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still testing joints... Dylan is helping
author Robert McIntyre <rlm@mit.edu>
date Sat, 07 Jan 2012 00:58:47 -0700
parents 6b4ca076285e
children 4f5e2c629e45
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@83 53 (declare joint-create get-subjective-position)
rlm@83 54
rlm@83 55 (defn load-bullet []
rlm@83 56 (.start (world (Node.) {} no-op no-op)))
rlm@83 57
rlm@73 58 (defn load-blender-model
rlm@73 59 "Load a .blend file using an asset folder relative path."
rlm@73 60 [^String model]
rlm@73 61 (.loadModel
rlm@73 62 (doto (asset-manager)
rlm@73 63 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 64 model))
rlm@73 65
rlm@74 66 (defn meta-data [blender-node key]
rlm@74 67 (if-let [data (.getUserData blender-node "properties")]
rlm@74 68 (.findValue data key)
rlm@74 69 nil))
rlm@73 70
rlm@78 71 (defn blender-to-jme
rlm@78 72 "Convert from Blender coordinates to JME coordinates"
rlm@78 73 [#^Vector3f in]
rlm@78 74 (Vector3f. (.getX in)
rlm@78 75 (.getZ in)
rlm@78 76 (- (.getY in))))
rlm@74 77
rlm@79 78 (defn jme-to-blender
rlm@79 79 "Convert from JME coordinates to Blender coordinates"
rlm@79 80 [#^Vector3f in]
rlm@79 81 (Vector3f. (.getX in)
rlm@79 82 (- (.getZ in))
rlm@79 83 (.getY in)))
rlm@79 84
rlm@78 85 (defn joint-targets
rlm@78 86 "Return the two closest two objects to the joint object, ordered
rlm@78 87 from bottom to top according to the joint's rotation."
rlm@78 88 [#^Node parts #^Node joint]
rlm@78 89 ;;(println (meta-data joint "joint"))
rlm@78 90 (.getWorldRotation joint)
rlm@78 91 (loop [radius (float 0.01)]
rlm@78 92 (let [results (CollisionResults.)]
rlm@78 93 (.collideWith
rlm@78 94 parts
rlm@78 95 (BoundingBox. (.getWorldTranslation joint)
rlm@78 96 radius radius radius)
rlm@78 97 results)
rlm@78 98 (let [targets
rlm@78 99 (distinct
rlm@78 100 (map #(.getGeometry %) results))]
rlm@78 101 (if (>= (count targets) 2)
rlm@78 102 (sort-by
rlm@79 103 #(let [v
rlm@79 104 (jme-to-blender
rlm@79 105 (.mult
rlm@79 106 (.inverse (.getWorldRotation joint))
rlm@79 107 (.subtract (.getWorldTranslation %)
rlm@79 108 (.getWorldTranslation joint))))]
rlm@79 109 (println-repl (.getName %) ":" v)
rlm@79 110 (.dot (Vector3f. 1 1 1)
rlm@79 111 v))
rlm@78 112 (take 2 targets))
rlm@78 113 (recur (float (* radius 2))))))))
rlm@74 114
rlm@78 115 (defn connect
rlm@78 116 "here are some examples:
rlm@78 117 {:type :point}
rlm@78 118 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@78 119 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74 120
rlm@78 121 {:type :cone :limit-xz 0]
rlm@79 122 :limit-xy 0]
rlm@79 123 :twist 0]} (use XZY rotation mode in blender!)"
rlm@81 124 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@81 125 (let [center-a (.getWorldTranslation obj-a)
rlm@81 126 center-b (.getWorldTranslation obj-b)
rlm@81 127 joint-center (.getWorldTranslation joint)
rlm@81 128 pivot-a (.subtract joint-center center-a)
rlm@81 129 pivot-b (.subtract joint-center center-b)
rlm@81 130 control-a (.getControl obj-a RigidBodyControl)
rlm@81 131 control-b (.getControl obj-b RigidBodyControl)]
rlm@81 132 ;; A side-effect of creating a joint registers
rlm@81 133 ;; it with both physics objects which in turn
rlm@81 134 ;; will register the joint with the physics system
rlm@81 135 ;; when the simulation is started.
