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

;; definition of type grid-hash-work
(deftype grid-hash-work (basic)
  ((result-words       uint8   32 :offset  16)
   (result-bits        uint8   32 :overlay-at (-> result-words 0))
   (object-id          int32)
   (temp-box-min       vector  :inline)
   (temp-box-max       vector  :inline)
   (visit-count        int32)
   (temp-time          uint32)
   (queue-object-time  uint32)
   (make-hash-time     uint32)
   (search-time        uint32)
   (add-object-time    uint32)
   )
  )

;; definition for method 3 of type grid-hash-work
(defmethod inspect ((this grid-hash-work))
  (when (not this)
    (set! this this)
    (goto cfg-4)
    )
  (format #t "[~8x] ~A~%" this (-> this type))
  (format #t "~1Tresult-words[32] @ #x~X~%" (-> this result-words))
  (format #t "~1Tresult-bits[32] @ #x~X~%" (-> this result-words))
  (format #t "~1Tobject-id: ~D~%" (-> this object-id))
  (format #t "~1Ttemp-box-min: #<vector @ #x~X>~%" (-> this temp-box-min))
  (format #t "~1Ttemp-box-max: #<vector @ #x~X>~%" (-> this temp-box-max))
  (format #t "~1Tvisit-count: ~D~%" (-> this visit-count))
  (format #t "~1Ttemp-time: ~D~%" (-> this temp-time))
  (format #t "~1Tqueue-object-time: ~D~%" (-> this queue-object-time))
  (format #t "~1Tmake-hash-time: ~D~%" (-> this make-hash-time))
  (format #t "~1Tsearch-time: ~D~%" (-> this search-time))
  (format #t "~1Tadd-object-time: ~D~%" (-> this add-object-time))
  (label cfg-4)
  this
  )

;; definition for symbol *grid-hash-work*, type grid-hash-work
(define *grid-hash-work* (new 'static 'grid-hash-work))

;; definition for method 0 of type grid-hash
;; WARN: Return type mismatch object vs grid-hash.
(defmethod new grid-hash ((allocation symbol) (type-to-make type) (arg0 int))
  (let ((gp-0 (the-as object (object-new allocation type-to-make (the-as int (-> type-to-make size))))))
    (when (zero? (the-as grid-hash gp-0))
      (set! gp-0 0)
      (goto cfg-4)
      )
    (set! (-> (the-as grid-hash gp-0) work) *grid-hash-work*)
    (set! (-> (the-as grid-hash gp-0) object-count) 0)
    (set! (-> (the-as grid-hash gp-0) bucket-memory-size) arg0)
    (set! (-> (the-as grid-hash gp-0) vertical-cell-count) 1)
    (set! (-> (the-as grid-hash gp-0) min-cell-size) 16384.0)
    (set! (-> (the-as grid-hash gp-0) mem-bucket-array)
          (the-as (pointer grid-hash-word) (malloc allocation arg0))
          )
    (set! (-> (the-as grid-hash gp-0) spr-bucket-array) (the-as (pointer grid-hash-word) #x70000000))
    (set! (-> (the-as grid-hash gp-0) bucket-array) (-> (the-as grid-hash gp-0) mem-bucket-array))
    (set! (-> (the-as grid-hash gp-0) debug-draw) #f)
    (set! (-> (the-as grid-hash gp-0) use-scratch-ram) #f)
    (label cfg-4)
    (the-as grid-hash gp-0)
    )
  )

;; definition for method 16 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod verify-bits-in-bucket ((this grid-hash) (arg0 grid-hash-box) (arg1 grid-hash-box))
  (let ((s5-0 0))
    0
    (let ((v1-1 8)
          (a0-1 (-> this object-count))
          (a1-2 (* (-> this bucket-size) 8))
          )
      (while (< a0-1 a1-2)
        (let ((a3-0 (- a0-1 (* (/ a0-1 v1-1) v1-1))))
          (set! s5-0 (logior s5-0 (ash 1 a3-0)))
          )
        (+! a0-1 1)
        )
      )
    (dotimes (s4-0 (-> this bucket-count))
      (let ((a3-2 (-> this bucket-array (+ (-> this bucket-size) -1 (* s4-0 (-> this bucket-size))))))
        (when (logtest? a3-2 s5-0)
          (format 0 "bad bits in bucket ~d bucket-word ~8x test-word ~8x~%" s4-0 a3-2 s5-0)
          (break!)
          0
          )
        )
      )
    )
  0
  (none)
  )

