gives formula to show if a point is inside a cylinder. It is based on finding a rotation that maps the cylinder axis onto a cartesian axis, and then calculate the distance from the axis.

I'm googling but having little luck with this... so, basically, what I need is a matrix to transform an arbitrary plane, in format ( i,j,k,distance ) to be co-planar with, say, the z plane ( 0,0,1,0 ) ...