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#include <lua.h>
#include <lauxlib.h>
#include <ode/ode.h>
#include "ode_bindings.h"
void ode_push_world(lua_State *L, dWorldID w)
{
dWorldID *wu = lua_newuserdata(L, sizeof(dWorldID));
*wu = w;
luaL_getmetatable(L, ode_world_tname);
lua_setmetatable(L, -2);
}
int dWorldCreate_bind(lua_State *L)
{
dWorldID w = lua_newuserdata(L, sizeof(dWorldID));
ode_push_world(L, w);
return 1;
}
int dWorldDestroy_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dWorldDestroy(*w);
return 0;
}
int dWorldSetGravity_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal x = luaL_checkinteger(L, 2);
dReal y = luaL_checkinteger(L, 3);
dReal z = luaL_checkinteger(L, 4);
dWorldSetGravity(*w, x, y, z);
return 0;
}
int dWorldGetGravity_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dVector3 gravity;
dWorldGetGravity(*w, gravity);
lua_pushnumber(L, gravity[0]);
lua_pushnumber(L, gravity[1]);
lua_pushnumber(L, gravity[2]);
return 3;
}
int dWorldSetERP_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal erp = luaL_checkinteger(L, 2);
dWorldSetERP(*w, erp);
return 0;
}
int dWorldGetERP_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetERP(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetCFM_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal cfm = luaL_checkinteger(L, 2);
dWorldSetCFM(*w, cfm);
return 0;
}
int dWorldGetCFM_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetCFM(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetAutoDisableFlag_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int do_auto_disable = luaL_checkinteger(L, 2);
dWorldSetAutoDisableFlag(*w, do_auto_disable);
return 0;
}
int dWorldGetAutoDisableFlag_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int bind_result = dWorldGetAutoDisableFlag(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetAutoDisableLinearThreshold_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal linear_threshold = luaL_checkinteger(L, 2);
dWorldSetAutoDisableLinearThreshold(*w, linear_threshold);
return 0;
}
int dWorldGetAutoDisableLinearThreshold_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetAutoDisableLinearThreshold(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetAutoDisableAngularThreshold_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal angular_threshold = luaL_checkinteger(L, 2);
dWorldSetAutoDisableAngularThreshold(*w, angular_threshold);
return 0;
}
int dWorldGetAutoDisableAngularThreshold_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetAutoDisableAngularThreshold(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetAutoDisableSteps_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int steps = luaL_checkinteger(L, 2);
dWorldSetAutoDisableSteps(*w, steps);
return 0;
}
int dWorldGetAutoDisableSteps_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int bind_result = dWorldGetAutoDisableSteps(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetAutoDisableTime_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal time = luaL_checkinteger(L, 2);
dWorldSetAutoDisableTime(*w, time);
return 0;
}
int dWorldGetAutoDisableTime_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetAutoDisableTime(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldImpulseToForce_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal stepsize = luaL_checkinteger(L, 2);
dReal ix = luaL_checkinteger(L, 3);
dReal iy = luaL_checkinteger(L, 4);
dReal iz = luaL_checkinteger(L, 5);
dVector3 force;
dWorldImpulseToForce(*w, stepsize, ix, iy, iz, force);
lua_pushnumber(L, force[0]);
lua_pushnumber(L, force[1]);
lua_pushnumber(L, force[2]);
return 3;
}
int dWorldStep_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal stepsize = luaL_checkinteger(L, 2);
dWorldStep(*w, stepsize);
return 0;
}
int dWorldQuickStep_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal stepsize = luaL_checkinteger(L, 2);
dWorldQuickStep(*w, stepsize);
return 0;
}
int dWorldSetQuickStepNumIterations_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int num = luaL_checkinteger(L, 2);
dWorldSetQuickStepNumIterations(*w, num);
return 0;
}
int dWorldGetQuickStepNumIterations_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
int bind_result = dWorldGetQuickStepNumIterations(*w);
lua_pushinteger(L, bind_result);
return 1;
}
int dWorldSetQuickStepW_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal over_relaxation = luaL_checkinteger(L, 2);
dWorldSetQuickStepW(*w, over_relaxation);
return 0;
}
int dWorldGetQuickStepW_bind(lua_State *L)
{
dWorldID *w = luaL_checkudata(L, 1, ode_world_tname);
dReal bind_result = dWorldGetQuickStepW(*w);
lua_pushinteger(L, bind_result);
return 1;
}
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