;; definition for method 17 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod box-of-everything ((this grid-hash) (arg0 object) (arg1 grid-hash-box))
  (dotimes (v1-0 3)
    (set! (-> arg1 min v1-0) (-> this dimension-array v1-0))
    (set! (-> arg1 max v1-0) -1)
    )
  (let* ((v1-3 (-> this bucket-size))
         (a3-4 (* (-> this dimension-array 0) v1-3))
         (t0-3 (* (-> this dimension-array 2) a3-4))
         (t1-0 (-> this dimension-array 0))
         (t2-0 (-> this dimension-array 2))
         (t3-0 (-> this dimension-array 1))
         (a0-2 (&-> (-> this bucket-array) (/ (the-as int arg0) 8)))
         (a1-2 (ash 1 (logand (the-as int arg0) 7)))
         )
    (dotimes (t4-3 t3-0)
      (let ((t5-0 a0-2))
        (dotimes (t6-0 t2-0)
          (let ((t7-0 t5-0))
            (dotimes (t8-0 t1-0)
              (when (logtest? (-> t7-0 0) a1-2)
                (set! (-> arg1 min 0) (min (-> arg1 min 0) t8-0))
                (set! (-> arg1 min 1) (min (-> arg1 min 1) t4-3))
                (set! (-> arg1 min 2) (min (-> arg1 min 2) t6-0))
                (set! (-> arg1 max 0) (max (-> arg1 max 0) t8-0))
                (set! (-> arg1 max 1) (max (-> arg1 max 1) t4-3))
                (set! (-> arg1 max 2) (max (-> arg1 max 2) t6-0))
                )
              (&+! t7-0 v1-3)
              )
            )
          (&+! t5-0 a3-4)
          )
        )
      (&+! a0-2 t0-3)
      )
    )
  0
  (none)
  )

;; definition (debug) for function validate-bucket-bits
;; WARN: Return type mismatch int vs symbol.
(defun-debug validate-bucket-bits ((arg0 grid-hash) (arg1 (pointer grid-hash-word)))
  (let ((s3-0 (-> arg0 object-count))
        (s2-0 (* (-> arg0 bucket-size) 8))
        (gp-0 0)
        (s5-0 0)
        )
    (while (< s3-0 s2-0)
      (let* ((s1-0 (/ s3-0 8))
             (a0-1 (- s3-0 (* s1-0 8)))
             )
        (when (logtest? (-> arg1 s1-0) (ash 1 a0-1))
          (format 0 "bit ~d, " s3-0)
          (+! gp-0 1)
          (set! s5-0 (the-as int (-> arg1 s1-0)))
          )
        )
      (+! s3-0 1)
      )
    (when (> gp-0 0)
      (format 0 "~%~d bad bits found~%" gp-0)
      (format 0 "bad-word ~x~%" s5-0)
      (break!)
      0
      )
    )
  (the-as symbol 0)
  )

;; definition for method 18 of type grid-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 18 grid-hash)" 18 grid-hash)

;; definition for method 19 of type grid-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 19 grid-hash)" 19 grid-hash)

;; definition for method 20 of type grid-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 20 grid-hash)" 20 grid-hash)

;; definition for method 21 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod set-up-box ((this grid-hash) (arg0 grid-hash-box) (arg1 vector) (arg2 vector))
  (dotimes (v1-0 3)
    (set! (-> arg0 min v1-0)
          (the int
               (fmax
                 0.0
                 (fmin
                   (* (- (-> arg1 data v1-0) (-> this box-min v1-0)) (-> this axis-scale v1-0))
                   (the float (+ (-> this dimension-array v1-0) -1))
                   )
                 )
               )
          )
    (set! (-> arg0 max v1-0)
          (the int (fmax 0.0 (fmin
                               (* (- (-> arg2 data v1-0) (-> this box-min v1-0)) (-> this axis-scale v1-0))
                               (the float (+ (-> this dimension-array v1-0) -1))
                               )
                         )
               )
          )
    )
  0
  (none)
  )

;; definition for method 22 of type grid-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 22 grid-hash)" 22 grid-hash)

;; definition for method 23 of type grid-hash
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
(defmethod line-sphere-to-grid-box ((this grid-hash) (arg0 grid-hash-box) (arg1 vector) (arg2 vector) (arg3 float))
  (let ((s4-0 (new 'stack-no-clear 'grid-hash-box))
        (s5-0 (new 'stack-no-clear 'grid-hash-box))
        )
    (let ((v1-0 (new 'stack-no-clear 'vector))
          (s2-0 (new 'stack-no-clear 'vector))
          )
      (set! (-> v1-0 quad) (-> arg1 quad))
      (vector+! s2-0 arg1 arg2)
      (set! (-> v1-0 w) arg3)
      (set! (-> s2-0 w) arg3)
      (sphere-to-grid-box this s4-0 (the-as sphere v1-0))
      (sphere-to-grid-box this s5-0 (the-as sphere s2-0))
      )
    (set! (-> arg0 min 0) (min (-> s4-0 min 0) (-> s5-0 min 0)))
    (set! (-> arg0 min 1) (min (-> s4-0 min 1) (-> s5-0 min 1)))
    (set! (-> arg0 min 2) (min (-> s4-0 min 2) (-> s5-0 min 2)))
    (set! (-> arg0 max 0) (max (-> s4-0 max 0) (-> s5-0 max 0)))
    (set! (-> arg0 max 1) (max (-> s4-0 max 1) (-> s5-0 max 1)))
    (set! (-> arg0 max 2) (max (-> s4-0 max 2) (-> s5-0 max 2)))
    )
  0
  (none)
  )

