jak-project/goal_src/engine/collide/collide-shape.gc

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

;; name: collide-shape.gc
;; name in dgo: collide-shape
;; dgos: GAME, ENGINE

;; The collide shape system is used to handle collision reactions.

;;;;;;;;;;;;;;;;;;;;;;;
;; Should Push Away
;;;;;;;;;;;;;;;;;;;;;;;

;; The overlap algorithm determines if the new position of obj should push away arg0.

;; If shapes are far away, it will abort early and just return #f.
;; both check collision flags and require "solid" flags. So this is only for solid collisions.
;; the collision isn't symmetric [collide(a, b) != collide(b, a)] because the with/as flags.
;; so there's some weirdness to get all the method dispatch stuff to work around (you can only dispatch on one type)


(defmethod should-push-away collide-shape ((obj collide-shape) (arg0 collide-shape) (arg1 collide-overlap-result))
  "Find the overlap between two collide shapes.  This is the main entry point for the overlap algorithm.
   The result is returned in arg1. The obj is collided _with_ arg0 (meaning obj uses its collide-with, arg0 uses colide-as).
   The best-dist is only valid if the result is #t (it should be negative then)"
   
   ;; this method begins the recursive traversal through the tree of collide-shape-prims, starting with the
   ;; root of each shape.
  (local-vars (v1-3 collide-action) (v1-4 float) (a2-2 collide-action) (a3-2 collide-action))
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    
    ;; reset the overlap result
    (let ((v1-0 arg1))
      (set! (-> v1-0 best-dist) 0.0)
      (set! (-> v1-0 best-from-prim) #f)
      (set! (-> v1-0 best-to-prim) #f)
      )
    ;; grab the roots
    (let ((a0-1 (-> obj root-prim))
          (a1-1 (-> arg0 root-prim))
          )
      (let ((a3-0 (-> a0-1 collide-with))         ;; this object's collide with
            (t0-0 (-> a1-1 prim-core collide-as)) ;; the incoming object's as
            (v1-2 (-> a0-1 prim-core action))     ;; our action
            )
        (let ((a2-1 (-> a1-1 prim-core action)))  ;; their action
          ;; reject if (logand with as) fails
          (b! (zero? (logand a3-0 t0-0)) cfg-8 :delay (set! a3-2 (logand a2-1 1)))
          ;; reject if non-solid
          (b! (zero? a3-2) cfg-8 :delay (set! a2-2 (logand a2-1 8)))
          )
        ;; reject if ca-3 on us fails (not sure what this means yet)
        (b! (nonzero? a2-2) cfg-8 :delay (set! v1-3 (logand v1-2 1)))
        )
      ;; reject if non-solid
      (b! (zero? v1-3) cfg-8 :delay (nop!))
      
      ;; if we're here, our collision types allow us to collide
      (.lvf vf1 (&-> a0-1 prim-core world-sphere quad))
      (.lvf vf2 (&-> a1-1 prim-core world-sphere quad))
      
      ;; see if bsphere's overlap
      (.sub.vf vf3 vf1 vf2)
      (.add.w.vf vf4 vf1 vf2 :mask #b1000)
      (.mul.vf vf3 vf3 vf3 :mask #b111)
      (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
      (.mul.x.vf acc vf0 vf3 :mask #b1000)
      (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
      (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
      (.sub.w.vf vf5 vf3 vf4 :mask #b1000)
      (let ((f0-1 0.0))
        (.add.w.vf vf5 vf0 vf5 :mask #b1)
        (.mov v1-4 vf5)
        (b! (<= f0-1 v1-4) cfg-8) ;; they don't, fail!
        )
      
      ;; our bsphere's overlap. We need a more detailed test to know for sure
      ;; this will dispatch a more specific method for a0-1.
      (should-push-away-test a0-1 a1-1 arg1)
      )
    
    ;; return the result of the more detailed test.
    (let ((v0-1 (< (-> arg1 best-dist) 0.0)))
      (b! #t cfg-9 :delay (nop!))
      (label cfg-8)
      (set! v0-1 #f)
      (label cfg-9)
      v0-1
      )
    )
  )

;; the should-push-away-test will update the collide-overlap-result. The best-dist will be negative if they overlap.
;; it works on collide prims.

(defmethod should-push-away-test collide-shape-prim ((obj collide-shape-prim) (arg0 collide-shape-prim) (arg1 collide-overlap-result))
  "Should be impossible to call - collide-shape-prim is abstract."
  (format 0 "ERROR: collide-shape-prim::should-push-away-test was called illegally!~%")
  (none)
  )

(defmethod should-push-away-test collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-shape-prim) (arg1 collide-overlap-result))
  "Update test for a group against an unknown prim.
   The grouip prims use their collide with "
  (local-vars (a1-3 float))
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (nop!)
    (let ((s4-0 (-> obj prims))
          (s3-0 (-> obj num-prims-u))
          )
      (nop!)
      ;; very similar to compute-overlap.
      ;; check collide-as/collide-with and solid
      (let ((v1-0 (-> arg0 prim-core collide-as)))
        (nop!)
        (.lvf vf1 (&-> arg0 prim-core world-sphere quad))
        (label cfg-1)
        (b! (zero? s3-0) cfg-6 :delay (nop!))
        (+! s3-0 -1)
        (let ((a0-1 (-> s4-0 0)))
          (set! s4-0 (&-> s4-0 1))
          (let ((a2-1 (-> a0-1 collide-with)))
            (nop!)
            (let* ((a1-1 (-> a0-1 prim-core action))
                   (a2-2 (logand a2-1 v1-0))
                   (a1-2 (logand a1-1 (collide-action solid)))
                   )
              ;; on reject, just move to the next thing in the group.
              (b! (zero? a2-2) cfg-1 :delay (.lvf vf2 (&-> a0-1 prim-core world-sphere quad)))
              (b! (zero? a1-2) cfg-1 :delay (nop!))
              )
            )
          ;; check bspheres
          (.sub.vf vf3 vf2 vf1)
          (.add.w.vf vf4 vf2 vf1 :mask #b1000)
          (.mul.vf vf3 vf3 vf3 :mask #b111)
          (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
          (.mul.x.vf acc vf0 vf3 :mask #b1000)
          (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
          (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
          (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
          (let ((f0-0 0.0))
            (.add.w.vf vf3 vf0 vf3 :mask #b1)
            (.mov a1-3 vf3)
            (b! (<= f0-0 a1-3) cfg-1)
            )
          ;; bspheres overlap, more accurate test is required.
          (should-push-away-test a0-1 arg0 arg1)
          )
        (set! v1-0 (-> arg0 prim-core collide-as))
        )
      )
    (b! #t cfg-1 :delay (.lvf vf1 (&-> arg0 prim-core world-sphere quad)))
    (label cfg-6)
    0
    (none)
    )
  )

(defmethod should-push-away-reverse-test collide-shape-prim ((obj collide-shape-prim) (arg0 collide-shape-prim-group) (arg1 collide-overlap-result))
  "This is a flipped version of should-push-away-test.
   the group uses their collide-as"
  (local-vars (a0-3 float))
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (nop!)
    (let ((s4-0 (-> arg0 prims))
          (s3-0 (-> arg0 num-prims-u))
          )
      (nop!)
      (let ((v1-0 (-> obj collide-with)))
        (nop!)
        (.lvf vf2 (&-> obj prim-core world-sphere quad))
        (label cfg-1)
        (b! (zero? s3-0) cfg-6 :delay (nop!))
        (+! s3-0 -1)
        (let ((a1-1 (-> s4-0 0)))
          (set! s4-0 (&-> s4-0 1))
          (let ((a2-1 (-> a1-1 prim-core collide-as)))
            (nop!)
            (let* ((a0-1 (-> a1-1 prim-core action))
                   (a2-2 (logand v1-0 a2-1))
                   (a0-2 (logand a0-1 (collide-action solid)))
                   )
              (b! (zero? a2-2) cfg-1 :delay (.lvf vf1 (&-> a1-1 prim-core world-sphere quad)))
              (b! (zero? a0-2) cfg-1 :delay (nop!))
              )
            )
          (.sub.vf vf3 vf2 vf1)
          (.add.w.vf vf4 vf2 vf1 :mask #b1000)
          (.mul.vf vf3 vf3 vf3 :mask #b111)
          (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
          (.mul.x.vf acc vf0 vf3 :mask #b1000)
          (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
          (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
          (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
          (let ((f0-0 0.0))
            (.add.w.vf vf3 vf0 vf3 :mask #b1)
            (.mov a0-3 vf3)
            (b! (<= f0-0 a0-3) cfg-1)
            )
          (should-push-away-test obj a1-1 arg1)
          )
        (set! v1-0 (-> obj collide-with))
        )
      )
    (b! #t cfg-1 :delay (.lvf vf2 (&-> obj prim-core world-sphere quad)))
    (label cfg-6)
    0
    (none)
    )
  )

(defmethod should-push-away-test collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 collide-shape-prim) (arg1 collide-overlap-result))
  "Collide a prim with a mesh. The prim must be a sphere or group of spheres"
  
  ;; first, check the prim type
  (let ((v1-0 (-> arg0 prim-core prim-type)))
    (b! (nonzero? v1-0) cfg-2 :delay (nop!))
    ;; if we got a group, recurse.
    (should-push-away-reverse-test obj (the-as collide-shape-prim-group arg0) arg1)
    (b! #t cfg-13 :delay (nop!))
    (label cfg-2)
    ;; mesh to mesh. abort!
    (b! (> v1-0 0) cfg-12 :delay (nop!))
    )
  (let ((s3-0 (-> obj mesh)))
    ;; if we don't have a mesh, then abort.
    (b! (not s3-0) cfg-11 :delay (nop!)) ;; empty-form
    
    ;; we must put the mesh in the cache before we can collide.
    ;; NOTE: this is not the full collide-cache, but instead a smaller, simpler collide-mesh-cche.
    (let ((s2-0 *collide-mesh-cache*))
      (let ((v1-4 (-> s2-0 id)))
        ;; if we already got it, don't bother populating the cache again.
        (b! (= (-> obj mesh-cache-id) v1-4) cfg-9 :delay (nop!))
        )
      ;; "allocate" triangles.
      (let ((v1-8 (allocate! s2-0 (* 96 (-> s3-0 num-tris)))))
        (b! (not v1-8) cfg-7 :delay (nop!))
        ;; remember that we got these triangles
        (set! (-> obj mesh-cache-tris) (the-as (inline-array collide-mesh-cache-tri) v1-8))
        )
      ;; and remember the cache has this
      (set! (-> obj mesh-cache-id) (-> s2-0 id))
      )
    
    ;; load this mesh into the cache.
    ;; strangely, they transform the entire mesh.
    (populate-cache!
      s3-0
      (the-as collide-mesh-cache-tri (-> obj mesh-cache-tris))
      (-> obj cshape process node-list data (-> obj transform-index) bone transform)
      )
    (b! #t cfg-9 :delay (nop!))
    (label cfg-7) ;; cache failure abort
    (b! #t cfg-14 :delay (nop!))
    (the-as none 0)
    (label cfg-9)
    ;; now, use the cache!
    (let ((s2-1 (new 'stack-no-clear 'collide-tri-result)))
      (let ((f0-1 (should-push-away-test
                    s3-0
                    (the-as collide-mesh-cache-tri (-> obj mesh-cache-tris))
                    s2-1
                    (the-as vector (-> arg0 prim-core))
                    (-> arg1 best-dist)
                    )
                  )
            )
        ;; did we find something closer?
        (b! (>= f0-1 (-> arg1 best-dist)) cfg-11 :delay #f)
        ;; we did!
        (set! (-> arg1 best-dist) f0-1)
        )
      ;; remeber this triangle!
      (set! (-> arg1 best-from-prim) obj)
      (set! (-> arg1 best-to-prim) arg0)
      (set! (-> arg1 best-from-tri vertex 0 quad) (-> s2-1 vertex 0 quad))
      (set! (-> arg1 best-from-tri vertex 1 quad) (-> s2-1 vertex 1 quad))
      (set! (-> arg1 best-from-tri vertex 2 quad) (-> s2-1 vertex 2 quad))
      (set! (-> arg1 best-from-tri intersect quad) (-> s2-1 intersect quad))
      (set! (-> arg1 best-from-tri normal quad) (-> s2-1 normal quad))
      (set! (-> arg1 best-from-tri pat) (-> s2-1 pat))
      )
    )
  (label cfg-11)
  (b! #t cfg-13 :delay (nop!))
  (label cfg-12)
  (format 0 "ERROR: Attempted unsupported mesh -> mesh test in collide-shape-prim::should-push-away-test!~%")
  (label cfg-13)
  0
  (label cfg-14)
  (none)
  )

(defmethod should-push-away-test collide-shape-prim-sphere ((obj collide-shape-prim-sphere) (arg0 collide-shape-prim) (arg1 collide-overlap-result))
  "The push away where we manually dispatch on the type of the second."
  (local-vars (v1-3 float))
  (rlet ((acc :class vf)
         (Q :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)
    (let ((v1-0 (-> arg0 prim-core prim-type)))
      (b! (nonzero? v1-0) cfg-2 :delay (nop!))
      ;; we're colliding with group, we've got a whole other function for that.
      (should-push-away-reverse-test obj (the-as collide-shape-prim-group arg0) arg1)
      (b! #t cfg-13 :delay (nop!))
      (label cfg-2)
      (b! (> v1-0 0) cfg-5 :delay (nop!))
      )
    ;; if we're here, it's sphere->sphere.
    (.lvf vf1 (&-> obj prim-core world-sphere quad))
    (.lvf vf2 (&-> arg0 prim-core world-sphere quad))
    (.sub.vf vf3 vf2 vf1 :mask #b111)
    (.add.w.vf vf5 vf1 vf2 :mask #b1000)
    (.mul.vf vf4 vf3 vf3 :mask #b111)
    (.mul.x.vf acc vf0 vf4 :mask #b1000)
    (.add.mul.y.vf acc vf0 vf4 acc :mask #b1000)
    (.add.mul.z.vf vf4 vf0 vf4 acc :mask #b1000)
    (.sqrt.vf Q vf4 :ftf #b11)
    (.mov.vf vf3 vf0 :mask #b1000)
    (.add.w.vf vf5 vf0 vf5 :mask #b1)
    (let ((f2-0 (-> arg1 best-dist)))
      (.wait.vf)
      (nop!)
      (.add.vf vf4 vf0 Q :mask #b1)
      (.sub.x.vf vf6 vf4 vf5 :mask #b1)
      (.mul.x.vf vf3 vf3 vf4 :mask #b111)
      (.mov v1-3 vf6)
      (let ((f1-0 v1-3))
        (b! (<= f2-0 f1-0) cfg-13)
        (let ((v1-4 (-> obj pat)))
          (set! (-> arg1 best-dist) f1-0)
          (set! (-> arg1 best-from-prim) obj)
          (set! (-> arg1 best-to-prim) arg0)
          (.svf (&-> arg1 best-from-tri normal quad) vf3)
          (set! (-> arg1 best-from-tri pat) v1-4)
          )
        )
      )
    
    ;; make up a triangle.
    (let ((s4-1 (-> arg1 best-from-tri normal))
          (s3-0 (-> arg1 best-from-tri intersect))
          )
      (vector-float*! s3-0 s4-1 (-> obj prim-core world-sphere w))
      (vector+! s3-0 s3-0 (the-as vector (-> obj prim-core)))
      (set! (-> arg1 best-from-tri vertex 0 quad) (-> s3-0 quad))
      (point-in-plane-<-point+normal! (-> arg1 best-from-tri vertex 1) s3-0 s4-1)
      (let* ((v1-10 (vector-normalize!
                      (vector-!
                        (new 'stack-no-clear 'vector)
                        (-> arg1 best-from-tri vertex 1)
                        (the-as vector (-> arg1 best-from-tri))
                        )
                      1.0
                      )
                    )
             (a2-4 (vector-cross! (new 'stack-no-clear 'vector) s4-1 v1-10))
             )
        (vector+*! (-> arg1 best-from-tri vertex 2) s3-0 a2-4 4096.0)
        )
      )
    (b! #t cfg-13 :delay (nop!))
    
