ComputeRotSpeedToAlignAxes

/* ComputeRotSpeedToAlignAxes(Vector const&, Vector const&, Vector const&, float, float, float) */

Vector * ComputeRotSpeedToAlignAxes
                   (Vector *param_1,Vector *param_2,Vector *param_3,float param_4,float param_5,
                   float param_6)

{
  float fVar1;
  float fVar2;
  float fVar3;
  float fVar4;
  longdouble lVar5;
  float fVar6;
  float fVar7;
  float in_stack_0000001c;
  float local_24;
  float local_20;
  float local_1c;
  float local_18;
  float local_14;
  float local_10;
  
  fVar6 = *(float *)(param_2 + 8);
  fVar7 = *(float *)(param_3 + 8);
  fVar1 = *(float *)(param_2 + 4);
  fVar2 = *(float *)(param_3 + 4);
  fVar3 = *(float *)param_2;
  fVar4 = *(float *)param_3;
  local_24 = fVar7 * fVar1 - fVar6 * fVar2;
  local_20 = fVar6 * fVar4 - fVar7 * fVar3;
  local_1c = fVar2 * fVar3 - fVar4 * fVar1;
  lVar5 = (longdouble)VectorNormalize((Vector *)&local_24);
  lVar5 = (longdouble)
          __atan2_finite((double)(float)lVar5,
                         (double)(fVar2 * fVar1 + fVar3 * fVar4 + fVar6 * fVar7));
  fVar7 = (float)lVar5 * 57.295776;
  fVar6 = (*(float *)((int)param_4 + 4) * local_20 + *(float *)param_4 * local_24 +
          *(float *)((int)param_4 + 8) * local_1c) * param_5;
  local_18 = param_6 * local_24 * fVar7 - local_24 * fVar6;
  local_10 = param_6 * local_1c * fVar7 - fVar6 * local_1c;
  local_14 = param_6 * local_20 * fVar7 - local_20 * fVar6;
  lVar5 = (longdouble)VectorNormalize((Vector *)&local_18);
  fVar6 = (float)lVar5;
  if (in_stack_0000001c <= (float)lVar5) {
    fVar6 = in_stack_0000001c;
  }
  *(float *)param_1 = local_18 * fVar6;
  *(float *)(param_1 + 4) = local_14 * fVar6;
  *(float *)(param_1 + 8) = fVar6 * local_10;
  return param_1;
}