CREATEROTATIONOX Create the 4x4 matrix of a 3D rotation around x-axis.

   TRANS = createRotationOx(THETA);
   Returns the transform matrix corresponding to a rotation by the angle
   THETA (in radians) around the Ox axis. A rotation by an angle of PI/2
   would transform the vector [0 1 0] into the vector [0 0 1].

   The returned matrix has the form:
   [1      0            0      0]
   [0  cos(THETA) -sin(THETA)  0]
   [0  sin(THETA)  cos(THETA)  0]
   [0      0            0      1]

   TRANS = createRotationOx(ORIGIN, THETA);
   TRANS = createRotationOx(X0, Y0, Z0, THETA);
   Also specifies origin of rotation. The result is similar as performing
   translation(-X0, -Y0, -Z0), rotation, and translation(X0, Y0, Z0).

   See also:
   transforms3d, transformPoint3d, createRotationOy, createRotationOz

Package: matgeom