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correcting problem with joints
author Robert McIntyre <rlm@mit.edu>
date Thu, 05 Jan 2012 21:31:34 -0700
parents 7af5ef686539
children 6b4ca076285e
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@73 53 (defn load-blender-model
rlm@73 54 "Load a .blend file using an asset folder relative path."
rlm@73 55 [^String model]
rlm@73 56 (.loadModel
rlm@73 57 (doto (asset-manager)
rlm@73 58 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 59 model))
rlm@73 60
rlm@74 61 (defn meta-data [blender-node key]
rlm@74 62 (if-let [data (.getUserData blender-node "properties")]
rlm@74 63 (.findValue data key)
rlm@74 64 nil))
rlm@73 65
rlm@78 66 (defn blender-to-jme
rlm@78 67 "Convert from Blender coordinates to JME coordinates"
rlm@78 68 [#^Vector3f in]
rlm@78 69 (Vector3f. (.getX in)
rlm@78 70 (.getZ in)
rlm@78 71 (- (.getY in))))
rlm@74 72
rlm@79 73 (defn jme-to-blender
rlm@79 74 "Convert from JME coordinates to Blender coordinates"
rlm@79 75 [#^Vector3f in]
rlm@79 76 (Vector3f. (.getX in)
rlm@79 77 (- (.getZ in))
rlm@79 78 (.getY in)))
rlm@79 79
rlm@78 80 (defn joint-targets
rlm@78 81 "Return the two closest two objects to the joint object, ordered
rlm@78 82 from bottom to top according to the joint's rotation."
rlm@78 83 [#^Node parts #^Node joint]
rlm@78 84 ;;(println (meta-data joint "joint"))
rlm@78 85 (.getWorldRotation joint)
rlm@78 86 (loop [radius (float 0.01)]
rlm@78 87 (let [results (CollisionResults.)]
rlm@78 88 (.collideWith
rlm@78 89 parts
rlm@78 90 (BoundingBox. (.getWorldTranslation joint)
rlm@78 91 radius radius radius)
rlm@78 92 results)
rlm@78 93 (let [targets
rlm@78 94 (distinct
rlm@78 95 (map #(.getGeometry %) results))]
rlm@78 96 (if (>= (count targets) 2)
rlm@78 97 (sort-by
rlm@79 98 #(let [v
rlm@79 99 (jme-to-blender
rlm@79 100 (.mult
rlm@79 101 (.inverse (.getWorldRotation joint))
rlm@79 102 (.subtract (.getWorldTranslation %)
rlm@79 103 (.getWorldTranslation joint))))]
rlm@79 104 (println-repl (.getName %) ":" v)
rlm@79 105 (.dot (Vector3f. 1 1 1)
rlm@79 106 v))
rlm@78 107 (take 2 targets))
rlm@78 108 (recur (float (* radius 2))))))))
rlm@74 109
rlm@78 110 (defn connect
rlm@78 111 "here are some examples:
rlm@78 112 {:type :point}
rlm@78 113 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@78 114 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74 115
rlm@78 116 {:type :cone :limit-xz 0]
rlm@79 117 :limit-xy 0]
rlm@79 118 :twist 0]} (use XZY rotation mode in blender!)"
rlm@81 119 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@81 120 (let [center-a (.getWorldTranslation obj-a)
rlm@81 121 center-b (.getWorldTranslation obj-b)
rlm@81 122 joint-center (.getWorldTranslation joint)
rlm@81 123 pivot-a (.subtract joint-center center-a)
rlm@81 124 pivot-b (.subtract joint-center center-b)
rlm@81 125 control-a (.getControl obj-a RigidBodyControl)
rlm@81 126 control-b (.getControl obj-b RigidBodyControl)]
rlm@81 127 ;; A side-effect of creating a joint registers
rlm@81 128 ;; it with both physics objects which in turn
rlm@81 129 ;; will register the joint with the physics system
rlm@81 130 ;; when the simulation is started.
