mirror of
https://github.com/open-goal/jak-project
synced 2026-06-10 04:54:31 -04:00
ManDude
c99f9a4834
fixes `defskelgroup` being broken in jak 2 switches jak 3 to the jak 3 font (currently identical to jak 2)
1613 lines
62 KiB
Common Lisp
Vendored
Generated
1613 lines
62 KiB
Common Lisp
Vendored
Generated
;;-*-Lisp-*-
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(in-package goal)
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;; definition for function joint-mod-ik-callback
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;; INFO: Used lq/sq
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;; WARN: Return type mismatch matrix vs none.
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;; WARN: Function joint-mod-ik-callback has a return type of none, but the expression builder found a return statement.
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(defbehavior joint-mod-ik-callback process ((arg0 cspace) (arg1 transformq))
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"Inverse kinematics joint mod callback.
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Despite the arm-related names, can be used on legs too."
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(local-vars
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(sv-352 vector)
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(sv-356 vector)
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(sv-360 vector)
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(sv-364 vector)
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(sv-368 quaternion)
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(sv-372 quaternion)
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(sv-768 matrix)
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(sv-784 vector)
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)
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(rlet ((acc :class vf)
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(vf0 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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(vf6 :class vf)
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(vf7 :class vf)
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)
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(init-vf0-vector)
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(let ((gp-0 (the-as joint-mod-ik (-> arg0 param1))))
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(-> arg0 param2)
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(cspace<-parented-transformq-joint! arg0 arg1)
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(cond
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((logtest? (-> gp-0 flags) (joint-mod-ik-flags enable))
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(+! (-> gp-0 blend) (* 4.0 (seconds-per-frame)))
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(if (< 1.0 (-> gp-0 blend))
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(set! (-> gp-0 blend) 1.0)
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)
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)
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(else
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(set! (-> gp-0 blend) (- (-> gp-0 blend) (* 4.0 (seconds-per-frame))))
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(if (< (-> gp-0 blend) 0.0)
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(set! (-> gp-0 blend) 0.0)
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)
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)
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)
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(if (= (-> gp-0 blend) 0.0)
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(return #f)
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)
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(let ((s5-0 (-> arg0 parent bone transform))
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(s4-1 (-> arg0 bone transform))
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)
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(new 'stack-no-clear 'matrix)
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(new 'stack-no-clear 'matrix)
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(let ((s3-0 (new 'stack-no-clear 'vector)))
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(matrix->trans s5-0 s3-0)
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(set! (-> s5-0 trans quad) (-> s3-0 quad))
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(matrix->trans s4-1 s3-0)
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(set! (-> s4-1 trans quad) (-> s3-0 quad))
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)
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(let* ((a2-0 (-> gp-0 shoulder-matrix-no-ik))
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(a3-0 s5-0)
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(v1-22 (-> a3-0 rvec quad))
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(a0-7 (-> a3-0 uvec quad))
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(a1-3 (-> a3-0 fvec quad))
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(a3-1 (-> a3-0 trans quad))
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)
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(set! (-> a2-0 rvec quad) v1-22)
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(set! (-> a2-0 uvec quad) a0-7)
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(set! (-> a2-0 fvec quad) a1-3)
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(set! (-> a2-0 trans quad) a3-1)
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)
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(let* ((a2-1 (-> gp-0 elbow-matrix-no-ik))
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(a3-2 s4-1)
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(v1-23 (-> a3-2 rvec quad))
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(a0-8 (-> a3-2 uvec quad))
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(a1-4 (-> a3-2 fvec quad))
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(a3-3 (-> a3-2 trans quad))
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)
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(set! (-> a2-1 rvec quad) v1-23)
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(set! (-> a2-1 uvec quad) a0-8)
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(set! (-> a2-1 fvec quad) a1-4)
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(set! (-> a2-1 trans quad) a3-3)
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)
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(let ((s2-0 (new 'stack-no-clear 'vector)))
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(set! sv-784 (new 'stack-no-clear 'vector))
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(let ((s0-0 (new 'stack-no-clear 'vector))
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(s1-0 (new 'stack-no-clear 'vector))
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(s3-1 (new 'stack-no-clear 'vector))
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)
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0.0
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0.0
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(set! (-> s2-0 quad) (-> s5-0 trans quad))
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(set! (-> sv-784 quad) (-> s4-1 trans quad))
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(let ((a1-5 s0-0))
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(let ((v1-27 sv-784))
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(let ((a0-13 (-> s4-1 uvec)))
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(let ((a2-2 (-> gp-0 hand-dist)))
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(.mov vf7 a2-2)
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)
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(.lvf vf5 (&-> a0-13 quad))
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)
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(.lvf vf4 (&-> v1-27 quad))
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)
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(.add.x.vf vf6 vf0 vf0 :mask #b1000)
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(.mul.x.vf acc vf5 vf7 :mask #b111)
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(.add.mul.w.vf vf6 vf4 vf0 acc :mask #b111)
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(.svf (&-> a1-5 quad) vf6)
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)
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(if (-> gp-0 callback)
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((-> gp-0 callback) gp-0 s5-0 s4-1 s0-0)
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)
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(set! (-> s1-0 quad) (-> gp-0 handle-pos quad))
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(let ((f30-0 (vector-vector-distance s2-0 sv-784))
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(f0-12 (vector-vector-distance sv-784 s0-0))
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)
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(set! sv-768 (new 'stack-no-clear 'matrix))
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(let ((v1-32 s1-0)
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(a0-19 s2-0)
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)
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(.lvf vf4 (&-> v1-32 quad))
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(.lvf vf5 (&-> a0-19 quad))
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)
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(.mov.vf vf6 vf0 :mask #b1000)
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(.sub.vf vf6 vf4 vf5 :mask #b111)
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(.svf (&-> sv-768 rvec quad) vf6)
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(vector-length (the-as vector sv-768))
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(+ -4.096 f0-12 f30-0)
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(let ((f0-15 (+ 4.096 (fabs (- f30-0 f0-12)))))
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(cond
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((< f0-15 f0-15)
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(vector-normalize! (the-as vector sv-768) f0-15)
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(let ((v1-39 s1-0))
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(let ((a0-21 s2-0))
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(.mov.vf vf6 vf0 :mask #b1000)
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(.lvf vf4 (&-> a0-21 quad))
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)
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(.lvf vf5 (&-> sv-768 rvec quad))
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(.add.vf vf6 vf4 vf5 :mask #b111)
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(.svf (&-> v1-39 quad) vf6)
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)
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)
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((< f0-15 f0-15)
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(vector-normalize! (the-as vector sv-768) f0-15)
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(vector+! s1-0 s2-0 (the-as vector sv-768))
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)
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)
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)
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)
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(set! sv-352 (vector-! (new 'stack-no-clear 'vector) sv-784 s2-0))
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(let ((v1-44 (new 'stack-no-clear 'vector)))
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(.lvf vf4 (&-> s0-0 quad))
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(.lvf vf5 (&-> sv-784 quad))
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(.mov.vf vf6 vf0 :mask #b1000)
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(.sub.vf vf6 vf4 vf5 :mask #b111)
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(.svf (&-> v1-44 quad) vf6)
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(set! sv-356 v1-44)
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)
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(set! sv-360 (vector-! (new 'stack-no-clear 'vector) s0-0 s2-0))
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(set! sv-364 (vector-! (new 'stack-no-clear 'vector) s1-0 s2-0))
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(set! sv-368 (new 'stack-no-clear 'quaternion))
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(set! sv-372 (new 'stack-no-clear 'quaternion))
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(let ((f26-0 (vector-length sv-352))
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(f24-0 (vector-length sv-356))
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(f30-1 (vector-length sv-364))
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)
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(let* ((s2-1 (new 'stack-no-clear 'vector))
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(f28-0 (vector-vector-angle-safe sv-352 sv-356))
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(f0-17 (fmax -1.0 (fmin 1.0 (/ (- (- (* f30-1 f30-1) (* f26-0 f26-0)) (* f24-0 f24-0)) (* 2.0 f24-0 f26-0)))))
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(f26-1 (acos f0-17))
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)
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(cond
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((= f28-0 0.0)
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(set! (-> s2-1 quad) (-> (&-> s4-1 quad (-> gp-0 elbow-rotation-axis)) 0))
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(when (logtest? (-> gp-0 flags) (joint-mod-ik-flags elbow-rot-neg))
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(vector-negate! s2-1 s2-1)
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(set! f26-1 (- f26-1))
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)
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(set! (-> s3-1 quad) (-> (&-> s4-1 quad (-> gp-0 elbow-pole-vector-axis)) 0))
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(if (logtest? (-> gp-0 flags) (joint-mod-ik-flags elbow-trans-neg))
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(vector-negate! s3-1 s3-1)
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)
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)
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(else
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(vector-cross! s2-1 sv-352 sv-356)
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(vector-!
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s3-1
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sv-352
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(vector-float*!
