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annotate org/skin.org @ 13:0eb2eac53361

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progress!!
author Robert McIntyre <rlm@mit.edu>
date Sun, 23 Oct 2011 11:22:06 -0700
parents 22c6878a1bc0
children 3aa1ee6c6308
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@11 29 (use 'hello.brick-wall)
rlm@0 30
rlm@0 31
rlm@0 32
rlm@6 33 (defn triangles [#^Geometry geom]
rlm@6 34 (let
rlm@6 35 [mesh (.getMesh geom)
rlm@6 36 triangles (transient [])]
rlm@6 37 (dorun
rlm@6 38 (for [n (range (.getTriangleCount mesh))]
rlm@6 39 (let [tri (Triangle.)]
rlm@6 40 (.getTriangle mesh n tri)
rlm@6 41 (.calculateNormal tri)
rlm@6 42 (.calculateCenter tri)
rlm@6 43 (conj! triangles tri))))
rlm@6 44 (persistent! triangles)))
rlm@6 45
rlm@6 46
rlm@7 47 (defn get-ray-origin
rlm@7 48 [geom tri]
rlm@7 49 (let [new (Vector3f.)]
rlm@7 50 (.calculateCenter tri)
rlm@8 51 (.localToWorld geom (.getCenter tri) new)
rlm@7 52 new))
rlm@6 53
rlm@7 54 (defn get-ray-direction
rlm@7 55 [geom tri]
rlm@9 56 (let [n+c (Vector3f.)]
rlm@7 57 (.calculateNormal tri)
rlm@9 58 (.calculateCenter tri)
rlm@9 59 (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
rlm@9 60 (.subtract n+c (get-ray-origin geom tri))
rlm@8 61 ))
rlm@7 62
rlm@7 63 (defn ray-origin-debug
rlm@9 64 [ray color]
rlm@7 65 (make-shape
rlm@6 66 (assoc base-shape
rlm@6 67 :shape (Sphere. 5 5 0.05)
rlm@6 68 :name "arrow"
rlm@9 69 :color color
rlm@6 70 :texture false
rlm@6 71 :physical? false
rlm@6 72 :position
rlm@7 73 (.getOrigin ray))))
rlm@6 74
rlm@9 75 (defn ray-debug [ray color]
rlm@6 76 (make-shape
rlm@6 77 (assoc
rlm@6 78 base-shape
rlm@6 79 :name "debug-ray"
rlm@6 80 :physical? false
rlm@6 81 :shape (com.jme3.scene.shape.Line.
rlm@6 82 (.getOrigin ray)
rlm@6 83 (.add
rlm@6 84 (.getOrigin ray)
rlm@6 85 (.mult (.getDirection ray)
rlm@6 86 (float (.getLimit ray))))))))
rlm@6 87
rlm@6 88
rlm@10 89 (defn contact-color [contacts]
rlm@10 90 (case contacts
rlm@10 91 0 ColorRGBA/Gray
rlm@10 92 1 ColorRGBA/Blue
rlm@10 93 2 ColorRGBA/Green
rlm@10 94 3 ColorRGBA/Yellow
rlm@10 95 4 ColorRGBA/Orange
rlm@10 96 5 ColorRGBA/Red
rlm@10 97 6 ColorRGBA/Magenta
rlm@10 98 7 ColorRGBA/Pink
rlm@10 99 8 ColorRGBA/White))
rlm@6 100
rlm@6 101 (defn normal-rays
rlm@6 102 "returns rays"
rlm@6 103 [limit #^Geometry geom]
rlm@6 104 (vec
rlm@6 105 (map
rlm@6 106 (fn [tri]
rlm@6 107 (doto
rlm@6 108 (Ray. (get-ray-origin geom tri)
rlm@6 109 (get-ray-direction geom tri))
rlm@12 110 (.setLimit limit)))
rlm@6 111 (triangles geom))))
rlm@6 112
rlm@6 113
rlm@6 114 (defn collision-debug [node result]
rlm@6 115 (println-repl "contact point: " (.getContactPoint result))
rlm@6 116 )
rlm@6 117
rlm@13 118 (defn update-ray-debug [node ray]
rlm@13 119 (.setLocalTranslation (.getChild node 1) (.getOrigin ray)))
rlm@13 120
rlm@13 121
rlm@13 122 (defn init-node
rlm@13 123 [debug-node rays]
rlm@13 124 (println-repl "Init touch debug node.")
rlm@12 125 (.detachAllChildren debug-node)
rlm@13 126 (dorun
rlm@13 127 (for [ray rays]
rlm@13 128 (do
rlm@13 129 (.attachChild
rlm@13 130 debug-node
rlm@13 131 (doto (Node.)
rlm@13 132 (.attachChild (ray-debug ray ColorRGBA/Gray))
rlm@13 133 (.attachChild (ray-origin-debug ray ColorRGBA/Gray))))))))
rlm@12 134
rlm@12 135
rlm@13 136 (defn manage-ray-debug-node [debug-node geom touch-data limit]
rlm@13 137 (let [rays (normal-rays limit geom)]
rlm@13 138 (if (not= (count (.getChildren debug-node)) (count touch-data))
rlm@13 139 (init-node debug-node rays))
rlm@13 140 (dorun
rlm@13 141 (for [n (range (count touch-data))]
rlm@13 142 (update-ray-debug (.getChild debug-node n) (nth rays n))))))
rlm@12 143
rlm@12 144
rlm@13 145 (defn touch-percieve [limit geom node]
rlm@6 146 (let [normals (normal-rays limit geom)]
rlm@12 147
rlm@6 148 (doall
rlm@6 149 (for [ray normals]
rlm@6 150 (do
rlm@6 151 (let [results (CollisionResults.)]