rlm@81 131 (if-let [constraints
rlm@81 132 (map-vals
rlm@81 133 eval
rlm@81 134 (read-string
rlm@81 135 (meta-data joint "joint")))]
rlm@74 136
rlm@81 137 (let [joint-type (:type constraints)]
rlm@81 138 (println-repl "creating joint between"
rlm@81 139 (.getName obj-a) "and" (.getName obj-b))
rlm@81 140 (cond (= :point joint-type)
rlm@81 141 (do
rlm@81 142 (println-repl "creating POINT joint")
rlm@81 143 (Point2PointJoint.
rlm@81 144 control-a
rlm@81 145 control-b
rlm@81 146 pivot-a
rlm@81 147 pivot-b))
rlm@81 148 (= :hinge joint-type)
rlm@81 149 (do
rlm@81 150 (println-repl "creating HINGE joint")
rlm@81 151 (let [axis (if-let
rlm@81 152 [axis (:axis constraints)]
rlm@81 153 axis
rlm@81 154 Vector3f/UNIT_X)
rlm@81 155 [limit-1 limit-2] (:limit constraints)
rlm@81 156 hinge-axis
rlm@81 157 (.mult
rlm@81 158 (.getWorldRotation joint)
rlm@81 159 (blender-to-jme axis))]
rlm@81 160 (doto
rlm@81 161 (HingeJoint.
rlm@81 162 control-a
rlm@81 163 control-b
rlm@81 164 pivot-a
rlm@81 165 pivot-b
rlm@81 166 hinge-axis
rlm@81 167 hinge-axis)
rlm@81 168 (.setLimit limit-1 limit-2))))
rlm@81 169 (= :cone joint-type)
rlm@81 170 (do
rlm@81 171 (let [limit-xz (:limit-xz constraints)
rlm@81 172 limit-xy (:limit-xy constraints)
rlm@81 173 twist (:twist constraints)]
rlm@81 174
rlm@81 175 (println-repl "creating CONE joint")
rlm@81 176 (let [vector-1
rlm@81 177 (.mult (.getWorldRotation joint)
rlm@81 178 Vector3f/UNIT_X)
rlm@81 179 vector-2
rlm@81 180 (.normalize
rlm@81 181 (.subtract
rlm@81 182 (.getWorldTranslation joint)
rlm@81 183 (.getWorldTranslation obj-a)))
rlm@81 184 ]
rlm@81 185 (println-repl
rlm@81 186 "vector-1 :" vector-1)
rlm@81 187 (println-repl
rlm@81 188 "vector-2 :" vector-2)
rlm@81 189
rlm@81 190
rlm@81 191
rlm@81 192 (doto
rlm@81 193 (ConeJoint.
rlm@81 194 control-a
rlm@81 195 control-b
rlm@81 196 pivot-a
rlm@81 197 pivot-b
rlm@81 198
rlm@81 199 ;;(doto (Matrix3f.)
rlm@81 200 ;; (.fromStartEndVectors
rlm@81 201 ;; Vector3f/UNIT_X
rlm@81 202 ;; (.normalize
rlm@81 203 ;; (.subtract
rlm@81 204 ;; (.getWorldTranslation joint)
rlm@81 205 ;; (.getWorldTranslation obj-a)))))
rlm@80 206
rlm@81 207
rlm@81 208 (.toRotationMatrix
rlm@81 209 (.getWorldRotation joint))
rlm@81 210
rlm@81 211
rlm@81 212
rlm@81 213 (.toRotationMatrix
rlm@81 214 (.fromAngleAxis
rlm@81 215 (Quaternion.)
rlm@81 216 (.angleBetween Vector3f/UNIT_X pivot-a)
rlm@81 217 (.cross Vector3f/UNIT_X pivot-a)))
rlm@81 218
rlm@81 219
rlm@81 220
rlm@81 221
rlm@81 222 ;; (doto (Matrix3f.)
rlm@81 223 ;; (.fromStartEndVectors
rlm@81 224 ;; Vector3f/UNIT_X
rlm@81 225 ;; (.normalize
rlm@81 226 ;; vector-1)))
rlm@81 227
rlm@81 228 ;; (doto (Matrix3f.)
