Allow submodels to rotate around an arbitrary axis#3056
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Change the `orientation` field to `frame_of_reference` and remove it from submodel instance calculations.
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This is a rather substantial rewrite/refactor of the submodel rotation code. Submodel rotation is now tracked via an axis-angle representation, which is used to calculate a matrix to represent the submodel orientation in the model instance. The axis can be any unit vector, not limited to the standard X, Y, and Z vectors.
The submodel orientation is now used for position calculation in almost every place the submodel angles were previously used. In conjunction with the simplification of KeldorKatarn's code, this saves a significant number of calculations for every movable submodel in every frame. Hopefully this should lead to a measurable speedup in both rendering and collision detection.