docs: public void rotate(Quaternion rotation, Point3D pivot) {
  		if (pivot!=null) {
  			// Change the center
  			Transform3D m1 = new Transform3D();
  			m1.setTranslation(-pivot.getX(), -pivot.getY(), -pivot.getZ());
  			Transform3D m2 = new Transform3D();
  			m2.setRotation(rotation);
  			Transform3D m3 = new Transform3D();
  			m3.setTranslation(pivot.getX(), pivot.getY(), pivot.getZ());
  
  			Transform3D r = new Transform3D();
  			r.mul(m1, m2);
  			r.mul(m3);
  			r.transform(this.getCenter());
  		}
  		rotate(rotation);
  	}