[decompiler] ASM Branching Support (#677)

* basic example working in geometry

* before updating offline'

* clean up

* temp

* progress

test/decompiler/FormRegressionTest.cpp

@@ -149,7 +149,7 @@ std::unique_ptr<FormRegressionTest::TestData> FormRegressionTest::make_function(
   // analyze function prologue/epilogue
   test->func.analyze_prologue(test->file);
   // build control flow graph
-  test->func.cfg = build_cfg(test->file, 0, test->func, {});
+  test->func.cfg = build_cfg(test->file, 0, test->func, {}, {});
   EXPECT_TRUE(test->func.cfg->is_fully_resolved());
   if (!test->func.cfg->is_fully_resolved()) {
     fmt::print("CFG:\n{}\n", test->func.cfg->to_dot());

test/decompiler/reference/decompiler-macros.gc

@@ -113,4 +113,17 @@
       ;; otherwise don't ignore it.
       `(define ,name (lambda :name ,name :behavior ,process-type ,bindings ,@body))
       )
-  )
+  )
+
+(defmacro b! (pred destination &key (delay '()) &key (likely-delay '()))
+  "Branch!"
+  ;; evaluate the predicate
+  `(let ((should-branch ,pred))
+     ;; normal delay slot:
+     ,delay
+     (when should-branch
+       ,likely-delay
+       (goto ,destination)
+       )
+     )
+  )

test/decompiler/reference/engine/geometry/geometry-h_REF.gc

@@ -3,11 +3,11 @@
 
 ;; definition of type curve
 (deftype curve (structure)
-  ((cverts     pointer  :offset-assert   0)
-   (num-cverts int32    :offset-assert   4)
-   (knots      pointer  :offset-assert   8)
-   (num-knots  int32    :offset-assert  12)
-   (length     float    :offset-assert  16)
+  ((cverts     pointer                :offset-assert   0)
+   (num-cverts int32                  :offset-assert   4)
+   (knots      (inline-array vector)  :offset-assert   8)
+   (num-knots  int32                  :offset-assert  12)
+   (length     float                  :offset-assert  16)
    )
   :method-count-assert 9
   :size-assert         #x14

test/decompiler/reference/engine/math/matrix_REF.gc

@@ -785,6 +785,7 @@
 ;; ERROR: function was not converted to expressions. Cannot decompile.
 
 ;; definition for function matrix-axis-angle!
+;; INFO: Return type mismatch matrix vs none.
 (defun matrix-axis-angle! ((dst matrix) (axis vector) (angle-deg float))
   (matrix-axis-sin-cos! dst axis (sin angle-deg) (cos angle-deg))
   (none)

test/decompiler/reference/engine/math/quaternion_REF.gc

@@ -598,18 +598,9 @@
   )
 
 ;; definition for function matrix-with-scale->quaternion
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f0, f3]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f0, f2, f5]
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f2, f5]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f1, f3, f6]
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f2, f5]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f3, f6]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f2, f4, f7]
 ;; Used lq/sq
 (defun matrix-with-scale->quaternion ((arg0 quaternion) (arg1 matrix))
-  (local-vars (a1-4 float) (f0-1 float) (f1-2 float) (f2-3 float))
+  (local-vars (a1-4 float))
   (rlet ((vf1 :class vf)
          (vf2 :class vf)
          (vf3 :class vf)
@@ -619,50 +610,31 @@
          (vf7 :class vf)
          )
    (let ((v1-0 (new-stack-matrix0)))
-    (let* ((a3-0 (-> arg1 vector))
-           (a2-0 (-> arg1 vector))
-           (f0-0 (-> a3-0 0 x))
-           (f1-0 (-> a3-0 0 y))
-           (f2-0 (-> a3-0 0 z))
-           (f3-0 (-> a2-0 0 x))
-           (f4-0 (-> a2-0 0 y))
-           (f5-0 (-> a2-0 0 z))
-           )
-     (.mula.s f0-0 f3-0)
-     (.madda.s f1-0 f4-0)
-     (.madd.s f0-1 f2-0 f5-0)
-     )
-    (let ((f0-2 f0-1))
-     (let* ((a3-1 (-> arg1 vector 1))
-            (a2-2 (-> arg1 vector 1))
-            )
-      (set! f1-2 (vector-dot a3-1 a2-2))
+    (let*
+     ((f0-1
+       (vector-dot
+        (the-as vector (-> arg1 vector))
+        (the-as vector (-> arg1 vector))
+        )
+       )
+      (f1-1 (vector-dot (-> arg1 vector 1) (-> arg1 vector 1)))
+      (f2-1 (vector-dot (-> arg1 vector 2) (-> arg1 vector 2)))
+      (f0-3 (/ 1.0 (sqrtf f0-1)))
+      (f1-3 (/ 1.0 (sqrtf f1-1)))
+      (f2-3 (/ 1.0 (sqrtf f2-1)))
       )
-     (let ((f1-3 f1-2))
-      (let* ((a3-2 (-> arg1 vector 2))
-             (a2-4 (-> arg1 vector 2))
-             )
-       (set! f2-3 (vector-dot a3-2 a2-4))
-       )
-      (let* ((f2-4 f2-3)
-             (f0-4 (/ 1.0 (sqrtf f0-2)))
-             (f1-5 (/ 1.0 (sqrtf f1-3)))
-             (f2-6 (/ 1.0 (sqrtf f2-4)))
-             )
-       (.lvf vf1 (&-> arg1 vector 0 quad))
-       (.lvf vf2 (&-> arg1 vector 1 quad))
-       (.lvf vf3 (&-> arg1 vector 2 quad))
-       (.lvf vf4 (&-> arg1 vector 3 quad))
-       (let ((a1-1 f0-4))
-        (.mov vf5 a1-1)
-        )
-       (let ((a1-2 f1-5))
-        (.mov vf6 a1-2)
-        )
-       (let ((a1-3 f2-6))
-        (.mov vf7 a1-3)
-        )
-       )
+     (.lvf vf1 (&-> arg1 vector 0 quad))
+     (.lvf vf2 (&-> arg1 vector 1 quad))
+     (.lvf vf3 (&-> arg1 vector 2 quad))
+     (.lvf vf4 (&-> arg1 vector 3 quad))
+     (let ((a1-1 f0-3))
+      (.mov vf5 a1-1)
+      )
+     (let ((a1-2 f1-3))
+      (.mov vf6 a1-2)
+      )
+     (let ((a1-3 f2-3))
+      (.mov vf7 a1-3)
       )
      )
     (.mul.x.vf vf1 vf1 vf5)
@@ -1021,18 +993,12 @@
   )
 
