mirror of
https://github.com/open-goal/jak-project
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Hat Kid
8d28bb3480
Closes #1872 --------- Co-authored-by: ManDude <7569514+ManDude@users.noreply.github.com>
474 lines
16 KiB
Common Lisp
474 lines
16 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; name: transformq.gc
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;; name in dgo: transformq
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;; dgos: ENGINE, GAME
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;; DECOMP BEGINS
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(defmethod print transformq ((obj transformq))
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"Print a transformq"
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(format #t "#<transformq @ #x~X~%" obj)
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(format #t "~T~Ttrans:~F ~F ~F ~F ~%" (-> obj trans x) (-> obj trans y) (-> obj trans z) (-> obj trans w))
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(format #t "~T~Tquat: ~F ~F ~F ~F ~%" (-> obj quat x) (-> obj quat y) (-> obj quat z) (-> obj quat w))
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(format #t "~T~Tscale:~F ~F ~F ~F>" (-> obj scale x) (-> obj scale y) (-> obj scale z) (-> obj scale w))
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obj
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)
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(defmethod get-quaternion trsqv ((obj trsqv))
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"Get the rotation as a quaternion."
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(-> obj quat)
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)
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(defmethod set-quaternion! trsqv ((obj trsqv) (arg0 quaternion))
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"Set the rotation as a quaternion"
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(quaternion-copy! (get-quaternion obj) arg0)
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)
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(defmethod rot->dir-targ! trsqv ((obj trsqv))
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"Set the dir-targ to our current orientation"
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(quaternion-copy! (-> obj dir-targ) (get-quaternion obj))
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)
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(defmethod y-angle trsqv ((obj trsqv))
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"Get our current y-angle (y is up, so yaw)"
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(quaternion-y-angle (get-quaternion obj))
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)
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(defmethod seek-toward-heading-vec! trsqv ((obj trsqv) (arg0 vector) (arg1 float) (arg2 time-frame))
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"Adjust the orientation to point along dir, only changing our yaw.
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The vel is a maximum velocity limit.
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The frame count is the time constant (first order).
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There's some logic to avoid rapidly changing directions"
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(with-pp
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(let* ((f0-0 (deg-diff (quaternion-y-angle (-> obj quat)) (vector-y-angle arg0)))
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(f1-2 (fmin (* arg1 (-> pp clock seconds-per-frame)) (/ (* 5.0 (fabs f0-0)) (the float arg2))))
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(f30-0 (fmax (fmin f0-0 f1-2) (- f1-2)))
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)
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(let ((f0-2 (-> obj old-y-angle-diff)))
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(set! f30-0
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(cond
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((or (= f0-2 0.0)
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(and (< 0.0 f30-0) (< 0.0 f0-2))
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(or (and (< f30-0 0.0) (< f0-2 0.0)) (>= (- (current-time) (-> obj angle-change-time)) (seconds 0.2)))
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)
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(set! (-> obj angle-change-time) (current-time))
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f30-0
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)
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(else
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(* 0.000000001 f30-0)
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)
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)
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)
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)
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(set! (-> obj old-y-angle-diff) f30-0)
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(let ((a1-2 (get-quaternion obj)))
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(quaternion-rotate-y! a1-2 a1-2 f30-0)
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)
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)
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)
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)
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(defmethod set-heading-vec! trsqv ((obj trsqv) (arg0 vector))
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"Makes us look in the arg0 direction immediately. Pitch will be unchanged."
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(let ((s3-0 (get-quaternion obj)))
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(forward-up-nopitch->quaternion
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s3-0
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(vector-normalize-copy! (new 'stack-no-clear 'vector) arg0 1.0)
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(vector-y-quaternion! (new 'stack-no-clear 'vector) s3-0)
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)
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)
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)
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(defmethod seek-to-point-toward-point! trsqv ((obj trsqv) (arg0 vector) (arg1 float) (arg2 time-frame))
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"Seek toward pointing toward arg0 from our current location."
