rotateCoordinate = function( coordinate, rotation ) {
            var quaternion = rotationToQuaternion( coordinate, rotation );

            return {
                x: rotateByQuaternion( coordinate.x, quaternion ),
                y: rotateByQuaternion( coordinate.y, quaternion ),
                z: rotateByQuaternion( coordinate.z, quaternion )
            };
        }
Given a rotation, return the rotationed coordinate