Set Matrix4 from Translation & Rotation

Ported from glmatrix:
https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/mat4.js#L619

From the description:
This is equivalent to (but much faster than):
mat4.identity(dest);
mat4.translate(dest, vec);
var quatMat = mat4.create();
quat4.toMat4(quat, quatMat);
mat4.multiply(dest, quatMat);