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creatig cone joints for hand
author Robert McIntyre <rlm@mit.edu>
date Sat, 07 Jan 2012 01:32:15 -0700
parents 4f5e2c629e45
children af1bb43661f9
rev   line source
rlm@73 1 #+title: First attempt at a creature!
rlm@73 2 #+author: Robert McIntyre
rlm@73 3 #+email: rlm@mit.edu
rlm@73 4 #+description:
rlm@73 5 #+keywords: simulation, jMonkeyEngine3, clojure
rlm@73 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@73 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@73 8
rlm@73 9 * Intro
rlm@73 10 So far, I've made the following senses --
rlm@73 11 - Vision
rlm@73 12 - Hearing
rlm@73 13 - Touch
rlm@73 14 - Proprioception
rlm@73 15
rlm@73 16 And one effector:
rlm@73 17 - Movement
rlm@73 18
rlm@73 19 However, the code so far has only enabled these senses, but has not
rlm@73 20 actually implemented them. For example, there is still a lot of work
rlm@73 21 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 22 simulation that can be moved around and see the world from different
rlm@73 23 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 24 for the visual input, and I need to determine how/wether to
rlm@73 25 disceritise the visual input.
rlm@73 26
rlm@73 27 I also want to be able to visualize both the sensors and the
rlm@73 28 effectors in pretty pictures. This semi-retarted creature will by my
rlm@73 29 first attempt at bringing everything together.
rlm@73 30
rlm@73 31 * The creature's body
rlm@73 32
rlm@73 33 Still going to do an eve-like body in blender, but due to problems
rlm@73 34 importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73 35 the connecting here in clojure code, using the names of the individual
rlm@73 36 components and trial and error. Later, I'll maybe make some sort of
rlm@73 37 creature-building modifications to blender that support whatever
rlm@73 38 discreitized senses I'm going to make.
rlm@73 39
rlm@73 40 #+name: body-1
rlm@73 41 #+begin_src clojure
rlm@73 42 (ns cortex.silly
rlm@73 43 "let's play!"
rlm@73 44 {:author "Robert McIntyre"})
rlm@73 45
rlm@73 46 ;; TODO remove this!
rlm@73 47 (require 'cortex.import)
rlm@73 48 (cortex.import/mega-import-jme3)
rlm@73 49 (use '(cortex world util body hearing touch vision))
rlm@73 50
rlm@73 51 (rlm.rlm-commands/help)
rlm@73 52
rlm@83 53 (declare joint-create get-subjective-position)
rlm@83 54
rlm@83 55 (defn load-bullet []
rlm@84 56 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 57 (.enqueue
rlm@84 58 sim
rlm@84 59 (fn []
rlm@84 60 (.stop sim)))
rlm@84 61 (.start sim)))
rlm@83 62
rlm@73 63 (defn load-blender-model
rlm@73 64 "Load a .blend file using an asset folder relative path."
rlm@73 65 [^String model]
rlm@73 66 (.loadModel
rlm@73 67 (doto (asset-manager)
rlm@73 68 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 69 model))
rlm@73 70
rlm@74 71 (defn meta-data [blender-node key]
rlm@74 72 (if-let [data (.getUserData blender-node "properties")]
rlm@74 73 (.findValue data key)
rlm@74 74 nil))
rlm@73 75
rlm@78 76 (defn blender-to-jme
rlm@78 77 "Convert from Blender coordinates to JME coordinates"
rlm@78 78 [#^Vector3f in]
rlm@78 79 (Vector3f. (.getX in)
rlm@78 80 (.getZ in)
rlm@78 81 (- (.getY in))))
rlm@74 82
rlm@79 83 (defn jme-to-blender
rlm@79 84 "Convert from JME coordinates to Blender coordinates"
rlm@79 85 [#^Vector3f in]
rlm@79 86 (Vector3f. (.getX in)
rlm@79 87 (- (.getZ in))
rlm@79 88 (.getY in)))
rlm@79 89
rlm@78 90 (defn joint-targets
rlm@78 91 "Return the two closest two objects to the joint object, ordered
rlm@78 92 from bottom to top according to the joint's rotation."
rlm@78 93 [#^Node parts #^Node joint]
rlm@78 94 ;;(println (meta-data joint "joint"))
rlm@78 95 (.getWorldRotation joint)
rlm@78 96 (loop [radius (float 0.01)]
rlm@78 97 (let [results (CollisionResults.)]
