;;-*-Lisp-*-
(in-package goal)

;; definition for method 15 of type collide-cache
;; WARN: Return type mismatch int vs none.
(defmethod reset ((this collide-cache))
  (set! (-> this num-tris) 0)
  (set! (-> this num-prims) 0)
  (set! (-> this ignore-processes 0) #f)
  (set! (-> this ignore-processes 1) #f)
  (set! *already-printed-exeeded-max-cache-tris* #f)
  0
  (none)
  )

;; definition for method 18 of type collide-cache
;; WARN: Return type mismatch int vs none.
(defmethod fill-from-bg ((this collide-cache)
                        (arg0 (function collide-hash int collide-list collide-query int))
                        (arg1 (function collide-cache collide-list collide-query none))
                        (arg2 collide-query)
                        )
  (set! *already-printed-exeeded-max-cache-tris* #f)
  (set! (-> *collide-list* num-items) 0)
  (if *collide-list-boxes*
      (add-debug-box
        #t
        (bucket-id debug)
        (-> arg2 bbox min)
        (-> arg2 bbox max)
        (new 'static 'rgba :g #xff :b #xff :a #x80)
        )
      )
  (dotimes (s3-0 (-> *level* length))
    (let ((v1-7 (-> *level* level s3-0)))
      (if (= (-> v1-7 status) 'active)
          (arg0 (-> v1-7 bsp collide-hash) 0 *collide-list* arg2)
          )
      )
    )
  (if (> (-> *collide-list* num-items) 0)
      (arg1 *collide-cache* *collide-list* arg2)
      )
  0
  (none)
  )

;; definition for method 21 of type collide-cache
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
;; WARN: Function (method 21 collide-cache) has a return type of none, but the expression builder found a return statement.
(defmethod fill-from-water ((this collide-cache) (arg0 water-control))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    (if (or (not arg0) (zero? arg0))
        (return #f)
        )
    (when (= (-> this num-prims) 100)
      (if (and (= *cheat-mode* 'debug) (not *display-capture-mode*))
          (format 0 "ERROR: Exceeded max number of collide-cache prims!~%")
          )
      (return #f)
      )
    (when (< 460 (+ (-> this num-tris) 2))
      (if (and (= *cheat-mode* 'debug) (not *display-capture-mode*))
          (print-exceeded-max-cache-tris)
          )
      (return #f)
      )
    (if (not (and (logtest? (-> arg0 flags) (water-flag active))
                  (logtest? (-> arg0 flags) (water-flag can-ground))
                  (logtest? (-> arg0 flags) (water-flag swim-ground under-water))
                  (logtest? (water-flag over-water) (-> arg0 flags))
                  (not (logtest? (water-flag jump-out) (-> arg0 flags)))
                  )
             )
        (return #f)
        )
    (let ((v1-31 (-> arg0 collide-height)))
      (.lvf vf1 (&-> this collide-box min quad))
      (.lvf vf3 (&-> this collide-box max quad))
      (let ((a2-6 (-> this num-prims-u32))
            (a3-4 (the-as (inline-array collide-cache-tri) (-> this tris (-> this num-tris))))
            )
        (.mov vf5 v1-31)
        (.add.x.vf.y vf1 vf0 vf5)
        (set! (-> a3-4 0 clear-flags) (the-as uint128 0))
        (set! (-> a3-4 0 prim-index) a2-6)
        (.add.x.vf.y vf3 vf0 vf5)
        (set! (-> a3-4 1 clear-flags) (the-as uint128 0))
        (set! (-> a3-4 1 prim-index) a2-6)
        (.mov.vf vf2 vf1)
        (.mov.vf vf4 vf1)
        (.add.z.vf.z vf2 vf0 vf3)
        (.add.x.vf.x vf4 vf0 vf3)
        (.svf (&-> a3-4 0 vertex 0 quad) vf1)
        (.svf (&-> a3-4 0 vertex 1 quad) vf2)
        (.svf (&-> a3-4 0 vertex 2 quad) vf3)
        (set! (-> a3-4 0 pat) (new 'static 'pat-surface :material (pat-material waterbottom) :nogrind #x1))
        (set! (-> a3-4 0 collide-ptr) arg0)
        (.svf (&-> a3-4 1 vertex 0 quad) vf1)
        (.svf (&-> a3-4 1 vertex 1 quad) vf3)
        (.svf (&-> a3-4 1 vertex 2 quad) vf4)
        (set! (-> a3-4 1 pat) (new 'static 'pat-surface :material (pat-material waterbottom)))
        (set! (-> a3-4 1 collide-ptr) arg0)
        )
      )
    (let ((v1-34 *collide-shape-prim-water*)
          (a1-5 (-> this prims (-> this num-prims)))
          )
      (set! (-> a1-5 first-tri) (the-as uint (-> this num-tris)))
      (set! (-> a1-5 num-tris) (the-as uint 2))
      (set! (-> a1-5 prim) v1-34)
      (set! (-> a1-5 ccache) this)
      (set! (-> a1-5 prim-core world-sphere quad) (-> v1-34 prim-core world-sphere quad))
      (set! (-> a1-5 prim-core quad 1) (-> v1-34 prim-core quad 1))
      )
    (+! (-> this num-prims) 1)
    (+! (-> this num-tris) 2)
    0
    (none)
    )
  )