;; definition for method 10 of type grid-hash
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
(defmethod clear-bucket-array ((this grid-hash))
  (let ((v1-5 (/ (+ (* (* (* (-> this dimension-array 0) (-> this dimension-array 1)) (-> this dimension-array 2))
                       (-> this bucket-size)
                       )
                    15
                    )
                 16
                 )
              )
        (a0-1 (the-as (pointer uinteger) (-> this bucket-array)))
        )
    (while (nonzero? v1-5)
      (+! v1-5 -1)
      (set! (-> (the-as (pointer uint128) a0-1) 0) (the-as uint128 0))
      (set! a0-1 (&-> (the-as (pointer grid-hash-word) a0-1) 16))
      )
    )
  0
  (none)
  )

;; definition for method 24 of type grid-hash
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
(defmethod update-grid ((this grid-hash))
  (let ((v1-0 (new 'stack-no-clear 'vector)))
    (dotimes (a1-0 3)
      (set! (-> v1-0 data a1-0) (fmax (-> this min-cell-size) (- (-> this box-max a1-0) (-> this box-min a1-0))))
      )
    (b!
      (and (> (-> this object-count) 0) (< 0.0 (-> v1-0 x)) (< 0.0 (-> v1-0 y)) (< 0.0 (-> v1-0 z)))
      cfg-23
      :delay (empty-form)
      )
    (set! (-> this bucket-count) 1)
    (set! (-> this bucket-size) 1)
    (dotimes (v1-3 3)
      (set! (-> this box-min v1-3) 0.0)
      (set! (-> this box-max v1-3) 0.0)
      (set! (-> this axis-scale v1-3) 0.0)
      (set! (-> this dimension-array v1-3) 1)
      )
    (let* ((v1-6 this)
           (a0-6
             (/ (+ (* (* (* (-> v1-6 dimension-array 0) (-> v1-6 dimension-array 1)) (-> v1-6 dimension-array 2))
                      (-> v1-6 bucket-size)
                      )
                   15
                   )
                16
                )
             )
           (v1-7 (the-as (pointer uinteger) (-> v1-6 bucket-array)))
           )
      (while (nonzero? a0-6)
        (+! a0-6 -1)
        (set! (-> (the-as (pointer uint128) v1-7) 0) (the-as uint128 0))
        (set! v1-7 (&-> (the-as (pointer grid-hash-word) v1-7) 16))
        )
      )
    0
    (b! #t cfg-41 :delay (nop!))
    (label cfg-23)
    (let ((a1-18 8))
      (set! (-> this bucket-size) (/ (+ a1-18 -1 (-> this object-count)) a1-18))
      )
    (set! (-> this bucket-count)
          (min (* (-> this object-count) 16) (/ (-> this bucket-memory-size) (-> this bucket-size)))
          )
    (let ((f0-11
            (sqrtf
              (/ (the float (-> this bucket-count)) (* (-> v1-0 x) (-> v1-0 z) (the float (-> this vertical-cell-count))))
              )
            )
          )
      (let ((a1-27 (min 126 (+ (-> this bucket-count) -1))))
        (set! (-> this dimension-array 0) (max 1 (min (the int (* f0-11 (-> v1-0 x))) a1-27)))
        (set! (-> this dimension-array 1) (-> this vertical-cell-count))
        (set! (-> this dimension-array 2) (max 1 (min (the int (* f0-11 (-> v1-0 z))) a1-27)))
        )
      (let* ((f1-15 (* f0-11 (-> v1-0 z)))
             (f1-17 (- f1-15 (the float (the int f1-15))))
             (f0-12 (* f0-11 (-> v1-0 x)))
             )
        (cond
          ((< f1-17 (- f0-12 (the float (the int f0-12))))
           (if (>= (-> this bucket-count)
                   (* (* (+ (-> this dimension-array 0) 1) (-> this dimension-array 1)) (-> this dimension-array 2))
                   )
               (+! (-> this dimension-array 0) 1)
               )
           )
          (else
            (if (>= (-> this bucket-count)
                    (* (* (-> this dimension-array 0) (-> this dimension-array 1)) (+ (-> this dimension-array 2) 1))
                    )
                (+! (-> this dimension-array 2) 1)
                )
            )
          )
        )
      )
    (dotimes (a1-40 2)
      (let* ((a2-26 (* a1-40 2))
             (a3-12 (max 1 (the int (/ (-> v1-0 data a2-26) (-> this min-cell-size)))))
             )
        (set! (-> (the-as (pointer uint8) (+ a2-26 (the-as int this))) 24)
              (the-as uint (min (-> (the-as (pointer int8) (+ a2-26 (the-as int this))) 24) a3-12))
              )
        )
      )
    (dotimes (a1-43 3)
      (set! (-> this axis-scale a1-43) (/ (the float (-> this dimension-array a1-43)) (-> v1-0 data a1-43)))
      )
    )
  (let ((a2-34 (* (* (-> this dimension-array 0) (-> this dimension-array 1)) (-> this dimension-array 2))))
    (b! (< (-> this bucket-count) a2-34) cfg-40)
    (let* ((v1-16 this)
           (a0-12
             (/ (+ (* (* (* (-> v1-16 dimension-array 0) (-> v1-16 dimension-array 1)) (-> v1-16 dimension-array 2))
                      (-> v1-16 bucket-size)
                      )
                   15
                   )
                16
                )
             )
           (v1-17 (the-as (pointer uinteger) (-> v1-16 bucket-array)))
           )
      (while (nonzero? a0-12)
        (+! a0-12 -1)
        (set! (-> (the-as (pointer uint128) v1-17) 0) (the-as uint128 0))
        (set! v1-17 (&-> (the-as (pointer grid-hash-word) v1-17) 16))
        )
      )
    0
    (b! #t cfg-41 :delay (nop!))
    (label cfg-40)
    (format
      *stdcon*
      "grid-hash::update-grid: bucket overflow! ~d dim ~d ~d ~d~%"
      a2-34
      (-> this dimension-array 0)
      (-> this dimension-array 1)
      (-> this dimension-array 2)
      )
    )
  (label cfg-41)
  0
  (none)
  )

