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finally got raycasting tough to work
author Robert McIntyre <rlm@mit.edu>
date Sun, 23 Oct 2011 10:09:02 -0700
parents 7d0c0282c3a7
children a149692d3d1f
rev   line source
rlm@0 1 #+title: SKIN!
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@0 4 #+description: Simulating touch in JMonkeyEngine
rlm@4 5 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 6 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@6 7 #+babel: :mkdirp yes :noweb yes
rlm@0 8
rlm@5 9 let's see what checkboxes look like:
rlm@5 10
rlm@5 11 * test [1/2]
rlm@5 12 - [ ] item 1
rlm@5 13 - [X] item 2
rlm@0 14
rlm@0 15
rlm@0 16 * skin!
rlm@0 17
rlm@0 18 #+srcname: skin-main
rlm@0 19 #+begin_src clojure
rlm@0 20 (ns body.skin)
rlm@0 21 (use 'cortex.world)
rlm@0 22 (use 'cortex.import)
rlm@0 23 (use 'clojure.contrib.def)
rlm@0 24 (cortex.import/mega-import-jme3)
rlm@0 25 (rlm.rlm-commands/help)
rlm@0 26
rlm@0 27 (import java.util.logging.Level)
rlm@0 28 (import java.util.logging.Logger)
rlm@0 29
rlm@0 30
rlm@0 31
rlm@0 32 ;; looks like we can use GhostControls for implementing touch.
rlm@0 33 ;; for example:
rlm@0 34 (def rc (GhostControl. (BoxCollisionShape. (Vector3f. 2 2 2))))
rlm@0 35 (def shifted-sphere
rlm@0 36 (doto (CompoundCollisionShape.)
rlm@0 37 (.addChildShape (SphereCollisionShape. 3) (Vector3f. 1 0 0))))
rlm@0 38
rlm@0 39 (def gc (GhostControl. shifted-sphere))
rlm@0 40 (def b (box 1 1 1 :mass 1))
rlm@0 41 (.addControl b rc)
rlm@0 42 (.addControl b gc)
rlm@0 43
rlm@0 44
rlm@0 45 (defn looksies! []
rlm@0 46 (view b))
rlm@0 47
rlm@0 48 ;; overlapping objects can be gotten via =.getOverlappingCount= and
rlm@0 49 ;; =.getOverlappingObjects=
rlm@0 50
rlm@0 51 ;; looks like I might be able to place a small "touch-sphere" whther
rlm@0 52 ;; on every triangle in the object's mesh, or at the verticies, using
rlm@0 53 ;; .getTriangleCount() on the mesh gotten by .getMesh()
rlm@0 54
rlm@0 55 ;; this way, I can create a mesh and just divide up it's faces using
rlm@0 56 ;; blender, and this will create the touch sensor distribution.
rlm@0 57
rlm@0 58
rlm@0 59 (defn make-touch-sphere [#^Geometry geom]
rlm@0 60 (let [tri (Triangle.)
rlm@0 61 mesh (.getMesh geom)
rlm@0 62 controls! (transient [])]
rlm@0 63 (dorun
rlm@0 64 (for [n (range (.getTriangleCount mesh))]
rlm@0 65 (do
rlm@0 66 (.getTriangle mesh n tri)
rlm@0 67 (.calculateCenter tri)
rlm@0 68 (let [control
rlm@0 69 (doto
rlm@0 70 (GhostControl.
rlm@0 71 (doto (CompoundCollisionShape.)
rlm@0 72 (.addChildShape
rlm@0 73 (SphereCollisionShape. (float 0.1))
rlm@0 74 (.mult (.getCenter tri) (float 1)))
rlm@0 75 (.setMargin -0.1)))
rlm@0 76 (.setApplyPhysicsLocal true))]
rlm@0 77
rlm@0 78 (.addControl geom control)
rlm@0 79 (conj! controls! control)))))
rlm@0 80 (persistent! controls!)))
rlm@6 81
rlm@6 82
rlm@6 83 (defn triangles [#^Geometry geom]
rlm@6 84 (let
rlm@6 85 [mesh (.getMesh geom)
rlm@6 86 triangles (transient [])]
rlm@6 87 (dorun
rlm@6 88 (for [n (range (.getTriangleCount mesh))]
rlm@6 89 (let [tri (Triangle.)]
