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

;; definition of type joint
(deftype joint (basic)
  ((name       string)
   (number     int32)
   (parent     joint)
   (bind-pose  matrix  :inline)
   )
  )

;; definition for method 3 of type joint
(defmethod inspect ((this joint))
  (format #t "[~8x] ~A~%" this (-> this type))
  (format #t "~Tname: ~A~%" (-> this name))
  (format #t "~Tnumber: ~D~%" (-> this number))
  (format #t "~Tparent: ~A~%" (-> this parent))
  (format #t "~Tbind-pose: #<matrix @ #x~X>~%" (-> this bind-pose))
  this
  )

;; definition of type bone-cache
(deftype bone-cache (structure)
  ((bone-matrix    uint32)
   (parent-matrix  uint32)
   (dummy          uint32)
   (frame          uint32)
   )
  )

;; definition for method 3 of type bone-cache
(defmethod inspect ((this bone-cache))
  (format #t "[~8x] ~A~%" this 'bone-cache)
  (format #t "~Tbone-matrix: ~D~%" (-> this bone-matrix))
  (format #t "~Tparent-matrix: ~D~%" (-> this parent-matrix))
  (format #t "~Tdummy: ~D~%" (-> this dummy))
  (format #t "~Tframe: ~D~%" (-> this frame))
  this
  )

;; definition of type bone
(deftype bone (structure)
  ((transform  matrix      :inline)
   (position   vector      :inline :overlay-at (-> transform vector 3))
   (scale      vector      :inline)
   (cache      bone-cache  :inline)
   )
  )

;; definition for method 3 of type bone
(defmethod inspect ((this bone))
  (format #t "[~8x] ~A~%" this 'bone)
  (format #t "~Ttransform: #<matrix @ #x~X>~%" (-> this transform))
  (format #t "~Tposition: #<vector @ #x~X>~%" (-> this transform vector 3))
  (format #t "~Tscale: #<vector @ #x~X>~%" (-> this scale))
  (format #t "~Tcache: #<bone-cache @ #x~X>~%" (-> this cache))
  this
  )

;; definition of type skeleton
(deftype skeleton (inline-array-class)
  ((bones  bone  :inline :dynamic)
   )
  )

;; definition for method 3 of type skeleton
(defmethod inspect ((this skeleton))
  (format #t "[~8x] ~A~%" this (-> this type))
  (format #t "~Tlength: ~D~%" (-> this length))
  (format #t "~Tallocated-length: ~D~%" (-> this allocated-length))
  (format #t "~Tdata[0] @ #x~X~%" (-> this bones))
  this
  )

;; failed to figure out what this is:
(set! (-> skeleton heap-base) (the-as uint 96))

;; definition of type cspace
(deftype cspace (structure)
  ((parent     cspace)
   (joint      joint)
   (joint-num  int16)
   (geo        basic)
   (bone       bone)
   (param0     function)
   (param1     basic)
   (param2     basic)
   )
  (:methods
    (new (symbol type basic) _type_)
    (reset-and-assign-geo! (_type_ basic) _type_)
    )
  )

;; definition for method 3 of type cspace
(defmethod inspect ((this cspace))
  (format #t "[~8x] ~A~%" this 'cspace)
  (format #t "~Tparent: #<cspace @ #x~X>~%" (-> this parent))
  (format #t "~Tjoint: ~A~%" (-> this joint))
  (format #t "~Tjoint-num: ~D~%" (-> this joint-num))
  (format #t "~Tgeo: ~A~%" (-> this geo))
  (format #t "~Tbone: #<bone @ #x~X>~%" (-> this bone))
  (format #t "~Tparam0: ~A~%" (-> this param0))
  (format #t "~Tparam1: ~A~%" (-> this param1))
  (format #t "~Tparam2: ~A~%" (-> this param2))
  this
  )

;; definition of type cspace-array
(deftype cspace-array (inline-array-class)
  ((data  cspace  :inline :dynamic)
   )
  )

;; definition for method 3 of type cspace-array
(defmethod inspect ((this cspace-array))
  (format #t "[~8x] ~A~%" this (-> this type))
  (format #t "~Tlength: ~D~%" (-> this length))
  (format #t "~Tallocated-length: ~D~%" (-> this allocated-length))
  (format #t "~Tdata[0] @ #x~X~%" (-> this data))
  this
  )

;; failed to figure out what this is:
(set! (-> cspace-array heap-base) (the-as uint 32))

;; definition for method 2 of type cspace
(defmethod print ((this cspace))
  (format
    #t
    "#<cspace ~S @ #x~X>"
    (if (-> this joint)
        (-> this joint name)
        "nojoint"
        )
    this
    )
  this
  )

;; failed to figure out what this is:
0