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sol2
Sol3 (sol2 v3.0) - a C++ <-> Lua API wrapper with advanced features and top notch performance - is here, and it's great! Documentation:
I've only ever done this from C++, but it's using the same lua C library, so should be durable from C as well. You can look up how sol2 or any other wrapper libraries do it.
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NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.