decomp: mostly finish aligner (#686)

* decomp: mostly finish `aligner`

Issues in aligner/aligner-h that require hand-editing after decompilation

* linting

.vscode/settings.json

@@ -11,20 +11,38 @@
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
         {
-          "overviewRulerColor": "transparent", // TODO - fix this bug, it extends beyond the line match
+          "overviewRulerColor": "transparent",
           "color": "#41f041",
           "fontWeight": "bold"
         }
       ]
     },
+    "(<uninitialized>)": {
+      "filterFileRegex": ".*ir2\\.asm",
+      "decorations": [
+        {
+          "overviewRulerColor": "transparent",
+          "color": "#c72855"
+        }
+      ]
+    },
     "(INFO:.*)": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
         {
           "overviewRulerColor": "transparent",
           "color": "yellow",
-          "fontWeight": "bold",
-          "filterFileRegex": ".*ir2\\.asm"
+          "fontWeight": "bold"
+        }
+      ]
+    },
+    "(sp, -?\\d+ )": {
+      "filterFileRegex": ".*ir2\\.asm",
+      "decorations": [
+        {
+          "overviewRulerColor": "transparent",
+          "color": "#00ff08",
+          "fontWeight": "bold"
         }
       ]
     },
@@ -57,6 +75,24 @@
         }
       ]
     },
+    "(lwu t9)": {
+      "filterFileRegex": ".*ir2\\.asm",
+      "decorations": [
+        {
+          "overviewRulerColor": "transparent",
+          "color": "magenta"
+        }
+      ]
+    },
+    "(jalr)": {
+      "filterFileRegex": ".*ir2\\.asm",
+      "decorations": [
+        {
+          "overviewRulerColor": "transparent",
+          "color": "magenta"
+        }
+      ]
+    },
     "(L\\d+)": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
@@ -75,117 +111,130 @@
         }
       ]
     },
-    "(at)": {
+    "([\\s\\(])(at)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "red"
         }
       ]
     },
-    "(gp)": {
+    "([\\s\\(])(gp)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#64c5e3"
         }
       ]
     },
-    "(v0)": {
+    "([\\s\\(])(v0)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#c6c1e6"
         }
       ]
     },
-    "(v1)": {
+    "([\\s\\(])(v1)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#dae6be"
         }
       ]
     },
-    "(s6)": {
+    "([\\s\\(])(s6)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#41f0b0"
         }
       ]
     },
-    "(a0)": {
+    "([\\s\\(])(a0)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "pink"
         }
       ]
     },
-    "(a1)": {
+    "([\\s\\(])(a1)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#e065bb"
         }
       ]
     },
-    "(a2)": {
+    "([\\s\\(])(a2)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#6dd1a6"
         }
       ]
     },
-    "(a3)": {
+    "([\\s\\(])(a3)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#bad192"
         }
       ]
     },
-    "(t0)": {
+    "([\\s\\(])(t0)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#b56b82"
         }
       ]
     },
-    "(t1)": {
+    "([\\s\\(])(t1)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#6d32ba"
         }
       ]
     },
-    "(t2)": {
+    "([\\s\\(])(t2)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#db9267"
         }
       ]
     },
-    "(t3)": {
+    "([\\s\\(])(t3)([\\s\\),:-])": {
       "filterFileRegex": ".*ir2\\.asm",
       "decorations": [
+        {},
         {
           "overviewRulerColor": "transparent",
           "color": "#92db67"

decompiler/config/all-types.gc

@@ -2194,7 +2194,7 @@
     (global-y-angle-to-point (_type_ vector) float 23)
     (relative-y-angle-to-point (_type_ vector) float 24)
     (TODO-VECTOR-MATH-ISSUES-25 (_type_) float 25)
-    (dummy-26 () none 26)
+    (TODO-RENAME-26 (_type_ int vector float) trsqv 26)
     (get-quaternion (_type_) quaternion 27)
     )
   )
@@ -9672,10 +9672,11 @@
 
