Rotate the internal structural object about the given origin by the rotation matrix.
R: The rotation matrix in forwards rotation notation.
origin: The origin or pivot of the rotation.
model: The model to rotate (which if not set will cause all models to be rotated).
atom_id: The atom identification string.
This is used to rotate the internal structural data by the given rotation matrix. If the origin is supplied, then this will act as the pivot of the rotation. Otherwise, all structural data will be rotated about the point [0, 0, 0]. The rotation can be restricted to one specific model.