mirror of
https://github.com/open-goal/jak-project
synced 2026-06-25 18:14:34 -04:00
Tyler Wilding
836 lines
30 KiB
Common Lisp
Vendored
Generated
836 lines
30 KiB
Common Lisp
Vendored
Generated
;;-*-Lisp-*-
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(in-package goal)
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;; definition of type joint-mod
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(deftype joint-mod (basic)
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"Utility to modify a joint transform from code, rather than just getting it from animation.
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This is used to make jak look toward an enemy, for example."
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((mode joint-mod-mode)
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(process process-drawable)
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(joint cspace)
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(target vector :inline)
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(twist vector :inline)
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(twist-max vector :inline)
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(extra-twist degrees :overlay-at (-> twist data 2))
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(track-mode track-mode :overlay-at (-> twist data 3))
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(loock-at-count uint16 :offset 46)
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(twist-range-x meters :overlay-at (-> twist-max data 2))
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(twist-range-y meters :overlay-at (-> twist-max data 3))
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(twist-speed-x float :offset 64)
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(twist-speed-y float :offset 68)
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(twist-min-x float :offset 72)
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(twist-min-y float :offset 76)
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(trans vector :inline)
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(shmushy-old float :overlay-at (-> trans data 0))
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(smushy-off float :overlay-at (-> trans data 1))
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(smushyv float :overlay-at (-> trans data 2))
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(quat quaternion :inline)
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(scale vector :inline)
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(notice-time time-frame)
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(flex-blend float)
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(blend float)
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(max-dist meters)
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(ignore-angle degrees)
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(up uint8)
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(nose uint8)
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(ear uint8)
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(base-joint uint8)
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(base-nose uint8)
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(shutting-down? symbol)
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(parented-scale? symbol)
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(polar-internal-tilt-max float)
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(polar-internal-radius float)
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(polar-external-tilt-max float)
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(polar-external-radius float)
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)
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(:methods
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(new (symbol type joint-mod-mode process-drawable int) _type_)
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(mode-set! (_type_ joint-mod-mode) none)
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(target-set! (_type_ vector) none)
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(look-at! (_type_ vector symbol process) none :behavior process)
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(reset-blend! (_type_) _type_)
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(twist-set! (_type_ float float float) vector)
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(trs-set! (_type_ vector quaternion vector) none)
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(shut-down (_type_) none)
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)
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)
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;; definition for method 3 of type joint-mod
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(defmethod inspect ((this joint-mod))
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(when (not this)
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(set! this this)
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(goto cfg-18)
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)
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(format #t "[~8x] ~A~%" this (-> this type))
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(format #t "~1Tmode: ~D~%" (-> this mode))
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(format #t "~1Tprocess: ~A~%" (-> this process))
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(format #t "~1Tjoint: #<cspace @ #x~X>~%" (-> this joint))
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(format #t "~1Ttarget: ~`vector`P~%" (-> this target))
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(format #t "~1Ttwist: ~`vector`P~%" (-> this twist))
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(format #t "~1Ttwist-max: ~`vector`P~%" (-> this twist-max))
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(format #t "~1Textra-twist: (deg ~r)~%" (-> this twist z))
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(format #t "~1Ttrack-mode: #x~X : (track-mode " (-> this track-mode))
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(let ((s5-0 (-> this track-mode)))
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(if (= (logand s5-0 (track-mode track-on)) (track-mode track-on))
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(format #t "track-on ")
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)
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(if (= (logand s5-0 (track-mode no-rotate)) (track-mode no-rotate))
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(format #t "no-rotate ")
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)
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(if (= (logand s5-0 (track-mode lock-on)) (track-mode lock-on))
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(format #t "lock-on ")
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)