rlm@10 152 (.collideWith node ray results)
rlm@10 153 (let [answer (count (filter #(not (= geom (.getGeometry %))) results))
rlm@10 154 ;;color (contact-color answer)
rlm@10 155 ]
rlm@10 156 ;;(dorun (map #(println-repl (.getName (.getGeometry %))) results))
rlm@12 157
rlm@10 158
rlm@10 159 ;;(println-repl (.size results) "results for " ray)
rlm@10 160 ;;(doall (map (partial collision-debug node) results))
rlm@10 161 answer
rlm@10 162 )))))))
rlm@6 163
rlm@0 164 (defn enable-debug [world]
rlm@0 165 (.enableDebug
rlm@0 166 (.getPhysicsSpace
rlm@0 167 (.getState
rlm@0 168 (.getStateManager world)
rlm@0 169 BulletAppState))
rlm@0 170 (asset-manager)))
rlm@0 171
rlm@11 172 (defn no-logging []
rlm@11 173 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@11 174
rlm@11 175 (defn set-accuracy [world new-accuracy]
rlm@11 176 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
rlm@11 177 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
rlm@11 178
rlm@11 179
rlm@0 180 (defn transparent-sphere []
rlm@0 181 (doto
rlm@0 182 (make-shape
rlm@0 183 (merge base-shape
rlm@0 184 {:position (Vector3f. 0 2 0)
rlm@0 185 :name "the blob."
rlm@0 186 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 187 :texture "Textures/purpleWisp.png"
rlm@0 188 :physical? true
rlm@0 189 :mass 70
rlm@0 190 :color ColorRGBA/Blue
rlm@0 191 :shape (Sphere. 10 10 1)}))
rlm@0 192 (-> (.getMaterial)
rlm@0 193 (.getAdditionalRenderState)
rlm@0 194 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 195 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 196
rlm@0 197 (defn transparent-box []
rlm@0 198 (doto
rlm@0 199 (make-shape
rlm@0 200 (merge base-shape
rlm@0 201 {:position (Vector3f. 0 2 0)
rlm@10 202 :name "box"
rlm@0 203 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 204 :texture "Textures/purpleWisp.png"
rlm@0 205 :physical? true
rlm@0 206 :mass 70
rlm@0 207 :color ColorRGBA/Blue
rlm@0 208 :shape (Box. 1 1 1)}))
rlm@0 209 (-> (.getMaterial)
rlm@0 210 (.getAdditionalRenderState)
rlm@0 211 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 212 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 213
rlm@6 214 (defn transparent-floor []
rlm@6 215 (doto
rlm@6 216 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)
rlm@6 217 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@10 218 :texture "Textures/redWisp.png"
rlm@10 219 :name "floor")
rlm@6 220 (-> (.getMaterial)
rlm@6 221 (.getAdditionalRenderState)
rlm@6 222 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@6 223 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@6 224
rlm@0 225 (defn test-skin []
rlm@0 226 (let [b
rlm@10 227 (transparent-box)
rlm@6 228 ;;(transparent-sphere)
rlm@10 229 ;;(sphere)
rlm@6 230 f (transparent-floor)
rlm@6 231 ;;controls
rlm@0 232 ;;(make-touch-sphere b)
rlm@6 233 ;;(make-touch b)
rlm@6 234 debug-node (Node.)
rlm@12 235 node (doto (Node.) (.attachChild b) (.attachChild f))
rlm@12 236 root-node (doto (Node.) (.attachChild node)
rlm@12 237 (.attachChild debug-node))
rlm@12 238 ]
rlm@0 239
rlm@0 240 (world
rlm@12 241 root-node
rlm@11 242 {"key-return" (fire-cannon-ball)}
rlm@6 243 ;;no-op
rlm@0 244 (fn [world]
rlm@6 245 ;; (Capture/SimpleCaptureVideo
rlm@6 246 ;; world
rlm@6 247 ;; (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@6 248 ;; (no-logging)
rlm@6 249 (enable-debug world)
rlm@6 250 ;; (set-accuracy world (/ 1 60))
rlm@11 251 )
rlm@0 252
rlm@0 253 (fn [& _]
rlm@13 254 (let [touch-data (touch-percieve 0.2 b node)]
rlm@13 255 (println-repl touch-data)
rlm@13 256 (manage-ray-debug-node debug-node b touch-data 0.2))
rlm@11 257 (Thread/sleep 10)
rlm@5 258 ;;(touch-print controls)
rlm@6 259 ;;(color-touch controls)
rlm@0 260 ))))
rlm@0 261
rlm@0 262 #+end_src
rlm@0 263
rlm@3 264 #+results: skin-main
rlm@3 265 : #'body.skin/test-skin
rlm@3 266
rlm@0 267
rlm@0 268
rlm@0 269
rlm@10 270
rlm@10 271
rlm@6 272
rlm@0 273
rlm@0 274 * COMMENT code generation
rlm@6 275 #+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
rlm@0 276 <<skin-main>>
rlm@0 277 #+end_src
rlm@0 278
rlm@0 279
rlm@0 280
rlm@0 281