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257 lines
10 KiB
Common Lisp
257 lines
10 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, ENGINE
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;; In general, the euler angle stuff is really inefficient. I don't think it's really used outside of
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;; a few camera debugging functions.
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(defun set-eul! ((arg0 euler-angles) (arg1 float) (arg2 float) (arg3 float) (arg4 int))
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"Set the euler angles. The 4th argument is for flags."
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(set! (-> arg0 data 0) arg1)
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(set! (-> arg0 data 1) arg2)
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(set! (-> arg0 data 2) arg3)
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(set! (-> arg0 data 3) (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 euler angles to rotation matrix."
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(matrix-identity! arg0)
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(let ((s5-0 (new 'stack-no-clear 'vector)))
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;; copy to temp storage.
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(set! (-> s5-0 quad) (-> arg1 quad))
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(if (= (logand (the int (-> s5-0 data 3)) 1) 1)
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(let ((f0-2 (-> s5-0 data 0)))
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(set! (-> s5-0 data 0) (-> s5-0 data 2))
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(set! (-> s5-0 data 2) f0-2)
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)
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)
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(when (= (logand (sar (the int (-> s5-0 data 3)) 2) 1) 1)
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(set! (-> s5-0 data 0) (- (-> s5-0 data 0)))
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(set! (-> s5-0 data 1) (- (-> s5-0 data 1)))
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(set! (-> s5-0 data 2) (- (-> s5-0 data 2)))
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)
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(let* ((f26-0 (cos (-> s5-0 data 0)))
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(f30-0 (cos (-> s5-0 data 1)))
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(f22-0 (cos (-> s5-0 data 2)))
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(f24-0 (sin (-> s5-0 data 0)))
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(f28-0 (sin (-> s5-0 data 1)))
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(f4-0 (sin (-> s5-0 data 2)))
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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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(let* ((v1-12 (logand (sar (the int (-> s5-0 data 3)) 2) 1))
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(a1-2 (-> EulSafe (logand (sar (the int (-> s5-0 data 3)) 3) 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 (sar (the int (-> s5-0 data 3)) 1) 1) 1)
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(set! (-> (the-as (pointer float) (+ (+ (shl a1-2 4) (shl a1-2 2)) (the-as int arg0))))
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f30-0
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a1-2 4) (shl a0-21 2)) (the-as int arg0))))
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(* f28-0 f24-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a1-2 4) (shl v1-17 2)) (the-as int arg0))))
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(* f28-0 f26-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a0-21 4) (shl a1-2 2)) (the-as int arg0))))
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(* f28-0 f4-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a0-21 4) (shl a0-21 2)) (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) (+ (+ (shl a0-21 4) (shl v1-17 2)) (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) (+ (+ (shl v1-17 4) (shl a1-2 2)) (the-as int arg0))))
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(- (* f28-0 f22-0))
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl v1-17 4) (shl a0-21 2)) (the-as int arg0))))
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(+ f1-1 (* f30-0 f2-0))
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)
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(let ((f0-19 (+ (- f3-0) (* f30-0 f0-17))))
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(set! (-> (the-as (pointer float) (+ (+ (shl v1-17 4) (shl v1-17 2)) (the-as int arg0))))
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f0-19
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)
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)
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)
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(else
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(set! (-> (the-as (pointer float) (+ (+ (shl a1-2 4) (shl a1-2 2)) (the-as int arg0))))
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(* f30-0 f22-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a1-2 4) (shl a0-21 2)) (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) (+ (+ (shl a1-2 4) (shl v1-17 2)) (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) (+ (+ (shl a0-21 4) (shl a1-2 2)) (the-as int arg0))))
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(* f30-0 f4-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl a0-21 4) (shl a0-21 2)) (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) (+ (+ (shl a0-21 4) (shl v1-17 2)) (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) (+ (+ (shl v1-17 4) (shl a1-2 2)) (the-as int arg0))))
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(- f28-0)
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)
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(set! (-> (the-as (pointer float) (+ (+ (shl v1-17 4) (shl a0-21 2)) (the-as int arg0))))
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(* f30-0 f24-0)
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)
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(let ((f0-25 (* f30-0 f26-0)))
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(set! (-> (the-as (pointer float) (+ (+ (shl v1-17 4) (shl v1-17 2)) (the-as int arg0))))
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f0-25
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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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)
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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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"Conver matrix to euler angles. Takes some weird flag for what kind of euler angles"
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(let* ((v1-4 (logand (sar arg2 2) 1))
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(s3-0 (-> EulSafe (logand (sar arg2 3) 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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(if (= (logand (sar arg2 1) 1) 1)
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(let* ((f0-0 (-> (the-as (pointer float) (+ (+ (shl s2-0 2) (shl s3-0 4)) (the-as int arg1)))))