;; definition for method 12 of type collide-cache
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
(defmethod fill-using-bounding-box ((this collide-cache) (arg0 collide-query))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (+! (-> *collide-stats* calls) 1)
    (new 'static 'vector :x 0.5)
    (nop!)
    (let ((v1-4 (-> arg0 collide-with-s32)))
      (nop!)
      (let ((a0-2 (-> arg0 ignore-process0)))
        (nop!)
        (let ((a1-1 (-> arg0 ignore-process1)))
          (nop!)
          (let ((a2-0 (-> arg0 ignore-pat-s32)))
            (nop!)
            (.lvf vf1 (&-> arg0 bbox min quad))
            (nop!)
            (.lvf vf2 (&-> arg0 bbox max quad))
            (nop!)
            (set! (-> this ignore-processes 0) (the-as process a0-2))
            (nop!)
            (set! (-> this ignore-processes 1) (the-as process a1-1))
            (.mov.vf.w vf1 vf0)
            (nop!)
            (.mov.vf.w vf2 vf0)
            (set! (-> this ignore-mask) (the-as pat-surface a2-0))
            )
          )
        )
      (.ftoi.vf vf3 vf1)
      (nop!)
      (.ftoi.vf vf4 vf2)
      (set! (-> this num-tris) 0)
      (nop!)
      (.svf (&-> this collide-box min quad) vf1)
      (nop!)
      (.svf (&-> this collide-box max quad) vf2)
      (nop!)
      (.svf (&-> this collide-box4w min quad) vf3)
      (nop!)
      (.svf (&-> this collide-box4w max quad) vf4)
      (nop!)
      (.svf (&-> arg0 bbox4w min quad) vf3)
      (nop!)
      (.svf (&-> arg0 bbox4w max quad) vf4)
      (nop!)
      (set! (-> this num-prims) 0)
      (nop!)
      (set! (-> this collide-with) (the-as collide-spec v1-4))
      )
    0
    (when (logtest? (-> arg0 collide-with) (collide-spec backgnd))
      (fill-from-bg
        this
        (the-as
          (function collide-hash int collide-list collide-query int)
          (method-of-type collide-hash drawable-method-11)
          )
        collide-list-fill-bg-using-box
        arg0
        )
      (dotimes (s4-0 (-> *level* length))
        (let ((v1-15 (-> *level* level s4-0)))
          (when (= (-> v1-15 status) 'active)
            (let ((a0-6 (-> v1-15 bsp hfrag-drawable)))
              (if (nonzero? a0-6)
                  (bounding-box-query (the-as hfragment a0-6) this arg0)
                  )
              )
            )
          )
        )
      (let ((a0-7 (-> this num-tris)))
        (when (> a0-7 0)
          (let ((v1-22 (-> this prims))
                (a1-9 *collide-shape-prim-backgnd*)
                )
            (set! (-> v1-22 0 num-tris) (the-as uint a0-7))
            (set! (-> v1-22 0 prim) a1-9)
            (set! (-> this num-prims) 1)
            (set! (-> v1-22 0 first-tri) (the-as uint 0))
            (set! (-> v1-22 0 ccache) this)
            (set! (-> v1-22 0 prim-core world-sphere quad) (-> a1-9 prim-core world-sphere quad))
            (set! (-> v1-22 0 prim-core quad 1) (-> a1-9 prim-core quad 1))
            )
          )
        )
      (+! (-> *collide-stats* output) (-> this num-tris))
      )
    (when (logtest? (-> arg0 collide-with) (collide-spec water))
      (let ((v1-29 (-> arg0 ignore-process0)))
        (if v1-29
            (fill-from-water this (-> (the-as process-drawable v1-29) water))
            )
        )
      )
    (if (logtest? (-> arg0 collide-with) (collide-spec hit-by-player-list hit-by-others-list player-list))
        (fill-from-fg-boxes this)
        )
    0
    (none)
    )
  )

