void Matrix44::setRotation(double radians, Vector axis){
assert(axis.size() == 3);
Matrix44 r = Matrix44();
Matrix44 aux = Matrix44();;
aux.setIdentity();
aux.setPosition(m[3],m[7],m[11]);
r.setRotationMatrix(radians, axis);
operator=(r*aux);
}
//---------------------
//For a local rotation you have to:
//1. Put the Matrix at 0,0,0 world coordinates after memorizing the original position
//2. Make a normal rotation
//3. Put back Matrix to its original position
//---------------------
void Matrix44::rotateLocal(double radians, Vector axis){
//1
Matrix44 r = Matrix44();
r.setRotationMatrix(radians,axis);
Vector pos= Vector(3);
pos.takePosition(*this);
setPosition(0,0,0);
//2
operator=(r*(*this));
//3
setPosition(pos[0], pos[1], pos[2]);
}