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

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

;; DECOMP BEGINS

(defmethod print transformq ((obj transformq))
  "Print a transformq"
  (format #t "#<transformq @ #x~X~%" obj)
  (format #t "~T~Ttrans:~F ~F ~F ~F ~%" (-> obj trans x) (-> obj trans y) (-> obj trans z) (-> obj trans w))
  (format #t "~T~Tquat:  ~F ~F ~F ~F ~%" (-> obj quat x) (-> obj quat y) (-> obj quat z) (-> obj quat w))
  (format #t "~T~Tscale:~F ~F ~F ~F>" (-> obj scale x) (-> obj scale y) (-> obj scale z) (-> obj scale w))
  obj
  )

(defmethod get-quaternion trsqv ((obj trsqv))
  "Get the rotation as a quaternion."
  (-> obj quat)
  )

(defmethod set-quaternion! trsqv ((obj trsqv) (arg0 quaternion))
  "Set the rotation as a quaternion"
  (quaternion-copy! (get-quaternion obj) arg0)
  )

(defmethod rot->dir-targ! trsqv ((obj trsqv))
  "Set the dir-targ to our current orientation"
  (quaternion-copy! (-> obj dir-targ) (get-quaternion obj))
  )

(defmethod y-angle trsqv ((obj trsqv))
  "Get our current y-angle (y is up, so yaw)"
  (quaternion-y-angle (get-quaternion obj))
  )

(defmethod seek-toward-heading-vec! trsqv ((obj trsqv) (arg0 vector) (arg1 float) (arg2 time-frame))
  "Adjust the orientation to point along dir, only changing our yaw.
  The vel is a maximum velocity limit.
  The frame count is the time constant (first order).
  There's some logic to avoid rapidly changing directions"
  (with-pp
    (let* ((f0-0 (deg-diff (quaternion-y-angle (-> obj quat)) (vector-y-angle arg0)))
           (f1-2 (fmin (* arg1 (-> pp clock seconds-per-frame)) (/ (* 5.0 (fabs f0-0)) (the float arg2))))
           (f30-0 (fmax (fmin f0-0 f1-2) (- f1-2)))
           )
      (let ((f0-2 (-> obj old-y-angle-diff)))
        (set! f30-0 (cond
                      ((or (= f0-2 0.0)
                           (and (< 0.0 f30-0) (< 0.0 f0-2))
                           (or (and (< f30-0 0.0) (< f0-2 0.0))
                               (>= (- (-> pp clock frame-counter) (-> obj angle-change-time)) (seconds 0.2))
                               )
                           )
                       (set! (-> obj angle-change-time) (-> pp clock frame-counter))
                       f30-0
                       )
                      (else
                        (* 0.000000001 f30-0)
                        )
                      )
              )
        )
      (set! (-> obj old-y-angle-diff) f30-0)
      (let ((a1-2 (get-quaternion obj)))
        (quaternion-rotate-y! a1-2 a1-2 f30-0)
        )
      )
    )
  )

(defmethod set-heading-vec! trsqv ((obj trsqv) (arg0 vector))
  "Makes us look in the arg0 direction immediately.  Pitch will be unchanged."
  (let ((s3-0 (get-quaternion obj)))
    (forward-up-nopitch->quaternion
      s3-0
      (vector-normalize-copy! (new 'stack-no-clear 'vector) arg0 1.0)
      (vector-y-quaternion! (new 'stack-no-clear 'vector) s3-0)
      )
    )
  )

(defmethod seek-to-point-toward-point! trsqv ((obj trsqv) (arg0 vector) (arg1 float) (arg2 time-frame))
  "Seek toward pointing toward arg0 from our current location."
  (seek-toward-heading-vec! obj (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) arg1 arg2)
  )

(defmethod point-toward-point! trsqv ((obj trsqv) (arg0 vector))
  "Immediately point toward arg0"
  (let ((s3-0 (get-quaternion obj)))
    (forward-up-nopitch->quaternion
      s3-0
      (vector-normalize! (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) 1.0)
      (vector-y-quaternion! (new 'stack-no-clear 'vector) s3-0)
      )
    )
  )

