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1 #+title: Movement!
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description: muscles for a simulated creature
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5 #+keywords: simulation, jMonkeyEngine3, clojure
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6 #+SETUPFILE: ../../aurellem/org/setup.org
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7 #+INCLUDE: ../../aurellem/org/level-0.org
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8
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9 #+name: movement
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10 #+begin_src clojure
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11 (ns cortex.movement
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12 (:use (cortex world util sense body))
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13 (:import jme3tools.converters.ImageToAwt)
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14 (:import java.awt.image.BufferedImage))
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15
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16 (cortex.import/mega-import-jme3)
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17
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18 ;; here's how motor-control/ proprioception will work: Each muscle is
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19 ;; defined by a 1-D array of numbers (the "motor pool") each of which
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20 ;; represent muscle fibers. A muscle also has a scalar :strength
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21 ;; factor which determines how strong the muscle as a whole is.
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22 ;; The effector function for a muscle takes a number < (count
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23 ;; motor-pool) and that number is said to "activate" all the muscle
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24 ;; fibers whose index is lower than the number. Each fiber will apply
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25 ;; force in proportion to its value in the array. Lower values cause
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26 ;; less force. The lower values can be put at the "beginning" of the
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27 ;; 1-D array to simulate the layout of actual human muscles, which are
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28 ;; capable of more percise movements when exerting less force.
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29
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30 (defn muscle-fiber-values
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31 "get motor pool strengths"
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32 [#^BufferedImage image]
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33 (vec
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34 (let [width (.getWidth image)]
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35 (for [x (range width)]
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36 (- 255
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37 (bit-and
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38 0x0000FF
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39 (.getRGB image x 0)))))))
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40
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41 (defn creature-muscles
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42 "Return the children of the creature's \"muscles\" node."
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43 [#^Node creature]
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44 (if-let [muscle-node (.getChild creature "muscles")]
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45 (seq (.getChildren muscle-node))
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46 (do (println-repl "could not find muscles node") [])))
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47
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48 (defn single-muscle [#^Node parts #^Node muscle]
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49 (let [target (closest-node parts muscle)
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50 axis
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51 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
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52 strength (meta-data muscle "strength")
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53 image-name (read-string (meta-data muscle "muscle"))
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54 image
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55 (ImageToAwt/convert
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56 (.getImage (.loadTexture (asset-manager) image-name))
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57 false false 0)
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58 fibers (muscle-fiber-values image)
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59 fiber-integral (reductions + fibers)
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60 force-index (vec
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61 (map
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62 #(float (* strength (/ % (last
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63 fiber-integral))))
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64 fiber-integral))
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65 control (.getControl target RigidBodyControl)]
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66 (fn [n]
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67 (let [pool-index (min n (count fibers))]
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68 (.applyTorque control (.mult axis (force-index n)))))))
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69
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70
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71 (defn enable-muscles
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72 "Must be called on a creature after RigidBodyControls have been
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73 created."
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74 [#^Node creature]
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75 (let [muscles (creature-muscles creature)]
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76 (for [muscle muscles]
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77 (single-muscle creature muscle))))
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78
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79
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80 #+end_src
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81
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82
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83
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84
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85
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86 * COMMENT code generation
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87 #+begin_src clojure :tangle ../src/cortex/movement.clj
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88 <<movement>>
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89 #+end_src
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