ENH: support Euler rotation rollPitchYaw/yawPitchRoll ordering

- can be more intuitive to specify for some cases:

      rotation
      {
          type    euler;
          order   rollPitchYaw;
          angles  (0 20 45);
      }

- refactor starcd rotation to reuse Euler ZXY ordering
  (code reduction)

ENH: add -rotate-x, -rotate-y, -rotate-z for transformPoints etc

- easier to specify for simple rotations