 ;; definition for function quaternion-delta-y
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f0, f3]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f0, f2, f5]
 (defun quaternion-delta-y ((arg0 quaternion) (arg1 quaternion))
-  (local-vars (f0-1 float))
-  (let ((gp-0 acos))
-   (let* ((s5-0 (vector-z-quaternion! (new 'stack-no-clear 'vector) arg0))
-          (v1-1 (vector-z-quaternion! (new 'stack-no-clear 'vector) arg1))
-          )
-    (set! f0-1 (vector-dot s5-0 v1-1))
+  (acos
+   (vector-dot
+    (vector-z-quaternion! (new 'stack-no-clear 'vector) arg0)
+    (vector-z-quaternion! (new 'stack-no-clear 'vector) arg1)
     )
-   (gp-0 f0-1)
    )
   )
 

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

@@ -433,12 +433,12 @@
 
 ;; definition of type vector
 (deftype vector (structure)
-  ((data float   4 :offset-assert   0)
-   (x    float     :offset          0)
-   (y    float     :offset          4)
-   (z    float     :offset          8)
-   (w    float     :offset         12)
-   (quad uint128   :offset          0)
+  ((x    float     :offset   0)
+   (y    float     :offset   4)
+   (z    float     :offset   8)
+   (w    float     :offset  12)
+   (data float   4 :offset   0)
+   (quad uint128   :offset   0)
    )
   :method-count-assert 9
   :size-assert         #x10
@@ -820,23 +820,8 @@
   )
 
 ;; definition for function vector-dot
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f0, f3]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f0, f2, f5]
 (defun vector-dot ((arg0 vector) (arg1 vector))
-  (local-vars (f0-1 float))
-  (let ((f0-0 (-> arg0 x))
-        (f1-0 (-> arg0 y))
-        (f2-0 (-> arg0 z))
-        (f3-0 (-> arg1 x))
-        (f4-0 (-> arg1 y))
-        (f5-0 (-> arg1 z))
-        )
-   (.mula.s f0-0 f3-0)
-   (.madda.s f1-0 f4-0)
-   (.madd.s f0-1 f2-0 f5-0)
-   )
-  f0-1
+  (vector-dot arg0 arg1)
   )
 
 ;; definition for function vector-dot-vu

test/decompiler/reference/engine/target/joint-mod-h_REF.gc

@@ -367,12 +367,9 @@
 
 ;; definition for function joint-mod-look-at-handler
 ;; INFO: Return type mismatch int vs none.
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f2, f5]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f1, f3, f6]
 ;; Used lq/sq
 (defun joint-mod-look-at-handler ((csp cspace) (xform transformq))
-  (local-vars (f1-12 float) (sv-48 vector) (sv-52 vector) (sv-56 vector))
+  (local-vars (sv-48 vector) (sv-52 vector) (sv-56 vector))
   (let ((gp-0 (the-as joint-mod (-> csp param1))))
    (cspace<-parented-transformq-joint! csp xform)
    (set!
@@ -468,10 +465,7 @@
        )
       )
      )
-    (let* ((v1-22 sv-52))
-     (set! f1-12 (vector-dot s3-2 v1-22))
-     )
-    (if (< f1-12 0.1)
+    (if (< (vector-dot s3-2 sv-52) 0.1)
      (set! f0-21 0.0)
      )
     (set!
@@ -518,12 +512,9 @@
 