;; definition for method 13 of type collide-cache
;; ERROR: function was not converted to expressions. Cannot decompile.

;; definition for method 19 of type collide-cache
;; WARN: Return type mismatch int vs none.
(defmethod fill-from-fg-boxes ((this collide-cache))
  (let ((s5-0 (-> this collide-with)))
    (set! *actor-list-length* 0)
    (if (logtest? s5-0 (collide-spec hit-by-others-list))
        (set! *actor-list-length* (add-an-object *actor-hash* (-> this collide-box) *actor-list* 256))
        )
    (when (logtest? s5-0 (collide-spec player-list))
      (let ((a0-2 (-> *collide-player-list* alive-list next0)))
        *collide-player-list*
        (let ((v1-13 (-> a0-2 next0)))
          (while (!= a0-2 (-> *collide-player-list* alive-list-end))
            (let* ((a0-3 (-> (the-as connection a0-2) param1))
                   (a1-1 (-> (the-as collide-shape a0-3) root-prim))
                   )
              (when (logtest? s5-0 (-> a1-1 prim-core collide-as))
                (let ((a1-2 (-> a1-1 prim-core)))
                  (when (and (>= (+ (-> a1-2 world-sphere x) (-> a1-2 world-sphere w)) (-> this collide-box min x))
                             (>= (-> this collide-box max x) (- (-> a1-2 world-sphere x) (-> a1-2 world-sphere w)))
                             (>= (+ (-> a1-2 world-sphere y) (-> a1-2 world-sphere w)) (-> this collide-box min y))
                             (>= (-> this collide-box max y) (- (-> a1-2 world-sphere y) (-> a1-2 world-sphere w)))
                             (>= (+ (-> a1-2 world-sphere z) (-> a1-2 world-sphere w)) (-> this collide-box min z))
                             (>= (-> this collide-box max z) (- (-> a1-2 world-sphere z) (-> a1-2 world-sphere w)))
                             )
                    (when (< *actor-list-length* 256)
                      (set! (-> *actor-list* *actor-list-length*) (the-as collide-shape a0-3))
                      (set! *actor-list-length* (+ *actor-list-length* 1))
                      )
                    )
                  )
                )
              )
            (set! a0-2 v1-13)
            *collide-player-list*
            (set! v1-13 (-> v1-13 next0))
            )
          )
        )
      )
    (when (logtest? s5-0 (collide-spec hit-by-player-list))
      (let ((a0-5 (-> *collide-hit-by-player-list* alive-list next0)))
        *collide-hit-by-player-list*
        (let ((v1-21 (-> a0-5 next0)))
          (while (!= a0-5 (-> *collide-hit-by-player-list* alive-list-end))
            (let* ((a0-6 (-> (the-as connection a0-5) param1))
                   (a1-13 (-> (the-as collide-shape a0-6) root-prim))
                   )
              (when (logtest? s5-0 (-> a1-13 prim-core collide-as))
                (let ((a1-14 (-> a1-13 prim-core)))
                  (when (and (>= (+ (-> a1-14 world-sphere x) (-> a1-14 world-sphere w)) (-> this collide-box min x))
                             (>= (-> this collide-box max x) (- (-> a1-14 world-sphere x) (-> a1-14 world-sphere w)))
                             (>= (+ (-> a1-14 world-sphere y) (-> a1-14 world-sphere w)) (-> this collide-box min y))
                             (>= (-> this collide-box max y) (- (-> a1-14 world-sphere y) (-> a1-14 world-sphere w)))
                             (>= (+ (-> a1-14 world-sphere z) (-> a1-14 world-sphere w)) (-> this collide-box min z))
                             (>= (-> this collide-box max z) (- (-> a1-14 world-sphere z) (-> a1-14 world-sphere w)))
                             )
                    (when (< *actor-list-length* 256)
                      (set! (-> *actor-list* *actor-list-length*) (the-as collide-shape a0-6))
                      (set! *actor-list-length* (+ *actor-list-length* 1))
                      )
                    )
                  )
                )
              )
            (set! a0-5 v1-21)
            *collide-hit-by-player-list*
            (set! v1-21 (-> v1-21 next0))
            )
          )
        )
      )
    (dotimes (s4-0 *actor-list-length*)
      (let ((v1-26 (-> *actor-list* s4-0)))
        (when (logtest? s5-0 (-> v1-26 root-prim prim-core collide-as))
          (let ((a0-13 (-> v1-26 process)))
            (if (not (or (= a0-13 (-> this ignore-processes 0)) (= a0-13 (-> this ignore-processes 1))))
                (add-fg-prim-using-box (-> v1-26 root-prim) this)
                )
            )
          )
        )
      )
    )
  0
  (none)
  )

