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

;; definition for method 10 of type touching-prims-entry-pool
(defmethod get-free-node-count ((this touching-prims-entry-pool))
  (let ((v0-0 0))
    (let ((v1-0 (-> this head)))
      (while v1-0
        (+! v0-0 1)
        (set! v1-0 (-> v1-0 next))
        (nop!)
        (nop!)
        (nop!)
        )
      )
    v0-0
    )
  )

;; definition for method 9 of type touching-prims-entry-pool
(defmethod alloc-node ((this touching-prims-entry-pool))
  (let ((gp-0 (-> this head)))
    (cond
      (gp-0
        (let ((v1-0 (-> gp-0 next)))
          (set! (-> this head) v1-0)
          (if v1-0
              (set! (-> v1-0 prev) #f)
              )
          )
        (set! (-> gp-0 allocated?) #t)
        (set! (-> gp-0 next) #f)
        (set! (-> gp-0 prev) #f)
        )
      (else
        (format 0 "ERROR: touching-prims-entry-pool::alloc-node() failed!~%")
        )
      )
    gp-0
    )
  )

;; definition for method 12 of type touching-prims-entry-pool
(defmethod free-node ((this touching-prims-entry-pool) (arg0 touching-prims-entry))
  (when (-> arg0 allocated?)
    (set! (-> arg0 allocated?) #f)
    (let ((v1-1 (-> this head)))
      (set! (-> arg0 next) v1-1)
      (set! (-> arg0 prev) #f)
      (set! (-> this head) arg0)
      (when v1-1
        (set! (-> v1-1 prev) arg0)
        arg0
        )
      )
    )
  )

;; definition for method 14 of type touching-shapes-entry
;; WARN: Return type mismatch int vs none.
(defmethod free-touching-prims-list ((this touching-shapes-entry))
  (when (-> this cshape1)
    (set! (-> this cshape1) #f)
    (let ((gp-0 (-> this head)))
      (when gp-0
        (set! (-> this head) #f)
        (let ((s5-0 *touching-prims-entry-pool*))
          (while gp-0
            (let ((a1-0 gp-0))
              (set! gp-0 (-> a1-0 next))
              (free-node s5-0 a1-0)
              )
            )
          )
        )
      )
    )
  0
  (none)
  )

;; definition for method 10 of type touching-list
;; WARN: Return type mismatch int vs none.
(defmethod free-nodes ((this touching-list))
  (let ((s5-0 (the-as touching-shapes-entry (-> this touching-shapes))))
    (countdown (s4-0 (-> this num-touching-shapes))
      (free-touching-prims-list s5-0)
      (&+! s5-0 32)
      )
    )
  (set! (-> this num-touching-shapes) 0)
  (set! (-> this resolve-u) 0)
  0
  (none)
  )

;; definition for method 13 of type touching-list
;; WARN: Return type mismatch object vs touching-shapes-entry.
(defmethod get-shapes-entry ((this touching-list) (shape1 collide-shape) (shape2 collide-shape))
  (let ((entry (the-as touching-shapes-entry (-> this touching-shapes))))
    (let ((v1-0 (the-as touching-shapes-entry #f)))
      (countdown (a3-0 (-> this num-touching-shapes))
        (let ((t0-0 (-> entry cshape1)))
          (set! v1-0
                (cond
                  (t0-0
                    (if (or (and (= t0-0 shape1) (= (-> entry cshape2) shape2)) (and (= t0-0 shape2) (= (-> entry cshape2) shape1)))
                        (return entry)
                        )
                    v1-0
                    )
                  (else
                    entry
                    )
                  )
                )
          )
        (&+! entry 32)
        )
      (cond
        (v1-0
          (set! entry v1-0)
          )
        (else
          (when (>= (-> this num-touching-shapes) 32)
            (format 0 "ERROR: touching-list::get-shapes-entry() failed!~%")
            (return (the-as touching-shapes-entry #f))
            )
          (+! (-> this num-touching-shapes) 1)
          )
        )
      )
    (set! (-> entry cshape1) shape1)
    (set! (-> entry cshape2) shape2)
    (set! (-> entry head) #f)
    (set! (-> entry resolve-u) 1)
    (set! (-> this resolve-u) 1)
    (set! (-> entry handle1) (process->handle (-> shape1 process)))
    (set! (-> entry handle2) (process->handle (-> shape2 process)))
    (the-as touching-shapes-entry entry)
    )
  )