 ;; definition for function joint-mod-world-look-at-handler
 ;; INFO: Return type mismatch int vs none.
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f2, f5]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f1, f3, f6]
 ;; Used lq/sq
 (defun joint-mod-world-look-at-handler ((arg0 cspace) (arg1 transformq))
-  (local-vars (f1-14 float) (sv-48 vector) (sv-52 vector) (sv-56 vector))
+  (local-vars (sv-48 vector) (sv-52 vector) (sv-56 vector))
   (let ((gp-0 (the-as joint-mod (-> arg0 param1))))
    (let ((s5-0 (-> arg0 bone transform)))
     (cspace<-parented-transformq-joint! arg0 arg1)
@@ -606,10 +597,7 @@
         )
        )
       )
-     (let* ((v1-14 sv-52))
-      (set! f1-14 (vector-dot s4-4 v1-14))
-      )
-     (if (< f1-14 0.1)
+     (if (< (vector-dot s4-4 sv-52) 0.1)
       (set! f0-20 0.0)
       )
      (set!
@@ -792,12 +780,8 @@
   )
 
 ;; definition for function joint-mod-wheel-callback
-;; WARN: Unsupported inline assembly instruction kind - [mula.s f0, f3]
-;; WARN: Unsupported inline assembly instruction kind - [madda.s f1, f4]
-;; WARN: Unsupported inline assembly instruction kind - [madd.s f0, f2, f5]
 ;; Used lq/sq
 (defun joint-mod-wheel-callback ((arg0 cspace) (arg1 transformq))
-  (local-vars (f0-3 float))
   (let ((s4-0 (the-as joint-mod-wheel (-> arg0 param1))))
    (let ((v1-1 (-> s4-0 process root))
          (s1-0 (new-stack-vector0))
@@ -810,14 +794,13 @@
     (vector<-cspace! s1-0 arg0)
     (vector-! s3-0 s1-0 (-> s4-0 last-position))
     (set! (-> s4-0 last-position quad) (-> s1-0 quad))
-    (set! f0-3 (vector-dot s2-0 s3-0))
-    )
-   (let* ((f0-4 f0-3)
-          (f1-1 65536.0)
-          (f2-2 (* 6.28318 (-> s4-0 wheel-radius)))
-          (f0-5 (* (* f1-1 (/ 1.0 f2-2)) f0-4))
-          )
-    (set! (-> s4-0 angle) (+ (-> s4-0 angle) f0-5))
+    (let* ((f0-3 (vector-dot s2-0 s3-0))
+           (f1-0 65536.0)
+           (f2-1 (* 6.28318 (-> s4-0 wheel-radius)))
+           (f0-4 (* (* f1-0 (/ 1.0 f2-1)) f0-3))
+           )
+     (set! (-> s4-0 angle) (+ (-> s4-0 angle) f0-4))
+     )
     )
    (quaternion-vector-angle!
     (-> arg1 quat)