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(f0-2 (* f0-0 f0-0))
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(f1-0 (-> (the-as (pointer float) (+ (+ (shl s1-0 2) (shl s3-0 4)) (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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((< 0.00001 f30-0)
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(set! (-> arg0 data 0)
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(atan (-> (the-as (pointer float) (+ (+ (shl s2-0 2) (shl s3-0 4)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (shl s1-0 2) (shl s3-0 4)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 data 1)
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(atan f30-0 (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s3-0 4)) (the-as int arg1)))))
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)
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(let ((f0-13 (atan
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(-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s2-0 4)) (the-as int arg1))))
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(- (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s1-0 4)) (the-as int arg1)))))
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)
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)
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)
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(set! (-> arg0 data 2) f0-13)
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)
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)
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(else
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(set! (-> arg0 data 0)
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(atan (- (-> (the-as (pointer float) (+ (+ (shl s1-0 2) (shl s2-0 4)) (the-as int arg1)))))
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(-> (the-as (pointer float) (+ (+ (shl s2-0 2) (shl s2-0 4)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 data 1)
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(atan
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f30-0
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(-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s3-0 4)) (the-as int arg1))))
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)
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)
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(let ((f0-20 0.0))
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(set! (-> arg0 data 2) f0-20)
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)
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)
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)
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)
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(let* ((f0-21 (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s3-0 4)) (the-as int arg1)))))
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(f0-23 (* f0-21 f0-21))
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(f1-3 (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s2-0 4)) (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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((< 0.00001 f30-1)
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(set! (-> arg0 data 0)
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(atan
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(-> (the-as (pointer float) (+ (+ (shl s2-0 2) (shl s1-0 4)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (shl s1-0 2) (shl s1-0 4)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 data 1)
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(atan
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(- (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s1-0 4)) (the-as int arg1)))))
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f30-1
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)
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)
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(let ((f0-34 (atan
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(-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s2-0 4)) (the-as int arg1))))
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(-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s3-0 4)) (the-as int arg1))))
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)
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)
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)
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(set! (-> arg0 data 2) f0-34)
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)
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)
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(else
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(set! (-> arg0 data 0)
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(atan
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(- (-> (the-as (pointer float) (+ (+ (shl s1-0 2) (shl s2-0 4)) (the-as int arg1)))))
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(-> (the-as (pointer float) (+ (+ (shl s2-0 2) (shl s2-0 4)) (the-as int arg1))))
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)
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)
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(set! (-> arg0 data 1)
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(atan
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(- (-> (the-as (pointer float) (+ (+ (shl s3-0 2) (shl s1-0 4)) (the-as int arg1)))))
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f30-1
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)
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)
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(let ((f0-42 0.0))
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(set! (-> arg0 data 2) f0-42)
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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 (sar arg2 2) 1) 1)
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(set! (-> arg0 data 0) (- (-> arg0 data 0)))
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(set! (-> arg0 data 1) (- (-> arg0 data 1)))
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(let ((f0-48 (- (-> arg0 data 2))))
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(set! (-> arg0 data 2) f0-48)
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)
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)
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(if (= (logand arg2 1) 1)
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(let ((f0-49 (-> arg0 data 0)))
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(set! (-> arg0 data 0) (-> arg0 data 2))
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(set! (-> arg0 data 2) f0-49)
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)
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)
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(set! (-> arg0 data 3) (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"
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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. The last argument is euler flags"
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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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