rlm@81 229 ;; (.fromStartEndVectors
rlm@81 230 ;; Vector3f/UNIT_X
rlm@81 231 ;; vector-2))
rlm@81 232 )
rlm@81 233 (.setLimit (float limit-xz)
rlm@81 234 (float limit-xy)
rlm@81 235 (float twist))))))
rlm@81 236 true
rlm@81 237 (println-repl
rlm@81 238 "joint-type" joint-type "not recognized")))
rlm@81 239
rlm@81 240 (println-repl "could not find joint meta-data!"))))
rlm@74 241
rlm@78 242 (defn assemble-creature [#^Node pieces joints]
rlm@78 243 (dorun
rlm@78 244 (map
rlm@78 245 (fn [geom]
rlm@78 246 (let [physics-control
rlm@78 247 (RigidBodyControl.
rlm@78 248 (HullCollisionShape.
rlm@78 249 (.getMesh geom))
rlm@78 250 (if-let [mass (meta-data geom "mass")]
rlm@78 251 (do
rlm@78 252 (println-repl
rlm@78 253 "setting" (.getName geom) "mass to" (float mass))
rlm@78 254 (float mass))
rlm@78 255 (float 1)))]
rlm@78 256
rlm@78 257 (.addControl geom physics-control)))
rlm@78 258 (filter #(isa? (class %) Geometry )
rlm@78 259 (node-seq pieces))))
rlm@77 260
rlm@78 261 (dorun
rlm@78 262 (map
rlm@78 263 (fn [joint]
rlm@78 264 (let [[obj-a obj-b]
rlm@78 265 (joint-targets pieces joint)]
rlm@78 266 (connect obj-a obj-b joint)))
rlm@78 267 joints))
rlm@78 268 pieces)
rlm@74 269
rlm@78 270 (defn blender-creature [blender-path]
rlm@78 271 (let [model (load-blender-model blender-path)
rlm@78 272 joints
rlm@78 273 (if-let [joint-node (.getChild model "joints")]
rlm@78 274 (seq (.getChildren joint-node))
rlm@78 275 (do (println-repl "could not find joints node")
rlm@78 276 []))]
rlm@78 277 (assemble-creature model joints)))
rlm@74 278
rlm@78 279 (def hand "Models/creature1/one.blend")
rlm@74 280
rlm@78 281 (def worm "Models/creature1/try-again.blend")
rlm@78 282
rlm@80 283 (defn x-ray [#^ColorRGBA color]
rlm@80 284 (doto (Material. (asset-manager)
rlm@80 285 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 286 (.setColor "Color" color)
rlm@80 287 (-> (.getAdditionalRenderState)
rlm@80 288 (.setDepthTest false))))
rlm@80 289
rlm@78 290 (defn test-creature [thing]
rlm@80 291 (let [x-axis
rlm@80 292 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 293 y-axis
rlm@80 294 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 295 z-axis
rlm@80 296 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 297 (world
rlm@78 298 (nodify [(blender-creature thing)
rlm@81 299 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 300 :color ColorRGBA/Gray :mass 0)
rlm@80 301 x-axis y-axis z-axis
rlm@80 302 ])
rlm@78 303 standard-debug-controls
rlm@78 304 (comp light-up-everything enable-debug
rlm@78 305 (fn [world]
rlm@78 306 (.setTimer world (NanoTimer.))
rlm@80 307 (set-gravity world (Vector3f. 0 0 0))
rlm@78 308 (speed-up world)
rlm@78 309 world
rlm@78 310 ))
rlm@80 311 no-op)))
rlm@78 312
rlm@78 313 (defn world-setup [joint]
rlm@78 314 (let [top (doto
rlm@78 315 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@78 316 :position (Vector3f. 0 7 0))
rlm@78 317 (.addControl
rlm@78 318 (RigidBodyControl.
rlm@78 319 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
rlm@78 320 bottom (doto
rlm@78 321 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@78 322 :position (Vector3f. 0 -1 0))
rlm@78 323 (.addControl
rlm@78 324 (RigidBodyControl.
