lua/src/trajpoly5.c

   1 /***
   2  quintic polynomial trajectory
   3  @module liba.trajpoly5
   4 */
   5
   6 #include "trajpoly5.h"
   7 #include "a/trajpoly5.h"
   8
   9 static int liba_trajpoly5_gen_(lua_State *L, a_trajpoly5 *ctx, int arg, int top)
  10 {
  11     a_float p0 = 0, v0 = 0, a0 = 0;
  12     a_float p1 = 0, v1 = 0, a1 = 0;
  13     a_float ts = 0;
  14     switch (top)
  15     {
  16     default:
  17     case 7:
  18         a1 = (a_float)luaL_checknumber(L, arg + 7);
  19         A_FALLTHROUGH;
  20     case 6:
  21         a0 = (a_float)luaL_checknumber(L, arg + 6);
  22         A_FALLTHROUGH;
  23     case 5:
  24         v1 = (a_float)luaL_checknumber(L, arg + 5);
  25         A_FALLTHROUGH;
  26     case 4:
  27         v0 = (a_float)luaL_checknumber(L, arg + 4);
  28         A_FALLTHROUGH;
  29     case 3:
  30         p1 = (a_float)luaL_checknumber(L, arg + 3);
  31         A_FALLTHROUGH;
  32     case 2:
  33         p0 = (a_float)luaL_checknumber(L, arg + 2);
  34         A_FALLTHROUGH;
  35     case 1:
  36         ts = (a_float)luaL_checknumber(L, arg + 1);
  37         A_FALLTHROUGH;
  38     case 0:
  39         a_trajpoly5_gen(ctx, ts, p0, p1, v0, v1, a0, a1);
  40     }
  41     return 1;
  42 }
  43
  44 /***
  45  constructor for quintic polynomial trajectory
  46  @tparam number ts difference between final time and initial time
  47  @tparam number p0 initial position
  48  @tparam number p1 final position
  49  @tparam[opt] number v0 initial velocity
  50  @tparam[opt] number v1 final velocity
  51  @tparam[opt] number a0 initial acceleration
  52  @tparam[opt] number a1 final acceleration
  53  @treturn a.trajpoly5 quintic polynomial trajectory userdata
  54  @function new
  55 */
  56 int liba_trajpoly5_new(lua_State *L)
  57 {
  58     int const top = lua_gettop(L);
  59     if (top > 2)
  60     {
  61         a_trajpoly5 *const ctx = lua_newclass(L, a_trajpoly5);
  62         lua_registry_get(L, liba_trajpoly5_new);
  63         lua_setmetatable(L, -2);
  64         return liba_trajpoly5_gen_(L, ctx, 0, top);
  65     }
  66     return 0;
  67 }
  68
  69 /***
  70  generate for quintic polynomial trajectory
  71  @tparam a.trajpoly5 ctx quintic polynomial trajectory userdata
  72  @tparam number ts difference between final time and initial time
  73  @tparam number p0 initial position
  74  @tparam number p1 final position
  75  @tparam[opt] number v0 initial velocity
  76  @tparam[opt] number v1 final velocity
  77  @tparam[opt] number a0 initial acceleration
  78  @tparam[opt] number a1 final acceleration
  79  @treturn a.trajpoly5 quintic polynomial trajectory userdata
  80  @function gen
  81 */
  82 int liba_trajpoly5_gen(lua_State *L)
  83 {
  84     int const top = lua_gettop(L);
  85     if (top > 3)
  86     {
  87         luaL_checktype(L, 1, LUA_TUSERDATA);
  88         a_trajpoly5 *const ctx = (a_trajpoly5 *)lua_touserdata(L, 1);
  89         lua_pushvalue(L, 1);
  90         return liba_trajpoly5_gen_(L, ctx, 1, top - 1);
  91     }
  92     return 0;
  93 }
  94
  95 /***
  96  calculate position for quintic polynomial trajectory
  97  @tparam a.trajpoly5 ctx quintic polynomial trajectory userdata
  98  @tparam number x difference between current time and initial time
  99  @treturn number position output
 100  @function pos
 101 */
 102 int liba_trajpoly5_pos(lua_State *L)
 103 {
 104     a_trajpoly5 const *const ctx = (a_trajpoly5 const *)lua_touserdata(L, 1);
 105     if (ctx)
 106     {
 107         a_float const x = (a_float)luaL_checknumber(L, 2);
 108         lua_pushnumber(L, (lua_Number)a_trajpoly5_pos(ctx, x));
 109         return 1;
 110     }
 111     return 0;
 112 }
 113
 114 /***
 115  calculate velocity for quintic polynomial trajectory
 116  @tparam a.trajpoly5 ctx quintic polynomial trajectory userdata
 117  @tparam number x difference between current time and initial time