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(new 'stack-no-clear 'vector)
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sv-360
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(/ (vector-dot sv-360 sv-352) (vector-dot sv-360 sv-360))
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)
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)
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)
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)
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(vector-normalize! s3-1 1.0)
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(vector-normalize! s2-1 1.0)
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(quaternion-vector-angle! sv-368 s2-1 (- f26-1 f28-0))
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)
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(vector-orient-by-quat! sv-356 sv-356 sv-368)
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(vector+! sv-360 sv-352 sv-356)
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(quaternion-from-two-vectors!
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sv-372
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(vector-normalize-copy! (new 'stack-no-clear 'vector) sv-360 1.0)
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(vector-normalize-copy! (new 'stack-no-clear 'vector) sv-364 1.0)
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)
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(vector-orient-by-quat! sv-352 sv-352 sv-372)
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(let ((f0-25 (fabs (vector-dot
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(vector-normalize-copy! (new 'stack-no-clear 'vector) sv-352 1.0)
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(vector-normalize-copy! (new 'stack-no-clear 'vector) sv-364 1.0)
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)
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)
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)
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)
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(if (< 0.98 f0-25)
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(vector-orient-by-quat! sv-352 s3-1 sv-372)
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)
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)
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(let ((s2-4 (new 'stack-no-clear 'vector))
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(s1-2 (new 'stack-no-clear 'quaternion))
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)
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(new 'stack-no-clear 'matrix)
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(* f30-1 f30-1)
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(let ((s0-2 (new 'stack-no-clear 'quaternion)))
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(vector-flatten! s2-4 sv-352 sv-364)
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(vector-flatten! (the-as vector s1-2) s3-1 sv-364)
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(vector-normalize! s2-4 1.0)
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(vector-normalize! (the-as vector s1-2) 1.0)
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(quaternion-from-two-vectors! s0-2 s2-4 (the-as vector s1-2))
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(quaternion*! sv-372 s0-2 sv-372)
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)
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)
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)
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)
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)
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(quaternion-pseudo-slerp! sv-368 *unity-quaternion* sv-368 (-> gp-0 blend))
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(quaternion-pseudo-slerp! sv-372 *unity-quaternion* sv-372 (-> gp-0 blend))
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(let ((a2-20 (quaternion->matrix (new 'stack-no-clear 'matrix) sv-368))
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(gp-1 (new 'stack-no-clear 'matrix))
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)
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(set! (-> gp-1 rvec quad) (-> s4-1 trans quad))
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(matrix*! s4-1 s4-1 a2-20)
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(set! (-> s4-1 trans quad) (-> gp-1 rvec quad))
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)
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(let ((s3-2 (quaternion->matrix (new 'stack-no-clear 'matrix) sv-372))
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(a2-21 (matrix-4x4-inverse! (new 'stack-no-clear 'matrix) s5-0))
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(gp-2 (new 'stack-no-clear 'matrix))
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)
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(set! (-> gp-2 rvec quad) (-> s5-0 trans quad))
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(matrix*! s4-1 s4-1 a2-21)
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(matrix*! s5-0 s5-0 s3-2)
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(set! (-> s5-0 trans quad) (-> gp-2 rvec quad))
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)
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(matrix*! s4-1 s4-1 s5-0)
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)
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)
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(none)
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)
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)
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;; definition for method 0 of type joint-mod-ik
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(defmethod new joint-mod-ik ((allocation symbol) (type-to-make type) (proc process-drawable) (joint-id int) (hand-dist float))
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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) proc)
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(set! (-> v0-0 hand-dist) hand-dist)
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(set! (-> v0-0 elbow-pole-vector-axis) (the-as uint 0))
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(logclear! (-> v0-0 flags) (joint-mod-ik-flags elbow-trans-neg))
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(set! (-> v0-0 elbow-rotation-axis) (the-as uint 2))
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(logclear! (-> v0-0 flags) (joint-mod-ik-flags elbow-rot-neg))
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(set! (-> v0-0 callback) #f)
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(set! (-> v0-0 blend) 0.0)
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(logclear! (-> v0-0 flags) (joint-mod-ik-flags enable))
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(let ((a0-5 (-> proc node-list data joint-id)))
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(set! (-> a0-5 param0) joint-mod-ik-callback)
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(set! (-> a0-5 param1) v0-0)
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(set! (-> a0-5 param2) (the-as basic joint-id))
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)
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v0-0
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)
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)
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;; definition for method 9 of type joint-mod-ik
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;; INFO: Used lq/sq
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;; WARN: Return type mismatch int vs none.
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(defmethod set-ik-target! ((this joint-mod-ik) (pos vector))
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(set! (-> this handle-pos quad) (-> pos quad))
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0
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(none)
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)
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;; definition for method 10 of type joint-mod-ik
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;; WARN: Return type mismatch int vs none.
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(defmethod enable-set! ((this joint-mod-ik) (enable symbol))
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(if enable
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(logior! (-> this flags) (joint-mod-ik-flags enable))
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(logclear! (-> this flags) (joint-mod-ik-flags enable))
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)
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0
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(none)
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)
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;; definition for function real-joint-mod-gun-look-at-handler
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;; WARN: Return type mismatch int vs none.
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(defbehavior real-joint-mod-gun-look-at-handler process ((arg0 cspace) (arg1 transformq))
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"Joint mod callback for pointing the gun (implementation)."
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(local-vars
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(sv-16 joint-mod)
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(sv-64 vector)
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(sv-96 quaternion)
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(sv-160 vector)
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(sv-164 vector)
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(sv-168 vector)
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(sv-172 symbol)
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)
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(rlet ((vf0 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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(vf6 :class vf)
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)
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(init-vf0-vector)
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(set! sv-16 (the-as joint-mod (-> arg0 param1)))
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(let ((a0-1 (-> arg1 scale)))
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(let ((v1-1 (-> arg1 scale))
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(a2-1 (-> sv-16 scale))
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)
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(.lvf vf4 (&-> v1-1 quad))
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(.lvf vf5 (&-> a2-1 quad))
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)
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(.add.x.vf vf6 vf0 vf0 :mask #b1000)
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(.mul.vf vf6 vf4 vf5 :mask #b111)
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(.svf (&-> a0-1 quad) vf6)