rlm@78 325 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@78 326 table (box 10 2 10 :position (Vector3f. 0 -6 0)
rlm@78 327 :color ColorRGBA/Gray :mass 0)
rlm@78 328 a (.getControl top RigidBodyControl)
rlm@78 329 b (.getControl bottom RigidBodyControl)]
rlm@78 330 (cond
rlm@78 331 (= joint :point)
rlm@78 332 (doto
rlm@78 333 (Point2PointJoint. a b
rlm@78 334 (Vector3f. 0 -2 0)
rlm@78 335 (Vector3f. 0 2 0))
rlm@78 336 (.setCollisionBetweenLinkedBodys false))
rlm@78 337 (= joint :hinge)
rlm@78 338 (doto
rlm@78 339 (HingeJoint.
rlm@78 340 a b
rlm@78 341 (Vector3f. 0 -2 0)
rlm@78 342 (Vector3f. 0 2 0)
rlm@78 343 (Vector3f. 0 0 1)
rlm@78 344 (Vector3f. 0 0 1)
rlm@78 345
rlm@78 346 )
rlm@78 347 (.setCollisionBetweenLinkedBodys false)
rlm@78 348 ;;(.setLimit (- Math/PI) Math/PI)
rlm@78 349 )
rlm@78 350 (= joint :cone)
rlm@78 351 ;; note to self -- jbullet does NOT implement cone joints
rlm@78 352 ;; correctly. You must use plain ol' bullet for this to work.
rlm@78 353 ;; It's faster anyway, so whatever.
rlm@78 354
rlm@78 355 (doto (ConeJoint.
rlm@78 356 a b
rlm@78 357 (Vector3f. 0 -5 0)
rlm@78 358 (Vector3f. 0 2 0)
rlm@78 359
rlm@78 360 (doto (Matrix3f.)
rlm@78 361 (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 362 Vector3f/UNIT_Y))
rlm@78 363 (doto (Matrix3f.)
rlm@78 364 (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 365 (.normalize
rlm@80 366 (Vector3f. 0 0 -1))))
rlm@78 367 )
rlm@78 368 ;;(.setAngularOnly true)
rlm@78 369
rlm@78 370 (.setCollisionBetweenLinkedBodys false)
rlm@78 371 (.setLimit (* 1 (/ Math/PI 4))
rlm@78 372 (* 1 (/ Math/PI 2))
rlm@78 373 (* 0 (/ Math/PI 4)))
rlm@78 374
rlm@78 375 )
rlm@78 376 (= joint :six)
rlm@78 377 (doto
rlm@78 378 (SixDofJoint.
rlm@78 379 a b
rlm@78 380 (Vector3f. 0 -2 0)
rlm@78 381 (Vector3f. 0 2 0)
rlm@78 382 ;;(doto (Matrix3f.)
rlm@78 383 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 384 ;; Vector3f/UNIT_Y))
rlm@78 385 ;;(doto (Matrix3f.)