;; definition of type add-prims-touching-work
(deftype add-prims-touching-work (structure)
  ((tri1  collide-tri-result)
   (tri2  collide-tri-result)
   )
  )

;; definition for method 3 of type add-prims-touching-work
(defmethod inspect ((this add-prims-touching-work))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'add-prims-touching-work)
  (format #t "~1Ttri1: #<collide-tri-result @ #x~X>~%" (-> this tri1))
  (format #t "~1Ttri2: #<collide-tri-result @ #x~X>~%" (-> this tri2))
  (label cfg-4)
  this
  )

;; definition for method 9 of type touching-list
;; WARN: Return type mismatch int vs none.
;; WARN: Function (method 9 touching-list) has a return type of none, but the expression builder found a return statement.
(defmethod add-touching-prims ((this touching-list)
                              (arg0 collide-shape-prim)
                              (arg1 collide-shape-prim)
                              (arg2 float)
                              (arg3 collide-tri-result)
                              (arg4 collide-tri-result)
                              )
  (let ((gp-0 (new 'stack-no-clear 'add-prims-touching-work)))
    (set! (-> gp-0 tri1) arg3)
    (set! (-> gp-0 tri2) arg4)
    (let ((s2-0 (get-shapes-entry this (-> arg0 cshape) (-> arg1 cshape))))
      (when s2-0
        (when (= (-> s2-0 cshape1) (-> arg1 cshape))
          (let ((v1-4 arg0))
            (set! arg0 arg1)
            (set! arg1 v1-4)
            )
          )
        (let ((s0-0 (-> s2-0 head)))
          (while s0-0
            (when (and (= (-> s0-0 prim1 cprim) arg0) (= (-> s0-0 prim2 cprim) arg1))
              (when (< arg2 (-> s0-0 u))
                (-> s0-0 u)
                (let ((v1-12 (-> s0-0 prim1))
                      (a1-2 (-> gp-0 tri1))
                      )
                  (cond
                    (a1-2
                      (set! (-> v1-12 has-tri?) #t)
                      (mem-copy! (the-as pointer (-> v1-12 tri)) (the-as pointer a1-2) 88)
                      )
                    (else
                      (set! (-> v1-12 has-tri?) #f)
                      )
                    )
                  )
                (let ((v1-15 (-> s0-0 prim2))
                      (a1-3 (-> gp-0 tri2))
                      )
                  (cond
                    (a1-3
                      (set! (-> v1-15 has-tri?) #t)
                      (mem-copy! (the-as pointer (-> v1-15 tri)) (the-as pointer a1-3) 88)
                      )
                    (else
                      (set! (-> v1-15 has-tri?) #f)
                      )
                    )
                  )
                )
              (return 0)
              )
            (set! s0-0 (-> s0-0 next))
            )
          )
        (let ((s0-1 (alloc-node *touching-prims-entry-pool*)))
          (when s0-1
            (let ((v1-22 (-> s2-0 head)))
              (set! (-> s0-1 next) v1-22)
              (set! (-> s0-1 prev) #f)
              (set! (-> s2-0 head) s0-1)
              (if v1-22
                  (set! (-> v1-22 prev) s0-1)
                  )
              )
            (set! (-> s0-1 u) arg2)
            (when (>= arg2 0.0)
              (set! (-> s2-0 resolve-u) 1)
              (set! (-> this resolve-u) 1)
              )
            (let ((v1-26 (-> s0-1 prim1))
                  (a1-4 (-> gp-0 tri1))
                  )
              (set! (-> v1-26 cprim) arg0)
              (cond
                (a1-4
                  (set! (-> v1-26 has-tri?) #t)
                  (mem-copy! (the-as pointer (-> v1-26 tri)) (the-as pointer a1-4) 88)
                  )
                (else
                  (set! (-> v1-26 has-tri?) #f)
                  )
                )
              )
            (let ((v1-29 (-> s0-1 prim2))
                  (a1-5 (-> gp-0 tri2))
                  )
              (set! (-> v1-29 cprim) arg1)
              (cond
                (a1-5
                  (set! (-> v1-29 has-tri?) #t)
                  (mem-copy! (the-as pointer (-> v1-29 tri)) (the-as pointer a1-5) 88)
                  )
                (else
                  (set! (-> v1-29 has-tri?) #f)
                  )
                )
              )
            )
          )
        )
      )
    )
  0
  (none)
  )