 ;; - Types
 
+(declare-type process-drawable process)
 (deftype align-control (basic)
   ((flags       uint32             :offset-assert 4)
-   (process     process            :offset-assert 8)
-   (frame-group basic              :offset-assert 12)
+   (process     process-drawable            :offset-assert 8)
+   (frame-group art-joint-anim              :offset-assert 12)
    (frame-num   float              :offset-assert 16)
    (matrix      matrix     2  :inline     :offset-assert 32)
    (transform   transform    2 :inline      :offset-assert 160)
@@ -9688,11 +9689,11 @@
   :flag-assert         #xe00000134
   (:methods
     (new (symbol type process) _type_ :behavior process-drawable 0)
-    (dummy-9 () none 9)
-    (dummy-10 () none 10)
-    (dummy-11 () none 11)
-    (dummy-12 () none 12)
-    (dummy-13 () none 13)
+    (TODO-RENAME-9 (_type_) transformq 9)
+    (TODO-RENAME-10 (_type_ int float float float) trsqv 10)
+    (TODO-RENAME-11 (_type_ int vector int float float) none 11) ;; 3rd arg is unused
+    (first-transform (_type_) transform 12)
+    (snd-transform (_type_) transform 13)
     )
   )
 
@@ -10823,7 +10824,6 @@
   :flag-assert         #x38000000b8
   (:methods
     (new (symbol type process collide-list-enum) _type_)
-    (dummy-26 () none 26)
     (dummy-28 () none 28)
     (dummy-29 () none 29)
     (dummy-30 () none 30)

decompiler/config/jak1_ntsc_black_label/stack_structures.jsonc

@@ -540,5 +540,14 @@
     [64, "vector"]
   ],
 
+  "(method 9 align-control)": [
+    [16, "matrix"],
+    [80, "quaternion"]
+  ],
+
+  "(method 10 align-control)": [
+    [16, "vector"]
+  ],
+
   "placeholder-do-not-add-below!": []
 }

decompiler/config/jak1_ntsc_black_label/type_casts.jsonc

@@ -1154,5 +1154,9 @@
     [6, "a3", "symbol"]
   ],
 
+  "(method 9 align-control)": [
+    [[27, 31], "t9", "(function object object object object)"]
+  ],
+
   "placeholder-do-not-add-below": []
 }

goal_src/engine/anim/aligner-h.gc

@@ -7,26 +7,26 @@
 
 
 (deftype align-control (basic)
-  ((flags       uint32                         :offset-assert 4)
-   (process     process                        :offset-assert 8)
-   (frame-group basic                          :offset-assert 12)
-   (frame-num   float                          :offset-assert 16)
-   (matrix      matrix     2 :inline           :offset-assert 32)
-   (transform   transform  2 :inline           :offset-assert 160)
-   (delta       transformq :inline             :offset-assert 256)
-   (last-speed  float                          :offset-assert 304) ;; meters
-   (align       transformq :inline :offset 160)
+  ((flags       uint32                      :offset-assert 4)
+   (process     process-drawable            :offset-assert 8)
+   (frame-group art-joint-anim              :offset-assert 12)
+   (frame-num   float                       :offset-assert 16)
+   (matrix      matrix     2      :inline   :offset-assert 32)
+   (transform   transform    2    :inline   :offset-assert 160)
+   (delta       transformq :inline          :offset-assert 256)
+   (last-speed  float                       :offset-assert 304);; meters
+   (align       transformq :inline          :offset        160)
    )
   :method-count-assert 14
   :size-assert         #x134
   :flag-assert         #xe00000134
   (:methods
     (new (symbol type process) _type_ :behavior process-drawable 0)
-    (dummy-9 () none 9)
-    (dummy-10 () none 10)
-    (dummy-11 () none 11)
-    (dummy-12 () none 12)
-    (dummy-13 () none 13)
+    (TODO-RENAME-9 (_type_) transformq 9)
+    (TODO-RENAME-10 (_type_ int float float float) trsqv 10)
+    (TODO-RENAME-11 (_type_ int vector int float float) none 11) ;; 3rd arg is unused
+    (first-transform (_type_) transform 12)
+    (snd-transform (_type_) transform 13)
     )
   )
 
@@ -39,7 +39,7 @@
         (return (the align-control 0))
         )
 
