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77 lines
2.8 KiB
Common Lisp
77 lines
2.8 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; name: transformq-h.gc
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;; name in dgo: transformq-h
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;; dgos: GAME, ENGINE
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;; transforms, but using quaternions to represent rotations.
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(deftype transformq (transform)
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;; this overlays the rot field of transform.
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((quat quaternion :inline :offset 16)
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)
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:method-count-assert 9
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:size-assert #x30
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:flag-assert #x900000030
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)
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(deftype trsq (trs)
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;; this overlays the rot field of trs.
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((quat quaternion :inline :offset 32)
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)
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:method-count-assert 9
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:size-assert #x40
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:flag-assert #x900000040
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)
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;; Representing a translate/rotate/scale with a quaternion and a velocity.
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(deftype trsqv (trsq)
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((pause-adjust-distance meters :offset 4)
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(nav-radius meters :offset 8)
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(transv vector :inline :offset-assert 64)
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(rotv vector :inline :offset-assert 80)
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(scalev vector :inline :offset-assert 96)
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(dir-targ quaternion :inline :offset-assert 112)
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(angle-change-time int64 :offset-assert 128)
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(old-y-angle-diff float :offset-assert 136)
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)
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:method-count-assert 28
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:size-assert #x8c
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:flag-assert #x1c0000008c
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(:methods
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(seek-toward-heading-vec! (_type_ vector float int) quaternion 9)
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(set-heading-vec! (_type_ vector) quaternion 10)
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(seek-to-point-toward-point! (_type_ vector float int) quaternion 11)
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(point-toward-point! (_type_ vector) quaternion 12)
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(seek-toward-yaw-angle! (_type_ float float int) quaternion 13)
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(set-yaw-angle-clear-roll-pitch! (_type_ float) quaternion 14)
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(set-roll-to-grav! (_type_ float) quaternion 15)
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(set-roll-to-grav-2! (_type_ float) quaternion 16)
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(rotate-toward-orientation! (_type_ quaternion float float) quaternion 17)
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(set-quaternion! (_type_ quaternion) quaternion 18)
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(set-heading-vec-clear-roll-pitch! (_type_ vector) quaternion 19)
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(point-toward-point-clear-roll-pitch! (_type_ vector) quaternion 20)
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(rot->dir-targ! (_type_) quaternion 21)
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(y-angle (_type_) float 22)
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(global-y-angle-to-point (_type_ vector) float 23)
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(relative-y-angle-to-point (_type_ vector) float 24)
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(roll-relative-to-gravity (_type_) float 25)
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(TODO-RENAME-26 (_type_ int vector float) trsqv 26)
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(get-quaternion (_type_) quaternion 27)
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)
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)
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(defmethod global-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
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"Get the angle from the position of this trsqv to the point arg0."
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(vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
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)
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(defmethod relative-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
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"Get the y angle between here and arg0, starting at whatever angle we're currently at."
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(deg-diff
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(y-angle obj)
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(vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
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)
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)
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