diff options
Diffstat (limited to 'src/ode/joint.c')
| -rw-r--r-- | src/ode/joint.c | 1987 |
1 files changed, 1987 insertions, 0 deletions
diff --git a/src/ode/joint.c b/src/ode/joint.c new file mode 100644 index 0000000..6fa79b4 --- /dev/null +++ b/src/ode/joint.c @@ -0,0 +1,1987 @@ +#include <lua.h> +#include <lauxlib.h> +#include <ode/ode.h> +#include "ode_bindings.h" + + +void ode_push_joint(lua_State *L, dJointID j) +{ + dJointID *ju = lua_newuserdata(L, sizeof(dJointID)); + *ju = j; + luaL_getmetatable(L, ode_joint_tname); + lua_setmetatable(L, -2); +} + + +void ode_push_jointgroup(lua_State *L, dJointGroupID jg) +{ + dJointGroupID *jgu = lua_newuserdata(L, sizeof(dJointGroupID)); + *jgu = jg; + luaL_getmetatable(L, ode_jointgroup_tname); + lua_setmetatable(L, -2); +} + + +int dJointCreateBall_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateBall(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateHinge_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateHinge(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateSlider_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateSlider(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +static int get_field(lua_State *L, int tbl, const char *key, int type) +{ + lua_getfield(L, tbl, key); + int actual_type = lua_type(L, -1); + if (actual_type != type) { + luaL_error(L, + "field \"%s\" must have type %s but is %s instead", + key, lua_typename(L, type), lua_typename(L, actual_type) + ); + } +} + +static int parse_surface_params(lua_State *L, struct dSurfaceParameters *surface, int tbl) +{ + get_field(L, tbl, "mode", LUA_TNUMBER); + surface->mode = lua_tointeger(L, -1); + + get_field(L, tbl, "mu", LUA_TNUMBER); + surface->mu = lua_tointeger(L, -1); + + get_field(L, tbl, "mu2", LUA_TNUMBER); + surface->mu2 = lua_tointeger(L, -1); + + get_field(L, tbl, "rho", LUA_TNUMBER); + surface->rho = lua_tointeger(L, -1); + + get_field(L, tbl, "rho2", LUA_TNUMBER); + surface->rho2 = lua_tointeger(L, -1); + + get_field(L, tbl, "rhoN", LUA_TNUMBER); + surface->rhoN = lua_tointeger(L, -1); + + get_field(L, tbl, "bounce", LUA_TNUMBER); + surface->bounce = lua_tointeger(L, -1); + + get_field(L, tbl, "bounce_vel", LUA_TNUMBER); + surface->bounce_vel = lua_tointeger(L, -1); + + get_field(L, tbl, "soft_erp", LUA_TNUMBER); + surface->soft_erp = lua_tointeger(L, -1); + + get_field(L, tbl, "soft_cfm", LUA_TNUMBER); + surface->soft_cfm = lua_tointeger(L, -1); + + get_field(L, tbl, "motion1", LUA_TNUMBER); + surface->motion1 = lua_tointeger(L, -1); + + get_field(L, tbl, "motion2", LUA_TNUMBER); + surface->motion2 = lua_tointeger(L, -1); + + get_field(L, tbl, "motionN", LUA_TNUMBER); + surface->motionN = lua_tointeger(L, -1); + + get_field(L, tbl, "slip1", LUA_TNUMBER); + surface->slip1 = lua_tointeger(L, -1); + + get_field(L, tbl, "slip2", LUA_TNUMBER); + surface->slip2 = lua_tointeger(L, -1); + + lua_pop(L, 15); +} + +static int parse_contact_tbl(lua_State *L, dContact *contact, int tbl) +{ + get_field(L, tbl, "surface", LUA_TTABLE); + int surface_tbl = lua_gettop(L); + parse_surface_params(L, &(contact->surface), surface_tbl); + lua_pop(L, 1); + + get_field(L, tbl, "geom", LUA_TUSERDATA); + dContactGeom *g = lua_touserdata(L, -1); + contact->geom = *g; + lua_pop(L, 1); + + get_field(L, tbl, "fdir1", LUA_TTABLE); + int fdir_tbl = lua_gettop(L); + lua_rawgeti(L, fdir_tbl, 1); + contact->fdir1[0] = lua_tonumber(L, -1); + lua_rawgeti(L, fdir_tbl, 1); + contact->fdir1[1] = lua_tonumber(L, -1); + lua_rawgeti(L, fdir_tbl, 1); + contact->fdir1[2] = lua_tonumber(L, -1); + lua_pop(L, 4); +} + +int dJointCreateContact_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + luaL_checktype(L, 3, LUA_TTABLE); + dContact contact; + parse_contact_tbl(L, &contact, 3); + dJointID bind_result = dJointCreateContact(*w, *g, &contact); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateUniversal_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateUniversal(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateHinge2_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateHinge2(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreatePR_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreatePR(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreatePU_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreatePU(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreatePiston_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreatePiston(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateFixed_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateFixed(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateAMotor_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateAMotor(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateLMotor_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateLMotor(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreatePlane2D_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreatePlane2D(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateDBall_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateDBall(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateDHinge_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateDHinge(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointCreateTransmission_bind(lua_State *L) +{ + dWorldID *w = luaL_checkudata(L, 1, ode_world_tname); + dJointGroupID *g = luaL_checkudata(L, 2, ode_jointgroup_tname); + dJointID bind_result = dJointCreateTransmission(*w, *g); + ode_push_joint(L, bind_result); + return 1; +} + + +int dJointDestroy_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dJointDestroy(*j); + return 0; +} + + +int dJointGroupCreate_bind(lua_State *L) +{ + int max_size = luaL_checkinteger(L, 1); + dJointGroupID bind_result = dJointGroupCreate(max_size); + ode_push_jointgroup(L, bind_result); + return 1; +} + + +int dJointGroupDestroy_bind(lua_State *L) +{ + dJointGroupID *g = luaL_checkudata(L, 