 118  @treturn number velocity output
 119  @function vel
 120 */
 121 int liba_trajpoly5_vel(lua_State *L)
 122 {
 123     a_trajpoly5 const *const ctx = (a_trajpoly5 const *)lua_touserdata(L, 1);
 124     if (ctx)
 125     {
 126         a_float const x = (a_float)luaL_checknumber(L, 2);
 127         lua_pushnumber(L, (lua_Number)a_trajpoly5_vel(ctx, x));
 128         return 1;
 129     }
 130     return 0;
 131 }
 132
 133 /***
 134  calculate acceleration for quintic polynomial trajectory
 135  @tparam a.trajpoly5 ctx quintic polynomial trajectory userdata
 136  @tparam number x difference between current time and initial time
 137  @treturn number acceleration output
 138  @function acc
 139 */
 140 int liba_trajpoly5_acc(lua_State *L)
 141 {
 142     a_trajpoly5 const *const ctx = (a_trajpoly5 const *)lua_touserdata(L, 1);
 143     if (ctx)
 144     {
 145         a_float const x = (a_float)luaL_checknumber(L, 2);
 146         lua_pushnumber(L, (lua_Number)a_trajpoly5_acc(ctx, x));
 147         return 1;
 148     }
 149     return 0;
 150 }
 151
 152 static int liba_trajpoly5_set(lua_State *L)
 153 {
 154     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 155     {
 156     case 0xE8859EEB: // __name
 157     case 0xA65758B2: // __index
 158     case 0xAEB551C6: // __newindex
 159         break;
 160     default:
 161         lua_getmetatable(L, 1);
 162         lua_replace(L, 1);
 163         lua_rawset(L, 1);
 164     }
 165     return 0;
 166 }
 167
 168 static int liba_trajpoly5_get(lua_State *L)
 169 {
 170     a_trajpoly5 const *const ctx = (a_trajpoly5 const *)lua_touserdata(L, 1);
 171     switch (a_hash_bkdr(lua_tostring(L, 2), 0))
 172     {
 173     case 0x00000070: // p
 174         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 175         break;
 176     case 0x00000076: // v
 177         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 178         break;
 179     case 0x00000061: // a
 180         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 181         break;
 182     case 0xA65758B2: // __index
 183         lua_registry_get(L, liba_trajpoly5_new);
 184         lua_pushstring(L, "p");
 185         lua_array_num_new(L, ctx->p, A_LEN(ctx->p));
 186         lua_rawset(L, -3);
 187         lua_pushstring(L, "v");
 188         lua_array_num_new(L, ctx->v, A_LEN(ctx->v));
 189         lua_rawset(L, -3);
 190         lua_pushstring(L, "a");
 191         lua_array_num_new(L, ctx->a, A_LEN(ctx->a));
 192         lua_rawset(L, -3);
 193         break;
 194     default:
 195         lua_getmetatable(L, 1);
 196         lua_replace(L, 1);
 197         lua_rawget(L, 1);
 198     }
 199     return 1;
 200 }
 201
 202 static int liba_trajpoly5_(lua_State *L)
 203 {
 204     lua_pushcfunction(L, liba_trajpoly5_new);
 205     lua_replace(L, 1);
 206     lua_call(L, lua_gettop(L) - 1, 1);
 207     return 1;
 208 }
 209
 210 int luaopen_liba_trajpoly5(lua_State *L)
 211 {
 212     static lua_fun const funcs[] = {
 213         {"new", liba_trajpoly5_new},
 214         {"gen", liba_trajpoly5_gen},
 215         {"pos", liba_trajpoly5_pos},
 216         {"vel", liba_trajpoly5_vel},
 217         {"acc", liba_trajpoly5_acc},
 218     };
 219     lua_createtable(L, 0, A_LEN(funcs));
 220     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 221     lua_createtable(L, 0, 1);
 222     lua_fun_set(L, -1, "__call", liba_trajpoly5_);
 223     lua_setmetatable(L, -2);
 224
 225     static lua_fun const metas[] = {
 226         {"__newindex", liba_trajpoly5_set},
 227         {"__index", liba_trajpoly5_get},
 228     };
 229     lua_createtable(L, 0, A_LEN(metas) + A_LEN(funcs) + 1);
 230     lua_fun_reg(L, -1, metas, A_LEN(metas));
 231     lua_fun_reg(L, -1, funcs, A_LEN(funcs));
 232     lua_str_set(L, -1, "__name", "a.trajpoly5");
 233     lua_registry_set(L, liba_trajpoly5_new);
 234
 235     return 1;
 236 }