+void AngleMatrix (vec3_t angles, vec3_t translate, vec_t matrix[][4])
+{
+ double angle, sr, sp, sy, cr, cp, cy;
+
+ angle = angles[YAW] * (M_PI*2 / 360);
+ sy = sin(angle);
+ cy = cos(angle);
+ angle = angles[PITCH] * (M_PI*2 / 360);
+ sp = sin(angle);
+ cp = cos(angle);
+ angle = angles[ROLL] * (M_PI*2 / 360);
+ sr = sin(angle);
+ cr = cos(angle);
+ matrix[0][0] = cp*cy;
+ matrix[0][1] = sr*sp*cy+cr*-sy;
+ matrix[0][2] = cr*sp*cy+-sr*-sy;
+ matrix[0][3] = translate[0];
+ matrix[1][0] = cp*sy;
+ matrix[1][1] = sr*sp*sy+cr*cy;
+ matrix[1][2] = cr*sp*sy+-sr*cy;
+ matrix[1][3] = translate[1];
+ matrix[2][0] = -sp;
+ matrix[2][1] = sr*cp;
+ matrix[2][2] = cr*cp;
+ matrix[2][3] = translate[2];
+}
+