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(if (= (logand s5-0 (track-mode no-scale)) (track-mode no-scale))
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(format #t "no-scale ")
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)
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(if (= (logand s5-0 (track-mode track-x)) (track-mode track-x))
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(format #t "track-x ")
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)
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(if (= (logand s5-0 (track-mode track-y)) (track-mode track-y))
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(format #t "track-y ")
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)
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(if (= (logand s5-0 (track-mode no-trans)) (track-mode no-trans))
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(format #t "no-trans ")
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)
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)
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(format #t ")~%")
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(format #t "~1Tlook-at-count: ~D~%" (-> this loock-at-count))
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(format #t "~1Ttwist-range-x: (meters ~m)~%" (-> this twist-max z))
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(format #t "~1Ttwist-range-y: (meters ~m)~%" (-> this twist-max w))
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(format #t "~1Ttwist-speed-x: ~f~%" (-> this twist-speed-x))
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(format #t "~1Ttwist-speed-y: ~f~%" (-> this twist-speed-y))
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(format #t "~1Ttwist-min-x: ~f~%" (-> this twist-min-x))
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(format #t "~1Ttwist-min-y: ~f~%" (-> this twist-min-y))
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(format #t "~1Ttrans: ~`vector`P~%" (-> this trans))
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(format #t "~1Tsmushy-old: ~f~%" (-> this trans x))
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(format #t "~1Tsmushy-off: ~f~%" (-> this trans y))
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(format #t "~1Tsmushyv: ~f~%" (-> this trans z))
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(format #t "~1Tquat: ~`quaternion`P~%" (-> this quat))
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(format #t "~1Tscale: ~`vector`P~%" (-> this scale))
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(format #t "~1Tnotice-time: ~D~%" (-> this notice-time))
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(format #t "~1Tflex-blend: ~f~%" (-> this flex-blend))
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(format #t "~1Tblend: ~f~%" (-> this blend))
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(format #t "~1Tmax-dist: (meters ~m)~%" (-> this max-dist))
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(format #t "~1Tignore-angle: (deg ~r)~%" (-> this ignore-angle))
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(format #t "~1Tup: ~D~%" (-> this up))
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(format #t "~1Tnose: ~D~%" (-> this nose))
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(format #t "~1Tear: ~D~%" (-> this ear))
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(format #t "~1Tbase-joint: ~D~%" (-> this base-joint))
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(format #t "~1Tbase-nose: ~D~%" (-> this base-nose))
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(format #t "~1Tshutting-down?: ~A~%" (-> this shutting-down?))
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(format #t "~1Tparented-scale?: ~A~%" (-> this parented-scale?))
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(format #t "~1Tpolar-internal-tilt-max: ~f~%" (-> this polar-internal-tilt-max))
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(format #t "~1Tpolar-internal-radius: ~f~%" (-> this polar-internal-radius))
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(format #t "~1Tpolar-external-tilt-max: ~f~%" (-> this polar-external-tilt-max))
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(format #t "~1Tpolar-external-radius: ~f~%" (-> this polar-external-radius))
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(label cfg-18)
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this
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)
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;; definition of type try-to-look-at-info
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(deftype try-to-look-at-info (basic)
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((who handle)
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(horz float)
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(vert float)
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)
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)
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;; definition for method 3 of type try-to-look-at-info
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(defmethod inspect ((this try-to-look-at-info))
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(when (not this)
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(set! this this)
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(goto cfg-4)
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)
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(format #t "[~8x] ~A~%" this (-> this type))
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(format #t "~1Twho: ~D~%" (-> this who))
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(format #t "~1Thorz: ~f~%" (-> this horz))
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(format #t "~1Tvert: ~f~%" (-> this vert))
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(label cfg-4)
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this
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)
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;; definition (debug) for function joint-mod-debug-draw
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;; WARN: Return type mismatch int vs none.
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(defun-debug joint-mod-debug-draw ((jmod joint-mod))
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"Debug draw the bone transform for the associated bone of a joint-mod"
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(add-debug-matrix #t (bucket-id debug-no-zbuf1) (-> jmod joint bone transform) (meters 2))
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0
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(none)
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)
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;; definition for method 12 of type joint-mod
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(defmethod reset-blend! ((this joint-mod))
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"Set the blend to 0."
