jak-project/goal_src/engine/math/transformq-h.gc

;;-*-Lisp-*-
(in-package goal)

;; name: transformq-h.gc
;; name in dgo: transformq-h
;; dgos: GAME, ENGINE

;; transforms, but using quaternions to represent rotations.

(deftype transformq (transform)
  ;; this overlays the rot field of transform.
  ((quat  quaternion :inline :offset 16)
   )
  :method-count-assert 9
  :size-assert         #x30
  :flag-assert         #x900000030
  )

(deftype trsq (trs)
  ;; this overlays the rot field of trs.
  ((quat  quaternion :inline :offset 32)
   )
  :method-count-assert 9
  :size-assert         #x40
  :flag-assert         #x900000040
  )

;; Representing a translate/rotate/scale with a quaternion and a velocity.
(deftype trsqv (trsq)
  ((pause-adjust-distance float              :offset 4) ;; todo meters
   (nav-radius            float              :offset 8) ;; todo meters
   (transv                vector     :inline :offset-assert 64)
   (rotv                  vector     :inline :offset-assert 80)
   (scalev                vector     :inline :offset-assert 96)
   (dir-targ              quaternion :inline :offset-assert 112)
   (angle-change-time     uint64             :offset-assert 128)
   (old-y-angle-diff      float              :offset-assert 136)
   )
  :method-count-assert 28
  :size-assert         #x8c
  :flag-assert         #x1c0000008c
  (:methods
   (dummy-9 () none 9)
   (dummy-10 () none 10)
   (dummy-11 () none 11)
   (dummy-12 () none 12)
   (dummy-13 () none 13)
   (dummy-14 () none 14)
   (dummy-15 () none 15)
   (dummy-16 () none 16)
   (dummy-17 () none 17)
   (dummy-18 () none 18)
   (dummy-19 () none 19)
   (dummy-20 () none 20)
   (dummy-21 () none 21)
   (y-angle (_type_) float 22)
   (global-y-angle-to-point (_type_ vector) float 23)
   (relative-y-angle-to-point (_type_ vector) float 24)
   (dummy-25 () none 25)
   (dummy-26 () none 26)
   (get-quaternion (_type_) quaternion 27)
   )
  )

(defmethod global-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
  "Get the angle from the position of this trsqv to the point arg0."
  (rlet ((vf0 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (.lvf vf0 (new 'static 'vector :x 0.0 :y 0.0 :z 0.0 :w 1.0))
    (vector-y-angle
     (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans))
     )
    )
  )

(defmethod relative-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
  "Get the y angle between here and arg0, starting at whatever angle we're currently at."
  (rlet ((vf0 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (.lvf vf0 (new 'static 'vector :x 0.0 :y 0.0 :z 0.0 :w 1.0))

    (deg-diff
     (y-angle obj)
     (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
     )
    )
  )