code: public void rotate(Quaternion rotation) {
  		Transform3D m = new Transform3D();
  		m.transform(this.getFirstAxis());
  		m.transform(this.getSecondAxis());
  		m.transform(this.getThirdAxis());
  		this.setFirstAxisExtent(this.getFirstAxis().length());
  		this.setSecondAxisExtent(this.getSecondAxis().length());
  		this.setThirdAxisExtent(this.getThirdAxis().length());
  		this.getFirstAxis().normalize();
  		this.getSecondAxis().normalize();
  		this.getThirdAxis().normalize();
  	}
docs: Rotate the box around its pivot point.
  The pivot point is the center of the box.
  
  @param rotation the rotation.