add rotation around origin for Rotation class

[ben-ray]

not sure rotation.py is the right home for the test
@fderop for reference, i think u were thinking about this too?

[rickwierenga]

I was thinking about storing the origin as an attribute on the class itself

[ben-ray]

good idea

[rickwierenga]

we need to return the rotation because otherwise it would break get_absolute_rotation and other functions elsewhere

[ben-ray]

hmm idk how to do this without a 4x4 matrix or a second translation matrix in addition to the rotation matrix

4x4 would just add the translation as a column, but would then have to be implemented in get_absolute_rotation and others?

rotation_matrix_4x4 = [
            [rotation_matrix_3x3[0][0], rotation_matrix_3x3[0][1], rotation_matrix_3x3[0][2], translation.x],
            [rotation_matrix_3x3[1][0], rotation_matrix_3x3[1][1], rotation_matrix_3x3[1][2], translation.y],
            [rotation_matrix_3x3[2][0], rotation_matrix_3x3[2][1], rotation_matrix_3x3[2][2], translation.z],
            [0, 0, 0, 1]  # Last row for homogeneous transformation
        ]

[rickwierenga]

i think this method should just return the rotation matrix, no translation. translation can be applied when actually using the rotation matrix (in get_absolute_location i think)