diff options
Diffstat (limited to 'src/ode/ode_bindings.c')
| -rw-r--r-- | src/ode/ode_bindings.c | 563 |
1 files changed, 563 insertions, 0 deletions
diff --git a/src/ode/ode_bindings.c b/src/ode/ode_bindings.c new file mode 100644 index 0000000..116878a --- /dev/null +++ b/src/ode/ode_bindings.c @@ -0,0 +1,563 @@ +#include <lua.h> +#include <honeysuckle.h> +#include <ode/ode.h> + + +/* setup/teardown */ +int init_ode(lua_State *L); +int close_ode(lua_State *L); + +/* world functions */ +int world_create(lua_State *L); +int world_destroy(lua_State *L); +int world_set_gravity(lua_State *L); +int world_get_gravity(lua_State *L); +int world_set_cfm(lua_State *L); +int world_quickstep(lua_State *L); + +/* space functions */ +int hash_space_create(lua_State *L); +int space_destroy(lua_State *L); +int space_collide(lua_State *L); + +/* joint group functions */ +int joint_group_create(lua_State *L); +int joint_group_destroy(lua_State *L); +int joint_group_empty(lua_State *L); + +/* joint functions */ +int joint_create_contact(lua_State *L); +int joint_attach(lua_State *L); + +/* body functions */ +int body_create(lua_State *L); +int body_set_mass(lua_State *L); +int body_set_position(lua_State *L); +int body_get_position(lua_State *L); +int body_add_force(lua_State *L); +int body_get_force(lua_State *L); +int body_set_linear_vel(lua_State *L); + +/* geom functions */ +int create_sphere(lua_State *L); +int create_plane(lua_State *L); +int geom_get_class(lua_State *L); +int geom_set_body(lua_State *L); +int geom_get_body(lua_State *L); +int collide(lua_State *L); + +/* mass functions */ +int mass_create(lua_State *L); +int mass_set_sphere(lua_State *L); + + +/* contact functions */ +int contact_create(lua_State *L); +int contact_surface_set_mode(lua_State *L); +int contact_surface_set_mu(lua_State *L); +int contact_surface_set_bounce(lua_State *L); +int contact_surface_set_bounce_vel(lua_State *L); +int contact_surface_set_soft_cfm(lua_State *L); + + +#define NEW_METATABLE(name) luaL_newmetatable(L, name); lua_pop(L, 1); +static const char *world_tname = "ode.World"; +static const char *space_tname = "ode.Space"; +static const char *body_tname = "ode.Body"; +static const char *geom_tname = "ode.Geom"; +static const char *mass_tname = "ode.Mass"; +static const char *joint_group_tname = "ode.JointGroup"; +static const char *joint_tname = "ode.Joint"; +static const char *contact_tname = "ode.Contact"; + +void setup_ode(lua_State *L, int honey_tbl) +{ + /* setup metatables */ + NEW_METATABLE(world_tname); + NEW_METATABLE(space_tname); + NEW_METATABLE(body_tname); + NEW_METATABLE(geom_tname); + NEW_METATABLE(mass_tname); + NEW_METATABLE(joint_group_tname); + NEW_METATABLE(joint_tname); + NEW_METATABLE(contact_tname); + + + /* create main table */ + hs_create_table(L, + hs_str_cfunc("InitODE", init_ode), + hs_str_cfunc("CloseODE", close_ode), + + hs_str_cfunc("WorldCreate", world_create), + hs_str_cfunc("WorldDestroy", world_destroy), + hs_str_cfunc("WorldSetGravity", world_set_gravity), + hs_str_cfunc("WorldGetGravity", world_get_gravity), + hs_str_cfunc("WorldSetCFM", world_set_cfm), + hs_str_cfunc("WorldQuickStep", world_quickstep), + + hs_str_cfunc("HashSpaceCreate", hash_space_create), + hs_str_cfunc("SpaceDestroy", space_destroy), + hs_str_cfunc("SpaceCollide", space_collide), + + hs_str_cfunc("JointGroupCreate", joint_group_create), + hs_str_cfunc("JointGroupDestroy", joint_group_destroy), + hs_str_cfunc("JointGroupEmpty", joint_group_empty), + + hs_str_cfunc("JointCreateContact", joint_create_contact), + hs_str_cfunc("JointAttach", joint_attach), + + hs_str_cfunc("BodyCreate", body_create), + hs_str_cfunc("BodySetMass", body_set_mass), + hs_str_cfunc("BodySetPosition", body_set_position), + hs_str_cfunc("BodyGetPosition", body_get_position), + hs_str_cfunc("BodyAddForce", body_add_force), + hs_str_cfunc("BodyGetForce", body_get_force), + hs_str_cfunc("BodySetLinearVel", body_set_linear_vel), + + hs_str_cfunc("CreateSphere", create_sphere), + hs_str_cfunc("CreatePlane", create_plane), + hs_str_cfunc("GeomGetClass", geom_get_class), + hs_str_cfunc("GeomSetBody", geom_set_body), + hs_str_cfunc("GeomGetBody", geom_get_body), + hs_str_cfunc("Collide", collide), + + hs_str_cfunc("MassCreate", mass_create), + hs_str_cfunc("MassSetSphere", mass_set_sphere), + + hs_str_cfunc("ContactCreate", contact_create), + hs_str_cfunc("ContactSurfaceSetMode", contact_surface_set_mode), + hs_str_cfunc("ContactSurfaceSetMu", contact_surface_set_mu), + hs_str_cfunc("ContactSurfaceSetBounce", contact_surface_set_bounce), + hs_str_cfunc("ContactSurfaceSetBounceVel", contact_surface_set_bounce_vel), + hs_str_cfunc("ContactSurfaceSetSoftCFM", contact_surface_set_soft_cfm), + + /* contact surface mode enum */ + hs_str_int("ContactBounce", dContactBounce), + hs_str_int("ContactSoftCFM", dContactSoftCFM), + + /* helpful */ + hs_str_num("Infinity", dInfinity), + ); + + lua_setfield(L, honey_tbl, "ode"); +} + + +/* --===== setup/teardown =====-- */ + +int init_ode(lua_State *L) +{ + dInitODE(); + return 0; +} + + +int close_ode(lua_State *L) +{ + dCloseODE(); + return 0; +} + + +/* --===== world functions =====-- */ + +int world_create(lua_State *L) +{ + dWorldID *world = lua_newuserdata(L, sizeof(dWorldID *)); + *world = dWorldCreate(); + luaL_getmetatable(L, world_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int world_destroy(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + dWorldDestroy(*world); + return 0; +} + + +int world_set_gravity(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + double gx = luaL_checknumber(L, 2); + double gy = luaL_checknumber(L, 3); + double gz = luaL_checknumber(L, 4); + dWorldSetGravity(*world, gx, gy, gz); + return 0; +} + + +int world_get_gravity(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + dVector3 result; + dWorldGetGravity(*world, result); + lua_pushnumber(L, result[0]); + lua_pushnumber(L, result[1]); + lua_pushnumber(L, result[2]); + return 3; +} + + +int world_set_cfm(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + double cfm = luaL_checknumber(L, 2); + dWorldSetCFM(*world, cfm); + return 0; +} + + +int world_quickstep(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + double stepsize = luaL_checknumber(L, 2); + dWorldQuickStep(*world, stepsize); + return 0; +} + + +/* --===== space functions =====-- */ + +int hash_space_create(lua_State *L) +{ + dSpaceID *space = lua_newuserdata(L, sizeof(dSpaceID *)); + *space = dHashSpaceCreate(NULL); + luaL_getmetatable(L, space_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int space_destroy(lua_State *L) +{ + dSpaceID *space = luaL_checkudata(L, 1, space_tname); + dSpaceDestroy(*space); + return 0; +} + + +static void near_callback(void *data, dGeomID o1, dGeomID o2) +{ + lua_State *L = data; + lua_pushvalue(L, 2); /* user callback should be at stack index 2 */ + + dGeomID *ptr1 = lua_newuserdata(L, sizeof(dGeomID *)); + *ptr1 = o1; + luaL_getmetatable(L, geom_tname); + lua_setmetatable(L, -2); + + dGeomID *ptr2 = lua_newuserdata(L, sizeof(dGeomID *)); + *ptr2 = o2; + luaL_getmetatable(L, geom_tname); + lua_setmetatable(L, -2); + + lua_call(L, 2, 0); +} + +int space_collide(lua_State *L) +{ + dSpaceID *space = luaL_checkudata(L, 1, space_tname); + luaL_argcheck(L, lua_type(L, 2) == LUA_TFUNCTION, 2, ""); + dSpaceCollide(*space, L, near_callback); + return 0; +} + + +/* --===== joint group functions =====-- */ + +int joint_group_create(lua_State *L) +{ + dJointGroupID *group = lua_newuserdata(L, sizeof(dJointGroupID *)); + *group = dJointGroupCreate(0); + luaL_getmetatable(L, joint_group_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int joint_group_destroy(lua_State *L) +{ + dJointGroupID *group = luaL_checkudata(L, 1, joint_group_tname); + dJointGroupDestroy(*group); + return 0; +} + + +int joint_group_empty(lua_State *L) +{ + dJointGroupID *group = luaL_checkudata(L, 1, joint_group_tname); + dJointGroupEmpty(*group); + return 0; +} + + +/* --===== joint functions =====-- */ + +int joint_create_contact(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + dJointGroupID group = NULL; + if (lua_type(L, 2) != LUA_TNIL) { + dJointGroupID *ptr = luaL_checkudata(L, 2, joint_group_tname); + group = *ptr; + } + dContact *contact = luaL_checkudata(L, 3, contact_tname); + + dJointID *joint = lua_newuserdata(L, sizeof(dJointID *)); + *joint = dJointCreateContact(*world, group, contact); + luaL_getmetatable(L, joint_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int joint_attach(lua_State *L) +{ + dJointID *joint = luaL_checkudata(L, 1, joint_tname); + dBodyID *body1 = luaL_checkudata(L, 2, body_tname); + dBodyID *body2 = luaL_checkudata(L, 3, body_tname); + + dJointAttach(*joint, *body1, *body2); + return 0; +} + + + + +/* --===== body functions =====-- */ + +int body_create(lua_State *L) +{ + dWorldID *world = luaL_checkudata(L, 1, world_tname); + + dBodyID *body = lua_newuserdata(L, sizeof(dBodyID *)); + *body = dBodyCreate(*world); + luaL_getmetatable(L, body_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int body_set_mass(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + dMass *mass = luaL_checkudata(L, 2, mass_tname); + + dBodySetMass(*body, mass); + return 0; +} + + +int body_set_position(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + double x = luaL_checknumber(L, 2); + double y = luaL_checknumber(L, 3); + double z = luaL_checknumber(L, 4); + + dBodySetPosition(*body, x, y, z); + return 0; +} + + +int body_get_position(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + const dReal *pos = dBodyGetPosition(*body); + + lua_pushnumber(L, pos[0]); + lua_pushnumber(L, pos[1]); + lua_pushnumber(L, pos[2]); + return 3; +} + + +int body_add_force(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + double fx = luaL_checknumber(L, 2); + double fy = luaL_checknumber(L, 3); + double fz = luaL_checknumber(L, 4); + + dBodyAddForce(*body, fx, fy, fz); + return 0; +} + + +int body_get_force(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + + const dReal *f = dBodyGetForce(*body); + lua_pushnumber(L, f[0]); + lua_pushnumber(L, f[1]); + lua_pushnumber(L, f[2]); + return 3; +} + + +int body_set_linear_vel(lua_State *L) +{ + dBodyID *body = luaL_checkudata(L, 1, body_tname); + double vx = luaL_checknumber(L, 2); + double vy = luaL_checknumber(L, 3); + double vz = luaL_checknumber(L, 4); + + dBodySetLinearVel(*body, vx, vy, vz); + return 0; +} + + +/* --===== geom functions =====-- */ + +int create_sphere(lua_State *L) +{ + dSpaceID *space = luaL_checkudata(L, 1, space_tname); + double radius = luaL_checknumber(L, 2); + + dGeomID *geom = lua_newuserdata(L, sizeof(dGeomID *)); + *geom = dCreateSphere(*space, radius); + luaL_getmetatable(L, geom_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int create_plane(lua_State *L) +{ + dSpaceID *space = luaL_checkudata(L, 1, space_tname); + double a = luaL_checknumber(L, 2); + double b = luaL_checknumber(L, 3); + double c = luaL_checknumber(L, 4); + double d = luaL_checknumber(L, 5); + + dGeomID *geom = lua_newuserdata(L, sizeof(dGeomID *)); + *geom = dCreatePlane(*space, a, b, c, d); + luaL_getmetatable(L, geom_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int geom_get_class(lua_State *L) +{ + dGeomID *geom = luaL_checkudata(L, 1, geom_tname); + int class = dGeomGetClass(*geom); + lua_pushinteger(L, class); + return 1; +} + + +int geom_set_body(lua_State *L) +{ + dGeomID *geom = luaL_checkudata(L, 1, geom_tname); + dBodyID *body = luaL_checkudata(L, 2, body_tname); + dGeomSetBody(*geom, *body); + return 0; +} + + +int geom_get_body(lua_State *L) +{ + dGeomID *geom = luaL_checkudata(L, 1, geom_tname); + + dBodyID *body = lua_newuserdata(L, sizeof(dBodyID *)); + *body = dGeomGetBody(*geom); + luaL_getmetatable(L, body_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int collide(lua_State *L) +{ + dGeomID *o1 = luaL_checkudata(L, 1, geom_tname); + dGeomID *o2 = luaL_checkudata(L, 2, geom_tname); + dContact *contact = luaL_checkudata(L, 3, contact_tname); + + int count = dCollide(*o1, *o2, 1, &(contact->geom), sizeof(dContactGeom)); + lua_pushinteger(L, count); + return 1; +} + + +/* --===== mass functions =====-- */ + +int mass_create(lua_State *L) +{ + lua_newuserdata(L, sizeof(dMass)); + luaL_getmetatable(L, mass_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int mass_set_sphere(lua_State *L) +{ + dMass *mass = luaL_checkudata(L, 1, mass_tname); + double density = luaL_checknumber(L, 2); + double radius = luaL_checknumber(L, 3); + + dMassSetSphere(mass, density, radius); + return 0; +} + + +/* --===== contact functions =====-- */ + +int contact_create(lua_State *L) +{ + lua_newuserdata(L, sizeof(dContact)); + luaL_getmetatable(L, contact_tname); + lua_setmetatable(L, -2); + return 1; +} + + +int contact_surface_set_mode(lua_State *L) +{ + dContact *contact = luaL_checkudata(L, 1, contact_tname); + int mode = luaL_checkinteger(L, 2); + contact->surface.mode = mode; + return 0; +} + + +int contact_surface_set_mu(lua_State *L) +{ + dContact *contact = luaL_checkudata(L, 1, contact_tname); + double mu = luaL_checknumber(L, 2); + contact->surface.mu = mu; + return 0; +} + + +int contact_surface_set_bounce(lua_State *L) +{ + dContact *contact = luaL_checkudata(L, 1, contact_tname); + double bounce = luaL_checknumber(L, 2); + contact->surface.bounce = bounce; + return 0; +} + + +int contact_surface_set_bounce_vel(lua_State *L) +{ + dContact *contact = luaL_checkudata(L, 1, contact_tname); + double bounce_vel = luaL_checknumber(L, 2); + contact->surface.bounce_vel = bounce_vel; + return 0; +} + + +int contact_surface_set_soft_cfm(lua_State *L) +{ + dContact *contact = luaL_checkudata(L, 1, contact_tname); + double soft_cfm = luaL_checknumber(L, 2); + contact->surface.soft_cfm = soft_cfm; + return 0; +} |