def rotate(self, a):
"""
Rotate center so we rotate ccw arround p0
"""
ca = cos(a)
sa = sin(a)
rM = Matrix([
[ca, -sa],
[sa, ca]
])
p0 = self.p0
self.c = p0 + rM * (self.c - p0)
dp = p0 - self.c
self.a0 = atan2(dp.y, dp.x)
return self
# make offset for line / arc, arc / arc
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