(defmethod seek-toward-yaw-angle! trsqv ((obj trsqv) (arg0 float) (arg1 float) (arg2 time-frame))
  "Seek toward the given yaw angle."
  (let ((s3-0 (method-of-object obj seek-toward-heading-vec!))
        (s2-0 (new 'stack-no-clear 'vector))
        )
    (set! (-> s2-0 x) (sin arg0))
    (set! (-> s2-0 y) 0.0)
    (set! (-> s2-0 z) (cos arg0))
    (set! (-> s2-0 w) 1.0)
    (s3-0 obj s2-0 arg1 arg2)
    )
  )

(defmethod set-yaw-angle-clear-roll-pitch! trsqv ((obj trsqv) (arg0 float))
  "Immediately clear our roll and pitch and set yaw to the given angle"
  (let ((s5-0 (method-of-object obj set-heading-vec-clear-roll-pitch!))
        (s4-0 (new 'stack-no-clear 'vector))
        )
    (set! (-> s4-0 x) (sin arg0))
    (set! (-> s4-0 y) 0.0)
    (set! (-> s4-0 z) (cos arg0))
    (set! (-> s4-0 w) 1.0)
    (s5-0 obj s4-0)
    )
  )

(defmethod set-roll-to-grav! trsqv ((obj trsqv) (arg0 float))
  "Set our roll so that our local down aligns with standard gravity"
  (set-roll-to-grav-2! obj arg0)
  )

(defmethod set-roll-to-grav-2! trsqv ((obj trsqv) (arg0 float))
  "Set our roll so that our local down aligns with standard gravity"
  (let* ((s5-0 (get-quaternion obj))
         (s1-0 (-> *standard-dynamics* gravity-normal))
         (s3-0 (quaternion->matrix (new 'stack-no-clear 'matrix) s5-0))
         )
    (let ((s4-0 (-> s3-0 vector 2)))
      (vector-normalize! (vector-flatten! (-> s3-0 vector 1) s1-0 s4-0) 1.0)
      (vector-cross! (the-as vector (-> s3-0 vector)) (-> s3-0 vector 1) s4-0)
      )
    (let ((a1-5 (matrix-rotate-z! (new 'stack-no-clear 'matrix) arg0)))
      (matrix*! s3-0 a1-5 s3-0)
      )
    (matrix->quaternion s5-0 s3-0)
    )
  )

(defmethod roll-relative-to-gravity trsqv ((obj trsqv))
  "Get our roll, relative to 'down' from gravity"
  (let* ((s5-0 (get-quaternion obj))
         (gp-0 (vector-z-quaternion! (new 'stack-no-clear 'vector) s5-0))
         (s5-1 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
         (a1-2 (-> *standard-dynamics* gravity-normal))
         (v1-2 (vector-normalize! (vector-flatten! (new 'stack-no-clear 'vector) a1-2 gp-0) 1.0))
         (f0-1 (vector-dot v1-2 s5-1))
         )
    (if (< (vector-dot (vector-cross! (new 'stack-no-clear 'vector) v1-2 s5-1) gp-0) 0.0)
        (- (acos f0-1))
        (acos f0-1)
        )
    )
  )