;; definition for method 9 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod update-grid-for-objects-in-box ((this grid-hash) (arg0 int) (arg1 vector) (arg2 vector))
  (set! (-> this object-count) arg0)
  (dotimes (v1-0 3)
    (set! (-> this box-min v1-0) (-> arg1 data v1-0))
    (set! (-> this box-max v1-0) (-> arg2 data v1-0))
    )
  (update-grid this)
  0
  (none)
  )

;; definition for method 11 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod setup-search-box ((this grid-hash) (arg0 int) (arg1 vector) (arg2 vector) (arg3 vector))
  (let ((v1-0 (new 'stack-no-clear 'vector))
        (t1-0 (new 'stack-no-clear 'vector))
        )
    (dotimes (t2-0 3)
      (set! (-> v1-0 data t2-0) (fmin (fmin (-> arg1 data t2-0) (-> arg2 data t2-0)) (-> arg3 data t2-0)))
      (set! (-> t1-0 data t2-0) (fmax (fmax (-> arg1 data t2-0) (-> arg2 data t2-0)) (-> arg3 data t2-0)))
      )
    (let ((a2-3 this)
          (a3-1 (-> this search-box))
          )
      (dotimes (t0-1 3)
        (set! (-> a3-1 min t0-1)
              (the int
                   (fmax
                     0.0
                     (fmin
                       (* (- (-> v1-0 data t0-1) (-> a2-3 box-min t0-1)) (-> a2-3 axis-scale t0-1))
                       (the float (+ (-> a2-3 dimension-array t0-1) -1))
                       )
                     )
                   )
              )
        (set! (-> a3-1 max t0-1)
              (the int (fmax 0.0 (fmin
                                   (* (- (-> t1-0 data t0-1) (-> a2-3 box-min t0-1)) (-> a2-3 axis-scale t0-1))
                                   (the float (+ (-> a2-3 dimension-array t0-1) -1))
                                   )
                             )
                   )
              )
        )
      )
    )
  0
  (set! (-> this work object-id) arg0)
  (let* ((t1-1 this)
         (t2-21 (-> this search-box))
         (a3-2 arg0)
         (v1-5 (-> t1-1 bucket-size))
         (a0-2 (* (-> t1-1 dimension-array 0) v1-5))
         (a1-2 (* (-> t1-1 dimension-array 2) a0-2))
         (a2-6 (+ (- 1 (-> t2-21 min 0)) (-> t2-21 max 0)))
         (t0-6 (+ (- 1 (-> t2-21 min 2)) (-> t2-21 max 2)))
         (t3-22 (+ (- 1 (-> t2-21 min 1)) (-> t2-21 max 1)))
         (t1-3 (the-as
                 object
                 (+ (+ (* (-> t2-21 min 0) v1-5) (* (-> t2-21 min 1) a1-2) (* (-> t2-21 min 2) a0-2) (/ a3-2 8) 0)
                    (the-as int (the-as pointer (-> t1-1 bucket-array)))
                    )
                 )
               )
         (a3-4 (ash 1 (logand a3-2 7)))
         (t2-28 t3-22)
         )
    (label cfg-10)
    (let ((t3-23 t0-6)
          (t4-6 t1-3)
          )
      (label cfg-11)
      (let ((t5-2 a2-6)
            (t6-0 t4-6)
            )
        (label cfg-12)
        (nop!)
        (let ((t7-0 (-> (the-as (pointer uint8) t6-0))))
          (nop!)
          (let ((t7-1 (logior t7-0 a3-4)))
            (+! t5-2 -1)
            (set! (-> (the-as (pointer uint8) t6-0)) t7-1)
            )
          )
        (b! (nonzero? t5-2) cfg-12 :delay (set! t6-0 (+ (the-as pointer t6-0) v1-5)))
        )
      (+! t3-23 -1)
      (nop!)
      (b! (nonzero? t3-23) cfg-11 :delay (set! t4-6 (+ (the-as pointer t4-6) a0-2)))
      )
    (+! t2-28 -1)
    (nop!)
    (b! (nonzero? t2-28) cfg-10 :delay (set! t1-3 (+ (the-as pointer t1-3) a1-2)))
    )
  0
  0
  (none)
  )