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)
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(cspace<-parented-transformq-joint! arg0 arg1)
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(let ((s5-0 (-> arg0 bone transform)))
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(let ((s4-0 (matrix->quat s5-0 (new 'stack-no-clear 'quaternion))))
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(set! sv-64 (matrix->trans s5-0 (new 'stack-no-clear 'vector)))
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(quaternion-rotate-y! s4-0 s4-0 (-> sv-16 twist z))
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(set! sv-96 (quaternion-copy! (new 'stack-no-clear 'quaternion) s4-0))
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(when (!= (-> sv-16 flex-blend) 0.0)
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(set! sv-160 (vector-y-quaternion! (new 'stack-no-clear 'vector) sv-96))
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(set! sv-164 (vector-z-quaternion! (new 'stack-no-clear 'vector) sv-96))
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(set! sv-168 (vector-normalize! (vector-! (new 'stack-no-clear 'vector) (-> sv-16 target) sv-64) 1.0))
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(set! sv-172 (the-as symbol #f))
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(let* ((f30-0 (vector-y-angle sv-164))
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(a0-13 (vector-flatten! (new 'stack-no-clear 'vector) sv-168 sv-160))
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(f0-2 (vector-y-angle a0-13))
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(f0-3 (deg-diff f30-0 f0-2))
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(f30-1 (* f0-3 (-> sv-16 blend)))
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)
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(let ((f28-0 (fmax (fmin f30-1 (-> sv-16 twist-max y)) (- (-> sv-16 twist-max y)))))
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(if (or (!= f30-1 f28-0) (= (-> sv-16 blend) 0.0))
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(logclear! (-> sv-16 track-mode) (track-mode lock-on))
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)
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(cond
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((or (< (-> sv-16 ignore-angle) (fabs f0-3))
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(< (-> sv-16 twist-max w) (vector-vector-distance (-> sv-16 target) sv-64))
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)
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(set! f30-1 0.0)
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(set! f28-0 0.0)
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(set! sv-172 #t)
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)
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((< 5461.3335 (fabs (deg-diff f30-1 f28-0)))
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(set! (-> sv-16 blend) 0.0001)
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)
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((< 182.04445 (fabs (deg-diff f30-1 f28-0)))
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(logclear! (-> sv-16 track-mode) (track-mode track-x))
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)
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)
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(if (or (and (logtest? (-> sv-16 track-mode) (track-mode track-y)) (= f30-1 f28-0))
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(< (-> sv-16 twist-max y) (fabs (-> sv-16 twist y)))
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)
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(set! (-> sv-16 twist y)
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(deg-seek (-> sv-16 twist y) f28-0 (* (fabs (deg-diff f28-0 (-> sv-16 twist y)))
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(if (logtest? (-> sv-16 track-mode) (track-mode lock-on))
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1.0
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(-> sv-16 twist-speed-y)
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)
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(-> self clock time-adjust-ratio)
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)
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)
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)
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)
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)
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(if (and (< (fabs (deg-diff f30-1 (-> sv-16 twist y))) 728.1778) (and (not sv-172) (!= (-> sv-16 blend) 0.0)))
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(logior! (-> sv-16 track-mode) (track-mode lock-on))
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)
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)
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(quaternion-rotate-local-y! sv-96 sv-96 (-> sv-16 twist y))
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(let* ((s3-1 (vector-x-quaternion! (new 'stack-no-clear 'vector) sv-96))
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(f30-2 (vector-x-angle sv-164))
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(s3-2 (vector-flatten! (new 'stack-no-clear 'vector) sv-168 s3-1))
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(f0-24 (vector-x-angle s3-2))
|
|
(f30-3 (fmax
|
|
(fmin (* (- (deg-diff f30-2 f0-24)) (-> sv-16 blend)) (-> sv-16 twist-max x))
|
|
(- (-> sv-16 twist-max x))
|
|
)
|
|
)
|
|
)
|
|
(if (or (< (vector-dot s3-2 sv-164) 0.1)
|
|
(< (-> sv-16 twist-max z) (vector-vector-distance (-> sv-16 target) sv-64))
|
|
)
|
|
(set! f30-3 0.0)
|
|
)
|
|
(if (or (logtest? (-> sv-16 track-mode) (track-mode track-x))
|
|
(< (-> sv-16 twist-max x) (fabs (-> sv-16 twist x)))
|
|
)
|
|
(set! (-> sv-16 twist x)
|
|
(deg-seek (-> sv-16 twist x) f30-3 (* (fabs (deg-diff f30-3 (-> sv-16 twist x)))
|
|
(if (logtest? (-> sv-16 track-mode) (track-mode lock-on))
|
|
1.0
|
|
(-> sv-16 twist-speed-x)
|
|
)
|
|
(-> self clock time-adjust-ratio)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(quaternion-rotate-x! sv-96 sv-96 (-> sv-16 twist x))
|
|
(quaternion-normalize! (quaternion*! sv-96 sv-96 (-> sv-16 quat)))
|
|
)
|
|
(let ((a1-27 (quaternion-slerp! (new 'stack-no-clear 'quaternion) s4-0 sv-96 (-> sv-16 flex-blend))))
|
|
(matrix<-quat s5-0 a1-27)
|
|
)
|
|
)
|
|
(let ((f30-4 (-> sv-16 trans x))
|
|
(s4-1 (-> s5-0 uvec))
|
|
(v1-97 (vector<-matrix! (new 'stack-no-clear 'vector) s5-0))
|
|
)
|
|
(let ((f0-43 (- f30-4 (-> v1-97 y))))
|
|
(if (< 614.4 (fabs f0-43))
|
|
(+! (-> sv-16 trans z) (* 8.0 f0-43))
|
|
)
|
|
)
|
|
(+! (-> sv-16 trans z) (* -260.0 (seconds-per-frame) (-> sv-16 trans y)))
|
|
(let ((f0-48 (-> sv-16 trans y)))
|
|
(+! (-> sv-16 trans y) (* (-> sv-16 trans z) (seconds-per-frame)))
|
|
(set! (-> sv-16 trans y) (* 0.95 (-> sv-16 trans y)))
|
|
(when (< (* f0-48 (-> sv-16 trans y)) 0.0)
|
|
(set! (-> sv-16 trans y) 0.0)
|
|
(set! (-> sv-16 trans z) 0.0)
|
|
)
|
|
)
|
|
(cond
|
|
((< 409.6 (-> sv-16 trans y))
|
|
(set! (-> sv-16 trans y) 409.6)
|
|
(set! (-> sv-16 trans z) 0.0)
|
|
)
|
|
((< (-> sv-16 trans y) -409.6)
|
|
(set! (-> sv-16 trans y) -409.6)
|
|
(set! (-> sv-16 trans z) 0.0)
|
|
)
|
|
)
|
|
(set! (-> sv-16 trans x) (-> v1-97 y))
|
|
(let ((f0-60 (* (-> sv-16 trans y) (-> sv-16 flex-blend))))
|
|
(if (!= f0-60 0.0)
|
|
(vector+float*! (-> s5-0 trans) v1-97 s4-1 f0-60)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(if (-> sv-16 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-gun-look-at-handler
|
|
(defbehavior joint-mod-gun-look-at-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Joint mod callback for pointing the gun (wrapper)."
|
|
(real-joint-mod-gun-look-at-handler arg0 arg1)
|
|
(none)
|
|
)
|
|
|
|
;; definition for function joint-mod-foot-rot-handler
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-foot-rot-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Joint mod callback to pitch the foot to match the ground."
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1)))
|
|
(gp-0 (-> arg0 bone transform))
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(let ((s3-0 (-> s5-0 target))
|
|
(s4-0 (-> s5-0 twist-max))
|
|
)
|
|
1.0
|
|
(when (< 8192.0 (vector-vector-angle-safe s3-0 s4-0))
|
|
(let* ((a1-4 (vector-normalize! (vector-cross! (new 'stack-no-clear 'vector) s3-0 s4-0) 1.0))
|
|
(a2-1 (quaternion-vector-angle! (new 'stack-no-clear 'quaternion) a1-4 8192.0))
|
|
)
|
|
(vector-orient-by-quat! s4-0 s3-0 a2-1)
|
|
)
|
|
)
|
|
(let* ((f0-4
|
|
(/ (vector-dot s3-0 (-> s5-0 joint bone transform uvec)) (vector-length (-> s5-0 joint bone transform uvec)))
|
|
)
|
|
(f30-1 (lerp-scale 0.0 1.0 f0-4 0.85 1.0))
|
|
)
|
|
(vector-deg-slerp (-> s5-0 twist) (-> s5-0 twist) s4-0 0.3)
|
|
(set! (-> s4-0 quad) (-> s5-0 twist quad))
|
|
(seek! (-> s5-0 blend) (-> s5-0 flex-blend) (* 4.0 (seconds-per-frame)))
|
|
(let ((s3-1 (matrix->scale gp-0 (new 'stack-no-clear 'vector))))
|
|
(let ((s2-0 (matrix->quat gp-0 (new 'stack-no-clear 'quaternion)))
|
|
(s0-0 (matrix->trans gp-0 (new 'stack-no-clear 'vector)))
|
|
)
|
|
(set! (-> gp-0 uvec quad) (-> s5-0 twist-max quad))
|
|
(vector-cross! (-> gp-0 fvec) (-> gp-0 rvec) (-> gp-0 uvec))
|
|
(vector-cross! (-> gp-0 rvec) (-> gp-0 uvec) (-> gp-0 fvec))
|
|
(set! (-> gp-0 rvec w) 0.0)
|
|
(set! (-> gp-0 uvec w) 0.0)
|
|
(set! (-> gp-0 fvec w) 0.0)
|
|
(let ((s1-0 (matrix->quat gp-0 (new 'stack-no-clear 'quaternion))))
|
|
(let* ((f0-14 (vector-dot s4-0 (vector-! (new 'stack-no-clear 'vector) s0-0 (-> s5-0 trans))))
|
|
(f0-15 (lerp-scale 1.0 0.0 f0-14 819.2 2048.0))
|
|
)
|
|
(seek! (-> s5-0 old-blend) (* (-> s5-0 blend) f0-15 f30-1) (* 15.0 (seconds-per-frame)))
|
|
)
|
|
(quaternion-slerp! s1-0 s2-0 s1-0 (-> s5-0 old-blend))
|
|
(matrix<-quat gp-0 s1-0)
|
|
)
|
|
)
|
|
(matrix<-scale gp-0 s3-1)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 0 of type joint-mod
|
|
(defmethod new joint-mod ((allocation symbol) (type-to-make type) (mode joint-mod-mode) (proc process-drawable) (base-joint-id int))
|
|
(let ((gp-0 (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
|
|
(set! (-> gp-0 process) proc)
|
|
(set! (-> gp-0 joint) (-> proc node-list data base-joint-id))
|
|
(mode-set! gp-0 mode)
|
|
(set-vector! (-> gp-0 twist-max) 8192.0 11832.889 0.0 1.0)
|
|
(set! (-> gp-0 twist-speed-x) 0.1)
|
|
(set! (-> gp-0 twist-speed-y) 0.1)
|
|
(set! (-> gp-0 up) (the-as uint 1))
|
|
(set! (-> gp-0 nose) (the-as uint 2))
|
|
(set! (-> gp-0 ear) (the-as uint 0))
|
|
(set! (-> gp-0 base-joint) (the-as uint base-joint-id))
|
|
(set! (-> gp-0 base-nose) (the-as uint 2))
|
|
(set! (-> gp-0 max-dist) 122880.0)
|
|
(set! (-> gp-0 ignore-angle) 65536.0)
|
|
(set! (-> gp-0 flex-blend) 1.0)
|
|
(set! (-> gp-0 shutting-down?) #f)
|
|
(set-vector! (-> gp-0 scale) 1.0 1.0 1.0 1.0)
|
|
(set! (-> gp-0 parented-scale?) #f)
|
|
(quaternion-identity! (-> gp-0 quat))
|
|
gp-0
|
|
)
|
|
)
|
|
|
|
;; definition for method 9 of type joint-mod
|
|
;; WARN: Return type mismatch joint-mod vs none.
|
|
(defmethod mode-set! ((this joint-mod) (mode joint-mod-mode))
|
|
"Set the type of joint-mod and install the right callback."