    ;; Mesh. this is the same as the above function. start with populating the cache.
    (label cfg-5)
    (let ((s3-1 (-> (the-as collide-shape-prim-mesh arg0) mesh)))
      (b! (not s3-1) cfg-13)
      (let ((s2-0 *collide-mesh-cache*))
        (let ((v1-13 (-> s2-0 id)))
          (b! (= (-> (the-as collide-shape-prim-mesh arg0) mesh-cache-id) v1-13) cfg-11)
          )
        (let ((v1-17 (allocate! s2-0 (* 96 (-> s3-1 num-tris)))))
          (b! (not v1-17) cfg-9 :delay (nop!))
          (set! (-> (the-as collide-shape-prim-mesh arg0) mesh-cache-tris)
                (the-as (inline-array collide-mesh-cache-tri) v1-17)
                )
          )
        (set! (-> (the-as collide-shape-prim-mesh arg0) mesh-cache-id) (-> s2-0 id))
        )
      (populate-cache!
        s3-1
        (the-as collide-mesh-cache-tri (-> (the-as collide-shape-prim-mesh arg0) mesh-cache-tris))
        (-> (the-as collide-shape-prim-mesh arg0)
            cshape
            process
            node-list
            data
            (-> (the-as collide-shape-prim-mesh arg0) transform-index)
            bone
            transform
            )
        )
      (b! #t cfg-11 :delay (nop!))
      (label cfg-9)
      (b! #t cfg-14 :delay (nop!))
      (the-as none 0)
      (label cfg-11)
      ;; do the collision
      (let ((s2-1 (new 'stack-no-clear 'collide-tri-result)))
        (let ((f0-2 (should-push-away-test
                      s3-1
                      (the-as collide-mesh-cache-tri (-> (the-as collide-shape-prim-mesh arg0) mesh-cache-tris))
                      s2-1
                      (the-as vector (-> obj prim-core))
                      (-> arg1 best-dist)
                      )
                    )
              )
          (b! (>= f0-2 (-> arg1 best-dist)) cfg-13 :delay #f)
          (set! (-> arg1 best-dist) f0-2)
          )
        ;; but this time, we need a tri from the sphere. So make one up again.
        (set! (-> arg1 best-from-prim) obj)
        (set! (-> arg1 best-to-prim) arg0)
        (let ((s4-2 (-> arg1 best-from-tri normal)))
          (vector-! s4-2 (-> s2-1 intersect) (the-as vector (-> obj prim-core)))
          (vector-normalize! s4-2 1.0)
          (let ((s3-2 (-> arg1 best-from-tri intersect)))
            (vector-float*! s3-2 s4-2 (-> obj prim-core world-sphere w))
            (vector+! s3-2 s3-2 (the-as vector (-> obj prim-core)))
            (set! (-> arg1 best-from-tri vertex 0 quad) (-> s3-2 quad))
            (point-in-plane-<-point+normal! (-> arg1 best-from-tri vertex 1) s3-2 s4-2)
            (let* ((v1-37 (vector-normalize!
                            (vector-!
                              (new 'stack-no-clear 'vector)
                              (-> arg1 best-from-tri vertex 1)
                              (the-as vector (-> arg1 best-from-tri))
                              )
                            1.0
                            )
                          )
                   (a2-11 (vector-cross! (new 'stack-no-clear 'vector) s4-2 v1-37))
                   )
              (vector+*! (-> arg1 best-from-tri vertex 2) s3-2 a2-11 4096.0)
              )
            )
          )
        )
      )
    (set! (-> arg1 best-from-tri pat) (-> obj pat))
    (label cfg-13)
    0
    (label cfg-14)
    (none)
    )
  )


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Moving Collision Resolutions
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; These functions see if we canmove a given length in a given direction.
;; If not, they adjust the length so we are just touching, and add the prim to the touching list.

;; these use the "offense". The offense of the thing in the cache must be higher. If the cache has 0, we reject always.
;; these use the "solid" bit of action. This must be set on both.

(defmethod collide-with-collide-cache-prim-mesh collide-shape-prim ((obj collide-shape-prim) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  "abstract base class version."
  (format 0 "ERROR: Unsupported prim type in collide-shape-prim::collide-with-collide-cache-prim-mesh!~%")
  (none)
  )


(defmethod collide-with-collide-cache-prim-mesh collide-shape-prim-sphere ((obj collide-shape-prim-sphere) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  "Collide this sphere with the mesh in the real collide cache."
  (local-vars (v1-4 collide-offense))
  (rlet ((vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (let* ((s5-0 (new 'stack-no-clear 'collide-tri-result))
           ;; try to move the sphere by best-u.
           (f0-1 (resolve-moving-sphere-tri
                   arg1
                   s5-0
                   (-> obj prim-core)
                   (-> arg0 move-vec)
                   (-> arg0 best-u)
                   (-> obj prim-core action)
                   )
                 )
           )
      ;; did we hit something?
      (when (>= f0-1 0.0)
        ;; yup.
        (let ((a2-2 (the-as collide-shape-prim #f)))
          ;; not really sure why we do this, need to learn more about the stuff in the collide cache
          (let ((a1-2 (-> arg1 prim-core prim-type))
                (a3-1 2)
                (t0-1 (-> arg1 prim))
                (v1-3 0)
                (a0-2 (-> arg1 prim-core offense))
                )
            (b! (!= a1-2 a3-1) cfg-3 :likely-delay (set! a2-2 t0-1))
            (label cfg-3)
            (nop!)
            (let ((a3-2 (-> obj prim-core offense)))
              (nop!)
              (let ((a1-3 (-> obj prim-core action)))
                (nop!)
                (let ((t0-2 (-> arg1 prim-core action)))
                  (b! (= a0-2 v1-3) cfg-7 :delay (set! v1-4 (- a3-2 a0-2)))
                  (let ((a1-4 (logand a1-3 t0-2))
                        (a0-3 (-> s5-0 pat))
                        )
                    (let ((a1-5 (logand a1-4 (collide-action solid))))
                      (.lvf vf1 (&-> s5-0 intersect quad))
                      (b! (> (the-as int v1-4) 0) cfg-7 :delay (.lvf vf2 (&-> s5-0 normal quad)))
                      (b! (zero? a1-5) cfg-7 :delay (.lvf vf3 (&-> s5-0 vertex 0 quad)))
                      )
                    (.lvf vf4 (&-> s5-0 vertex 1 quad))
                    (.lvf vf5 (&-> s5-0 vertex 2 quad))
                    ;; remember what we hit
                    (set! (-> arg0 best-u) f0-1)
                    (set! (-> arg0 best-to-prim) a2-2)
                    (set! (-> arg0 best-from-prim) obj)
                    (set! (-> arg0 best-tri pat) a0-3)
                    )
                  )
                )
              )
            )
          ;; remember the tri
          (.svf (&-> arg0 best-tri intersect quad) vf1)
          (.svf (&-> arg0 best-tri normal quad) vf2)
          (.svf (&-> arg0 best-tri vertex 0 quad) vf3)
          (.svf (&-> arg0 best-tri vertex 1 quad) vf4)
          (.svf (&-> arg0 best-tri vertex 2 quad) vf5)
          (nop!)
          (label cfg-7)
          (b! (= a2-2 #f) cfg-9 :delay (nop!))
          ;; add prim to list.
          (add-touching-prims *touching-list* obj a2-2 f0-1 (the-as collide-tri-result #f) s5-0)
          )
        (label cfg-9)
        0
        )
      )
    0
    (none)
    )
  )

(defmethod collide-with-collide-cache-prim-mesh collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (format 0 "ERROR: collide-shape-prim-mesh vs. collide-cache-prim mesh is not currently supported!~%")
  (none)
  )

(defmethod collide-with-collide-cache-prim-mesh collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (let ((s3-0 (-> arg1 prim-core collide-as)))
    (dotimes (s2-0 (-> obj num-prims))
      (let ((a0-1 (-> obj prims s2-0)))
        (if (logtest? (-> a0-1 collide-with) s3-0)
            (collide-with-collide-cache-prim-mesh a0-1 arg0 arg1)
            )
        )
      )
    )
  (none)
  )

(defmethod collide-with-collide-cache-prim-sphere collide-shape-prim ((obj collide-shape-prim) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (format 0 "ERROR: Unsupported prim type in collide-shape-prim::collide-with-collide-cache-prim-sphere!~%")
  (none)
  )

(defmethod collide-with-collide-cache-prim-sphere collide-shape-prim-sphere ((obj collide-shape-prim-sphere) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (local-vars (v1-4 collide-offense) (a3-2 pat-surface))
  (rlet ((vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (let* ((s5-0 (new 'stack-no-clear 'collide-tri-result))
           (f0-1 (resolve-moving-sphere-sphere
                   arg1
                   s5-0
                   (-> obj prim-core)
                   (-> arg0 move-vec)
                   (-> arg0 best-u)
                   (-> obj prim-core action)
                   )
                 )
           )
      (when (>= f0-1 0.0)
        (let ((v1-3 0)
              (a1-2 (-> obj prim-core action))
              )
          (nop!)
          (let ((a2-2 (-> arg1 prim-core action)))
            (nop!)
            (let ((a0-2 (-> arg1 prim-core offense))
                  (a1-3 (logand a1-2 a2-2))
                  (a2-3 (-> arg1 prim))
                  )
              (let ((a3-1 (logand a1-3 (collide-action solid)))
                    (a1-4 (-> obj prim-core offense))
                    )
                (b! (zero? a3-1) cfg-5 :delay (set! a3-2 (-> s5-0 pat)))
                (b! (= a0-2 v1-3) cfg-5 :delay (set! v1-4 (- a1-4 a0-2)))
                )
              (b! (> (the-as int v1-4) 0) cfg-5 :delay (.lvf vf1 (&-> s5-0 intersect quad)))
              (.lvf vf2 (&-> s5-0 normal quad))
              (.lvf vf3 (&-> s5-0 vertex 0 quad))
              (.lvf vf4 (&-> s5-0 vertex 1 quad))
              (.lvf vf5 (&-> s5-0 vertex 2 quad))
              (set! (-> arg0 best-u) f0-1)
              (set! (-> arg0 best-to-prim) a2-3)
              (set! (-> arg0 best-from-prim) obj)
              (set! (-> arg0 best-tri pat) a3-2)
              (.svf (&-> arg0 best-tri intersect quad) vf1)
              (.svf (&-> arg0 best-tri normal quad) vf2)
              (.svf (&-> arg0 best-tri vertex 0 quad) vf3)
              (.svf (&-> arg0 best-tri vertex 1 quad) vf4)
              (.svf (&-> arg0 best-tri vertex 2 quad) vf5)
              (label cfg-5)
              (add-touching-prims *touching-list* obj a2-3 f0-1 (the-as collide-tri-result #f) s5-0)
              )
            )
          )
        )
      )
    0
    (none)
    )
  )

(defmethod collide-with-collide-cache-prim-sphere collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (format 0 "ERROR: collide-shape-prim-mesh vs. collide-cache-prim sphere is not currently supported!~%")
  (none)
  )

(defmethod collide-with-collide-cache-prim-sphere collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-shape-intersect) (arg1 collide-cache-prim))
  (let ((s3-0 (-> arg1 prim-core collide-as)))
    (dotimes (s2-0 (-> obj num-prims))
      (let ((a0-1 (-> obj prims s2-0)))
        (if (logtest? (-> a0-1 collide-with) s3-0)
            (collide-with-collide-cache-prim-sphere a0-1 arg0 arg1)
            )
        )
      )
    )
  (none)
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Target Specific Stuff
;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; This implements the default collision reaction function.
;; This is a target-specific reaction.


(defun find-ground-point ((target-ctrl control-info) (ground-result vector) (start-len float) (max-len float))
  "Find somewhere safe to land. This is used to find where to bounce back the player if you jump on fire canyon.
   It's a nice example function for the collision system."
  (local-vars (direction-idx int) (sv-192 int))
  
  ;; first, let's find our heading
  (let ((current-heading (if (< 819.2 (vector-xz-length (-> target-ctrl transv))) ;; if we're moving in the xz plane
                             (vector-y-angle (-> target-ctrl transv))             ;; use the direction we're moving
                             (y-angle target-ctrl)                                ;; otherwise, use the direction we're facing.
                             )
                         )
        ;; the current position of jak
        (current-pos (-> target-ctrl trans))
        (probe-dir (new 'stack-no-clear 'vector))
        (result-tri (new 'stack-no-clear 'collide-tri-result))
        )
    
    ;; create a bounding box, centered around our current location.
    (let ((bbox (new 'stack-no-clear 'bounding-box)))
      (set! (-> ground-result w) 0.0)
      ;; look at most max-len away from where we are..
      (dotimes (v1-1 3)
        (set! (-> bbox min data v1-1) (- (-> current-pos data v1-1) max-len))
        (set! (-> bbox max data v1-1) (+ (-> current-pos data v1-1) max-len))
        )
      ;; except for in y (height). Look 10m down, and 5m up.
      (set! (-> bbox min y) (+ -40960.0 (-> current-pos y)))
      (set! (-> bbox max y) (+ 20480.0 (-> current-pos y)))
      
      ;; fill the collide cache will all the triangles in bounding box.
      (fill-using-bounding-box
        *collide-cache*
        bbox
        (-> target-ctrl root-prim collide-with)
        (-> target-ctrl process)
        (new 'static 'pat-surface :skip #x1 :noentity #x1)
        )
      )
    
    ;; loop over 8 directions to check.
    (set! direction-idx 0)
    (while (< direction-idx 8)
      ;; this picks starts with the current direction, then a little to the left, then a little to the right,
      ;; then a little more to the left.... so ideally we go in the direction the player is facing, if that's possible.
      (let ((probe-heading (+ current-heading (if (zero? (logand direction-idx 1))
                                                  (* 8192.0 (the float (/ direction-idx 2)))
                                                  (* -8192.0 (the float (/ direction-idx 2)))
                                                  )
                              )
                           )
            )
        
        ;; this will count the number of hits we have in this direction.
        (set! sv-192 0)
        
        ;; we don't know anything, so assume we can go the maximum length in this direction
        (let ((max-len-this-dir max-len))
          ;; but, if we did max-len bounce in this direction, we might hit some wall mid-bounce.
          
          ;; start with a probe of max len, pointing straight forward.
          (set-vector! probe-dir 0.0 0.0 max-len 1.0)
          ;; rotate to point along our heading
          (vector-rotate-y! probe-dir probe-dir probe-heading)
          
          ;; see how far we can go, 10m above the current target.
          ;; this is likely checking to see if we'll hit a wall mid-bounce
          (if (>= (probe-using-line-sphere
                    *collide-cache*
                    (vector+! (new 'stack-no-clear 'vector) current-pos (new 'static 'vector :y 20480.0 :w 1.0))
                    probe-dir
                    2048.0
                    (-> target-ctrl root-prim collide-with)
                    result-tri
                    1
                    )
                  0.0
                  )
              (set! max-len-this-dir (+ -6144.0 (vector-vector-xz-distance current-pos (-> result-tri intersect))))
              )
          
          ;; now, let's search between start-len and max-len-this-dir to see if there's somewhere safe to bounce.
          (let ((current-len start-len))
            (while (>= max-len-this-dir current-len)
              ;; probe heading
              (set-vector! probe-dir 0.0 0.0 current-len 1.0)
              (vector-rotate-y! probe-dir probe-dir probe-heading)
              
              ;; put probe dir at the end of the probe
              (vector+! probe-dir current-pos probe-dir)
              ;; start 10m above the curren pos.
              (set! (-> probe-dir y) (+ 20480.0 (-> current-pos y)))
              ;; and probe straight down, to find the first ground after a 10m jump.
              (when (>= (probe-using-line-sphere
                          *collide-cache*
                          probe-dir
                          (new 'static 'vector :y -251658240.0 :w 1.0)
                          10240.0
                          (-> target-ctrl root-prim collide-with)
                          result-tri
                          1
                          )
                        0.0
                        )
                (cond
                  ((and (= (-> result-tri pat mode) (pat-mode ground)) ;; we found ground
                        (= (-> result-tri pat event) (pat-event none)) ;; and it's not more dangerous ground
                        (< 0.7 (-> result-tri normal y))               ;; and it's pretty flat
                        )
                   (set! (-> ground-result quad) (-> result-tri intersect quad)) ;; remember it
                   ;; count this as a success
                   (set! sv-192 (+ sv-192 1))
                   ;; if we get 2 or more hits, it seems like a good place to land, let's do it!
                   (if (>= sv-192 2)
                       (return ground-result)
                       )
                   )
                  ((and (= (-> result-tri pat mode) (pat-mode wall)) (< (+ 4096.0 (-> current-pos y)) (-> result-tri intersect y)))
                   ;; give up on this direction. There's a wall in the way (missed by the earlier fast wall check)
                   (goto cfg-35)
                   )
                  )
                )
              ;; move 1m out more.
              (set! current-len (+ 4096.0 current-len))
              )
            )
          )
        )
      (label cfg-35)
      (set! direction-idx (+ direction-idx 1))
      )
    )
  (the-as vector #f)
  )

(defun target-attack-up ((arg0 target) (arg1 symbol) (arg2 symbol))
  "Handle an attack up. This launches the player in the air, forcing them back to a safe location."
  (with-pp
    ;; attempt to find a safe ground.
    (let ((s4-0 (find-ground-point (-> arg0 control) (new 'stack-no-clear 'vector) 8192.0 40960.0)))
      (set! s4-0 (cond
                   (s4-0 ;; if we found it, use that
                     s4-0
                     )
                   (else
                     ;; failed to find it. Use the last known safe ground point instaed.
                     (-> arg0 control last-known-safe-ground)
                     )
                   )
            )
      (let* ((s2-1 (vector-! (new 'stack-no-clear 'vector) s4-0 (-> arg0 control trans))) ;; jump direction
             (f30-1 (fmax 8192.0 (fmin 40960.0 (vector-xz-length s2-1))))                 ;; distance we should jump (limited)
             )
        ;; note: the above limit is the same as the limit passed into find-ground-point. So the limiting should only kick in
        ;; if we use last safe ground.
        (cond
          ((< (fabs (vector-dot
                      (-> arg0 control dynam gravity-normal)
                      (vector-! (new 'stack-no-clear 'vector) s4-0 (-> arg0 control trans))
                      )
                    )
              40960.0
              )
           ;; if we reach here, we have to jump up or down less than 10m.
           ;; reduce our jump direction to within reasonable distance
           (vector-xz-normalize! s2-1 f30-1)
           ;; send an attack
           (let ((s1-0 (new 'stack-no-clear 'event-message-block)))
             (set! (-> s1-0 from) pp)
             (set! (-> s1-0 num-params) 2)
             (set! (-> s1-0 message) arg1)
             (set! (-> s1-0 param 0) (the-as uint #f))
             (let ((s3-1 (new 'static 'attack-info :mask #x8a2)))
               (set! (-> s3-1 mode) arg2)
               ;; go in the direction we determined.
               (set! (-> s3-1 vector quad) (-> s2-1 quad))
               ;; the shove is proportional to how high we jump (and has a min, so we at least get off the ground)
               (set! (-> s3-1 shove-up)
                     (+ (lerp-scale 4096.0 16384.0 f30-1 4096.0 40960.0) (fmax 0.0 (- (-> s4-0 y) (-> arg0 control trans y))))
                     )
               (set! (-> s3-1 angle) 'up)
               (set! (-> s1-0 param 1) (the-as uint s3-1))
               )
             ;; shove!
             (send-event-function arg0 s1-0)
             )
           )
          (else
            ;; the last safest place we jumped is too high. just launch jak in the air and hope for the best.
            ;; fire canyon skip jumps
            (let ((a1-6 (new 'stack-no-clear 'event-message-block)))
              (set! (-> a1-6 from) pp)
              (set! (-> a1-6 num-params) 2)
              (set! (-> a1-6 message) arg1)
              (set! (-> a1-6 param 0) (the-as uint #f))
              (let ((v1-12 (new 'static 'attack-info :mask #xca2)))
                (set! (-> v1-12 mode) arg2)
                (set! (-> v1-12 vector quad) (-> (new 'static 'vector :y 40960.0 :w 1.0) quad))
                (set! (-> v1-12 shove-up) 40960.0)
                (set! (-> v1-12 angle) 'up)
                (set! (-> v1-12 control) 1.0)
                (set! (-> a1-6 param 1) (the-as uint v1-12))
                )
              (send-event-function arg0 a1-6)
              )
            )
          )
        )
      )
    (none)
    )
  )

