joint

decompiler/config/jak1/all-types.gc

@@ -11029,7 +11029,7 @@ intended for uncompressed animation objects."
    (root-channel            (inline-array joint-control-channel) :offset 16)
    (blend-index             int32            :offset-assert 20)
    (active-channels         int32            :offset-assert 24)
-   (generate-frame-function (function (inline-array vector) int process-drawable int) :offset-assert 28)
+   (generate-frame-function (function joint-anim-frame int process-drawable none) :offset-assert 28)
    (prebind-function        (function pointer int process-drawable none) :offset-assert 32)
    (postbind-function       (function process-drawable none) :offset-assert 36)
    (effect                  effect-control   :offset-assert 40)
@@ -19651,7 +19651,7 @@ to matrix-bits in the compressed header."
 (define-extern create-interpolated-joint-animation-frame
   "Generate a drawable's blended joint-animation frame. The GOAL decompressor is normally used;
 the original scratchpad decompressor remains available through the development switch."
-  (function (inline-array vector) int process-drawable int))
+  (function joint-anim-frame int process-drawable none))
 (define-extern mem-size
   "Collect value's memory categories using flags, optionally print the complete category table,
    and return the sum of aligned total bytes."

game/CMakeLists.txt

@@ -166,7 +166,6 @@ set(RUNTIME_SOURCE
         mips2c/jak1_functions/generic_effect2.cpp
         mips2c/jak1_functions/generic_merc.cpp
         mips2c/jak1_functions/generic_tie.cpp
-        mips2c/jak1_functions/joint.cpp
         mips2c/jak1_functions/merc_blend_shape.cpp
         mips2c/jak1_functions/ocean_vu0.cpp
         mips2c/jak1_functions/ocean.cpp

game/mips2c/mips2c_table.cpp

@@ -68,9 +68,7 @@ namespace method_16_collide_edge_work { extern void link(); }
 namespace method_15_collide_edge_work { extern void link(); }
 namespace method_10_collide_edge_hold_list { extern void link(); }
 namespace method_18_collide_edge_work { extern void link(); }
-namespace calc_animation_from_spr { extern void link(); }
 namespace bones_mtx_calc { extern void link(); }
-namespace cspace_parented_transformq_joint { extern void link(); }
 namespace draw_bones_merc { extern void link(); }
 namespace draw_bones_check_longest_edge_asm { extern void link(); }
 namespace blerc_execute { extern void link(); }
@@ -429,7 +427,6 @@ PerGameVersion<std::unordered_map<std::string, std::vector<void (*)()>>> gMips2C
      {"collide-edge-grab",
       {jak1::method_16_collide_edge_work::link, jak1::method_15_collide_edge_work::link,
        jak1::method_10_collide_edge_hold_list::link, jak1::method_18_collide_edge_work::link}},
-     {"joint", {jak1::calc_animation_from_spr::link, jak1::cspace_parented_transformq_joint::link}},
      {"bones",
       {jak1::bones_mtx_calc::link, jak1::draw_bones_merc::link,
        jak1::draw_bones_check_longest_edge_asm::link}},

goal_src/jak1/engine/anim/joint-h.gc

@@ -20,7 +20,7 @@
 
 (define-extern create-interpolated-joint-animation-frame
   "Generate a drawable's blended joint animation frame."
-  (function (inline-array vector) int process-drawable int))
+  (function joint-anim-frame int process-drawable none))
 
 (defenum janim-status
   :type uint16
@@ -65,7 +65,7 @@
    (root-channel            (inline-array joint-control-channel) :offset 16)
    (blend-index             int32)
    (active-channels         int32)
-   (generate-frame-function (function (inline-array vector) int process-drawable int))
+   (generate-frame-function (function joint-anim-frame int process-drawable none))
    (prebind-function        (function pointer int process-drawable none))
    (postbind-function       (function process-drawable none))
    (effect                  effect-control)

goal_src/jak1/engine/collide/collide-func.gc

@@ -44,6 +44,8 @@
   "Check if a ray intersects a sphere at the origin.
    Return the fraction along the ray where the intersection occurs, or COLLISION_MISS
    if there is no collision."
+   
+  ;; This function is rewritten in plain GOAL
   
   ;; Parameterize the ray with:
   ;;   ray(t) = origin + t * direction with 0 <= t <= 1
@@ -109,6 +111,9 @@
   "Compute intersection between a ray and a sphere.
    Return the fraction along the ray where the intersection occurs, or COLLISION_MISS
    if there is no collision."
+   
+  ;; This function is rewritten in plain GOAL
+   
   (#when COLLIDE_FUNC_COUNTERS
     (+! *ray-sphere-intersect-count* 1))
   
@@ -122,6 +127,9 @@
    The y components of all arguments are ignored.
    Return the fraction along the ray where the intersection occurs, or COLLISION_MISS
    if there is no collision."
+   
+  ;; This function is rewritten in plain GOAL
+   
   (#when COLLIDE_FUNC_COUNTERS
     (+! *ray-circle-intersect-count* 1))
   
@@ -146,6 +154,9 @@
    If the ray enters through the end cap, returns COLLISION_MISS, even if it later
    exits the cylinder through a curved wall!"
    
+  ;; This function is rewritten in plain GOAL
+   
+   
   (#when COLLIDE_FUNC_COUNTERS
     (+! *ray-cylinder-intersect-count* 1))
    
@@ -210,6 +221,8 @@
   "Sweep a sphere against the vertices and edges of a triangle, returning the
    earliest contact fraction or COLLISION_MISS. The triangle face is handled by
    moving-sphere-triangle-intersect."
+   
+  ;; This function is rewritten in plain GOAL
 
   ;; These intentionally capture the function's arguments and the best-hit locals below.
   (defmacro check-vertex (vertex-index)
@@ -278,6 +291,8 @@
   "Sweep a sphere against a triangle, returning the fraction where the first
    collision occurs or COLLISION_MISS. This checks the face first, then the
    rounded vertex and edge boundary."
+   
+  ;; This function is rewritten in plain GOAL
 
   ;; This intentionally captures edge-a, edge-c, and normal below.
   (defmacro inside-triangle? (point)

goal_src/jak1/engine/common-obs/process-drawable.gc

@@ -325,7 +325,7 @@
        (let ((frame-node-count (+ joint-count 2)))
          (+ frame-node-count 1)
          ((-> this skel generate-frame-function)
-          (the-as (inline-array vector) (+ 2416 (the-as int (the-as terrain-context (scratchpad-object int)))))
+          (the-as joint-anim-frame (+ 2416 (the-as int (the-as terrain-context (scratchpad-object int)))))
           frame-node-count
           this)
          (if (-> this skel prebind-function)

goal_src/jak1/engine/math/matrix-h.gc

@@ -5,6 +5,15 @@
 
 ;; DECOMP BEGINS
 
+;; GOAL uses the convention or row-major matrices, but row-vector points
+
+;;  [ Xx  Xy  Xz  0 ]   local X basis row
+;;  [ Yx  Yy  Yz  0 ]   local Y basis row
+;;  [ Zx  Zy  Zz  0 ]   local Z basis row
+;;  [ Tx  Ty  Tz  1 ]   translation row
+
+;; with pt' = pt * M
+
 ;; A row-major 4x4 matrix. Some operations require an affine transform, and the
 ;; fastest inverse operations additionally require rotation without scale or shear.
 (deftype matrix (structure)