;;-*-Lisp-*-
(in-package goal)
(bundles "ENGINE.CGO" "GAME.CGO")
(require "engine/math/quaternion-h.gc")
(require "engine/math/vector-h.gc")
(require "engine/math/transform-h.gc")

;; DECOMP BEGINS

;; the transformq is a transform, but _replaces_ the rotation field with a quaternion.
;; it is much more commonly used than transform.
(deftype transformq (transform)
  ;; this overlays the rot field of transform.
  ((quat quaternion :inline :overlay-at (-> rot x))))

;; trsq is the quaternion version of trs (trs is like a transform, but is basic.)
(deftype trsq (trs)
  ;; this overlays the rot field of trs.
  ((quat quaternion :inline :overlay-at (-> rot x))))

;; Representing a translate/rotate/scale with a quaternion and a velocity.
;; This is often used as the base type for the position of a game object that can move around
;; so it has methods to do common control functions.
;; many of these functions assume that y is up and assume that roll/pitch is small
;; (a reasonable assumption for most in-game objects that don't do flips)
;; note: Jak's control uses this as a base class.

(deftype trsqv (trsq)
  ((pause-adjust-distance meters :offset 4) ;; hack: adjusts the distance where actor logic is paused, if this is an actor
   (nav-radius            meters :offset 8) ;; hack: the radius of the bounding sphere used by the navigate system.
   (transv                vector :inline) ;; velocity (meters/second)
   (rotv                  vector :inline) ;; angular velocity (deg/second)
   (scalev                vector :inline) ;; scale velocity (unused?)
   ;; there's a hacky ~first-order orientation yaw control with hysteresis
   ;; it makes the yaw change smoothly and attempts to cancel out oscillations from the collision system
   (dir-targ              quaternion :inline) ;; direction target
   (angle-change-time     time-frame) ;; the time when we change rotation directions
   (old-y-angle-diff      float) ;; the amount we moved last time
   )
  (:methods
   (seek-toward-heading-vec! (_type_ vector float time-frame) quaternion)
   (set-heading-vec! (_type_ vector) quaternion)
   (seek-to-point-toward-point! (_type_ vector float time-frame) quaternion)
   (point-toward-point! (_type_ vector) quaternion)
   (seek-toward-yaw-angle! (_type_ float float time-frame) quaternion)
   (set-yaw-angle-clear-roll-pitch! (_type_ float) quaternion)
   (set-roll-to-grav! (_type_ float) quaternion)
   (set-roll-to-grav-2! (_type_ float) quaternion)
   (rotate-toward-orientation! (_type_ quaternion float float) quaternion)
   (set-quaternion! (_type_ quaternion) quaternion)
   (set-heading-vec-clear-roll-pitch! (_type_ vector) quaternion)
   (point-toward-point-clear-roll-pitch! (_type_ vector) quaternion)
   (rot->dir-targ! (_type_) quaternion)
   (y-angle (_type_) float)
   (global-y-angle-to-point (_type_ vector) float)
   (relative-y-angle-to-point (_type_ vector) float)
   (roll-relative-to-gravity (_type_) float)
   (set-and-limit-velocity (_type_ int vector float) trsqv)
   (get-quaternion (_type_) quaternion)))

(defmethod global-y-angle-to-point ((this trsqv) (arg0 vector))
  "Get the angle in the xz plane from the position of this trsqv to the point arg0."
  (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> this trans))))

(defmethod relative-y-angle-to-point ((this trsqv) (arg0 vector))
  "Get the y angle between the current orientation and arg0."
  (deg-diff (y-angle this) (vector-y-angle (vector-! (new 'stack-no-clear 'vector) arg0 (-> this trans)))))
