+ angle = angles[ROLL] * (M_PI*2 / 360);
+ sr = sin(angle);
+ cr = cos(angle);
+ if (right)
+ {
+ right[0] = -1*(sr*sp*cy+cr*-sy);
+ right[1] = -1*(sr*sp*sy+cr*cy);
+ right[2] = -1*(sr*cp);
+ }
+ if (up)
+ {
+ up[0] = (cr*sp*cy+-sr*-sy);
+ up[1] = (cr*sp*sy+-sr*cy);
+ up[2] = cr*cp;
+ }