rlm@81 136 (if-let [constraints
rlm@81 137 (map-vals
rlm@81 138 eval
rlm@81 139 (read-string
rlm@81 140 (meta-data joint "joint")))]
rlm@74 141
rlm@81 142 (let [joint-type (:type constraints)]
rlm@81 143 (println-repl "creating joint between"
rlm@81 144 (.getName obj-a) "and" (.getName obj-b))
rlm@81 145 (cond (= :point joint-type)
rlm@81 146 (do
rlm@81 147 (println-repl "creating POINT joint")
rlm@81 148 (Point2PointJoint.
rlm@81 149 control-a
rlm@81 150 control-b
rlm@81 151 pivot-a
rlm@81 152 pivot-b))
rlm@81 153 (= :hinge joint-type)
rlm@81 154 (do
rlm@81 155 (println-repl "creating HINGE joint")
rlm@81 156 (let [axis (if-let
rlm@81 157 [axis (:axis constraints)]
rlm@81 158 axis
rlm@81 159 Vector3f/UNIT_X)
rlm@81 160 [limit-1 limit-2] (:limit constraints)
rlm@81 161 hinge-axis
rlm@81 162 (.mult
rlm@81 163 (.getWorldRotation joint)
rlm@81 164 (blender-to-jme axis))]
rlm@81 165 (doto
rlm@81 166 (HingeJoint.
rlm@81 167 control-a
rlm@81 168 control-b
rlm@81 169 pivot-a
rlm@81 170 pivot-b
rlm@81 171 hinge-axis
rlm@81 172 hinge-axis)
rlm@81 173 (.setLimit limit-1 limit-2))))
rlm@81 174 (= :cone joint-type)
rlm@81 175 (do
rlm@81 176 (let [limit-xz (:limit-xz constraints)
rlm@81 177 limit-xy (:limit-xy constraints)
rlm@81 178 twist (:twist constraints)]
rlm@81 179
rlm@81 180 (println-repl "creating CONE joint")
rlm@82 181 (let [frame-a
rlm@82 182 (.toRotationMatrix
rlm@82 183 (doto (Quaternion.)
rlm@82 184 (.fromAngleAxis
rlm@82 185 (float
rlm@82 186 (.angleBetween
rlm@83 187 (.normalize pivot-a) Vector3f/UNIT_X))
rlm@83 188 (.normalize
rlm@83 189 (.cross pivot-a
rlm@83 190 Vector3f/UNIT_X)))))
rlm@83 191 ]
rlm@83 192 (println-repl "pivot-a" pivot-a)
rlm@81 193 (println-repl
rlm@83 194 "angle between pivot-a and UNIT_X is"
rlm@82 195 (.angleBetween Vector3f/UNIT_X (.normalize pivot-a)))
rlm@83 196 (println-repl "frame-a:" frame-a)
rlm@83 197 (println-repl
rlm@83 198 "frame-a moves Vector3f/UNIT_X to"
rlm@83 199 (.mult frame-a Vector3f/UNIT_X ))
rlm@81 200
rlm@81 201
rlm@81 202 (doto
rlm@81 203 (ConeJoint.
rlm@81 204 control-a
rlm@81 205 control-b
rlm@81 206 pivot-a
rlm@81 207 pivot-b
rlm@82 208
rlm@82 209
rlm@83 210 ;; frame-in-A
rlm@83 211 ;;frame-a
rlm@83 212 ;;frame-a
rlm@81 213
rlm@83 214 (.toRotationMatrix
rlm@83 215 (doto (Quaternion.)
rlm@83 216 (.fromAngles
rlm@83 217 0 0 (* -0.5 (/ Math/PI 2)))))
rlm@81 218
rlm@83 219
rlm@83 220 ;; frame-in-B
rlm@83 221 (.toRotationMatrix
rlm@83 222 (doto (Quaternion.)
