1 files changed, 1109 insertions, 0 deletions
diff --git a/src/ode/geom.c b/src/ode/geom.c
new file mode 100644
index 0000000..b7694ad
--- /dev/null
+++ b/src/ode/geom.c
@@ -0,0 +1,1109 @@
+#include <lua.h>
+#include <lauxlib.h>
+#include <ode/ode.h>
+#include "ode_bindings.h"
+
+
+void ode_push_geom(lua_State *L, dGeomID g)
+{
+	dGeomID *gu = lua_newuserdata(L, sizeof(dGeomID));
+	*gu = g;
+	luaL_getmetatable(L, ode_geom_tname);
+	lua_setmetatable(L, -2);
+}
+
+
+void ode_push_space(lua_State *L, dSpaceID s)
+{
+	dSpaceID *su = lua_newuserdata(L, sizeof(dSpaceID));
+	*su = s;
+	luaL_getmetatable(L, ode_space_tname);
+	lua_setmetatable(L, -2);
+}
+
+
+void ode_push_contactgeom(lua_State *L, dContactGeom cg)
+{
+	dContactGeom *cgu = lua_newuserdata(L, sizeof(dContactGeom));
+	*cgu = cg;
+}
+
+
+int dGeomDestroy_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomDestroy(*g);
+	return 0;
+}
+
+
+int dGeomSetBody_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dBodyID *b = luaL_checkudata(L, 2, ode_body_tname);
+	dGeomSetBody(*g, *b);
+	return 0;
+}
+
+
+int dGeomGetBody_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dBodyID bind_result = dGeomGetBody(*g);
+	ode_push_body(L, bind_result);
+	return 1;
+}
+
+
+int dGeomSetPosition_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dGeomSetPosition(*g, x, y, z);
+	return 0;
+}
+
+
+int dGeomSetRotation_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetRotation(*g, R);
+	return 0;
+}
+
+
+int dGeomSetQuaternion_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetQuaternion(*g, q);
+	return 0;
+}
+
+
+int dGeomGetPosition_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	const dReal * bind_result = dGeomGetPosition(*g);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dGeomGetRotation_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	const dReal * bind_result = dGeomGetRotation(*g);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	lua_pushnumber(L, bind_result[4]);
+	lua_pushnumber(L, bind_result[5]);
+	lua_pushnumber(L, bind_result[6]);
+	lua_pushnumber(L, bind_result[8]);
+	lua_pushnumber(L, bind_result[9]);
+	lua_pushnumber(L, bind_result[10]);
+	return 9;
+}
+
+
+int dGeomGetQuaternion_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dQuaternion result;
+	dGeomGetQuaternion(*g, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	lua_pushnumber(L, result[3]);
+	return 4;
+}
+
+
+int dGeomSetOffsetPosition_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dGeomSetOffsetPosition(*g, x, y, z);
+	return 0;
+}
+
+
+int dGeomSetOffsetRotation_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetOffsetRotation(*g, R);
+	return 0;
+}
+
+
+int dGeomSetOffsetQuaternion_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetOffsetQuaternion(*g, Q);
+	return 0;
+}
+
+
+int dGeomSetOffsetWorldPosition_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dGeomSetOffsetWorldPosition(*g, x, y, z);
+	return 0;
+}
+
+
+int dGeomSetOffsetWorldRotation_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetOffsetWorldRotation(*g, R);
+	return 0;
+}
+
+
+int dGeomSetOffsetWorldQuaternion_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_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);
+	dGeomSetOffsetWorldQuaternion(*g, Q);
+	return 0;
+}
+
+
+int dGeomGetOffsetPosition_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	const dReal * bind_result = dGeomGetOffsetPosition(*g);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	return 3;