|
|
(set! (-> this mode) mode)
|
|
(let ((v1-0 (-> this joint)))
|
|
(case mode
|
|
(((joint-mod-mode flex-blend))
|
|
(set! (-> v1-0 param0) #f)
|
|
(set! (-> this blend) 0.0)
|
|
(set! (-> this flex-blend) 1.0)
|
|
)
|
|
(((joint-mod-mode reset))
|
|
(set! (-> v1-0 param0) #f)
|
|
(set! (-> this blend) 0.0)
|
|
(set! (-> this shutting-down?) #f)
|
|
)
|
|
(((joint-mod-mode look-at))
|
|
(let ((a0-4 v1-0))
|
|
(set! (-> a0-4 param0) joint-mod-look-at-handler)
|
|
(set! (-> a0-4 param1) this)
|
|
)
|
|
)
|
|
(((joint-mod-mode joint-set*-world))
|
|
(let ((a0-5 v1-0))
|
|
(set! (-> a0-5 param0) joint-mod-gun-look-at-handler)
|
|
(set! (-> a0-5 param1) this)
|
|
)
|
|
)
|
|
(((joint-mod-mode gun-look-at))
|
|
(set-vector! (-> this twist) 0.0 1.0 0.0 1.0)
|
|
(let ((a0-7 v1-0))
|
|
(set! (-> a0-7 param0)
|
|
(lambda ((arg0 cspace) (arg1 transformq)) (joint-mod-foot-rot-handler arg0 arg1) (none))
|
|
)
|
|
(set! (-> a0-7 param1) this)
|
|
)
|
|
)
|
|
(((joint-mod-mode world-look-at))
|
|
(let ((a0-8 v1-0))
|
|
(set! (-> a0-8 param0) joint-mod-world-look-at-handler)
|
|
(set! (-> a0-8 param1) this)
|
|
)
|
|
)
|
|
(((joint-mod-mode rotate))
|
|
(let ((a0-9 v1-0))
|
|
(set! (-> a0-9 param0) joint-mod-rotate-handler)
|
|
(set! (-> a0-9 param1) this)
|
|
)
|
|
(set! (-> this blend) 1.0)
|
|
)
|
|
(((joint-mod-mode rotate2))
|
|
(let ((a0-11 v1-0))
|
|
(set! (-> a0-11 param0) joint-mod-rotate-handler)
|
|
(set! (-> a0-11 param1) this)
|
|
)
|
|
(set! (-> this blend) 1.0)
|
|
)
|
|
(((joint-mod-mode joint-set))
|
|
(let ((a0-13 v1-0))
|
|
(set! (-> a0-13 param0) joint-mod-joint-set-handler)
|
|
(set! (-> a0-13 param1) this)
|
|
)
|
|
(vector-reset! (-> this trans))
|
|
(quaternion-identity! (-> this quat))
|
|
(set-vector! (-> this scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
(((joint-mod-mode foot-rot))
|
|
(let ((a0-16 v1-0))
|
|
(set! (-> a0-16 param0) joint-mod-joint-set-world-handler)
|
|
(set! (-> a0-16 param1) this)
|
|
)
|
|
(vector-reset! (-> this trans))
|
|
(quaternion-identity! (-> this quat))
|
|
(set-vector! (-> this scale) 1.0 1.0 1.0 1.0)
|
|
(set! (-> this flex-blend) 1.0)
|
|
)
|
|
(((joint-mod-mode joint-set*))
|
|
(let ((a0-23 v1-0))
|
|
(set! (-> a0-23 param0) joint-mod-joint-set*-handler)
|
|
(set! (-> a0-23 param1) this)
|
|
)
|
|
(vector-reset! (-> this trans))
|
|
(quaternion-identity! (-> this quat))
|
|
(set-vector! (-> this scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
(((joint-mod-mode polar-look-at))
|
|
(let ((a0-27 v1-0))
|
|
(set! (-> a0-27 param0) joint-mod-joint-set*-world-handler)
|
|
(set! (-> a0-27 param1) this)
|
|
)
|
|
(vector-reset! (-> this trans))
|
|
(quaternion-identity! (-> this quat))
|
|
(set-vector! (-> this scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
)
|
|
)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 15 of type joint-mod
|
|
;; WARN: Return type mismatch joint-mod vs none.
|
|
(defmethod shut-down ((this joint-mod))
|
|
"Disable the joint mod, possibly blending out depending on the type"
|
|
(set! (-> this shutting-down?) #t)
|
|
(set! (-> this blend) 0.0)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 13 of type joint-mod
|
|
(defmethod twist-set! ((this joint-mod) (x float) (y float) (z float))
|
|
"Set twist x,y,z. A value of #f will skip the set."
|
|
(if x
|
|
(set! (-> this twist x) x)
|
|
)
|
|
(if y
|
|
(set! (-> this twist y) y)
|
|
)
|
|
(if z
|
|
(set! (-> this twist z) z)
|
|
)
|
|
(-> this twist)
|
|
)
|
|
|
|
;; definition for method 14 of type joint-mod
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod trs-set! ((this joint-mod) (trans vector) (quat quaternion) (scale vector))
|
|
"Set translation, quaternion, scale. A value of #f will skip the set."
|
|
(if trans
|
|
(set! (-> this trans quad) (-> trans quad))
|
|
)
|
|
(if quat
|
|
(quaternion-copy! (-> this quat) quat)
|
|
)
|
|
(if scale
|
|
(set! (-> this scale quad) (-> scale quad))
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 10 of type joint-mod
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod target-set! ((this joint-mod) (pos vector))
|
|
"Set the target position for look-at mode."
|
|
(if (= (-> this mode) (joint-mod-mode reset))
|
|
(mode-set! this (joint-mod-mode look-at))
|
|
)
|
|
(let ((f0-0 (vector-vector-distance (-> this process root trans) pos)))
|
|
(set! (-> this shutting-down?) #f)
|
|
(set! (-> this target quad) (-> pos quad))
|
|
(if (< f0-0 (-> this max-dist))
|
|
(set! (-> this blend) 1.0)
|
|
(set! (-> this blend) 0.0)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for symbol last-try-to-look-at-data, type try-to-look-at-info
|
|
(define last-try-to-look-at-data (new 'global 'try-to-look-at-info))
|
|
|
|
;; definition for method 11 of type joint-mod
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod look-at! ((this joint-mod) (target vector) (mode symbol) (proc process))
|
|
"Activate joint mod to look at the process."
|
|
(when (= mode 'attacking)
|
|
(let* ((s2-0 proc)
|
|
(s1-0 (if (type? s2-0 process-drawable)
|
|
(the-as process-drawable s2-0)
|
|
)
|
|
)
|
|
)
|
|
(when s1-0
|
|
(let* ((s0-0 (-> s1-0 fact))
|
|
(s2-1 (if (type? s0-0 fact-info-enemy)
|
|
(the-as fact-info-enemy s0-0)
|
|
)
|
|
)
|
|
)
|
|
(when s2-1
|
|
(when (< (vector-vector-distance (-> this process root trans) (-> s1-0 root trans)) (-> s2-1 cam-notice-dist))
|
|
(set-time! (-> this notice-time))
|
|
(set! (-> last-try-to-look-at-data who) (process->handle proc))
|
|
(if (< (-> last-try-to-look-at-data vert) (-> s2-1 cam-vert))
|
|
(set! (-> last-try-to-look-at-data vert) (-> s2-1 cam-vert))
|
|
)
|
|
(if (< (-> last-try-to-look-at-data horz) (-> s2-1 cam-horz))
|
|
(set! (-> last-try-to-look-at-data horz) (-> s2-1 cam-horz))
|
|
)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(let ((f30-0 (vector-vector-distance (-> this process root trans) target)))
|
|
(if (logtest? (process-mask enemy) (-> proc mask))
|
|
(+! (-> this look-at-count) (the int (lerp-scale 256.0 0.0 f30-0 20480.0 204800.0)))
|
|
)
|
|
(when (and (or (= (-> this blend) 0.0)
|
|
(or (< f30-0 (vector-vector-distance (-> this process root trans) (-> this target))) (= mode 'force))
|
|
)
|
|
(< f30-0 (-> this max-dist))
|
|
)
|
|
(if (= (-> this mode) (joint-mod-mode reset))
|
|
(mode-set! this (joint-mod-mode look-at))
|
|
)
|
|
(set! (-> this target quad) (-> target quad))
|
|
(set! (-> this blend) 1.0)
|
|
(set! (-> this shutting-down?) #f)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for function joint-mod-look-at-handler
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-look-at-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Callback for look-at joint mod."