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(seek-toward-heading-vec! obj (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) arg1 arg2)
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)
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(defmethod point-toward-point! trsqv ((obj trsqv) (arg0 vector))
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"Immediately point toward arg0"
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(let ((s3-0 (get-quaternion obj)))
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(forward-up-nopitch->quaternion
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s3-0
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(vector-normalize! (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) 1.0)
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(vector-y-quaternion! (new 'stack-no-clear 'vector) s3-0)
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)
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)
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)
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(defmethod seek-toward-yaw-angle! trsqv ((obj trsqv) (arg0 float) (arg1 float) (arg2 time-frame))
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"Seek toward the given yaw angle."
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(let ((s3-0 (method-of-object obj seek-toward-heading-vec!))
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(s2-0 (new 'stack-no-clear 'vector))
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)
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(set! (-> s2-0 x) (sin arg0))
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(set! (-> s2-0 y) 0.0)
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(set! (-> s2-0 z) (cos arg0))
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(set! (-> s2-0 w) 1.0)
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(s3-0 obj s2-0 arg1 arg2)
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)
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)
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(defmethod set-yaw-angle-clear-roll-pitch! trsqv ((obj trsqv) (arg0 float))
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"Immediately clear our roll and pitch and set yaw to the given angle"
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(let ((s5-0 (method-of-object obj set-heading-vec-clear-roll-pitch!))
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(s4-0 (new 'stack-no-clear 'vector))
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)
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(set! (-> s4-0 x) (sin arg0))
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(set! (-> s4-0 y) 0.0)
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(set! (-> s4-0 z) (cos arg0))
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(set! (-> s4-0 w) 1.0)
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(s5-0 obj s4-0)
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)
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)
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(defmethod set-roll-to-grav! trsqv ((obj trsqv) (arg0 float))
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"Set our roll so that our local down aligns with standard gravity"
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(set-roll-to-grav-2! obj arg0)
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)
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(defmethod set-roll-to-grav-2! trsqv ((obj trsqv) (arg0 float))
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"Set our roll so that our local down aligns with standard gravity"
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(let* ((s5-0 (get-quaternion obj))
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(s1-0 (-> *standard-dynamics* gravity-normal))
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(s3-0 (quaternion->matrix (new 'stack-no-clear 'matrix) s5-0))
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)
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(let ((s4-0 (-> s3-0 vector 2)))
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(vector-normalize! (vector-flatten! (-> s3-0 vector 1) s1-0 s4-0) 1.0)
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(vector-cross! (the-as vector (-> s3-0 vector)) (-> s3-0 vector 1) s4-0)
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)
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(let ((a1-5 (matrix-rotate-z! (new 'stack-no-clear 'matrix) arg0)))
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(matrix*! s3-0 a1-5 s3-0)
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)
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(matrix->quaternion s5-0 s3-0)
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)
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)
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(defmethod roll-relative-to-gravity trsqv ((obj trsqv))
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"Get our roll, relative to 'down' from gravity"
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(let* ((s5-0 (get-quaternion obj))
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(gp-0 (vector-z-quaternion! (new 'stack-no-clear 'vector) s5-0))
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(s5-1 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
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(a1-2 (-> *standard-dynamics* gravity-normal))
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(v1-2 (vector-normalize! (vector-flatten! (new 'stack-no-clear 'vector) a1-2 gp-0) 1.0))
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(f0-1 (vector-dot v1-2 s5-1))
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)
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(if (< (vector-dot (vector-cross! (new 'stack-no-clear 'vector) v1-2 s5-1) gp-0) 0.0)
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(- (acos f0-1))
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(acos f0-1)
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)
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)
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)
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(defmethod rotate-toward-orientation! trsqv ((obj trsqv) (arg0 quaternion) (arg1 float) (arg2 float) (arg3 int) (arg4 int) (arg5 float))
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"Adjust our orientation toward target, subject to some rate limits.
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For jak 1, I said:
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I don't think this is a very robust function and probably doesn't work right in cases
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where an axis flips by 180 degrees.
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But now they use matrix-from-two-vectors-the-long-way-smooth to fix it! Good job.
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This additionally uses the fancy logic of matrix-from-two-vectors-smooth."
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(local-vars
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(f0-4 float)
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(sv-192 (function quaternion vector vector float int quaternion))
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(sv-208 quaternion)
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(sv-224 vector)
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(sv-240 int)
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(sv-256 vector)
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(sv-272 vector)
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)
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(set! sv-240 arg4)
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(let ((s2-0 arg5)
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(s5-0 (get-quaternion obj))
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)
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(let ((gp-0 (new 'stack-no-clear 'quaternion)))
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(when (< 0.0 arg2)
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(set! sv-192 quaternion-from-two-vectors-smooth!)
