mirror of
https://github.com/open-goal/jak-project.git
synced 2024-10-20 11:26:18 -04:00
9a4929ac0c
- `vector-h` - `gravity-h` - `bounding-box-h` - `matrix-h` - `quaternion-h` - `euler-h` - `transform-h` - `geometry-h` - `trigonometry-h` - `transformq-h` - `bounding-box` - `matrix` - `matrix-compose` - `transform` - `quaternion` - `euler` - `trigonometry` Not a whole lot of changes, just a couple of new functions and one new file (`matrix-compose`).
216 lines
8.7 KiB
Common Lisp
216 lines
8.7 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; name: euler.gc
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;; name in dgo: euler
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;; dgos: GAME
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;; DECOMP BEGINS
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(defun set-eul! ((arg0 euler-angles) (arg1 float) (arg2 float) (arg3 float) (arg4 int))
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"Set euler angles and the flag bits."
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(set! (-> arg0 x) arg1)
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(set! (-> arg0 y) arg2)
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(set! (-> arg0 z) arg3)
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(set! (-> arg0 w) (the float arg4))
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arg0
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)
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(defun eul->matrix ((arg0 matrix) (arg1 euler-angles))
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"Convert from euler angles to 4x4 matrix."
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(matrix-identity! arg0)
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(let ((s5-0 (new 'stack-no-clear 'vector)))
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(set! (-> s5-0 quad) (-> arg1 quad))
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(when (= (logand (the int (-> s5-0 w)) 1) 1)
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(let ((f0-2 (-> s5-0 x)))
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(set! (-> s5-0 x) (-> s5-0 z))
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(set! (-> s5-0 z) f0-2)
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)
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)
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(when (= (logand (/ (the int (-> s5-0 w)) 4) 1) 1)
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(set! (-> s5-0 x) (- (-> s5-0 x)))
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(set! (-> s5-0 y) (- (-> s5-0 y)))
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(set! (-> s5-0 z) (- (-> s5-0 z)))
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)
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(let* ((f26-0 (cos (-> s5-0 x)))
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(f30-0 (cos (-> s5-0 y)))
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(f22-0 (cos (-> s5-0 z)))
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(f24-0 (sin (-> s5-0 x)))
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(f28-0 (sin (-> s5-0 y)))
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(f4-0 (sin (-> s5-0 z)))
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(f0-17 (* f26-0 f22-0))
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(f1-1 (* f26-0 f4-0))
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(f2-0 (* f24-0 f22-0))
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(f3-0 (* f24-0 f4-0))
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)
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0
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0
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0
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(let* ((v1-12 (logand (/ (the int (-> s5-0 w)) 4) 1))
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(a1-2 (-> EulSafe (logand (/ (the int (-> s5-0 w)) 8) 3)))
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(a0-21 (-> EulNext (+ a1-2 v1-12)))
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(v1-17 (-> EulNext (+ (- 1 v1-12) a1-2)))
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)
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(cond
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((= (logand (/ (the int (-> s5-0 w)) 2) 1) 1)
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* a1-2 4)) (the-as int arg0)))) f30-0)
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* a0-21 4)) (the-as int arg0)))) (* f28-0 f24-0))
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* v1-17 4)) (the-as int arg0)))) (* f28-0 f26-0))
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* a1-2 4)) (the-as int arg0)))) (* f28-0 f4-0))
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* a0-21 4)) (the-as int arg0))))
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(- f0-17 (* f30-0 f3-0))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* v1-17 4)) (the-as int arg0))))
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(- (- f2-0) (* f30-0 f1-1))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* a1-2 4)) (the-as int arg0)))) (- (* f28-0 f22-0)))
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* a0-21 4)) (the-as int arg0))))
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(+ f1-1 (* f30-0 f2-0))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* v1-17 4)) (the-as int arg0))))
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(+ (- f3-0) (* f30-0 f0-17))
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)
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)
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(else
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* a1-2 4)) (the-as int arg0)))) (* f30-0 f22-0))
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* a0-21 4)) (the-as int arg0))))
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(+ (- f1-1) (* f28-0 f2-0))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* a1-2 16) (* v1-17 4)) (the-as int arg0))))
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(+ f3-0 (* f28-0 f0-17))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* a1-2 4)) (the-as int arg0)))) (* f30-0 f4-0))
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* a0-21 4)) (the-as int arg0))))
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(+ f0-17 (* f28-0 f3-0))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* a0-21 16) (* v1-17 4)) (the-as int arg0))))
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(+ (- f2-0) (* f28-0 f1-1))
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)
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* a1-2 4)) (the-as int arg0)))) (- f28-0))
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* a0-21 4)) (the-as int arg0)))) (* f30-0 f24-0))
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(set! (-> (the-as (pointer float) (+ (+ (* v1-17 16) (* v1-17 4)) (the-as int arg0)))) (* f30-0 f26-0))
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)
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)
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)
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)
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)
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arg0
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)
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(defun matrix->eul ((arg0 euler-angles) (arg1 matrix) (arg2 int))
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"Convert matrix to euler angles with given order flag.