-      (set! (-> obj process) proc)
+      (set! (-> obj process) (the-as process-drawable proc))
       obj
       )
   )

goal_src/engine/anim/aligner.gc

@@ -5,3 +5,268 @@
 ;; name in dgo: aligner
 ;; dgos: GAME, ENGINE
 
+;; definition for method 9 of type align-control
+;; WARN: Unsupported inline assembly instruction kind - [lw ra, return-from-thread(s7)]
+;; WARN: Unsupported inline assembly instruction kind - [jr ra]
+;; Used lq/sq
+(defmethod TODO-RENAME-9 align-control ((obj align-control))
+  (local-vars (a0-9 symbol) (s7-0 none) (ra-0 int))
+  (with-pp
+   (let ((s5-0 (-> obj process skel active-channels)))
+    (dotimes (s4-0 s5-0)
+     (let* ((a0-3 (-> obj process skel channel s4-0))
+            (v1-5 (-> a0-3 frame-group))
+            (a0-4 (-> a0-3 command))
+            (a1-0 'stack)
+            (a2-0 (= a0-4 a1-0))
+            )
+      (cond
+       ((or a2-0 (begin
+                  (set! a1-0 'stack1)
+                  (= a0-4 a1-0)
+                  )
+         )
+        )
+       (else
+        ; TODO - support decompiling the return-from-thread
+        ; TODO - properly decompile the `go`to
+        ; (when (!= (-> v1-5 type) art-joint-anim)
+        ;  (let
+        ;   ((t9-0 (the-as (function object object object object) enter-state))
+        ;    (a0-7 "align joint-anim")
+        ;    )
+        ;   (set! (-> pp next-state) process-drawable-art-error)
+        ;   (t9-0 a0-7 (the-as none a1-0) a2-0)
+        ;   )
+        ;  (.lw ra-0 return-from-thread s7-0)
+        ;  (.jr ra-0)
+        ;  (nop!)
+        ;  0
+        ;  )
+          0
+        )
+       )
+      )
+     )
+    )
+   (let* ((a0-8 (-> obj process skel root-channel 0))
+          (v1-16 (-> a0-8 frame-group))
+          (f0-0 (-> a0-8 frame-num))
+          )
+    (= (-> a0-8 num-func) num-func-loop!)
+    (cond
+     ((or (not v1-16) (!= (-> obj frame-group) v1-16))
+      (set! a0-9 #t)
+      )
+     (else
+      (if (= (-> a0-8 num-func) num-func-loop!)
+       (set! a0-9 (< (* (-> a0-8 param 0) (- f0-0 (-> obj frame-num))) 0.0))
+       (set! a0-9 (= f0-0 0.0))
+       )
+      )
+     )
+    (if a0-9
+     (set! (-> obj flags) (logior (-> obj flags) 1))
+     (set! (-> obj flags) (logand -2 (the-as int (-> obj flags))))
+     )
+    (set! (-> obj frame-group) v1-16)
+    (set! (-> obj frame-num) f0-0)
+    )
+   (mem-copy!
+    (the-as pointer (-> obj transform 1))
+    (the-as pointer (-> obj transform))
+    48
+    )
+   (quaternion-copy!
+    (the-as quaternion (-> obj transform 1 rot))
+    (-> obj align quat)
+    )
+   (set! (-> obj transform 1 scale quad) (-> obj align scale quad))
+   (let* ((a2-5 (-> obj matrix 1))
+          (a3-0 (-> obj matrix))
+          (v1-19 (-> a3-0 0 vector 0 quad))
+          (a0-18 (-> a3-0 0 vector 1 quad))
+          (a1-12 (-> a3-0 0 vector 2 quad))
+          (a3-1 (-> a3-0 0 vector 3 quad))
+          )
+    (set! (-> a2-5 vector 0 quad) v1-19)
+    (set! (-> a2-5 vector 1 quad) a0-18)
+    (set! (-> a2-5 vector 2 quad) a1-12)
+    (set! (-> a2-5 vector 3 quad) a3-1)
+    )
+   (let ((s5-1 (-> obj process node-list data 1)))
+    (cspace<-matrix-no-push-joint! s5-1 (the-as matrix (-> obj process skel)))
+    (let* ((v1-23 (-> obj matrix))
+           (a3-2 (-> s5-1 bone transform))
+           (a0-21 (-> a3-2 vector 0 quad))
+           (a1-14 (-> a3-2 vector 1 quad))
+           (a2-6 (-> a3-2 vector 2 quad))
+           (a3-3 (-> a3-2 vector 3 quad))
+           )
+     (set! (-> v1-23 0 vector 0 quad) a0-21)
+     (set! (-> v1-23 0 vector 1 quad) a1-14)
+     (set! (-> v1-23 0 vector 2 quad) a2-6)
+     (set! (-> v1-23 0 vector 3 quad) a3-3)
+     )
+    (vector*!
+     (the-as vector (-> obj transform))
+     (-> s5-1 bone position)
+     (-> obj process root scale)
+     )
+    )
+   (vector-!
+    (the-as vector (-> obj delta))
