mirror of
https://github.com/open-goal/jak-project
synced 2026-08-16 13:17:34 -04:00
water111
68 lines
3.4 KiB
Common Lisp
68 lines
3.4 KiB
Common Lisp
;;-*-Lisp-*-
|
|
(in-package goal)
|
|
(bundles "ENGINE.CGO" "GAME.CGO")
|
|
(require "engine/math/quaternion-h.gc")
|
|
(require "engine/math/vector-h.gc")
|
|
(require "engine/math/transform-h.gc")
|
|
|
|
;; DECOMP BEGINS
|
|
|
|
;; the transformq is a transform, but _replaces_ the rotation field with a quaternion.
|
|
;; it is much more commonly used than transform.
|
|
(deftype transformq (transform)
|
|
;; this overlays the rot field of transform.
|
|
((quat quaternion :inline :overlay-at (-> rot x))))
|
|
|
|
;; trsq is the quaternion version of trs (trs is like a transform, but is basic.)
|
|
(deftype trsq (trs)
|
|
;; this overlays the rot field of trs.
|
|
((quat quaternion :inline :overlay-at (-> rot x))))
|
|
|
|
;; Representing a translate/rotate/scale with a quaternion and a velocity.
|
|
;; This is often used as the base type for the position of a game object that can move around
|
|
;; so it has methods to do common control functions.
|
|
;; many of these functions assume that y is up and assume that roll/pitch is small
|
|
;; (a reasonable assumption for most in-game objects that don't do flips)
|
|
;; note: Jak's control uses this as a base class.
|
|
|
|
(deftype trsqv (trsq)
|
|
((pause-adjust-distance meters :offset 4) ;; hack: adjusts the distance where actor logic is paused, if this is an actor
|
|
(nav-radius meters :offset 8) ;; hack: the radius of the bounding sphere used by the navigate system.
|
|
(transv vector :inline) ;; velocity (meters/second)
|
|
(rotv vector :inline) ;; angular velocity (deg/second)
|
|
(scalev vector :inline) ;; scale velocity (unused?)
|
|
;; there's a hacky ~first-order orientation yaw control with hysteresis
|
|
;; it makes the yaw change smoothly and attempts to cancel out oscillations from the collision system
|
|
(dir-targ quaternion :inline) ;; direction target
|
|
(angle-change-time time-frame) ;; the time when we change rotation directions
|
|
(old-y-angle-diff float) ;; the amount we moved last time
|
|
)
|
|
(:methods
|
|
(seek-toward-heading-vec! (_type_ vector float time-frame) quaternion)
|
|
(set-heading-vec! (_type_ vector) quaternion)
|
|
(seek-to-point-toward-point! (_type_ vector float time-frame) quaternion)
|
|
(point-toward-point! (_type_ vector) quaternion)
|
|
(seek-toward-yaw-angle! (_type_ float float time-frame) quaternion)
|
|
(set-yaw-angle-clear-roll-pitch! (_type_ float) quaternion)
|
|
(set-roll-to-grav! (_type_ float) quaternion)
|
|
(set-roll-to-grav-2! (_type_ float) quaternion)
|
|
(rotate-toward-orientation! (_type_ quaternion float float) quaternion)
|
|
(set-quaternion! (_type_ quaternion) quaternion)
|
|
(set-heading-vec-clear-roll-pitch! (_type_ vector) quaternion)
|
|
(point-toward-point-clear-roll-pitch! (_type_ vector) quaternion)
|
|
(rot->dir-targ! (_type_) quaternion)
|
|
(y-angle (_type_) float)
|
|
(global-y-angle-to-point (_type_ vector) float)
|
|
(relative-y-angle-to-point (_type_ vector) float)
|
|
(roll-relative-to-gravity (_type_) float)
|
|
(set-and-limit-velocity (_type_ int vector float) trsqv)
|
|
(get-quaternion (_type_) quaternion)))
|
|
|
|
(defmethod global-y-angle-to-point ((this trsqv) (pt vector))
|
|
"Get the angle in the xz plane from the position of this trsqv to the point."
|
|
(vector-y-angle (vector-! (new 'stack-no-clear 'vector) pt (-> this trans))))
|
|
|
|
(defmethod relative-y-angle-to-point ((this trsqv) (pt vector))
|
|
"Get the y angle between the current orientation and the point."
|
|
(deg-diff (y-angle this) (vector-y-angle (vector-! (new 'stack-no-clear 'vector) pt (-> this trans)))))
|