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

;; name: transformq-h.gc
;; name in dgo: transformq-h
;; dgos: GAME, ENGINE

;; transforms, but using quaternions to represent rotations.

(deftype transformq (transform)
  ;; this overlays the rot field of transform.
  ((quat  quaternion :inline :offset 16)
   )
  :method-count-assert 9
  :size-assert         #x30
  :flag-assert         #x900000030
  )

(deftype trsq (trs)
  ;; this overlays the rot field of trs.
  ((quat  quaternion :inline :offset 32)
   )
  :method-count-assert 9
  :size-assert         #x40
  :flag-assert         #x900000040
  )

;; Representing a translate/rotate/scale with a quaternion and a velocity.
(deftype trsqv (trsq)
  ((pause-adjust-distance meters             :offset          4)
   (nav-radius            meters             :offset          8)
   (transv                vector     :inline :offset-assert  64)
   (rotv                  vector     :inline :offset-assert  80)
   (scalev                vector     :inline :offset-assert  96)
   (dir-targ              quaternion :inline :offset-assert 112)
   (angle-change-time     uint64             :offset-assert 128)
   (old-y-angle-diff      float              :offset-assert 136)
   )
  :method-count-assert 28
  :size-assert         #x8c
  :flag-assert         #x1c0000008c
  (:methods
   (seek-toward-heading-vec! (_type_ vector float int) quaternion 9)
   (set-heading-vec! (_type_ vector) quaternion 10)
   (seek-to-point-toward-point! (_type_ vector float int) quaternion 11)
   (point-toward-point! (_type_ vector) quaternion 12)
   (seek-toward-yaw-angle! (_type_ float float int) quaternion 13)
   (set-yaw-angle-clear-roll-pitch! (_type_ float) quaternion 14)
   (set-roll-to-grav! (_type_ float) quaternion 15)
   (set-roll-to-grav-2! (_type_ float) quaternion 16)
   (rotate-toward-orientation! (_type_ quaternion float float) quaternion 17)
   (set-quaternion! (_type_ quaternion) quaternion 18)
   (set-heading-vec-clear-roll-pitch! (_type_ vector) quaternion 19)
   (point-toward-point-clear-roll-pitch! (_type_ vector) quaternion 20)
   (rot->dir-targ! (_type_) quaternion 21)
   (y-angle (_type_) float 22)
   (global-y-angle-to-point (_type_ vector) float 23)
   (relative-y-angle-to-point (_type_ vector) float 24)
   (roll-relative-to-gravity (_type_) float 25)
   (TODO-RENAME-26 (_type_ int vector float) trsqv 26)
   (get-quaternion (_type_) quaternion 27)
   )
  )

(defmethod global-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
  "Get the angle from the position of this trsqv to the point arg0."
  (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
  )

(defmethod relative-y-angle-to-point trsqv ((obj trsqv) (arg0 vector))
  "Get the y angle between here and arg0, starting at whatever angle we're currently at."
  (deg-diff
   (y-angle obj)
   (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
   )
  )