#include #include #include #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 && 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) ); } } static int parse_surface_params(lua_State *L, struct dSurfaceParameters *surface, int tbl) { get_field(L, tbl, "mode", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->mode = lua_tointeger(L, -1); get_field(L, tbl, "mu", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->mu = lua_tointeger(L, -1); get_field(L, tbl, "mu2", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->mu2 = lua_tointeger(L, -1); get_field(L, tbl, "rho", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->rho = lua_tointeger(L, -1); get_field(L, tbl, "rho2", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->rho2 = lua_tointeger(L, -1); get_field(L, tbl, "rhoN", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->rhoN = lua_tointeger(L, -1); get_field(L, tbl, "bounce", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->bounce = lua_tointeger(L, -1); get_field(L, tbl, "bounce_vel", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->bounce_vel = lua_tointeger(L, -1); get_field(L, tbl, "soft_erp", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->soft_erp = lua_tointeger(L, -1); get_field(L, tbl, "soft_cfm", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->soft_cfm = lua_tointeger(L, -1); get_field(L, tbl, "motion1", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->motion1 = lua_tointeger(L, -1); get_field(L, tbl, "motion2", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->motion2 = lua_tointeger(L, -1); get_field(L, tbl, "motionN", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->motionN = lua_tointeger(L, -1); get_field(L, tbl, "slip1", LUA_TNUMBER); if (!lua_isnil(L, -1)) surface->slip1 = lua_tointeger(L, -1); get_field(L, tbl, "slip2", LUA_TNUMBER); if (!lua_isnil(L, -1)) 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); 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); dContact *contact = lua_touserdata(L, 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; }