OEGeom3DRotVectorToTransform

template<class T, class U, class V>
bool OEGeom3DRotVectorToTransform(T* m, T* tran, const U* p1,
                                  const U* p2, const V theta)

Return the 3x3 rotation matrix m and 3 element translation tran for the transformation needed to rotate cartesian coordinates by theta around the vector formed by the points p1 and p2.