+    (the-as vector (-> obj transform))
+    (the-as vector (-> obj transform 1))
+    )
+   (let ((s5-2 (-> obj align scale)))
+    (set! (-> s5-2 x) (vector-length (the-as vector (-> obj matrix))))
+    (set! (-> s5-2 y) (vector-length (-> obj matrix 0 vector 1)))
+    (set! (-> s5-2 z) (vector-length (-> obj matrix 0 vector 2)))
+    (set! (-> s5-2 w) 1.0)
+    )
+   (vector-!
+    (-> obj delta scale)
+    (-> obj align scale)
+    (-> obj transform 1 scale)
+    )
+   (let
+    ((a2-8
+      (matrix-inv-scale! (new 'stack-no-clear 'matrix) (-> obj align scale))
+      )
+     )
+    (quaternion-normalize!
+     (matrix->quaternion
+      (-> obj align quat)
+      (matrix*! a2-8 (the-as matrix (-> obj matrix)) a2-8)
+      )
+     )
+    )
+   (let
+    ((a1-24
+      (quaternion-inverse!
+       (new 'stack-no-clear 'quaternion)
+       (the-as quaternion (-> obj transform 1 rot))
+       )
+      )
+     )
+    (quaternion-normalize!
+     (quaternion*! (-> obj delta quat) a1-24 (-> obj align quat))
+     )
+    )
+   (-> obj delta)
+   )
+  )
+
+;; definition for method 12 of type align-control
+;; INFO: Return type mismatch (inline-array transform) vs transform.
+(defmethod first-transform align-control ((obj align-control))
+  (the-as transform (-> obj transform))
+  )
+
+;; definition for method 13 of type align-control
+(defmethod snd-transform align-control ((obj align-control))
+  (-> obj transform 1)
+  )
+
+;; definition for method 10 of type align-control
+(defmethod
+  TODO-RENAME-10
+  align-control
+  ((obj align-control) (arg0 int) (arg1 float) (arg2 float) (arg3 float))
+  (when (zero? (logand (-> obj flags) 1))
+   (let* ((a0-1 (-> obj process))
+          (t9-0 (method-of-object a0-1 dummy-16))
+          (v1-4 (-> obj delta))
+          (t1-0 (new 'stack-no-clear 'vector))
+          )
+    (set! (-> t1-0 x) arg1)
+    (set! (-> t1-0 y) arg2)
+    (set! (-> t1-0 z) arg3)
+    (set! (-> t1-0 w) 1.0)
+    (t9-0 a0-1 arg0 (the-as (inline-array vector) v1-4) t1-0)
+    )
+   )
+  (-> obj process root)
+  )
+
+;; definition for method 26 of type trsqv
+(defmethod
+  TODO-RENAME-26
+  trsqv
+  ((obj trsqv) (arg0 int) (arg1 vector) (arg2 float))
+  (let ((gp-0 (-> obj transv)))
+   (when (nonzero? (logand arg0 4))
+    (set! (-> gp-0 x) (-> arg1 x))
+    (set! (-> gp-0 z) (-> arg1 z))
+    (let
+     ((f0-4
+       (fmin (* (vector-xz-length arg1) (-> *display* frames-per-second)) arg2)
+       )
+      )
+     (vector-xz-normalize! gp-0 f0-4)
+     )
+    )
+   )
+  obj
+  )
+
+;; definition for method 11 of type align-control
+;; INFO: Return type mismatch trsqv vs none.
+(defmethod
+  TODO-RENAME-11
+  align-control
+  ((obj align-control)
+   (arg0 int)
+   (arg1 vector)
+   (arg2 int)
+   (arg3 float)
+   (arg4 float)
+   )
+  (when (zero? (logand (-> obj flags) 1))
+   (let ((s5-0 (-> obj delta)))
+    (let ((s3-0 (-> obj process root transv)))
+     (if (nonzero? (logand arg0 2))
+      (set!
+       (-> s3-0 y)
+       (* (* (-> s5-0 trans y) arg3) (-> *display* frames-per-second))
+       )
+      )
+     (when (nonzero? (logand arg0 4))
+      (set! (-> s3-0 x) (-> arg1 x))
+      (set! (-> s3-0 z) (-> arg1 z))
+      (let
+       ((f0-8
+         (*
+          (fmin
+           (vector-xz-length arg1)
+           (* (vector-xz-length (-> s5-0 trans)) arg4)
+           )
+          (-> *display* frames-per-second)
+          )
+         )
+        (t9-2 vector-xz-normalize!)
+        )
+       (set! (-> obj last-speed) f0-8)
+       (t9-2 s3-0 f0-8)
+       )
+      )
+     )
+    (if (nonzero? (logand arg0 16))
+     (quaternion-normalize!
+      (quaternion*!
+       (-> obj process root quat)
+       (-> obj process root quat)
+       (-> s5-0 quat)
+       )
+      )
+     )
+    )
+   )
+  (-> obj process root)
+  (none)
+  )
+
+
+
+