rlm@6 90 (.getTriangle mesh n tri)
rlm@6 91 (.calculateNormal tri)
rlm@6 92 (.calculateCenter tri)
rlm@6 93 (conj! triangles tri))))
rlm@6 94 (persistent! triangles)))
rlm@6 95
rlm@6 96
rlm@6 97 (defn new-touch [#^Geometry geom]
rlm@6 98 (dorun (map
rlm@6 99 (comp no-op #(.getCenter %))
rlm@6 100 (triangles geom))))
rlm@6 101
rlm@7 102 (defn get-ray-origin
rlm@7 103 [geom tri]
rlm@7 104 (let [new (Vector3f.)]
rlm@7 105 (.calculateCenter tri)
rlm@8 106 (.localToWorld geom (.getCenter tri) new)
rlm@7 107 new))
rlm@6 108
rlm@7 109 (defn get-ray-direction
rlm@7 110 [geom tri]
rlm@9 111 (let [n+c (Vector3f.)]
rlm@7 112 (.calculateNormal tri)
rlm@9 113 (.calculateCenter tri)
rlm@9 114 (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
rlm@9 115 (.subtract n+c (get-ray-origin geom tri))
rlm@8 116 ))
rlm@7 117
rlm@7 118 (defn ray-origin-debug
rlm@9 119 [ray color]
rlm@7 120 (make-shape
rlm@6 121 (assoc base-shape
rlm@6 122 :shape (Sphere. 5 5 0.05)
rlm@6 123 :name "arrow"
rlm@9 124 :color color
rlm@6 125 :texture false
rlm@6 126 :physical? false
rlm@6 127 :position
rlm@7 128 (.getOrigin ray))))
rlm@6 129
rlm@9 130 (defn ray-debug [ray color]
rlm@6 131 (make-shape
rlm@6 132 (assoc
rlm@6 133 base-shape
rlm@6 134 :name "debug-ray"
rlm@6 135 :physical? false
rlm@6 136 :shape (com.jme3.scene.shape.Line.
rlm@6 137 (.getOrigin ray)
rlm@6 138 (.add
rlm@6 139 (.getOrigin ray)
rlm@6 140 (.mult (.getDirection ray)
rlm@6 141 (float (.getLimit ray))))))))
rlm@6 142
rlm@6 143
rlm@10 144 (defn contact-color [contacts]
rlm@10 145 (case contacts
rlm@10 146 0 ColorRGBA/Gray
rlm@10 147 1 ColorRGBA/Blue
rlm@10 148 2 ColorRGBA/Green
rlm@10 149 3 ColorRGBA/Yellow
rlm@10 150 4 ColorRGBA/Orange
rlm@10 151 5 ColorRGBA/Red
rlm@10 152 6 ColorRGBA/Magenta
rlm@10 153 7 ColorRGBA/Pink
rlm@10 154 8 ColorRGBA/White))
rlm@6 155
rlm@6 156 (defn normal-rays
rlm@6 157 "returns rays"
rlm@6 158 [limit #^Geometry geom]
rlm@6 159 (vec
rlm@6 160 (map
rlm@6 161 (fn [tri]
rlm@6 162 (doto
rlm@6 163 (Ray. (get-ray-origin geom tri)
rlm@6 164 (get-ray-direction geom tri))
rlm@6 165
rlm@10 166 (.setLimit limit)
rlm@10 167 )
rlm@10 168 )
rlm@6 169 (triangles geom))))
rlm@6 170
rlm@6 171
rlm@6 172 (defn collision-debug [node result]
rlm@6 173 (println-repl "contact point: " (.getContactPoint result))
rlm@6 174 )
rlm@6 175
rlm@6 176 (defn touch-percieve [limit geom node debug-node]
rlm@6 177 (let [normals (normal-rays limit geom)]
rlm@6 178 (.detachAllChildren debug-node)
rlm@6 179 (doall
rlm@6 180 (for [ray normals]
rlm@6 181 (do
rlm@6 182 (let [results (CollisionResults.)]
rlm@10 183 (.collideWith node ray results)
rlm@10 184 (let [answer (count (filter #(not (= geom (.getGeometry %))) results))
rlm@10 185 ;;color (contact-color answer)
rlm@10 186 ]
rlm@10 187 ;;(dorun (map #(println-repl (.getName (.getGeometry %))) results))
rlm@10 188 ;;(.attachChild debug-node (ray-debug ray color))
rlm@10 189 ;;(.attachChild debug-node (ray-origin-debug ray color))
rlm@6 190
rlm@10 191
rlm@10 192 ;;(println-repl (.size results) "results for " ray)
rlm@10 193 ;;(doall (map (partial collision-debug node) results))
rlm@10 194 answer
rlm@10 195 )))))))
rlm@6 196
rlm@0 197 (defn make-touch [#^Geometry geom]
rlm@0 198 (let [tri (Triangle.)
