1 files changed, 821 insertions, 0 deletions
diff --git a/src/ode/body.c b/src/ode/body.c
new file mode 100644
index 0000000..f543b34
--- /dev/null
+++ b/src/ode/body.c
@@ -0,0 +1,821 @@
+#include <lua.h>
+#include <lauxlib.h>
+#include <ode/ode.h>
+#include "ode_bindings.h"
+
+
+struct body_data_t {
+	lua_State *L;
+	int callback_ref;
+};
+
+struct body_t {
+	dBodyID id;
+	struct body_data_t data;
+};
+
+
+void ode_push_body(lua_State *L, dBodyID bb)
+{
+	struct body_t *b = lua_newuserdata(L, sizeof(struct body_t));
+	b->id = bb;
+	b->data.L = L;
+	b->data.callback_ref = LUA_NOREF;
+	dBodySetData(b->id, &(b->data));
+	luaL_getmetatable(L, ode_body_tname);
+	lua_setmetatable(L, -2);
+}
+
+
+int dBodyCreate_bind(lua_State *L)
+{
+	dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
+	dBodyID b = dBodyCreate(*w);
+	ode_push_body(L, b);
+	return 1;
+}
+
+
+int dBodyDestroy_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodyDestroy(*b);
+	return 0;
+}
+
+
+int dBodySetPosition_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetPosition(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodySetRotation_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dMatrix3 R;
+	R[0] = luaL_checknumber(L, 2);
+	R[1] = luaL_checknumber(L, 3);
+	R[2] = luaL_checknumber(L, 4);
+
+	R[4] = luaL_checknumber(L, 5);
+	R[5] = luaL_checknumber(L, 6);
+	R[6] = luaL_checknumber(L, 7);
+
+	R[8] = luaL_checknumber(L, 8);
+	R[9] = luaL_checknumber(L, 9);
+	R[10] = luaL_checknumber(L, 10);
+
+	dBodySetRotation(*b, R);
+	return 0;
+}
+
+
+int dBodySetQuaternion_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dQuaternion q;
+	q[0] = luaL_checknumber(L, 2);
+	q[1] = luaL_checknumber(L, 3);
+	q[2] = luaL_checknumber(L, 4);
+	q[3] = luaL_checknumber(L, 5);
+	dBodySetQuaternion(*b, q);
+	return 0;
+}
+
+
+int dBodySetLinearVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetLinearVel(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodySetAngularVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetAngularVel(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodyGetPosition_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetPosition(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodyGetRotation_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetRotation(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodyGetQuaternion_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetQuaternion(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodyGetLinearVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetLinearVel(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodyGetAngularVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetAngularVel(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodySetMass_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dMass *mass = luaL_checkudata(L, 2, ode_mass_tname);
+	dBodySetMass(*b, mass);
+	return 0;
+}
+
+
+int dBodyGetMass_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dMass * mass = luaL_checkudata(L, 2, ode_mass_tname);
+	dBodyGetMass(*b, mass);
+	return 0;
+}
+
+
+int dBodyAddForce_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dBodyAddForce(*b, fx, fy, fz);
+	return 0;
+}
+
+
+int dBodyAddTorque_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dBodyAddTorque(*b, fx, fy, fz);
+	return 0;
+}
+
+
+int dBodyAddRelForce_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dBodyAddRelForce(*b, fx, fy, fz);
+	return 0;
+}
+
+
+int dBodyAddRelTorque_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dBodyAddRelTorque(*b, fx, fy, fz);
+	return 0;
+}
+
+
+int dBodyAddForceAtPos_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dReal px = luaL_checkinteger(L, 5);
+	dReal py = luaL_checkinteger(L, 6);
+	dReal pz = luaL_checkinteger(L, 7);
+	dBodyAddForceAtPos(*b, fx, fy, fz, px, py, pz);
+	return 0;
+}
+
+
+int dBodyAddForceAtRelPos_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dReal px = luaL_checkinteger(L, 5);
+	dReal py = luaL_checkinteger(L, 6);
+	dReal pz = luaL_checkinteger(L, 7);
+	dBodyAddForceAtRelPos(*b, fx, fy, fz, px, py, pz);
+	return 0;
+}
+
+
+int dBodyAddRelForceAtPos_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dReal px = luaL_checkinteger(L, 5);
+	dReal py = luaL_checkinteger(L, 6);
+	dReal pz = luaL_checkinteger(L, 7);
+	dBodyAddRelForceAtPos(*b, fx, fy, fz, px, py, pz);
+	return 0;
+}
+
+
+int dBodyAddRelForceAtRelPos_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal fx = luaL_checkinteger(L, 2);
+	dReal fy = luaL_checkinteger(L, 3);
+	dReal fz = luaL_checkinteger(L, 4);
+	dReal px = luaL_checkinteger(L, 5);