1, ode_jointgroup_tname); + dJointGroupDestroy(*g); + return 0; +} + + +int dJointGroupEmpty_bind(lua_State *L) +{ + dJointGroupID *g = luaL_checkudata(L, 1, ode_jointgroup_tname); + dJointGroupEmpty(*g); + return 0; +} + + +int dJointAttach_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dBodyID *body1 = luaL_checkudata(L, 2, ode_body_tname); + dBodyID *body2 = luaL_checkudata(L, 3, ode_body_tname); + dJointAttach(*j, *body1, *body2); + return 0; +} + + +int dJointEnable_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dJointEnable(*j); + return 0; +} + + +int dJointDisable_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dJointDisable(*j); + return 0; +} + + +int dJointIsEnabled_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointIsEnabled(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointGetType_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointGetType(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointGetBody_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int index = luaL_checkinteger(L, 2); + dBodyID bind_result = dJointGetBody(*j, index); + ode_push_body(L, bind_result); + return 1; +} + + +int dAreConnected_bind(lua_State *L) +{ + dBodyID *b1 = luaL_checkudata(L, 1, ode_body_tname); + dBodyID *b2 = luaL_checkudata(L, 2, ode_body_tname); + int bind_result = dAreConnected(*b1, *b2); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dAreConnectedExcluding_bind(lua_State *L) +{ + dBodyID *b1 = luaL_checkudata(L, 1, ode_body_tname); + dBodyID *b2 = luaL_checkudata(L, 2, ode_body_tname); + int joint_type = luaL_checkinteger(L, 3); + int bind_result = dAreConnectedExcluding(*b1, *b2, joint_type); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointSetBallAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetBallAnchor(*j, x, y, z); + return 0; +} + + +int dJointGetBallAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetBallAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetBallAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetBallAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetHingeAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetHingeAnchor(*j, x, y, z); + return 0; +} + + +int dJointSetHingeAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetHingeAxis(*j, x, y, z); + return 0; +} + + +int dJointGetHingeAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHingeAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHingeAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHingeAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHingeAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHingeAxis(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHingeAngle_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetHingeAngle(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetHingeAngleRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetHingeAngleRate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetSliderAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetSliderAxis(*j, x, y, z); + return 0; +} + + +int dJointGetSliderAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetSliderAxis(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetSliderPosition_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetSliderPosition(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetSliderPositionRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetSliderPositionRate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetUniversalAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetUniversalAnchor(*j, x, y, z); + return 0; +} + + +int dJointSetUniversalAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetUniversalAxis1(*j, x, y, z); + return 0; +} + + +int dJointSetUniversalAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetUniversalAxis2(*j, x, y, z); + return 0; +} + + +int dJointGetUniversalAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetUniversalAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetUniversalAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetUniversalAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetUniversalAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetUniversalAxis1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetUniversalAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetUniversalAxis2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetUniversalAngle1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetUniversalAngle1(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetUniversalAngle2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetUniversalAngle2(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetUniversalAngles_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal angle1, angle2; + dJointGetUniversalAngles(*j, &angle1, &angle2); + lua_pushnumber(L, angle1); + lua_pushnumber(L, angle2); + return 2; +} + + +int dJointGetUniversalAngle1Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetUniversalAngle1Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetUniversalAngle2Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetUniversalAngle2Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetHinge2Anchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetHinge2Anchor(*j, x, y, z); + return 0; +} + + +int dJointSetHinge2Axis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetHinge2Axis1(*j, x, y, z); + return 0; +} + + +int dJointSetHinge2Axis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetHinge2Axis2(*j, x, y, z); + return 0; +} + + +int