Creates a new transformation of rotation.

The frames should be right hand orthonormal frames (unit vectors with Z = X X Y). The resulting rotation fixes the origin (0,0,0), maps initial X to final X, initial Y to final Y, and initial Z to final Z.

If the initial and final center are equal, then that center point is the fixed point of the rotation. If the initial and final point differ, then the resulting transform is the composition of a rotation fixing P0 and translation from P0 to P1. The resulting transformation maps P0 to P1, P0+X0 to P1+X1, ...