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#include "ultra64.h"
void guRotateF(f32 m[4][4], f32 a, f32 x, f32 y, f32 z) {
static f32 dtor = M_PI / 180.0f;
f32 sine;
f32 cosine;
f32 ab;
f32 bc;
f32 ca;
f32 t;
#if LIBULTRA_VERSION >= LIBULTRA_VERSION_K
f32 xs;
f32 ys;
f32 zs;
#endif
guNormalize(&x, &y, &z);
a *= dtor;
sine = sinf(a);
cosine = cosf(a);
t = 1.0f - cosine;
ab = x * y * t;
bc = y * z * t;
ca = z * x * t;
guMtxIdentF(m);
#if LIBULTRA_VERSION >= LIBULTRA_VERSION_K
xs = x * sine;
ys = y * sine;
zs = z * sine;
#else
#define xs (x * sine)
#define ys (y * sine)
#define zs (z * sine)
#endif
t = x * x;
m[0][0] = t + cosine * (1.0f - t);
m[2][1] = bc - xs;
m[1][2] = bc + xs;
t = y * y;
m[1][1] = t + cosine * (1.0f - t);
m[2][0] = ca + ys;
m[0][2] = ca - ys;
t = z * z;
m[2][2] = t + cosine * (1.0f - t);
m[1][0] = ab - zs;
m[0][1] = ab + zs;
}
void guRotate(Mtx* m, f32 a, f32 x, f32 y, f32 z) {
f32 mf[4][4];
guRotateF(mf, a, x, y, z);
guMtxF2L(mf, m);
}
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