sx,sy,sz = 0,0,3
tx,ty,tz = 0,0,4
fx,fy,fz = 0,1,3

function getMatrixFromPoints(x,y,z,x3,y3,z3,x2,y2,z2)
	x3 = x3-x
	y3 = y3-y
	z3 = z3-z
	x2 = x2-x
	y2 = y2-y
	z2 = z2-z
	local x1 = y2*z3-z2*y3
	local y1 = z2*x3-x2*z3
	local z1 = x2*y3-y2*x3
	x2 = y3*z1-z3*y1
	y2 = z3*x1-x3*z1
	z2 = x3*y1-y3*x1
	local len1 = 1/math.sqrt(x1*x1+y1*y1+z1*z1)
	local len2 = 1/math.sqrt(x2*x2+y2*y2+z2*z2)
	local len3 = 1/math.sqrt(x3*x3+y3*y3+z3*z3)
	x1 = x1*len1 y1 = y1*len1 z1 = z1*len1
	x2 = x2*len2 y2 = y2*len2 z2 = z2*len2
	x3 = x3*len3 y3 = y3*len3 z3 = z3*len3
	return x1,y1,z1,x2,y2,z2,x3,y3,z3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
	local nz1,nz2,nz3
	nz3 = math.sqrt(x2*x2+y2*y2)
	nz1 = -x2*z2/nz3
	nz2 = -y2*z2/nz3
	local vx = nz1*x1+nz2*y1+nz3*z1
	local vz = nz1*x3+nz2*y3+nz3*z3
	return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function getMatrixFromEulerAngles(x,y,z)
	x,y,z = math.rad(x),math.rad(y),math.rad(z)
	local sinx,cosx,siny,cosy,sinz,cosz = math.sin(x),math.cos(x),math.sin(y),math.cos(y),math.sin(z),math.cos(z)
	return
		cosy*cosz-siny*sinx*sinz,cosy*sinz+siny*sinx*cosz,-siny*cosx,
		-cosx*sinz,cosx*cosz,sinx,
		siny*cosz+cosy*sinx*sinz,siny*sinz-cosy*sinx*cosz,cosy*cosx
end

function getPointInFrontOfPoint(x, y, z, rZ, dist)
    local offsetRot = math.rad(rZ)
    local vx = x + dist * math.cos(offsetRot)
    local vy = y + dist * math.sin(offsetRot)  
    return vx, vy, z
end
 
function math.round(number, decimals, method)
    decimals = decimals or 0
    local factor = 10 ^ decimals
    if (method == "ceil" or method == "floor") then return math[method](number * factor) / factor
    else return tonumber(("%."..decimals.."f"):format(number)) end
end

if not script_serverside then
function getBoneMatrix(ped,bone)
        local x,y,z,tx,ty,tz,fx,fy,fz
        x,y,z = getPedBonePosition(ped,bone_0[bone])
        if bone == 1 then
            local x6,y6,z6 = getPedBonePosition(ped,6)
            local x7,y7,z7 = getPedBonePosition(ped,7)
            tx,ty,tz = (x6+x7)*0.5,(y6+y7)*0.5,(z6+z7)*0.5
        elseif bone == 3 then
            local x21,y21,z21, x31,y31,z31
 
            x21,y21,z21 = getPedBonePosition(ped,21)
            x31,y31,z31 = getPedBonePosition(ped,31)
 
            if math.round(x21, 2) == math.round(x31, 2) and math.round(y21, 2) == math.round(y31, 2) and math.round(z21, 2) == math.round(z31, 2) then
                x21,y21,z21 = getPedBonePosition(ped,21)
                local _,_,rZ = getElementRotation(ped)
 
                tx,ty,tz = getPointInFrontOfPoint(x21, y21, z21, rZ, 0.0001)
            else
                tx,ty,tz = (x21+x31)*0.5,(y21+y31)*0.5,(z21+z31)*0.5
            end        
        else
            tx,ty,tz = getPedBonePosition(ped,bone_t[bone])
        end
        fx,fy,fz = getPedBonePosition(ped,bone_f[bone])
        local xx,xy,xz,yx,yy,yz,zx,zy,zz = getMatrixFromPoints(x,y,z,tx,ty,tz,fx,fy,fz)
        if bone == 1 or bone == 3 then xx,xy,xz,yx,yy,yz = -yx,-yy,-yz,xx,xy,xz end
        return xx,xy,xz,yx,yy,yz,zx,zy,zz
    end
end