;; definition for method 10 of type collide-shape-prim
;; WARN: Return type mismatch object vs none.
(defmethod add-fg-prim-using-box ((this collide-shape-prim) (arg0 collide-cache))
  (format 0 "ERROR: Illegal collide-shape-prim type passed to collide-shape-prim::add-fg-prim-using-box!~%")
  (none)
  )

;; definition for method 10 of type collide-shape-prim-mesh
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 10 collide-shape-prim-mesh)" 10 collide-shape-prim-mesh)

;; definition for method 10 of type collide-shape-prim-sphere
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 10 collide-shape-prim-sphere)" 10 collide-shape-prim-sphere)

;; definition for method 10 of type collide-shape-prim-group
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 10 collide-shape-prim-group)" 10 collide-shape-prim-group)

;; definition for method 20 of type collide-cache
;; WARN: Return type mismatch int vs none.
(defmethod fill-from-fg-line-sphere ((this collide-cache) (arg0 collide-query))
  (let ((s4-0 (-> arg0 collide-with)))
    (set! *actor-list-length* 0)
    (if (logtest? s4-0 (collide-spec hit-by-others-list))
        (set! *actor-list-length* (fill-actor-list-for-sphere
                                    *actor-hash*
                                    (-> arg0 start-pos)
                                    (-> arg0 move-dist)
                                    (-> arg0 radius)
                                    *actor-list*
                                    256
                                    -1
                                    )
              )
        )
    (let ((f30-0 0.0)
          (s3-0 (new 'stack-no-clear 'matrix))
          )
      (let ((f0-1 (vector-length-squared (-> arg0 move-dist))))
        (if (< 0.0 f0-1)
            (set! f30-0 (/ 1.0 f0-1))
            )
        )
      (when (logtest? s4-0 (collide-spec player-list))
        (let ((v1-17 (-> *collide-player-list* alive-list next0)))
          *collide-player-list*
          (let ((s2-0 (-> v1-17 next0)))
            (while (!= v1-17 (-> *collide-player-list* alive-list-end))
              (let* ((s1-0 (-> (the-as connection v1-17) param1))
                     (v1-18 (-> (the-as collide-shape s1-0) root-prim))
                     )
                (when (logtest? s4-0 (-> v1-18 prim-core collide-as))
                  (let ((s0-0 (-> v1-18 prim-core)))
                    (vector-! (-> s3-0 uvec) (-> s0-0 world-sphere) (-> arg0 start-pos))
                    (let* ((f1-2 (* (vector-dot (-> arg0 move-dist) (-> s3-0 uvec)) f30-0))
                           (f0-6 (fmax 0.0 (fmin 1.0 f1-2)))
                           )
                      (vector+float*! (-> s3-0 rvec) (-> arg0 start-pos) (-> arg0 move-dist) f0-6)
                      )
                    (when (< (vector-vector-distance-squared (-> s3-0 rvec) (-> s0-0 world-sphere))
                             (square (+ (-> arg0 radius) (-> s0-0 world-sphere w)))
                             )
                      (when (< *actor-list-length* 256)
                        (set! (-> *actor-list* *actor-list-length*) (the-as collide-shape s1-0))
                        (set! *actor-list-length* (+ *actor-list-length* 1))
                        )
                      )
                    )
                  )
                )
              (set! v1-17 s2-0)
              *collide-player-list*
              (set! s2-0 (-> s2-0 next0))
              )
            )
          )
        )
      (when (logtest? s4-0 (collide-spec hit-by-player-list))
        (let ((v1-38 (-> *collide-hit-by-player-list* alive-list next0)))
          *collide-hit-by-player-list*