+}
+
+
+int dGeomGetOffsetRotation_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	const dReal * bind_result = dGeomGetOffsetRotation(*g);
+	lua_pushnumber(L, bind_result[0]);
+	lua_pushnumber(L, bind_result[1]);
+	lua_pushnumber(L, bind_result[2]);
+	lua_pushnumber(L, bind_result[4]);
+	lua_pushnumber(L, bind_result[5]);
+	lua_pushnumber(L, bind_result[6]);
+	lua_pushnumber(L, bind_result[8]);
+	lua_pushnumber(L, bind_result[9]);
+	lua_pushnumber(L, bind_result[10]);
+	return 9;
+}
+
+
+int dGeomGetOffsetQuaternion_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dQuaternion result;
+	dGeomGetOffsetQuaternion(*g, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	lua_pushnumber(L, result[3]);
+	return 4;
+}
+
+
+int dGeomClearOffset_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomClearOffset(*g);
+	return 0;
+}
+
+
+int dGeomGetAABB_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal aabb[6];
+	dGeomGetAABB(*g, aabb);
+	lua_pushnumber(L, aabb[0]);
+	lua_pushnumber(L, aabb[1]);
+	lua_pushnumber(L, aabb[2]);
+	lua_pushnumber(L, aabb[3]);
+	lua_pushnumber(L, aabb[4]);
+	lua_pushnumber(L, aabb[5]);
+	return 6;
+}
+
+
+int dGeomIsSpace_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int bind_result = dGeomIsSpace(*g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dGeomGetSpace_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dSpaceID bind_result = dGeomGetSpace(*g);
+	ode_push_space(L, bind_result);
+	return 1;
+}
+
+
+int dGeomGetClass_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int bind_result = dGeomGetClass(*g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dGeomSetCategoryBits_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	unsigned long bits = luaL_checkinteger(L, 2);
+	dGeomSetCategoryBits(*g, bits);
+	return 0;
+}
+
+
+int dGeomSetCollideBits_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	unsigned long bits = luaL_checkinteger(L, 2);
+	dGeomSetCollideBits(*g, bits);
+	return 0;
+}
+
+
+int dGeomGetCategoryBits_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	unsigned long bind_result = dGeomGetCategoryBits(*g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dGeomGetCollideBits_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	unsigned long bind_result = dGeomGetCollideBits(*g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dGeomEnable_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomEnable(*g);
+	return 0;
+}
+
+
+int dGeomDisable_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomDisable(*g);
+	return 0;
+}
+
+
+int dGeomIsEnabled_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int bind_result = dGeomIsEnabled(*g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dCollide_bind(lua_State *L)
+{
+	dGeomID *o1 = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomID *o2 = luaL_checkudata(L, 2, ode_geom_tname);
+	int flags = luaL_checkinteger(L, 3);
+	size_t count = flags & 0xff; /* lower 16 bits for flags are the number of contacts requested */
+	dContactGeom *contacts = malloc(count * sizeof(dContactGeom));
+	if (contacts == NULL) {
+		return luaL_error(L, "failed to allocate %lu bytes for contacts buffer", count * sizeof(dContactGeom));
+	}
+	count = dCollide(*o1, *o2, flags, contacts, sizeof(dContactGeom));
+	
+	lua_createtable(L, count, 0);
+	int tbl = lua_gettop(L);
+	for (int i=0; i<count; i++) {