rlm@78 386 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 387 ;; Vector3f/UNIT_Y))
rlm@78 388 true)
rlm@78 389 (.setCollisionBetweenLinkedBodys false)
rlm@78 390 (.setAngularLowerLimit (Vector3f. 0
rlm@78 391 (- (/ Math/PI 2))
rlm@78 392 0))
rlm@78 393
rlm@78 394 (.setAngularUpperLimit (Vector3f. 0
rlm@78 395 (/ Math/PI 2)
rlm@78 396 0))
rlm@78 397 (.setLinearLowerLimit (Vector3f. 0 0 0))
rlm@78 398 (.setLinearUpperLimit (Vector3f. 0 0 0))
rlm@78 399
rlm@78 400 )
rlm@78 401
rlm@78 402
rlm@78 403
rlm@78 404
rlm@78 405
rlm@78 406 )
rlm@78 407
rlm@78 408 [top bottom table]))
rlm@78 409
rlm@78 410
rlm@78 411 (defn test-joint [joint]
rlm@78 412 (let [[top bottom floor] (world-setup joint)
rlm@78 413 control (.getControl top RigidBodyControl)
rlm@78 414 move-up? (atom false)
rlm@78 415 move-down? (atom false)
rlm@78 416 move-left? (atom false)
rlm@78 417 move-right? (atom false)
rlm@78 418 roll-left? (atom false)
rlm@78 419 roll-right? (atom false)
rlm@78 420 timer (atom 0)]
rlm@78 421
rlm@78 422 (world
rlm@78 423 (nodify [top bottom floor])
rlm@78 424 (merge standard-debug-controls
rlm@78 425 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 426 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 427 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 428 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 429 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 430 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 431
rlm@78 432 (fn [world]
rlm@78 433 (light-up-everything world)
rlm@78 434 (enable-debug world)
rlm@78 435 (set-gravity world (Vector3f. 0 0 0))
rlm@78 436 )
rlm@78 437
rlm@78 438 (fn [world _]
rlm@78 439 (if (zero? (rem (swap! timer inc) 100))
rlm@78 440 (do
rlm@78 441 ;; (println-repl @timer)
rlm@78 442 (.attachChild (.getRootNode world)
rlm@78 443 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 444 :position (.getWorldTranslation top)
rlm@78 445 :physical? false))))
rlm@78 446 (if @move-up?
rlm@78 447 (.applyTorque control
rlm@78 448 (.mult (.getPhysicsRotation control)
rlm@78 449 (Vector3f. 0 0 10))))
rlm@78 450 (if @move-down?
rlm@78 451 (.applyTorque control
rlm@78 452 (.mult (.getPhysicsRotation control)
rlm@78 453 (Vector3f. 0 0 -10))))
rlm@78 454 (if @move-left?
rlm@78 455 (.applyTorque control
rlm@78 456 (.mult (.getPhysicsRotation control)
rlm@78 457 (Vector3f. 0 10 0))))
rlm@78 458 (if @move-right?
rlm@78 459 (.applyTorque control
rlm@78 460 (.mult (.getPhysicsRotation control)
rlm@78 461 (Vector3f. 0 -10 0))))
rlm@78 462 (if @roll-left?
rlm@78 463 (.applyTorque control
rlm@78 464 (.mult (.getPhysicsRotation control)
rlm@78 465 (Vector3f. -1 0 0))))
rlm@78 466 (if @roll-right?
rlm@78 467 (.applyTorque control
rlm@78 468 (.mult (.getPhysicsRotation control)
rlm@78 469 (Vector3f. 1 0 0))))))))
rlm@78 470 #+end_src
rlm@78 471
rlm@78 472
rlm@78 473 * COMMENT purgatory
rlm@78 474 #+begin_src clojure
rlm@77 475 (defn bullet-trans []
rlm@77 476 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 477 :position (Vector3f. -10 5 0))
rlm@77 478 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 479 :position (Vector3f. -10 -5 0)
rlm@77 480 :mass 0)
rlm@77 481 control-a (.getControl obj-a RigidBodyControl)
rlm@77 482 control-b (.getControl obj-b RigidBodyControl)
rlm@77 483 swivel
rlm@77 484 (.toRotationMatrix
rlm@77 485 (doto (Quaternion.)
rlm@77 486 (.fromAngleAxis (/ Math/PI 2)
rlm@77 487 Vector3f/UNIT_X)))]
rlm@77 488 (doto
rlm@77 489 (ConeJoint.