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(set! sv-208 gp-0)
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(set! sv-224 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
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(let ((a2-1 (vector-y-quaternion! (new 'stack-no-clear 'vector) arg0)))
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(sv-192 sv-208 sv-224 a2-1 arg2 sv-240)
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)
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(quaternion-normalize! (quaternion*! s5-0 gp-0 s5-0))
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)
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(when (< 0.0 arg1)
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(set! sv-256 (vector-y-quaternion! (new 'stack-no-clear 'vector) s5-0))
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(let ((s1-2 (vector-z-quaternion! (new 'stack-no-clear 'vector) s5-0)))
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(set! sv-272 (vector-z-quaternion! (new 'stack-no-clear 'vector) arg0))
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(let ((s0-1 (new 'stack-no-clear 'matrix)))
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(vector-flatten! s1-2 s1-2 sv-256)
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(vector-flatten! sv-272 sv-272 sv-256)
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(vector-normalize! s1-2 1.0)
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(vector-normalize! sv-272 1.0)
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(cond
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((!= s2-0 0.0)
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(let* ((v1-5 (vector-cross! (new 'stack-no-clear 'vector) s1-2 sv-272))
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; (f0-3 (-> sv-256 x))
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; (f1-3 (-> sv-256 y))
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; (f2-0 (-> sv-256 z))
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; (f3-0 (-> v1-5 x))
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; (f4-0 (-> v1-5 y))
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; (f5-0 (-> v1-5 z))
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)
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(set! f0-4 (vector-dot sv-256 v1-5))
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; (.mula.s f0-3 f3-0)
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; (.madda.s f1-3 f4-0)
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; (.madd.s f0-4 f2-0 f5-0)
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)
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(if (< (* f0-4 s2-0) 0.0)
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(matrix-from-two-vectors-the-long-way-smooth! s0-1 s1-2 sv-272 arg1 arg3)
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(matrix-from-two-vectors-smooth! s0-1 s1-2 sv-272 arg1 arg3)
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)
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)
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(else
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(matrix-from-two-vectors-smooth! s0-1 s1-2 sv-272 arg1 arg3)
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)
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)
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(matrix->quaternion gp-0 s0-1)
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)
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)
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(quaternion-normalize! (quaternion*! s5-0 gp-0 s5-0))
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)
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)
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s5-0
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)
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)
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(defmethod set-heading-vec-clear-roll-pitch! trsqv ((obj trsqv) (arg0 vector))
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"Set our rotation to point along the given heading, with no roll or pitch."
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(forward-up->quaternion
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(get-quaternion obj)
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(vector-normalize-copy! (new 'stack-no-clear 'vector) arg0 1.0)
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(new 'static 'vector :y 1.0 :w 1.0)
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)
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)
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(defmethod point-toward-point-clear-roll-pitch! trsqv ((obj trsqv) (arg0 vector))
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"Set our orientation to point toward arg0, clearing roll and pitch"
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(forward-up->quaternion
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(get-quaternion obj)
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(vector-normalize! (vector-! (new 'stack-no-clear 'vector) arg0 (-> obj trans)) 1.0)
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(new 'static 'vector :y 1.0 :w 1.0)
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)
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)
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(defun transformq-copy! ((arg0 transformq) (arg1 transformq))
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"Set arg0 = arg1"
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(let ((v1-0 (-> arg1 trans quad))
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(a2-0 (-> arg1 quat quad))
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(a1-1 (-> arg1 scale quad))
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)
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(set! (-> arg0 trans quad) v1-0)
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(set! (-> arg0 quat quad) a2-0)
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(set! (-> arg0 scale quad) a1-1)
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)
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arg0
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)
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(defun matrix<-transformq! ((arg0 matrix) (arg1 transformq))
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"Convert to 4x4 affine transform."