(defmethod set-and-handle-pat! collide-shape-moving ((obj collide-shape-moving) (arg0 pat-surface))
  "Handle landing on the given pat-surface. This is likely target-specific."
  (with-pp
    ;; set our pat
    (set! (-> obj cur-pat) arg0)
    (set! (-> obj poly-pat) arg0)
    ;; set our surface
    (case (-> arg0 material)
      (((pat-material ice))
       (set! (-> obj surf) *ice-surface*)
       )
      (((pat-material quicksand))
       (set! (-> obj surf) *quicksand-surface*)
       )
      (((pat-material tube))
       (set! (-> obj surf) *no-walk-surface*)
       )
      (((pat-material rotate))
       (set! (-> obj surf) *rotate-surface*)
       )
      (else
        (set! (-> obj surf) *standard-ground-surface*)
        )
      )
    
    ;; ca-9 gets set whenever you get on the zoomer. If we are on the zoomer, just go to "race-track"
    (if (logtest? (-> obj root-prim prim-core action) (collide-action ca-9))
        (set! (-> obj surf) *race-track-surface*)
        )

    (when (nonzero? (-> arg0 event))
      (case (-> arg0 event)
        (((pat-event deadly))
         ;; deadly. Send a deadly event
         (let ((a1-3 (new 'stack-no-clear 'event-message-block)))
           (set! (-> a1-3 from) pp)
           (set! (-> a1-3 num-params) 2)
           (set! (-> a1-3 message) 'attack)
           (set! (-> a1-3 param 0) (the-as uint #f))
           (let ((v1-19 (new 'static 'attack-info :mask #xa0)))
             (set! (-> v1-19 mode) 'deadly)
             (set! (-> v1-19 shove-up) 12288.0)
             (set! (-> a1-3 param 1) (the-as uint v1-19))
             )
           (send-event-function (-> obj process) a1-3)
           )
         )
        (((pat-event burn))
         ;; burn. Send a burn event
         (let ((a1-6 (new 'stack-no-clear 'event-message-block)))
           (set! (-> a1-6 from) pp)
           (set! (-> a1-6 num-params) 2)
           (set! (-> a1-6 message) 'attack)
           (set! (-> a1-6 param 0) (the-as uint #f))
           (let ((v1-23 (new 'static 'attack-info :mask #xa0)))
             (set! (-> v1-23 mode) 'burn)
             (set! (-> v1-23 shove-up) 12288.0)
             (set! (-> a1-6 param 1) (the-as uint v1-23))
             )
           (send-event-function (-> obj process) a1-6)
           )
         )
        (((pat-event deadlyup))
         ;; deadlyup. Launch!
         (target-attack-up (the-as target (-> obj process)) 'attack-or-shove 'deadlyup)
         )
        (((pat-event burnup))
         ;; burnup (like fire canyon lava).
         ;; only send if we don't have ca-9 (on zoomer)
         (if (zero? (logand (-> (the-as target (-> obj process)) control root-prim prim-core action) (collide-action ca-9)))
             (target-attack-up (the-as target (-> obj process)) 'attack-or-shove 'burnup)
             )
         )
        (((pat-event melt))
         ;; just send melt
         (let ((a1-15 (new 'stack-no-clear 'event-message-block)))
           (set! (-> a1-15 from) pp)
           (set! (-> a1-15 num-params) 2)
           (set! (-> a1-15 message) 'attack-invinc)
           (set! (-> a1-15 param 0) (the-as uint #f))
           (let ((a2-8 (new 'static 'attack-info :mask #x20)))
             (set! (-> a2-8 mode) 'melt)
             (set! (-> a1-15 param 1) (the-as uint a2-8))
             )
           (send-event-function (-> obj process) a1-15)
           )
         )
        (((pat-event endlessfall))
         ;; endless pit death plane.
         (let ((a1-17 (new 'stack-no-clear 'event-message-block)))
           (set! (-> a1-17 from) pp)
           (set! (-> a1-17 num-params) 2)
           (set! (-> a1-17 message) 'attack-invinc)
           (set! (-> a1-17 param 0) (the-as uint #f))
           (let ((a2-9 (new 'static 'attack-info :mask #x20)))
             (set! (-> a2-9 mode) 'endlessfall)
             (set! (-> a1-17 param 1) (the-as uint a2-9))
             )
           (send-event-function (-> obj process) a1-17)
           )
         )
        )
      )
    0
    (none)
    )
  )

(defun default-collision-reaction ((arg0 collide-shape-moving) (arg1 collide-shape-intersect) (arg2 vector) (arg3 vector))
  "Move into collision!"
  (local-vars (sv-64 vector) (sv-68 vector) (sv-72 vector) (sv-80 int) (sv-128 symbol))
  (set! sv-64 (new-stack-vector0))
  (set! sv-68 (new-stack-vector0))
  (set! sv-72 (new 'stack-no-clear 'vector))
  (set! sv-80 0)
  (set! (-> sv-72 quad) (-> arg3 quad))
  
  ;; move along the vector by the best move-vec
  ;; this will hit the best-tri
  (let ((a1-1 (new 'stack-no-clear 'vector)))
    (vector-float*! a1-1 (-> arg1 move-vec) (-> arg1 best-u))
    (move-by-vector! arg0 a1-1)
    )
  
  ;; so handle hitting that tri
  (set-and-handle-pat! arg0 (-> arg1 best-tri pat))
  (vector-! sv-64 (the-as vector (-> arg1 best-from-prim prim-core)) (-> arg1 best-tri intersect))
  (set! (-> sv-64 w) 1.0)
  (vector-normalize! sv-64 1.0)
  (set! (-> arg0 coverage) (vector-dot sv-64 (-> arg1 best-tri normal)))
  (let ((v1-16 (-> sv-64 quad)))
    (set! (-> sv-68 quad) v1-16)
    )
  ;; ?
  (if (= (-> arg1 best-u) 0.0)
      (move-by-vector! arg0 sv-68)
      )
  
  ;; 
  (set! (-> arg0 surface-normal quad) (-> sv-68 quad))
  (set! (-> arg0 poly-normal quad) (-> arg1 best-tri normal quad))
  (set! (-> arg0 surface-angle) (vector-dot sv-68 (-> arg0 dynam gravity-normal)))
  (set! (-> arg0 poly-angle) (vector-dot (-> arg0 poly-normal) (-> arg0 dynam gravity-normal)))
  (set! (-> arg0 touch-angle)
        (vector-dot sv-68 (vector-normalize! (vector-negate! (new-stack-vector0) sv-72) 1.0))
        )
  (if (< (-> arg0 poly-angle) -0.2)
      (set! sv-80 (logior sv-80 16))
      )
  (set! sv-128 (< (fabs (-> arg0 surface-angle)) (-> *pat-mode-info* (-> arg0 cur-pat mode) wall-angle)))
  (when (zero? (logand (-> arg0 prev-status) 1))
    ;; hit the ground!
    (set! (-> arg0 ground-impact-vel) (- (vector-dot (-> arg0 transv) (-> arg0 dynam gravity-normal))))
    (when (not sv-128)
      (let ((f30-0 (- 1.0 (-> arg0 surf impact-fric))))
        (when (< f30-0 1.0)
          (let ((s3-1 (new-stack-vector0))
                (f28-0 (vector-dot (-> arg0 dynam gravity-normal) sv-72))
                )
            0.0
            (vector-! s3-1 sv-72 (vector-float*! s3-1 (-> arg0 dynam gravity-normal) f28-0))
            (let* ((f0-22 (vector-length s3-1))
                   (f1-4 f0-22)
                   )
              (if (< f28-0 0.0)
                  (set! f28-0 (* f28-0 f30-0))
                  )
              (vector+!
                sv-72
                (vector-float*! sv-72 (-> arg0 dynam gravity-normal) f28-0)
                (vector-float*! s3-1 s3-1 (/ f0-22 f1-4))
                )
              )
            )
          )
        )
      )
    )
  ;; set t-surf (touching a surface)
  (set! sv-80 (logior sv-80 4))
  (if (-> arg1 best-to-prim)
      (set! sv-80 (logior sv-80 32)) ;; t-ceil. not sure why this is the case.
      )
  (cond
    (sv-128
      (set! sv-80 (logior sv-80 8)) ;; using it as a wall
      (set! (-> arg0 cur-pat mode) 1)
      )
    (else
      (set! sv-80 (logior sv-80 1)) ;; on.
      (set! (-> arg0 local-normal quad) (-> sv-68 quad))
      )
    )
  (vector-reflect-flat! arg2 sv-72 sv-68)
  (when (and (not sv-128) (>= (-> arg0 coverage) 0.9))
    (set! sv-80 (logior sv-80 2))
    (set! (-> arg0 ground-poly-normal quad) (-> arg0 poly-normal quad))
    (when (!= (-> arg0 poly-pat mode) (pat-mode wall))
      (set! (-> arg0 ground-pat) (-> arg0 poly-pat))
      (set! (-> arg0 ground-touch-point quad) (-> arg1 best-tri intersect quad))
      )
    )
  (logior! (-> arg0 status) sv-80)
  (the-as uint sv-80)
  )

(defun simple-collision-reaction ((arg0 collide-shape-moving) (arg1 collide-shape-intersect) (arg2 vector) (arg3 vector))
  "A much simpler collide reaction."
  (let ((s5-0 0))
    (let ((a1-1 (new 'stack-no-clear 'vector)))
      ;; move by the amount we should.
      (vector-float*! a1-1 (-> arg1 move-vec) (-> arg1 best-u))
      (move-by-vector! arg0 a1-1)
      )
    (let ((f0-2 (vector-dot (-> arg0 transv) (-> arg1 best-tri normal)))
          (v1-6 (new 'stack-no-clear 'vector))
          )
      ;; bounce off
      (vector-float*! v1-6 (-> arg1 best-tri normal) (* 1.5 f0-2))
      (vector-! (-> arg0 transv) (-> arg0 transv) v1-6)
      )
    (let ((v0-1 (logior s5-0 7)))
      (logior! (-> arg0 status) v0-1)
      (the-as uint v0-1)
      )
    )
  )

(defmethod step-collison! collide-shape-moving ((obj collide-shape-moving) (arg0 vector) (arg1 vector) (arg2 float))
  "Take 1 step in the collision. Attempt to move at velocity of arg1, for arg2 of a step.
   The resulting velocity is stored in arg0. The amount of a step actually taken is returned."
   
  (local-vars (sv-192 int))
  (let ((s5-0 (new 'stack 'collide-shape-intersect))
        (s2-0 (new 'stack-no-clear 'vector))
        )
    
    ;; integrate our velocity, get the "move vector"
    ;; which is what we'd move if we hit nothing.
    (vector-float*! s2-0 arg1 (* arg2 (-> *display* seconds-per-frame)))
    
    ;; initialize the collision data.
    (init! s5-0 s2-0)
    
    ;; only if we have something in the collide cache, I guess.
    (let* ((s1-1 (-> obj root-prim))
           (v1-4 *collide-cache*)
           (s0-0 (the-as collide-cache-prim (-> v1-4 prims)))
           )
      (set! sv-192 (-> v1-4 num-prims))
      ;; collide with everything in the collide cache.
      (while (nonzero? sv-192)
        (set! sv-192 (+ sv-192 -1))
        (when (logtest? (-> s1-1 collide-with) (-> s0-0 prim-core collide-as))
          ;; pick between sphere and mesh.
          (if (>= (-> s0-0 prim-core prim-type) 0)
              (collide-with-collide-cache-prim-mesh s1-1 s5-0 s0-0)
              (collide-with-collide-cache-prim-sphere s1-1 s5-0 s0-0)
              )
          )
        (set! s0-0 (-> (the-as (inline-array collide-cache-prim) s0-0) 1))
        )
      )
    
    ;; now we've collided with everything. If we have a best-u of > 0, it means we can't do the full move.
    (let ((f30-0 (-> s5-0 best-u)))
      (cond
        ((>= f30-0 0.0)
         (let ((s2-1 (new 'stack-no-clear 'vector)))
           
           ;; if debugging, remember our input velocity.
           (if *display-collision-marks*
               (set! (-> s2-1 quad) (-> arg1 quad))
               )
           
           ;; do the collision reaction! this function should move the collide shape.
           (set! (-> obj prev-status) (the-as uint ((-> obj reaction) obj s5-0 arg0 arg1)))
           
           ;; debug draw collision marks.
           (when *display-collision-marks*
             (let ((t1-0 (-> *pat-mode-info* (-> s5-0 best-tri pat mode) hilite-color)))
               (add-debug-outline-triangle
                 #t
                 (bucket-id debug-draw1)
                 (the-as vector (-> s5-0 best-tri))
                 (-> s5-0 best-tri vertex 1)
                 (-> s5-0 best-tri vertex 2)
                 t1-0
                 )
               )
             (add-debug-vector
               #t
               (bucket-id debug-draw1)
               (-> s5-0 best-tri intersect)
               s2-1
               (meters 0.00007324219)
               (new 'static 'rgba :r #xff :g #xa0 :a #x80)
               )
             (add-debug-vector
               #t
               (bucket-id debug-draw1)
               (-> s5-0 best-tri intersect)
               arg0
               (meters 0.00007324219)
               (new 'static 'rgba :r #xff :g #xff :b #xff :a #x80)
               )
             (if (= (-> obj process type) target)
                 (add-debug-vector
                   #t
                   (bucket-id debug-draw1)
                   (-> s5-0 best-tri intersect)
                   (-> obj surface-normal)
                   (meters 0.5)
                   (-> *pat-mode-info* (-> obj cur-pat mode) hilite-color)
                   )
                 )
             )
           )
         
         ;; and return the step size we could take.
         (return f30-0)
         )
        (else
          ;; didn't hit anything! call the no-reaction function.
          (set! (-> obj reaction-flag) (the-as uint 0))
          ((-> obj no-reaction) obj s5-0 arg0 arg1)
          (set! (-> obj prev-status) (the-as uint 0))
          ;; and do the move ourself
          (move-by-vector! obj s2-0)
          ;; velocity is unchanged
          (set! (-> arg0 quad) (-> arg1 quad))
          ;; moved the whole way!
          (return 1.0)
          )
        )
      )
    )
  1.0
  )

(defmethod integrate-and-collide! collide-shape ((obj collide-shape) (arg0 vector))
  "For a non-moving collide shape, we just move ourself. We have no reaction to anything we hit."
  (local-vars (at-0 int))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         )
    (init-vf0-vector)
    (let ((t9-0 (method-of-object obj move-by-vector!))
          (v1-1 (new 'stack-no-clear 'vector))
          )
      (.lvf vf1 (&-> arg0 quad))
      (let ((f0-0 (-> *display* seconds-per-frame)))
        (.mov at-0 f0-0)
        )
      (.mov vf2 at-0)
      (.mov.vf vf1 vf0 :mask #b1000)
      (.mul.x.vf vf1 vf1 vf2 :mask #b111)
      (.svf (&-> v1-1 quad) vf1)
      (t9-0 obj v1-1)
      )
    (none)
    )
  )

(defmethod integrate-and-collide! collide-shape-moving ((obj collide-shape-moving) (arg0 vector))
  "Integrate forward, with collisions and collision responses.
  This will adjust our velocity based on collision.
  It will process updates from hitting triangles with pat-surfaces
  It will update the touching list.
  It will update the current surface and surface flags."
  