;; definition for method 11 of type touching-list
;; WARN: Return type mismatch int vs none.
(defmethod update-from-step-size ((this touching-list) (arg0 float))
  (when (nonzero? (-> this resolve-u))
    (set! (-> this resolve-u) 0)
    (let ((s5-0 (the-as touching-shapes-entry (-> this touching-shapes))))
      (countdown (s4-0 (-> this num-touching-shapes))
        (when (nonzero? (-> s5-0 resolve-u))
          (set! (-> s5-0 resolve-u) 0)
          (when (-> s5-0 cshape1)
            (let ((s3-0 (-> s5-0 head)))
              (while s3-0
                (let ((f0-0 (-> s3-0 u)))
                  (set! s3-0 (cond
                               ((>= f0-0 0.0)
                                (cond
                                  ((>= arg0 f0-0)
                                   (set! (-> s3-0 u) -1.0)
                                   (set! s3-0 (-> s3-0 next))
                                   )
                                  (else
                                    (let ((a1-1 s3-0))
                                      (let ((v1-8 (-> s3-0 next)))
                                        (let ((a0-1 (-> s3-0 prev)))
                                          (if a0-1
                                              (set! (-> a0-1 next) v1-8)
                                              (set! (-> s5-0 head) v1-8)
                                              )
                                          (if v1-8
                                              (set! (-> v1-8 prev) a0-1)
                                              )
                                          )
                                        (set! s3-0 v1-8)
                                        )
                                      (free-node *touching-prims-entry-pool* a1-1)
                                      )
                                    )
                                  )
                                s3-0
                                )
                               (else
                                 (-> s3-0 next)
                                 )
                               )
                        )
                  )
                )
              )
            (if (not (-> s5-0 head))
                (set! (-> s5-0 cshape1) #f)
                )
            )
          )
        (&+! s5-0 32)
        )
      )
    )
  0
  (none)
  )

;; definition for method 12 of type touching-list
;; WARN: Return type mismatch int vs none.
(defmethod send-events-for-touching-shapes ((this touching-list))
  (let ((gp-0 (the-as touching-shapes-entry (-> this touching-shapes))))
    (countdown (s5-0 (-> this num-touching-shapes))
      (let ((s3-0 (-> gp-0 cshape1)))
        (when s3-0
          (let ((s4-0 (handle->process (-> gp-0 handle1)))
                (s2-0 (handle->process (-> gp-0 handle2)))
                )
            (when (and s4-0 s2-0)
              (let ((s1-0 (-> gp-0 cshape2)))
                (when (< (-> s3-0 event-priority) (-> s1-0 event-priority))
                  (let ((v1-9 s3-0))
                    (set! s3-0 s1-0)
                    (set! s1-0 v1-9)
                    )
                  (let ((v1-11 s4-0))
                    (set! s4-0 s2-0)
                    (set! s2-0 v1-11)
                    )
                  )
                (let ((v1-13 (-> s3-0 event-self)))
                  (if v1-13
                      (send-event s4-0 v1-13 :from s2-0 gp-0)
                      )
                  )
                (let ((v1-14 (-> s3-0 event-other)))
                  (if v1-14
                      (send-event s2-0 v1-14 :from s4-0 gp-0)
                      )
                  )
                (let ((v1-15 (-> s1-0 event-self)))
                  (if v1-15
                      (send-event s2-0 v1-15 :from s4-0 gp-0)
                      )
                  )
                (let ((v1-16 (-> s1-0 event-other)))
                  (if v1-16
                      (send-event s4-0 v1-16 :from s2-0 gp-0)
                      )
                  )
                )
              )
            )
          )
        )
      (&+! gp-0 32)
      )
    )
  0
  (none)
  )

;; definition for method 12 of type touching-shapes-entry
(defmethod prims-touching? ((this touching-shapes-entry) (arg0 collide-shape) (arg1 uint))
  (cond
    ((= (-> this cshape1) arg0)
     (let ((v1-1 (-> this head)))
       (while v1-1
         (if (logtest? (-> v1-1 prim1 cprim prim-id) arg1)
             (return v1-1)
             )
         (set! v1-1 (-> v1-1 next))
         )
       )
     )
    ((= (-> this cshape2) arg0)
     (let ((v1-4 (-> this head)))
       (while v1-4
         (if (logtest? (-> v1-4 prim2 cprim prim-id) arg1)
             (return v1-4)
             )
         (set! v1-4 (-> v1-4 next))
         )
       )
     )
    (else
      (format 0 "ERROR: touching-shapes-entry::prims-touching? : Bogus cshape value!~%")
      )
    )
  (the-as touching-prims-entry #f)
  )