rlm@78 98 (.collideWith
rlm@78 99 parts
rlm@78 100 (BoundingBox. (.getWorldTranslation joint)
rlm@78 101 radius radius radius)
rlm@78 102 results)
rlm@78 103 (let [targets
rlm@78 104 (distinct
rlm@78 105 (map #(.getGeometry %) results))]
rlm@78 106 (if (>= (count targets) 2)
rlm@78 107 (sort-by
rlm@79 108 #(let [v
rlm@79 109 (jme-to-blender
rlm@79 110 (.mult
rlm@79 111 (.inverse (.getWorldRotation joint))
rlm@79 112 (.subtract (.getWorldTranslation %)
rlm@79 113 (.getWorldTranslation joint))))]
rlm@79 114 (println-repl (.getName %) ":" v)
rlm@79 115 (.dot (Vector3f. 1 1 1)
rlm@79 116 v))
rlm@78 117 (take 2 targets))
rlm@78 118 (recur (float (* radius 2))))))))
rlm@74 119
rlm@78 120 (defn connect
rlm@78 121 "here are some examples:
rlm@78 122 {:type :point}
rlm@78 123 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@78 124 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74 125
rlm@78 126 {:type :cone :limit-xz 0]
rlm@79 127 :limit-xy 0]
rlm@79 128 :twist 0]} (use XZY rotation mode in blender!)"
rlm@81 129 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@81 130 (let [center-a (.getWorldTranslation obj-a)
rlm@81 131 center-b (.getWorldTranslation obj-b)
rlm@81 132 joint-center (.getWorldTranslation joint)
rlm@81 133 pivot-a (.subtract joint-center center-a)
rlm@81 134 pivot-b (.subtract joint-center center-b)
rlm@81 135 control-a (.getControl obj-a RigidBodyControl)
rlm@81 136 control-b (.getControl obj-b RigidBodyControl)]
rlm@81 137 ;; A side-effect of creating a joint registers
rlm@81 138 ;; it with both physics objects which in turn
rlm@81 139 ;; will register the joint with the physics system
rlm@81 140 ;; when the simulation is started.
rlm@81 141 (if-let [constraints
rlm@81 142 (map-vals
rlm@81 143 eval
rlm@81 144 (read-string
rlm@81 145 (meta-data joint "joint")))]
rlm@74 146
rlm@81 147 (let [joint-type (:type constraints)]
rlm@81 148 (println-repl "creating joint between"
rlm@81 149 (.getName obj-a) "and" (.getName obj-b))
rlm@81 150 (cond (= :point joint-type)
rlm@81 151 (do
rlm@81 152 (println-repl "creating POINT joint")
rlm@81 153 (Point2PointJoint.
rlm@81 154 control-a
rlm@81 155 control-b
rlm@81 156 pivot-a
rlm@81 157 pivot-b))
rlm@81 158 (= :hinge joint-type)
rlm@81 159 (do
rlm@81 160 (println-repl "creating HINGE joint")
rlm@81 161 (let [axis (if-let
rlm@81 162 [axis (:axis constraints)]
rlm@81 163 axis
rlm@81 164 Vector3f/UNIT_X)
rlm@81 165 [limit-1 limit-2] (:limit constraints)
rlm@81 166 hinge-axis
rlm@81 167 (.mult
rlm@81 168 (.getWorldRotation joint)
rlm@81 169 (blender-to-jme axis))]
rlm@81 170 (doto
rlm@81 171 (HingeJoint.
rlm@81 172 control-a
rlm@81 173 control-b
rlm@81 174 pivot-a
rlm@81 175 pivot-b
rlm@81 176 hinge-axis
rlm@81 177 hinge-axis)
rlm@81 178 (.setLimit limit-1 limit-2))))
rlm@81 179 (= :cone joint-type)
rlm@81 180 (do
rlm@81 181 (let [limit-xz (:limit-xz constraints)
rlm@81 182 limit-xy (:limit-xy constraints)
rlm@85 183 twist (:twist constraints)
rlm@85 184 rotation (.toRotationMatrix (.getWorldRotation joint))]
rlm@81 185
rlm@81 186 (println-repl "creating CONE joint")
rlm@85 187 (println-repl rotation)
rlm@85 188 (println-repl
rlm@85 189 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@85 190 (println-repl
rlm@85 191 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@85 192 (println-repl
rlm@85 193 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@85 194 (doto
rlm@85 195 (ConeJoint.