+		ode_push_contactgeom(L, contacts[i]);
+		lua_rawseti(L, tbl, i+1);
+	}
+	return 1;
+}
+
+
+struct near_data_t {
+	lua_State *L;
+	int ref;
+};
+
+static void near(void *data, dGeomID o1, dGeomID o2)
+{
+	struct near_data_t *d = data;
+	lua_State *L = d->L;
+
+	lua_rawgeti(L, LUA_REGISTRYINDEX, d->ref);
+	ode_push_geom(L, o1);
+	ode_push_geom(L, o2);
+	lua_call(L, 2, 0);
+}
+
+int dSpaceCollide_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	luaL_checktype(L, 2, LUA_TFUNCTION);
+	lua_pushvalue(L, 2);
+	int ref = luaL_ref(L, LUA_REGISTRYINDEX);
+	struct near_data_t data = { L, ref };
+	dSpaceCollide(*space, &data, near);
+	luaL_unref(L, LUA_REGISTRYINDEX, ref);
+	return 0;
+}
+
+
+int dSpaceCollide2_bind(lua_State *L)
+{
+	dGeomID *o1 = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomID *o2 = luaL_checkudata(L, 2, ode_geom_tname);
+	luaL_checktype(L, 3, LUA_TFUNCTION);
+	lua_pushvalue(L, 3);
+	int ref = luaL_ref(L, LUA_REGISTRYINDEX);
+	struct near_data_t data = { L, ref };
+	dSpaceCollide2(*o1, *o2, &data, near);
+	luaL_unref(L, LUA_REGISTRYINDEX, ref);
+	return 0;
+}
+
+
+int dSimpleSpaceCreate_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dSpaceID bind_result = dSimpleSpaceCreate(*space);
+	ode_push_space(L, bind_result);
+	return 1;
+}
+
+
+int dHashSpaceCreate_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dSpaceID bind_result = dHashSpaceCreate(*space);
+	ode_push_space(L, bind_result);
+	return 1;
+}
+
+
+int dQuadTreeSpaceCreate_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dVector3 Center;
+	Center[0] = luaL_checknumber(L, 2);
+	Center[1] = luaL_checknumber(L, 3);
+	Center[2] = luaL_checknumber(L, 4);
+	dVector3 Extents;
+	Extents[0] = luaL_checknumber(L, 5);
+	Extents[1] = luaL_checknumber(L, 6);
+	Extents[2] = luaL_checknumber(L, 7);
+	int Depth = luaL_checkinteger(L, 8);
+	dSpaceID bind_result = dQuadTreeSpaceCreate(*space, Center, Extents, Depth);
+	ode_push_space(L, bind_result);
+	return 1;
+}
+
+
+int dSpaceDestroy_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	dSpaceDestroy(*s);
+	return 0;
+}
+
+
+int dHashSpaceSetLevels_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int minlevel = luaL_checkinteger(L, 2);
+	int maxlevel = luaL_checkinteger(L, 3);
+	dHashSpaceSetLevels(*space, minlevel, maxlevel);
+	return 0;
+}
+
+
+int dHashSpaceGetLevels_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int minlevel, maxlevel;
+	dHashSpaceGetLevels(*space, &minlevel, &maxlevel);
+	lua_pushinteger(L, minlevel);
+	lua_pushinteger(L, maxlevel);
+	return 2;
+}
+
+
+int dSpaceSetCleanup_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int mode = luaL_checkinteger(L, 2);
+	dSpaceSetCleanup(*space, mode);
+	return 0;
+}
+
+
+int dSpaceGetCleanup_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int bind_result = dSpaceGetCleanup(*space);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dSpaceSetSublevel_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int sublevel = luaL_checkinteger(L, 2);
+	dSpaceSetSublevel(*space, sublevel);
+	return 0;
+}
+
+
+int dSpaceGetSublevel_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	int bind_result = dSpaceGetSublevel(*space);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dSpaceAdd_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	dGeomID *g = luaL_checkudata(L, 2, ode_geom_tname);
+	dSpaceAdd(*s, *g);
+	return 0;
+}
+
+
