;;-*-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.
;; definition of type trsqv
(deftype trsqv (trsq)
  ((pause-adjust-distance float      :offset   4)
   (nav-radius            float      :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
    (TODO-RENAME-9 (_type_ vector float int) quaternion 9)
    (TODO-RENAME-10 (_type_ vector) quaternion 10)
    (TODO-RENAME-11 (_type_ vector float int) quaternion 11)
    (TODO-RENAME-12 (_type_ vector) quaternion 12)
    (TODO-RENAME-13 (_type_ float float int) quaternion 13)
    (TODO-RENAME-14 (_type_ float) quaternion 14)
    (TODO-RENAME-15 (_type_ float) quaternion 15)
    (TODO-RENAME-VECTOR-DOT-16 (_type_ float) quaternion 16)
    (TODO-RENAME-17 (_type_ quaternion float float) quaternion 17)
    (set-quaternion!-18 (_type_ quaternion) quaternion 18)
    (TODO-RENAME-19 (_type_ vector) quaternion 19)
    (TODO-RENAME-20 (_type_ vector) quaternion 20)
    (rot->dir-targ!-21 (_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)
    (TODO-VECTOR-MATH-ISSUES-25 (_type_) float 25)
    (dummy-26 () none 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."
  (rlet ((vf0 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)
    (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."
  (rlet ((vf0 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         (vf6 :class vf)
         )
    (init-vf0-vector)

    (deg-diff
     (y-angle obj)
     (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)))
     )
    )
  )