anchor.diff:      (format f "~&/* AUTOGENERATED BY REFLEX FRAME GENERATOR */")
       (format f "~{~&#include <~A>~}" (list "amino.h" "reflex.h" header-file))
       (format f "~{~&#include \"~A\"~}" headers)
  +    (emit-fixed-frames frames :stream f)
       (emit-rel-fun relative-function frames :stream f :block-arrays block-arrays)
       (emit-parents-array parents-array frames :stream f)
       (emit-names-array frame-names-array frames :stream f)
  
positive.code:          (:fixed (emit-fixed-frame frame stream "e"))
           (otherwise (error "Unknown type of frame ~A" (frame-name frame)))))
    (format stream "~&}"))
  
  (defun frame-fun-decl (name &key (stream t))
    (format stream "~&void ~A( ~A )"
  
negative.code:       f))
  
  (defun emit-fixed-frame (frame stream e)
    (let ((name (frame-name frame))
          (ptr (format nil "~A+ldE*~A" e (frame-name frame))))
        (format stream "~&    memcpy(~A, fixed_~A, 7*sizeof(~A[0]));"
                ptr name e)))
  
  (defun emit-quat (stream ptr angle x y z)
    (let* ((n (sqrt (+ (* x x) (* y y) (* z z))))
  