/* #define TESTROT 1 */
#ifdef TESTROT
int b[3] = {100,0,0} , c[3] = {0,0,0};
#endif

#include<stdio.h>
#include<math.h>

#define SI(x) si[x]
#define CO(x) si[x+64]
extern int si[1024];

brot (c,b, x, y, z) 
int b[3];
int c[3];
int x,y,z;
{
   static int rm[3][3], rmx=-1000, rmy=-1000, rmz=-1000;
   int cx,cy,cz, sx,sy,sz;
  if (x != rmx || y != rmy || z != rmz ) {
   cx = CO(x); cy = CO(y); cz = CO(z);
   sx = SI(x); sy = SI(y); sz = SI(z);

   rm[0][0] =  cz*cy/256;
   rm[0][1] = -(cz*((sy*sx)/256))/256-(sz*cx)/256;
   rm[0][2] = -(cz*((sy*cx)/256))/256+(sz*sx)/256;
   rm[1][0] =  (sz*cy)/256;
   rm[1][1] = -(sz*((sy*sx)/256))/256+(cz*cx)/256;
   rm[1][2] = -(sz*((sy*cx)/256))/256-(cz*sx)/256;
   rm[2][0] =  sy;
   rm[2][1] = (cy*sx)/256;
   rm[2][2] = (cy*cx)/256;

#ifdef TESTROT
printmat(rm);
#endif
   
   rmx = x; rmy = y; rmz = z;
  }
  matvec(c,rm,b);
}

matvec(c,m,b)
int c[3], m[3][3], b[3];
{
   int i,j;
   for (i=0; i<3; i++) {
      c[i] = 0;
      for (j=0; j<3; j++)
	 c[i] += m[i][j] * b[j]/256;
   }
}

printvec(v)
int v[3];
{
   int i;
   for (i=0; i<3; i++) printf(" %d ",v[i]);
   printf("\n");
}

printmat(m)
int m[3][3];
{
   int i,j;
   for (i=0; i<3; i++) {
      for (j=0; j<3; j++) 
	 printf(" %d ",m[i][j]);
      printf("\n");
   }
}

#ifdef TESTROT

main(argc,argv)
int argc;
char *argv[];
{
   int ii;
   int x,y,z;
   if (argc != 4) exit(-1);
   sscanf(argv[1],"%d",&x);
   sscanf(argv[2],"%d",&y);
   sscanf(argv[3],"%d",&z);
   printvec(b);
   printvec(c);
   for (ii=0; ii<2*256; ii++) si[ii]=(int) (256.0*sin(ii*2*PI/256));
   brot(c,b,x,y,z);
   printvec(c);
   b[0] = 0; b[1] = 256; b[2] = 0;
   printvec(b);
   brot(c,b,x,y,z);
   printvec(c);
   b[0] = 0; b[1] = 0; b[2] = 256;
   printvec(b);
   brot(c,b,x,y,z);
   printvec(c);
}

#endif