rotate method
Rotate this by the rotation matrix t
.
Implementation
void rotate(Matrix3 t) {
t
..transform(_axis0..scale(_halfExtents.x))
..transform(_axis1..scale(_halfExtents.y))
..transform(_axis2..scale(_halfExtents.z));
_halfExtents
..x = _axis0.normalize()
..y = _axis1.normalize()
..z = _axis2.normalize();
}