goal_src/engine/anim/joint.gc

@@ -5,3 +5,5 @@
 ;; name in dgo: joint
 ;; dgos: GAME, ENGINE
 
+;; TODO - for aligner
+(define-extern cspace<-matrix-no-push-joint! (function cspace matrix matrix))

goal_src/engine/collide/collide-shape-h.gc

@@ -303,7 +303,6 @@
   :flag-assert         #x38000000b8
   (:methods
     (new (symbol type process collide-list-enum) _type_)
-    (dummy-26 () none 26)
     (dummy-28 () none 28)
     (dummy-29 () none 29)
     (dummy-30 () none 30)

goal_src/engine/math/transformq-h.gc

@@ -58,7 +58,7 @@
     (global-y-angle-to-point (_type_ vector) float 23)
     (relative-y-angle-to-point (_type_ vector) float 24)
     (TODO-VECTOR-MATH-ISSUES-25 (_type_) float 25)
-    (dummy-26 () none 26)
+    (TODO-RENAME-26 (_type_ int vector float) trsqv 26)
     (get-quaternion (_type_) quaternion 27)
     )
   )

test/decompiler/reference/engine/anim/aligner-h_REF.gc

@@ -3,26 +3,26 @@
 
 ;; definition of type align-control
 (deftype align-control (basic)
-  ((flags       uint32               :offset-assert   4)
-   (process     process              :offset-assert   8)
-   (frame-group basic                :offset-assert  12)
-   (frame-num   float                :offset-assert  16)
-   (matrix      matrix     2 :inline :offset-assert  32)
-   (transform   transform  2 :inline :offset-assert 160)
-   (delta       transformq :inline   :offset-assert 256)
-   (last-speed  float                :offset-assert 304)
-   (align       transformq :inline   :offset        160)
+  ((flags       uint32                     :offset-assert   4)
+   (process     process-drawable           :offset-assert   8)
+   (frame-group art-joint-anim             :offset-assert  12)
+   (frame-num   float                      :offset-assert  16)
+   (matrix      matrix           2 :inline :offset-assert  32)
+   (transform   transform        2 :inline :offset-assert 160)
+   (delta       transformq       :inline   :offset-assert 256)
+   (last-speed  float                      :offset-assert 304)
+   (align       transformq       :inline   :offset        160)
    )
   :method-count-assert 14
   :size-assert         #x134
   :flag-assert         #xe00000134
   (:methods
     (new (symbol type process) _type_ :behavior process-drawable 0)
-    (dummy-9 () none 9)
-    (dummy-10 () none 10)
-    (dummy-11 () none 11)
-    (dummy-12 () none 12)
-    (dummy-13 () none 13)
+    (TODO-RENAME-9 (_type_) transformq 9)
+    (TODO-RENAME-10 (_type_ int float float float) trsqv 10)
+    (TODO-RENAME-11 (_type_ int vector int float float) none 11)
+    (first-transform (_type_) transform 12)
+    (snd-transform (_type_) transform 13)
     )
   )
 
