lua/src/trajpoly3.c

   1 /***
   2  cubic polynomial trajectory
   3  @module liba.trajpoly3
   4 */
   5
   6 #include "trajpoly3.h"
   7 #include "a/trajpoly3.h"
   8
   9 static int liba_trajpoly3_gen_(lua_State *L, a_trajpoly3 *ctx, int arg, int top)
  10 {
  11     a_float p0 = 0, v0 = 0;
  12     a_float p1 = 0, v1 = 0;
  13     a_float ts = 0;
  14     switch (top)
  15     {
  16     default:
  17     case 5:
  18         v1 = (a_float)luaL_checknumber(L, arg + 5);
  19         A_FALLTHROUGH;
  20     case 4:
  21         v0 = (a_float)luaL_checknumber(L, arg + 4);
  22         A_FALLTHROUGH;
  23     case 3:
  24         p1 = (a_float)luaL_checknumber(L, arg + 3);
  25         A_FALLTHROUGH;
  26     case 2:
  27         p0 = (a_float)luaL_checknumber(L, arg + 2);
  28         A_FALLTHROUGH;
  29     case 1:
  30         ts = (a_float)luaL_checknumber(L, arg + 1);
  31         A_FALLTHROUGH;
  32     case 0:
  33         a_trajpoly3_gen(ctx, ts, p0, p1, v0, v1);
  34     }
  35     return 1;
  36 }
  37
  38 /***
  39  constructor for cubic polynomial trajectory
  40  @tparam number ts difference between final time and initial time
  41  @tparam number p0 initial position
  42  @tparam number p1 final position
  43  @tparam[opt] number v0 initial velocity
  44  @tparam[opt] number v1 final velocity
  45  @treturn a.trajpoly3 cubic polynomial trajectory userdata
  46  @function new
  47 */
  48 int liba_trajpoly3_new(lua_State *L)
  49 {
  50     int const top = lua_gettop(L);
  51     if (top > 2)
  52     {
  53         a_trajpoly3 *const ctx = lua_newclass(L, a_trajpoly3);
  54         lua_registry_get(L, liba_trajpoly3_new);
  55         lua_setmetatable(L, -2);
  56         return liba_trajpoly3_gen_(L, ctx, 0, top);
  57     }
  58     return 0;
  59 }
  60
  61 /***
  62  generate for cubic polynomial trajectory
  63  @tparam a.trajpoly3 ctx cubic polynomial trajectory userdata
  64  @tparam number ts difference between final time and initial time
  65  @tparam number p0 initial position
  66  @tparam number p1 final position
  67  @tparam[opt] number v0 initial velocity
  68  @tparam[opt] number v1 final velocity
  69  @treturn a.trajpoly3 cubic polynomial trajectory userdata
  70  @function gen
  71 */
  72 int liba_trajpoly3_gen(lua_State *L)
  73 {
  74     int const top = lua_gettop(L);
  75     if (top > 3)
  76     {
  77         luaL_checktype(L, 1, LUA_TUSERDATA);
  78         a_trajpoly3 *const ctx = (a_trajpoly3 *)lua_touserdata(L, 1);
  79         lua_pushvalue(L, 1);
  80         return liba_trajpoly3_gen_(L, ctx, 1, top - 1);
  81     }
  82     return 0;
  83 }
  84
  85 /***
  86  calculate position for cubic polynomial trajectory
  87  @tparam a.trajpoly3 ctx cubic polynomial trajectory userdata
  88  @tparam number x difference between current time and initial time
  89  @treturn number position output
  90  @function pos
  91 */
  92 int liba_trajpoly3_pos(lua_State *L)
  93 {
  94     a_trajpoly3 const *const ctx = (a_trajpoly3 const *)lua_touserdata(L, 1);
  95     if (ctx)
  96     {
  97         a_float const x = (a_float)luaL_checknumber(L, 2);
  98         lua_pushnumber(L, (lua_Number)a_trajpoly3_pos(ctx, x));
  99         return 1;
 100     }
 101     return 0;
 102 }
 103
 104 /***
 105  calculate velocity for cubic polynomial trajectory
 106  @tparam a.trajpoly3 ctx cubic polynomial trajectory userdata
 107  @tparam number x difference between current time and initial time
 108  @treturn number velocity output
 109  @function vel
 110 */
 111 int liba_trajpoly3_vel(lua_State *L)
 112 {
 113     a_trajpoly3 const *const ctx = (a_trajpoly3 const *)lua_touserdata(L, 1);
 114     if (ctx)
 115     {