  ;; update the world-spheres for us and our children.
  (update-transforms! obj)
  
  ;; remember our history
  (set! (-> obj trans-old 2 quad) (-> obj trans-old 1 quad))
  (set! (-> obj trans-old 1 quad) (-> obj trans-old 0 quad))
  (set! (-> obj trans-old 0 quad) (-> obj trans quad))
  (set! (-> obj prev-status) (-> obj status))
  
  ;; setup
  (set! (-> obj status) (logand -16128 (-> obj status)))
  (set! (-> obj local-normal quad) (-> obj dynam gravity-normal quad))
  (set! (-> obj surface-normal quad) (-> obj dynam gravity-normal quad))
  (set! (-> obj poly-normal quad) (-> obj dynam gravity-normal quad))
  (set! (-> obj coverage) 0.0)
  (set! (-> obj touch-angle) 0.0)
  
  ;; we want to take a step of 1.0
  (let ((f30-0 1.0)
        (s4-0 0) ;; iterations
        )
    (while (and (< 0.05 f30-0) ;; at least 5% left
                (and (< s4-0 (the-as int (-> obj max-iteration-count))) ;; iterations left
                     (not (and (= (-> arg0 x) 0.0) (= (-> arg0 y) 0.0) (= (-> arg0 z) 0.0))) ;; nonzero velocity
                     )
                )
      
      ;; note that in between step-collision! and update-from-step-szie, the touching list is in an invalid state.
      (let ((f28-0 (step-collison! obj arg0 arg0 f30-0))) ;; step forward!
        (update-from-step-size *touching-list* f28-0)     ;; update touching list.
        (set! f30-0 (- f30-0 (* f28-0 f30-0)))            ;; advance the fraction of the remaining step.
        )
      (+! s4-0 1)
      )
    )
  0
  (none)
  )

(defmethod integrate-and-collide! control-info ((obj control-info) (arg0 vector))
  "Specialization of integrate and collide for the target"
  ;; time it
  (stopwatch-start (-> *collide-stats* total-target))
  
  ;; check and correct massive velocity.
  (when (< 1638400.0 (vector-length arg0))
    (format 0 "WARNING: target vel is ~M m/s, reseting to zero.~%" (vector-length arg0))
    (vector-reset! arg0)
    )
  
  ;; ???
  (set! (-> obj unknown-vector15 quad) (-> obj unknown-vector14 quad))
  (vector-matrix*! (-> obj unknown-vector14) (-> obj unknown-vector13) (-> obj unknown-matrix02))
  (vector-! (-> obj unknown-vector16) (-> obj unknown-vector14) (-> obj unknown-vector15))
  (let ((a1-6 (vector-! (new 'stack-no-clear 'vector) (-> obj unknown-vector11) (-> obj unknown-vector14))))
    (vector-seek! (-> obj unknown-vector12) a1-6 (* 16384.0 (-> *display* seconds-per-frame)))
    )
  (let ((s3-1 (vector+float*! (new-stack-vector0) arg0 (-> obj unknown-vector16) 60.0))
        (s4-1 (new 'stack-no-clear 'vector))
        )
    (set! (-> s4-1 quad) (-> arg0 quad))
    
    ;; call the normal integrate.
    (let ((t9-7 (method-of-type collide-shape-moving integrate-and-collide!)))
      (t9-7 obj s3-1)
      )
    (let ((s1-0 (new-stack-vector0)))
      (set! (-> s1-0 quad) (-> s4-1 quad))
      (let ((s2-1 (new-stack-vector0)))
        (set! (-> s2-1 quad) (-> s3-1 quad))
        (let ((s0-0 (new-stack-vector0)))
          (let ((f0-4 (vector-dot (-> obj dynam gravity-normal) s1-0)))
            0.0
            (vector-! s0-0 s1-0 (vector-float*! s0-0 (-> obj dynam gravity-normal) f0-4))
            )
          (let* ((f0-5 (vector-length s0-0))
                 (f1-2 f0-5)
                 (f2-0 0.0)
                 )
            (vector+!
              s1-0
              (vector-float*! s1-0 (-> obj dynam gravity-normal) f2-0)
              (vector-float*! s0-0 s0-0 (/ f0-5 f1-2))
              )
            )
          )
        (let ((s0-1 (new-stack-vector0)))
          (let ((f0-8 (vector-dot (-> obj dynam gravity-normal) s2-1)))
            0.0
            (vector-! s0-1 s2-1 (vector-float*! s0-1 (-> obj dynam gravity-normal) f0-8))
            )
          (let* ((f0-9 (vector-length s0-1))
                 (f1-4 f0-9)
                 (f2-1 0.0)
                 )
            (vector+!
              s2-1
              (vector-float*! s2-1 (-> obj dynam gravity-normal) f2-1)
              (vector-float*! s0-1 s0-1 (/ f0-9 f1-4))
              )
            )
          )
        (vector-normalize! s1-0 1.0)
        (vector-normalize! s2-1 1.0)
        (let ((f30-1 (vector-dot s1-0 s2-1)))
          (cond
            ((and (!= (vector-length (-> obj unknown-vector01)) 0.0) (if (logtest? (-> obj status) 8)
                                                                         (< f30-1 0.9999)
                                                                         (< f30-1 0.95)
                                                                         )
                  )
             (set! (-> obj unknown-float70) (seek (-> obj unknown-float70) 1.0 (* 4.0 (-> *display* seconds-per-frame))))
             (set! (-> obj unknown-float71) (seek
                                              (-> obj unknown-float71)
                                              (if (= (-> obj unknown-surface00 mode) 'air)
                                                  1.0
                                                  0.0
                                                  )
                                              (* 4.0 (-> *display* seconds-per-frame))
                                              )
                   )
             (logior! (-> obj status) 512)
             )
            (else
              (set! (-> obj unknown-float70) (seek (-> obj unknown-float70) 0.0 (* 2.0 (-> *display* seconds-per-frame))))
              (set! (-> obj unknown-float71) (seek (-> obj unknown-float71) 0.0 (* 2.0 (-> *display* seconds-per-frame))))
              )
            )
          )
        )
      )
    (if (logtest? (-> obj status) 1)
        (set! (-> arg0 quad) (-> s3-1 quad))
        (vector--float*! arg0 s3-1 (-> obj unknown-vector16) 60.0)
        )
    (if (and (logtest? (-> obj status) 1)
             (and (zero? (logand (-> obj status) 520)) (< (vector-length (-> obj unknown-vector61)) (vector-length s4-1)))
             )
        (set! (-> obj unknown-vector61 quad) (-> s4-1 quad))
        )
    )
  (let ((s5-1 (vector-normalize-copy! (new 'stack-no-clear 'vector) (-> obj unknown-vector120) 1.0))
        (f0-32 (vector-length (-> obj unknown-vector120)))
        )
    (set! (-> obj unknown-float140) (if (= f0-32 0.0)
                                        0.0
                                        (fmax 0.0 (/ (vector-dot (-> obj transv) s5-1) f0-32))
                                        )
          )
    )
  (stopwatch-stop (-> *collide-stats* total-target))
  0
  (none)
  )


(defmethod move-to-ground-point! collide-shape-moving ((obj collide-shape-moving) (arg0 vector) (arg1 vector) (arg2 vector))
  "Move the collide shape to the ground immediately:
   arg0: ground point
   arg1: velocity (will be modified)
   arg2: ground normal.
   Even if the ground is sloped, transv.y is set to 0."
  (move-to-point! obj arg0)
  (set! (-> arg1 y) 0.0)
  (logior! (-> obj status) 7)
  (set! (-> obj poly-normal quad) (-> arg2 quad))
  (set! (-> obj surface-normal quad) (-> arg2 quad))
  (set! (-> obj local-normal quad) (-> arg2 quad))
  (set! (-> obj ground-poly-normal quad) (-> arg2 quad))
  (set! (-> obj ground-impact-vel) (- (vector-dot arg1 (-> obj dynam gravity-normal))))
  (set! (-> obj ground-touch-point quad) (-> arg0 quad))
  0
  (none)
  )

(defmethod integrate-no-collide! collide-shape-moving ((obj collide-shape-moving) (arg0 vector))
  "Integrate, but ignore all collisions.
   Will set both trans and shadow-pos"
  (local-vars (at-0 int))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         )
    (init-vf0-vector)
    (update-transforms! obj)
    (set! (-> obj trans-old 2 quad) (-> obj trans-old 1 quad))
    (set! (-> obj trans-old 1 quad) (-> obj trans-old 0 quad))
    (set! (-> obj trans-old 0 quad) (-> obj trans quad))
    (set! (-> obj prev-status) (-> obj status))
    (set! (-> obj status) (logand -16128 (-> obj status)))
    (set! (-> obj local-normal quad) (-> obj dynam gravity-normal quad))
    (set! (-> obj surface-normal quad) (-> obj dynam gravity-normal quad))
    (set! (-> obj poly-normal quad) (-> obj dynam gravity-normal quad))
    (set! (-> obj coverage) 0.0)
    (set! (-> obj touch-angle) 0.0)
    (let* ((a0-12 obj)
           (t9-1 (method-of-object a0-12 move-by-vector!))
           (a1-1 (new 'stack-no-clear 'vector))
           )
      (.lvf vf1 (&-> arg0 quad))
      (let ((f0-2 (-> *display* seconds-per-frame)))
        (.mov at-0 f0-2)
        )
      (.mov vf2 at-0)
      (.mov.vf vf1 vf0 :mask #b1000)
      (.mul.x.vf vf1 vf1 vf2 :mask #b111)
      (.svf (&-> a1-1 quad) vf1)
      (t9-1 a0-12 a1-1)
      )
    (set! (-> obj shadow-pos quad) (-> obj trans quad))
    0
    (none)
    )
  )

(defmethod dummy-58 collide-shape-moving ((obj collide-shape-moving) (arg0 vector))
  ;; not sure yet. moves shadow-pos, but possibly not trans.
  (integrate-no-collide! obj arg0)
  (let ((a1-1 (new 'stack-no-clear 'overlaps-others-params)))
    (set! (-> a1-1 options) (the-as uint 1))
    (set! (-> a1-1 tlist) *touching-list*)
    (when (find-overlapping-shapes obj a1-1)
      (move-to-point! obj (the-as vector (-> obj trans-old)))
      (return #t)
      )
    )
  #f
  )

(defmethod move-to-tri! collide-shape-moving ((obj collide-shape-moving) (arg0 collide-tri-result) (arg1 vector))
  "Move us to tri arg0, at point arg1."
  (move-to-point! obj arg1)
  (logior! (-> obj status) 7)
  (let ((v1-4 (-> arg0 normal)))
    (set! (-> obj poly-normal quad) (-> v1-4 quad))
    (set! (-> obj surface-normal quad) (-> v1-4 quad))
    (set! (-> obj local-normal quad) (-> v1-4 quad))
    (set! (-> obj ground-poly-normal quad) (-> v1-4 quad))
    )
  (set! (-> obj poly-pat) (-> arg0 pat))
  (set! (-> obj cur-pat) (-> arg0 pat))
  (set! (-> obj ground-pat) (-> arg0 pat))
  (set! (-> obj ground-touch-point quad) (-> arg1 quad))
  0
  (none)
  )

;; WARN: Stack slot offset 128 signed mismatch
(defmethod integrate-for-enemy-with-move-to-ground! collide-shape-moving ((obj collide-shape-moving)
                                                                          (arg0 vector)
                                                                          (arg1 collide-kind)
                                                                          (arg2 float)
                                                                          (arg3 symbol)
                                                                          (arg4 symbol)
                                                                          (arg5 symbol)
                                                                          )
  "This is likely the main method for stepping an enemy.
   arg0: velocity
   arg1: ground collision
   arg2: ground height probe start
   arg3: revert move if blocked
   arg4: hover if ran off the ground
   arg5: use misty hack"
  (local-vars (sv-128 float) (sv-144 collide-tri-result))
  (set! sv-128 arg2)
  (let ((s5-0 arg3))
    (let ((s3-0 arg4)
          (s1-0 arg5)
          )
      (if *debug-segment*
          (add-frame
            (-> *display* frames (-> *display* on-screen) frame profile-bar 0)
            'draw
            (new 'static 'rgba :r #x40 :b #x40 :a #x80)
            )
          )
      ;; move us forward!
      (integrate-no-collide! obj arg0)
      ;; set our position to shadow (not sure why)
      (let ((s0-0 (-> obj shadow-pos)))
        (set! (-> s0-0 quad) (-> obj trans quad))
        (set! sv-144 (new 'stack-no-clear 'collide-tri-result))
        ;; move off the ground by the given height probe offset
        (+! (-> s0-0 y) sv-128)
        0.0
        ;; probe the ground!
        (let ((f0-4 (if s1-0
                        (misty-ambush-height-probe s0-0 81920.0)
                        (fill-and-probe-using-line-sphere
                          *collide-cache*
                          s0-0
                          (new 'static 'vector :y -81920.0 :w 1.0) ;; probe down.
                          40.96
                          arg1
                          (-> obj process)
                          sv-144
                          1
                          )
                        )
                    )
              )
          (cond
            ((>= f0-4 0.0)
             ;; found the ground!
             (let ((a2-3 (new 'static 'vector :y -81920.0 :w 1.0)))
               ;; set s0-0 to the ground.
               (vector+float*! s0-0 s0-0 a2-3 f0-4)
               )
             (when (>= (-> s0-0 y) (-> obj trans y))
               ;; we're in the ground, move us out of the ground.
               (move-to-tri! obj sv-144 s0-0)
               ;; remember how hard we hit
               (set! (-> obj ground-impact-vel) (- (vector-dot arg0 (-> obj dynam gravity-normal))))
               ;; and kill our vertical velocity.
               (set! (-> arg0 y) 0.0)
               )
             )
            (s3-0
              ;; no ground. if the hover flag is set, we just hover.
              (set! (-> obj trans y) (-> obj trans-old 0 y))
              )
            )
          )
        )
      )
    
    ;; if we need to collide with things.
    (when (logtest? (-> obj root-prim collide-with) (collide-kind cak-1 cak-2 cak-3 target))
      (let ((a1-7 (new 'stack-no-clear 'overlaps-others-params)))
        (set! (-> a1-7 options) (the-as uint 1))
        (set! (-> a1-7 tlist) *touching-list*)
        ;; compute overlaps.
        (when (find-overlapping-shapes obj a1-7)
          ;; if we have the revert move if blocked, go back to our old point.
          (if s5-0
              (move-to-point! obj (the-as vector (-> obj trans-old)))
              )
          )
        )
      )
    )
  (if *debug-segment*
      (add-frame
        (-> *display* frames (-> *display* on-screen) frame profile-bar 0)
        'draw
        (new 'static 'rgba :g #xff :a #x80)
        )
      )
  0
  (none)
  )

(defmethod move-to-ground collide-shape-moving ((obj collide-shape-moving) (arg0 float) (arg1 float) (arg2 symbol) (arg3 collide-kind))
  "Move to the ground now."
  (if *debug-segment*
      (add-frame
        (-> *display* frames (-> *display* on-screen) frame profile-bar 0)
        'draw
        (new 'static 'rgba :r #x40 :b #x40 :a #x80)
        )
      )
  (let ((s4-0 (new 'stack-no-clear 'vector))
        (s3-0 (new 'stack-no-clear 'collide-tri-result))
        )
    (let ((f30-0 (+ arg0 arg1)))
      (set! (-> s4-0 quad) (-> obj trans quad))
      (+! (-> s4-0 y) arg0)
      0.0
      ;; find the ground
      (let ((f0-4 (fill-and-probe-using-y-probe *collide-cache* s4-0 f30-0 arg3 (-> obj process) s3-0 (new 'static 'pat-surface :noentity #x1))))
        (when (< f0-4 0.0)
          (if arg2
              (format 0 "WARNING: move-to-ground: (~f ~f) failed to locate ground [~S type ~S]~%"
                (* 0.00024414062 (-> s4-0 y))
                (* 0.00024414062 f30-0)
                (-> obj process name)
                (-> obj process type symbol)
                )
              )
          (return #f)
          )
        ;; calulate the ground position.
        (set! (-> s4-0 y) (- (-> s4-0 y) (* f0-4 f30-0)))
        )
      )
    ;; move our shadow there too
    (set! (-> obj shadow-pos quad) (-> s4-0 quad))
    ;; and move us there!
    (move-to-tri! obj s3-0 s4-0)
    )
  (if *debug-segment*
      (add-frame
        (-> *display* frames (-> *display* on-screen) frame profile-bar 0)
        'draw
        (new 'static 'rgba :r #xff :g #xff :b #xff :a #x80)
        )
      )
  #t
  )

(defmethod compute-acc-due-to-gravity collide-shape-moving ((obj collide-shape-moving) (arg0 vector) (arg1 float))
  "Compute the acceleration due to gravity."
  (let* ((s4-0 (vector-negate! (new-stack-vector0) (-> obj dynam gravity))) ;; this is the acceleration from gravity.
         (a2-1 (-> obj local-normal))
         (a2-2 (vector-reflect-flat! (new-stack-vector0) s4-0 a2-1)) ;; figure out the accleration from sliding down a sloped wall.
         )
    ;; apply that. note that we scale the slopiness by arg1
    ;; (this is not really how things work.)
    (vector--float*! arg0 s4-0 a2-2 (cond
                                      ((logtest? (-> obj status) 1)
                                       (empty)
                                       arg1
                                       )
                                      (else
                                        0.0
                                        )
                                      )
                     )
    )
  arg0
  )

(defmethod fill-cache-integrate-and-collide! collide-shape ((obj collide-shape) (arg0 vector) (arg1 collide-kind))
  "Fill the collide cache for the object, integrate, and handle collisions!"
  (local-vars (at-0 int))
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         )
        (init-vf0-vector)
        
        ;; scale the velocity, to see how far we can go, at max.
        (let ((a0-1 (new 'stack-no-clear 'vector)))
          (let ((v1-0 a0-1))
            (.lvf vf1 (&-> arg0 quad))
            (let ((f0-0 (-> *display* seconds-per-frame)))
              (.mov at-0 f0-0)
              )
            (.mov vf2 at-0)
            (.mov.vf vf1 vf0 :mask #b1000)
            (.mul.x.vf vf1 vf1 vf2 :mask #b111)
            (.svf (&-> v1-0 quad) vf1)
            )
          
          ;; add a bonus size if we are target.
          (let ((f0-2 (+ (vector-length a0-1) 
                         (if (= (-> obj process type) target)
                             4096.0
                             0.0
                             )
                         )
                      )
                )
            ;; and now fill the cache with all things we could hit
            (fill-cache-for-shape! obj f0-2 arg1)
            )
          )
        ;; do the integration, colliding with stuff in the cache.
        (integrate-and-collide! obj arg0)
        (none)
        )
  )

(defmethod fill-cache-for-shape! collide-shape ((obj collide-shape) (arg0 float) (arg1 collide-kind))
  "Fill cache for a box."
  (let ((s5-0 (new 'stack-no-clear 'bounding-box)))
    (cond
      ((build-bounding-box-for-shape obj s5-0 arg0 arg1) ;; <- this generates the box
       ;; fill with the gox
       (fill-using-bounding-box *collide-cache* s5-0 arg1 (-> obj process) (-> obj pat-ignore-mask))
       ;; only draw collide cache, if we're the target
       (when (and *display-collide-cache* (= (-> obj process type) target))
           (debug-draw *collide-cache*)
           ;; NOTE: added
           (add-debug-box #t (bucket-id debug-draw0) (-> s5-0 min) (-> s5-0 max) (new 'static 'rgba :a #x80 :b #x70 :g #x70))
           )
       )
      (else
        ;; no need. the cache can be empty.
        (initialize *collide-cache*)
        )
      )
    )
  (none)
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; bounding box of shape
;;;;;;;;;;;;;;;;;;;;;;;;;;;

