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

;; definition of type quaternion
(deftype quaternion (structure)
  "Quaternion. Stored in xyzw order."
  ((data  float    4)
   (x     float            :overlay-at (-> data 0))
   (y     float            :overlay-at (-> data 1))
   (z     float            :overlay-at (-> data 2))
   (w     float            :overlay-at (-> data 3))
   (vec   vector   :inline :overlay-at (-> data 0))
   (quad  uint128          :overlay-at (-> data 0))
   )
  )

;; definition for method 3 of type quaternion
;; INFO: this function exists in multiple non-identical object files
;; INFO: Used lq/sq
(defmethod inspect ((this quaternion))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this 'quaternion)
  (format #t "~1Tdata[4] @ #x~X~%" (&-> this x))
  (format #t "~1Tx: ~f~%" (-> this x))
  (format #t "~1Ty: ~f~%" (-> this y))
  (format #t "~1Tz: ~f~%" (-> this z))
  (format #t "~1Tw: ~f~%" (-> this w))
  (format #t "~1Tvec: #<vector @ #x~X>~%" (&-> this x))
  (format #t "~1Tquad: ~D~%" (-> this quad))
  (label cfg-4)
  this
  )

;; definition for symbol *unity-quaternion*, type quaternion
(define *unity-quaternion* (new 'static 'quaternion :w 1.0))

;; failed to figure out what this is:
0