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

;; definition for method 2 of type transform
(defmethod print transform ((obj transform))
  (format #t "#<transform @ #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~Trot:  ~F ~F ~F ~F ~%"
   (-> obj rot x)
   (-> obj rot y)
   (-> obj rot z)
   (-> obj rot w)
   )
  (format
   #t
   "~T~Tscale:~F ~F ~F ~F>"
   (-> obj scale x)
   (-> obj scale y)
   (-> obj scale z)
   (-> obj scale w)
   )
  obj
  )

;; definition for method 0 of type trs
(defmethod new trs ((allocation symbol) (type-to-make type))
  (let
   ((obj
     (object-new allocation type-to-make (the-as int (-> type-to-make size)))
     )
    )
   (set! (-> obj trans w) 1.0)
   (set! (-> obj rot w) 1.0)
   (vector-identity! (-> obj scale))
   obj
   )
  )

;; definition for function transform-matrix-calc!
;; Used lq/sq
(defun transform-matrix-calc! ((tf transform) (dst-mat matrix))
  (let ((s4-0 (new-stack-matrix0))
        (s3-0 (new-stack-matrix0))
        )
   (matrix-identity! dst-mat)
   (matrix-translate! dst-mat (-> tf trans))
   (matrix-rotate-y! s4-0 (-> tf rot y))
   (matrix*! s3-0 s4-0 dst-mat)
   (matrix-rotate-x! s4-0 (-> tf rot x))
   (matrix*! dst-mat s4-0 s3-0)
   (matrix-rotate-z! s4-0 (-> tf rot z))
   (matrix*! s3-0 s4-0 dst-mat)
   (matrix-scale! s4-0 (-> tf scale))
   (matrix*! dst-mat s4-0 s3-0)
   )
  )

;; definition for function transform-matrix-parent-calc!
;; Used lq/sq
(defun
  transform-matrix-parent-calc!
  ((tf transform) (dst-mat matrix) (inv-scale vector))
  (let ((s4-0 (new-stack-matrix0))
        (s3-0 (new-stack-matrix0))
        )
   (matrix-identity! s3-0)
   (matrix-translate! s3-0 (-> tf trans))
   (matrix-inv-scale! s4-0 inv-scale)
   (matrix*! dst-mat s4-0 s3-0)
   (matrix-rotate-y! s4-0 (-> tf rot y))
   (matrix*! s3-0 s4-0 dst-mat)
   (matrix-rotate-x! s4-0 (-> tf rot x))
   (matrix*! dst-mat s4-0 s3-0)
   (matrix-rotate-z! s4-0 (-> tf rot z))
   (matrix*! s3-0 s4-0 dst-mat)
   (matrix-scale! s4-0 (-> tf scale))
   (matrix*! dst-mat s4-0 s3-0)
   )
  )

;; definition for function trs-matrix-calc!
(defun trs-matrix-calc! ((tf trs) (dst-mat matrix))
  (transform-matrix-calc! (the-as transform (-> tf trans)) dst-mat)
  )