rlm@85 196 control-a
rlm@85 197 control-b
rlm@85 198 pivot-a
rlm@85 199 pivot-b
rlm@85 200 rotation
rlm@85 201 rotation
rlm@85 202 )
rlm@85 203 (.setLimit (float limit-xz)
rlm@85 204 (float limit-xy)
rlm@85 205 (float twist)))))
rlm@81 206 true
rlm@81 207 (println-repl
rlm@81 208 "joint-type" joint-type "not recognized")))
rlm@81 209
rlm@81 210 (println-repl "could not find joint meta-data!"))))
rlm@74 211
rlm@83 212
rlm@78 213 (defn assemble-creature [#^Node pieces joints]
rlm@78 214 (dorun
rlm@78 215 (map
rlm@78 216 (fn [geom]
rlm@78 217 (let [physics-control
rlm@78 218 (RigidBodyControl.
rlm@78 219 (HullCollisionShape.
rlm@78 220 (.getMesh geom))
rlm@78 221 (if-let [mass (meta-data geom "mass")]
rlm@78 222 (do
rlm@78 223 (println-repl
rlm@78 224 "setting" (.getName geom) "mass to" (float mass))
rlm@78 225 (float mass))
rlm@78 226 (float 1)))]
rlm@78 227
rlm@78 228 (.addControl geom physics-control)))
rlm@78 229 (filter #(isa? (class %) Geometry )
rlm@78 230 (node-seq pieces))))
rlm@77 231
rlm@78 232 (dorun
rlm@78 233 (map
rlm@78 234 (fn [joint]
rlm@78 235 (let [[obj-a obj-b]
rlm@78 236 (joint-targets pieces joint)]
rlm@78 237 (connect obj-a obj-b joint)))
rlm@78 238 joints))
rlm@78 239 pieces)
rlm@74 240
rlm@78 241 (defn blender-creature [blender-path]
rlm@78 242 (let [model (load-blender-model blender-path)
rlm@78 243 joints
rlm@78 244 (if-let [joint-node (.getChild model "joints")]
rlm@78 245 (seq (.getChildren joint-node))
rlm@78 246 (do (println-repl "could not find joints node")
rlm@78 247 []))]
rlm@78 248 (assemble-creature model joints)))
rlm@74 249
rlm@78 250 (def hand "Models/creature1/one.blend")
rlm@74 251
rlm@78 252 (def worm "Models/creature1/try-again.blend")
rlm@78 253
rlm@80 254 (defn x-ray [#^ColorRGBA color]
rlm@80 255 (doto (Material. (asset-manager)
rlm@80 256 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 257 (.setColor "Color" color)
rlm@80 258 (-> (.getAdditionalRenderState)
rlm@80 259 (.setDepthTest false))))
rlm@80 260
rlm@78 261 (defn test-creature [thing]
rlm@80 262 (let [x-axis
rlm@80 263 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 264 y-axis
rlm@80 265 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 266 z-axis
rlm@80 267 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 268 (world
rlm@78 269 (nodify [(blender-creature thing)
rlm@81 270 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 271 :color ColorRGBA/Gray :mass 0)
rlm@80 272 x-axis y-axis z-axis
rlm@80 273 ])
rlm@78 274 standard-debug-controls
rlm@78 275 (comp light-up-everything enable-debug
rlm@78 276 (fn [world]
rlm@78 277 (.setTimer world (NanoTimer.))
rlm@80 278 (set-gravity world (Vector3f. 0 0 0))
rlm@78 279 (speed-up world)
rlm@78 280 world
rlm@78 281 ))
rlm@80 282 no-op)))
rlm@78 283
rlm@78 284 (defn world-setup [joint]
rlm@83 285 (let [
rlm@83 286
rlm@84 287 joint-position (Vector3f. 0 0 0)
rlm@83 288 joint-rotation
rlm@83 289 (.toRotationMatrix
rlm@83 290 (.mult
rlm@83 291 (doto (Quaternion.)
rlm@83 292 (.fromAngleAxis
rlm@83 293 (* 1 (/ Math/PI 4))
rlm@85 294 (Vector3f. -1 0 0)))
rlm@85 295 (doto (Quaternion.)
rlm@85 296 (.fromAngleAxis
rlm@85 297 (* 1 (/ Math/PI 2))
rlm@85 298 (Vector3f. 0 0 1)))))
rlm@84 299 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 300
rlm@83 301 origin (doto
rlm@83 302 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 303 :position top-position))
rlm@83 304 top (doto
rlm@78 305 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 306 :position top-position)
rlm@83 307
rlm@78 308 (.addControl
rlm@78 309 (RigidBodyControl.