          (let ((s2-1 (-> v1-38 next0)))
            (while (!= v1-38 (-> *collide-hit-by-player-list* alive-list-end))
              (let* ((s1-1 (-> (the-as connection v1-38) param1))
                     (v1-39 (-> (the-as collide-shape s1-1) root-prim))
                     )
                (when (logtest? s4-0 (-> v1-39 prim-core collide-as))
                  (let ((s0-1 (-> v1-39 prim-core)))
                    (vector-! (-> s3-0 uvec) (-> s0-1 world-sphere) (-> arg0 start-pos))
                    (let* ((f1-8 (* (vector-dot (-> arg0 move-dist) (-> s3-0 uvec)) f30-0))
                           (f0-11 (fmax 0.0 (fmin 1.0 f1-8)))
                           )
                      (vector+float*! (-> s3-0 rvec) (-> arg0 start-pos) (-> arg0 move-dist) f0-11)
                      )
                    (when (< (vector-vector-distance-squared (-> s3-0 rvec) (-> s0-1 world-sphere))
                             (square (+ (-> arg0 radius) (-> s0-1 world-sphere w)))
                             )
                      (when (< *actor-list-length* 256)
                        (set! (-> *actor-list* *actor-list-length*) (the-as collide-shape s1-1))
                        (set! *actor-list-length* (+ *actor-list-length* 1))
                        )
                      )
                    )
                  )
                )
              (set! v1-38 s2-1)
              *collide-hit-by-player-list*
              (set! s2-1 (-> s2-1 next0))
              )
            )
          )
        )
      )
    (dotimes (s3-1 *actor-list-length*)
      (let ((v1-58 (-> *actor-list* s3-1)))
        (when (logtest? s4-0 (-> v1-58 root-prim prim-core collide-as))
          (let ((a0-37 (-> v1-58 process)))
            (if (not (or (= a0-37 (-> this ignore-processes 0)) (= a0-37 (-> this ignore-processes 1))))
                (add-fg-prim-using-line-sphere (-> v1-58 root-prim) this arg0)
                )
            )
          )
        )
      )
    )
  0
  (none)
  )

;; definition for method 11 of type collide-shape-prim
;; WARN: Return type mismatch object vs none.
(defmethod add-fg-prim-using-line-sphere ((this collide-shape-prim) (arg0 collide-cache) (arg1 object))
  (format
    0
    "ERROR: Illegal collide-shape-prim type passed to collide-shape-prim::add-fg-prim-using-line-sphere!~%"
    )
  (none)
  )

;; definition for method 11 of type collide-shape-prim-mesh
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 11 collide-shape-prim-mesh)" 11 collide-shape-prim-mesh)

;; definition for method 11 of type collide-shape-prim-sphere
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 11 collide-shape-prim-sphere)" 11 collide-shape-prim-sphere)

;; definition for method 11 of type collide-shape-prim-group
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 11 collide-shape-prim-group)" 11 collide-shape-prim-group)

;; definition for method 10 of type collide-cache
(defmethod fill-and-probe-using-line-sphere ((this collide-cache) (arg0 collide-query))
  (fill-using-line-sphere this arg0)
  (probe-using-line-sphere this arg0)
  )

;; definition of type collide-puls-work
(deftype collide-puls-work (structure)
  ((ignore-pat  pat-surface)
   (bsphere     sphere  :inline)
   (move-dist   vector  :inline)
   )
  )

;; definition for method 3 of type collide-puls-work
(defmethod inspect ((this collide-puls-work))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'collide-puls-work)
  (format #t "~1Tignore-pat: ~D~%" (-> this ignore-pat))
  (format #t "~1Tbsphere: #<sphere @ #x~X>~%" (-> this bsphere))
  (format #t "~1Tmove-dist: #<vector @ #x~X>~%" (-> this move-dist))
  (label cfg-4)
  this
  )