+int dSpaceRemove_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	dGeomID *g = luaL_checkudata(L, 2, ode_geom_tname);
+	dSpaceRemove(*s, *g);
+	return 0;
+}
+
+
+int dSpaceQuery_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	dGeomID *g = luaL_checkudata(L, 2, ode_geom_tname);
+	int bind_result = dSpaceQuery(*s, *g);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dSpaceGetNumGeoms_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	int bind_result = dSpaceGetNumGeoms(*s);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+int dSpaceGetGeom_bind(lua_State *L)
+{
+	dSpaceID *s = luaL_checkudata(L, 1, ode_space_tname);
+	int i = luaL_checkinteger(L, 2);
+	dGeomID bind_result = dSpaceGetGeom(*s, i);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dCreateSphere_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dGeomID bind_result = dCreateSphere(*space, radius);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomSphereSetRadius_bind(lua_State *L)
+{
+	dGeomID *sphere = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dGeomSphereSetRadius(*sphere, radius);
+	return 0;
+}
+
+
+int dGeomSphereGetRadius_bind(lua_State *L)
+{
+	dGeomID *sphere = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal bind_result = dGeomSphereGetRadius(*sphere);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dGeomSpherePointDepth_bind(lua_State *L)
+{
+	dGeomID *sphere = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dReal bind_result = dGeomSpherePointDepth(*sphere, x, y, z);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dCreateBox_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal lx = luaL_checknumber(L, 2);
+	dReal ly = luaL_checknumber(L, 3);
+	dReal lz = luaL_checknumber(L, 4);
+	dGeomID bind_result = dCreateBox(*space, lx, ly, lz);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomBoxSetLengths_bind(lua_State *L)
+{
+	dGeomID *box = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal lx = luaL_checknumber(L, 2);
+	dReal ly = luaL_checknumber(L, 3);
+	dReal lz = luaL_checknumber(L, 4);
+	dGeomBoxSetLengths(*box, lx, ly, lz);
+	return 0;
+}
+
+
+int dGeomBoxGetLengths_bind(lua_State *L)
+{
+	dGeomID *box = luaL_checkudata(L, 1, ode_geom_tname);
+	dVector3 result;
+	dGeomBoxGetLengths(*box, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	return 3;
+}
+
+
+int dGeomBoxPointDepth_bind(lua_State *L)
+{
+	dGeomID *box = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dReal bind_result = dGeomBoxPointDepth(*box, x, y, z);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dCreatePlane_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal a = luaL_checknumber(L, 2);
+	dReal b = luaL_checknumber(L, 3);
+	dReal c = luaL_checknumber(L, 4);
+	dReal d = luaL_checknumber(L, 5);
+	dGeomID bind_result = dCreatePlane(*space, a, b, c, d);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomPlaneSetParams_bind(lua_State *L)
+{
+	dGeomID *plane = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal a = luaL_checknumber(L, 2);
+	dReal b = luaL_checknumber(L, 3);
+	dReal c = luaL_checknumber(L, 4);
+	dReal d = luaL_checknumber(L, 5);
+	dGeomPlaneSetParams(*plane, a, b, c, d);
+	return 0;
+}
+
+
+int dGeomPlaneGetParams_bind(lua_State *L)
+{
+	dGeomID *plane = luaL_checkudata(L, 1, ode_geom_tname);
+	dVector4 result;
+	dGeomPlaneGetParams(*plane, result);
+	lua_pushnumber(L, result[0]);
+	lua_pushnumber(L, result[1]);
+	lua_pushnumber(L, result[2]);
