#include <lua.h>
#include <lauxlib.h>
#include <ode/ode.h>
#include "ode_bindings.h"


int MassCreate_bind(lua_State *L)
{
	dMass *m = lua_newuserdata(L, sizeof(dMass));
	luaL_getmetatable(L, ode_mass_tname);
	lua_setmetatable(L, -2);
	return 1;
}


int dMassSetZero_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dMassSetZero(m);
	return 0;
}


int dMassSetParameters_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal themass = luaL_checknumber(L, 2);
	dReal cgx = luaL_checknumber(L, 3);
	dReal cgy = luaL_checknumber(L, 4);
	dReal cgz = luaL_checknumber(L, 5);
	dReal I11 = luaL_checknumber(L, 6);
	dReal I22 = luaL_checknumber(L, 7);
	dReal I33 = luaL_checknumber(L, 8);
	dReal I12 = luaL_checknumber(L, 9);
	dReal I13 = luaL_checknumber(L, 10);
	dReal I23 = luaL_checknumber(L, 11);
	dMassSetParameters(m, themass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23);
	return 0;
}


int dMassSetSphere_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal density = luaL_checknumber(L, 2);
	dReal radius = luaL_checknumber(L, 3);
	dMassSetSphere(m, density, radius);
	return 0;
}


int dMassSetSphereTotal_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal total_mass = luaL_checknumber(L, 2);
	dReal radius = luaL_checknumber(L, 3);
	dMassSetSphereTotal(m, total_mass, radius);
	return 0;
}


int dMassSetCapsule_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal density = luaL_checknumber(L, 2);
	int direction = luaL_checkinteger(L, 3);
	dReal radius = luaL_checknumber(L, 4);
	dReal length = luaL_checknumber(L, 5);
	dMassSetCapsule(m, density, direction, radius, length);
	return 0;
}


int dMassSetCapsuleTotal_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal total_mass = luaL_checknumber(L, 2);
	int direction = luaL_checkinteger(L, 3);
	dReal radius = luaL_checknumber(L, 4);
	dReal length = luaL_checknumber(L, 5);
	dMassSetCapsuleTotal(m, total_mass, direction, radius, length);
	return 0;
}


int dMassSetCylinder_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal density = luaL_checknumber(L, 2);
	int direction = luaL_checkinteger(L, 3);
	dReal radius = luaL_checknumber(L, 4);
	dReal length = luaL_checknumber(L, 5);
	dMassSetCylinder(m, density, direction, radius, length);
	return 0;
}


int dMassSetCylinderTotal_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal total_mass = luaL_checknumber(L, 2);
	int direction = luaL_checkinteger(L, 3);
	dReal radius = luaL_checknumber(L, 4);
	dReal length = luaL_checknumber(L, 5);
	dMassSetCylinderTotal(m, total_mass, direction, radius, length);
	return 0;
}


int dMassSetBox_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal density = luaL_checknumber(L, 2);
	dReal lx = luaL_checknumber(L, 3);
	dReal ly = luaL_checknumber(L, 4);
	dReal lz = luaL_checknumber(L, 5);
	dMassSetBox(m, density, lx, ly, lz);
	return 0;
}


int dMassSetBoxTotal_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal total_mass = luaL_checknumber(L, 2);
	dReal lx = luaL_checknumber(L, 3);
	dReal ly = luaL_checknumber(L, 4);
	dReal lz = luaL_checknumber(L, 5);
	dMassSetBoxTotal(m, total_mass, lx, ly, lz);
	return 0;
}


int dMassSetTrimesh_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal density = luaL_checknumber(L, 2);
	dGeomID g = luaL_checkudata(L, 3, ode_geom_tname);
	dMassSetTrimesh(m, density, g);
	return 0;
}


int dMassAdjust_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal newmass = luaL_checknumber(L, 2);
	dMassAdjust(m, newmass);
	return 0;
}


int dMassTranslate_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dReal x = luaL_checknumber(L, 2);
	dReal y = luaL_checknumber(L, 3);
	dReal z = luaL_checknumber(L, 4);
	dMassTranslate(m, x, y, z);
	return 0;
}


int dMassRotate_bind(lua_State *L)
{
	dMass * m = luaL_checkudata(L, 1, ode_mass_tname);
	dMatrix3 R;
	R[0] = luaL_checknumber(L, 2);
	R[1] = luaL_checknumber(L, 3);
	R[2] = luaL_checknumber(L, 4);

	R[4] = luaL_checknumber(L, 5);
	R[5] = luaL_checknumber(L, 6);
	R[6] = luaL_checknumber(L, 7);

	R[8] = luaL_checknumber(L, 8);
	R[9] = luaL_checknumber(L, 9);
	R[10] = luaL_checknumber(L, 10);
	dMassRotate(m, R);
	return 0;
}


int dMassAdd_bind(lua_State *L)
{
	dMass * ma = luaL_checkudata(L, 1, ode_mass_tname);
	const dMass * mb = luaL_checkudata(L, 2, ode_mass_tname);
	dMassAdd(ma, mb);
	return 0;
}