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removed blender.org; got rid of magic constant in sense-utils.
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 07:31:08 -0700
parents 9e6a30b8c99a
children f2552d61e8df
rev   line source
rlm@151 1 #+title: General sense/effector utilities
rlm@151 2 #+author: Robert McIntyre
rlm@151 3 #+email: rlm@mit.edu
rlm@151 4 #+description: sensory utilities
rlm@151 5 #+keywords: simulation, jMonkeyEngine3, clojure, simulated senses
rlm@151 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@151 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@151 8
rlm@151 9
rlm@151 10 #+name: sense-util
rlm@151 11 #+begin_src clojure
rlm@151 12 (ns cortex.sense)
rlm@151 13 (cortex.import/mega-import-jme3)
rlm@151 14 (import ij.process.ImageProcessor)
rlm@151 15 (import java.awt.image.BufferedImage)
rlm@167 16 (use 'cortex.util)
rlm@181 17 (use 'cortex.world)
rlm@167 18 (import jme3tools.converters.ImageToAwt)
rlm@151 19
rlm@181 20 (defn meta-data
rlm@181 21 "Get the meta-data for a node created with blender."
rlm@181 22 [blender-node key]
rlm@151 23 (if-let [data (.getUserData blender-node "properties")]
rlm@151 24 (.findValue data key)
rlm@151 25 nil))
rlm@151 26
rlm@151 27 (defn closest-node
rlm@151 28 "Return the object in creature which is closest to the given node."
rlm@151 29 ;;dylan"The closest object in creature to the given node."
rlm@151 30 [#^Node creature #^Node eye]
rlm@151 31 (loop [radius (float 0.01)]
rlm@151 32 (let [results (CollisionResults.)]
rlm@151 33 (.collideWith
rlm@151 34 creature
rlm@151 35 (BoundingBox. (.getWorldTranslation eye)
rlm@151 36 radius radius radius)
rlm@151 37 results)
rlm@151 38 (if-let [target (first results)]
rlm@151 39 (.getGeometry target)
rlm@151 40 (recur (float (* 2 radius)))))))
rlm@151 41
rlm@151 42 (defn bind-sense
rlm@151 43 "Bind the sense to the Spatial such that it will maintain its
rlm@151 44 current position relative to the Spatial no matter how the spatial
rlm@151 45 moves. 'sense can be either a Camera or Listener object."
rlm@151 46 [#^Spatial obj sense]
rlm@151 47 (let [sense-offset (.subtract (.getLocation sense)
rlm@151 48 (.getWorldTranslation obj))
rlm@151 49 initial-sense-rotation (Quaternion. (.getRotation sense))
rlm@151 50 base-anti-rotation (.inverse (.getWorldRotation obj))]
rlm@151 51 (.addControl
rlm@151 52 obj
rlm@151 53 (proxy [AbstractControl] []
rlm@151 54 (controlUpdate [tpf]
rlm@151 55 (let [total-rotation
rlm@151 56 (.mult base-anti-rotation (.getWorldRotation obj))]
rlm@181 57 (.setLocation
rlm@181 58 sense
rlm@181 59 (.add
rlm@181 60 (.mult total-rotation sense-offset)
rlm@181 61 (.getWorldTranslation obj)))
rlm@181 62 (.setRotation
rlm@181 63 sense
rlm@181 64 (.mult total-rotation initial-sense-rotation))))
rlm@151 65 (controlRender [_ _])))))
rlm@151 66
rlm@181 67 (def white 0xFFFFFF)
rlm@181 68
rlm@181 69 (defn white? [rgb]
rlm@181 70 (= (bit-and white rgb) white))
rlm@181 71
rlm@151 72 (defn filter-pixels
rlm@151 73 "List the coordinates of all pixels matching pred, within the bounds
rlm@151 74 provided. Bounds -> [x0 y0 width height]"
rlm@151 75 {:author "Dylan Holmes"}
rlm@151 76 ([pred #^BufferedImage image]
rlm@151 77 (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
rlm@151 78 ([pred #^BufferedImage image [x0 y0 width height]]
rlm@151 79 ((fn accumulate [x y matches]
rlm@151 80 (cond
rlm@151 81 (>= y (+ height y0)) matches
rlm@151 82 (>= x (+ width x0)) (recur 0 (inc y) matches)
rlm@151 83 (pred (.getRGB image x y))
rlm@151 84 (recur (inc x) y (conj matches [x y]))
rlm@151 85 :else (recur (inc x) y matches)))
rlm@151 86 x0 y0 [])))
rlm@151 87
rlm@151 88 (defn white-coordinates
rlm@151 89 "Coordinates of all the white pixels in a subset of the image."
rlm@151 90 ([#^BufferedImage image bounds]
rlm@181 91 (filter-pixels white? image bounds))
rlm@151 92 ([#^BufferedImage image]
rlm@181 93 (filter-pixels white? image)))
rlm@151 94
rlm@151 95 (defn points->image
rlm@151 96 "Take a sparse collection of points and visuliaze it as a
rlm@151 97 BufferedImage."