;; definition for method 12 of type grid-hash
(defmethod search-for-point ((this grid-hash) (arg0 vector))
  (let ((v1-0 this)
        (a0-1 (-> this search-box))
        (a2-0 arg0)
        )
    (dotimes (a3-0 3)
      (set! (-> a0-1 min a3-0)
            (the int
                 (fmax
                   0.0
                   (fmin
                     (* (- (-> a2-0 data a3-0) (-> v1-0 box-min a3-0)) (-> v1-0 axis-scale a3-0))
                     (the float (+ (-> v1-0 dimension-array a3-0) -1))
                     )
                   )
                 )
            )
      (set! (-> a0-1 max a3-0)
            (the int (fmax 0.0 (fmin
                                 (* (- (-> arg0 data a3-0) (-> v1-0 box-min a3-0)) (-> v1-0 axis-scale a3-0))
                                 (the float (+ (-> v1-0 dimension-array a3-0) -1))
                                 )
                           )
                 )
            )
      )
    )
  0
  (do-search! this (-> this search-box) (-> this work result-words))
  (-> this work result-words)
  )

;; definition for method 13 of type grid-hash
;; WARN: Found some very strange gotos. Check result carefully, this is not well tested.
;; INFO: Used lq/sq
(defmethod search-for-sphere ((this grid-hash) (arg0 vector) (arg1 float))
  (let ((v1-0 (new 'stack-no-clear 'sphere)))
    (set! (-> v1-0 quad) (-> arg0 quad))
    (set! (-> v1-0 r) arg1)
    (sphere-to-grid-box this (-> this search-box) v1-0)
    )
  (let ((s5-0 (-> this work result-words))
        (s4-0 0)
        )
    (label cfg-1)
    (do-search! this (-> this search-box) s5-0)
    (dotimes (v1-5 (-> this bucket-size))
      (set! s4-0 (logior s4-0 (-> s5-0 v1-5)))
      )
    (when (zero? s4-0)
      (when (or (> (-> this search-box min 0) 0)
                (> (-> this search-box min 2) 0)
                (< (-> this search-box max 0) (+ (-> this dimension-array 0) -1))
                (< (-> this search-box max 2) (+ (-> this dimension-array 2) -1))
                )
        (set! (-> this search-box min 0) (max 0 (+ (-> this search-box min 0) -1)))
        (set! (-> this search-box min 2) (max 0 (+ (-> this search-box min 2) -1)))
        (set! (-> this search-box max 0) (min (+ (-> this dimension-array 0) -1) (+ (-> this search-box max 0) 1)))
        (set! (-> this search-box max 2) (min (+ (-> this dimension-array 2) -1) (+ (-> this search-box max 2) 1)))
        (goto cfg-1)
        )
      )
    )
  (-> this work result-words)
  )

;; definition (debug) for function draw-grid
;; WARN: Return type mismatch int vs none.
(defun-debug draw-grid ((arg0 vector) (arg1 vector) (arg2 (pointer int8)) (arg3 rgba))
  (local-vars (sv-64 vector) (sv-68 vector) (sv-72 vector))
  (set! sv-64 (new 'stack-no-clear 'vector))
  (set! sv-68 (new 'stack-no-clear 'vector))
  (set! sv-72 (new 'stack-no-clear 'vector))
  (dotimes (v1-3 3)
    (set! (-> sv-64 data v1-3) (/ (- (-> arg1 data v1-3) (-> arg0 data v1-3)) (the float (-> arg2 v1-3))))
    )
  (set! (-> sv-68 x) (-> arg0 x))
  (set! (-> sv-72 x) (-> arg1 x))
  (dotimes (s2-0 (+ (-> arg2 1) 1))
    (set! (-> sv-68 y) (+ (-> arg0 y) (* (the float s2-0) (-> sv-64 y))))
    (set! (-> sv-72 y) (-> sv-68 y))
    (dotimes (s1-0 (+ (-> arg2 2) 1))
      (set! (-> sv-68 z) (+ (-> arg0 z) (* (the float s1-0) (-> sv-64 z))))
      (set! (-> sv-72 z) (-> sv-68 z))
      (add-debug-line #t (bucket-id debug2) sv-68 sv-72 arg3 #f (the-as rgba -1))
      )
    )
  (set! (-> sv-68 z) (-> arg0 z))
  (set! (-> sv-72 z) (-> arg1 z))
  (dotimes (s2-1 (+ (-> arg2 1) 1))
    (set! (-> sv-68 y) (+ (-> arg0 y) (* (the float s2-1) (-> sv-64 y))))
    (set! (-> sv-72 y) (-> sv-68 y))
    (dotimes (s1-1 (+ (-> arg2 0) 1))
      (set! (-> sv-68 x) (+ (-> arg0 x) (* (the float s1-1) (-> sv-64 x))))
      (set! (-> sv-72 x) (-> sv-68 x))
      (add-debug-line #t (bucket-id debug2) sv-68 sv-72 arg3 #f (the-as rgba -1))
      )
    )
  (set! (-> sv-68 y) (-> arg0 y))
  (set! (-> sv-72 y) (-> arg1 y))
  (dotimes (s3-1 (+ (-> arg2 0) 1))
    (set! (-> sv-68 x) (+ (-> arg0 x) (* (the float s3-1) (-> sv-64 x))))
    (set! (-> sv-72 x) (-> sv-68 x))
    (dotimes (s2-2 (+ (-> arg2 2) 1))
      (set! (-> sv-68 z) (+ (-> arg0 z) (* (the float s2-2) (-> sv-64 z))))
      (set! (-> sv-72 z) (-> sv-68 z))
      (add-debug-line #t (bucket-id debug2) sv-68 sv-72 arg3 #f (the-as rgba -1))
      )
    )
  0
  (none)
  )