+	lua_pushnumber(L, result[3]);
+	return 4;
+}
+
+
+int dGeomPlanePointDepth_bind(lua_State *L)
+{
+	dGeomID *plane = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dReal bind_result = dGeomPlanePointDepth(*plane, x, y, z);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dCreateCapsule_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dReal length = luaL_checknumber(L, 3);
+	dGeomID bind_result = dCreateCapsule(*space, radius, length);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomCapsuleSetParams_bind(lua_State *L)
+{
+	dGeomID *capsule = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dReal length = luaL_checknumber(L, 3);
+	dGeomCapsuleSetParams(*capsule, radius, length);
+	return 0;
+}
+
+
+int dGeomCapsuleGetParams_bind(lua_State *L)
+{
+	dGeomID *capsule = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal radius, length;
+	dGeomCapsuleGetParams(*capsule, &radius, &length);
+	lua_pushnumber(L, radius);
+	lua_pushnumber(L, length);
+	return 2;
+}
+
+
+int dGeomCapsulePointDepth_bind(lua_State *L)
+{
+	dGeomID *capsule = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal x = luaL_checknumber(L, 2);
+	dReal y = luaL_checknumber(L, 3);
+	dReal z = luaL_checknumber(L, 4);
+	dReal bind_result = dGeomCapsulePointDepth(*capsule, x, y, z);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dCreateCylinder_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dReal length = luaL_checknumber(L, 3);
+	dGeomID bind_result = dCreateCylinder(*space, radius, length);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomCylinderSetParams_bind(lua_State *L)
+{
+	dGeomID *cylinder = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal radius = luaL_checknumber(L, 2);
+	dReal length = luaL_checknumber(L, 3);
+	dGeomCylinderSetParams(*cylinder, radius, length);
+	return 0;
+}
+
+
+int dGeomCylinderGetParams_bind(lua_State *L)
+{
+	dGeomID *cylinder = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal radius, length;
+	dGeomCylinderGetParams(*cylinder, &radius, &length);
+	lua_pushnumber(L, radius);
+	lua_pushnumber(L, length);
+	return 2;
+}
+
+
+int dCreateRay_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dReal length = luaL_checknumber(L, 2);
+	dGeomID bind_result = dCreateRay(*space, length);
+	ode_push_geom(L, bind_result);
+	return 1;
+}
+
+
+int dGeomRaySetLength_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal length = luaL_checknumber(L, 2);
+	dGeomRaySetLength(*ray, length);
+	return 0;
+}
+
+
+int dGeomRayGetLength_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal bind_result = dGeomRayGetLength(*ray);
+	lua_pushnumber(L, bind_result);
+	return 1;
+}
+
+
+int dGeomRaySet_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	dReal px = luaL_checknumber(L, 2);
+	dReal py = luaL_checknumber(L, 3);
+	dReal pz = luaL_checknumber(L, 4);
+	dReal dx = luaL_checknumber(L, 5);
+	dReal dy = luaL_checknumber(L, 6);
+	dReal dz = luaL_checknumber(L, 7);
+	dGeomRaySet(*ray, px, py, pz, dx, dy, dz);
+	return 0;
+}
+
+
+int dGeomRayGet_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	dVector3 start;
+	dVector3 dir;
+	dGeomRayGet(*ray, start, dir);
+	lua_pushnumber(L, start[0]);
+	lua_pushnumber(L, start[1]);
+	lua_pushnumber(L, start[2]);
+	lua_pushnumber(L, dir[0]);
+	lua_pushnumber(L, dir[1]);
+	lua_pushnumber(L, dir[2]);
+	return 6;
+}
+
+
+int dGeomRaySetParams_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	int FirstContact = luaL_checkinteger(L, 2);
