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#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;
}
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