;; NOTE: these functions don't obey calling conventions, so they are modified for the PC port.
(deftype pc-bounding-box-work (structure)
  ((reg-vf29 vector :inline)
   (reg-vf30 vector :inline)
   (reg-vf31 vector :inline)
   )
  )

(define *pc-bounding-box-work* (new 'global 'pc-bounding-box-work))

(defmacro save-bounding-box-work ()
  `(begin
     (.svf (&-> *pc-bounding-box-work* reg-vf31 quad) vf31)
     (.svf (&-> *pc-bounding-box-work* reg-vf30 quad) vf30)
     (.svf (&-> *pc-bounding-box-work* reg-vf29 quad) vf29)
     )
  )

(defmacro load-bounding-box-work ()
  `(begin
     (.lvf vf29 (&-> *pc-bounding-box-work* reg-vf29 quad))
     (.lvf vf30 (&-> *pc-bounding-box-work* reg-vf30 quad))
     (.lvf vf31 (&-> *pc-bounding-box-work* reg-vf31 quad))
     )
  )

(defmethod build-bounding-box-for-shape collide-shape ((obj collide-shape) (arg0 bounding-box) (arg1 float) (arg2 collide-kind))
  "Build a bounding box containing the whole shape.
   If the box is empty, returns #f."
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf29 :class vf)
         (vf30 :class vf)
         (vf31 :class vf)
         )
    (init-vf0-vector)
    (let ((v1-0 (new 'static 'vector :x 4.096))
          (a0-1 (-> obj root-prim))
          )
      (cond
        ((logtest? (-> a0-1 collide-with) arg2)
         (.mov vf31 arg1)
         (.lvf vf1 (&-> v1-0 quad))
         (.add.x.vf vf31 vf31 vf1 :mask #b1)
         (.svf (&-> *pc-bounding-box-work* reg-vf31 quad) vf31) ;; added
         (cond
           ((add-to-bounding-box a0-1 arg2)
            (.lvf vf29 (&-> *pc-bounding-box-work* reg-vf29 quad)) ;; added
            (.lvf vf30 (&-> *pc-bounding-box-work* reg-vf30 quad)) ;; added
            (.mov.vf vf29 vf0 :mask #b1000)
            (.mov.vf vf30 vf0 :mask #b1000)
            (.svf (&-> arg0 min quad) vf29)
            (.svf (&-> arg0 max quad) vf30)
            (return #t)
            )
           (else
             (return #f)
             )
           )
         (the-as none 0)
         )
        (else
          (return #f)
          )
        )
      )
    (the-as symbol 0)
    )
  )

;; WARN: Bad vector register dependency: vf31
(defmethod add-to-bounding-box collide-shape-prim ((obj collide-shape-prim) (arg0 collide-kind))
  "Add a single prim to the bounding box. (just adds the bsphere)"
  (rlet ((vf1 :class vf)
         (vf2 :class vf)
         (vf29 :class vf)
         (vf30 :class vf)
         (vf31 :class vf)
         )
    (load-bounding-box-work)
    (.lvf vf1 (&-> obj prim-core world-sphere quad))
    (.add.w.vf vf2 vf31 vf1 :mask #b1)
    (.add.x.vf vf30 vf1 vf2 :mask #b111)
    (.sub.x.vf vf29 vf1 vf2 :mask #b111)
    (save-bounding-box-work)
    #t
    )
  )

(defmethod add-to-bounding-box collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-kind))
  "Add a group of prims."
  (local-vars (v1-0 int) (v1-10 none) (v1-11 int) (v1-19 float))
  (rlet ((vf1 :class vf)
         (vf2 :class vf)
         (vf29 :class vf)
         (vf3 :class vf)
         (vf30 :class vf)
         (vf31 :class vf)
         (vf4 :class vf)
         )
    (load-bounding-box-work)
    ;; this first loop looks for a non-empty group.
    (let ((s4-0 (-> obj num-prims))
          (s3-0 0)
          )
      (label cfg-1)
      (b! (= s3-0 s4-0) cfg-11 :delay (set! v1-0 (* s3-0 4)))
      (let ((a0-1 (-> (the-as (pointer collide-shape-prim) (+ v1-0 (the-as int obj))) 19)))
        (when (logtest? (-> a0-1 collide-with) arg0)
          (cond
            ((= (-> a0-1 type) collide-shape-prim-group)
             (save-bounding-box-work)
             (when (add-to-bounding-box a0-1 arg0)
               (load-bounding-box-work)
               (empty)
               (goto cfg-12)
               )
             (load-bounding-box-work)
             )
            (else
              (.lvf vf1 (&-> a0-1 prim-core world-sphere quad))
              (.add.w.vf vf2 vf31 vf1 :mask #b1)
              (.add.x.vf vf30 vf1 vf2 :mask #b111)
              (b! #t cfg-12 :delay (.sub.x.vf vf29 vf1 vf2 :mask #b111))
              (.mov v1-10 vf29)
              )
            )
          )
        )
      ;; and now
      (b! #t cfg-1 :delay (set! s3-0 (+ s3-0 1)))
      (label cfg-11)
      (let ((v0-1 #f))
        (b! #t cfg-21 :delay (nop!))
        (label cfg-12)
        (let ((s3-1 (+ s3-0 1)))
          (label cfg-13)
          (b! (= s3-1 s4-0) cfg-19 :delay (set! v1-11 (* s3-1 4)))
          (let ((a0-2 (-> (the-as (pointer collide-shape-prim) (+ v1-11 (the-as int obj))) 19)))
            (when (logtest? (-> a0-2 collide-with) arg0)
              (cond
                ((= (-> a0-2 type) collide-shape-prim-group)
                 (save-bounding-box-work)
                 (add-to-non-empty-bounding-box (the-as collide-shape-prim-group a0-2) arg0)
                 (load-bounding-box-work)
                 )
                (else
                  (.lvf vf1 (&-> a0-2 prim-core world-sphere quad))
                  (.add.w.vf vf2 vf31 vf1 :mask #b1)
                  (.add.x.vf vf4 vf1 vf2 :mask #b111)
                  (.sub.x.vf vf3 vf1 vf2 :mask #b111)
                  (.min.vf vf29 vf29 vf3)
                  (.max.vf vf30 vf30 vf4)
                  (.mov v1-19 vf30)
                  )
                )
              )
            )
          (b! #t cfg-13 :delay (set! s3-1 (+ s3-1 1)))
          )
        (label cfg-19)
        (save-bounding-box-work)
        (return #t)
        (label cfg-21)
        (save-bounding-box-work)
        v0-1
        )
      )
    )
  )

(defmethod add-to-non-empty-bounding-box collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-kind))
  (local-vars (v1-0 int) (v1-8 float))
  (rlet ((vf1 :class vf)
         (vf2 :class vf)
         (vf29 :class vf)
         (vf3 :class vf)
         (vf30 :class vf)
         (vf31 :class vf)
         (vf4 :class vf)
         )
    (load-bounding-box-work)
    (let ((s4-0 (-> obj num-prims))
          (s3-0 0)
          )
      (label cfg-1)
      (b! (= s3-0 s4-0) cfg-7 :delay (set! v1-0 (* s3-0 4)))
      (let ((a0-1 (-> (the-as (pointer collide-shape-prim) (+ v1-0 (the-as int obj))) 19)))
        (when (logtest? (-> a0-1 collide-with) arg0)
          (cond
            ((= (-> a0-1 type) collide-shape-prim-group)
             (save-bounding-box-work)
             (add-to-non-empty-bounding-box (the-as collide-shape-prim-group a0-1) arg0)
             (load-bounding-box-work)
             )
            (else
              (.lvf vf1 (&-> a0-1 prim-core world-sphere quad))
              (.add.w.vf vf2 vf31 vf1 :mask #b1)
              (.add.x.vf vf4 vf1 vf2 :mask #b111)
              (.sub.x.vf vf3 vf1 vf2 :mask #b111)
              (.min.vf vf29 vf29 vf3)
              (.max.vf vf30 vf30 vf4)
              (.mov v1-8 vf30)
              )
            )
          )
        )
      (b! #t cfg-1 :delay (set! s3-0 (+ s3-0 1)))
      )
    (label cfg-7)
    (save-bounding-box-work)
    0
    (none)
    )
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; prim lookup
;;;;;;;;;;;;;;;;;;;;;;;;;;;

(defmethod find-prim-by-id collide-shape ((obj collide-shape) (arg0 uint))
  "Find a prim in this shape with the given id."
  (find-prim-by-id (-> obj root-prim) arg0)
  )

(defmethod find-prim-by-id collide-shape-prim ((obj collide-shape-prim) (arg0 uint))
  "Find a prim in this shape or its children with the given id."
  (if (= (-> obj prim-id) arg0) ;; it's us!
      (return obj)
      )
  (the-as collide-shape-prim #f)
  )

(defmethod find-prim-by-id collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 uint))
  "Find a prim in this shape or its children with the given id."
  (if (= (-> obj prim-id) arg0) ;; it's us
      (return obj)
      )
  (countdown (s4-0 (-> obj num-prims))
    (let ((a0-1 (-> obj prims s4-0)))
      (cond
        ((= (-> a0-1 type) collide-shape-prim-group)
         (let ((a0-2 (find-prim-by-id a0-1 arg0)))
           (if a0-2
               (return a0-2)
               )
           )
         )
        (else
          ;; just check here, to avoid the virtual call
          (if (= (-> a0-1 prim-id) arg0)
              (return a0-1)
              )
          )
        )
      )
    )
  (the-as collide-shape-prim #f)
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; debug
;;;;;;;;;;;;;;;;;;;;;;;;;;;

(defun-debug collide-shape-draw-debug-marks ()
  "Draw collision debug."
  (add-debug-sphere
    (or *display-collision-marks* *display-target-marks*)
    (bucket-id debug-draw0)
    (target-pos 0)
    819.2
    (new 'static 'rgba :r #xff :g #xff :b #xff :a #x80)
    )
  (when *display-collision-marks*
    (let ((v1-4 (-> *collide-player-list* alive-list next0)))
      *collide-player-list*
      (let ((gp-1 (-> v1-4 next0)))
        (while (!= v1-4 (-> *collide-player-list* alive-list-end))
          (let ((s5-1 (-> (the-as connection v1-4) param1)))
            (if (or (and (not *display-actor-anim*) (not *display-process-anim*))
                    (or (= (-> (the-as collide-shape s5-1) process) *target*)
                        (name= *display-actor-anim* (-> (the-as collide-shape s5-1) process name))
                        (= (ppointer->process *display-process-anim*) (-> (the-as collide-shape s5-1) process))
                        )
                    )
                (debug-draw (the-as collide-shape s5-1))
                )
            )
          (set! v1-4 gp-1)
          *collide-player-list*
          (set! gp-1 (-> gp-1 next0))
          )
        )
      )
    (let ((v1-19 (-> *collide-hit-by-player-list* alive-list next0)))
      *collide-hit-by-player-list*
      (let ((gp-2 (-> v1-19 next0)))
        (while (!= v1-19 (-> *collide-hit-by-player-list* alive-list-end))
          (let ((s5-2 (-> (the-as connection v1-19) param1)))
            (if (or (and (not *display-actor-anim*) (not *display-process-anim*))
                    (or (= (-> (the-as collide-shape s5-2) process) *target*)
                        (name= *display-actor-anim* (-> (the-as collide-shape s5-2) process name))
                        (= (ppointer->process *display-process-anim*) (-> (the-as collide-shape s5-2) process))
                        )
                    )
                (debug-draw (the-as collide-shape s5-2))
                )
            )
          (set! v1-19 gp-2)
          *collide-hit-by-player-list*
          (set! gp-2 (-> gp-2 next0))
          )
        )
      )
    (let ((v1-34 (-> *collide-usually-hit-by-player-list* alive-list next0)))
      *collide-usually-hit-by-player-list*
      (let ((gp-3 (-> v1-34 next0)))
        (while (!= v1-34 (-> *collide-usually-hit-by-player-list* alive-list-end))
          (let ((s5-3 (-> (the-as connection v1-34) param1)))
            (if (or (and (not *display-actor-anim*) (not *display-process-anim*))
                    (or (= (-> (the-as collide-shape s5-3) process) *target*)
                        (name= *display-actor-anim* (-> (the-as collide-shape s5-3) process name))
                        (= (ppointer->process *display-process-anim*) (-> (the-as collide-shape s5-3) process))
                        )
                    )
                (debug-draw (the-as collide-shape s5-3))
                )
            )
          (set! v1-34 gp-3)
          *collide-usually-hit-by-player-list*
          (set! gp-3 (-> gp-3 next0))
          )
        )
      )
    (let ((v1-49 (-> *collide-hit-by-others-list* alive-list next0)))
      *collide-hit-by-others-list*
      (let ((gp-4 (-> v1-49 next0)))
        (while (!= v1-49 (-> *collide-hit-by-others-list* alive-list-end))
          (let ((s5-4 (-> (the-as connection v1-49) param1)))
            (if (or (and (not *display-actor-anim*) (not *display-process-anim*))
                    (or (= (-> (the-as collide-shape s5-4) process) *target*)
                        (name= *display-actor-anim* (-> (the-as collide-shape s5-4) process name))
                        (= (ppointer->process *display-process-anim*) (-> (the-as collide-shape s5-4) process))
                        )
                    )
                (debug-draw (the-as collide-shape s5-4))
                )
            )
          (set! v1-49 gp-4)
          *collide-hit-by-others-list*
          (set! gp-4 (-> gp-4 next0))
          )
        )
      )
    )
  0
  (none)
  )


(defmethod debug-draw collide-shape ((obj collide-shape))
  "Draw a collide shape"
  (if (sphere-in-view-frustum? (the-as sphere (-> obj root-prim prim-core)))
      (debug-draw-world-sphere (-> obj root-prim))
      )
  (none)
  )

(define *col-timer* (new 'global 'stopwatch))

(define *frame-timer* (new 'global 'stopwatch))

(define *col-timer-enable* #t)

(defun debug-report-col-stats ()
  (when *col-timer-enable*
    (stopwatch-end *frame-timer*)
    (format *stdcon* "col stats:~%")
    (format *stdcon* " col       ~F ms~%" (* 1000.0 (stopwatch-elapsed-seconds *col-timer*)))
    (format *stdcon* " frame     ~F ms~%" (* 1000.0 (stopwatch-elapsed-seconds *frame-timer*)))
    (stopwatch-init *col-timer*)
    (stopwatch-init *frame-timer*)
    (stopwatch-begin *frame-timer*)
    )
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; transform spheres by joints
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

(defmethod update-transforms! collide-shape ((obj collide-shape))
  "Update all transforms for this shape. After this is called, you can use the
   world-spheres."
  (update-transforms! (-> obj root-prim) (-> obj process))
  #f
  )

(defmethod update-transforms! collide-shape-prim ((obj collide-shape-prim) (arg0 process-drawable))
  "Update our world sphere, and our children's world sphere's too."
  (local-vars (a0-2 float) (a0-4 float) (a0-6 float))
  (rlet ((acc :class vf)
         (Q :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    (let ((a1-1 (-> arg0 node-list))
          (v1-0 (-> obj cshape))
          (a0-1 (-> obj transform-index))
          )

      (cond
        ((nonzero? a1-1)
         (cond
           ((>= a0-1 0)
            (let ((v1-4 (-> a1-1 data a0-1 bone transform)))
              (.lvf vf5 (&-> v1-4 vector 3 quad))
              (.lvf vf1 (&-> obj local-sphere quad))
              (.lvf vf2 (&-> v1-4 vector 0 quad))
              (.mul.w.vf acc vf5 vf0)
              (.div.vf Q vf0 vf5 :fsf #b11 :ftf #b11)
              (.lvf vf3 (&-> v1-4 vector 1 quad))
              (.add.mul.x.vf acc vf2 vf1 acc)
              (.lvf vf4 (&-> v1-4 vector 2 quad))
              )
            (.add.mul.y.vf acc vf3 vf1 acc)
            (.add.mul.z.vf vf1 vf4 vf1 acc :mask #b111)
            (.mul.vf vf1 vf1 Q :mask #b111)
            (.svf (&-> obj prim-core world-sphere quad) vf1)
            (.mov a0-2 vf1)
            )
           (else
             (when (= a0-1 -2)
               (.lvf vf1 (&-> obj local-sphere quad))
               (.lvf vf2 (&-> v1-0 trans quad))
               (.add.vf vf1 vf1 vf2 :mask #b111)
               (.svf (&-> obj prim-core world-sphere quad) vf1)
               (.mov a0-4 vf1)
               )
             )
           )
         )
        (else
          (when (!= a0-1 -1)
            (.lvf vf1 (&-> obj local-sphere quad))
            (.lvf vf2 (&-> v1-0 trans quad))
            (.add.vf vf1 vf1 vf2 :mask #b111)
            (.svf (&-> obj prim-core world-sphere quad) vf1)
            (.mov a0-6 vf1)
            )
          )
        )
      )
    (when (= (-> obj type) collide-shape-prim-group)
      (countdown (s4-0 (-> (the-as collide-shape-prim-group obj) num-prims))
        (update-transforms! (-> (the-as collide-shape-prim-group obj) prims s4-0) arg0)
        )
      #f
      )
    )
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; move by vector, move to point
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

(defmethod move-by-vector! collide-shape ((obj collide-shape) (arg0 vector))
  "Adjust our position by the given vector"
  (vector+! (-> obj trans) (-> obj trans) arg0)
  (move-by-vector! (-> obj root-prim) arg0)
  (none)
  )

(defmethod move-by-vector! collide-shape-prim ((obj collide-shape-prim) (arg0 vector))
  "Adjust our position by the given vector"
  (vector+! (the-as vector (-> obj prim-core)) (the-as vector (-> obj prim-core)) arg0)
  (set! (-> obj prim-core world-sphere w) (-> obj local-sphere w))
  (none)
  )