rlm@83 310 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 311 bottom (doto
rlm@78 312 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 313 :position (Vector3f. 0 0 0))
rlm@83 314 (.addControl
rlm@78 315 (RigidBodyControl.
rlm@78 316 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 317 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 318 :color ColorRGBA/Gray :mass 0)
rlm@78 319 a (.getControl top RigidBodyControl)
rlm@78 320 b (.getControl bottom RigidBodyControl)]
rlm@83 321
rlm@78 322 (cond
rlm@83 323 (= joint :cone)
rlm@83 324
rlm@83 325 (doto (ConeJoint.
rlm@83 326 a b
rlm@83 327 (get-subjective-position joint-position top)
rlm@83 328 (get-subjective-position joint-position bottom)
rlm@83 329 joint-rotation
rlm@83 330 joint-rotation
rlm@83 331 )
rlm@78 332
rlm@83 333
rlm@83 334 (.setLimit (* (/ 10) Math/PI)
rlm@83 335 (* (/ 4) Math/PI)
rlm@83 336 0)))
rlm@83 337 [origin top bottom table]))
rlm@78 338
rlm@78 339
rlm@78 340
rlm@78 341 (defn test-joint [joint]
rlm@83 342 (let [[origin top bottom floor] (world-setup joint)
rlm@78 343 control (.getControl top RigidBodyControl)
rlm@78 344 move-up? (atom false)
rlm@78 345 move-down? (atom false)
rlm@78 346 move-left? (atom false)
rlm@78 347 move-right? (atom false)
rlm@78 348 roll-left? (atom false)
rlm@78 349 roll-right? (atom false)
rlm@78 350 timer (atom 0)]
rlm@78 351
rlm@78 352 (world
rlm@83 353 (nodify [top bottom floor origin])
rlm@78 354 (merge standard-debug-controls
rlm@78 355 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 356 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 357 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 358 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 359 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 360 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 361
rlm@78 362 (fn [world]
rlm@78 363 (light-up-everything world)
rlm@78 364 (enable-debug world)
rlm@78 365 (set-gravity world (Vector3f. 0 0 0))
rlm@78 366 )
rlm@78 367
rlm@78 368 (fn [world _]
rlm@78 369 (if (zero? (rem (swap! timer inc) 100))
rlm@78 370 (do
rlm@78 371 ;; (println-repl @timer)
rlm@78 372 (.attachChild (.getRootNode world)
rlm@78 373 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 374 :position (.getWorldTranslation top)
rlm@83 375 :physical? false))
rlm@83 376 (.attachChild (.getRootNode world)
rlm@83 377 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 378 :position (.getWorldTranslation bottom)
rlm@83 379 :physical? false))))
rlm@83 380
rlm@78 381 (if @move-up?
rlm@78 382 (.applyTorque control
rlm@78 383 (.mult (.getPhysicsRotation control)
rlm@78 384 (Vector3f. 0 0 10))))
rlm@78 385 (if @move-down?
rlm@78 386 (.applyTorque control
rlm@78 387 (.mult (.getPhysicsRotation control)
rlm@78 388 (Vector3f. 0 0 -10))))
rlm@78 389 (if @move-left?
rlm@78 390 (.applyTorque control
rlm@78 391 (.mult (.getPhysicsRotation control)
rlm@78 392 (Vector3f. 0 10 0))))
rlm@78 393 (if @move-right?
rlm@78 394 (.applyTorque control
rlm@78 395 (.mult (.getPhysicsRotation control)
rlm@78 396 (Vector3f. 0 -10 0))))
rlm@78 397 (if @roll-left?
rlm@78 398 (.applyTorque control
rlm@78 399 (.mult (.getPhysicsRotation control)
rlm@78 400 (Vector3f. -1 0 0))))
rlm@78 401 (if @roll-right?
rlm@78 402 (.applyTorque control
rlm@78 403 (.mult (.getPhysicsRotation control)
rlm@78 404 (Vector3f. 1 0 0))))))))
rlm@83 405
rlm@83 406
rlm@83 407
rlm@83 408
rlm@83 409
rlm@83 410
rlm@83 411
rlm@83 412
rlm@83 413
rlm@83 414
rlm@83 415
rlm@83 416
rlm@83 417
rlm@83 418 ;; please validate these.
rlm@83 419
rlm@83 420 (defn get-subjective-position
rlm@83 421 "Convert the world coordinates into coordinates relative to
rlm@83 422 object (i.e. local coordinates), taking into account the rotation
rlm@83 423 of object."