+	dReal py = luaL_checkinteger(L, 6);
+	dReal pz = luaL_checkinteger(L, 7);
+	dBodyAddRelForceAtRelPos(*b, fx, fy, fz, px, py, pz);
+	return 0;
+}
+
+
+int dBodyGetForce_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetForce(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodyGetTorque_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	const dReal * bind_result = dBodyGetTorque(*b);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dBodySetForce_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetForce(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodySetTorque_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetTorque(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodySetDynamic_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodySetDynamic(*b);
+	return 0;
+}
+
+
+int dBodySetKinematic_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodySetKinematic(*b);
+	return 0;
+}
+
+
+int dBodyIsKinematic_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyIsKinematic(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetRelPointPos_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyGetRelPointPos(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyGetRelPointVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyGetRelPointVel(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyGetPointVel_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyGetPointVel(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyGetPosRelPoint_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyGetPosRelPoint(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyVectorToWorld_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyVectorToWorld(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyVectorFromWorld_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal px = luaL_checkinteger(L, 2);
+	dReal py = luaL_checkinteger(L, 3);
+	dReal pz = luaL_checkinteger(L, 4);
+	dVector3 result;
+	dBodyVectorFromWorld(*b, px, py, pz, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyEnable_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodyEnable(*b);
+	return 0;
+}
+
+
+int dBodyDisable_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodyDisable(*b);
+	return 0;
+}
+
+
+int dBodyIsEnabled_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyIsEnabled(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableFlag_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int do_auto_disable = lua_toboolean(L, 2);
+	dBodySetAutoDisableFlag(*b, do_auto_disable);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableFlag_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetAutoDisableFlag(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableLinearThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal linear_threshold = luaL_checkinteger(L, 2);
+	dBodySetAutoDisableLinearThreshold(*b, linear_threshold);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableLinearThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetAutoDisableLinearThreshold(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableAngularThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal angular_threshold = luaL_checkinteger(L, 2);
+	dBodySetAutoDisableAngularThreshold(*b, angular_threshold);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableAngularThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetAutoDisableAngularThreshold(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableSteps_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int steps = luaL_checkinteger(L, 2);
+	dBodySetAutoDisableSteps(*b, steps);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableSteps_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetAutoDisableSteps(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableTime_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal time = luaL_checkinteger(L, 2);
+	dBodySetAutoDisableTime(*b, time);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableTime_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetAutoDisableTime(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableAverageSamplesCount_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	unsigned int average_samples_count = luaL_checkinteger(L, 2);
+	dBodySetAutoDisableAverageSamplesCount(*b, average_samples_count);
+	return 0;
+}
+
+
+int dBodyGetAutoDisableAverageSamplesCount_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetAutoDisableAverageSamplesCount(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetAutoDisableDefaults_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodySetAutoDisableDefaults(*b);
+	return 0;
+}
+
+
+static void moved_cb(dBodyID b)
+{
+	struct body_data_t *data = dBodyGetData(b);
+	lua_State *L = data->L;
+	int ref = data->callback_ref;
+	lua_rawgeti(L, LUA_REGISTRYINDEX, ref);
+	lua_call(L, 0, 0);
+}
+
+int dBodySetMovedCallback_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	luaL_checktype(L, 2, LUA_TFUNCTION);
+	int callback = 2;
+
+	struct body_data_t *data = dBodyGetData(*b);
+	lua_pushvalue(L, callback);
+	data->callback_ref = luaL_ref(L, LUA_REGISTRYINDEX);
+
+	dBodySetMovedCallback(*b, moved_cb);
+	return 0;
+}
+
+
+int dBodyGetLinearDamping_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetLinearDamping(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetAngularDamping_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetAngularDamping(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetLinearDamping_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal scale = luaL_checkinteger(L, 2);
+	dBodySetLinearDamping(*b, scale);
+	return 0;
+}
+
+
+int dBodySetAngularDamping_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal scale = luaL_checkinteger(L, 2);
+	dBodySetAngularDamping(*b, scale);
+	return 0;
+}
+
+
+int dBodySetDamping_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal linear_scale = luaL_checkinteger(L, 2);
+	dReal angular_scale = luaL_checkinteger(L, 3);
+	dBodySetDamping(*b, linear_scale, angular_scale);
+	return 0;
+}
+
+
+int dBodyGetLinearDampingThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetLinearDampingThreshold(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetAngularDampingThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetAngularDampingThreshold(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetLinearDampingThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal threshold = luaL_checkinteger(L, 2);
+	dBodySetLinearDampingThreshold(*b, threshold);
+	return 0;
+}
+
+
+int dBodySetAngularDampingThreshold_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal threshold = luaL_checkinteger(L, 2);
+	dBodySetAngularDampingThreshold(*b, threshold);
+	return 0;
+}
+
+
+int dBodySetDampingDefaults_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dBodySetDampingDefaults(*b);
+	return 0;
+}
+
+
+int dBodyGetMaxAngularSpeed_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal bind_result = dBodyGetMaxAngularSpeed(*b);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetMaxAngularSpeed_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal max_speed = luaL_checkinteger(L, 2);
+	dBodySetMaxAngularSpeed(*b, max_speed);
+	return 0;
+}
+
+
+int dBodySetFiniteRotationMode_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int mode = luaL_checkinteger(L, 2);
+	dBodySetFiniteRotationMode(*b, mode);
+	return 0;
+}
+
+
+int dBodyGetFiniteRotationMode_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetFiniteRotationMode(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetFiniteRotationAxis_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dReal x = luaL_checkinteger(L, 2);
+	dReal y = luaL_checkinteger(L, 3);
+	dReal z = luaL_checkinteger(L, 4);
+	dBodySetFiniteRotationAxis(*b, x, y, z);
+	return 0;
+}
+
+
+int dBodyGetFiniteRotationAxis_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dVector3 result;
+	dBodyGetFiniteRotationAxis(*b, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dBodyGetNumJoints_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetNumJoints(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetJoint_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int index = luaL_checkinteger(L, 2);
+	dJointID bind_result = dBodyGetJoint(*b, index);
+	ode_push_joint(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetWorld_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dWorldID bind_result = dBodyGetWorld(*b);
+	ode_push_world(L, bind_result);
+	return 1;
+}
+
+
+int dBodySetGravityMode_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int mode = lua_toboolean(L, 2);
+	dBodySetGravityMode(*b, mode);
+	return 0;
+}
+
+
+int dBodyGetGravityMode_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	int bind_result = dBodyGetGravityMode(*b);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetFirstGeom_bind(lua_State *L)
+{
+	dBodyID *b = luaL_checkudata(L, 1, ode_body_tname);
+	dGeomID bind_result = dBodyGetFirstGeom(*b);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dBodyGetNextGeom_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomID bind_result = dBodyGetNextGeom(*g);
+	ode_push_geom(L, bind_result);
+	return 1;
+}