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https://github.com/open-goal/jak-project
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water111
106 lines
4.1 KiB
Common Lisp
106 lines
4.1 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; definition of type rigid-body
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(deftype rigid-body (structure)
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((mass float :offset-assert 0)
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(inv-mass float :offset-assert 4)
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(lin-momentum-damping-factor float :offset-assert 8)
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(ang-momentum-damping-factor float :offset-assert 12)
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(inertial-tensor matrix :inline :offset-assert 16)
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(inv-inertial-tensor matrix :inline :offset-assert 80)
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(cm-offset-joint vector :inline :offset-assert 144)
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(position vector :inline :offset-assert 160)
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(rotation quaternion :inline :offset-assert 176)
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(lin-momentum vector :inline :offset-assert 192)
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(ang-momentum vector :inline :offset-assert 208)
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(lin-velocity vector :inline :offset-assert 224)
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(ang-velocity vector :inline :offset-assert 240)
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(inv-i-world matrix :inline :offset-assert 256)
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(matrix matrix :inline :offset-assert 320)
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(force vector :inline :offset-assert 384)
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(torque vector :inline :offset-assert 400)
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(max-ang-momentum float :offset-assert 416)
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(max-ang-velocity float :offset-assert 420)
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)
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:method-count-assert 23
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:size-assert #x1a8
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:flag-assert #x17000001a8
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(:methods
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(dummy-9 () none 9)
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(dummy-10 () none 10)
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(dummy-11 () none 11)
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(dummy-12 () none 12)
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(dummy-13 () none 13)
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(dummy-14 () none 14)
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(dummy-15 () none 15)
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(dummy-16 () none 16)
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(dummy-17 () none 17)
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(dummy-18 () none 18)
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(dummy-19 () none 19)
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(dummy-20 () none 20)
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(dummy-21 () none 21)
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(dummy-22 () none 22)
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)
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)
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;; definition for method 3 of type rigid-body
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(defmethod inspect rigid-body ((obj rigid-body))
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(format #t "[~8x] ~A~%" obj 'rigid-body)
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(format #t "~Tmass: ~f~%" (-> obj mass))
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(format #t "~Tinv-mass: ~f~%" (-> obj inv-mass))
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(format
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#t
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"~Tlin-momentum-damping-factor: ~f~%"
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(-> obj lin-momentum-damping-factor)
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)
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(format
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#t
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"~Tang-momentum-damping-factor: ~f~%"
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(-> obj ang-momentum-damping-factor)
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)
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(format #t "~Tinertial-tensor: #<matrix @ #x~X>~%" (-> obj inertial-tensor))
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(format
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#t
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"~Tinv-inertial-tensor: #<matrix @ #x~X>~%"
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(-> obj inv-inertial-tensor)
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)
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(format #t "~Tcm-offset-joint: #<vector @ #x~X>~%" (-> obj cm-offset-joint))
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(format #t "~Tposition: #<vector @ #x~X>~%" (-> obj position))
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(format #t "~Trotation: #<quaternion @ #x~X>~%" (-> obj rotation))
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(format #t "~Tlin-momentum: #<vector @ #x~X>~%" (-> obj lin-momentum))
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(format #t "~Tang-momentum: #<vector @ #x~X>~%" (-> obj ang-momentum))
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(format #t "~Tlin-velocity: #<vector @ #x~X>~%" (-> obj lin-velocity))
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(format #t "~Tang-velocity: #<vector @ #x~X>~%" (-> obj ang-velocity))
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(format #t "~Tinv-i-world: #<matrix @ #x~X>~%" (-> obj inv-i-world))
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(format #t "~Tmatrix: #<matrix @ #x~X>~%" (-> obj matrix))
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(format #t "~Tforce: #<vector @ #x~X>~%" (-> obj force))
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(format #t "~Ttorque: #<vector @ #x~X>~%" (-> obj torque))
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(format #t "~Tmax-ang-momentum: ~f~%" (-> obj max-ang-momentum))
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(format #t "~Tmax-ang-velocity: ~f~%" (-> obj max-ang-velocity))
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obj
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)
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;; definition of type rigid-body-control-point
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(deftype rigid-body-control-point (structure)
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((local-pos vector :inline :offset-assert 0)
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(world-pos vector :inline :offset-assert 16)
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(velocity vector :inline :offset-assert 32)
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)
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:method-count-assert 9
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:size-assert #x30
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:flag-assert #x900000030
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)
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;; definition for method 3 of type rigid-body-control-point
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(defmethod inspect rigid-body-control-point ((obj rigid-body-control-point))
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(format #t "[~8x] ~A~%" obj 'rigid-body-control-point)
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(format #t "~Tlocal-pos: #<vector @ #x~X>~%" (-> obj local-pos))
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(format #t "~Tworld-pos: #<vector @ #x~X>~%" (-> obj world-pos))
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(format #t "~Tvelocity: #<vector @ #x~X>~%" (-> obj velocity))
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obj
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)
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;; failed to figure out what this is:
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0
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