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(set! (-> this blend) 0.0)
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this
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)
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;; definition for symbol *joint-axis-vectors*, type (inline-array vector)
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(define *joint-axis-vectors* (new 'static 'inline-array vector 6
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(new 'static 'vector :x 1.0 :w 1.0)
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(new 'static 'vector :y 1.0 :w 1.0)
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(new 'static 'vector :z 1.0 :w 1.0)
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(new 'static 'vector :x -1.0 :w 1.0)
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(new 'static 'vector :y -1.0 :w 1.0)
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(new 'static 'vector :z -1.0 :w 1.0)
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)
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)
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;; definition of type joint-mod-wheel
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(deftype joint-mod-wheel (basic)
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((last-position vector :inline)
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(angle float)
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(process process-drawable)
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(wheel-radius float)
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(wheel-axis int8)
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)
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(:methods
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(new (symbol type process-drawable int float int) _type_)
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)
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)
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;; definition for method 3 of type joint-mod-wheel
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(defmethod inspect ((this joint-mod-wheel))
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(when (not this)
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(set! this this)
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(goto cfg-4)
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)
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(format #t "[~8x] ~A~%" this (-> this type))
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(format #t "~1Tlast-position: #<vector @ #x~X>~%" (-> this last-position))
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(format #t "~1Tangle: ~f~%" (-> this angle))
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(format #t "~1Tprocess: ~A~%" (-> this process))
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(format #t "~1Twheel-radius: ~f~%" (-> this wheel-radius))
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(format #t "~1Twheel-axis: ~D~%" (-> this wheel-axis))
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(label cfg-4)
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this
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)
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;; definition for function joint-mod-wheel-callback
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;; INFO: Used lq/sq
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(defun joint-mod-wheel-callback ((arg0 cspace) (arg1 transformq))
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(let ((s4-0 (the-as joint-mod-wheel (-> arg0 param1))))
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(let ((v1-1 (-> s4-0 process root))
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(s1-0 (new-stack-vector0))
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(s3-0 (new-stack-vector0))
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(s2-0 (new-stack-vector0))
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)
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0.0
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0.0
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(vector-z-quaternion! s2-0 (-> v1-1 quat))
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(vector<-cspace! s1-0 arg0)
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(vector-! s3-0 s1-0 (-> s4-0 last-position))
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(set! (-> s4-0 last-position quad) (-> s1-0 quad))
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(let* ((f0-3 (vector-dot s2-0 s3-0))
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(f1-0 65536.0)
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(f2-1 (* 6.28318 (-> s4-0 wheel-radius)))
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(f0-4 (* f1-0 (/ 1.0 f2-1) f0-3))
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)
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(+! (-> s4-0 angle) f0-4)
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)
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)
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(quaternion-vector-angle! (-> arg1 quat) (-> *joint-axis-vectors* (-> s4-0 wheel-axis)) (-> s4-0 angle))
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)
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(cspace<-parented-transformq-joint! arg0 arg1)
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(none)
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)
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;; definition for method 0 of type joint-mod-wheel
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(defmethod new joint-mod-wheel ((allocation symbol) (type-to-make type) (arg0 process-drawable) (arg1 int) (arg2 float) (arg3 int))
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(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
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(set! (-> v0-0 process) arg0)
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(set! (-> v0-0 wheel-radius) arg2)
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(set! (-> v0-0 wheel-axis) arg3)
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(set! (-> v0-0 angle) 0.0)
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(set-vector! (-> v0-0 last-position) 0.0 0.0 0.0 1.0)
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(let ((a0-3 (-> arg0 node-list data arg1)))
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(set! (-> a0-3 param0) joint-mod-wheel-callback)
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(set! (-> a0-3 param1) v0-0)
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)
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v0-0
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)
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)
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;; definition of type joint-mod-set-local
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(deftype joint-mod-set-local (basic)
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"Override the trans, quat, and scale of the joint transform. The component to override is selected by the flag."
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((transform transformq :inline)
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(set-rotation symbol)
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(set-scale symbol)
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(set-translation symbol)
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(enable symbol)
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)
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(:methods
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(new (symbol type process-drawable int symbol symbol symbol) _type_)
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)
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)
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;; definition for method 3 of type joint-mod-set-local
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(defmethod inspect ((this joint-mod-set-local))
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(when (not this)
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(set! this this)
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(goto cfg-4)
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)
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(format #t "[~8x] ~A~%" this (-> this type))
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(format #t "~1Ttransform: #<transformq @ #x~X>~%" (-> this transform))
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(format #t "~1Tset-rotation: ~A~%" (-> this set-rotation))
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(format #t "~1Tset-scale: ~A~%" (-> this set-scale))
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(format #t "~1Tset-translation: ~A~%" (-> this set-translation))
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(format #t "~1Tenable: ~A~%" (-> this enable))
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(label cfg-4)
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this
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)
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;; definition for function joint-mod-set-local-callback
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;; INFO: Used lq/sq
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(defun joint-mod-set-local-callback ((arg0 cspace) (arg1 transformq))
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"Callback for joint-mod-rotate-local. See comment on that type."
