mirror of
https://github.com/open-goal/jak-project
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water111
74 lines
4.9 KiB
Common Lisp
74 lines
4.9 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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(bundles "ENGINE.CGO" "GAME.CGO")
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(require "engine/math/quaternion-h.gc")
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(require "engine/math/vector-h.gc")
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(require "engine/math/transform-h.gc")
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;; DECOMP BEGINS
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;; A transform whose rotation storage is interpreted as a quaternion.
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;; This is the usual compact transform representation.
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(deftype transformq (transform)
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;; Overlay transform.rot without changing the inherited layout.
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((quat quaternion :inline :overlay-at (-> rot x))))
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;; The basic-object counterpart of transformq.
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(deftype trsq (trs)
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;; Overlay trs.rot without changing the inherited layout.
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((quat quaternion :inline :overlay-at (-> rot x))))
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;; A quaternion transform with linear, angular, and scale velocities.
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;; Moving game objects commonly inherit this type for its steering controls; Jak's
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;; control object does as well. Most controls assume Y is up and roll and pitch remain
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;; small, as expected for actors that stay upright.
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(deftype trsqv (trsq)
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((pause-adjust-distance meters :offset 4) ;; Actor logic-pause distance adjustment.
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(nav-radius meters :offset 8) ;; Navigation bounding-sphere radius.
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(transv vector :inline) ;; Linear velocity in meters per second.
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(rotv vector :inline) ;; Angular velocity in rotation units per second.
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(scalev vector :inline) ;; Scale velocity.
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(dir-targ quaternion :inline) ;; Desired orientation used by target and vehicle controls.
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;; World-Y reversal filter. The signed previous step confirms a reversal that persists for a
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;; second frame; the timestamp permits an immediate reversal after 0.2 seconds without a full turn.
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(angle-change-time time-frame)
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(old-y-angle-diff float))
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(:methods
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(seek-toward-heading-vec! "Turn about world Y toward heading's XZ yaw. Clamp each frame's step by max-yaw-rate and
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response-time. A fresh reversal requires one confirming frame unless no full turn has been accepted
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for 0.2 seconds." (_type_ vector float time-frame) quaternion)
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(set-heading-vec! "Immediately turn toward heading within the plane perpendicular to the current up direction,
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preserving that up direction." (_type_ vector) quaternion)
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(seek-to-point-toward-point! "Turn about world Y toward target-point from this position using max-yaw-rate and
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response-time." (_type_ vector float time-frame) quaternion)
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(point-toward-point! "Immediately turn toward target-point within the plane perpendicular to the current up
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direction." (_type_ vector) quaternion)
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(seek-toward-yaw-angle! "Turn toward yaw using max-yaw-rate and response-time." (_type_ float float time-frame) quaternion)
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(set-yaw-angle-clear-roll-pitch! "Set yaw immediately with a horizontal forward direction and world +Y up." (_type_ float) quaternion)
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(set-roll-to-grav! "Align local up with standard world up while retaining forward, then apply roll-offset." (_type_ float) quaternion)
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(set-roll-to-grav-2! "Align local up with standard world up projected perpendicular to forward, rebuild the right
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axis, then apply roll-offset about local Z." (_type_ float) quaternion)
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(rotate-toward-orientation! "Rotate the current local Y axis toward target's Y axis at z-rate, then the resulting local Z
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axis toward target's Z axis at y-rate. Each rate is converted to a per-frame maximum." (_type_ quaternion float float) quaternion)
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(set-quaternion! "Copy rotation into this transform." (_type_ quaternion) quaternion)
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(set-heading-vec-clear-roll-pitch! "Build an orientation from normalized heading and world +Y. This removes roll; a horizontal
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heading also removes pitch." (_type_ vector) quaternion)
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(point-toward-point-clear-roll-pitch! "Build an orientation toward target-point using world +Y. This removes roll; a target at the
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same height also removes pitch." (_type_ vector) quaternion)
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(rot->dir-targ! "Copy the current rotation into dir-targ." (_type_) quaternion)
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(y-angle "Return the current quaternion's yaw." (_type_) float)
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(global-y-angle-to-point "Return the world yaw from this position to point." (_type_ vector) float)
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(relative-y-angle-to-point "Return the shortest yaw from this orientation toward point." (_type_ vector) float)
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(roll-relative-to-gravity "Return signed roll relative to standard world up after projecting world up perpendicular to
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the current forward axis." (_type_) float)
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(set-and-limit-velocity (_type_ int vector float) trsqv)
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(get-quaternion "Return the transform's quaternion storage." (_type_) quaternion)))
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(defmethod global-y-angle-to-point ((this trsqv) (point vector))
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"Return the world yaw from this position to point."
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(vector-y-angle (vector-! (new 'stack-no-clear 'vector) point (-> this trans))))
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(defmethod relative-y-angle-to-point ((this trsqv) (point vector))
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"Return the shortest yaw from this orientation toward point."
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(deg-diff (y-angle this) (vector-y-angle (vector-! (new 'stack-no-clear 'vector) point (-> this trans)))))
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