rlm@83 424 [#^Vector3f world-coordinates object]
rlm@83 425 ;; I don't know if it's important to take into account the rotation
rlm@83 426 ;; of the object. If it isn't, then remove the multiplication-by-inverse.
rlm@83 427 (.mult (.inverse (.getWorldRotation object))
rlm@83 428 (.subtract world-coordinates (.getWorldTranslation object))))
rlm@83 429
rlm@83 430
rlm@83 431 (defn get-subjective-rotation
rlm@83 432 "cf get-subjective-position. Converts a rotation specified relative
rlm@83 433 to the world's axes into a rotation specified in terms of the object's
rlm@83 434 coordinate system."
rlm@83 435 [#^Quaternion world-rotation object]
rlm@83 436 (.mult (.inverse (.getWorldRotation object)) world-rotation))
rlm@83 437
rlm@83 438
rlm@83 439
rlm@83 440
rlm@83 441 (defn joint-create "Connect objects 1 and 2 using a joint constraint. If
rlm@83 442 only position is specified, creates a point-to-point joint at the
rlm@83 443 given location
rlm@83 444 in world coordinates. etc. etc. for other joints.
rlm@83 445 To ensure consistency, I may alter this function
rlm@83 446 so that it moves obj-1 to be at the apex of the cone.
rlm@83 447
rlm@83 448 NOTE:
rlm@83 449 In the usual construction method, you create a joint and, if your
rlm@83 450 contraints are consistent, all the objects snap into position and
rlm@83 451 orientation around it, otherwise the systen explodes.
rlm@83 452
rlm@83 453 This construction method assumes that you have in mind a position and
rlm@83 454 rotation for the joint, and that you have already put your objects
rlm@83 455 at the required distances from that joint so that no snapping needs
rlm@83 456 to occur. The radial distances ('pivot lengths') are therefore just set to be
rlm@83 457 the pre-existing distances between the objects and the joint."
rlm@83 458 [#^Node obj-1
rlm@83 459 #^Node obj-2
rlm@83 460 #^Vector3f joint-position
rlm@83 461 #^Quaternion joint-rotation
rlm@83 462 span-1
rlm@83 463 span-2
rlm@83 464 twist
rlm@83 465 ]
rlm@83 466
rlm@83 467 (let
rlm@83 468 [body-1 (.getControl obj-1 RigidBodyControl)
rlm@83 469 body-2 (.getControl obj-2 RigidBodyControl)
rlm@83 470 ]
rlm@83 471 (doto (ConeJoint.
rlm@83 472 body-1
rlm@83 473 body-2
rlm@83 474 (get-subjective-position joint-position body-1)
rlm@83 475 (get-subjective-position joint-position body-2)
rlm@83 476 ;; ALIGN X-AXIS OF OBJECT-1 WITH THE CENTRAL AXIS OF THE CONE TO
rlm@83 477 ;;LOWER THE RISK OF INCONSISTENCY
rlm@83 478 ;;(Matrix3f/IDENTITY)
rlm@83 479 (.toRotationMatrix (get-subjective-rotation joint-rotation body-1))
rlm@83 480 (.toRotationMatrix (get-subjective-rotation joint-rotation body-2))
rlm@83 481 )
rlm@83 482 (.setLimit
rlm@83 483 span-1
rlm@83 484 span-2
rlm@83 485 twist))))
rlm@83 486
rlm@83 487
rlm@83 488
rlm@83 489
rlm@83 490
rlm@83 491
rlm@78 492 #+end_src
rlm@78 493
rlm@78 494
rlm@78 495 * COMMENT purgatory
rlm@78 496 #+begin_src clojure
rlm@77 497 (defn bullet-trans []
rlm@77 498 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 499 :position (Vector3f. -10 5 0))
rlm@77 500 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 501 :position (Vector3f. -10 -5 0)
rlm@77 502 :mass 0)
rlm@77 503 control-a (.getControl obj-a RigidBodyControl)
rlm@77 504 control-b (.getControl obj-b RigidBodyControl)
rlm@77 505 swivel
rlm@77 506 (.toRotationMatrix
rlm@77 507 (doto (Quaternion.)
rlm@77 508 (.fromAngleAxis (/ Math/PI 2)
rlm@77 509 Vector3f/UNIT_X)))]
rlm@77 510 (doto
rlm@77 511 (ConeJoint.