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(let ((v1-0 (the-as joint-mod-set-local (-> arg0 param1))))
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(cond
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((-> v1-0 enable)
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(if (not (-> v1-0 set-translation))
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(set! (-> v1-0 transform trans quad) (-> arg1 trans quad))
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)
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(if (not (-> v1-0 set-rotation))
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(set! (-> v1-0 transform quat quad) (-> arg1 quat quad))
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)
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(if (not (-> v1-0 set-scale))
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(set! (-> v1-0 transform scale quad) (-> arg1 scale quad))
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)
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(cspace<-parented-transformq-joint! arg0 (-> v1-0 transform))
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)
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(else
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(cspace<-parented-transformq-joint! arg0 arg1)
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)
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)
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)
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(none)
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)
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;; definition for method 0 of type joint-mod-set-local
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;; INFO: Used lq/sq
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(defmethod new joint-mod-set-local ((allocation symbol)
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(type-to-make type)
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(arg0 process-drawable)
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(arg1 int)
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(arg2 symbol)
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(arg3 symbol)
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(arg4 symbol)
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)
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(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
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(set! (-> v0-0 set-translation) arg2)
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(set! (-> v0-0 set-rotation) arg3)
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(set! (-> v0-0 set-scale) arg4)
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(set! (-> v0-0 enable) #t)
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(set! (-> v0-0 transform trans quad) (-> *null-vector* quad))
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(set! (-> v0-0 transform quat quad) (-> *null-vector* quad))
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(set! (-> v0-0 transform scale quad) (-> *identity-vector* quad))
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(let ((a0-8 (-> arg0 node-list data arg1)))
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(set! (-> a0-8 param0) joint-mod-set-local-callback)
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(set! (-> a0-8 param1) v0-0)
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)
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v0-0
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)
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)
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;; definition of type joint-mod-add-local
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(deftype joint-mod-add-local (basic)
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"Add to the trans, rotate the quat, and multiply the scale of the joint transform. The components can be selected by the flag.
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Unlike jak 2, this actually multiplies the scale, instead of adding."
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((transform transformq :inline)
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(add-rotation symbol)
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(add-scale symbol)
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(add-translation symbol)
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(enable symbol)
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)
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(:methods
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(new (symbol type process-drawable int symbol symbol symbol) _type_)
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)
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)
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;; definition for method 3 of type joint-mod-add-local
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(defmethod inspect ((this joint-mod-add-local))
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(when (not this)
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(set! this this)
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(goto cfg-4)
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)
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(format #t "[~8x] ~A~%" this (-> this type))
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(format #t "~1Ttransform: #<transformq @ #x~X>~%" (-> this transform))
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(format #t "~1Tadd-rotation: ~A~%" (-> this add-rotation))
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(format #t "~1Tadd-scale: ~A~%" (-> this add-scale))
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(format #t "~1Tadd-translation: ~A~%" (-> this add-translation))
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(format #t "~1Tenable: ~A~%" (-> this enable))
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(label cfg-4)
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this
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)
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|
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;; definition for function joint-mod-add-local-callback
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(defun joint-mod-add-local-callback ((arg0 cspace) (arg1 transformq))
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"Callback for joint-mod-add-local. See comment on that type."
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(let ((s4-0 (the-as joint-mod-add-local (-> arg0 param1))))
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(when (-> s4-0 enable)
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(if (-> s4-0 add-translation)
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(vector+! (-> arg1 trans) (-> arg1 trans) (the-as vector (-> s4-0 transform)))
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)
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(if (-> s4-0 add-rotation)
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(quaternion-normalize! (quaternion*! (-> arg1 quat) (-> arg1 quat) (-> s4-0 transform quat)))
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)
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(if (-> s4-0 add-scale)
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(vector+! (-> arg1 scale) (-> arg1 scale) (-> s4-0 transform scale))
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)
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)
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)
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(cspace<-parented-transformq-joint! arg0 arg1)
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(none)
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)
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;; definition for method 0 of type joint-mod-add-local
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;; INFO: Used lq/sq
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(defmethod new joint-mod-add-local ((allocation symbol)
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(type-to-make type)
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(arg0 process-drawable)
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(arg1 int)
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(arg2 symbol)
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(arg3 symbol)
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(arg4 symbol)
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)
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(let ((gp-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
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(set! (-> gp-0 add-translation) arg2)
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(set! (-> gp-0 add-rotation) arg3)
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(set! (-> gp-0 add-scale) arg4)
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(set! (-> gp-0 enable) #t)
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(set! (-> gp-0 transform trans quad) (-> *null-vector* quad))
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(quaternion-copy! (-> gp-0 transform quat) *unity-quaternion*)
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(set! (-> gp-0 transform scale quad) (-> *identity-vector* quad))
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(let ((a0-7 (-> arg0 node-list data arg1)))
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(set! (-> a0-7 param0) joint-mod-add-local-callback)
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(set! (-> a0-7 param1) gp-0)
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)
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gp-0
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)
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)
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;; definition of type joint-mod-set-world
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(deftype joint-mod-set-world (basic)
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|
"Directly overwrite the _bone_ transform (ignoring the parent entirely).