rlm@77 490 control-a control-b
rlm@77 491 (Vector3f. 0 5 0)
rlm@77 492 (Vector3f. 0 -5 0)
rlm@77 493 swivel swivel)
rlm@77 494 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 495 (/ Math/PI 4)
rlm@77 496 (* Math/PI 0.8)))
rlm@77 497 (world (nodify
rlm@77 498 [obj-a obj-b])
rlm@77 499 standard-debug-controls
rlm@77 500 enable-debug
rlm@77 501 no-op)))
rlm@74 502
rlm@74 503
rlm@77 504 (defn bullet-trans* []
rlm@77 505 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 506 :position (Vector3f. 5 0 0)
rlm@77 507 :mass 90)
rlm@77 508 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 509 :position (Vector3f. -5 0 0)
rlm@77 510 :mass 0)
rlm@77 511 control-a (.getControl obj-a RigidBodyControl)
rlm@77 512 control-b (.getControl obj-b RigidBodyControl)
rlm@77 513 move-up? (atom nil)
rlm@77 514 move-down? (atom nil)
rlm@77 515 move-left? (atom nil)
rlm@77 516 move-right? (atom nil)
rlm@77 517 roll-left? (atom nil)
rlm@77 518 roll-right? (atom nil)
rlm@77 519 force 100
rlm@77 520 swivel
rlm@77 521 (.toRotationMatrix
rlm@77 522 (doto (Quaternion.)
rlm@77 523 (.fromAngleAxis (/ Math/PI 2)
rlm@77 524 Vector3f/UNIT_X)))
rlm@77 525 x-move
rlm@77 526 (doto (Matrix3f.)
rlm@77 527 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 528 (.normalize (Vector3f. 1 1 0))))
rlm@77 529
rlm@77 530 timer (atom 0)]
rlm@77 531 (doto
rlm@77 532 (ConeJoint.
rlm@77 533 control-a control-b
rlm@77 534 (Vector3f. -8 0 0)
rlm@77 535 (Vector3f. 2 0 0)
rlm@77 536 ;;swivel swivel
rlm@77 537 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 538 x-move Matrix3f/IDENTITY
rlm@77 539 )
rlm@77 540 (.setCollisionBetweenLinkedBodys false)
rlm@77 541 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 542 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 543 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 544 (world (nodify
rlm@77 545 [obj-a obj-b])
rlm@77 546 (merge standard-debug-controls
rlm@77 547 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 548 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 549 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 550 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 551 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 552 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 553
rlm@77 554 (fn [world]
rlm@77 555 (enable-debug world)
rlm@77 556 (set-gravity world Vector3f/ZERO)
rlm@77 557 )
rlm@77 558
rlm@77 559 (fn [world _]
rlm@77 560
rlm@77 561 (if @move-up?
rlm@77 562 (.applyForce control-a
rlm@77 563 (Vector3f. force 0 0)
rlm@77 564 (Vector3f. 0 0 0)))
rlm@77 565 (if @move-down?
rlm@77 566 (.applyForce control-a
rlm@77 567 (Vector3f. (- force) 0 0)
rlm@77 568 (Vector3f. 0 0 0)))
rlm@77 569 (if @move-left?
rlm@77 570 (.applyForce control-a
rlm@77 571 (Vector3f. 0 force 0)
rlm@77 572 (Vector3f. 0 0 0)))
rlm@77 573 (if @move-right?
rlm@77 574 (.applyForce control-a
rlm@77 575 (Vector3f. 0 (- force) 0)
rlm@77 576 (Vector3f. 0 0 0)))
rlm@77 577
rlm@77 578 (if @roll-left?
rlm@77 579 (.applyForce control-a
rlm@77 580 (Vector3f. 0 0 force)
rlm@77 581 (Vector3f. 0 0 0)))
rlm@77 582 (if @roll-right?
rlm@77 583 (.applyForce control-a
rlm@77 584 (Vector3f. 0 0 (- force))
rlm@77 585 (Vector3f. 0 0 0)))
rlm@77 586
rlm@77 587 (if (zero? (rem (swap! timer inc) 100))
rlm@77 588 (.attachChild
rlm@77 589 (.getRootNode world)
rlm@77 590 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 591 :physical? false :position
rlm@77 592 (.getWorldTranslation obj-a)))))
rlm@77 593 )
rlm@77 594 ))
rlm@77 595
rlm@77 596
rlm@77 597
rlm@73 598 #+end_src
rlm@73 599
rlm@73 600
rlm@73 601 * COMMENT generate source
rlm@73 602 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 603 <<body-1>>
rlm@73 604 #+end_src
rlm@73 605