;; definition for method 16 of type collide-cache
(defmethod probe-using-line-sphere ((this collide-cache) (arg0 collide-query))
  (rlet ((vf0 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (let ((s5-0 (new 'stack-no-clear 'collide-puls-work)))
      (.lvf vf4 (&-> arg0 exit-planes 0 quad))
      (.lvf vf3 (&-> arg0 start-pos quad))
      (.lvf vf2 (&-> arg0 move-dist quad))
      (set! (-> s5-0 ignore-pat) (-> arg0 ignore-pat))
      (.mul.w.vf.w vf3 vf0 vf4)
      (.svf (&-> s5-0 move-dist quad) vf2)
      (.svf (&-> s5-0 bsphere quad) vf3)
      (let ((s4-0 (the-as object (-> this prims)))
            (f30-0 -100000000.0)
            )
        (countdown (s3-0 (-> this num-prims))
          (when (and (logtest? (-> arg0 collide-with) (-> (the-as collide-cache-prim s4-0) prim-core collide-as))
                     (logtest? (-> arg0 action-mask) (-> (the-as collide-cache-prim s4-0) prim-core action))
                     )
            (cond
              ((>= (-> (the-as collide-cache-prim s4-0) prim-core prim-type) 0)
               (let ((f0-0 ((method-of-type collide-cache-prim resolve-moving-sphere-tri)
                            (the-as collide-cache-prim s4-0)
                            arg0
                            (-> s5-0 bsphere)
                            (-> s5-0 move-dist)
                            f30-0
                            (collide-action solid)
                            )
                           )
                     )
                 (if (>= f0-0 0.0)
                     (set! f30-0 f0-0)
                     )
                 )
               )
              (else
                (when (not (logtest? (-> arg0 ignore-pat)
                                     (-> (the-as collide-shape-prim-sphere (-> (the-as collide-cache-prim s4-0) prim)) pat)
                                     )
                           )
                  (let ((f0-1 ((method-of-type collide-cache-prim resolve-moving-sphere-sphere)
                               (the-as collide-cache-prim s4-0)
                               arg0
                               (-> s5-0 bsphere)
                               (-> s5-0 move-dist)
                               f30-0
                               (collide-action solid)
                               )
                              )
                        )
                    (if (>= f0-1 0.0)
                        (set! f30-0 f0-1)
                        )
                    )
                  )
                )
              )
            )
          (set! s4-0 (-> (the-as (inline-array collide-cache-prim) s4-0) 1))
          )
        f30-0
        )
      )
    )
  )

;; definition of type lsmi-work
(deftype lsmi-work (structure)
  ((best-u       float)
   (orig-best-u  float)
   (action       uint32)
   (cquery       collide-query  :inline)
   )
  )

;; definition for method 3 of type lsmi-work
(defmethod inspect ((this lsmi-work))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'lsmi-work)
  (format #t "~1Tbest-u: ~f~%" (-> this best-u))
  (format #t "~1Torig-best-u: ~f~%" (-> this orig-best-u))
  (format #t "~1Taction: ~D~%" (-> this action))
  (format #t "~1Tcquery: #<collide-query @ #x~X>~%" (-> this cquery))
  (label cfg-4)
  this
  )

;; definition for method 9 of type collide-cache-prim
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 9 collide-cache-prim)" 9 collide-cache-prim)

;; definition for method 10 of type collide-cache-prim
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 10 collide-cache-prim)" 10 collide-cache-prim)

;; definition for method 11 of type collide-cache
(defmethod fill-and-probe-using-spheres ((this collide-cache) (arg0 collide-query))
  (fill-using-spheres this arg0)
  (probe-using-spheres this arg0)
  )

;; definition for method 14 of type collide-cache
(defmethod fill-using-spheres ((this collide-cache) (arg0 collide-query))
  (new 'stack-no-clear 'bounding-box)
  (set-from-spheres!
    (-> arg0 bbox)
    (the-as (inline-array sphere) (-> arg0 best-dist))
    (the-as int (-> arg0 best-other-prim))
    )
  (fill-using-bounding-box this arg0)
  (none)
  )