rlm@77 512 control-a control-b
rlm@77 513 (Vector3f. 0 5 0)
rlm@77 514 (Vector3f. 0 -5 0)
rlm@77 515 swivel swivel)
rlm@77 516 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 517 (/ Math/PI 4)
rlm@77 518 (* Math/PI 0.8)))
rlm@77 519 (world (nodify
rlm@77 520 [obj-a obj-b])
rlm@77 521 standard-debug-controls
rlm@77 522 enable-debug
rlm@77 523 no-op)))
rlm@74 524
rlm@74 525
rlm@77 526 (defn bullet-trans* []
rlm@77 527 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 528 :position (Vector3f. 5 0 0)
rlm@77 529 :mass 90)
rlm@77 530 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 531 :position (Vector3f. -5 0 0)
rlm@77 532 :mass 0)
rlm@77 533 control-a (.getControl obj-a RigidBodyControl)
rlm@77 534 control-b (.getControl obj-b RigidBodyControl)
rlm@77 535 move-up? (atom nil)
rlm@77 536 move-down? (atom nil)
rlm@77 537 move-left? (atom nil)
rlm@77 538 move-right? (atom nil)
rlm@77 539 roll-left? (atom nil)
rlm@77 540 roll-right? (atom nil)
rlm@77 541 force 100
rlm@77 542 swivel
rlm@77 543 (.toRotationMatrix
rlm@77 544 (doto (Quaternion.)
rlm@77 545 (.fromAngleAxis (/ Math/PI 2)
rlm@77 546 Vector3f/UNIT_X)))
rlm@77 547 x-move
rlm@77 548 (doto (Matrix3f.)
rlm@77 549 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 550 (.normalize (Vector3f. 1 1 0))))
rlm@77 551
rlm@77 552 timer (atom 0)]
rlm@77 553 (doto
rlm@77 554 (ConeJoint.
rlm@77 555 control-a control-b
rlm@77 556 (Vector3f. -8 0 0)
rlm@77 557 (Vector3f. 2 0 0)
rlm@77 558 ;;swivel swivel
rlm@77 559 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 560 x-move Matrix3f/IDENTITY
rlm@77 561 )
rlm@77 562 (.setCollisionBetweenLinkedBodys false)
rlm@77 563 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 564 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 565 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 566 (world (nodify
rlm@77 567 [obj-a obj-b])
rlm@77 568 (merge standard-debug-controls
rlm@77 569 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 570 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 571 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 572 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 573 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 574 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 575
rlm@77 576 (fn [world]
rlm@77 577 (enable-debug world)
rlm@77 578 (set-gravity world Vector3f/ZERO)
rlm@77 579 )
rlm@77 580
rlm@77 581 (fn [world _]
rlm@77 582
rlm@77 583 (if @move-up?
rlm@77 584 (.applyForce control-a
rlm@77 585 (Vector3f. force 0 0)
rlm@77 586 (Vector3f. 0 0 0)))
rlm@77 587 (if @move-down?
rlm@77 588 (.applyForce control-a
rlm@77 589 (Vector3f. (- force) 0 0)
rlm@77 590 (Vector3f. 0 0 0)))
rlm@77 591 (if @move-left?
rlm@77 592 (.applyForce control-a
rlm@77 593 (Vector3f. 0 force 0)
rlm@77 594 (Vector3f. 0 0 0)))
rlm@77 595 (if @move-right?
rlm@77 596 (.applyForce control-a
rlm@77 597 (Vector3f. 0 (- force) 0)
rlm@77 598 (Vector3f. 0 0 0)))
rlm@77 599
rlm@77 600 (if @roll-left?
rlm@77 601 (.applyForce control-a
rlm@77 602 (Vector3f. 0 0 force)
rlm@77 603 (Vector3f. 0 0 0)))
rlm@77 604 (if @roll-right?
rlm@77 605 (.applyForce control-a
rlm@77 606 (Vector3f. 0 0 (- force))
rlm@77 607 (Vector3f. 0 0 0)))
rlm@77 608
rlm@77 609 (if (zero? (rem (swap! timer inc) 100))
rlm@77 610 (.attachChild
rlm@77 611 (.getRootNode world)
rlm@77 612 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 613 :physical? false :position
rlm@77 614 (.getWorldTranslation obj-a)))))
rlm@77 615 )
rlm@77 616 ))
rlm@77 617
rlm@77 618
rlm@77 619
rlm@73 620 #+end_src
rlm@73 621
rlm@73 622
rlm@73 623 * COMMENT generate source
rlm@73 624 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 625 <<body-1>>
rlm@73 626 #+end_src
rlm@73 627