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

;; definition of type curve
(deftype curve (structure)
  ((cverts      (inline-array vector))
   (num-cverts  int32)
   (knots       (pointer float))
   (num-knots   int32)
   (length      float)
   )
  )

;; definition for method 3 of type curve
(defmethod inspect ((this curve))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'curve)
  (format #t "~1Tcverts: #x~X~%" (-> this cverts))
  (format #t "~1Tnum-cverts: ~D~%" (-> this num-cverts))
  (format #t "~1Tknots: #x~X~%" (-> this knots))
  (format #t "~1Tnum-knots: ~D~%" (-> this num-knots))
  (format #t "~1Tlength: ~f~%" (-> this length))
  (label cfg-4)
  this
  )

;; definition of type line-intersection-val
(deftype line-intersection-val (structure)
  ((tt0  float)
   (tt1  float)
   )
  )

;; definition for method 3 of type line-intersection-val
(defmethod inspect ((this line-intersection-val))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'line-intersection-val)
  (format #t "~1Ttt0: ~f~%" (-> this tt0))
  (format #t "~1Ttt1: ~f~%" (-> this tt1))
  (label cfg-4)
  this
  )

;; definition of type border-plane
(deftype border-plane (basic)
  ((name    symbol)
   (action  basic)
   (slot    int8)
   (trans   vector  :inline)
   (normal  vector  :inline)
   )
  (:methods
    (debug-draw (_type_) int)
    (point-past-plane? (_type_ vector) symbol)
    )
  )

;; definition for method 3 of type border-plane
(defmethod inspect ((this border-plane))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this (-> this type))
  (format #t "~1Tname: ~A~%" (-> this name))
  (format #t "~1Taction: ~A~%" (-> this action))
  (format #t "~1Tslot: ~D~%" (-> this slot))
  (format #t "~1Ttrans: ~`vector`P~%" (-> this trans))
  (format #t "~1Tnormal: ~`vector`P~%" (-> this normal))
  (label cfg-4)
  this
  )

;; definition of type lissajous
(deftype lissajous (structure)
  "A curve where the x and y position are set by two different sinusoids.
This stores the parameters and state for evaluating this curve."
  ((x-mag         float)
   (y-mag         float)
   (theta         float)
   (wx            float)
   (wy            float)
   (period-shift  float)
   (theta-rate    float)
   )
  :pack-me
  (:methods
    (evaluate! (_type_ vector) vector)
    )
  )

;; definition for method 3 of type lissajous
(defmethod inspect ((this lissajous))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'lissajous)
  (format #t "~1Tx-mag: ~f~%" (-> this x-mag))
  (format #t "~1Ty-mag: ~f~%" (-> this y-mag))
  (format #t "~1Ttheta: ~f~%" (-> this theta))
  (format #t "~1Twx: ~f~%" (-> this wx))
  (format #t "~1Twy: ~f~%" (-> this wy))
  (format #t "~1Tperiod-shift: ~f~%" (-> this period-shift))
  (format #t "~1Ttheta-rate: ~f~%" (-> this theta-rate))
  (label cfg-4)
  this
  )

;; definition of type lissajous-interp
(deftype lissajous-interp (structure)
  "Handles interpolating between two different lissajous parameters, and also
stepping forward the dynamics."
  ((current  lissajous  :inline)
   (dest     lissajous  :inline)
   (rate     lissajous  :inline)
   )
  (:methods
    (evaluate! (_type_ vector) vector)
    (update! (_type_) float)
    )
  )

;; definition for method 3 of type lissajous-interp
(defmethod inspect ((this lissajous-interp))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'lissajous-interp)
  (format #t "~1Tcurrent: #<lissajous @ #x~X>~%" (-> this current))
  (format #t "~1Tdest: #<lissajous @ #x~X>~%" (-> this dest))
  (format #t "~1Trate: #<lissajous @ #x~X>~%" (-> this rate))
  (label cfg-4)
  this
  )

;; failed to figure out what this is:
0