static int inverse_legs(lua_State *L) {
std::vector<double> qLegs;
std::vector<double> pLLeg = lua_checkvector(L, 1);
std::vector<double> pRLeg = lua_checkvector(L, 2);
std::vector<double> pTorso = lua_checkvector(L, 3);
int leg = 0;
qLegs = darwinop_kinematics_inverse_legs(&pLLeg[0],
&pRLeg[0],
&pTorso[0], leg);
lua_pushvector(L, qLegs);
return 1;
}
static int inverse_arm(lua_State *L) {
std::vector<double> qArm;
std::vector<double> dArm = lua_checkvector(L, 1);
qArm = darwinop_kinematics_inverse_arm(&dArm[0]);
if(qArm[0]==-999)
lua_pushnil(L);
else
lua_pushvector(L, qArm);
return 1;
}
static int inverse_leg(lua_State *L) {
std::vector<double> qLeg;
std::vector<double> pLeg = lua_checkvector(L, 1);
int leg = luaL_checkint(L, 2);
double hipYawPitch = 0;
Transform trLeg = transform6D(&pLeg[0]);
qLeg = darwinop_kinematics_inverse_leg(trLeg, leg, hipYawPitch);
lua_pushvector(L, qLeg);
return 1;
}
int luaNode__newindex(lua_State* l) {
is::Node* node = lua_tonode(l,1);
if ( node == NULL ) {
lua_Debug ar1;
lua_getstack( l, 1, &ar1 );
lua_getinfo( l, "fl", &ar1 );
lua_Debug ar2;
lua_getinfo( l, ">S", &ar2 );
lua_pushfstring( l, "%s:%d: attempt to index a NULL Node!", ar2.short_src, ar1.currentline );
return lua_error( l );
}
std::string field = luaL_checkstring(l,2);
if ( field == "pos" ) {
node->setPos( *lua_checkvector( l, 3 ) );
} else if ( field == "ang" ) {
node->setAng( *lua_checkvector( l, 3 ) );
} else if ( field == "scale" ) {
node->setScale( *lua_checkvector( l, 3 ) );
} else if ( field == "color" ) {
node->setColor( *lua_checkcolor( l, 3 ) );
} else if ( field == "x" ) {
glm::vec3 pos = node->getPos();
pos.x = luaL_checknumber( l, 3 );
node->setPos( pos );
} else if ( field == "y" ) {
glm::vec3 pos = node->getPos();
pos.y = luaL_checknumber( l, 3 );
node->setPos( pos );
} else if ( field == "z" ) {
glm::vec3 pos = node->getPos();
pos.z = luaL_checknumber( l, 3 );
node->setPos( pos );
} else if ( field == "sx" ) {
glm::vec3 scale = node->getScale();
scale.x = luaL_checknumber( l, 3 );
node->setScale( scale );
} else if ( field == "sy" ) {
glm::vec3 scale = node->getScale();
scale.y = luaL_checknumber( l, 3 );
node->setScale( scale );
} else if ( field == "sz" ) {
glm::vec3 scale = node->getScale();
scale.z = luaL_checknumber( l, 3 );
node->setScale( scale );
} else if ( field == "r" ) {
glm::vec4 color = node->getColor();
color.x = luaL_checknumber( l, 3 );
node->setColor( color );
} else if ( field == "g" ) {
glm::vec4 color = node->getColor();
color.y = luaL_checknumber( l, 3 );
node->setColor( color );
} else if ( field == "b" ) {
glm::vec4 color = node->getColor();
color.z = luaL_checknumber( l, 3 );
node->setColor( color );
} else if ( field == "a" ) {
glm::vec4 color = node->getColor();
color.w = luaL_checknumber( l, 3 );
node->setColor( color );
} else {
luaText__newindex( l );
luaButton__newindex( l );
luaCheckbox__newindex( l );
luaDropdown__newindex( l );
if ( node->m_luaReference == LUA_NOREF ) {
lua_newtable( l );
node->m_luaReference = luaL_ref( l, LUA_REGISTRYINDEX );
}
lua_rawgeti( l, LUA_REGISTRYINDEX, node->m_luaReference );
lua_pushvalue( l, 3 );
lua_setfield( l, -2, luaL_checkstring( l, 2 ) );
}
return 0;
}
static int torso_lleg(lua_State *L) {
std::vector<double> q = lua_checkvector(L, 1);
Transform t = inv(darwinop_kinematics_forward_lleg(&q[0]));
lua_pushvector(L, position6D(t));
return 1;
}
static int forward_rleg(lua_State *L) {
std::vector<double> q = lua_checkvector(L, 1);
Transform t = darwinop_kinematics_forward_rleg(&q[0]);
lua_pushtransform(L, t);
return 1;
}