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This does not pay attention to the flags."
|
|
((transform transformq :inline)
|
|
(node-index int32)
|
|
(enable symbol)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int symbol) _type_)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-set-world
|
|
(defmethod inspect ((this joint-mod-set-world))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Ttransform: #<transformq @ #x~X>~%" (-> this transform))
|
|
(format #t "~1Tnode-index: ~D~%" (-> this node-index))
|
|
(format #t "~1Tenable: ~A~%" (-> this enable))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; definition for function joint-mod-set-world-callback
|
|
;; WARN: Return type mismatch object vs none.
|
|
(defun joint-mod-set-world-callback ((arg0 cspace) (arg1 transformq))
|
|
"Callback for joint-mod-set-world. See comment on that type."
|
|
(let ((v1-0 (the-as joint-mod-set-world (-> arg0 param1))))
|
|
(if (-> v1-0 enable)
|
|
(cspace<-transformq! arg0 (-> v1-0 transform))
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
)
|
|
)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod-set-world
|
|
;; INFO: Used lq/sq
|
|
(defmethod new joint-mod-set-world ((allocation symbol) (type-to-make type) (arg0 process-drawable) (arg1 int) (arg2 symbol))
|
|
(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> v0-0 node-index) arg1)
|
|
(set! (-> v0-0 enable) arg2)
|
|
(set! (-> v0-0 transform trans quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform quat quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform scale quad) (-> *identity-vector* quad))
|
|
(let ((a0-8 (-> arg0 node-list data arg1)))
|
|
(set! (-> a0-8 param0) joint-mod-set-world-callback)
|
|
(set! (-> a0-8 param1) v0-0)
|
|
)
|
|
v0-0
|
|
)
|
|
)
|
|
|
|
;; definition of type joint-mod-blend-local
|
|
(deftype joint-mod-blend-local (basic)
|
|
"Blend the _joint_ transform between this transform and the animated one.
|
|
Then, apply the normal parented transform."
|
|
((transform transformq :inline)
|
|
(blend-transform transformq :inline)
|
|
(node-index int32)
|
|
(blend float)
|
|
(enable symbol)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int symbol) _type_)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-blend-local
|
|
(defmethod inspect ((this joint-mod-blend-local))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Ttransform: #<transformq @ #x~X>~%" (-> this transform))
|
|
(format #t "~1Tblend-transform: #<transformq @ #x~X>~%" (-> this blend-transform))
|
|
(format #t "~1Tnode-index: ~D~%" (-> this node-index))
|
|
(format #t "~1Tblend: ~f~%" (-> this blend))
|
|
(format #t "~1Tenable: ~A~%" (-> this enable))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; definition for function joint-mod-blend-local-callback
|
|
(defun joint-mod-blend-local-callback ((arg0 cspace) (arg1 transformq))
|
|
"Callback for joint-mod-blend-local. See comment on that type."
|
|
(let ((gp-0 (the-as joint-mod-blend-local (-> arg0 param1))))
|
|
(cond
|
|
((-> gp-0 enable)
|
|
(vector-lerp!
