It's Moji's code so he should probably be the one to submit it.

There seems to be a few functions that aren't necessary (perhaps for some other 
code) which could be cleaned up.

It would be nice if there was a method to set a rotation origin in the model - 
or is there some general way to do this?

Martin

ps. There seems to be a lot of cut+paste code between the different 
manipulators - perhaps somebody who understands them better could look at how 
much could be moved to MatrixManipulator.

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