|
|
(local-vars
|
|
(sv-144 matrix)
|
|
(sv-148 quaternion)
|
|
(sv-152 vector)
|
|
(sv-156 vector)
|
|
(sv-160 (pointer uint128))
|
|
(sv-164 symbol)
|
|
)
|
|
(rlet ((vf0 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(let ((gp-0 (the-as joint-mod (-> arg0 param1))))
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(let ((s3-0 (-> arg0 bone transform)))
|
|
(set! sv-144 (new 'stack-no-clear 'matrix))
|
|
(set! sv-148 (new 'stack-no-clear 'quaternion))
|
|
(set! sv-152 (new 'stack-no-clear 'vector))
|
|
(set! sv-156 (new 'stack-no-clear 'vector))
|
|
(set! sv-160
|
|
(&-> (-> gp-0 process node-list data (-> gp-0 base-joint) bone) transform quad (-> gp-0 base-nose))
|
|
)
|
|
(set! sv-164
|
|
(< (vector-dot (-> s3-0 rvec) (vector-cross! (new 'stack-no-clear 'vector) (-> s3-0 uvec) (-> s3-0 fvec)))
|
|
0.0
|
|
)
|
|
)
|
|
(vector-normalize-copy! (-> sv-144 rvec) (the-as vector (&-> s3-0 quad (-> gp-0 ear))) (if sv-164
|
|
-1.0
|
|
1.0
|
|
)
|
|
)
|
|
(vector-normalize-copy! (-> sv-144 uvec) (the-as vector (&-> s3-0 quad (-> gp-0 up))) 1.0)
|
|
(vector-normalize-copy! (-> sv-144 fvec) (the-as vector (&-> s3-0 quad (-> gp-0 nose))) 1.0)
|
|
)
|
|
(vector-reset! (-> sv-144 trans))
|
|
(matrix->quaternion sv-148 sv-144)
|
|
(vector-normalize! (vector-! sv-152 (-> gp-0 target) (-> arg0 bone transform trans)) 1.0)
|
|
(vector-inv-orient-by-quat! sv-156 sv-152 sv-148)
|
|
(let ((f30-0 (vector-y-angle sv-156))
|
|
(f0-2 (if (= (-> gp-0 base-joint) (+ (-> arg0 joint number) 1))
|
|
0.0
|
|
(deg-diff (vector-y-angle (-> sv-144 fvec)) (vector-y-angle (the-as vector sv-160)))
|
|
)
|
|
)
|
|
)
|
|
(if (< (-> gp-0 ignore-angle) (fabs f30-0))
|
|
(set! f30-0 0.0)
|
|
)
|
|
(let ((f30-1
|
|
(fmax
|
|
(fmin (* f30-0 (-> gp-0 blend) (-> gp-0 flex-blend)) (+ (-> gp-0 twist-max y) (* f0-2 (-> gp-0 flex-blend))))
|
|
(+ (- (-> gp-0 twist-max y)) (* f0-2 (-> gp-0 flex-blend)))
|
|
)
|
|
)
|
|
)
|
|
(when (and (-> gp-0 shutting-down?) (< (fabs (- (-> gp-0 twist y) f30-1)) 18.204445))
|
|
(if (and (= (-> gp-0 scale x) 1.0) (= (-> gp-0 scale y) 1.0) (= (-> gp-0 scale z) 1.0))
|
|
(mode-set! gp-0 (joint-mod-mode reset))
|
|
(mode-set! gp-0 (joint-mod-mode rotate2))
|
|
)
|
|
)
|
|
(set! (-> gp-0 twist y)
|
|
(deg-seek
|
|
(-> gp-0 twist y)
|
|
f30-1
|
|
(* (fabs (deg-diff f30-1 (-> gp-0 twist y))) (-> gp-0 twist-speed-y) (-> self clock time-adjust-ratio))
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(let ((f0-21 (if sv-164
|
|
(- (-> gp-0 twist y))
|
|
(-> gp-0 twist y)
|
|
)
|
|
)
|
|
(a1-18 (new-stack-vector0))
|
|
)
|
|
(set! (-> a1-18 data (-> gp-0 up)) 1.0)
|
|
(let ((a2-7 (quaternion-vector-angle! (new-stack-quaternion0) a1-18 f0-21)))
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) (-> arg1 quat) a2-7))
|
|
)
|
|
)
|
|
(let ((f0-27
|
|
(fmax
|
|
(fmin (* (- (vector-x-angle sv-156)) (-> gp-0 blend) (-> gp-0 flex-blend)) (-> gp-0 twist-max x))
|
|
(- (-> gp-0 twist-max x))
|
|
)
|
|
)
|
|
)
|
|
(if (< (vector-dot sv-156 *z-vector*) 0.1)
|
|
(set! f0-27 0.0)
|
|
)
|
|
(set! (-> gp-0 twist x)
|
|
(deg-seek
|
|
(-> gp-0 twist x)
|
|
f0-27
|
|
(* (fabs (deg-diff f0-27 (-> gp-0 twist x))) (-> gp-0 twist-speed-x) (-> self clock time-adjust-ratio))
|
|
)
|
|
)
|
|
)
|
|
(let ((a1-22 (new-stack-vector0)))
|
|
(set! (-> a1-22 data (-> gp-0 ear)) 1.0)
|
|
(let ((a2-10 (quaternion-vector-angle! (new-stack-quaternion0) a1-22 (-> gp-0 twist x))))
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) (-> arg1 quat) a2-10))
|
|
)
|
|
)
|
|
(vector+! (-> arg1 trans) (-> arg1 trans) (-> gp-0 trans))
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) (-> arg1 quat) (-> gp-0 quat)))
|
|
(let ((a1-27 (-> arg1 scale)))
|
|
(let ((v1-71 (-> arg1 scale))
|
|
(a0-36 (-> gp-0 scale))
|
|
)
|
|
(.lvf vf4 (&-> v1-71 quad))
|
|
(.lvf vf5 (&-> a0-36 quad))
|
|
)
|
|
(.add.x.vf vf6 vf0 vf0 :mask #b1000)
|
|
(.mul.vf vf6 vf4 vf5 :mask #b111)
|
|
(.svf (&-> a1-27 quad) vf6)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(if (-> gp-0 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
(if (and (= (-> gp-0 process type) target) (!= (-> gp-0 blend) 0.0))
|
|
(add-debug-text-sphere
|
|
*display-target-marks*
|
|
(bucket-id debug-no-zbuf1)
|
|
(-> gp-0 target)
|
|
(meters 0.2)
|
|
"look"
|
|
(new 'static 'rgba :r #xff :g #xff :a #x80)
|
|
)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-world-look-at-handler
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-world-look-at-handler process ((arg0 cspace) (arg1 transformq))
|
|
(local-vars (sv-48 vector) (sv-52 vector) (sv-56 vector))
|
|
(let ((gp-0 (the-as joint-mod (-> arg0 param1))))
|
|
(let ((s5-0 (-> arg0 bone transform)))
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(set! sv-48 (vector-normalize-copy!
|
|
(new 'stack-no-clear 'vector)
|
|
(-> gp-0 process node-list data 0 bone transform uvec)
|
|
1.0
|
|
)
|
|
)
|
|
(set! sv-52 (vector-normalize! (the-as vector (&-> s5-0 quad (-> gp-0 nose))) 1.0))
|
|
(set! sv-56 (vector-normalize! (vector-! (new 'stack-no-clear 'vector) (-> gp-0 target) (-> s5-0 trans)) 1.0))
|
|
(let* ((f30-0 (vector-y-angle sv-52))
|
|
(a0-7 (vector-flatten! (new-stack-vector0) sv-56 sv-48))
|
|
(f0-0 (vector-y-angle a0-7))
|
|
(f0-1 (deg-diff f30-0 f0-0))
|
|
)
|
|
(if (< (-> gp-0 ignore-angle) (fabs f0-1))
|
|
(set! f0-1 0.0)
|
|
)
|
|
(let ((f0-5
|
|
(fmax (fmin (* f0-1 (-> gp-0 blend) (-> gp-0 flex-blend)) (-> gp-0 twist-max y)) (- (-> gp-0 twist-max y)))
|
|
)
|
|
)
|
|
(set! (-> gp-0 twist y) (deg-seek
|
|
(-> gp-0 twist y)
|
|
f0-5
|
|
(* (fmax 1.0 (* (fabs (deg-diff f0-5 (-> gp-0 twist y))) (-> gp-0 twist-speed-y)))
|
|
(-> self clock time-adjust-ratio)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(when (!= (-> gp-0 twist y) 0.0)
|
|
(let ((a2-3 (matrix-rotate-y! (new 'stack-no-clear 'matrix) (-> gp-0 twist y)))
|
|
(s4-2 (-> s5-0 trans quad))
|
|
)
|
|
(matrix*! s5-0 s5-0 a2-3)
|
|
(set! (-> s5-0 trans quad) s4-2)
|
|
)
|
|
)
|
|
(let* ((s4-3 (vector-normalize-copy!
