--- /dev/null
+function rx = vecrot(angle, vector)
+%
+% VECROT: Transformation matrix for a rotation around the axis given by a vector.
+%
+% Calling Sequence:
+%
+% rx = vecrot (angle, vector);
+%
+% INPUT:
+%
+% angle : rotation angle defined in radians
+% vector : vector defining the rotation axis
+%
+% OUTPUT:
+%
+% rx : (4x4) Transformation matrix.
+%
+%
+% Description:
+%
+% Return the (4x4) Transformation matrix for a rotation about the x axis
+% by the defined angle.
+%
+% See also:
+%
+% nrbtform
+%
+% Copyright (C) 2011 Rafael Vazquez
+%
+% This program is free software: you can redistribute it and/or modify
+% it under the terms of the GNU General Public License as published by
+% the Free Software Foundation, either version 2 of the License, or
+% (at your option) any later version.
+
+% This program is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+% GNU General Public License for more details.
+%
+% You should have received a copy of the GNU General Public License
+% along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+% Normalize the vector
+vec = vector / norm (vector);
+
+sn = sin (angle);
+cn = cos (angle);
+rx = [cn+vec(1)^2*(1-cn), vec(1)*vec(2)*(1-cn)-vec(3)*sn, vec(1)*vec(3)*(1-cn)+vec(2)*sn, 0;
+ vec(1)*vec(2)*(1-cn)+vec(3)*sn, cn+vec(2)^2*(1-cn), vec(2)*vec(3)*(1-cn)-vec(1)*sn, 0;
+ vec(1)*vec(3)*(1-cn)-vec(2)*sn, vec(2)*vec(3)*(1-cn)+vec(1)*sn, cn+vec(3)^2*(1-cn), 0;
+ 0 0 0 1];
+
+end