;; definition for method 14 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod draw ((this grid-hash) (arg0 rgba))
  "Draws the grid-hash"
  (let ((v1-0 (new 'stack-no-clear 'vector))
        (t0-0 (new 'stack-no-clear 'vector))
        )
    (dotimes (a2-0 3)
      (set! (-> v1-0 data a2-0) (-> this box-min a2-0))
      (set! (-> t0-0 data a2-0) (-> this box-max a2-0))
      )
    (draw-grid v1-0 t0-0 (-> this dimension-array) arg0)
    )
  0
  (none)
  )

;; definition for method 15 of type grid-hash
;; WARN: Return type mismatch int vs none.
(defmethod dump-grid-info ((this grid-hash))
  "Prints out info about the grid-hash, also draws via [[grid-hash::draw-grid]] if `debug-draw` is `#t`"
  (if (-> this debug-draw)
      (draw this *color-light-blue*)
      )
  (format
    *stdcon*
    "bucket memory ~d, bucket-size ~d, word-size ~d bits~%"
    (-> this bucket-memory-size)
    (-> this bucket-size)
    8
    )
  (format
    *stdcon*
    "bucket dimensions ~d ~d ~d~%"
    (-> this dimension-array 0)
    (-> this dimension-array 1)
    (-> this dimension-array 2)
    )
  (format *stdcon* "object-count ~d, bucket-count ~d~%" (-> this object-count) (-> this bucket-count))
  0
  (none)
  )

;; definition (debug) for function draw-sphere-box
;; WARN: Return type mismatch int vs none.
(defun-debug draw-sphere-box ((arg0 sphere) (arg1 rgba))
  (let ((a2-0 (new 'stack-no-clear 'vector))
        (a3-0 (new 'stack-no-clear 'vector))
        )
    (dotimes (v1-0 3)
      (set! (-> a2-0 data v1-0) (- (-> arg0 data v1-0) (-> arg0 r)))
      (set! (-> a3-0 data v1-0) (+ (-> arg0 data v1-0) (-> arg0 r)))
      )
    (add-debug-box #t (bucket-id debug-no-zbuf1) a2-0 a3-0 arg1)
    )
  0
  (none)
  )

;; definition (debug) for function draw-line-sphere
;; WARN: Return type mismatch int vs none.
(defun-debug draw-line-sphere ((arg0 vector) (arg1 vector) (arg2 float) (arg3 rgba))
  (let ((gp-0 (new 'stack-no-clear 'vector)))
    (vector+! gp-0 arg0 arg1)
    (add-debug-sphere #t (bucket-id debug-no-zbuf1) arg0 arg2 arg3)
    (add-debug-sphere #t (bucket-id debug-no-zbuf1) gp-0 arg2 arg3)
    )
  0
  (none)
  )

;; definition for method 0 of type sphere-hash
;; WARN: Return type mismatch object vs sphere-hash.
(defmethod new sphere-hash ((allocation symbol) (type-to-make type) (arg0 int) (arg1 int))
  (let ((s5-0 (the-as object (object-new allocation type-to-make (the-as int (-> type-to-make size))))))
    (when (zero? (the-as sphere-hash s5-0))
      (set! s5-0 0)
      (goto cfg-4)
      )
    (set! (-> (the-as sphere-hash s5-0) work) *grid-hash-work*)
    (set! (-> (the-as sphere-hash s5-0) object-count) 0)
    (set! (-> (the-as sphere-hash s5-0) bucket-memory-size) arg0)
    (set! (-> (the-as sphere-hash s5-0) vertical-cell-count) 1)
    (set! (-> (the-as sphere-hash s5-0) min-cell-size) 16384.0)
    (set! (-> (the-as sphere-hash s5-0) mem-bucket-array)
          (the-as (pointer grid-hash-word) (malloc allocation arg0))
          )
    (set! (-> (the-as sphere-hash s5-0) spr-bucket-array) (the-as (pointer grid-hash-word) #x70000000))
    (set! (-> (the-as sphere-hash s5-0) bucket-array) (-> (the-as sphere-hash s5-0) mem-bucket-array))
    (set! (-> (the-as sphere-hash s5-0) debug-draw) #f)
    (set! (-> (the-as sphere-hash s5-0) use-scratch-ram) #f)
    (set! (-> (the-as sphere-hash s5-0) max-object-count) arg1)
    (set! (-> (the-as sphere-hash s5-0) mem-sphere-array) (the-as uint (malloc allocation (* arg1 16))))
    (set! (-> (the-as sphere-hash s5-0) spr-sphere-array) (the-as uint (+ #x70000000 arg0)))
    (set! (-> (the-as sphere-hash s5-0) sphere-array)
          (the-as (inline-array sphere) (-> (the-as sphere-hash s5-0) mem-sphere-array))
          )
    (label cfg-4)
    (the-as sphere-hash s5-0)
    )
  )