;; definition for method 13 of type touching-shapes-entry
;; WARN: Return type mismatch touching-prims-entry vs basic.
(defmethod prims-touching-action? ((this touching-shapes-entry) (arg0 collide-shape) (arg1 collide-action) (arg2 collide-action))
  (cond
    ((= (-> this cshape1) arg0)
     (let ((v1-1 (-> this head)))
       (while v1-1
         (let ((a0-1 (-> v1-1 prim1 cprim)))
           (if (and (logtest? arg1 (-> a0-1 prim-core action)) (not (logtest? arg2 (-> a0-1 prim-core action))))
               (return (the-as basic v1-1))
               )
           )
         (set! v1-1 (-> v1-1 next))
         )
       )
     )
    ((= (-> this cshape2) arg0)
     (let ((v1-4 (-> this head)))
       (while v1-4
         (let ((a0-5 (-> v1-4 prim2 cprim)))
           (if (and (logtest? arg1 (-> a0-5 prim-core action)) (not (logtest? arg2 (-> a0-5 prim-core action))))
               (return (the-as basic v1-4))
               )
           )
         (set! v1-4 (-> v1-4 next))
         )
       )
     )
    (else
      (format 0 "ERROR: touching-shapes-entry::prims-touching-action? : Bogus cshape value!~%")
      )
    )
  (the-as basic #f)
  )

;; definition for method 11 of type touching-shapes-entry
(defmethod get-touched-shape ((this touching-shapes-entry) (arg0 collide-shape))
  (cond
    ((= (-> this cshape1) arg0)
     (return (-> this cshape2))
     )
    ((= (-> this cshape2) arg0)
     (return (-> this cshape1))
     )
    )
  (the-as collide-shape #f)
  )

;; definition for method 10 of type touching-prims-entry
(defmethod get-touched-prim ((this touching-prims-entry) (arg0 collide-shape) (arg1 touching-shapes-entry))
  (cond
    ((= (-> arg1 cshape1) arg0)
     (return (-> this prim1 cprim))
     )
    ((= (-> arg1 cshape2) arg0)
     (return (-> this prim2 cprim))
     )
    )
  (the-as collide-shape-prim #f)
  )

;; definition for method 11 of type touching-prims-entry
(defmethod get-touched-tri ((this touching-prims-entry) (arg0 collide-shape) (arg1 touching-shapes-entry))
  (let ((v0-0 (the-as collide-tri-result #f)))
    (cond
      ((not this)
       )
      ((= (-> arg1 cshape1) arg0)
       (let ((v1-4 (-> this prim1)))
         (if (-> v1-4 has-tri?)
             (set! v0-0 (-> v1-4 tri))
             )
         )
       )
      ((= (-> arg1 cshape2) arg0)
       (let ((v1-7 (-> this prim2)))
         (if (-> v1-7 has-tri?)
             (set! v0-0 (-> v1-7 tri))
             )
         )
       )
      )
    v0-0
    )
  )

;; definition for method 9 of type touching-prims-entry
(defmethod get-middle-of-bsphere-overlap ((this touching-prims-entry) (arg0 vector))
  (let* ((s4-0 (-> this prim1 cprim))
         (v1-0 (-> this prim2 cprim))
         (gp-1
           (vector-! (new 'stack-no-clear 'vector) (-> v1-0 prim-core world-sphere) (-> s4-0 prim-core world-sphere))
           )
         )
    (let ((f1-2 (- (- (vector-length gp-1) (-> v1-0 prim-core world-sphere w)) (-> s4-0 prim-core world-sphere w))))
      (vector-normalize! gp-1 (+ (-> s4-0 prim-core world-sphere w) (/ f1-2 2)))
      )
    (vector+! arg0 gp-1 (-> s4-0 prim-core world-sphere))
    )
  arg0
  )

;; definition for function get-intersect-point
;; INFO: Used lq/sq
(defun get-intersect-point ((arg0 vector) (arg1 touching-prims-entry) (arg2 collide-shape) (arg3 touching-shapes-entry))
  (when arg1
    (let ((a0-2 (get-touched-tri arg1 arg2 arg3)))
      (if a0-2
          (set! (-> arg0 quad) (-> a0-2 intersect quad))
          (get-middle-of-bsphere-overlap arg1 arg0)
          )
      )
    )
  arg0
  )