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#include <meidogte.h>
MATRIX *HiRotMatrix(VECTOR *r, MATRIX *m) {
short s[3],c[3];
MATRIX tm[3];
s[0] = hisin(r->vx); s[1] = hisin(r->vy); s[2] = hisin(r->vz);
c[0] = hicos(r->vx); c[1] = hicos(r->vy); c[2] = hicos(r->vz);
// mX
m->m[0][0] = ONE; m->m[0][1] = 0; m->m[0][2] = 0;
m->m[1][0] = 0; m->m[1][1] = c[0]; m->m[1][2] = -s[0];
m->m[2][0] = 0; m->m[2][1] = s[0]; m->m[2][2] = c[0];
// mY
tm[0].m[0][0] = c[1]; tm[0].m[0][1] = 0; tm[0].m[0][2] = s[1];
tm[0].m[1][0] = 0; tm[0].m[1][1] = ONE; tm[0].m[1][2] = 0;
tm[0].m[2][0] = -s[1]; tm[0].m[2][1] = 0; tm[0].m[2][2] = c[1];
// mZ
tm[1].m[0][0] = c[2]; tm[1].m[0][1] = -s[2]; tm[1].m[0][2] = 0;
tm[1].m[1][0] = s[2]; tm[1].m[1][1] = c[2]; tm[1].m[1][2] = 0;
tm[1].m[2][0] = 0; tm[1].m[2][1] = 0; tm[1].m[2][2] = ONE;
PushMatrix();
MulMatrix0( m, &tm[0], &tm[2] );
MulMatrix0( &tm[2], &tm[1], m );
PopMatrix();
return m;
}
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