|
|
(the-as vector (-> gp-0 blend-transform))
|
|
(-> arg1 trans)
|
|
(the-as vector (-> gp-0 transform))
|
|
(-> gp-0 blend)
|
|
)
|
|
(vector-lerp! (-> gp-0 blend-transform scale) (-> arg1 scale) (-> gp-0 transform scale) (-> gp-0 blend))
|
|
(quaternion-slerp! (-> gp-0 blend-transform quat) (-> arg1 quat) (-> gp-0 transform quat) (-> gp-0 blend))
|
|
(cspace<-parented-transformq-joint! arg0 (-> gp-0 blend-transform))
|
|
)
|
|
(else
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
)
|
|
)
|
|
)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod-blend-local
|
|
;; INFO: Used lq/sq
|
|
(defmethod new joint-mod-blend-local ((allocation symbol) (type-to-make type) (arg0 process-drawable) (arg1 int) (arg2 symbol))
|
|
(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> v0-0 node-index) arg1)
|
|
(set! (-> v0-0 enable) arg2)
|
|
(set! (-> v0-0 blend) 0.0)
|
|
(set! (-> v0-0 transform trans quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform quat quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform scale quad) (-> *identity-vector* quad))
|
|
(let ((a0-8 (-> arg0 node-list data arg1)))
|
|
(set! (-> a0-8 param0) joint-mod-blend-local-callback)
|
|
(set! (-> a0-8 param1) v0-0)
|
|
)
|
|
v0-0
|
|
)
|
|
)
|
|
|
|
;; definition of type joint-mod-spinner
|
|
(deftype joint-mod-spinner (basic)
|
|
"Control a joint by just spinning it around an axis."
|
|
((spin-axis vector :inline)
|
|
(angle float)
|
|
(spin-rate float)
|
|
(enable symbol)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int vector float) _type_)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-spinner
|
|
(defmethod inspect ((this joint-mod-spinner))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Tspin-axis: #<vector @ #x~X>~%" (-> this spin-axis))
|
|
(format #t "~1Tangle: ~f~%" (-> this angle))
|
|
(format #t "~1Tspin-rate: ~f~%" (-> this spin-rate))
|
|
(format #t "~1Tenable: ~A~%" (-> this enable))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; definition for function joint-mod-spinner-callback
|
|
(defun joint-mod-spinner-callback ((bone-cspace cspace) (joint-transform transformq))
|
|
"cspace callback for joint-mod-spinner. Update the cspace's bone from the parent transformq, plus the rotation from this spinner."
|
|
(let ((gp-0 (the-as joint-mod-spinner (-> bone-cspace param1))))
|
|
(when (-> gp-0 enable)
|
|
(let ((f30-0
|
|
(the float (sar (shl (the int (+ (-> gp-0 angle) (* (-> gp-0 spin-rate) (seconds-per-frame)))) 48) 48))
|
|
)
|
|
)
|
|
(quaternion-vector-angle! (-> joint-transform quat) (-> gp-0 spin-axis) f30-0)
|
|
(set! (-> gp-0 angle) f30-0)
|
|
)
|
|
)
|
|
)
|
|
(cspace<-parented-transformq-joint! bone-cspace joint-transform)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod-spinner
|
|
;; INFO: Used lq/sq
|
|
(defmethod new joint-mod-spinner ((allocation symbol) (type-to-make type) (proc process-drawable) (bone-idx int) (axis vector) (rate float))
|
|
(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> v0-0 spin-axis quad) (-> axis quad))
|
|
(set! (-> v0-0 spin-rate) rate)
|
|
(set! (-> v0-0 enable) #t)
|
|
(set! (-> v0-0 angle) 0.0)
|
|
(let ((a0-3 (-> proc node-list data bone-idx)))
|
|
(set! (-> a0-3 param0) joint-mod-spinner-callback)
|
|
(set! (-> a0-3 param1) v0-0)
|
|
)
|
|
v0-0
|
|
)
|
|
)
|
|
|
|
;; definition of type joint-mod-blend-world
|
|
(deftype joint-mod-blend-world (basic)
|
|
"Blend the _bone_ transform between this one and the animated one."
|
|
((transform transformq :inline)
|
|
(blend-transform transformq :inline)
|
|
(blend-flags joint-mod-blend-flags)
|
|
(node-index int32)
|
|
(blend float)
|
|
(enable symbol)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int symbol float) _type_)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-blend-world
|
|
(defmethod inspect ((this joint-mod-blend-world))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Ttransform: #<transformq @ #x~X>~%" (-> this transform))
|
|
(format #t "~1Tblend-transform: #<transformq @ #x~X>~%" (-> this blend-transform))
|
|
(format #t "~1Tblend-flags: ~D~%" (-> this blend-flags))
|
|
(format #t "~1Tnode-index: ~D~%" (-> this node-index))
|
|
(format #t "~1Tblend: ~f~%" (-> this blend))
|
|
(format #t "~1Tenable: ~A~%" (-> this enable))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; definition for function joint-mod-blend-world-callback
|
|
;; WARN: Return type mismatch object vs none.
