Decompile joint, collide-func, clean up joint decompression code for all games (#3369)

I finally read through all the joint code and wrote up some
documentation. I think this will be really helpful when we try to
understand all the functions in `process-drawable`, or if somebody ever
wants to import/export animations.

This switches all three games to using a new faster GOAL joint
decompressor. It is on by default, but you can go back to the old
version by setting `*use-new-decompressor*` to false.

Also fix the log-related crash, fix the clock speed used in timer math.

test/decompiler/reference/jak3/engine/anim/joint-h_REF.gc

@@ -157,13 +157,13 @@ Multiple channels are used to blend animations together."
    (interp-select            int64                                 2)
    (top-anim                 top-anim-joint-control)
    (override                 (array float))
-   (channel                  joint-control-channel                 :dynamic)
+   (channel                  joint-control-channel                 :inline :dynamic)
    )
   (:methods
-    (new (symbol type) _type_)
+    (new (symbol type int) _type_)
     (joint-control-method-9 () none)
     (joint-control-method-10 () none)
-    (joint-control-method-11 () none)
+    (debug-print-channels (_type_ symbol) int)
     (joint-control-method-12 () none)
     )
   )
@@ -232,7 +232,7 @@ Multiple channels are used to blend animations together."
   (format #t "~1Toverride: ~A~%" (-> this override))
   (format #t "~1Tchannel[0] @ #x~X~%" (-> this channel))
   (dotimes (s5-2 (the-as int (-> this active-channels)))
-    (format #t "~T  [~D]~1Tchannel: ~`joint-control-channel`P~%" s5-2 (+ (+ (* s5-2 64) 60) (the-as int this)))
+    (format #t "~T  [~D]~1Tchannel: ~`joint-control-channel`P~%" s5-2 (-> this channel s5-2))
     )
   (label cfg-32)
   this

test/decompiler/reference/jak3/engine/data/art-h_REF.gc

@@ -234,7 +234,7 @@ This can be either an art container containing more arts, or an actual art thing
     (art-method-10 (_type_) _type_)
     (get-art-by-name-method (_type_ string type) basic)
     (get-art-idx-by-name-method (_type_ string type) int)
-    (needs-link? (_type_) symbol)
+    (contains-art-for-other-group? (_type_) symbol)
     )
   )
 
@@ -280,7 +280,8 @@ This can be either an art container containing more arts, or an actual art thing
 ;; definition of type art-mesh-anim
 (deftype art-mesh-anim (art-element)
   "An unused mesh animation."
-  ()
+  ((data  basic  :dynamic)
+   )
   )
 
 ;; definition of type art-joint-anim
@@ -325,8 +326,8 @@ actor, like the mesh, animations, shadow mesh, skeleton, etc."
    (data  art-element  :dynamic :offset  32)
    )
   (:methods
-    (relocate (_type_ kheap (pointer uint8)) _type_ :replace)
-    (link-art! (_type_) art-group)
+    (relocate (_type_ kheap (pointer uint8)) none :replace)
+    (link-art-to-master (_type_) none)
     (unknown-1 () none)
     )
   )
@@ -334,13 +335,14 @@ actor, like the mesh, animations, shadow mesh, skeleton, etc."
 ;; definition of type art-mesh-geo
 (deftype art-mesh-geo (art-element)
   "Unused art format for a mesh. This might have been for the renderer that came before merc."
-  ()
+  ((data  basic  :dynamic)
+   )
   )
 
 ;; definition of type art-joint-geo
 (deftype art-joint-geo (art-element)
   "Collection of joints for an actor."
-  ((data  joint  :dynamic :offset  48)
+  ((data  joint  :dynamic)
    )
   )
 
@@ -417,11 +419,11 @@ This is used for short, commonly used animations that always remain in RAM."
    )
   (:methods
     (new (symbol type int) _type_)
-    (art-joint-anim-manager-method-9 () none)
-    (art-joint-anim-manager-method-10 () none)
-    (art-joint-anim-manager-method-11 () none)
-    (art-joint-anim-manager-method-12 () none)
-    (art-joint-anim-manager-method-13 () none)
+    (decompress (_type_ art-joint-anim) art-joint-anim)
+    (mark-anim-in-use (_type_ art-joint-anim) art-joint-anim)
+    (unload-from-slot (_type_ int) art-joint-anim)
+    (used-bytes-for-slot (_type_ int) int)
+    (unload-from-heap (_type_ kheap) none)
     )
   )
 

test/decompiler/reference/jak3/engine/process-drawable/process-drawable-h_REF.gc

@@ -108,8 +108,8 @@
       (let ((a1-5 (/ (&- (the-as pointer chan) (the-as uint (the-as pointer (-> v1-0 channel)))) 64)))
         (if (< a1-5 (the-as int (+ (-> v1-0 active-channels) (-> v1-0 float-channels))))
             (qmem-copy<-!
-              (the-as pointer (+ (+ (* a1-5 64) 60) (the-as int v1-0)))
-              (the-as pointer (+ (+ (* (+ a1-5 1) 64) 60) (the-as int v1-0)))
+              (the-as pointer (-> v1-0 channel a1-5))
+              (the-as pointer (-> v1-0 channel (+ a1-5 1)))
               (the-as int (* (-> v1-0 float-channels) 64))
               )
             )
@@ -187,7 +187,3 @@
 
 ;; failed to figure out what this is:
 0
-
-
-
-

test/offline/config/jak3/config.jsonc

@@ -6,7 +6,8 @@
 
   "skip_compile_files": [
     "types-h", // weird array of types.
-    "hfrag-h" // weird duplicate type
+    "hfrag-h", // weird duplicate type
+    "joint"
   ],
 
   "skip_compile_functions": [