(defmethod rotate-toward-orientation! trsqv ((obj trsqv) (arg0 quaternion) (arg1 float) (arg2 float) (arg3 int) (arg4 int) (arg5 float))
  "Adjust our orientation toward target, subject to some rate limits.
   For jak 1, I said:
    I don't think this is a very robust function and probably doesn't work right in cases
    where an axis flips by 180 degrees.
   But now they use matrix-from-two-vectors-the-long-way-smooth to fix it! Good job.
   This additionally uses the fancy logic of matrix-from-two-vectors-smooth."
  (local-vars
    (f0-4 float)
    (sv-192 (function quaternion vector vector float int quaternion))
    (sv-208 quaternion)
    (sv-224 vector)
    (sv-240 int)
    (sv-256 vector)
    (sv-272 vector)
    )
  (set! sv-240 arg4)
  (let ((s2-0 arg5)
        (s5-0 (get-quaternion obj))
        )
    (let ((gp-0 (new 'stack-no-clear 'quaternion)))
      (when (< 0.0 arg2)
        (set! sv-192 quaternion-from-two-vectors-smooth!)
        (set! sv-208 gp-0)
        (set! sv-224 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
        (let ((a2-1 (vector-y-quaternion! (new 'stack-no-clear 'vector) arg0)))
          (sv-192 sv-208 sv-224 a2-1 arg2 sv-240)
          )
        (quaternion-normalize! (quaternion*! s5-0 gp-0 s5-0))
        )
      (when (< 0.0 arg1)
        (set! sv-256 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
        (let ((s1-2 (vector-z-quaternion! (new 'stack-no-clear 'vector) s5-0)))
          (set! sv-272 (vector-z-quaternion! (new 'stack-no-clear 'vector) arg0))
          (let ((s0-1 (new 'stack-no-clear 'matrix)))
            (vector-flatten! s1-2 s1-2 sv-256)
            (vector-flatten! sv-272 sv-272 sv-256)
            (vector-normalize! s1-2 1.0)
            (vector-normalize! sv-272 1.0)
            (cond
              ((!= s2-0 0.0)
               (let* ((v1-5 (vector-cross! (new 'stack-no-clear 'vector) s1-2 sv-272))
                      ; (f0-3 (-> sv-256 x))
                      ; (f1-3 (-> sv-256 y))
                      ; (f2-0 (-> sv-256 z))
                      ; (f3-0 (-> v1-5 x))
                      ; (f4-0 (-> v1-5 y))
                      ; (f5-0 (-> v1-5 z))
                      )
                 (set! f0-4 (vector-dot sv-256 v1-5))
                 ; (.mula.s f0-3 f3-0)
                 ; (.madda.s f1-3 f4-0)
                 ; (.madd.s f0-4 f2-0 f5-0)
                 )
               (if (< (* f0-4 s2-0) 0.0)
                   (matrix-from-two-vectors-the-long-way-smooth! s0-1 s1-2 sv-272 arg1 arg3)
                   (matrix-from-two-vectors-smooth! s0-1 s1-2 sv-272 arg1 arg3)
                   )
               )
              (else
                (matrix-from-two-vectors-smooth! s0-1 s1-2 sv-272 arg1 arg3)
                )
              )
            (matrix->quaternion gp-0 s0-1)
            )
          )
        (quaternion-normalize! (quaternion*! s5-0 gp-0 s5-0))
        )
      )
    s5-0
    )
  )

(defmethod set-heading-vec-clear-roll-pitch! trsqv ((obj trsqv) (arg0 vector))
  "Set our rotation to point along the given heading, with no roll or pitch."
  (forward-up->quaternion
    (get-quaternion obj)
    (vector-normalize-copy! (new 'stack-no-clear 'vector) arg0 1.0)
    (new 'static 'vector :y 1.0 :w 1.0)
    )
  )

(defmethod point-toward-point-clear-roll-pitch! trsqv ((obj trsqv) (arg0 vector))
  "Set our orientation to point toward arg0, clearing roll and pitch"
  (forward-up->quaternion
    (get-quaternion obj)
    (vector-normalize! (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) 1.0)
    (new 'static 'vector :y 1.0 :w 1.0)
    )
  )

(defun transformq-copy! ((arg0 transformq) (arg1 transformq))
  "Set arg0 = arg1"
  (let ((v1-0 (-> arg1 trans quad))
        (a2-0 (-> arg1 quat vec quad))
        (a1-1 (-> arg1 scale quad))
        )
    (set! (-> arg0 trans quad) v1-0)
    (set! (-> arg0 quat vec quad) a2-0)
    (set! (-> arg0 scale quad) a1-1)
    )
  arg0
  )

