coldet wraper lib to come soon...

I have written a wrapper for coldet.
A collision dectection lib.

Everything works fine except that the matrix function I use
must be pretty buggy.

Is there a matrix guru out there?

Untill I find the problem I post the problematic function here.

When this is solved I will release the lib.

DLL void _stdcall coldet_set_matrix(void *a,float px,float py,float pz,float pitch,float yaw,float roll) {

CollisionModel3D*model= static_cast<CollisionModel3D*>(a);


//the matrix
float mat[16];


//convert to radians
//where pir=pi/180
pitch=pitch*pir;
yaw=yaw*pir;
roll=roll*pir;



float A  = cos(pitch);
float B  = sin(pitch);

float C  = cos(yaw);
float D  = sin(yaw);

float E  = cos(roll);
float F  = sin(roll);

float AD =   A * D;
float BD =   B * D;



mat[0]  =   C * E;
mat[1]  =  -C * F;
mat[2]  =   D;
mat[3]  =   0;

mat[4]  =  BD * E + A * F;
mat[5]  = -BD * F + A * E;
mat[6]  =  -B * C;
mat[7]  =   0;

mat[8]  = -AD * E + B * F;
mat[9]  =  AD * F + B * E;
mat[10] =   A * C;
mat[11] =   0;

mat[12] = px;
mat[13] = py;
mat[14] = pz;
mat[15] = 1;


model->setTransform (mat);

}