;; definition for method 25 of type sphere-hash
;; WARN: Return type mismatch int vs none.
(defmethod clear-objects! ((this sphere-hash))
  (set! (-> this object-count) 0)
  (dotimes (v1-0 3)
    (set! (-> this box-min v1-0) 10000000000000000000000000000000000000.0)
    (set! (-> this box-max v1-0) -10000000000000000000000000000000000000.0)
    )
  (cond
    ((-> this use-scratch-ram)
     (set! (-> this sphere-array) (the-as (inline-array sphere) (-> this spr-sphere-array)))
     (set! (-> this bucket-array) (-> this spr-bucket-array))
     )
    (else
      (set! (-> this sphere-array) (the-as (inline-array sphere) (-> this mem-sphere-array)))
      (set! (-> this bucket-array) (-> this mem-bucket-array))
      )
    )
  0
  (none)
  )

;; definition for method 28 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 28 sphere-hash)" 28 sphere-hash)

;; definition for method 26 of type sphere-hash
(defmethod add-a-sphere ((this sphere-hash) (arg0 vector))
  (let ((gp-0 (-> this object-count)))
    (cond
      ((< gp-0 (-> this max-object-count))
       (let ((a0-2 (-> this sphere-array gp-0)))
         (mem-copy! (the-as pointer a0-2) (the-as pointer arg0) 16)
         )
       (dotimes (v1-2 3)
         (set! (-> this box-min v1-2) (fmin (-> this box-min v1-2) (- (-> arg0 data v1-2) (-> arg0 w))))
         (set! (-> this box-max v1-2) (fmax (-> this box-max v1-2) (+ (-> arg0 data v1-2) (-> arg0 w))))
         )
       (+! (-> this object-count) 1)
       gp-0
       )
      (else
        -1
        )
      )
    )
  )

;; definition for method 27 of type sphere-hash
(defmethod add-a-sphere-with-flag ((this sphere-hash) (arg0 vector) (arg1 int))
  (let ((gp-0 (-> this object-count)))
    (cond
      ((< gp-0 (-> this max-object-count))
       (let ((s2-0 (the-as object (-> this sphere-array gp-0))))
         (mem-copy! (the-as pointer s2-0) (the-as pointer arg0) 16)
         (dotimes (v1-2 3)
           (set! (-> this box-min v1-2) (fmin (-> this box-min v1-2) (- (-> arg0 data v1-2) (-> arg0 w))))
           (set! (-> this box-max v1-2) (fmax (-> this box-max v1-2) (+ (-> arg0 data v1-2) (-> arg0 w))))
           )
         (set! (-> (the-as (pointer int8) s2-0) 12) arg1)
         )
       (+! (-> this object-count) 1)
       gp-0
       )
      (else
        -1
        )
      )
    )
  )

;; definition for method 33 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 33 sphere-hash)" 33 sphere-hash)

;; definition for method 29 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 29 sphere-hash)" 29 sphere-hash)

;; definition for method 30 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 30 sphere-hash)" 30 sphere-hash)

;; definition for method 31 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 31 sphere-hash)" 31 sphere-hash)

;; definition for method 32 of type sphere-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 32 sphere-hash)" 32 sphere-hash)

;; definition for method 15 of type sphere-hash
;; INFO: Used lq/sq
;; WARN: Return type mismatch int vs none.
(defmethod dump-grid-info ((this sphere-hash))
  "Prints out info about the grid-hash, also draws via [[grid-hash::draw-grid]] if `debug-draw` is `#t`"
  (call-parent-method this)
  (new 'stack-no-clear 'vector)
  (let ((f30-0 6144.0))
    (set! (-> this work temp-box-min quad) (-> (target-pos 0) quad))
    (+! (-> this work temp-box-min y) f30-0)
    )
  (set! (-> this work temp-box-max quad) (-> this work temp-box-min quad))
  (set! (-> this work visit-count) 0)
  (set! (-> this debug-draw) #t)
  (set! (-> this work add-object-time) (the-as uint 0))
  0
  (none)
  )

