The motion is a translation and a rotation with an arbitrary axis. Ttranslation is defined by a three coordinates vector (x,y,z).
Rotation requires two points for the axis, each is a (x,y,z) tuple, and the rotation angle as radian value.
The returned matrix is the Rodrigues matrix.
Mesh rotation on arbitrary axis. g1: the mesh (numpy array) p0,p1: two points for the rotation axis definition alpha: rotation angle (radian) trans: translation (x,y,z) tuple or list or ndarray returns g2 a new grid result of motion on g1 (g1 is unchanged)