(defmethod move-by-vector! collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 vector))
  "Adjust our position by the given vector"
  (vector+! (the-as vector (-> obj prim-core)) (the-as vector (-> obj prim-core)) arg0)
  (set! (-> obj prim-core world-sphere w) (-> obj local-sphere w))
  (countdown (s4-0 (-> obj num-prims))
    (let ((a0-2 (-> obj prims s4-0)))
      (cond
        ((= (-> a0-2 type) collide-shape-prim-group)
         (move-by-vector! a0-2 arg0)
         )
        (else
          (vector+! (the-as vector (-> a0-2 prim-core)) (the-as vector (-> a0-2 prim-core)) arg0)
          (set! (-> a0-2 prim-core world-sphere w) (-> a0-2 local-sphere w))
          )
        )
      )
    )
  (none)
  )

(defmethod move-to-point! collide-shape ((obj collide-shape) (arg0 vector))
  "Move us to exactly the given position."
  (let ((v1-0 (new 'stack-no-clear 'vector)))
    (vector-! v1-0 arg0 (-> obj trans))
    (move-by-vector! obj v1-0)
    )
  (none)
  )

;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; construction functions
;;;;;;;;;;;;;;;;;;;;;;;;;;;;

(defmethod set-root-prim! collide-shape ((obj collide-shape) (arg0 collide-shape-prim))
  (set! (-> obj root-prim) arg0)
  arg0
  )

(defmethod set-collide-with! collide-shape-prim ((obj collide-shape-prim) (arg0 collide-kind))
  (set! (-> obj collide-with) arg0)
  0
  (none)
  )

(defmethod set-collide-with! collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-kind))
  (set! (-> obj collide-with) arg0)
  (dotimes (s4-0 (-> obj num-prims))
    (set-collide-with! (-> obj prims s4-0) arg0)
    )
  0
  (none)
  )

(defmethod set-collide-as! collide-shape-prim ((obj collide-shape-prim) (arg0 collide-kind))
  (set! (-> obj prim-core collide-as) arg0)
  0
  (none)
  )

(defmethod set-collide-as! collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-kind))
  (set! (-> obj prim-core collide-as) arg0)
  (dotimes (s4-0 (-> obj num-prims))
    (set-collide-as! (-> obj prims s4-0) arg0)
    )
  0
  (none)
  )

(defmethod set-root-prim-collide-with! collide-shape ((obj collide-shape) (arg0 collide-kind))
  (set-collide-with! (-> obj root-prim) arg0)
  0
  (none)
  )

(defmethod set-root-prim-collide-as! collide-shape ((obj collide-shape) (arg0 collide-kind))
  (set-collide-as! (-> obj root-prim) arg0)
  0
  (none)
  )

(defmethod append-prim collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-shape-prim))
  (let ((v1-0 (-> obj num-prims)))
    (cond
      ((>= v1-0 (-> obj allocated-prims))
       (format 0 "collide-shape-prim-group::append-prim : Exceeded max # of prims!~%")
       )
      (else
        (set! (-> obj prims v1-0) arg0)
        (set! (-> obj num-prims) (+ v1-0 1))
        )
      )
    )
  (none)
  )

(defmethod find-collision-meshes collide-shape ((obj collide-shape))
  (let ((s5-0 0))
    (let ((v1-1 (-> obj process draw)))
      (when (and (nonzero? v1-1) (-> v1-1 jgeo))
        (let ((a1-1 (res-lump-struct (-> v1-1 jgeo extra) 'collide-mesh-group structure)))
          (if a1-1
              (set! s5-0 (num-mesh (-> obj root-prim) (the-as collide-shape-prim a1-1)))
              )
          )
        )
      )
    (if (nonzero? s5-0)
        (format 0 "ERROR: Failed to find collision meshes for ~D prim(s) in ~A!~%" s5-0 (-> obj process name))
        )
    )
  (update-transforms! obj)
  )

(defmethod num-mesh collide-shape-prim ((obj collide-shape-prim) (arg0 collide-shape-prim))
  (local-vars (v0-0 int))
  (return 0)
  v0-0
  )

(defmethod num-mesh collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 collide-shape-prim))
  (let ((s4-0 (-> obj mesh-id)))
    (cond
      ((and (>= s4-0 0) (< s4-0 (length arg0)))
       (set! (-> obj mesh) (the-as collide-mesh (-> arg0 prim-core world-sphere data s4-0)))
       (return 0)
       )
      (else
        (set! (-> obj mesh) #f)
        (return 1)
        )
      )
    )
  (the-as int 0)
  )

(defmethod num-mesh collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 collide-shape-prim))
  (let ((gp-0 0))
    (countdown (s3-0 (-> obj num-prims))
      (+! gp-0 (num-mesh (-> obj prims s3-0) arg0))
      )
    gp-0
    )
  )

(defmethod change-mesh collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 int))
  "Change our mesh to the given mesh ID."
  (when (!= (-> obj mesh-id) arg0) ;; only if we don't have the right one.
    (let ((v1-3 (-> obj cshape process draw)))
      (when (and (nonzero? v1-3) (-> v1-3 jgeo)) ;; and we have jgeo
        ;; look up the collide mesh array!
        (let ((s4-0 (res-lump-struct (-> v1-3 jgeo extra) 'collide-mesh-group (array collide-mesh))))
          (when s4-0 ;; we got it
            (cond
              ((and (>= arg0 0) (< arg0 (length s4-0))) ;; in range
               (set! (-> obj mesh) (-> s4-0 arg0)) ;; grab it!
               (set! (-> obj mesh-id) arg0)
               ;; kill the collide mesh cache.
               (let* ((v1-11 *collide-mesh-cache*)
                      (a0-6 (-> v1-11 id))
                      )
                 (set! (-> v1-11 used-size) (the-as uint 0))
                 (let ((v0-5 (the-as int (+ a0-6 1))))
                   (b! (zero? (the-as uint v0-5)) cfg-12 :likely-delay (set! v0-5 1))
                   (label cfg-12)
                   (set! (-> v1-11 id) (the-as uint v0-5))
                   )
                 )
               )
              (else
                (format 0 "ERROR: ~%~%collide-shape-prim-mesh::change-mesh():  Failed to find collision mesh!~%")
                )
              )
            )
          )
        )
      )
    )
  (none)
  )

(defmethod init! collide-shape-intersect ((obj collide-shape-intersect) (arg0 vector))
  "Initialize the intersection in the given direction."
  (set! (-> obj move-vec quad) (-> arg0 quad))
  (set! (-> obj best-u) -100000000.0)
  (set! (-> obj best-from-prim) #f)
  (set! (-> obj best-to-prim) #f)
  #f
  )

(defmethod debug-draw-world-sphere collide-shape-prim ((obj collide-shape-prim))
  "Draw our sphere"
  (add-debug-sphere
    #t
    (bucket-id debug-draw0)
    (the-as vector (-> obj prim-core))
    (-> obj local-sphere w)
    (new 'static 'rgba :r #xff :g #xff :b #xff :a #x40)
    )
  )

(defmethod debug-draw-world-sphere collide-shape-prim-sphere ((obj collide-shape-prim-sphere))
  "Draw our sphere"
  (add-debug-sphere
    #t
    (bucket-id debug-draw0)
    (the-as vector (-> obj prim-core))
    (-> obj local-sphere w)
    (the-as rgba (cond
                   ((and (zero? (-> obj prim-core collide-as)) (zero? (-> obj collide-with)))
                    #x40808080
                    )
                   ((logtest? (-> obj prim-core action) 1)
                    #x4000ffff
                    )
                   (else
                     #x400080ff
                     )
                   )
            )
    )
  )

(defmethod debug-draw-world-sphere collide-shape-prim-mesh ((obj collide-shape-prim-mesh))
  "Draw our sphere"
  (add-debug-sphere
    #t
    (bucket-id debug-draw0)
    (the-as vector (-> obj prim-core))
    (-> obj local-sphere w)
    (new 'static 'rgba :b #xff :a #x40)
    )
  )

(defmethod debug-draw-world-sphere collide-shape-prim-group ((obj collide-shape-prim-group))
  "Draw our sphere"
  (add-debug-sphere
    #t
    (bucket-id debug-draw0)
    (the-as vector (-> obj prim-core))
    (-> obj local-sphere w)
    (new 'static 'rgba :g #xff :a #x10)
    )
  (countdown (s5-0 (-> obj num-prims))
    (debug-draw-world-sphere (-> obj prims s5-0))
    )
  #f
  )

(defmethod do-push-aways! collide-shape ((obj collide-shape))
  "This is the main function to call to respond"
  (local-vars
    (at-0 int)
    (at-1 int)
    (at-2 int)
    (at-3 int)
    (v1-20 float)
    (v1-53 float)
    (v1-85 float)
    (v1-116 float)
    )
  (rlet ((vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         (vf5 :class vf)
         )
    (init-vf0-vector)
    
    ;; kill the mesh cache
    (let* ((v1-0 *collide-mesh-cache*)
           (a0-1 (-> v1-0 id))
           )
      (set! (-> v1-0 used-size) (the-as uint 0))
      (let ((a0-2 (the-as int (+ a0-1 1))))
        (b! (zero? (the-as uint a0-2)) cfg-2 :likely-delay (set! a0-2 1))
        (label cfg-2)
        (set! (-> v1-0 id) (the-as uint a0-2))
        )
      )
    
    ;; loop over everything!
    (let ((s5-0 (-> obj root-prim collide-with)))
      
      ;; we collide with target, so check the player list.
      (when (logtest? s5-0 (collide-kind target))
        (let ((v1-5 (-> *collide-player-list* alive-list next0)))
          *collide-player-list*
          (let ((s4-0 (-> v1-5 next0)))
            (while (!= v1-5 (-> *collide-player-list* alive-list-end))
              (let ((s3-0 (the-as collide-shape-moving (-> (the-as connection v1-5) param1))))
                (when (logtest? s5-0 (-> s3-0 root-prim prim-core collide-as))
                  ;; we might collide with this!
                  (when (!= (-> obj process) (-> s3-0 process)) ;; self check
                    ;; see if we collide!
                    (let ((s2-0 (new 'stack-no-clear 'collide-overlap-result)))
                      (when (and (should-push-away obj s3-0 s2-0) (>= -81.92 (-> s2-0 best-dist))) ;; we collide!
                        ;; fill the collide cache.
                        (fill-cache-for-shape! s3-0 8192.0 (-> s3-0 root-prim collide-with))
                        ;; 3 iterations to solve it.
                        (let ((s5-1 3))
                          (until (or (<= s5-1 0) (not (should-push-away obj s3-0 s2-0))) ;; run until we're out.
                            (let ((s1-0 (new 'stack-no-clear 'vector)))
                              (let ((v1-19 (new 'stack-no-clear 'vector)))
                                (set! (-> v1-19 quad) (-> s3-0 trans quad))
                                
                                ;; this is... a bit of a hack.
                                ;; this adjusts our collision to be within 0.7 - 1.4m of our base.
                                ;; (note, this only applies for intermediate iterations of this loop)
                                (let* ((f1-2 (+ 2867.2 (-> v1-19 y))) ;; f1-2 = 0.7 m above use
                                       (f2-0 (+ 5734.4 f1-2))         ;; 1.4m above us
                                       (f0-3 (-> s2-0 best-from-tri intersect y))
                                       )
                                  (cond
                                    ((< f0-3 f1-2)
                                     (set! f0-3 f1-2)
                                     )
                                    ((< f2-0 f0-3)
                                     (set! f0-3 f2-0)
                                     )
                                    )
                                  (set! (-> v1-19 y) f0-3)
                                  )
                                (.lvf vf4 (&-> v1-19 quad))
                                )
                              (.lvf vf3 (&-> s2-0 best-from-tri intersect quad))
                              (.lvf vf5 (&-> s2-0 best-from-tri normal quad))
                              (.sub.vf vf2 vf4 vf3)
                              (.mul.vf vf1 vf5 vf2)
                              (.add.x.vf vf1 vf1 vf1 :mask #b10)
                              (.add.z.vf vf1 vf1 vf1 :mask #b10)
                              (.mov v1-20 vf1)
                              (b! (< (the-as int v1-20) 0) cfg-18 :likely-delay (.sub.vf vf2 vf0 vf2))
                              (label cfg-18)
                              (.svf (&-> s1-0 quad) vf2)
                              (vector-normalize! s1-0 1.0)
                              (vector-float*! s1-0 s1-0 (- (-> s2-0 best-dist)))
                              (let ((v1-23 s1-0))
                                (.lvf vf1 (&-> s1-0 quad))
                                (let ((f0-6 (-> *display* frames-per-second)))
                                  (.mov at-0 f0-6)
                                  )
                                (.mov vf2 at-0)
                                (.mov.vf vf1 vf0 :mask #b1000)
                                (.mul.x.vf vf1 vf1 vf2 :mask #b111)
                                (.svf (&-> v1-23 quad) vf1)
                                )
                              (let ((s0-0 (-> s3-0 status)))
                                ;; step.
                                (integrate-and-collide! s3-0 s1-0)
                                (set! (-> s3-0 status) s0-0)
                                )
                              )
                            (+! s5-1 -1)
                            )
                          )
                        (set! s5-0 (-> obj root-prim collide-with))
                        )
                      )
                    )
                  )
                )
              (set! v1-5 s4-0)
              *collide-player-list*
              (set! s4-0 (-> s4-0 next0))
              )
            )
          )
        )
      
      
      (when (logtest? s5-0 (collide-kind cak-1 cak-2 cak-3))
        
        (when (logtest? s5-0 (collide-kind cak-1))
          (let ((v1-38 (-> *collide-hit-by-player-list* alive-list next0)))
            *collide-hit-by-player-list*
            (let ((s4-1 (-> v1-38 next0)))
              (while (!= v1-38 (-> *collide-hit-by-player-list* alive-list-end))
                (let ((s3-1 (the-as collide-shape-moving (-> (the-as connection v1-38) param1))))
                  (when (logtest? s5-0 (-> s3-1 root-prim prim-core collide-as))
                    (when (!= (-> obj process) (-> s3-1 process))
                      (let ((s2-1 (new 'stack-no-clear 'collide-overlap-result)))
                        (when (and (should-push-away obj s3-1 s2-1) (>= -81.92 (-> s2-1 best-dist)))
                          (fill-cache-for-shape! s3-1 8192.0 (-> s3-1 root-prim collide-with))
                          (let ((s5-2 3))
                            (until (or (<= s5-2 0) (not (should-push-away obj s3-1 s2-1)))
                              (let ((s1-1 (new 'stack-no-clear 'vector)))
                                (let ((v1-52 (new 'stack-no-clear 'vector)))
                                  (set! (-> v1-52 quad) (-> s3-1 trans quad))
                                  (let* ((f1-5 (+ 2867.2 (-> v1-52 y)))
                                         (f2-1 (+ 5734.4 f1-5))
                                         (f0-10 (-> s2-1 best-from-tri intersect y))
                                         )
                                    (cond
                                      ((< f0-10 f1-5)
                                       (set! f0-10 f1-5)
                                       )
                                      ((< f2-1 f0-10)
                                       (set! f0-10 f2-1)
                                       )
                                      )
                                    (set! (-> v1-52 y) f0-10)
                                    )
                                  (.lvf vf4 (&-> v1-52 quad))
                                  )
                                (.lvf vf3 (&-> s2-1 best-from-tri intersect quad))
                                (.lvf vf5 (&-> s2-1 best-from-tri normal quad))
                                (.sub.vf vf2 vf4 vf3)
                                (.mul.vf vf1 vf5 vf2)
                                (.add.x.vf vf1 vf1 vf1 :mask #b10)
                                (.add.z.vf vf1 vf1 vf1 :mask #b10)
                                (.mov v1-53 vf1)
                                (b! (< (the-as int v1-53) 0) cfg-44 :likely-delay (.sub.vf vf2 vf0 vf2))
                                (label cfg-44)
                                (.svf (&-> s1-1 quad) vf2)
                                (vector-normalize! s1-1 1.0)
                                (vector-float*! s1-1 s1-1 (- (-> s2-1 best-dist)))
                                (let ((v1-56 s1-1))
                                  (.lvf vf1 (&-> s1-1 quad))
                                  (let ((f0-13 (-> *display* frames-per-second)))
                                    (.mov at-1 f0-13)
                                    )
                                  (.mov vf2 at-1)
                                  (.mov.vf vf1 vf0 :mask #b1000)
                                  (.mul.x.vf vf1 vf1 vf2 :mask #b111)
                                  (.svf (&-> v1-56 quad) vf1)
                                  )
                                (let ((s0-1 (-> s3-1 status)))
                                  (integrate-and-collide! s3-1 s1-1)
                                  (set! (-> s3-1 status) s0-1)
                                  )
                                )
                              (+! s5-2 -1)
                              )
                            )
                          (set! s5-0 (-> obj root-prim collide-with))
                          )
                        )
                      )
                    )
                  )
                (set! v1-38 s4-1)
                *collide-hit-by-player-list*
                (set! s4-1 (-> s4-1 next0))
                )
              )
            )
          )
        