+	int BackfaceCull = luaL_checkinteger(L, 3);
+	dGeomRaySetParams(*ray, FirstContact, BackfaceCull);
+	return 0;
+}
+
+
+int dGeomRayGetParams_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	int FirstContact, BackfaceCull;
+	dGeomRayGetParams(*ray, &FirstContact, &BackfaceCull);
+	lua_pushnumber(L, FirstContact);
+	lua_pushnumber(L, BackfaceCull);
+	return 2;
+}
+
+
+int dGeomRaySetClosestHit_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	int ClosestHit = luaL_checkinteger(L, 2);
+	dGeomRaySetClosestHit(*ray, ClosestHit);
+	return 0;
+}
+
+
+int dGeomRayGetClosestHit_bind(lua_State *L)
+{
+	dGeomID *ray = luaL_checkudata(L, 1, ode_geom_tname);
+	int bind_result = dGeomRayGetClosestHit(*ray);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}
+
+
+/*int dGeomTriMeshDataCreate_bind(lua_State *L)
+{
+	dTriMeshDataID bind_result = dGeomTriMeshDataCreate();
+	/* push result /
+	return /* count /;
+}
+
+
+int dGeomTriMeshDataDestroy_bind(lua_State *L)
+{
+	dTriMeshDataID g = get: dTriMeshDataID
+	dGeomTriMeshDataDestroy(*g);
+	return 0;
+}
+
+
+int dGeomTriMeshDataBuild_bind(lua_State *L)
+{
+	dTriMeshDataID g = get: dTriMeshDataID
+	const void * Vertices = get: const void *
+	int VertexStride = luaL_checkinteger(L, 3);
+	int VertexCount = luaL_checkinteger(L, 4);
+	const void * Indices = get: const void *
+	int IndexCount = luaL_checkinteger(L, 6);
+	int TriStride = luaL_checkinteger(L, 7);
+	const void * Normals = get: const void *
+	dGeomTriMeshDataBuild(*g, Vertices, VertexStride, VertexCount, Indices, IndexCount, TriStride, Normals);
+	return 0;
+}
+
+
+int dGeomTriMeshDataBuildSimple_bind(lua_State *L)
+{
+	dTriMeshDataID g = get: dTriMeshDataID
+	const dVector3 * Vertices = get: const dVector3 *
+	int VertexCount = luaL_checkinteger(L, 3);
+	const int * Indices = get: const int *
+	int IndexCount = luaL_checkinteger(L, 5);
+	dGeomTriMeshDataBuildSimple(*g, Vertices, VertexCount, Indices, IndexCount);
+	return 0;
+}
+
+
+int dCreateTriMesh_bind(lua_State *L)
+{
+	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+	dTriMeshDataID Data = get: dTriMeshDataID
+	dTriCallback * Callback = get: dTriCallback *
+	dTriArrayCallback * ArrayCallback = get: dTriArrayCallback *
+	dTriRayCallback * RayCallback = get: dTriRayCallback *
+	dGeomID *bind_result = dCreateTriMesh(*space, Data, Callback, ArrayCallback, RayCallback);
+	/* push result /
+	return /* count /;
+}
+
+
+int dGeomTriMeshSetData_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dTriMeshDataID Data = get: dTriMeshDataID
+	dGeomTriMeshSetData(*g, Data);
+	return 0;
+}
+
+
+int dGeomTriMeshClearTCCache_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	dGeomTriMeshClearTCCache(*g);
+	return 0;
+}
+
+
+int dGeomTriMeshGetTriangle_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int Index = luaL_checkinteger(L, 2);
+	dVector3 * v0 = get: dVector3 *
+	dVector3 * v1 = get: dVector3 *
+	dVector3 * v2 = get: dVector3 *
+	dGeomTriMeshGetTriangle(*g, Index, v0, v1, v2);
+	return 0;
+}
+
+
+int dGeomTriMeshGetPoint_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int Index = luaL_checkinteger(L, 2);
+	dReal u = luaL_checknumber(L, 3);
+	dReal v = luaL_checknumber(L, 4);
+	dVector3 Out = get: dVector3
+	dGeomTriMeshGetPoint(*g, Index, u, v, Out);
+	return 0;
+}
+
+
+int dGeomTriMeshEnableTC_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int geomClass = luaL_checkinteger(L, 2);