|
|
(new 'stack-no-clear 'vector)
|
|
(the-as vector (-> gp-0 process node-list data 0 bone transform))
|
|
1.0
|
|
)
|
|
)
|
|
(f30-2 (vector-x-angle sv-52))
|
|
(s4-4 (vector-flatten! (new-stack-vector0) sv-56 s4-3))
|
|
(f0-15 (vector-x-angle s4-4))
|
|
(f0-21 (fmax
|
|
(fmin (* (- (deg-diff f30-2 f0-15)) (-> gp-0 blend) (-> gp-0 flex-blend)) (-> gp-0 twist-max x))
|
|
(- (-> gp-0 twist-max x))
|
|
)
|
|
)
|
|
)
|
|
(if (< (vector-dot s4-4 sv-52) 0.1)
|
|
(set! f0-21 0.0)
|
|
)
|
|
(set! (-> gp-0 twist x) (deg-seek
|
|
(-> gp-0 twist x)
|
|
f0-21
|
|
(* (fmax 1.0 (* (fabs (deg-diff f0-21 (-> gp-0 twist x))) (-> gp-0 twist-speed-x)))
|
|
(-> self clock time-adjust-ratio)
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(when (!= (-> gp-0 twist x) 0.0)
|
|
(let* ((v1-25 (-> gp-0 ear))
|
|
(a1-17 ((cond
|
|
((zero? v1-25)
|
|
matrix-rotate-x!
|
|
)
|
|
((= v1-25 1)
|
|
matrix-rotate-y!
|
|
)
|
|
(else
|
|
matrix-rotate-z!
|
|
)
|
|
)
|
|
(new 'stack-no-clear 'matrix)
|
|
(-> gp-0 twist x)
|
|
)
|
|
)
|
|
)
|
|
(matrix*! s5-0 a1-17 s5-0)
|
|
)
|
|
)
|
|
)
|
|
(if (and (= (-> gp-0 process type) target) (!= (-> gp-0 blend) 0.0))
|
|
(add-debug-text-sphere
|
|
*display-target-marks*
|
|
(bucket-id debug-no-zbuf1)
|
|
(-> gp-0 target)
|
|
(meters 0.2)
|
|
"look"
|
|
(new 'static 'rgba :r #xff :g #xff :a #x80)
|
|
)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for function joint-mod-rotate-handler
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-rotate-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Callback for rotate joint mod."
|
|
(rlet ((vf0 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1))))
|
|
(let ((s3-0 (new 'static 'inline-array vector 3
|
|
(new 'static 'vector :x 1.0 :w 1.0)
|
|
(new 'static 'vector :y 1.0 :w 1.0)
|
|
(new 'static 'vector :z 1.0 :w 1.0)
|
|
)
|
|
)
|
|
)
|
|
(if (not (logtest? (-> s5-0 track-mode) (track-mode no-trans)))
|
|
(vector+! (-> arg1 trans) (-> arg1 trans) (-> s5-0 trans))
|
|
)
|
|
(when (not (logtest? (-> s5-0 track-mode) (track-mode no-rotate)))
|
|
(let* ((v1-9 (-> s3-0 (-> s5-0 ear)))
|
|
(a1-4 (quaternion-axis-angle!
|
|
(new 'stack-no-clear 'quaternion)
|
|
(-> v1-9 x)
|
|
(-> v1-9 y)
|
|
(-> v1-9 z)
|
|
(* (-> s5-0 twist x) (-> s5-0 blend) (-> s5-0 flex-blend))
|
|
)
|
|
)
|
|
)
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) a1-4 (-> arg1 quat)))
|
|
)
|
|
(let* ((v1-13 (-> s3-0 (-> s5-0 up)))
|
|
(a1-6 (quaternion-axis-angle!
|
|
(new 'stack-no-clear 'quaternion)
|
|
(-> v1-13 x)
|
|
(-> v1-13 y)
|
|
(-> v1-13 z)
|
|
(* (-> s5-0 twist y) (-> s5-0 blend) (-> s5-0 flex-blend))
|
|
)
|
|
)
|
|
)
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) a1-6 (-> arg1 quat)))
|
|
)
|
|
(let* ((v1-17 (-> s3-0 (-> s5-0 nose)))
|
|
(a1-8 (quaternion-axis-angle!
|
|
(new 'stack-no-clear 'quaternion)
|
|
(-> v1-17 x)
|
|
(-> v1-17 y)
|
|
(-> v1-17 z)
|
|
(* (-> s5-0 twist z) (-> s5-0 blend) (-> s5-0 flex-blend))
|
|
)
|
|
)
|
|
)
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) a1-8 (-> arg1 quat)))
|
|
)
|
|
)
|
|
)
|
|
(when (not (logtest? (-> s5-0 track-mode) (track-mode no-scale)))
|
|
(let ((a1-9 (-> arg1 scale)))
|
|
(let ((v1-22 (-> arg1 scale))
|
|
(a0-11 (-> s5-0 scale))
|
|
)
|
|
(.lvf vf4 (&-> v1-22 quad))
|
|
(.lvf vf5 (&-> a0-11 quad))
|
|
)
|
|
(.add.x.vf vf6 vf0 vf0 :mask #b1000)
|
|
(.mul.vf vf6 vf4 vf5 :mask #b111)
|
|
(.svf (&-> a1-9 quad) vf6)
|
|
)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(if (-> s5-0 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-scale-handler
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-scale-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Callback for scale joint mod."
|
|
(rlet ((vf0 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1))))
|
|
(let ((a2-0 (-> arg1 scale)))
|
|
(let ((v1-0 (-> arg1 scale))
|
|
(a0-1 (-> s5-0 scale))
|
|
)
|
|
(.lvf vf4 (&-> v1-0 quad))
|
|
(.lvf vf5 (&-> a0-1 quad))
|
|
)
|
|
(.add.x.vf vf6 vf0 vf0 :mask #b1000)
|
|
(.mul.vf vf6 vf4 vf5 :mask #b111)
|
|
(.svf (&-> a2-0 quad) vf6)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(if (-> s5-0 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-joint-set-handler
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-joint-set-handler process ((arg0 cspace) (arg1 transformq))
|
|
"Callback for set joint mod."
|
|
(let ((s4-0 (the-as joint-mod (-> arg0 param1))))
|
|
(if (not (logtest? (-> s4-0 track-mode) (track-mode no-trans)))
|
|
(set! (-> arg1 trans quad) (-> s4-0 trans quad))
|
|
)
|
|
(if (not (logtest? (-> s4-0 track-mode) (track-mode no-rotate)))
|
|
(quaternion-copy! (-> arg1 quat) (-> s4-0 quat))
|
|
)
|
|
(if (not (logtest? (-> s4-0 track-mode) (track-mode no-scale)))
|
|
(set! (-> arg1 scale quad) (-> s4-0 scale quad))
|
|
)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for function joint-mod-joint-set-world-handler
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
;; WARN: Function joint-mod-joint-set-world-handler has a return type of none, but the expression builder found a return statement.
|
|
(defbehavior joint-mod-joint-set-world-handler process ((arg0 cspace) (arg1 transformq))
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1)))
|
|
(s4-0 (matrix->trans (-> arg0 bone transform) (new 'stack-no-clear 'vector)))
|
|
)
|
|
(let ((s3-0 (new 'stack-no-clear 'vector)))
|
|
(if (>= 0.0 (-> s5-0 flex-blend))
|
|
(return #f)
|
|
)
|
|
(cond
|
|
((logtest? (-> s5-0 track-mode) (track-mode no-scale))
|
|
(set! (-> s3-0 quad) (-> arg1 scale quad))
|
|
)
|
|
((>= (-> s5-0 flex-blend) 1.0)
|
|
(set! (-> s3-0 quad) (-> s5-0 scale quad))
|
|
)
|
|
(else
|
|
(vector-lerp! s3-0 (-> arg1 scale) (-> s5-0 scale) (-> s5-0 flex-blend))
|
|
)
|
|
)
|
|
(cond
|
|
((logtest? (-> s5-0 track-mode) (track-mode no-rotate))
|
|
)
|
|
((>= (-> s5-0 flex-blend) 1.0)
|
|
(quaternion->matrix (-> arg0 bone transform) (-> s5-0 quat))
|
|
)
|
|
(else
|
|
(let ((v1-15 (new 'stack-no-clear 'vector)))
|
|
(set! (-> v1-15 quad) (-> arg1 scale quad))
|
|
(set! (-> v1-15 x) (/ 1.0 (-> v1-15 x)))
|
|
(set! (-> v1-15 y) (/ 1.0 (-> v1-15 y)))
|
|
(set! (-> v1-15 z) (/ 1.0 (-> v1-15 z)))
|
|
(vector-float*!