|
|
(defun joint-mod-blend-world-callback ((arg0 cspace) (arg1 transformq))
|
|
"Callback for joint-mod-blend-local. See comment on that type."
|
|
(rlet ((vf0 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(let ((gp-0 (the-as joint-mod-blend-world (-> arg0 param1))))
|
|
(cond
|
|
((-> gp-0 enable)
|
|
(let ((f30-0 (if (logtest? (-> gp-0 blend-flags) (joint-mod-blend-flags trans))
|
|
(-> gp-0 blend)
|
|
0.0
|
|
)
|
|
)
|
|
(f28-0 (if (logtest? (-> gp-0 blend-flags) (joint-mod-blend-flags scale))
|
|
(-> gp-0 blend)
|
|
0.0
|
|
)
|
|
)
|
|
(f26-0 (if (logtest? (-> gp-0 blend-flags) (joint-mod-blend-flags rotation))
|
|
(-> gp-0 blend)
|
|
0.0
|
|
)
|
|
)
|
|
(s0-0 (new 'stack-no-clear 'matrix))
|
|
(s2-0 (new 'stack-no-clear 'matrix))
|
|
(s3-0 (new 'stack-no-clear 'quaternion))
|
|
)
|
|
(let ((s1-0 (new 'stack-no-clear 'vector)))
|
|
(if (= (-> arg0 parent bone scale w) 0.0)
|
|
(matrix<-transformq! s0-0 arg1)
|
|
(matrix<-parented-transformq! s0-0 arg1 (-> arg0 parent bone scale))
|
|
)
|
|
(matrix*! s2-0 s0-0 (-> arg0 parent bone transform))
|
|
(set-vector!
|
|
s1-0
|
|
(vector-length (the-as vector (-> s2-0 vector)))
|
|
(vector-length (-> s2-0 vector 1))
|
|
(vector-length (-> s2-0 vector 2))
|
|
1.0
|
|
)
|
|
(let ((v1-19 (-> gp-0 blend-transform scale)))
|
|
(let ((a0-11 (-> arg1 scale)))
|
|
(.lvf vf4 (&-> s1-0 quad))
|
|
(.lvf vf5 (&-> a0-11 quad))
|
|
)
|
|
(.add.x.vf vf6 vf0 vf0 :mask #b1000)
|
|
(.mul.vf vf6 vf4 vf5 :mask #b111)
|
|
(.svf (&-> v1-19 quad) vf6)
|
|
)
|
|
)
|
|
(vector-lerp!
|
|
(the-as vector (-> gp-0 blend-transform))
|
|
(-> s2-0 trans)
|
|
(the-as vector (-> gp-0 transform))
|
|
f30-0
|
|
)
|
|
(vector-lerp! (-> gp-0 blend-transform scale) (-> gp-0 blend-transform scale) (-> gp-0 transform scale) f28-0)
|
|
(quaternion-slerp!
|
|
(-> gp-0 blend-transform quat)
|
|
(matrix->quaternion s3-0 s2-0)
|
|
(-> gp-0 transform quat)
|
|
f26-0
|
|
)
|
|
)
|
|
(cspace<-transformq! arg0 (-> gp-0 blend-transform))
|
|
)
|
|
(else
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
)
|
|
)
|
|
)
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod-blend-world
|
|
;; INFO: Used lq/sq
|
|
(defmethod new joint-mod-blend-world ((allocation symbol) (type-to-make type) (arg0 process-drawable) (arg1 int) (arg2 symbol) (arg3 float))
|
|
(let ((v0-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> v0-0 node-index) arg1)
|
|
(set! (-> v0-0 enable) arg2)
|
|
(set! (-> v0-0 blend) arg3)
|
|
(set! (-> v0-0 transform trans quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform quat quad) (-> *null-vector* quad))
|
|
(set! (-> v0-0 transform scale quad) (-> *identity-vector* quad))
|
|
(let ((a0-8 (-> arg0 node-list data arg1)))
|
|
(set! (-> a0-8 param0) joint-mod-blend-world-callback)
|
|
(set! (-> a0-8 param1) v0-0)
|
|
)
|
|
v0-0
|
|
)
|
|
)
|
|
|
|
;; definition of type joint-mod-rotate-local
|
|
(deftype joint-mod-rotate-local (basic)
|
|
((enable symbol)
|
|
(rotation quaternion :inline)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int symbol) _type_)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-rotate-local
|
|
(defmethod inspect ((this joint-mod-rotate-local))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Tenable: ~A~%" (-> this enable))