;; definition for method 17 of type collide-cache
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 17 collide-cache)" 17 collide-cache)

;; definition for method 9 of type collide-puss-work
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 9 collide-puss-work)" 9 collide-puss-work)

;; definition for method 10 of type collide-puss-work
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 10 collide-puss-work)" 10 collide-puss-work)

;; definition for function test-closest-pt-in-triangle
;; INFO: Used lq/sq
;; ERROR: failed type prop at 20: add failed: object <integer 0>

;; ERROR: Failed to guess stack use for 16 in test-closest-pt-in-triangle:0
(defun test-closest-pt-in-triangle ((a0-0 collide-cache))
  (local-vars
    (v0-0 vector)
    (v0-1 vector)
    (v0-2 none)
    (v0-3 float)
    (v0-4 symbol)
    (v1-1 int)
    (v1-2 vector)
    (v1-3 uint128)
    (v1-4 symbol)
    (v1-5 symbol)
    (v1-7 none)
    (a0-1 int)
    (a0-2 none)
    (a0-3 none)
    (a0-4 none)
    (a0-5 none)
    (a0-6 none)
    (a1-0 collide-cache-tri)
    (a1-1 none)
    (a1-2 none)
    (a2-0 vector)
    (a2-1 collide-cache-tri)
    (a3-0 vector)
    (a3-1 none)
    (s0-0 none)
    (s1-0 int)
    (s2-0 none)
    (s3-0 none)
    (s4-0 none)
    (s5-0 object)
    (t9-0 (function int vector))
    (t9-1 (function vector vector vector vector vector))
    (t9-2 (function vector vector matrix vector none))
    (t9-3 (function vector vector float))
    (gp-0 none)
    (sp-0 none)
    (f0-0 float)
    (f1-0 float)
    (f30-0 number)
    )
  (set! gp-0 (the-as none (+ sp-0 16)))
  (set! v1-1 -1082130432)
  (set! f30-0 (gpr->fpr v1-1))
  (set! s5-0 (-> a0-0 tris))
  (set! s4-0 (the-as none (+ sp-0 32)))
  (set! s3-0 (the-as none (+ sp-0 48)))
  (set! s2-0 (the-as none (+ sp-0 64)))
  (set! s1-0 (-> a0-0 num-tris))
  (set! s0-0 (the-as none s4-0))
  (set! t9-0 target-pos)
  (set! a0-1 0)
  (set! v0-0 (call! a0-1))
  (set! v1-2 v0-0)
  (set! v1-3 (-> v1-2 quad))
  (s.q! s0-0 v1-3)
  (while (nonzero? s1-0)
    (when (begin
            (or (begin
                  (set! s1-0 (+ s1-0 -1))
                  (set! t9-1 normal-of-plane)
                  (set! a0-2 (the-as none s2-0))
                  (set! a1-0 (+ s5-0 0))
                  (set! a2-0 (+ s5-0 16))
                  (set! a3-0 (+ s5-0 32))
                  (call! a0-2 a1-0 a2-0 a3-0)
                  (set! t9-2 closest-pt-in-triangle)
                  (set! a0-3 (the-as none s3-0))
                  (set! a1-1 (the-as none s4-0))
                  (set! a2-1 (+ s5-0 0))
                  (set! a3-1 (the-as none s2-0))
                  (call! a0-3 a1-1 a2-1 a3-1)
                  (set! t9-3 vector-vector-distance-squared)
                  (set! a0-4 (the-as none s3-0))
                  (set! a1-2 (the-as none s4-0))
                  (set! v0-3 (call! a0-4 a1-2))
                  (set! f0-0 (gpr->fpr v0-3))
                  (set! f1-0 (the-as float 0))
                  (set! v1-4 (<.s f30-0 f1-0))
                  v1-4
                  )
                (set! v1-5 (<.s f0-0 f30-0))
                )
            v1-5
            )
      (set! f30-0 f0-0)
      (set! v1-7 (the-as none gp-0))
      (set! a0-5 (the-as none s3-0))
      (set! a0-6 (the-as none (l.q a0-5)))
      (s.q! v1-7 a0-6)
      (set! v1-8 s5-0)
      )
    (set! s5-0 (-> s5-0 1))
    )
  (set! v0-4 #f)
  (ret-value v0-4)
  )