rlm@0 199 mesh (.getMesh geom)
rlm@0 200 controls! (transient [])]
rlm@0 201 (dorun
rlm@0 202 (for [n (range (.getTriangleCount mesh))]
rlm@0 203 (do
rlm@0 204 (.getTriangle mesh n tri)
rlm@0 205 (.calculateCenter tri)
rlm@0 206 (.calculateNormal tri)
rlm@5 207 ;; (println-repl tri)
rlm@5 208 ;; (println-repl (.get1 tri))
rlm@5 209 ;; (println-repl (.get2 tri))
rlm@5 210 ;; (println-repl (.get3 tri))
rlm@5 211 ;; (println-repl (.getCenter tri))
rlm@5 212 ;; (println-repl (.getNormal tri))
rlm@0 213 (let [control
rlm@0 214 (doto
rlm@0 215 (GhostControl.
rlm@0 216
rlm@0 217 (doto (CompoundCollisionShape.)
rlm@0 218 (.addChildShape
rlm@0 219 (SimplexCollisionShape. Vector3f/ZERO)
rlm@0 220 (.mult (.getCenter tri) (float 1)))
rlm@0 221 (.setMargin 0)
rlm@0 222 ))
rlm@0 223 (.setApplyPhysicsLocal true))]
rlm@0 224 (.addControl geom control)
rlm@0 225 (conj! controls! control)))))
rlm@0 226 (persistent! controls!)))
rlm@0 227
rlm@0 228 (use 'hello.brick-wall)
rlm@0 229
rlm@10 230
rlm@10 231
rlm@10 232
rlm@10 233
rlm@10 234
rlm@0 235 (defn touch-reception [controls]
rlm@0 236 (let [control
rlm@0 237 (first
rlm@0 238 (filter
rlm@0 239 #(< 2 (.getOverlappingCount %)) controls))]
rlm@0 240 (if (not (nil? control))
rlm@0 241 (println
rlm@0 242 (seq
rlm@0 243 (.getOverlappingObjects control))))))
rlm@0 244
rlm@0 245 (defn touch-print [controls]
rlm@0 246 (println
rlm@0 247 (map #(count (.getNonGhostOverlappingObjects %)) controls)))
rlm@0 248
rlm@0 249 (defn set-debug-color [#^ColorRGBA color #^GhostControl gc]
rlm@0 250 (.setColor (.getMaterial (.getChild (.getDebugShape gc) 0)) "Color" color))
rlm@0 251
rlm@0 252 (defn html-color [html-str]
rlm@0 253 ((fn [[r g b]] (ColorRGBA. r g b (float 1)))
rlm@0 254 (map #(float (/ (Integer/parseInt % 16) 255))
rlm@0 255 (map (partial apply str) (partition 2 html-str)))))
rlm@0 256
rlm@0 257 (defn color-touch [controls]
rlm@0 258 (no-exceptions
rlm@0 259 (dorun
rlm@0 260 (map
rlm@0 261 (fn [control]
rlm@0 262 (case (count (.getNonGhostOverlappingObjects control))
rlm@0 263 0 (set-debug-color ColorRGBA/Gray control)
rlm@0 264 1 (set-debug-color ColorRGBA/Blue control)
rlm@0 265 2 (set-debug-color ColorRGBA/Green control)
rlm@0 266 3 (set-debug-color ColorRGBA/Yellow control)
rlm@0 267 4 (set-debug-color ColorRGBA/Orange control)
rlm@0 268 5 (set-debug-color ColorRGBA/Red control)
rlm@0 269 6 (set-debug-color ColorRGBA/Magenta control)
rlm@0 270 7 (set-debug-color ColorRGBA/Pink control)
rlm@0 271 8 (set-debug-color ColorRGBA/White control)))
rlm@0 272 controls))))
rlm@0 273
rlm@0 274 (defn enable-debug [world]
rlm@0 275 (.enableDebug
rlm@0 276 (.getPhysicsSpace
rlm@0 277 (.getState
rlm@0 278 (.getStateManager world)
rlm@0 279 BulletAppState))
rlm@0 280 (asset-manager)))
rlm@0 281
rlm@0 282 (defn transparent-sphere []
rlm@0 283 (doto
rlm@0 284 (make-shape
rlm@0 285 (merge base-shape
rlm@0 286 {:position (Vector3f. 0 2 0)
rlm@0 287 :name "the blob."