|
|
(the-as vector (-> arg0 bone transform))
|
|
(the-as vector (-> arg0 bone transform))
|
|
(-> v1-15 x)
|
|
)
|
|
(vector-float*! (-> arg0 bone transform uvec) (-> arg0 bone transform uvec) (-> v1-15 y))
|
|
(vector-float*! (-> arg0 bone transform fvec) (-> arg0 bone transform fvec) (-> v1-15 z))
|
|
)
|
|
(let ((a1-12 (matrix->quaternion (new 'stack-no-clear 'quaternion) (-> arg0 bone transform))))
|
|
(quaternion->matrix
|
|
(-> arg0 bone transform)
|
|
(quaternion-slerp! (new 'stack-no-clear 'quaternion) a1-12 (-> s5-0 quat) (-> s5-0 flex-blend))
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(cond
|
|
((logtest? (-> s5-0 track-mode) (track-mode no-rotate))
|
|
(vector-normalize! (the-as vector (-> arg0 bone transform)) (-> s3-0 x))
|
|
(vector-normalize! (-> arg0 bone transform uvec) (-> s3-0 y))
|
|
(vector-normalize! (-> arg0 bone transform fvec) (-> s3-0 z))
|
|
)
|
|
(else
|
|
(vector-float*! (the-as vector (-> arg0 bone transform)) (the-as vector (-> arg0 bone transform)) (-> s3-0 x))
|
|
(vector-float*! (-> arg0 bone transform uvec) (-> arg0 bone transform uvec) (-> s3-0 y))
|
|
(vector-float*! (-> arg0 bone transform fvec) (-> arg0 bone transform fvec) (-> s3-0 z))
|
|
)
|
|
)
|
|
)
|
|
(set! (-> arg0 bone transform rvec w) 0.0)
|
|
(set! (-> arg0 bone transform uvec w) 0.0)
|
|
(set! (-> arg0 bone transform fvec w) 0.0)
|
|
(cond
|
|
((logtest? (-> s5-0 track-mode) (track-mode no-trans))
|
|
(set! (-> arg0 bone transform trans quad) (-> s4-0 quad))
|
|
)
|
|
((>= (-> s5-0 flex-blend) 1.0)
|
|
(set! (-> arg0 bone transform trans quad) (-> s5-0 trans quad))
|
|
(set! (-> arg0 bone transform trans w) 1.0)
|
|
)
|
|
(else
|
|
(vector-lerp! (-> arg0 bone transform trans) s4-0 (-> s5-0 trans) (-> s5-0 flex-blend))
|
|
(set! (-> arg0 bone transform trans w) 1.0)
|
|
)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for function joint-mod-joint-set*-handler
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-joint-set*-handler process ((arg0 cspace) (arg1 transformq))
|
|
(rlet ((vf0 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1))))
|
|
(if (not (logtest? (-> s5-0 track-mode) (track-mode no-trans)))
|
|
(vector+! (-> arg1 trans) (-> arg1 trans) (-> s5-0 trans))
|
|
)
|
|
(if (not (logtest? (-> s5-0 track-mode) (track-mode no-rotate)))
|
|
(quaternion-normalize! (quaternion*! (-> arg1 quat) (-> arg1 quat) (-> s5-0 quat)))
|
|
)
|
|
(when (not (logtest? (-> s5-0 track-mode) (track-mode no-scale)))
|
|
(let ((a1-4 (-> arg1 scale)))
|
|
(let ((v1-11 (-> arg1 scale))
|
|
(a0-4 (-> s5-0 scale))
|
|
)
|
|
(.lvf vf4 (&-> v1-11 quad))
|
|
(.lvf vf5 (&-> a0-4 quad))
|
|
)
|
|
(.add.x.vf vf6 vf0 vf0 :mask #b1000)
|
|
(.mul.vf vf6 vf4 vf5 :mask #b111)
|
|
(.svf (&-> a1-4 quad) vf6)
|
|
)
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(if (-> s5-0 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-joint-set*-world-handler
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-joint-set*-world-handler process ((arg0 cspace) (arg1 transformq))
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(let ((s5-0 (the-as joint-mod (-> arg0 param1))))
|
|
(let ((s3-0 (quaternion->matrix (new 'stack-no-clear 'matrix) (-> s5-0 quat)))
|
|
(s4-0 (matrix->trans (-> arg0 bone transform) (new 'stack-no-clear 'vector)))
|
|
)
|
|
(vector-reset! (-> arg0 bone transform trans))
|
|
(set! (-> arg0 bone transform trans w) 1.0)
|
|
(vector-float*! (-> s3-0 rvec) (-> s3-0 rvec) (-> s5-0 scale x))
|
|
(vector-float*! (-> s3-0 uvec) (-> s3-0 uvec) (-> s5-0 scale y))
|
|
(vector-float*! (-> s3-0 fvec) (-> s3-0 fvec) (-> s5-0 scale z))
|
|
(set! (-> s3-0 rvec w) 0.0)
|
|
(set! (-> s3-0 uvec w) 0.0)
|
|
(set! (-> s3-0 fvec w) 0.0)
|
|
(matrix*! (-> arg0 bone transform) (-> arg0 bone transform) s3-0)
|
|
(vector+! (-> arg0 bone transform trans) s4-0 (-> s5-0 trans))
|
|
)
|
|
(if (-> s5-0 parented-scale?)
|
|
(set-vector! (-> arg0 bone scale) 1.0 1.0 1.0 1.0)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 9 of type joint-mod-polar-look-at
|
|
;; WARN: Return type mismatch float vs none.
|
|
(defmethod initialize ((this joint-mod-polar-look-at) (proc process-drawable) (joint-id int))
|
|
"Attach joint-mod to process and set defaults."
|
|
(let ((a1-2 (-> proc node-list data joint-id)))
|
|
(set! (-> a1-2 param0) joint-mod-polar-look-at-callback)
|
|
(set! (-> a1-2 param1) this)
|
|
)
|
|
(set! (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
(set! (-> this up) 1)
|
|
(set! (-> this nose) 2)
|
|
(set! (-> this ear) 0)
|
|
(set! (-> this polar-internal-tilt-max) 32768.0)
|
|
(set! (-> this polar-internal-radius) 32768.0)
|
|
(set! (-> this polar-external-tilt-max) 32768.0)
|
|
(set! (-> this polar-external-radius) 32768.0)
|
|
(set! (-> this upward-tilt) 16384.0)
|
|
(set! (-> this downward-tilt) 16384.0)
|
|
(set! (-> this forward-twist) 16384.0)
|
|
(set! (-> this backward-twist) 16384.0)
|
|
(set! (-> this blend-duration) 0)
|
|
(set! (-> this blend-start-value) 0.0)
|
|
(set! (-> this blend-max) 1.0)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 11 of type joint-mod-polar-look-at
|
|
;; WARN: Return type mismatch float vs none.
|
|
(defmethod set-both-targets! ((this joint-mod-polar-look-at) (other joint-mod-polar-look-at) (pos vector))
|
|
"Update the target position of this mod, and a second one."
|
|
(when (nonzero? this)
|
|
(set-target! this pos)
|
|
(when (nonzero? other)
|
|
(set! (-> this polar-external-tilt-max) (-> other polar-internal-tilt-max))
|
|
(set! (-> this polar-external-radius) (-> other polar-internal-radius))
|
|
)
|
|
)
|
|
(when (nonzero? other)
|
|
(set-target! other pos)
|
|
(when (nonzero? this)
|
|
(set! (-> other polar-external-tilt-max) (-> this polar-internal-tilt-max))
|
|
(set! (-> other polar-external-radius) (-> this polar-internal-radius))
|
|
)
|
|
)
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 10 of type joint-mod-polar-look-at
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod set-target! ((this joint-mod-polar-look-at) (pos vector))
|
|
"Update the target position."
|
|
(set! (-> this target quad) (-> pos quad))
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 12 of type joint-mod-polar-look-at
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod blend-on! ((this joint-mod-polar-look-at) (duration time-frame) (final-val float) (restart-if-in-progress symbol))
|
|
"Start blending this joint mod on."
|
|
(cond
|
|
((and (not restart-if-in-progress) (not (logtest? (-> this flags) (joint-mod-polar-flags blending-to-zero))))
|
|
)
|
|
((zero? duration)
|
|
(set! (-> this blend-start-value) final-val)
|
|
(set! (-> this blend-max) final-val)
|
|
(set! (-> this blend-duration) duration)
|
|
(logclear! (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
)
|
|
(else
|
|
(set-time! (-> this blend-start-time))
|
|
(set! (-> this blend-start-value) (get-start-blend! this))
|
|
(set! (-> this blend-max) final-val)
|
|
(set! (-> this blend-duration) duration)
|
|
(logclear! (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 13 of type joint-mod-polar-look-at
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defmethod blend-to-off! ((this joint-mod-polar-look-at) (duration time-frame) (restart-if-in-progress symbol))
|
|
"Start blending to disable this joint mod."
|
|
(cond
|
|
((and (not restart-if-in-progress) (logtest? (-> this flags) (joint-mod-polar-flags blending-to-zero)))
|
|
)
|
|
((zero? duration)
|
|
(set! (-> this blend-start-value) 0.0)
|
|
(set! (-> this blend-duration) duration)
|
|
(logior! (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
)
|
|
(else
|
|
(set-time! (-> this blend-start-time))
|
|
(set! (-> this blend-start-value) (get-start-blend! this))
|
|
(set! (-> this blend-duration) duration)
|
|
(logior! (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|
|
|
|
;; definition for method 14 of type joint-mod-polar-look-at
|
|
(defmethod get-start-blend! ((this joint-mod-polar-look-at))
|
|
"Determine what blend to use when starting a new one."