(defun matrix<-transformq! ((arg0 matrix) (arg1 transformq))
  "Convert to 4x4 affine transform."
  (local-vars (v1-1 float))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (cond
      (#f
        (set! (-> arg0 trans quad) (-> arg1 trans quad))
        )
      (else
        (.lvf vf1 (&-> arg1 scale quad))
        (.lvf vf2 (&-> arg1 trans quad))
        (.lvf vf3 (&-> arg0 vector 0 quad))
        (.lvf vf4 (&-> arg0 vector 1 quad))
        (.lvf vf5 (&-> arg0 vector 2 quad))
        (.mov.vf vf2 vf0 :mask #b1000)
        (.mul.x.vf vf3 vf3 vf1)
        (.mul.y.vf vf4 vf4 vf1)
        (.mul.z.vf vf5 vf5 vf1)
        (.svf (&-> arg0 trans quad) vf2)
        (.svf (&-> arg0 vector 0 quad) vf3)
        (.svf (&-> arg0 vector 1 quad) vf4)
        (.svf (&-> arg0 vector 2 quad) vf5)
        (.mov v1-1 vf5)
        )
      )
    arg0
    )
  )

(defun matrix<-no-trans-transformq! ((arg0 matrix) (arg1 transformq))
  "Create 4x4 affine transform with no translation."
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (.lvf vf1 (&-> arg1 scale quad))
    (.lvf vf3 (&-> arg0 vector 0 quad))
    (.lvf vf4 (&-> arg0 vector 1 quad))
    (.lvf vf5 (&-> arg0 vector 2 quad))
    (.mov.vf vf2 vf0)
    (.mul.x.vf vf3 vf3 vf1)
    (.mul.y.vf vf4 vf4 vf1)
    (.mul.z.vf vf5 vf5 vf1)
    (.svf (&-> arg0 trans quad) vf2)
    (.svf (&-> arg0 vector 0 quad) vf3)
    (.svf (&-> arg0 vector 1 quad) vf4)
    (.svf (&-> arg0 vector 2 quad) vf5)
    arg0
    )
  )

(defun matrix<-transformq+trans! ((arg0 matrix) (arg1 transformq) (arg2 vector))
  "Convert to affine transform with an additional translation (in the local frame)."
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (.lvf vf1 (&-> arg1 scale quad))
    (.lvf vf2 (&-> arg1 trans quad))
    (.lvf vf6 (&-> arg2 quad))
    (.lvf vf3 (&-> arg0 vector 0 quad))
    (.lvf vf4 (&-> arg0 vector 1 quad))
    (.lvf vf5 (&-> arg0 vector 2 quad))
    (.mov.vf vf2 vf0 :mask #b1000)
    (.mul.x.vf vf3 vf3 vf1)
    (.mul.y.vf vf4 vf4 vf1)
    (.mul.z.vf vf5 vf5 vf1)
    (.mul.x.vf acc vf3 vf6)
    (.add.mul.y.vf acc vf4 vf6 acc)
    (.add.mul.z.vf acc vf5 vf6 acc)
    (.add.mul.w.vf vf2 vf2 vf0 acc :mask #b111)
    (.svf (&-> arg0 trans quad) vf2)
    (.svf (&-> arg0 vector 0 quad) vf3)
    (.svf (&-> arg0 vector 1 quad) vf4)
    (.svf (&-> arg0 vector 2 quad) vf5)
    arg0
    )
  )

