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#include "ultra64.h"
#include "math.h"
void guRotateF(float m[4][4], float a, float x, float y, float z) {
static float dtor = M_PIf / 180.0f;
float sine;
float cosine;
float ab;
float bc;
float ca;
float t;
float xs;
float ys;
float zs;
guNormalize(&x, &y, &z);
a *= dtor;
sine = sinf(a);
cosine = cosf(a);
ab = x * y * (1 - cosine);
bc = y * z * (1 - cosine);
ca = z * x * (1 - cosine);
guMtxIdentF(m);
xs = x * sine;
ys = y * sine;
zs = z * sine;
t = x * x;
m[0][0] = (1 - t) * cosine + t;
m[2][1] = bc - xs;
m[1][2] = bc + xs;
t = y * y;
m[1][1] = (1 - t) * cosine + t;
m[2][0] = ca + ys;
m[0][2] = ca - ys;
t = z * z;
m[2][2] = (1 - t) * cosine + t;
m[1][0] = ab - zs;
m[0][1] = ab + zs;
}
void guRotate(Mtx* m, float a, float x, float y, float z) {
float mf[4][4];
guRotateF(mf, a, x, y, z);
guMtxF2L(mf, m);
}
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