diff --git a/gc/ogc/gu.h b/gc/ogc/gu.h
index 1863d6e..fd4cb73 100644
--- a/gc/ogc/gu.h
+++ b/gc/ogc/gu.h
@@ -444,7 +444,7 @@ void guMtx44RotAxisRad(Mtx44 mt,const guVector *axis,f32 rad);
 #define guQuatAdd				c_guQuatAdd
 #define guQuatSub				c_guQuatSub
 #define guQuatMultiply			c_guQuatMultiply
-#define guQuatNoramlize			c_guQuatNormalize
+#define guQuatNormalize			c_guQuatNormalize
 #define guQuatInverse			c_guQuatInverse
 #define guQuatMtx				c_guQuatMtx
 
@@ -482,6 +482,7 @@ void guMtx44RotAxisRad(Mtx44 mt,const guVector *axis,f32 rad);
 #define guQuatMultiply			ps_guQuatMultiply
 #define guQuatNormalize			ps_guQuatNormalize
 #define guQuatInverse			ps_guQuatInverse
+#define guQuatMtx				c_guQuatMtx
 
 #define guMtxIdentity			ps_guMtxIdentity
 #define guMtxCopy				ps_guMtxCopy
@@ -499,6 +500,7 @@ void guMtx44RotAxisRad(Mtx44 mt,const guVector *axis,f32 rad);
 #define guMtxRotTrig			ps_guMtxRotTrig
 #define guMtxRotAxisRad			ps_guMtxRotAxisRad
 #define guMtxReflect			ps_guMtxReflect
+#define guMtxQuat				c_guMtxQuat
 
 #endif //MTX_USE_PS
 
diff --git a/libogc/gu.c b/libogc/gu.c
index c393df6..f6a25a9 100644
--- a/libogc/gu.c
+++ b/libogc/gu.c
@@ -1236,16 +1236,19 @@ void c_guQuatMtx(guQuaternion *a,const Mtx m)
 void c_guMtxQuat(Mtx m,const guQuaternion *a)
 {
 	guMtxRowCol(m,0,0) = 1.0f - 2.0f*a->y*a->y - 2.0f*a->z*a->z;
-	guMtxRowCol(m,1,0) = 2.0f*a->x*a->y - 2.0f*a->z*a->w;
-	guMtxRowCol(m,2,0) = 2.0f*a->x*a->z + 2.0f*a->y*a->w;
+	guMtxRowCol(m,0,1) = 2.0f*a->x*a->y - 2.0f*a->w*a->z;
+	guMtxRowCol(m,0,2) = 2.0f*a->x*a->z + 2.0f*a->w*a->y;
+	guMtxRowCol(m,0,3) = 0.0f;
 
-	guMtxRowCol(m,0,1) = 2.0f*a->x*a->y + 2.0f*a->z*a->w;
+	guMtxRowCol(m,1,0) = 2.0f*a->x*a->y + 2.0f*a->w*a->z;
 	guMtxRowCol(m,1,1) = 1.0f - 2.0f*a->x*a->x - 2.0f*a->z*a->z;
-	guMtxRowCol(m,2,1) = 2.0f*a->z*a->y - 2.0f*a->x*a->w;
+	guMtxRowCol(m,1,2) = 2.0f*a->y*a->z - 2.0f*a->w*a->x;
+	guMtxRowCol(m,1,3) = 0.0f;
 
-	guMtxRowCol(m,0,2) = 2.0f*a->x*a->z - 2.0f*a->y*a->w;
-	guMtxRowCol(m,1,2) = 2.0f*a->z*a->y + 2.0f*a->x*a->w;
+	guMtxRowCol(m,2,0) = 2.0f*a->x*a->z - 2.0f*a->w*a->y;
+	guMtxRowCol(m,2,1) = 2.0f*a->y*a->z + 2.0f*a->w*a->x;
 	guMtxRowCol(m,2,2) = 1.0f - 2.0f*a->x*a->x - 2.0f*a->y*a->y;
+	guMtxRowCol(m,2,3) = 0.0f;
 }
 
 void guVecHalfAngle(const guVector *a,const guVector *b,guVector *half)
diff --git a/libogc/gu_psasm.S b/libogc/gu_psasm.S
index 0983cd4..cde023a 100644
--- a/libogc/gu_psasm.S
+++ b/libogc/gu_psasm.S
@@ -40,15 +40,15 @@
 	.globl	ps_guMtxConcat
 	//r3 = mtxA, r4 = mtxB, r5 = mtxAB
 ps_guMtxConcat:
-	stwu		r1,-64(r1)
+	stwu		sp,-64(sp)
 	psq_l		A00_A01,0(r3),0,0
-	stfd		fr14,8(r1)
+	stfd		fr14,8(sp)
 	psq_l		B00_B01,0(r4),0,0
 	lis			r6,Unit01@ha
 	psq_l		B02_B03,8(r4),0,0
-	stfd		fr15,16(r1)
+	stfd		fr15,16(sp)
 	addi		r6,r6,Unit01@l
-	stfd		fr31,40(r1)
+	stfd		fr31,40(sp)
 	psq_l		B10_B11,16(r4),0,0
 	ps_muls0	D00_D01,B00_B01,A00_A01
 	psq_l		A10_A11,16(r3),0,0
@@ -81,15 +81,15 @@ ps_guMtxConcat:
 	ps_madds1	D20_D21,B10_B11,A20_A21,D20_D21
 	ps_madds1	D22_D23,B12_B13,A20_A21,D22_D23
 	ps_madds0	D20_D21,B20_B21,A22_A23,D20_D21
-	lfd			fr14,8(r1)
+	lfd			fr14,8(sp)
 	psq_st		D12_D13,24(r5),0,0
 	ps_madds0	D22_D23,B22_B23,A22_A23,D22_D23
 	psq_st		D20_D21,32(r5),0,0
 	ps_madds1	D22_D23,UNIT01,A22_A23,D22_D23
-	lfd			fr15,16(r1)
+	lfd			fr15,16(sp)
 	psq_st		D22_D23,40(r5),0,0
-	lfd			fr31,40(r1)
-	addi		r1,r1,64
+	lfd			fr31,40(sp)
+	addi		sp,sp,64
 	blr
 
 	.globl ps_guMtxIdentity
@@ -684,7 +684,7 @@ ps_guVecMultiplySR:
     ps_madd		fr11,fr3,fr7,fr10
     psq_st		fr11,4(r5),1,0      // store Y  
     ps_madd		fr13,fr5,fr7,fr12
-    psq_st		fr13,8(r5),1,0      //  sore Z
+    psq_st		fr13,8(r5),1,0      // store Z
 	blr
 
 	.globl ps_quQuatScale