Arbitrary rotation-translation

To support GPU-accelerated rigid body modelling, we need functions to calculate the ALM of a rotated and/or translated object given the ALM of the original object.

ALM rotation function #6 (closed)
ALM shift-Z function #7 (closed)
arbitrary rotation + translation via (rotate, shift-Z, rotate)

Edited Feb 28, 2019 by Chris Kerr

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