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https://github.com/open-goal/jak-project
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water111
62 lines
2.6 KiB
Common Lisp
62 lines
2.6 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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(bundles "ENGINE.CGO" "GAME.CGO")
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(require "engine/math/matrix.gc")
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(require "engine/math/transform-h.gc")
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;; Quaternion-backed transformq and trsq are used more often than these Euler forms.
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;; DECOMP BEGINS
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(defmethod print ((this transform))
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(format #t "#<transform @ #x~X~%" this)
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(format #t "~T~Ttrans:~F ~F ~F ~F ~%" (-> this trans x) (-> this trans y) (-> this trans z) (-> this trans w))
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(format #t "~T~Trot: ~F ~F ~F ~F ~%" (-> this rot x) (-> this rot y) (-> this rot z) (-> this rot w))
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(format #t "~T~Tscale:~F ~F ~F ~F>" (-> this scale x) (-> this scale y) (-> this scale z) (-> this scale w))
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this)
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(defmethod new trs ((allocation symbol) (type-to-make type))
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"Allocate an identity trs."
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(let ((this (object-new allocation type-to-make (the-as int (-> type-to-make size)))))
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(set! (-> this trans w) 1.0)
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(set! (-> this rot w) 1.0)
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(vector-identity! (-> this scale))
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this))
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(defun transform-matrix-calc! ((tf transform) (dst-mat matrix))
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"Build dst-mat as S * Rz * Rx * Ry * T from tf. This routine favors simple composition over speed."
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(let ((step-mat (new-stack-matrix0))
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(accum-mat (new-stack-matrix0)))
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(matrix-identity! dst-mat)
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(matrix-translate! dst-mat (-> tf trans))
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;; Y is multiplied nearest translation, keeping yaw world-aligned.
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(matrix-rotate-y! step-mat (-> tf rot y))
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(matrix*! accum-mat step-mat dst-mat)
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(matrix-rotate-x! step-mat (-> tf rot x))
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(matrix*! dst-mat step-mat accum-mat)
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(matrix-rotate-z! step-mat (-> tf rot z))
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(matrix*! accum-mat step-mat dst-mat)
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(matrix-scale! step-mat (-> tf scale))
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(matrix*! dst-mat step-mat accum-mat)))
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(defun transform-matrix-parent-calc! ((tf transform) (dst-mat matrix) (inv-scale vector))
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"Build dst-mat as S * Rz * Rx * Ry * inverse-scale * T for parent-relative composition."
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(let ((step-mat (new-stack-matrix0))
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(accum-mat (new-stack-matrix0)))
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(matrix-identity! accum-mat)
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(matrix-translate! accum-mat (-> tf trans))
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(matrix-inv-scale! step-mat inv-scale)
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(matrix*! dst-mat step-mat accum-mat)
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(matrix-rotate-y! step-mat (-> tf rot y))
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(matrix*! accum-mat step-mat dst-mat)
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(matrix-rotate-x! step-mat (-> tf rot x))
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(matrix*! dst-mat step-mat accum-mat)
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(matrix-rotate-z! step-mat (-> tf rot z))
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(matrix*! accum-mat step-mat dst-mat)
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(matrix-scale! step-mat (-> tf scale))
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(matrix*! dst-mat step-mat accum-mat)))
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(defun trs-matrix-calc! ((tf trs) (dst-mat matrix))
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"Build a matrix from a basic trs, which shares transform's trans/rot/scale layout."
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(transform-matrix-calc! (the-as transform (-> tf trans)) dst-mat))
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