rlm@0 288 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 289 :texture "Textures/purpleWisp.png"
rlm@0 290 :physical? true
rlm@0 291 :mass 70
rlm@0 292 :color ColorRGBA/Blue
rlm@0 293 :shape (Sphere. 10 10 1)}))
rlm@0 294 (-> (.getMaterial)
rlm@0 295 (.getAdditionalRenderState)
rlm@0 296 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 297 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 298
rlm@0 299 (defn transparent-box []
rlm@0 300 (doto
rlm@0 301 (make-shape
rlm@0 302 (merge base-shape
rlm@0 303 {:position (Vector3f. 0 2 0)
rlm@10 304 :name "box"
rlm@0 305 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 306 :texture "Textures/purpleWisp.png"
rlm@0 307 :physical? true
rlm@0 308 :mass 70
rlm@0 309 :color ColorRGBA/Blue
rlm@0 310 :shape (Box. 1 1 1)}))
rlm@0 311 (-> (.getMaterial)
rlm@0 312 (.getAdditionalRenderState)
rlm@0 313 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 314 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 315
rlm@6 316
rlm@6 317 (defn transparent-floor []
rlm@6 318 (doto
rlm@6 319 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)
rlm@6 320 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@10 321 :texture "Textures/redWisp.png"
rlm@10 322 :name "floor")
rlm@6 323 (-> (.getMaterial)
rlm@6 324 (.getAdditionalRenderState)
rlm@6 325 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@6 326 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@6 327
rlm@0 328
rlm@0 329 (defn no-logging []
rlm@0 330 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@0 331
rlm@0 332 (defn set-accuracy [world new-accuracy]
rlm@0 333 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
rlm@0 334 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
rlm@0 335
rlm@0 336 (defn test-skin []
rlm@0 337 (let [b
rlm@10 338 (transparent-box)
rlm@6 339 ;;(transparent-sphere)
rlm@10 340 ;;(sphere)
rlm@6 341 f (transparent-floor)
rlm@6 342 ;;controls
rlm@0 343 ;;(make-touch-sphere b)
rlm@6 344 ;;(make-touch b)
rlm@6 345 debug-node (Node.)
rlm@6 346 node (doto (Node.) (.attachChild b) (.attachChild f)
rlm@6 347 (.attachChild debug-node))
rlm@6 348
rlm@0 349 ]
rlm@0 350
rlm@0 351 (world
rlm@0 352
rlm@6 353 node
rlm@0 354 {"key-return" (fire-cannon-ball)
rlm@0 355 "key-space" (fn [game value]
rlm@10 356 (if value
rlm@10 357 (println-repl (touch-percieve 0.2 b node debug-node))))
rlm@6 358 }
rlm@6 359 ;;no-op
rlm@0 360 (fn [world]
rlm@6 361 ;; (Capture/SimpleCaptureVideo
rlm@6 362 ;; world
rlm@6 363 ;; (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@6 364 ;; (no-logging)
rlm@6 365 (enable-debug world)
rlm@6 366 ;; (set-accuracy world (/ 1 60))
rlm@0 367 )
rlm@0 368
rlm@0 369 (fn [& _]
rlm@10 370 ;;(println-repl
rlm@10 371 (touch-percieve 0.2 b node debug-node)
rlm@10 372 ;;(Thread/sleep 10)
rlm@5 373 ;;(touch-print controls)
rlm@6 374 ;;(color-touch controls)
rlm@0 375 ))))
rlm@0 376
rlm@0 377 #+end_src
rlm@0 378
rlm@3 379 #+results: skin-main
rlm@3 380 : #'body.skin/test-skin
rlm@3 381
rlm@0 382
rlm@0 383
rlm@0 384
rlm@10 385
rlm@10 386
rlm@6 387
rlm@0 388
rlm@0 389 * COMMENT code generation
rlm@6 390 #+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
rlm@0 391 <<skin-main>>
rlm@0 392 #+end_src
rlm@0 393
rlm@0 394
rlm@0 395
rlm@0 396