|
|
(format #t "~1Trotation: #<quaternion @ #x~X>~%" (-> this rotation))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; definition for function joint-mod-rotate-local-callback
|
|
(defun joint-mod-rotate-local-callback ((arg0 cspace) (arg1 transformq))
|
|
"Apply an additional rotation to the transform (left side quaternion multiplication"
|
|
(let ((v1-0 (the-as joint-mod-rotate-local (-> arg0 param1))))
|
|
(new 'stack-no-clear 'vector)
|
|
(if (-> v1-0 enable)
|
|
(quaternion*! (-> arg1 quat) (-> arg1 quat) (-> v1-0 rotation))
|
|
)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod-rotate-local
|
|
(defmethod new joint-mod-rotate-local ((allocation symbol) (type-to-make type) (arg0 process-drawable) (arg1 int) (arg2 symbol))
|
|
(let ((gp-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> gp-0 enable) arg2)
|
|
(quaternion-set! (-> gp-0 rotation) 0.0 0.0 0.0 1.0)
|
|
(let ((a0-3 (-> arg0 node-list data arg1)))
|
|
(set! (-> a0-3 param0) joint-mod-rotate-local-callback)
|
|
(set! (-> a0-3 param1) gp-0)
|
|
)
|
|
gp-0
|
|
)
|
|
)
|
|
|
|
;; definition of type joint-mod-ik
|
|
(deftype joint-mod-ik (basic)
|
|
((flags joint-mod-ik-flags)
|
|
(process process-drawable)
|
|
(hand-dist float)
|
|
(handle-pos vector :inline)
|
|
(elbow-pole-vector-axis uint32)
|
|
(elbow-rotation-axis uint32)
|
|
(user-position vector :inline)
|
|
(user-normal vector :inline)
|
|
(user-blend float)
|
|
(user-float float)
|
|
(callback (function joint-mod-ik matrix matrix vector object))
|
|
(shoulder-matrix-no-ik matrix :inline)
|
|
(elbow-matrix-no-ik matrix :inline)
|
|
(blend float)
|
|
(blend-interp float)
|
|
)
|
|
(:methods
|
|
(new (symbol type process-drawable int float) _type_)
|
|
(handle-copy! (_type_ vector) none)
|
|
(enable-set! (_type_ symbol) none)
|
|
)
|
|
)
|
|
|
|
;; definition for method 3 of type joint-mod-ik
|
|
(defmethod inspect ((this joint-mod-ik))
|
|
(when (not this)
|
|
(set! this this)
|
|
(goto cfg-4)
|
|
)
|
|
(format #t "[~8x] ~A~%" this (-> this type))
|
|
(format #t "~1Tflags: ~D~%" (-> this flags))
|
|
(format #t "~1Tprocess: ~A~%" (-> this process))
|
|
(format #t "~1Thand-dist: ~f~%" (-> this hand-dist))
|
|
(format #t "~1Thandle-pos: #<vector @ #x~X>~%" (-> this handle-pos))
|
|
(format #t "~1Telbow-pole-vector-axis: ~D~%" (-> this elbow-pole-vector-axis))
|
|
(format #t "~1Telbow-rotation-axis: ~D~%" (-> this elbow-rotation-axis))
|
|
(format #t "~1Tuser-position: #<vector @ #x~X>~%" (-> this user-position))
|
|
(format #t "~1Tuser-normal: #<vector @ #x~X>~%" (-> this user-normal))
|
|
(format #t "~1Tuser-blend: ~f~%" (-> this user-blend))
|
|
(format #t "~1Tuser-float: ~f~%" (-> this user-float))
|
|
(format #t "~1Tcallback: ~A~%" (-> this callback))
|
|
(format #t "~1Tshoulder-matrix-no-ik: #<matrix @ #x~X>~%" (-> this shoulder-matrix-no-ik))
|
|
(format #t "~1Telbow-matrix-no-ik: #<matrix @ #x~X>~%" (-> this elbow-matrix-no-ik))
|
|
(format #t "~1Tblend: ~f~%" (-> this blend))
|
|
(format #t "~1Tblend-interp: ~f~%" (-> this blend-interp))
|
|
(label cfg-4)
|
|
this
|
|
)
|
|
|
|
;; failed to figure out what this is:
|
|
0
|