+	int enable = luaL_checkinteger(L, 3);
+	dGeomTriMeshEnableTC(*g, geomClass, enable);
+	return 0;
+}
+
+
+int dGeomTriMeshIsTCEnabled_bind(lua_State *L)
+{
+	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+	int geomClass = luaL_checkinteger(L, 2);
+	int bind_result = dGeomTriMeshIsTCEnabled(*g, geomClass);
+	lua_pushinteger(L, bind_result);
+	return 1;
+}*/
+
+
+//int dGeomHeightfieldDataCreate_bind(lua_State *L)
+//{
+//	dHeightfieldDataID bind_result = dGeomHeightfieldDataCreate();
+//	/* push result */
+//	return /* count */;
+//}
+//
+//
+//int dGeomHeightfieldDataDestroy_bind(lua_State *L)
+//{
+//	dHeightfieldDataID d = get: dHeightfieldDataID
+//	dGeomHeightfieldDataDestroy(d);
+//	return 0;
+//}
+//
+//
+//int dGeomHeightfieldDataBuildDouble_bind(lua_State *L)
+//{
+//	dHeightfieldDataID d = get: dHeightfieldDataID
+//	const double * pHeightData = get: const double *
+//	int bCopyHeightData = luaL_checkinteger(L, 3);
+//	dReal width = luaL_checknumber(L, 4);
+//	dReal depth = luaL_checknumber(L, 5);
+//	int widthSamples = luaL_checkinteger(L, 6);
+//	int depthSamples = luaL_checkinteger(L, 7);
+//	dReal scale = luaL_checknumber(L, 8);
+//	dReal offset = luaL_checknumber(L, 9);
+//	dReal thickness = luaL_checknumber(L, 10);
+//	int bWrap = luaL_checkinteger(L, 11);
+//	dGeomHeightfieldDataBuildDouble(d, pHeightData, bCopyHeightData, width, depth, widthSamples, depthSamples, scale, offset, thickness, bWrap);
+//	return 0;
+//}
+//
+//
+//int dGeomHeightfieldDataBuildCallback_bind(lua_State *L)
+//{
+//	dHeightfieldDataID d = get: dHeightfieldDataID
+//	void * pUserData = get: void *
+//	dHeightfieldGetHeight * pCallback = get: dHeightfieldGetHeight *
+//	dReal width = luaL_checknumber(L, 4);
+//	dReal depth = luaL_checknumber(L, 5);
+//	int widthSamples = luaL_checkinteger(L, 6);
+//	int depthSamples = luaL_checkinteger(L, 7);
+//	dReal scale = luaL_checknumber(L, 8);
+//	dReal offset = luaL_checknumber(L, 9);
+//	dReal thickness = luaL_checknumber(L, 10);
+//	int bWrap = luaL_checkinteger(L, 11);
+//	dGeomHeightfieldDataBuildCallback(d, pUserData, pCallback, width, depth, widthSamples, depthSamples, scale, offset, thickness, bWrap);
+//	return 0;
+//}
+//
+//
+//int dGeomHeightfieldDataSetBounds_bind(lua_State *L)
+//{
+//	dHeightfieldDataID d = get: dHeightfieldDataID
+//	dReal min_height = luaL_checknumber(L, 2);
+//	dReal max_height = luaL_checknumber(L, 3);
+//	dGeomHeightfieldDataSetBounds(d, min_height, max_height);
+//	return 0;
+//}
+//
+//
+//int dCreateHeightfield_bind(lua_State *L)
+//{
+//	dSpaceID *space = luaL_checkudata(L, 1, ode_space_tname);
+//	dHeightfieldDataID data = get: dHeightfieldDataID
+//	int bPlaceable = luaL_checkinteger(L, 3);
+//	dGeomID *bind_result = dCreateHeightfield(*space, data, bPlaceable);
+//	/* push result */
+//	return /* count */;
+//}
+//
+//
+//int dGeomHeightfieldSetHeightfieldData_bind(lua_State *L)
+//{
+//	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+//	dHeightfieldDataID Data = get: dHeightfieldDataID
+//	dGeomHeightfieldSetHeightfieldData(*g, Data);
+//	return 0;
+//}
+//
+//
+//int dGeomHeightfieldGetHeightfieldData_bind(lua_State *L)
+//{
+//	dGeomID *g = luaL_checkudata(L, 1, ode_geom_tname);
+//	dHeightfieldDataID bind_result = dGeomHeightfieldGetHeightfieldData(*g);
+//	/* push result */
+//	return /* count */;
+//}
+
+