RotMatrix - N-dimensional Rotation matrix
R = RotMatrix(alpha, u, v)
alpha: Angle of rotation in radians, counter-clockwise direction.
u, v: If just the input alpha is provided, a 2D matrix is replied.
For 1 input u, the 3D rotation matrix is created. u must have 3
If u and v are used as inputs, the N-dimensional rotation is
performed in the hyperplane spanned by u and v. Note, that there is
no unique axis of rotation in N>3 dimensions.
u and v are normalized automatically and in the N-D case v is made
orthogonal to u.
The dimension of u and v determine the dimension of the output.
R: Rotation matrix.