 116         a_float const x = (a_float)luaL_checknumber(L, 2);
 117         lua_pushnumber(L, (lua_Number)a_trajpoly3_vel(ctx, x));
 118         return 1;
 119     }
 120     return 0;
 121 }
 122
 123 /***
 124  calculate acceleration for cubic polynomial trajectory
 125  @tparam a.trajpoly3 ctx cubic polynomial trajectory userdata
 126  @tparam number x difference between current time and initial time
 127  @treturn number acceleration output
 128  @function acc
 129 */
 130 int liba_trajpoly3_acc(lua_State *L)
 131 {
 132     a_trajpoly3 const *const ctx = (a_trajpoly3 const *)lua_touserdata(L, 1);
 133     if (ctx)
 134     {
 135         a_float const x = (a_float)luaL_checknumber(L, 2);
 136         lua_pushnumber(L, (lua_Number)a_trajpoly3_acc(ctx, x));
 137         return 1;
 138     }
 139     return 0;
 140 }
 141
 142 static int liba_trajpoly3_set(lua_State *L)
 143 {
 144     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 145     {
 146     case 0xE8859EEB: // __name
 147     case 0xA65758B2: // __index
 148     case 0xAEB551C6: // __newindex
 149         break;
 150     default:
 151         lua_getmetatable(L, 1);
 152         lua_replace(L, 1);
 153         lua_rawset(L, 1);
 154     }
 155     return 0;
 156 }
 157
 158 static int liba_trajpoly3_get(lua_State *L)
 159 {
 160     a_trajpoly3 const *const ctx = (a_trajpoly3 const *)lua_touserdata(L, 1);
 161     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 162     {
 163     case 0x00000070: // p
 164         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 165         break;
 166     case 0x00000076: // v
 167         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 168         break;
 169     case 0x00000061: // a
 170         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 171         break;
 172     case 0xA65758B2: // __index
 173         lua_registry_get(L, liba_trajpoly3_new);
 174         lua_pushstring(L, "p");
 175         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 176         lua_rawset(L, -3);
 177         lua_pushstring(L, "v");
 178         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 179         lua_rawset(L, -3);
 180         lua_pushstring(L, "a");
 181         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 182         lua_rawset(L, -3);
 183         break;
 184     default:
 185         lua_getmetatable(L, 1);
 186         lua_replace(L, 1);
 187         lua_rawget(L, 1);
 188     }
 189     return 1;
 190 }
 191
 192 static int liba_trajpoly3_(lua_State *L)
 193 {
 194     lua_pushcfunction(L, liba_trajpoly3_new);
 195     lua_replace(L, 1);
 196     lua_call(L, lua_gettop(L) - 1, 1);
 197     return 1;
 198 }
 199
 200 int luaopen_liba_trajpoly3(lua_State *L)
 201 {
 202     static lua_fun const funcs[] = {
 203         {"new", liba_trajpoly3_new},
 204         {"gen", liba_trajpoly3_gen},
 205         {"pos", liba_trajpoly3_pos},
 206         {"vel", liba_trajpoly3_vel},
 207         {"acc", liba_trajpoly3_acc},
 208     };
 209     lua_createtable(L, 0, A_LEN(funcs));
 210     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 211     lua_createtable(L, 0, 1);
 212     lua_fun_set(L, -1, "__call", liba_trajpoly3_);
 213     lua_setmetatable(L, -2);
 214
 215     static lua_fun const metas[] = {
 216         {"__newindex", liba_trajpoly3_set},
 217         {"__index", liba_trajpoly3_get},
 218     };
 219     lua_createtable(L, 0, A_LEN(metas) + A_LEN(funcs) + 1);
 220     lua_fun_reg(L, -1, metas, A_LEN(metas));
 221     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 222     lua_str_set(L, -1, "__name", "a.trajpoly3");
 223     lua_registry_set(L, liba_trajpoly3_new);
 224
 225     return 1;
 226 }