public static double[][] createTransformForRotationAndTranslation(
			double[][] rotation, double[] translation) {

		double xx = rotation[0][0];
		double xy = rotation[0][1];
		double xz = rotation[0][2];
		double xt = translation[0];

		double yx = rotation[1][0];
		double yy = rotation[1][1];
		double yz = rotation[1][2];
		double yt = translation[1];

		double zx = rotation[2][0];
		double zy = rotation[2][1];
		double zz = rotation[2][2];
		double zt = translation[2];

		double[][] transform = new double[][] {
				new double[] { xx, xy, xz, xt },
				new double[] { yx, yy, yz, yt },
				new double[] { zx, zy, zz, zt }, new double[] { 0, 0, 0, 1 } };

		return transform;

	}