dJointGetHinge2Anchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHinge2Anchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHinge2Anchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHinge2Anchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHinge2Axis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHinge2Axis1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHinge2Axis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetHinge2Axis2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetHinge2Angle1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetHinge2Angle1(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetHinge2Angle1Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetHinge2Angle1Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetHinge2Angle2Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetHinge2Angle2Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetPRAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPRAxis1(*j, x, y, z); + return 0; +} + + +int dJointGetPRAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPRAxis1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPRAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPRAxis2(*j, x, y, z); + return 0; +} + + +int dJointGetPRAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPRAxis2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPRAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPRAnchor(*j, x, y, z); + return 0; +} + + +int dJointGetPRAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPRAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetPRPosition_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPRPosition(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUPosition_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUPosition(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUPositionRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUPositionRate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetPUAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPUAnchor(*j, x, y, z); + return 0; +} + + +int dJointGetPUAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPUAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPUAnchorDelta_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dReal dx = luaL_checknumber(L, 5); + dReal dy = luaL_checknumber(L, 6); + dReal dz = luaL_checknumber(L, 7); + dJointSetPUAnchorDelta(*j, x, y, z, dx, dy, dz); + return 0; +} + + +int dJointSetPUAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPUAxis1(*j, x, y, z); + return 0; +} + + +int dJointGetPUAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPUAxis1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPUAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPUAxis2(*j, x, y, z); + return 0; +} + + +int dJointGetPUAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPUAxis2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPUAxis3_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPUAxis3(*j, x, y, z); + return 0; +} + + +int dJointGetPUAxis3_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPUAxis3(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPUAxisP_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPUAxisP(*j, x, y, z); + return 0; +} + + +int dJointGetPUAxisP_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPUAxisP(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetPUAngles_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal angle1, angle2; + dJointGetPUAngles(*j, &angle1, &angle2); + lua_pushnumber(L, angle1); + lua_pushnumber(L, angle2); + return 2; +} + + +int dJointGetPUAngle1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUAngle1(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUAngle2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUAngle2(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUAngle1Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUAngle1Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUAngle2Rate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPUAngle2Rate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetPistonAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPistonAnchor(*j, x, y, z); + return 0; +} + + +int dJointGetPistonAnchor_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPistonAnchor(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetPistonAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPistonAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPistonAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetPistonAxis(*j, x, y, z); + return 0; +} + + +int dJointGetPistonAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetPistonAxis(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetPistonAxisDelta_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dReal dx = luaL_checknumber(L, 5); + dReal dy = luaL_checknumber(L, 6); + dReal dz = luaL_checknumber(L, 7); + dJointSetPistonAxisDelta(*j, x, y, z, dx, dy, dz); + return 0; +} + + +int dJointGetPistonPosition_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPistonPosition(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPistonPositionRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPistonPositionRate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPistonAngle_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPistonAngle(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPistonAngleRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetPistonAngleRate(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointAddPistonForce_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal force = luaL_checknumber(L, 2); + dJointAddPistonForce(*j, force); + return 0; +} + + +int dJointSetFixed_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dJointSetFixed(*j); + return 0; +} + + +int dJointSetAMotorMode_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int mode = luaL_checkinteger(L, 2); + dJointSetAMotorMode(*j, mode); + return 0; +} + + +int dJointGetAMotorMode_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointGetAMotorMode(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointSetAMotorNumAxes_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int num = luaL_checkinteger(L, 2); + dJointSetAMotorNumAxes(*j, num); + return 0; +} + + +int