@@ -61,7 +61,7 @@
      )
     (return (the-as align-control 0))
     )
-   (set! (-> obj process) arg0)
+   (set! (-> obj process) (the-as process-drawable arg0))
    obj
    )
   )

test/decompiler/reference/engine/anim/aligner_REF.gc

@@ -0,0 +1,265 @@
+;;-*-Lisp-*-
+(in-package goal)
+
+;; definition for method 9 of type align-control
+;; WARN: Unsupported inline assembly instruction kind - [lw ra, return-from-thread(s7)]
+;; WARN: Unsupported inline assembly instruction kind - [jr ra]
+;; Used lq/sq
+(defmethod TODO-RENAME-9 align-control ((obj align-control))
+  (local-vars (a0-9 symbol) (s7-0 none) (ra-0 int))
+  (with-pp
+   (let ((s5-0 (-> obj process skel active-channels)))
+    (dotimes (s4-0 s5-0)
+     (let* ((a0-3 (-> obj process skel channel s4-0))
+            (v1-5 (-> a0-3 frame-group))
+            (a0-4 (-> a0-3 command))
+            (a1-0 'stack)
+            (a2-0 (= a0-4 a1-0))
+            )
+      (cond
+       ((or a2-0 (begin
+                  (set! a1-0 'stack1)
+                  (= a0-4 a1-0)
+                  )
+         )
+        )
+       (else
+        (when (!= (-> v1-5 type) art-joint-anim)
+         (let
+          ((t9-0 (the-as (function object object object object) enter-state))
+           (a0-7 "align joint-anim")
+           )
+          (set! (-> pp next-state) process-drawable-art-error)
+          (t9-0 a0-7 (the-as none a1-0) a2-0)
+          )
+         (.lw ra-0 return-from-thread s7-0)
+         (.jr ra-0)
+         (nop!)
+         0
+         )
+        )
+       )
+      )
+     )
+    )
+   (let* ((a0-8 (-> obj process skel root-channel 0))
+          (v1-16 (-> a0-8 frame-group))
+          (f0-0 (-> a0-8 frame-num))
+          )
+    (= (-> a0-8 num-func) num-func-loop!)
+    (cond
+     ((or (not v1-16) (!= (-> obj frame-group) v1-16))
+      (set! a0-9 #t)
+      )
+     (else
+      (if (= (-> a0-8 num-func) num-func-loop!)
+       (set! a0-9 (< (* (-> a0-8 param 0) (- f0-0 (-> obj frame-num))) 0.0))
+       (set! a0-9 (= f0-0 0.0))
+       )
+      )
+     )
+    (if a0-9
+     (set! (-> obj flags) (logior (-> obj flags) 1))
+     (set! (-> obj flags) (logand -2 (the-as int (-> obj flags))))
+     )
+    (set! (-> obj frame-group) v1-16)
+    (set! (-> obj frame-num) f0-0)
+    )
+   (mem-copy!
+    (the-as pointer (-> obj transform 1))
+    (the-as pointer (-> obj transform))
+    48
+    )
+   (quaternion-copy!
+    (the-as quaternion (-> obj transform 1 rot))
+    (-> obj align quat)
+    )
+   (set! (-> obj transform 1 scale quad) (-> obj align scale quad))
+   (let* ((a2-5 (-> obj matrix 1))
+          (a3-0 (-> obj matrix))
+          (v1-19 (-> a3-0 0 vector 0 quad))
+          (a0-18 (-> a3-0 0 vector 1 quad))
+          (a1-12 (-> a3-0 0 vector 2 quad))
+          (a3-1 (-> a3-0 0 vector 3 quad))
+          )
+    (set! (-> a2-5 vector 0 quad) v1-19)
+    (set! (-> a2-5 vector 1 quad) a0-18)
+    (set! (-> a2-5 vector 2 quad) a1-12)
+    (set! (-> a2-5 vector 3 quad) a3-1)
+    )
+   (let ((s5-1 (-> obj process node-list data 1)))
+    (cspace<-matrix-no-push-joint! s5-1 (the-as matrix (-> obj process skel)))
+    (let* ((v1-23 (-> obj matrix))
+           (a3-2 (-> s5-1 bone transform))
+           (a0-21 (-> a3-2 vector 0 quad))
+           (a1-14 (-> a3-2 vector 1 quad))
+           (a2-6 (-> a3-2 vector 2 quad))
+           (a3-3 (-> a3-2 vector 3 quad))
+           )
+     (set! (-> v1-23 0 vector 0 quad) a0-21)
+     (set! (-> v1-23 0 vector 1 quad) a1-14)
+     (set! (-> v1-23 0 vector 2 quad) a2-6)
+     (set! (-> v1-23 0 vector 3 quad) a3-3)
+     )
+    (vector*!
+     (the-as vector (-> obj transform))
+     (-> s5-1 bone position)
+     (-> obj process root scale)
+     )
+    )
+   (vector-!
+    (the-as vector (-> obj delta))
+    (the-as vector (-> obj transform))
