guRotateRPY
# guRotateRPY [Function]

### Function

guRotateRPY

*Creates a rotation modeling matrix (fixed point)*

### Syntax

```
#include <ultra64.h> /* gu.h */
void guRotateRPY(Mtx *m, float r, float p, float y);
```

### Arguments

**m**
- Pointer to the matrix resulting from the calculations
**r**
- Angle of rotation of roll (in degrees, x-axis)
**p**
- Angle of rotation of pitch (in degrees, y-axis)
**y**
- Angle of rotation of yaw (in degrees, z-axis)

### Returned value

None.

### Description

Returns a modeling matrix rotated according to (**r**, **p**, **y**) to the structure indicated by **m**. When this function is called, the result is the creation of the following kind of modeling matrix:

For details about the fixed-point format, see gSPMatrix. Floating point is handled with the guRotateRPYF function.

### Note

An angle with a positive value represents counter-clockwise rotation. Be careful about the corresponding axis and the order of rotation.

### Comment

The Mtx structure looks like this:

```
typedef long Mtx_t[4][4];
typedef union {
Mtx_t m;
long long int force_structure_alignment;
} Mtx;
```

### See Also

gSPMatrix, guAlign, guAlignF, guPosition, guPositionF, guRotate, guRotateF, guRotateRPYF, guScale, guScaleF, guTranslate, and guTranslateF

### Revision History

03/01/99 Completely rewritten.