;; definition for method 0 of type spatial-hash
;; WARN: Return type mismatch object vs spatial-hash.
(defmethod new spatial-hash ((allocation symbol) (type-to-make type) (arg0 int) (arg1 int))
  (let ((gp-0 (the-as object (object-new allocation type-to-make (the-as int (-> type-to-make size))))))
    (when (zero? (the-as spatial-hash gp-0))
      (set! gp-0 0)
      (goto cfg-4)
      )
    (set! (-> (the-as spatial-hash gp-0) work) *grid-hash-work*)
    (set! (-> (the-as spatial-hash gp-0) object-count) 0)
    (set! (-> (the-as spatial-hash gp-0) bucket-memory-size) arg0)
    (set! (-> (the-as spatial-hash gp-0) vertical-cell-count) 1)
    (set! (-> (the-as spatial-hash gp-0) min-cell-size) 16384.0)
    (set! (-> (the-as spatial-hash gp-0) mem-bucket-array)
          (the-as (pointer grid-hash-word) (malloc allocation arg0))
          )
    (set! (-> (the-as spatial-hash gp-0) spr-bucket-array) (the-as (pointer grid-hash-word) #x70000000))
    (set! (-> (the-as spatial-hash gp-0) bucket-array) (-> (the-as spatial-hash gp-0) mem-bucket-array))
    (set! (-> (the-as spatial-hash gp-0) debug-draw) #f)
    (set! (-> (the-as spatial-hash gp-0) use-scratch-ram) #f)
    (set! (-> (the-as spatial-hash gp-0) max-object-count) arg1)
    (set! (-> (the-as spatial-hash gp-0) mem-sphere-array) (the-as uint (malloc allocation (* arg1 16))))
    (set! (-> (the-as spatial-hash gp-0) mem-object-array)
          (the-as (inline-array hash-object-info) (malloc allocation (* arg1 16)))
          )
    (set! (-> (the-as spatial-hash gp-0) spr-sphere-array) (the-as uint (+ #x70000000 arg0)))
    (set! (-> (the-as spatial-hash gp-0) spr-object-array)
          (the-as (inline-array hash-object-info) (+ #x70000000 (* arg1 16) arg0))
          )
    (set! (-> (the-as spatial-hash gp-0) sphere-array)
          (the-as (inline-array sphere) (-> (the-as spatial-hash gp-0) mem-sphere-array))
          )
    (set! (-> (the-as spatial-hash gp-0) object-array) (-> (the-as spatial-hash gp-0) mem-object-array))
    (label cfg-4)
    (the-as spatial-hash gp-0)
    )
  )

;; definition for method 25 of type spatial-hash
;; WARN: Return type mismatch int vs none.
(defmethod clear-objects! ((this spatial-hash))
  (set! (-> this object-count) 0)
  (dotimes (v1-0 3)
    (set! (-> this box-min v1-0) 10000000000000000000000000000000000000.0)
    (set! (-> this box-max v1-0) -10000000000000000000000000000000000000.0)
    )
  (cond
    ((-> this use-scratch-ram)
     (set! (-> this sphere-array) (the-as (inline-array sphere) (-> this spr-sphere-array)))
     (set! (-> this object-array) (-> this spr-object-array))
     (set! (-> this bucket-array) (-> this spr-bucket-array))
     )
    (else
      (set! (-> this sphere-array) (the-as (inline-array sphere) (-> this mem-sphere-array)))
      (set! (-> this object-array) (-> this mem-object-array))
      (set! (-> this bucket-array) (-> this mem-bucket-array))
      )
    )
  0
  (none)
  )

;; definition for method 33 of type spatial-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 33 spatial-hash)" 33 spatial-hash)

;; definition for method 34 of type spatial-hash
(defmethod add-an-object ((this spatial-hash) (arg0 vector) (arg1 hash-object-info))
  (let ((gp-0 (-> this object-count)))
    (cond
      ((< gp-0 (-> this max-object-count))
       (let ((a0-2 (-> this sphere-array gp-0))
             (s2-0 (-> this object-array gp-0))
             )
         (mem-copy! (the-as pointer a0-2) (the-as pointer arg0) 16)
         (set! (-> s2-0 object) (the-as basic arg1))
         )
       (dotimes (v1-3 3)
         (set! (-> this box-min v1-3) (fmin (-> this box-min v1-3) (- (-> arg0 data v1-3) (-> arg0 w))))
         (set! (-> this box-max v1-3) (fmax (-> this box-max v1-3) (+ (-> arg0 data v1-3) (-> arg0 w))))
         )
       (+! (-> this object-count) 1)
       gp-0
       )
      (else
        -1
        )
      )
    )
  )

;; definition for method 39 of type spatial-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 39 spatial-hash)" 39 spatial-hash)

;; definition for method 36 of type spatial-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 36 spatial-hash)" 36 spatial-hash)

;; definition for method 37 of type spatial-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 37 spatial-hash)" 37 spatial-hash)

;; definition for method 35 of type spatial-hash
;; INFO: function output is handled by mips2c
(defmethod-mips2c "(method 35 spatial-hash)" 35 spatial-hash)

;; definition for method 38 of type spatial-hash
;; INFO: Used lq/sq
(defmethod fill-actor-list-for-vec+r ((this spatial-hash) (arg0 vector) (arg1 (pointer collide-shape)) (arg2 int))
  (let ((v1-0 (new 'stack-no-clear 'sphere)))
    (set! (-> v1-0 quad) (-> arg0 quad))
    (set! (-> v1-0 r) 0.0)
    (fill-actor-list-for-sphere this v1-0 arg1 arg2)
    )
  )

;; definition for method 40 of type spatial-hash
;; WARN: Return type mismatch int vs none.
(defmethod validate-objects ((this spatial-hash))
  (dotimes (s5-0 (-> this object-count))
    (let ((a0-2 (-> this object-array s5-0 object)))
      (when (not (valid? a0-2 basic "" #t 0))
        (break!)
        0
        )
      )
    )
  0
  (none)
  )