+    (the-as vector (-> obj transform 1))
+    )
+   (let ((s5-2 (-> obj align scale)))
+    (set! (-> s5-2 x) (vector-length (the-as vector (-> obj matrix))))
+    (set! (-> s5-2 y) (vector-length (-> obj matrix 0 vector 1)))
+    (set! (-> s5-2 z) (vector-length (-> obj matrix 0 vector 2)))
+    (set! (-> s5-2 w) 1.0)
+    )
+   (vector-!
+    (-> obj delta scale)
+    (-> obj align scale)
+    (-> obj transform 1 scale)
+    )
+   (let
+    ((a2-8
+      (matrix-inv-scale! (new 'stack-no-clear 'matrix) (-> obj align scale))
+      )
+     )
+    (quaternion-normalize!
+     (matrix->quaternion
+      (-> obj align quat)
+      (matrix*! a2-8 (the-as matrix (-> obj matrix)) a2-8)
+      )
+     )
+    )
+   (let
+    ((a1-24
+      (quaternion-inverse!
+       (new 'stack-no-clear 'quaternion)
+       (the-as quaternion (-> obj transform 1 rot))
+       )
+      )
+     )
+    (quaternion-normalize!
+     (quaternion*! (-> obj delta quat) a1-24 (-> obj align quat))
+     )
+    )
+   (-> obj delta)
+   )
+  )
+
+;; definition for method 12 of type align-control
+;; INFO: Return type mismatch (inline-array transform) vs transform.
+(defmethod first-transform align-control ((obj align-control))
+  (the-as transform (-> obj transform))
+  )
+
+;; definition for method 13 of type align-control
+(defmethod snd-transform align-control ((obj align-control))
+  (-> obj transform 1)
+  )
+
+;; definition for method 10 of type align-control
+(defmethod
+  TODO-RENAME-10
+  align-control
+  ((obj align-control) (arg0 int) (arg1 float) (arg2 float) (arg3 float))
+  (when (zero? (logand (-> obj flags) 1))
+   (let* ((a0-1 (-> obj process))
+          (t9-0 (method-of-object a0-1 dummy-16))
+          (v1-4 (-> obj delta))
+          (t1-0 (new 'stack-no-clear 'vector))
+          )
+    (set! (-> t1-0 x) arg1)
+    (set! (-> t1-0 y) arg2)
+    (set! (-> t1-0 z) arg3)
+    (set! (-> t1-0 w) 1.0)
+    (t9-0 a0-1 arg0 (the-as (inline-array vector) v1-4) t1-0)
+    )
+   )
+  (-> obj process root)
+  )
+
+;; definition for method 26 of type trsqv
+(defmethod
+  TODO-RENAME-26
+  trsqv
+  ((obj trsqv) (arg0 int) (arg1 vector) (arg2 float))
+  (let ((gp-0 (-> obj transv)))
+   (when (nonzero? (logand arg0 4))
+    (set! (-> gp-0 x) (-> arg1 x))
+    (set! (-> gp-0 z) (-> arg1 z))
+    (let
+     ((f0-4
+       (fmin (* (vector-xz-length arg1) (-> *display* frames-per-second)) arg2)
+       )
+      )
+     (vector-xz-normalize! gp-0 f0-4)
+     )
+    )
+   )
+  obj
+  )
+
+;; definition for method 11 of type align-control
+;; INFO: Return type mismatch trsqv vs none.
+(defmethod
+  TODO-RENAME-11
+  align-control
+  ((obj align-control)
+   (arg0 int)
+   (arg1 vector)
+   (arg2 int)
+   (arg3 float)
+   (arg4 float)
+   )
+  (when (zero? (logand (-> obj flags) 1))
+   (let ((s5-0 (-> obj delta)))
+    (let ((s3-0 (-> obj process root transv)))
+     (if (nonzero? (logand arg0 2))
+      (set!
+       (-> s3-0 y)
+       (* (* (-> s5-0 trans y) arg3) (-> *display* frames-per-second))
+       )
+      )
+     (when (nonzero? (logand arg0 4))
+      (set! (-> s3-0 x) (-> arg1 x))
+      (set! (-> s3-0 z) (-> arg1 z))
+      (let
+       ((f0-8
+         (*
+          (fmin
+           (vector-xz-length arg1)
+           (* (vector-xz-length (-> s5-0 trans)) arg4)
+           )
+          (-> *display* frames-per-second)
+          )
+         )
+        (t9-2 vector-xz-normalize!)
+        )
+       (set! (-> obj last-speed) f0-8)
+       (t9-2 s3-0 f0-8)
+       )
+      )
+     )
+    (if (nonzero? (logand arg0 16))
+     (quaternion-normalize!
+      (quaternion*!
+       (-> obj process root quat)
+       (-> obj process root quat)
+       (-> s5-0 quat)
+       )
+      )
+     )
+    )
+   )
+  (-> obj process root)
+  (none)
+  )
+
+
+
+

