anchor.diff:  
   ;;----------------------------------------------------------------
   
  -(defun rotation-from-euler (vec3-a)
  +(defn rotation-from-euler ((vec3-a vec3)) mat4
     "This is an unrolled contatenation of rotation matrices x y & z."
  +  (declare (optimize (speed 3) (safety 1) (debug 1)))
     (let ((x (x vec3-a))
           (y (y vec3-a))
           (z (z vec3-a)))
  
positive.code:         (w col-3)
          (w col-4)))
  
  (defun from-columns-v3 (col-1 col-2 col-3)
    "Make a 4x4 matrix using the data in the 3 vector3s provided
     to populate the columns"
    (make (x col-1)
          (x col-2)
          (x col-3)
  
negative.code: ;;----------------------------------------------------------------
  
  
  (defn print-m4 ((m4 mat4)) mat4
    (declare (optimize (speed 3) (safety 1) (debug 1)))
    (apply #'format t
           "~%(m! ~s ~s ~s ~s~%    ~s ~s ~s ~s~%    ~s ~s ~s ~s~%    ~s ~s ~s ~s)"
           (concatenate 'list (transpose m4)))
  