[vtkusers] Relative Rotation with VTK Transform

[David Gobbi]

Hi Lonni,

The RotateWXYZ() method takes an angle (in degrees) and a rotation axis,
rather than a quaternion.

angle = 2.0*atan2(sqrt(q[1]*q[1] + q[2]*q[2] + q[3]*q[3]), q[0]) * 180.0/pi

 - David
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