3 files changed, 580 insertions, 0 deletions
diff --git a/src/ode/CMakeLists.txt b/src/ode/CMakeLists.txt
new file mode 100644
index 0000000..83d517a
--- /dev/null
+++ b/src/ode/CMakeLists.txt
@@ -0,0 +1,9 @@
+project(honey_engine)
+
+target_sources(honey PUBLIC
+	${CMAKE_CURRENT_LIST_DIR}/ode_bindings.c
+)
+
+
+target_sources(test PUBLIC
+)
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;
+}
diff --git a/src/ode/ode_bindings.h b/src/ode/ode_bindings.h
new file mode 100644
index 0000000..ac1cc35
--- /dev/null
+++ b/src/ode/ode_bindings.h
@@ -0,0 +1,8 @@
+#ifndef HONEY_ODE_H
+#define HONEY_ODE_H
+
+#include <lua.h>
+
+void setup_ode(lua_State *L, int honey_tbl);
+
+#endif