|
|
(local-vars (f0-2 float))
|
|
(cond
|
|
((zero? (-> this blend-duration))
|
|
(-> this blend-start-value)
|
|
)
|
|
((begin
|
|
(set! f0-2 (the float (- (current-time) (-> this blend-start-time))))
|
|
(logtest? (-> this flags) (joint-mod-polar-flags blending-to-zero))
|
|
)
|
|
(let ((f0-5 (lerp-scale (-> this blend-start-value) 0.0 f0-2 0.0 (the float (-> this blend-duration)))))
|
|
(when (= f0-5 0.0)
|
|
(set! (-> this blend-start-value) f0-5)
|
|
(set! (-> this blend-duration) 0)
|
|
0
|
|
)
|
|
f0-5
|
|
)
|
|
)
|
|
(else
|
|
(let ((f0-8
|
|
(lerp-scale (-> this blend-start-value) (-> this blend-max) f0-2 0.0 (the float (-> this blend-duration)))
|
|
)
|
|
)
|
|
(when (>= f0-8 (-> this blend-max))
|
|
(set! (-> this blend-start-value) f0-8)
|
|
(set! (-> this blend-duration) 0)
|
|
0
|
|
)
|
|
f0-8
|
|
)
|
|
)
|
|
)
|
|
)
|
|
|
|
;; definition for function joint-mod-polar-look-at-callback
|
|
;; INFO: Used lq/sq
|
|
;; WARN: Return type mismatch int vs none.
|
|
(defbehavior joint-mod-polar-look-at-callback process ((arg0 cspace) (arg1 transformq))
|
|
(let* ((s5-0 (the-as joint-mod-polar-look-at (-> arg0 param1)))
|
|
(f30-0 (get-start-blend! s5-0))
|
|
)
|
|
(cspace<-parented-transformq-joint! arg0 arg1)
|
|
(when (< 0.0 f30-0)
|
|
(let* ((t9-2 vector-normalize-copy!)
|
|
(a0-3 (new 'stack-no-clear 'vector))
|
|
(v1-3 (abs (-> s5-0 nose)))
|
|
(s3-0 (t9-2 a0-3 (the-as vector (&-> (-> arg0 bone) transform quad v1-3)) 1.0))
|
|
(s1-0 (vector-normalize!
|
|
(vector-! (new 'stack-no-clear 'vector) (-> s5-0 target) (-> arg0 bone transform trans))
|
|
1.0
|
|
)
|
|
)
|
|
(s4-1 (new 'stack-no-clear 'matrix))
|
|
)
|
|
(let ((s2-0 (new 'stack-no-clear 'vector)))
|
|
(if (logtest? (-> s5-0 flags) (joint-mod-polar-flags negate-nose))
|
|
(vector-negate! s3-0 s3-0)
|
|
)
|
|
(let ((t9-5 vector-normalize-copy!)
|
|
(a0-7 (-> s4-1 rvec))
|
|
(v1-11 (abs (-> s5-0 ear)))
|
|
)
|
|
(t9-5 a0-7 (the-as vector (&-> (-> arg0 bone) transform quad v1-11)) 1.0)
|
|
)
|
|
(if (logtest? (-> s5-0 flags) (joint-mod-polar-flags negate-ear))
|
|
(vector-negate! (-> s4-1 rvec) (-> s4-1 rvec))
|
|
)
|
|
(let ((t9-7 vector-normalize-copy!)
|
|
(a0-9 (-> s4-1 uvec))
|
|
(v1-18 (abs (-> s5-0 up)))
|
|
)
|
|
(t9-7 a0-9 (the-as vector (&-> (-> arg0 bone) transform quad v1-18)) 1.0)
|
|
)
|
|
(if (logtest? (-> s5-0 flags) (joint-mod-polar-flags negate-up))
|
|
(vector-negate! (-> s4-1 uvec) (-> s4-1 uvec))
|
|
)
|
|
(set! (-> s4-1 fvec quad) (-> s3-0 quad))
|
|
(set-vector! (-> s4-1 trans) 0.0 0.0 0.0 1.0)
|
|
(matrix-transpose! s4-1 s4-1)
|
|
(set-vector! (-> s4-1 trans) 0.0 0.0 0.0 1.0)
|
|
(vector-matrix*! s2-0 s1-0 s4-1)
|
|
(let* ((t9-11 asin)
|
|
(f0-9 (-> s2-0 x))
|
|
(f0-11 (* f0-9 f0-9))
|
|
(f1-0 (-> s2-0 y))
|
|
(f26-0 (t9-11 (sqrtf (+ f0-11 (* f1-0 f1-0)))))
|
|
(f28-0 (atan (-> s2-0 y) (-> s2-0 x)))
|
|
)
|
|
(if (< (-> s2-0 z) 0.0)
|
|
(set! f26-0 (- 32768.0 f26-0))
|
|
)
|
|
(set! (-> s5-0 polar-internal-radius) f26-0)
|
|
(cond
|
|
((< 16384.0 f28-0)
|
|
(set! (-> s5-0 polar-internal-tilt-max) (- 32768.0 f28-0))
|
|
(if (and (< (-> s5-0 polar-external-radius) f26-0) (< 0.0 (-> s5-0 polar-external-tilt-max)))
|
|
(set! f28-0 (fmax f28-0 (- 32768.0 (-> s5-0 polar-external-tilt-max))))
|
|
)
|
|
)
|
|
((< f28-0 -16384.0)
|
|
(set! (-> s5-0 polar-internal-tilt-max) (- -32768.0 f28-0))
|
|
(if (and (< (-> s5-0 polar-external-radius) f26-0) (< (-> s5-0 polar-external-tilt-max) 0.0))
|
|
(set! f28-0 (fmin f28-0 (- -32768.0 (-> s5-0 polar-external-tilt-max))))
|
|
)
|
|
)
|
|
((< 0.0 f28-0)
|
|
(set! (-> s5-0 polar-internal-tilt-max) f28-0)
|
|
(if (and (< (-> s5-0 polar-external-radius) f26-0) (< 0.0 (-> s5-0 polar-external-tilt-max)))
|
|
(set! f28-0 (fmin f28-0 (-> s5-0 polar-external-tilt-max)))
|
|
)
|
|
)
|
|
(else
|
|
(set! (-> s5-0 polar-internal-tilt-max) f28-0)
|
|
(if (and (< (-> s5-0 polar-external-radius) f26-0) (< (-> s5-0 polar-external-tilt-max) 0.0))
|
|
(set! f28-0 (fmax f28-0 (-> s5-0 polar-external-tilt-max)))
|
|
)
|
|
)
|
|
)
|
|
(let* ((f0-39 (sin f28-0))
|
|
(f24-0 (* f0-39 f0-39))
|
|
(f0-41 (cos f28-0))
|
|
(f0-43 (* f0-41 f0-41))
|
|
)
|
|
32768.0
|
|
(let ((f0-45 (cond
|
|
((< 16384.0 f28-0)
|
|
(+ (* f24-0 (-> s5-0 upward-tilt)) (* f0-43 (-> s5-0 backward-twist)))
|
|
)
|
|
((< f28-0 -16384.0)
|
|
(+ (* f24-0 (-> s5-0 downward-tilt)) (* f0-43 (-> s5-0 backward-twist)))
|
|
)
|
|
((< 0.0 f28-0)
|
|
(+ (* f24-0 (-> s5-0 upward-tilt)) (* f0-43 (-> s5-0 forward-twist)))
|
|
)
|
|
(else
|
|
(+ (* f24-0 (-> s5-0 downward-tilt)) (* f0-43 (-> s5-0 forward-twist)))
|
|
)
|
|
)
|
|
)
|
|
)
|
|
(if (< f0-45 f26-0)
|
|
(set! f26-0 f0-45)
|
|
)
|
|
)
|
|
)
|
|
(let ((f26-1 (cos f26-0)))
|
|
(set-vector! s2-0 (cos f28-0) (sin f28-0) 0.0 1.0)
|
|
(let ((t9-18 vector-normalize!)
|
|
(a0-24 s2-0)
|
|
(f0-53 1.0)
|
|
(f1-22 f26-1)
|
|
)
|
|
(t9-18 a0-24 (sqrtf (- f0-53 (* f1-22 f1-22))))
|
|
)
|
|
(set! (-> s2-0 z) f26-1)
|
|
)
|
|
)
|
|
(matrix-transpose! s4-1 s4-1)
|
|
(vector-matrix*! s2-0 s2-0 s4-1)
|
|
(if (< f30-0 1.0)
|
|
(matrix-from-two-vectors-partial-linear! s4-1 s3-0 s2-0 f30-0)
|
|
(matrix-from-two-vectors! s4-1 s3-0 s2-0)
|
|
)
|
|
)
|
|
(let ((s3-1 (matrix->trans (-> arg0 bone transform) (new 'stack-no-clear 'vector))))
|
|
(set-vector! (-> arg0 bone transform trans) 0.0 0.0 0.0 1.0)
|
|
(matrix*! (-> arg0 bone transform) (-> arg0 bone transform) s4-1)
|
|
(when (logtest? (-> s5-0 flags) (joint-mod-polar-flags no-z-rot))
|
|
(let ((a1-25 (vector-normalize-copy! (new 'stack-no-clear 'vector) (-> arg0 bone transform uvec) -1.0)))
|
|
(matrix-remove-z-rot (-> arg0 bone transform) a1-25)
|
|
)
|
|
)
|
|
(set! (-> arg0 bone transform trans quad) (-> s3-1 quad))
|
|
)
|
|
)
|
|
)
|
|
)
|
|
0
|
|
(none)
|
|
)
|