	float sy = sinf(z);

	m[0] = cp * cy;
	m[1] = cp * sy;
	m[2] = -sp;

	float srsp = sr * sp;
	float crsp = cr * sp;

	m[4] = srsp * cy - cr * sy;
	m[5] = srsp * sy + cr * cy;
	m[6] = sr * cp;

	m[8] = crsp * cy + sr * sy;
	m[9] = crsp * sy - sr * cy;