test/decompiler/test_FormExpressionBuild2.cpp

@@ -1526,4 +1526,100 @@ TEST_F(FormRegressionTest, Method23Trsqv) {
   std::string expected =
       "(vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg1 (-> arg0 trans)))";
   test_with_stack_structures(func, type, expected, R"([[16, "vector"]])");
+}
+
+TEST_F(FormRegressionTest, VectorLineDistance) {
+  std::string func =
+      "sll r0, r0, 0\n"
+      "\n"
+      "    daddiu sp, sp, -128\n"
+      "    sd ra, 0(sp)\n"
+      "    sd fp, 8(sp)\n"
+      "    or fp, t9, r0\n"
+      "    sq s4, 80(sp)\n"
+      "    sq s5, 96(sp)\n"
+      "    sq gp, 112(sp)\n"
+      "    or s5, a0, r0\n"
+      "    or s4, a1, r0\n"
+      "    lw t9, vector-normalize!(s7)\n"
+      "    daddiu a0, sp, 16\n"
+      "    sq r0, 0(a0)\n"
+      "    or v1, a2, r0\n"
+      "    or a1, s4, r0\n"
+      "    lqc2 vf4, 0(v1)\n"
+      "    lqc2 vf5, 0(a1)\n"
+      "    vmove.w vf6, vf0\n"
+      "    vsub.xyz vf6, vf4, vf5\n"
+      "    sqc2 vf6, 0(a0)\n"
+      //"    lw a1, L125(fp)\n"
+      "    or a1, r0, r0\n"
+      "    jalr ra, t9\n"
+      "    sll v0, ra, 0\n"
+
+      "    or a1, v0, r0\n"
+      "    daddiu gp, sp, 32\n"
+      "    sq r0, 0(gp)\n"
+      "    lqc2 vf4, 0(s5)\n"
+      "    lqc2 vf5, 0(s4)\n"
+      "    vmove.w vf6, vf0\n"
+      "    vsub.xyz vf6, vf4, vf5\n"
+      "    sqc2 vf6, 0(gp)\n"
+      "    or a0, a1, r0\n"
+      "    or v1, gp, r0\n"
+      "    lwc1 f0, 0(a0)\n"
+      "    lwc1 f1, 4(a0)\n"
+      "    lwc1 f2, 8(a0)\n"
+      "    lwc1 f3, 0(v1)\n"
+      "    lwc1 f4, 4(v1)\n"
+      "    lwc1 f5, 8(v1)\n"
+      "    mula.s f0, f3\n"
+      "    madda.s f1, f4\n"
+      "    madd.s f0, f2, f5\n"
+      "    mfc1 v1, f0\n"
+      "    mtc1 f0, v1\n"
+      "    lw t9, vector-float*!(s7)\n"
+      "    daddiu a0, sp, 48\n"
+      "    sq r0, 0(a0)\n"
+      "    mfc1 a2, f0\n"
+      "    jalr ra, t9\n"
+      "    sll v0, ra, 0\n"
+
+      "    or v1, v0, r0\n"
+      "    lw t9, vector-length(s7)\n"
+      "    daddiu a0, sp, 64\n"
+      "    sq r0, 0(a0)\n"
+      "    lqc2 vf4, 0(gp)\n"
+      "    lqc2 vf5, 0(v1)\n"
+      "    vmove.w vf6, vf0\n"
+      "    vsub.xyz vf6, vf4, vf5\n"
+      "    sqc2 vf6, 0(a0)\n"
+      "    jalr ra, t9\n"
+      "    sll v0, ra, 0\n"
+
+      "    ld ra, 0(sp)\n"
+      "    ld fp, 8(sp)\n"
+      "    lq gp, 112(sp)\n"
+      "    lq s5, 96(sp)\n"
+      "    lq s4, 80(sp)\n"
+      "    jr ra\n"
+      "    daddiu sp, sp, 128\n"
+      "    sll r0, r0, 0\n"
+      "    sll r0, r0, 0\n";
+  std::string type = "(function vector vector vector float)";
+  std::string expected =
+      "(let*\n"
+      "  ((a1-3\n"
+      "    (vector-normalize!\n"
+      "     (vector-! (new-stack-vector0) arg2 arg1)\n"
+      "     (the-as float 0)\n"
+      "     )\n"
+      "    )\n"
+      "   (gp-1 (vector-! (new-stack-vector0) arg0 arg1))\n"
+      "   (f0-1 (vector-dot a1-3 gp-1))\n"
+      "   (v1-3 (vector-float*! (new-stack-vector0) a1-3 f0-1))\n"
+      "   )\n"
+      "  (vector-length (vector-! (new-stack-vector0) gp-1 v1-3))\n"
+      "  )";
+  test_with_stack_structures(func, type, expected,
+                             R"([[16, "vector"], [32, "vector"], [48, "vector"], [64, "vector"]])");
 }

test/offline/offline_test_main.cpp

@@ -50,6 +50,8 @@ const std::unordered_set<std::string> g_functions_expected_to_reject = {
     // matrix
     "(method 9 matrix)",  // handwritten asm loop
     "matrix-axis-sin-cos!", "matrix-axis-sin-cos-vu!",
+    // geometry
+    "circle-circle-xz-intersect",  // unused not bothering
     // dma-h
     "dma-count-until-done",  // dma asm loop
     "dma-sync-with-count", "dma-send-no-scratch", "dma-sync-fast",
@@ -117,12 +119,8 @@ const std::unordered_set<std::string> g_functions_to_skip_compiling = {
 
     /// VECTOR-H
     "(method 3 vector)",  // this function appears twice, which confuses the compiler.
-    "vector-dot",         // fpu acc
     "vector4-dot",        // fpu acc
 
-    // quaternion
-    "matrix-with-scale->quaternion",  // fpu-acc
-
     "(method 3 profile-frame)",  // double definition.
 
     // dma-disasm
@@ -143,6 +141,11 @@ const std::unordered_set<std::string> g_functions_to_skip_compiling = {
     "vector-deg-diff",
     "vector-degi",
 
+    // geometry
+    "calculate-basis-functions-vector!",  // asm requiring manual rewrite
+    "curve-evaluate!",                    // asm requiring manual rewrite
+    "point-in-triangle-cross",            // logior on floats manual fixup
+
     // asm
     "invalidate-cache-line",