rlm@151 98 [points]
rlm@151 99 (if (empty? points)
rlm@151 100 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
rlm@151 101 (let [xs (vec (map first points))
rlm@151 102 ys (vec (map second points))
rlm@151 103 x0 (apply min xs)
rlm@151 104 y0 (apply min ys)
rlm@151 105 width (- (apply max xs) x0)
rlm@151 106 height (- (apply max ys) y0)
rlm@151 107 image (BufferedImage. (inc width) (inc height)
rlm@151 108 BufferedImage/TYPE_INT_RGB)]
rlm@151 109 (dorun
rlm@151 110 (for [x (range (.getWidth image))
rlm@151 111 y (range (.getHeight image))]
rlm@151 112 (.setRGB image x y 0xFF0000)))
rlm@151 113 (dorun
rlm@151 114 (for [index (range (count points))]
rlm@151 115 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
rlm@151 116 image)))
rlm@151 117
rlm@151 118 (defn average [coll]
rlm@151 119 (/ (reduce + coll) (count coll)))
rlm@151 120
rlm@151 121 (defn collapse-1d
rlm@151 122 "One dimensional analogue of collapse"
rlm@151 123 [center line]
rlm@151 124 (let [length (count line)
rlm@151 125 num-above (count (filter (partial < center) line))
rlm@151 126 num-below (- length num-above)]
rlm@151 127 (range (- center num-below)
rlm@151 128 (+ center num-above))))
rlm@151 129
rlm@151 130 (defn collapse
rlm@151 131 "Take a set of pairs of integers and collapse them into a
rlm@151 132 contigous bitmap."
rlm@151 133 [points]
rlm@151 134 (if (empty? points) []
rlm@151 135 (let
rlm@151 136 [num-points (count points)
rlm@151 137 center (vector
rlm@151 138 (int (average (map first points)))
rlm@151 139 (int (average (map first points))))
rlm@151 140 flattened
rlm@151 141 (reduce
rlm@151 142 concat
rlm@151 143 (map
rlm@151 144 (fn [column]
rlm@151 145 (map vector
rlm@151 146 (map first column)
rlm@151 147 (collapse-1d (second center)
rlm@151 148 (map second column))))
rlm@151 149 (partition-by first (sort-by first points))))
rlm@151 150 squeezed
rlm@151 151 (reduce
rlm@151 152 concat
rlm@151 153 (map
rlm@151 154 (fn [row]
rlm@151 155 (map vector
rlm@151 156 (collapse-1d (first center)
rlm@151 157 (map first row))
rlm@151 158 (map second row)))
rlm@151 159 (partition-by second (sort-by second flattened))))
rlm@151 160 relocate
rlm@151 161 (let [min-x (apply min (map first squeezed))
rlm@151 162 min-y (apply min (map second squeezed))]
rlm@151 163 (map (fn [[x y]]
rlm@151 164 [(- x min-x)
rlm@151 165 (- y min-y)])
rlm@151 166 squeezed))]
rlm@151 167 relocate)))
rlm@151 168
rlm@156 169 (defn world-to-local
rlm@156 170 "Convert the world coordinates into coordinates relative to the
rlm@156 171 object (i.e. local coordinates), taking into account the rotation
rlm@156 172 of object."
rlm@156 173 [#^Spatial object world-coordinate]
rlm@156 174 (.worldToLocal object world-coordinate nil))
rlm@156 175
rlm@156 176 (defn local-to-world
rlm@156 177 "Convert the local coordinates into coordinates into world relative
rlm@156 178 coordinates"
rlm@156 179 [#^Spatial object local-coordinate]
rlm@156 180 (.localToWorld object local-coordinate nil))
rlm@156 181
rlm@164 182
rlm@164 183 (defn sense-nodes [parent-name]
rlm@164 184 (fn [#^Node creature]
rlm@164 185 (if-let [sense-node (.getChild creature parent-name)]
rlm@164 186 (seq (.getChildren sense-node))
rlm@164 187 (do (println-repl "could not find" parent-name "node") []))))
rlm@164 188
rlm@167 189 (defn load-image
rlm@167 190 "Load an image as a BufferedImage using the asset-manager system."
rlm@167 191 [asset-relative-path]
rlm@167 192 (ImageToAwt/convert
rlm@167 193 (.getImage (.loadTexture (asset-manager) asset-relative-path))
rlm@167 194 false false 0))
rlm@164 195
rlm@181 196 (defn jme-to-blender
rlm@181 197 "Convert from JME coordinates to Blender coordinates"
rlm@181 198 [#^Vector3f in]
rlm@181 199 (Vector3f. (.getX in)
rlm@181 200 (- (.getZ in))
rlm@181 201 (.getY in)))
rlm@181 202
rlm@181 203 (defn blender-to-jme
rlm@181 204 "Convert from Blender coordinates to JME coordinates"
rlm@181 205 [#^Vector3f in]
rlm@181 206 (Vector3f. (.getX in)
rlm@181 207 (.getZ in)
rlm@181 208 (- (.getY in))))
rlm@151 209 #+end_src
rlm@151 210
rlm@151 211 #+results: sense-util
rlm@151 212 : #'cortex.sense/meta-data
rlm@151 213
rlm@151 214
rlm@151 215
rlm@151 216 * COMMENT generate source
rlm@151 217 #+begin_src clojure :tangle ../src/cortex/sense.clj
rlm@151 218 <<sense-util>>
rlm@151 219 #+end_src