1 files changed, 52 insertions, 32 deletions

diff --git a/src/ode/joint.c b/src/ode/joint.c
index 6fa79b4..7ff4c22 100644
--- a/src/ode/joint.c
+++ b/src/ode/joint.c
@@ -56,7 +56,7 @@ 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) {
+	if (actual_type != type && actual_type != LUA_TNIL) {
 		luaL_error(L, 
 			"field \"%s\" must have type %s but is %s instead",
 			key, lua_typename(L, type), lua_typename(L, actual_type)
@@ -67,49 +67,49 @@ static int get_field(lua_State *L, int tbl, const char *key, int 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);
+	if (!lua_isnil(L, -1)) surface->mode = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "mu", LUA_TNUMBER);
-	surface->mu = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->mu = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "mu2", LUA_TNUMBER);
-	surface->mu2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->mu2 = lua_tointeger(L, -1);
 	
 	get_field(L, tbl, "rho", LUA_TNUMBER);
-	surface->rho = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rho = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "rho2", LUA_TNUMBER);
-	surface->rho2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rho2 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "rhoN", LUA_TNUMBER);
-	surface->rhoN = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->rhoN = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "bounce", LUA_TNUMBER);
-	surface->bounce = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->bounce = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "bounce_vel", LUA_TNUMBER);
-	surface->bounce_vel = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->bounce_vel = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "soft_erp", LUA_TNUMBER);
-	surface->soft_erp = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->soft_erp = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "soft_cfm", LUA_TNUMBER);
-	surface->soft_cfm = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->soft_cfm = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motion1", LUA_TNUMBER);
-	surface->motion1 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motion1 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motion2", LUA_TNUMBER);
-	surface->motion2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motion2 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "motionN", LUA_TNUMBER);
-	surface->motionN = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->motionN = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "slip1", LUA_TNUMBER);
-	surface->slip1 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->slip1 = lua_tointeger(L, -1);
 
 	get_field(L, tbl, "slip2", LUA_TNUMBER);
-	surface->slip2 = lua_tointeger(L, -1);
+	if (!lua_isnil(L, -1)) surface->slip2 = lua_tointeger(L, -1);
 
 	lua_pop(L, 15);
 }
@@ -121,30 +121,50 @@ static int parse_contact_tbl(lua_State *L, dContact *contact, int tbl)
 	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, "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);
+	if (!lua_isnil(L, -1)) {
+		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, 3);
+	}
+	lua_pop(L, 1);
+}
+
+
+int CreateContact_bind(lua_State *L)
+{
+	luaL_checktype(L, 1, LUA_TTABLE);
+	dContact *contact = lua_newuserdata(L, sizeof(dContact));
+	parse_contact_tbl(L, contact, 1);
+	return 1;
 }
 
+
+int ContactSetGeom_bind(lua_State *L)
+{
+	dContact *contact = lua_touserdata(L, 1);
+	dContactGeom *geom = lua_touserdata(L, 2);
+	contact->geom = *geom;
+	return 0;
+}
+
+
 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);
+	dContact *contact = lua_touserdata(L, 3);
+	dJointID bind_result = dJointCreateContact(*w, *g, contact);
 	ode_push_joint(L, bind_result);
 	return 1;
 }