rotate method

void rotate (Matrix3 t)

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();
}