Hi, i'm developing a ragdoll simulator using Processing. I have to make the bounding box of a tetrahedron. I have the basic bounding box without rotation, but I need the rotation...can anybdy help me?

I have this code:

1. public class Box{
    
     private float ancho,altura,profundo;
     private PVector centro;
     Sphere xneg,xpos,z,y;
    
    public Box(Sphere xneg,Sphere xpos,Sphere z,Sphere y){
      this.xneg=xneg;
      this.xpos=xpos;
      this.z=z;
      this.y=y;
   
    }
   public void draw(){
    
     PVector xnegv = xneg.getVector();
     PVector  xposv = xpos.getVector();
     PVector  zv = z.getVector();
     PVector  yv = y.getVector();
     println(xnegv);
     println(xposv);
     println(zv);
     println();
     centro = xposv.get();
     centro.sub(xnegv);
     centro.div(2);
     centro.add(xnegv);
    
     PVector prof = centro.get();
     prof.sub(zv);
     profundo = centro.dist(zv);
    
     PVector centroz = zv.get();
     centroz.sub(centro);
     centroz.div(2);
     centro.add(centroz);
    
     PVector alt = centro.get();
     alt.sub(yv);
     altura = centro.dist(yv);
    
     PVector an = xnegv.get();
     an.sub(xposv);
     ancho=xnegv.dist(xposv);
    
    
    translate(centro.x,centro.y,centro.z);
    fill(255,0,0);
    box(ancho,altura,profundo);
   }
   }