_ERROR_code_t    PK_TRANSF_create_rotation
(
--- received arguments ---
PK_VECTOR_t        position,    --- position on axis
PK_VECTOR1_t       axis,        --- axis direction
double             angle,       --- rotation angle (radians)

--- returned arguments ---
PK_TRANSF_t *const transf       --- rotation transformation
)


This function creates a rotation transformation.


A transf is created that, when applied to an entity, rotates it about the axis
which passes through the given position. The angle of rotation is measured in
radians.  A 'right-hand screw rule' is assumed when calculating rotational
direction with respect to axis direction.