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(local-vars (v1-1 float))
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(rlet ((vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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)
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(init-vf0-vector)
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(quaternion->matrix arg0 (-> arg1 quat))
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(cond
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(#f
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(set! (-> arg0 trans quad) (-> arg1 trans quad))
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)
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(else
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(.lvf vf1 (&-> arg1 scale quad))
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(.lvf vf2 (&-> arg1 trans quad))
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(.lvf vf3 (&-> arg0 quad 0))
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(.lvf vf4 (&-> arg0 quad 1))
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(.lvf vf5 (&-> arg0 quad 2))
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(.mov.vf vf2 vf0 :mask #b1000)
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(.mul.x.vf vf3 vf3 vf1)
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(.mul.y.vf vf4 vf4 vf1)
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(.mul.z.vf vf5 vf5 vf1)
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(.svf (&-> arg0 trans quad) vf2)
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(.svf (&-> arg0 quad 0) vf3)
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(.svf (&-> arg0 quad 1) vf4)
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(.svf (&-> arg0 quad 2) vf5)
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(.mov v1-1 vf5)
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)
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)
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arg0
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)
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)
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(defun matrix<-no-trans-transformq! ((arg0 matrix) (arg1 transformq))
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"Create 4x4 affine transform with no translation."
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(rlet ((vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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)
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(init-vf0-vector)
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(quaternion->matrix arg0 (-> arg1 quat))
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(.lvf vf1 (&-> arg1 scale quad))
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(.lvf vf3 (&-> arg0 quad 0))
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(.lvf vf4 (&-> arg0 quad 1))
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(.lvf vf5 (&-> arg0 quad 2))
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(.mov.vf vf2 vf0)
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(.mul.x.vf vf3 vf3 vf1)
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(.mul.y.vf vf4 vf4 vf1)
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(.mul.z.vf vf5 vf5 vf1)
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(.svf (&-> arg0 trans quad) vf2)
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(.svf (&-> arg0 quad 0) vf3)
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(.svf (&-> arg0 quad 1) vf4)
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(.svf (&-> arg0 quad 2) vf5)
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arg0
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)
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)
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(defun matrix<-transformq+trans! ((arg0 matrix) (arg1 transformq) (arg2 vector))
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"Convert to affine transform with an additional translation (in the local frame)."
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(rlet ((acc :class vf)
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(vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :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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(quaternion->matrix arg0 (-> arg1 quat))
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(.lvf vf1 (&-> arg1 scale quad))
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(.lvf vf2 (&-> arg1 trans quad))
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(.lvf vf6 (&-> arg2 quad))
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(.lvf vf3 (&-> arg0 quad 0))
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(.lvf vf4 (&-> arg0 quad 1))
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(.lvf vf5 (&-> arg0 quad 2))
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(.mov.vf vf2 vf0 :mask #b1000)
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(.mul.x.vf vf3 vf3 vf1)
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(.mul.y.vf vf4 vf4 vf1)
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(.mul.z.vf vf5 vf5 vf1)
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(.mul.x.vf acc vf3 vf6)
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(.add.mul.y.vf acc vf4 vf6 acc)
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(.add.mul.z.vf acc vf5 vf6 acc)
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(.add.mul.w.vf vf2 vf2 vf0 acc :mask #b111)
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(.svf (&-> arg0 trans quad) vf2)
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(.svf (&-> arg0 quad 0) vf3)
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(.svf (&-> arg0 quad 1) vf4)
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(.svf (&-> arg0 quad 2) vf5)
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arg0
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)
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)
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(defun matrix<-transformq+world-trans! ((arg0 matrix) (arg1 transformq) (arg2 vector))
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"Convert to affine transform with an additional translation in the world frame (not rotated)"
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(rlet ((vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :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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(quaternion->matrix arg0 (-> arg1 quat))
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(.lvf vf1 (&-> arg1 scale quad))
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(.lvf vf2 (&-> arg1 trans quad))
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(.lvf vf6 (&-> arg2 quad))
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(.lvf vf3 (&-> arg0 quad 0))
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(.lvf vf4 (&-> arg0 quad 1))
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(.lvf vf5 (&-> arg0 quad 2))
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(.mov.vf vf2 vf0 :mask #b1000)
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(.mul.x.vf vf3 vf3 vf1)
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(.mul.y.vf vf4 vf4 vf1)
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(.mul.z.vf vf5 vf5 vf1)
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(.add.vf vf2 vf2 vf6 :mask #b111)
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(.svf (&-> arg0 trans quad) vf2)
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(.svf (&-> arg0 quad 0) vf3)
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(.svf (&-> arg0 quad 1) vf4)
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(.svf (&-> arg0 quad 2) vf5)
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arg0
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)
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)
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(defun matrix<-parented-transformq! ((arg0 matrix) (arg1 transformq) (arg2 vector))
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"Unused. Seems like the parented thing means there's an inverse scale in arg2."