        
        (when (logtest? s5-0 (collide-kind cak-2))
          (let ((v1-70 (-> *collide-usually-hit-by-player-list* alive-list next0)))
            *collide-usually-hit-by-player-list*
            (let ((s4-2 (-> v1-70 next0)))
              (while (!= v1-70 (-> *collide-usually-hit-by-player-list* alive-list-end))
                (let ((s3-2 (the-as collide-shape-moving (-> (the-as connection v1-70) param1))))
                  (when (logtest? s5-0 (-> s3-2 root-prim prim-core collide-as))
                    (when (!= (-> obj process) (-> s3-2 process))
                      (let ((s2-2 (new 'stack-no-clear 'collide-overlap-result)))
                        (when (and (should-push-away obj s3-2 s2-2) (>= -81.92 (-> s2-2 best-dist)))
                          (fill-cache-for-shape! s3-2 8192.0 (-> s3-2 root-prim collide-with))
                          (let ((s5-3 3))
                            (until (or (<= s5-3 0) (not (should-push-away obj s3-2 s2-2)))
                              (let ((s1-2 (new 'stack-no-clear 'vector)))
                                (let ((v1-84 (new 'stack-no-clear 'vector)))
                                  (set! (-> v1-84 quad) (-> s3-2 trans quad))
                                  (let* ((f1-8 (+ 2867.2 (-> v1-84 y)))
                                         (f2-2 (+ 5734.4 f1-8))
                                         (f0-17 (-> s2-2 best-from-tri intersect y))
                                         )
                                    (cond
                                      ((< f0-17 f1-8)
                                       (set! f0-17 f1-8)
                                       )
                                      ((< f2-2 f0-17)
                                       (set! f0-17 f2-2)
                                       )
                                      )
                                    (set! (-> v1-84 y) f0-17)
                                    )
                                  (.lvf vf4 (&-> v1-84 quad))
                                  )
                                (.lvf vf3 (&-> s2-2 best-from-tri intersect quad))
                                (.lvf vf5 (&-> s2-2 best-from-tri normal quad))
                                (.sub.vf vf2 vf4 vf3)
                                (.mul.vf vf1 vf5 vf2)
                                (.add.x.vf vf1 vf1 vf1 :mask #b10)
                                (.add.z.vf vf1 vf1 vf1 :mask #b10)
                                (.mov v1-85 vf1)
                                (b! (< (the-as int v1-85) 0) cfg-69 :likely-delay (.sub.vf vf2 vf0 vf2))
                                (label cfg-69)
                                (.svf (&-> s1-2 quad) vf2)
                                (vector-normalize! s1-2 1.0)
                                (vector-float*! s1-2 s1-2 (- (-> s2-2 best-dist)))
                                (let ((v1-88 s1-2))
                                  (.lvf vf1 (&-> s1-2 quad))
                                  (let ((f0-20 (-> *display* frames-per-second)))
                                    (.mov at-2 f0-20)
                                    )
                                  (.mov vf2 at-2)
                                  (.mov.vf vf1 vf0 :mask #b1000)
                                  (.mul.x.vf vf1 vf1 vf2 :mask #b111)
                                  (.svf (&-> v1-88 quad) vf1)
                                  )
                                (let ((s0-2 (-> s3-2 status)))
                                  (integrate-and-collide! s3-2 s1-2)
                                  (set! (-> s3-2 status) s0-2)
                                  )
                                )
                              (+! s5-3 -1)
                              )
                            )
                          (set! s5-0 (-> obj root-prim collide-with))
                          )
                        )
                      )
                    )
                  )
                (set! v1-70 s4-2)
                *collide-usually-hit-by-player-list*
                (set! s4-2 (-> s4-2 next0))
                )
              )
            )
          )
        (when (logtest? s5-0 (collide-kind cak-3))
          (let ((v1-101 (-> *collide-hit-by-others-list* alive-list next0)))
            *collide-hit-by-others-list*
            (let ((s4-3 (-> v1-101 next0)))
              (while (!= v1-101 (-> *collide-hit-by-others-list* alive-list-end))
                (let ((s3-3 (the-as collide-shape-moving (-> (the-as connection v1-101) param1))))
                  (when (logtest? s5-0 (-> s3-3 root-prim prim-core collide-as))
                    (when (!= (-> obj process) (-> s3-3 process))
                      (let ((s2-3 (new 'stack-no-clear 'collide-overlap-result)))
                        (when (and (should-push-away obj s3-3 s2-3) (>= -81.92 (-> s2-3 best-dist)))
                          (fill-cache-for-shape! s3-3 8192.0 (-> s3-3 root-prim collide-with))
                          (let ((s5-4 3))
                            (until (or (<= s5-4 0) (not (should-push-away obj s3-3 s2-3)))
                              (let ((s1-3 (new 'stack-no-clear 'vector)))
                                (let ((v1-115 (new 'stack-no-clear 'vector)))
                                  (set! (-> v1-115 quad) (-> s3-3 trans quad))
                                  (let* ((f1-11 (+ 2867.2 (-> v1-115 y)))
                                         (f2-3 (+ 5734.4 f1-11))
                                         (f0-24 (-> s2-3 best-from-tri intersect y))
                                         )
                                    (cond
                                      ((< f0-24 f1-11)
                                       (set! f0-24 f1-11)
                                       )
                                      ((< f2-3 f0-24)
                                       (set! f0-24 f2-3)
                                       )
                                      )
                                    (set! (-> v1-115 y) f0-24)
                                    )
                                  (.lvf vf4 (&-> v1-115 quad))
                                  )
                                (.lvf vf3 (&-> s2-3 best-from-tri intersect quad))
                                (.lvf vf5 (&-> s2-3 best-from-tri normal quad))
                                (.sub.vf vf2 vf4 vf3)
                                (.mul.vf vf1 vf5 vf2)
                                (.add.x.vf vf1 vf1 vf1 :mask #b10)
                                (.add.z.vf vf1 vf1 vf1 :mask #b10)
                                (.mov v1-116 vf1)
                                (b! (< (the-as int v1-116) 0) cfg-94 :likely-delay (.sub.vf vf2 vf0 vf2))
                                (label cfg-94)
                                (.svf (&-> s1-3 quad) vf2)
                                (vector-normalize! s1-3 1.0)
                                (vector-float*! s1-3 s1-3 (- (-> s2-3 best-dist)))
                                (let ((v1-119 s1-3))
                                  (.lvf vf1 (&-> s1-3 quad))
                                  (let ((f0-27 (-> *display* frames-per-second)))
                                    (.mov at-3 f0-27)
                                    )
                                  (.mov vf2 at-3)
                                  (.mov.vf vf1 vf0 :mask #b1000)
                                  (.mul.x.vf vf1 vf1 vf2 :mask #b111)
                                  (.svf (&-> v1-119 quad) vf1)
                                  )
                                (let ((s0-3 (-> s3-3 status)))
                                  (integrate-and-collide! s3-3 s1-3)
                                  (set! (-> s3-3 status) s0-3)
                                  )
                                )
                              (+! s5-4 -1)
                              )
                            )
                          (set! s5-0 (-> obj root-prim collide-with))
                          )
                        )
                      )
                    )
                  )
                (set! v1-101 s4-3)
                *collide-hit-by-others-list*
                (set! s4-3 (-> s4-3 next0))
                )
              )
            )
          #f
          )
        )
      )
    )
  )

;;;;;;;;;;;;;;;;;;;;;;;
;; overlap test
;;;;;;;;;;;;;;;;;;;;;;;

(defmethod find-overlapping-shapes collide-shape ((obj collide-shape) (arg0 overlaps-others-params))
  (local-vars
    (v1-2 symbol)
    (v1-7 symbol)
    (v1-12 symbol)
    (v1-17 symbol)
    (a0-9 uint)
    (a0-10 touching-list)
    (a0-24 uint)
    (a0-25 touching-list)
    (a0-37 uint)
    (a0-38 touching-list)
    (a0-50 uint)
    (a0-51 touching-list)
    (a3-0 float)
    (a3-1 uint)
    (a3-3 float)
    (a3-4 uint)
    (a3-6 float)
    (a3-7 uint)
    (a3-9 float)
    (a3-10 uint)
    (s2-0 symbol)
    )
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (let* ((v1-0 *collide-mesh-cache*)
           (a0-1 (-> v1-0 id))
           )
      (set! (-> v1-0 used-size) (the-as uint 0))
      (let ((a0-2 (the-as int (+ a0-1 1))))
        (b! (zero? (the-as uint a0-2)) cfg-2 :likely-delay (set! a0-2 1))
        (label cfg-2)
        (set! (-> v1-0 id) (the-as uint a0-2))
        )
      )
    (let ((s3-0 (the-as object #f)))
      (let ((s4-0 (-> obj root-prim)))
        (.lvf vf1 (&-> s4-0 prim-core world-sphere quad))
        (let ((v1-1 (-> s4-0 collide-with)))
          (b! (zero? (logand v1-1 (collide-kind target))) cfg-17)
          (let ((a0-6 (-> *collide-player-list* alive-list next0)))
            *collide-player-list*
            (let ((s1-0 (-> a0-6 next0)))
              (while (!= a0-6 (-> *collide-player-list* alive-list-end))
                (let* ((a0-7 (the-as collide-shape-moving (-> (the-as connection a0-6) param1)))
                       (a2-0 (-> a0-7 root-prim))
                       )
                  (when (logtest? v1-1 (-> a2-0 prim-core collide-as))
                    (.lvf vf2 (&-> a2-0 prim-core world-sphere quad))
                    (.sub.vf vf3 vf1 vf2)
                    (.add.w.vf vf4 vf1 vf2 :mask #b1000)
                    (.mul.vf vf3 vf3 vf3 :mask #b111)
                    (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
                    (.mul.x.vf acc vf0 vf3 :mask #b1000)
                    (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
                    (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
                    (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
                    (let ((f0-0 0.0))
                      (.add.w.vf vf3 vf0 vf3 :mask #b1)
                      (let ((a1-6 (-> obj process)))
                        (.mov a3-0 vf3)
                        (let ((a0-8 (-> a0-7 process)))
                          (b! (< f0-0 a3-0) cfg-13 :delay (set! a3-1 (-> arg0 options)))
                          (b! (= a1-6 a0-8) cfg-13 :delay (set! a0-9 (logand a3-1 2)))
                          )
                        )
                      )
                    (b! (zero? a0-9) cfg-10 :delay (set! a0-10 (-> arg0 tlist)))
                    (b! (= a0-10 #f) cfg-11 :delay (set! v1-2 #t))
                    (set! s2-0 v1-2)
                    (add-touching-prims a0-10 s4-0 a2-0 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
                    (b! #t cfg-11 :delay #t)
                    (label cfg-10)
                    (set! s2-0 (overlaps-others-test s4-0 arg0 a2-0))
                    (label cfg-11)
                    (.lvf vf1 (&-> s4-0 prim-core world-sphere quad))
                    (b! (= s2-0 #f) cfg-13 :delay (set! v1-1 (-> s4-0 collide-with)))
                    (b! (= (-> arg0 tlist) #f) cfg-63 :delay (set! s3-0 0))
                    (label cfg-13)
                    0
                    )
                  )
                (set! a0-6 s1-0)
                *collide-player-list*
                (set! s1-0 (-> s1-0 next0))
                )
              )
            )
          (label cfg-17)
          (when (logtest? v1-1 (collide-kind cak-1 cak-2 cak-3))
            (when (logtest? v1-1 (collide-kind cak-1))
              (let ((a0-21 (-> *collide-hit-by-player-list* alive-list next0)))
                *collide-hit-by-player-list*
                (let ((s1-1 (-> a0-21 next0)))
                  (while (!= a0-21 (-> *collide-hit-by-player-list* alive-list-end))
                    (let* ((a0-22 (the-as collide-shape-moving (-> (the-as connection a0-21) param1)))
                           (a2-1 (-> a0-22 root-prim))
                           )
                      (when (logtest? v1-1 (-> a2-1 prim-core collide-as))
                        (.lvf vf2 (&-> a2-1 prim-core world-sphere quad))
                        (.sub.vf vf3 vf1 vf2)
                        (.add.w.vf vf4 vf1 vf2 :mask #b1000)
                        (.mul.vf vf3 vf3 vf3 :mask #b111)
                        (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
                        (.mul.x.vf acc vf0 vf3 :mask #b1000)
                        (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
                        (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
                        (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
                        (let ((f0-1 0.0))
                          (.add.w.vf vf3 vf0 vf3 :mask #b1)
                          (let ((a1-18 (-> obj process)))
                            (.mov a3-3 vf3)
                            (let ((a0-23 (-> a0-22 process)))
                              (b! (< f0-1 a3-3) cfg-29 :delay (set! a3-4 (-> arg0 options)))
                              (b! (= a1-18 a0-23) cfg-29 :delay (set! a0-24 (logand a3-4 2)))
                              )
                            )
                          )
                        (b! (zero? a0-24) cfg-26 :delay (set! a0-25 (-> arg0 tlist)))
                        (b! (= a0-25 #f) cfg-27 :delay (set! v1-7 #t))
                        (set! s2-0 v1-7)
                        (add-touching-prims a0-25 s4-0 a2-1 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
                        (b! #t cfg-27 :delay #t)
                        (label cfg-26)
                        (set! s2-0 (overlaps-others-test s4-0 arg0 a2-1))
                        (label cfg-27)
                        (.lvf vf1 (&-> s4-0 prim-core world-sphere quad))
                        (b! (= s2-0 #f) cfg-29 :delay (set! v1-1 (-> s4-0 collide-with)))
                        (b! (= (-> arg0 tlist) #f) cfg-63 :delay (set! s3-0 0))
                        (label cfg-29)
                        0
                        )
                      )
                    (set! a0-21 s1-1)
                    *collide-hit-by-player-list*
                    (set! s1-1 (-> s1-1 next0))
                    )
                  )
                )
              )
            (when (logtest? v1-1 (collide-kind cak-2))
              (let ((a0-34 (-> *collide-usually-hit-by-player-list* alive-list next0)))
                *collide-usually-hit-by-player-list*
                (let ((s1-2 (-> a0-34 next0)))
                  (while (!= a0-34 (-> *collide-usually-hit-by-player-list* alive-list-end))
                    (let* ((a0-35 (the-as collide-shape-moving (-> (the-as connection a0-34) param1)))
                           (a2-2 (-> a0-35 root-prim))
                           )
                      (when (logtest? v1-1 (-> a2-2 prim-core collide-as))
                        (.lvf vf2 (&-> a2-2 prim-core world-sphere quad))
                        (.sub.vf vf3 vf1 vf2)
                        (.add.w.vf vf4 vf1 vf2 :mask #b1000)
                        (.mul.vf vf3 vf3 vf3 :mask #b111)
                        (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
                        (.mul.x.vf acc vf0 vf3 :mask #b1000)
                        (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
                        (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
                        (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
                        (let ((f0-2 0.0))
                          (.add.w.vf vf3 vf0 vf3 :mask #b1)
                          (let ((a1-30 (-> obj process)))
                            (.mov a3-6 vf3)
                            (let ((a0-36 (-> a0-35 process)))
                              (b! (< f0-2 a3-6) cfg-44 :delay (set! a3-7 (-> arg0 options)))
                              (b! (= a1-30 a0-36) cfg-44 :delay (set! a0-37 (logand a3-7 2)))
                              )
                            )
                          )
                        (b! (zero? a0-37) cfg-41 :delay (set! a0-38 (-> arg0 tlist)))
                        (b! (= a0-38 #f) cfg-42 :delay (set! v1-12 #t))
                        (set! s2-0 v1-12)
                        (add-touching-prims a0-38 s4-0 a2-2 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
                        (b! #t cfg-42 :delay #t)
                        (label cfg-41)
                        (set! s2-0 (overlaps-others-test s4-0 arg0 a2-2))
                        (label cfg-42)
                        (.lvf vf1 (&-> s4-0 prim-core world-sphere quad))
                        (b! (= s2-0 #f) cfg-44 :delay (set! v1-1 (-> s4-0 collide-with)))
                        (b! (= (-> arg0 tlist) #f) cfg-63 :delay (set! s3-0 0))
                        (label cfg-44)
                        0
                        )
                      )
                    (set! a0-34 s1-2)
                    *collide-usually-hit-by-player-list*
                    (set! s1-2 (-> s1-2 next0))
                    )
                  )
                )
              )
            (when (logtest? v1-1 (collide-kind cak-3))
              (let ((a0-47 (-> *collide-hit-by-others-list* alive-list next0)))
                *collide-hit-by-others-list*
                (let ((s1-3 (-> a0-47 next0)))
                  (while (!= a0-47 (-> *collide-hit-by-others-list* alive-list-end))
                    (let* ((a0-48 (the-as collide-shape-moving (-> (the-as connection a0-47) param1)))
                           (a2-3 (-> a0-48 root-prim))
                           )
                      (when (logtest? v1-1 (-> a2-3 prim-core collide-as))
                        (.lvf vf2 (&-> a2-3 prim-core world-sphere quad))
                        (.sub.vf vf3 vf1 vf2)
                        (.add.w.vf vf4 vf1 vf2 :mask #b1000)
                        (.mul.vf vf3 vf3 vf3 :mask #b111)
                        (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
                        (.mul.x.vf acc vf0 vf3 :mask #b1000)
                        (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
                        (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
                        (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
                        (let ((f0-3 0.0))
                          (.add.w.vf vf3 vf0 vf3 :mask #b1)
                          (let ((a1-42 (-> obj process)))
                            (.mov a3-9 vf3)
                            (let ((a0-49 (-> a0-48 process)))
                              (b! (< f0-3 a3-9) cfg-59 :delay (set! a3-10 (-> arg0 options)))
                              (b! (= a1-42 a0-49) cfg-59 :delay (set! a0-50 (logand a3-10 2)))
                              )
                            )
                          )
                        (b! (zero? a0-50) cfg-56 :delay (set! a0-51 (-> arg0 tlist)))
                        (b! (= a0-51 #f) cfg-57 :delay (set! v1-17 #t))
                        (set! s2-0 v1-17)
                        (add-touching-prims a0-51 s4-0 a2-3 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
                        (b! #t cfg-57 :delay #t)
                        (label cfg-56)
                        (set! s2-0 (overlaps-others-test s4-0 arg0 a2-3))
                        (label cfg-57)
                        (.lvf vf1 (&-> s4-0 prim-core world-sphere quad))
                        (b! (= s2-0 #f) cfg-59 :delay (set! v1-1 (-> s4-0 collide-with)))
                        (b! (= (-> arg0 tlist) #f) cfg-63 :delay (set! s3-0 0))
                        (label cfg-59)
                        0
                        )
                      )
                    (set! a0-47 s1-3)
                    *collide-hit-by-others-list*
                    (set! s1-3 (-> s1-3 next0))
                    )
                  )
                )
              )
            )
          )
        )
      (label cfg-63)
      (b! (= (the-as int s3-0) #f) cfg-65 :delay (nop!))
      (set! s3-0 #t)
      (label cfg-65)
      (the-as symbol s3-0)
      )
    )
  )