dJointGetAMotorNumAxes_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointGetAMotorNumAxes(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointSetAMotorAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + int rel = luaL_checkinteger(L, 3); + dReal x = luaL_checknumber(L, 4); + dReal y = luaL_checknumber(L, 5); + dReal z = luaL_checknumber(L, 6); + dJointSetAMotorAxis(*j, anum, rel, x, y, z); + return 0; +} + + +int dJointGetAMotorAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + dVector3 result; + dJointGetAMotorAxis(*j, anum, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetAMotorAxisRel_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + int bind_result = dJointGetAMotorAxisRel(*j, anum); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointSetAMotorAngle_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + dReal angle = luaL_checknumber(L, 3); + dJointSetAMotorAngle(*j, anum, angle); + return 0; +} + + +int dJointGetAMotorAngle_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetAMotorAngle(*j, anum); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetAMotorAngleRate_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetAMotorAngleRate(*j, anum); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetLMotorNumAxes_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int num = luaL_checkinteger(L, 2); + dJointSetLMotorNumAxes(*j, num); + return 0; +} + + +int dJointGetLMotorNumAxes_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointGetLMotorNumAxes(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointSetLMotorAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + int rel = luaL_checkinteger(L, 3); + dReal x = luaL_checknumber(L, 4); + dReal y = luaL_checknumber(L, 5); + dReal z = luaL_checknumber(L, 6); + dJointSetLMotorAxis(*j, anum, rel, x, y, z); + return 0; +} + + +int dJointGetLMotorAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int anum = luaL_checkinteger(L, 2); + dVector3 result; + dJointGetLMotorAxis(*j, anum, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetDBallAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetDBallAnchor1(*j, x, y, z); + return 0; +} + + +int dJointSetDBallAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetDBallAnchor2(*j, x, y, z); + return 0; +} + + +int dJointGetDBallAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetDBallAnchor1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetDBallAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetDBallAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetDBallDistance_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetDBallDistance(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetDBallDistance_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal dist = luaL_checknumber(L, 2); + dJointSetDBallDistance(*j, dist); + return 0; +} + + +int dJointSetDHingeAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetDHingeAxis(*j, x, y, z); + return 0; +} + + +int dJointGetDHingeAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetDHingeAxis(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetDHingeAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetDHingeAnchor1(*j, x, y, z); + return 0; +} + + +int dJointSetDHingeAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetDHingeAnchor2(*j, x, y, z); + return 0; +} + + +int dJointGetDHingeAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetDHingeAnchor1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetDHingeAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetDHingeAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetDHingeDistance_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetDHingeDistance(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetTransmissionMode_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int mode = luaL_checkinteger(L, 2); + dJointSetTransmissionMode(*j, mode); + return 0; +} + + +int dJointGetTransmissionMode_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int bind_result = dJointGetTransmissionMode(*j); + lua_pushinteger(L, bind_result); + return 1; +} + + +int dJointGetTransmissionContactPoint1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionContactPoint1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetTransmissionContactPoint2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionContactPoint2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetTransmissionAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetTransmissionAxis1(*j, x, y, z); + return 0; +} + + +int dJointSetTransmissionAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetTransmissionAxis2(*j, x, y, z); + return 0; +} + + +int dJointGetTransmissionAxis1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionAxis1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetTransmissionAxis2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionAxis2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetTransmissionAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetTransmissionAnchor1(*j, x, y, z); + return 0; +} + + +int dJointSetTransmissionAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetTransmissionAnchor2(*j, x, y, z); + return 0; +} + + +int dJointGetTransmissionAnchor1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionAnchor1(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetTransmissionAnchor2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionAnchor2(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointSetTransmissionRatio_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal ratio = luaL_checknumber(L, 2); + dJointSetTransmissionRatio(*j, ratio); + return 0; +} + + +int dJointGetTransmissionRatio_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionRatio(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetTransmissionAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal x = luaL_checknumber(L, 2); + dReal y = luaL_checknumber(L, 3); + dReal z = luaL_checknumber(L, 4); + dJointSetTransmissionAxis(*j, x, y, z); + return 0; +} + + +int dJointGetTransmissionAxis_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dVector3 result; + dJointGetTransmissionAxis(*j, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int dJointGetTransmissionAngle1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionAngle1(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetTransmissionAngle2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionAngle2(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetTransmissionRadius1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionRadius1(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetTransmissionRadius2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionRadius2(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetTransmissionRadius1_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal radius = luaL_checknumber(L, 2); + dJointSetTransmissionRadius1(*j, radius); + return 0; +} + + +int dJointSetTransmissionRadius2_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal radius = luaL_checknumber(L, 2); + dJointSetTransmissionRadius2(*j, radius); + return 0; +} + + +int dJointSetTransmissionBacklash_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal backlash = luaL_checknumber(L, 2); + dJointSetTransmissionBacklash(*j, backlash); + return 0; +} + + +int dJointGetTransmissionBacklash_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal bind_result = dJointGetTransmissionBacklash(*j); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointSetHingeParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetHingeParam(*j, parameter, value); + return 0; +} + + +int dJointSetSliderParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetSliderParam(*j, parameter, value); + return 0; +} + + +int dJointSetHinge2Param_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetHinge2Param(*j, parameter, value); + return 0; +} + + +int dJointSetUniversalParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetUniversalParam(*j, parameter, value); + return 0; +} + + +int dJointSetAMotorParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetAMotorParam(*j, parameter, value); + return 0; +} + + +int dJointSetLMotorParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetLMotorParam(*j, parameter, value); + return 0; +} + + +int dJointSetPRParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetPRParam(*j, parameter, value); + return 0; +} + + +int dJointSetPUParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetPUParam(*j, parameter, value); + return 0; +} + + +int dJointSetPistonParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetPistonParam(*j, parameter, value); + return 0; +} + + +int dJointSetDBallParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetDBallParam(*j, parameter, value); + return 0; +} + + +int dJointSetDHingeParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetDHingeParam(*j, parameter, value); + return 0; +} + + +int dJointSetTransmissionParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal value = luaL_checknumber(L, 3); + dJointSetTransmissionParam(*j, parameter, value); + return 0; +} + + +int dJointGetHingeParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetHingeParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetSliderParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetSliderParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetHinge2Param_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetHinge2Param(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetUniversalParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetUniversalParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetAMotorParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetAMotorParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetLMotorParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetLMotorParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPRParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetPRParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPUParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetPUParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetPistonParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetPistonParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetDBallParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetDBallParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetDHingeParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetDHingeParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointGetTransmissionParam_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + int parameter = luaL_checkinteger(L, 2); + dReal bind_result = dJointGetTransmissionParam(*j, parameter); + lua_pushnumber(L, bind_result); + return 1; +} + + +int dJointAddHingeTorque_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal torque = luaL_checknumber(L, 2); + dJointAddHingeTorque(*j, torque); + return 0; +} + + +int dJointAddUniversalTorques_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal torque1 = luaL_checknumber(L, 2); + dReal torque2 = luaL_checknumber(L, 3); + dJointAddUniversalTorques(*j, torque1, torque2); + return 0; +} + + +int dJointAddSliderForce_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal force = luaL_checknumber(L, 2); + dJointAddSliderForce(*j, force); + return 0; +} + + +int dJointAddHinge2Torques_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal torque1 = luaL_checknumber(L, 2); + dReal torque2 = luaL_checknumber(L, 3); + dJointAddHinge2Torques(*j, torque1, torque2); + return 0; +} + + +int dJointAddAMotorTorques_bind(lua_State *L) +{ + dJointID *j = luaL_checkudata(L, 1, ode_joint_tname); + dReal torque0 = luaL_checknumber(L, 2); + dReal torque1 = luaL_checknumber(L, 3); + dReal torque2 = luaL_checknumber(L, 4); + dJointAddAMotorTorques(*j, torque0, torque1, torque2); + return 0; +} |