(defun matrix<-transformq+world-trans! ((arg0 matrix) (arg1 transformq) (arg2 vector))
  "Convert to affine transform with an additional translation in the world frame (not rotated)"
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (.lvf vf1 (&-> arg1 scale quad))
    (.lvf vf2 (&-> arg1 trans quad))
    (.lvf vf6 (&-> arg2 quad))
    (.lvf vf3 (&-> arg0 vector 0 quad))
    (.lvf vf4 (&-> arg0 vector 1 quad))
    (.lvf vf5 (&-> arg0 vector 2 quad))
    (.mov.vf vf2 vf0 :mask #b1000)
    (.mul.x.vf vf3 vf3 vf1)
    (.mul.y.vf vf4 vf4 vf1)
    (.mul.z.vf vf5 vf5 vf1)
    (.add.vf vf2 vf2 vf6 :mask #b111)
    (.svf (&-> arg0 trans quad) vf2)
    (.svf (&-> arg0 vector 0 quad) vf3)
    (.svf (&-> arg0 vector 1 quad) vf4)
    (.svf (&-> arg0 vector 2 quad) vf5)
    arg0
    )
  )

(defun matrix<-parented-transformq! ((arg0 matrix) (arg1 transformq) (arg2 vector))
  "Unused. Seems like the parented thing means there's an inverse scale in arg2."
  (local-vars (v1-1 float))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (let ((v1-0 (new 'stack-no-clear 'vector)))
      (set! (-> v1-0 x) (/ 1.0 (-> arg2 x)))
      (set! (-> v1-0 y) (/ 1.0 (-> arg2 y)))
      (set! (-> v1-0 z) (/ 1.0 (-> arg2 z)))
      (.lvf vf1 (&-> arg1 scale quad))
      (.lvf vf2 (&-> arg1 trans quad))
      (.mov.vf vf2 vf0 :mask #b1000)
      (.lvf vf4 (&-> arg0 vector 0 quad))
      (.lvf vf5 (&-> arg0 vector 1 quad))
      (.lvf vf6 (&-> arg0 vector 2 quad))
      (.mul.x.vf vf4 vf4 vf1)
      (.mul.y.vf vf5 vf5 vf1)
      (.mul.z.vf vf6 vf6 vf1)
      (.lvf vf3 (&-> v1-0 quad))
      )
    (.mul.vf vf4 vf4 vf3)
    (.mul.vf vf5 vf5 vf3)
    (.mul.vf vf6 vf6 vf3)
    (.svf (&-> arg0 trans quad) vf2)
    (.svf (&-> arg0 vector 0 quad) vf4)
    (.svf (&-> arg0 vector 1 quad) vf5)
    (.svf (&-> arg0 vector 2 quad) vf6)
    (.mov v1-1 vf6)
    arg0
    )
  )

(defun matrix<-transformq+rot-offset! ((arg0 matrix) (arg1 transformq) (arg2 vector))
  "Affine transform for a point offset in the destination frame of the transformq (rather than just
   adding an offset at the end)"
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)
    (quaternion->matrix arg0 (-> arg1 quat))
    (.lvf vf1 (&-> arg1 scale quad))
    (.lvf vf2 (&-> arg1 trans quad))
    (.lvf vf6 (&-> arg2 quad))
    (.lvf vf3 (&-> arg0 vector 0 quad))
    (.lvf vf4 (&-> arg0 vector 1 quad))
    (.lvf vf5 (&-> arg0 vector 2 quad))
    (.mov.vf vf2 vf0 :mask #b1000)
    (.mul.x.vf vf3 vf3 vf1)
    (.mul.y.vf vf4 vf4 vf1)
    (.mul.z.vf vf5 vf5 vf1)
    (.mul.x.vf acc vf3 vf6)
    (.add.mul.y.vf acc vf4 vf6 acc)
    (.add.mul.z.vf acc vf5 vf6 acc)
    (.sub.mul.w.vf acc vf6 vf0 acc) ;; this line is added compared to the +trans! one
    (.add.mul.w.vf vf2 vf2 vf0 acc :mask #b111)
    (.svf (&-> arg0 trans quad) vf2)
    (.svf (&-> arg0 vector 0 quad) vf3)
    (.svf (&-> arg0 vector 1 quad) vf4)
    (.svf (&-> arg0 vector 2 quad) vf5)
    arg0
    )
  )