(defmethod overlaps-others-test collide-shape-prim ((obj collide-shape-prim) (arg0 overlaps-others-params) (arg1 collide-shape-prim))
  (format 0 "ERROR: Unsupported call to collide-shape-prim::overlaps-others-test!~%")
  #f
  )


(defmethod overlaps-others-test collide-shape-prim-group ((obj collide-shape-prim-group) (arg0 overlaps-others-params) (arg1 collide-shape-prim))
  (local-vars (a1-3 float))
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (let ((s4-0 (-> obj prims))
          (s3-0 (-> obj num-prims-u))
          (s2-0 (the-as object #f))
          )
      (let ((v1-0 (-> arg1 prim-core collide-as)))
        (nop!)
        (.lvf vf1 (&-> arg1 prim-core world-sphere quad))
        (label cfg-1)
        (b! (zero? s3-0) cfg-6 :delay (nop!))
        (+! s3-0 -1)
        (let ((a0-1 (-> s4-0 0)))
          (set! s4-0 (&-> s4-0 1))
          (let ((a1-2 (logand (-> a0-1 collide-with) v1-0)))
            (.lvf vf2 (&-> a0-1 prim-core world-sphere quad))
            (b! (zero? a1-2) cfg-1 :delay (.sub.vf vf3 vf2 vf1))
            )
          (.add.w.vf vf4 vf2 vf1 :mask #b1000)
          (.mul.vf vf3 vf3 vf3 :mask #b111)
          (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
          (.mul.x.vf acc vf0 vf3 :mask #b1000)
          (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
          (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
          (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
          (let ((f0-0 0.0))
            (.add.w.vf vf3 vf0 vf3 :mask #b1)
            (.mov a1-3 vf3)
            (b! (< f0-0 a1-3) cfg-1)
            )
          (let ((a0-2 (overlaps-others-test a0-1 arg0 arg1)))
            (set! v1-0 (-> arg1 prim-core collide-as))
            (b! (= a0-2 #f) cfg-1 :delay (.lvf vf1 (&-> arg1 prim-core world-sphere quad)))
            )
          )
        )
      (b! (!= (-> arg0 tlist) #f) cfg-1 :delay (set! s2-0 0))
      (label cfg-6)
      (b! (= (the-as int s2-0) #f) cfg-8 :delay (nop!))
      (set! s2-0 #t)
      (label cfg-8)
      (the-as symbol s2-0)
      )
    )
  )


(defmethod overlaps-others-group collide-shape-prim ((obj collide-shape-prim) (arg0 overlaps-others-params) (arg1 collide-shape-prim-group))
  "Overlap, from group."
  (local-vars (a0-3 float))
  (rlet ((acc :class vf)
         (vf0 :class vf)
         (vf1 :class vf)
         (vf2 :class vf)
         (vf3 :class vf)
         (vf4 :class vf)
         )
    (init-vf0-vector)
    (let ((s4-0 (-> arg1 prims))
          (s3-0 (-> arg1 num-prims-u))
          (s2-0 (the-as object #f))
          )
      (let ((v1-0 (-> obj collide-with)))
        (nop!)
        (.lvf vf2 (&-> obj prim-core world-sphere quad))
        (label cfg-1)
        (b! (zero? s3-0) cfg-6 :delay (nop!))
        (+! s3-0 -1)
        (let ((a2-1 (-> s4-0 0)))
          (set! s4-0 (&-> s4-0 1))
          (let ((a0-2 (logand v1-0 (-> a2-1 prim-core collide-as))))
            (.lvf vf1 (&-> a2-1 prim-core world-sphere quad))
            (b! (zero? a0-2) cfg-1 :delay (.sub.vf vf3 vf2 vf1))
            )
          (.add.w.vf vf4 vf2 vf1 :mask #b1000)
          (.mul.vf vf3 vf3 vf3 :mask #b111)
          (.mul.w.vf vf4 vf4 vf4 :mask #b1000)
          (.mul.x.vf acc vf0 vf3 :mask #b1000)
          (.add.mul.y.vf acc vf0 vf3 acc :mask #b1000)
          (.add.mul.z.vf vf3 vf0 vf3 acc :mask #b1000)
          (.sub.w.vf vf3 vf3 vf4 :mask #b1000)
          (let ((f0-0 0.0))
            (.add.w.vf vf3 vf0 vf3 :mask #b1)
            (.mov a0-3 vf3)
            (b! (< f0-0 a0-3) cfg-1)
            )
          (let ((a0-5 (overlaps-others-test obj arg0 a2-1)))
            (set! v1-0 (-> obj collide-with))
            (b! (= a0-5 #f) cfg-1 :delay (.lvf vf2 (&-> obj prim-core world-sphere quad)))
            )
          )
        )
      (b! (!= (-> arg0 tlist) #f) cfg-1 :delay (set! s2-0 0))
      (label cfg-6)
      (b! (= (the-as int s2-0) #f) cfg-8 :delay (nop!))
      (set! s2-0 #t)
      (label cfg-8)
      (the-as symbol s2-0)
      )
    )
  )

(defmethod overlaps-others-test collide-shape-prim-sphere ((obj collide-shape-prim-sphere) (arg0 overlaps-others-params) (arg1 collide-shape-prim))
  (local-vars (v1-26 collide-action))
  (let ((v1-0 (-> arg1 prim-core prim-type)))
    (b! (nonzero? v1-0) cfg-2 :delay (nop!))
    (let ((v0-1 (overlaps-others-group obj arg0 (the-as collide-shape-prim-group arg1))))
      (b! #t cfg-20 :delay (nop!))
      (label cfg-2)
      (b! (> v1-0 0) cfg-4 :delay (nop!))
      (b! #t cfg-14 :delay (nop!))
      (label cfg-4)
      (let ((s3-0 (-> (the-as collide-shape-prim-mesh arg1) mesh)))
        (b! (not s3-0) cfg-13)
        (let ((s2-0 *collide-mesh-cache*))
          (let ((v1-4 (-> s2-0 id)))
            (b! (= (-> (the-as collide-shape-prim-mesh arg1) mesh-cache-id) v1-4) cfg-10)
            )
          (let ((v1-8 (allocate! s2-0 (* 96 (-> s3-0 num-tris)))))
            (b! (not v1-8) cfg-8 :delay (nop!))
            (set! (-> (the-as collide-shape-prim-mesh arg1) mesh-cache-tris)
                  (the-as (inline-array collide-mesh-cache-tri) v1-8)
                  )
            )
          (set! (-> (the-as collide-shape-prim-mesh arg1) mesh-cache-id) (-> s2-0 id))
          )
        (populate-cache!
          s3-0
          (the-as collide-mesh-cache-tri (-> (the-as collide-shape-prim-mesh arg1) mesh-cache-tris))
          (-> (the-as collide-shape-prim-mesh arg1)
              cshape
              process
              node-list
              data
              (-> (the-as collide-shape-prim-mesh arg1) transform-index)
              bone
              transform
              )
          )
        (b! #t cfg-10 :delay (nop!))
        (label cfg-8)
        (set! v0-1 #f)
        (b! #t cfg-20 :delay (nop!))
        (the-as none 0)
        (label cfg-10)
        (b!
          (not (overlap-test
                 s3-0
                 (the-as collide-mesh-cache-tri (-> (the-as collide-shape-prim-mesh arg1) mesh-cache-tris))
                 (the-as vector (-> obj prim-core))
                 )
               )
          cfg-13
          )
        )
      (b! #t cfg-14 :delay (nop!))
      (the-as none 0)
      (label cfg-13)
      (set! v0-1 #f)
      (b! #t cfg-20 :delay (nop!))
      (label cfg-14)
      (let ((a0-6 (-> arg0 tlist)))
        (b! (= a0-6 #f) cfg-16 :delay (nop!))
        (add-touching-prims a0-6 obj arg1 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
        )
      (label cfg-16)
      (b! (zero? (logand (-> arg0 options) 1)) cfg-19 :delay (set! v1-26 (-> obj prim-core action)))
      (let ((a0-7 (-> arg1 prim-core action)))
        (b! (logtest? (logand v1-26 (collide-action solid)) a0-7) cfg-19 :delay (nop!))
        )
      (set! v0-1 #f)
      (b! #t cfg-20 :delay (nop!))
      (label cfg-19)
      (set! v0-1 #t)
      (label cfg-20)
      v0-1
      )
    )
  )

(defmethod overlaps-others-test collide-shape-prim-mesh ((obj collide-shape-prim-mesh) (arg0 overlaps-others-params) (arg1 collide-shape-prim))
  (local-vars (v1-26 collide-action))
  (let ((v1-0 (-> arg1 prim-core prim-type)))
    (b! (nonzero? v1-0) cfg-2 :delay (nop!))
    (let ((v0-1 (overlaps-others-group obj arg0 (the-as collide-shape-prim-group arg1))))
      (b! #t cfg-20 :delay (nop!))
      (label cfg-2)
      (b! (> v1-0 0) cfg-13 :delay (nop!))
      (let ((s3-0 (-> obj mesh)))
        (b! (not s3-0) cfg-12)
        (let ((s2-0 *collide-mesh-cache*))
          (let ((v1-4 (-> s2-0 id)))
            (b! (= (-> obj mesh-cache-id) v1-4) cfg-9)
            )
          (let ((v1-8 (allocate! s2-0 (* 96 (-> s3-0 num-tris)))))
            (b! (not v1-8) cfg-7 :delay (nop!))
            (set! (-> obj mesh-cache-tris) (the-as (inline-array collide-mesh-cache-tri) v1-8))
            )
          (set! (-> obj mesh-cache-id) (-> s2-0 id))
          )
        (populate-cache!
          s3-0
          (the-as collide-mesh-cache-tri (-> obj mesh-cache-tris))
          (-> obj cshape process node-list data (-> obj transform-index) bone transform)
          )
        (b! #t cfg-9 :delay (nop!))
        (label cfg-7)
        (set! v0-1 #f)
        (b! #t cfg-20 :delay (nop!))
        (the-as none 0)
        (label cfg-9)
        (b!
          (not
            (overlap-test
              s3-0
              (the-as collide-mesh-cache-tri (-> obj mesh-cache-tris))
              (the-as vector (-> arg1 prim-core))
              )
            )
          cfg-12
          )
        )
      (b! #t cfg-14 :delay (nop!))
      (the-as none 0)
      (label cfg-12)
      (set! v0-1 #f)
      (b! #t cfg-20 :delay (nop!))
      (label cfg-13)
      (format
        0
        "ERROR: Unsupported mesh -> mesh test attempted in collide-shape-prim-mesh::overlaps-others-test!~%"
        )
      (set! v0-1 #f)
      (b! #t cfg-20 :delay (nop!))
      (label cfg-14)
      (let ((a0-7 (-> arg0 tlist)))
        (b! (= a0-7 #f) cfg-16 :delay (nop!))
        (add-touching-prims a0-7 obj arg1 -1.0 (the-as collide-tri-result #f) (the-as collide-tri-result #f))
        )
      (label cfg-16)
      (b! (zero? (logand (-> arg0 options) 1)) cfg-19 :delay (set! v1-26 (-> obj prim-core action)))
      (let ((a0-8 (-> arg1 prim-core action)))
        (b! (logtest? (logand v1-26 (collide-action solid)) a0-8) cfg-19 :delay (nop!))
        )
      (set! v0-1 #f)
      (b! #t cfg-20 :delay (nop!))
      (label cfg-19)
      (set! v0-1 #t)
      (label cfg-20)
      v0-1
      )
    )
  )

(defmethod clear-collide-with-as collide-shape ((obj collide-shape))
  (set! (-> obj root-prim collide-with) (collide-kind))
  (set! (-> obj root-prim prim-core collide-as) (collide-kind))
  0
  (none)
  )

(defmethod backup-collide-with-as collide-shape ((obj collide-shape))
  (set! (-> obj backup-collide-with) (-> obj root-prim collide-with))
  (set! (-> obj backup-collide-as) (-> obj root-prim prim-core collide-as))
  0
  (none)
  )

(defmethod restore-collide-with-as collide-shape ((obj collide-shape))
  (set! (-> obj root-prim collide-with) (-> obj backup-collide-with))
  (set! (-> obj root-prim prim-core collide-as) (-> obj backup-collide-as))
  0
  (none)
  )

(defmethod set-collide-kinds collide-shape ((obj collide-shape) (arg0 int) (arg1 collide-kind) (arg2 collide-kind))
  (let ((s3-0 (-> obj root-prim)))
    (if (logtest? (-> s3-0 prim-id) arg0)
        (set! (-> s3-0 prim-core collide-as) (logior (logclear (-> s3-0 prim-core collide-as) arg1) arg2))
        )
    (let ((v1-7 (if (and (nonzero? s3-0) (type-type? (-> s3-0 type) collide-shape-prim-group))
                    s3-0
                    )
                )
          )
      (when v1-7
        (dotimes (a0-4 (-> (the-as collide-shape-prim-group v1-7) num-prims))
          (let ((a1-4 (-> (the-as collide-shape-prim-group v1-7) prims a0-4)))
            (if (logtest? (-> a1-4 prim-id) arg0)
                (set! (-> a1-4 prim-core collide-as) (logior (logclear (-> a1-4 prim-core collide-as) arg1) arg2))
                )
            )
          )
        )
      )
    )
  0
  (none)
  )

(defmethod set-collide-offense collide-shape ((obj collide-shape) (arg0 int) (arg1 collide-offense))
  (let ((s4-0 (-> obj root-prim)))
    (if (logtest? (-> s4-0 prim-id) arg0)
        (set! (-> s4-0 prim-core offense) arg1)
        )
    (let ((v1-5 (if (and (nonzero? s4-0) (type-type? (-> s4-0 type) collide-shape-prim-group))
                    s4-0
                    )
                )
          )
      (when v1-5
        (dotimes (a0-3 (-> (the-as collide-shape-prim-group v1-5) num-prims))
          (let ((a1-4 (-> (the-as collide-shape-prim-group v1-5) prims a0-3)))
            (if (logtest? (-> a1-4 prim-id) arg0)
                (set! (-> a1-4 prim-core offense) arg1)
                )
            )
          )
        )
      )
    )
  0
  (none)
  )

(defmethod send-shove-back collide-shape ((obj collide-shape) (arg0 process) (arg1 touching-shapes-entry) (arg2 float) (arg3 float) (arg4 float))
  (local-vars (sv-144 process))
  (with-pp
    (when arg1
      (let ((s1-0 (-> arg1 head)))
        (set! sv-144 arg0)
        (let ((s5-0 (if (and (nonzero? sv-144) (type-type? (-> sv-144 type) process-drawable))
                        sv-144
                        )
                    )
              )
          (when (and s1-0 s5-0)
            (let ((s0-1 (get-touched-prim s1-0 obj arg1)))
              (get-touched-prim s1-0 (-> (the-as process-drawable s5-0) root) arg1)
              (let* ((v1-8 (get-middle-of-bsphere-overlap s1-0 (new 'stack-no-clear 'vector)))
                     (s1-2 (vector-! (new 'stack-no-clear 'vector) v1-8 (the-as vector (-> s0-1 prim-core))))
                     )
                (vector-normalize! s1-2 1.0)
                (when (< arg2 (-> s1-2 y))
                  (let ((s2-1 (new 'stack-no-clear 'vector)))
                    (set! (-> s2-1 quad) (-> (the-as process-drawable s5-0) root transv quad))
                    (let ((f30-0 (vector-xz-length (-> (the-as process-drawable s5-0) root transv))))
                      (if (= f30-0 0.0)
                          (set! (-> s2-1 quad) (-> (vector-z-quaternion! s2-1 (-> (the-as process-drawable s5-0) root quat)) quad))
                          )
                      (vector-xz-normalize! s2-1 (fmax f30-0 arg4))
                      )
                    (set! (-> s2-1 y) arg3)
                    (let ((a1-8 (new 'stack-no-clear 'event-message-block)))
                      (set! (-> a1-8 from) pp)
                      (set! (-> a1-8 num-params) 2)
                      (set! (-> a1-8 message) 'shove)
                      (set! (-> a1-8 param 0) (the-as uint arg1))
                      (let ((v1-18 (new 'static 'attack-info :mask #x802)))
                        (set! (-> v1-18 vector quad) (-> s2-1 quad))
                        (set! (-> v1-18 angle) 'jump)
                        (set! (-> a1-8 param 1) (the-as uint v1-18))
                        )
                      (send-event-function s5-0 a1-8)
                      )
                    )
                  )
                )
              )
            )
          )
        )
      )
    (none)
    )
  )

(defmethod dummy-41 collide-shape ((obj collide-shape) (arg0 attack-info) (arg1 float))
  (set! (-> arg0 shove-up) arg1)
  (let* ((s3-0 (-> obj process path))
         (s2-0 (-> s3-0 curve num-cverts))
         (s4-0 (target-pos 0))
         (s1-0 (new 'stack-no-clear 'vector))
         (s5-0 (new 'stack-no-clear 'vector))
         )
    (let ((f30-0 -1.0))
      (dotimes (s0-0 s2-0)
        (eval-path-curve-div! s3-0 s1-0 (the float s0-0) 'interp)
        (let ((f0-3 (vector-vector-distance-squared s4-0 s1-0)))
          (when (or (< f30-0 0.0) (< f0-3 f30-0))
            (set! f30-0 f0-3)
            (set! (-> s5-0 quad) (-> s1-0 quad))
            )
          )
        )
      )
    (vector-! (-> arg0 vector) s5-0 s4-0)
    )
  )