test/decompiler/reference/engine/math/transformq-h_REF.gc

@@ -71,7 +71,7 @@
     (global-y-angle-to-point (_type_ vector) float 23)
     (relative-y-angle-to-point (_type_ vector) float 24)
     (TODO-VECTOR-MATH-ISSUES-25 (_type_) float 25)
-    (dummy-26 () none 26)
+    (TODO-RENAME-26 (_type_ int vector float) trsqv 26)
     (get-quaternion (_type_) quaternion 27)
     )
   )

test/offline/offline_test_main.cpp

@@ -88,11 +88,7 @@ const std::unordered_set<std::string> g_functions_expected_to_reject = {
 const std::unordered_set<std::string> g_functions_to_skip_compiling = {
     /// GCOMMON
     // these functions are not implemented by the compiler in OpenGOAL, but are in GOAL.
-    "abs",
-    "ash",
-    "min",
-    "max",
-    "lognor",
+    "abs", "ash", "min", "max", "lognor",
     // weird PS2 specific debug registers:
     "breakpoint-range-set!",
     // inline assembly
@@ -106,8 +102,7 @@ const std::unordered_set<std::string> g_functions_to_skip_compiling = {
     "enter-state",  // stack pointer asm
 
     /// MATH
-    "rand-vu-init",
-    "rand-vu",
+    "rand-vu-init", "rand-vu",
     "rand-vu-nostep",  // random hardware
 
     // trig
@@ -127,19 +122,14 @@ const std::unordered_set<std::string> g_functions_to_skip_compiling = {
     "disasm-dma-list",  // missing a single cast :(
 
     // math camera
-    "transform-point-vector!",
-    "transform-point-qword!",
-    "transform-point-vector-scale!",
+    "transform-point-vector!", "transform-point-qword!", "transform-point-vector-scale!",
 
     // display-h
     "put-draw-env",
 
     // vector
     // bad decisions on float vs int128
-    "vector-degf",
-    "vector-degmod",
-    "vector-deg-diff",
-    "vector-degi",
+    "vector-degf", "vector-degmod", "vector-deg-diff", "vector-degi",
 
     // geometry
     "calculate-basis-functions-vector!",  // asm requiring manual rewrite
@@ -162,7 +152,9 @@ const std::unordered_set<std::string> g_functions_to_skip_compiling = {
     "ripple-execute",
 
     "get-task-status",
-};
+
+    // aligner - return-from-thread, currently not supported
+    "(method 9 align-control)"};
 
 // default location for the data. It can be changed with a command line argument.
 std::string g_iso_data_path = "";