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(local-vars (v1-1 float))
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(rlet ((vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :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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(quaternion->matrix arg0 (-> arg1 quat))
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(let ((v1-0 (new 'stack-no-clear 'vector)))
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(set! (-> v1-0 x) (/ 1.0 (-> arg2 x)))
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|
(set! (-> v1-0 y) (/ 1.0 (-> arg2 y)))
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|
(set! (-> v1-0 z) (/ 1.0 (-> arg2 z)))
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|
(.lvf vf1 (&-> arg1 scale quad))
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|
(.lvf vf2 (&-> arg1 trans quad))
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|
(.mov.vf vf2 vf0 :mask #b1000)
|
|
(.lvf vf4 (&-> arg0 quad 0))
|
|
(.lvf vf5 (&-> arg0 quad 1))
|
|
(.lvf vf6 (&-> arg0 quad 2))
|
|
(.mul.x.vf vf4 vf4 vf1)
|
|
(.mul.y.vf vf5 vf5 vf1)
|
|
(.mul.z.vf vf6 vf6 vf1)
|
|
(.lvf vf3 (&-> v1-0 quad))
|
|
)
|
|
(.mul.vf vf4 vf4 vf3)
|
|
(.mul.vf vf5 vf5 vf3)
|
|
(.mul.vf vf6 vf6 vf3)
|
|
(.svf (&-> arg0 trans quad) vf2)
|
|
(.svf (&-> arg0 quad 0) vf4)
|
|
(.svf (&-> arg0 quad 1) vf5)
|
|
(.svf (&-> arg0 quad 2) vf6)
|
|
(.mov v1-1 vf6)
|
|
arg0
|
|
)
|
|
)
|
|
|
|
(defun matrix<-transformq+rot-offset! ((arg0 matrix) (arg1 transformq) (arg2 vector))
|
|
"Affine transform for a point offset in the destination frame of the transformq (rather than just
|
|
adding an offset at the end)"
|
|
(rlet ((acc :class vf)
|
|
(vf0 :class vf)
|
|
(vf1 :class vf)
|
|
(vf2 :class vf)
|
|
(vf3 :class vf)
|
|
(vf4 :class vf)
|
|
(vf5 :class vf)
|
|
(vf6 :class vf)
|
|
)
|
|
(init-vf0-vector)
|
|
(quaternion->matrix arg0 (-> arg1 quat))
|
|
(.lvf vf1 (&-> arg1 scale quad))
|
|
(.lvf vf2 (&-> arg1 trans quad))
|
|
(.lvf vf6 (&-> arg2 quad))
|
|
(.lvf vf3 (&-> arg0 quad 0))
|
|
(.lvf vf4 (&-> arg0 quad 1))
|
|
(.lvf vf5 (&-> arg0 quad 2))
|
|
(.mov.vf vf2 vf0 :mask #b1000)
|
|
(.mul.x.vf vf3 vf3 vf1)
|
|
(.mul.y.vf vf4 vf4 vf1)
|
|
(.mul.z.vf vf5 vf5 vf1)
|
|
(.mul.x.vf acc vf3 vf6)
|
|
(.add.mul.y.vf acc vf4 vf6 acc)
|
|
(.add.mul.z.vf acc vf5 vf6 acc)
|
|
(.sub.mul.w.vf acc vf6 vf0 acc)
|
|
(.add.mul.w.vf vf2 vf2 vf0 acc :mask #b111)
|
|
(.svf (&-> arg0 trans quad) vf2)
|
|
(.svf (&-> arg0 quad 0) vf3)
|
|
(.svf (&-> arg0 quad 1) vf4)
|
|
(.svf (&-> arg0 quad 2) vf5)
|
|
arg0
|
|
)
|
|
)
|