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Not clear how this works if the matrix has more than just a rotation."
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0
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0
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0
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(let* ((v1-4 (logand (/ arg2 4) 1))
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(s3-0 (-> EulSafe (logand (/ arg2 8) 3)))
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(s2-0 (-> EulNext (+ s3-0 v1-4)))
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(s1-0 (-> EulNext (+ (- 1 v1-4) s3-0)))
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)
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(cond
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((= (logand (/ arg2 2) 1) 1)
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(let* ((f0-0 (-> (the-as (pointer float) (+ (+ (* s2-0 4) (* s3-0 16)) (the-as int arg1)))))
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(f0-2 (* f0-0 f0-0))
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(f1-0 (-> (the-as (pointer float) (+ (+ (* s1-0 4) (* s3-0 16)) (the-as int arg1)))))
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(f30-0 (sqrtf (+ f0-2 (* f1-0 f1-0))))
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)
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(cond
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((< 0.00000000001 f30-0)
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(set! (-> arg0 x) (atan
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(-> (the-as (pointer float) (+ (+ (* s2-0 4) (* s3-0 16)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (* s1-0 4) (* s3-0 16)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 y) (atan f30-0 (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s3-0 16)) (the-as int arg1))))))
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(set! (-> arg0 z) (atan
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(-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s2-0 16)) (the-as int arg1))))
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(- (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s1-0 16)) (the-as int arg1)))))
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)
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)
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)
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(else
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(set! (-> arg0 x) (atan
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(- (-> (the-as (pointer float) (+ (+ (* s1-0 4) (* s2-0 16)) (the-as int arg1)))))
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(-> (the-as (pointer float) (+ (+ (* s2-0 4) (* s2-0 16)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 y) (atan f30-0 (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s3-0 16)) (the-as int arg1))))))
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(set! (-> arg0 z) 0.0)
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)
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)
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)
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)
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(else
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(let* ((f0-21 (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s3-0 16)) (the-as int arg1)))))
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(f0-23 (* f0-21 f0-21))
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(f1-3 (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s2-0 16)) (the-as int arg1)))))
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(f30-1 (sqrtf (+ f0-23 (* f1-3 f1-3))))
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)
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(cond
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((< 0.00000000001 f30-1)
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(set! (-> arg0 x)
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(atan
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(-> (the-as (pointer float) (+ (+ (* s2-0 4) (* s1-0 16)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (* s1-0 4) (* s1-0 16)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 y)
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(atan (- (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s1-0 16)) (the-as int arg1))))) f30-1)
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)
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(set! (-> arg0 z) (atan
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(-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s2-0 16)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s3-0 16)) (the-as int arg1))))
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)
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)
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)
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(else
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(set! (-> arg0 x)
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(atan
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(- (-> (the-as (pointer float) (+ (+ (* s1-0 4) (* s2-0 16)) (the-as int arg1)))))
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(-> (the-as (pointer float) (+ (+ (* s2-0 4) (* s2-0 16)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 y)
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(atan (- (-> (the-as (pointer float) (+ (+ (* s3-0 4) (* s1-0 16)) (the-as int arg1))))) f30-1)
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)
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(set! (-> arg0 z) 0.0)
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)
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)
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)
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)
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)
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)
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(when (= (logand (/ arg2 4) 1) 1)
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(set! (-> arg0 x) (- (-> arg0 x)))
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(set! (-> arg0 y) (- (-> arg0 y)))
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(set! (-> arg0 z) (- (-> arg0 z)))
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)
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(when (= (logand arg2 1) 1)
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(let ((f0-49 (-> arg0 x)))
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(set! (-> arg0 x) (-> arg0 z))
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(set! (-> arg0 z) f0-49)
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)
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)
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(set! (-> arg0 w) (the float arg2))
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arg0
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)
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(defun eul->quat ((arg0 quaternion) (arg1 euler-angles))
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"Convert euler angles to quaternion, not very efficient."
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(let ((s5-0 (new 'stack-no-clear 'matrix)))
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(eul->matrix s5-0 arg1)
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(matrix->quaternion arg0 s5-0)
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)
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arg0
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)
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(defun quat->eul ((arg0 euler-angles) (arg1 quaternion) (arg2 int))
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"Convert quaternion to euler angles with given order, not very efficient."
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(let ((s5-0 (new 'stack-no-clear 'matrix)))
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(quaternion->matrix s5-0 arg1)
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(matrix->eul arg0 s5-0 arg2)
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)
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arg0
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)
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