rotate the matrix by a given amount on 3 axes

def rotate(self, g):
        '''rotate the matrix by a given amount on 3 axes'''
        temp_matrix = Matrix3()
        a = self.a
        b = self.b
        c = self.c
        temp_matrix.a.x = a.y * g.z - a.z * g.y
        temp_matrix.a.y = a.z * g.x - a.x * g.z
        temp_matrix.a.z = a.x * g.y - a.y * g.x
        temp_matrix.b.x = b.y * g.z - b.z * g.y
        temp_matrix.b.y = b.z * g.x - b.x * g.z
        temp_matrix.b.z = b.x * g.y - b.y * g.x
        temp_matrix.c.x = c.y * g.z - c.z * g.y
        temp_matrix.c.y = c.z * g.x - c.x * g.z
        temp_matrix.c.z = c.x * g.y - c.y * g.x
        self.a += temp_matrix.a
        self.b += temp_matrix.b
        self.c += temp_matrix.c