rlm@83 223 (.fromAngles
rlm@83 224 0 0 (* -0.5 (/ Math/PI 2)))))
rlm@83 225
rlm@82 226
rlm@81 227 )
rlm@81 228 (.setLimit (float limit-xz)
rlm@81 229 (float limit-xy)
rlm@81 230 (float twist))))))
rlm@81 231 true
rlm@81 232 (println-repl
rlm@81 233 "joint-type" joint-type "not recognized")))
rlm@81 234
rlm@81 235 (println-repl "could not find joint meta-data!"))))
rlm@74 236
rlm@83 237
rlm@78 238 (defn assemble-creature [#^Node pieces joints]
rlm@78 239 (dorun
rlm@78 240 (map
rlm@78 241 (fn [geom]
rlm@78 242 (let [physics-control
rlm@78 243 (RigidBodyControl.
rlm@78 244 (HullCollisionShape.
rlm@78 245 (.getMesh geom))
rlm@78 246 (if-let [mass (meta-data geom "mass")]
rlm@78 247 (do
rlm@78 248 (println-repl
rlm@78 249 "setting" (.getName geom) "mass to" (float mass))
rlm@78 250 (float mass))
rlm@78 251 (float 1)))]
rlm@78 252
rlm@78 253 (.addControl geom physics-control)))
rlm@78 254 (filter #(isa? (class %) Geometry )
rlm@78 255 (node-seq pieces))))
rlm@77 256
rlm@78 257 (dorun
rlm@78 258 (map
rlm@78 259 (fn [joint]
rlm@78 260 (let [[obj-a obj-b]
rlm@78 261 (joint-targets pieces joint)]
rlm@78 262 (connect obj-a obj-b joint)))
rlm@78 263 joints))
rlm@78 264 pieces)
rlm@74 265
rlm@78 266 (defn blender-creature [blender-path]
rlm@78 267 (let [model (load-blender-model blender-path)
rlm@78 268 joints
rlm@78 269 (if-let [joint-node (.getChild model "joints")]
rlm@78 270 (seq (.getChildren joint-node))
rlm@78 271 (do (println-repl "could not find joints node")
rlm@78 272 []))]
rlm@78 273 (assemble-creature model joints)))
rlm@74 274
rlm@78 275 (def hand "Models/creature1/one.blend")
rlm@74 276
rlm@78 277 (def worm "Models/creature1/try-again.blend")
rlm@78 278
rlm@80 279 (defn x-ray [#^ColorRGBA color]
rlm@80 280 (doto (Material. (asset-manager)
rlm@80 281 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 282 (.setColor "Color" color)
rlm@80 283 (-> (.getAdditionalRenderState)
rlm@80 284 (.setDepthTest false))))
rlm@80 285
rlm@78 286 (defn test-creature [thing]
rlm@80 287 (let [x-axis
rlm@80 288 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 289 y-axis
rlm@80 290 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 291 z-axis
rlm@80 292 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 293 (world
rlm@78 294 (nodify [(blender-creature thing)
rlm@81 295 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 296 :color ColorRGBA/Gray :mass 0)
rlm@80 297 x-axis y-axis z-axis
rlm@80 298 ])
rlm@78 299 standard-debug-controls
rlm@78 300 (comp light-up-everything enable-debug
rlm@78 301 (fn [world]
rlm@78 302 (.setTimer world (NanoTimer.))
rlm@80 303 (set-gravity world (Vector3f. 0 0 0))
rlm@78 304 (speed-up world)
rlm@78 305 world
rlm@78 306 ))
rlm@80 307 no-op)))
rlm@78 308
rlm@78 309 (defn world-setup [joint]
rlm@83 310 (let [
rlm@83 311
rlm@83 312 joint-position (Vector3f. 0 4 0)
rlm@83 313 joint-rotation
rlm@83 314 (.toRotationMatrix
rlm@83 315 (.mult
rlm@83 316 (doto (Quaternion.)
rlm@83 317 (.fromAngleAxis
rlm@83 318 (* 1 (/ Math/PI 4))
rlm@83 319 (Vector3f. -1 0 0)))
rlm@83 320 (doto (Quaternion.)
rlm@83 321 (.fromAngleAxis
rlm@83 322 (/ Math/PI 2)
rlm@83 323 (Vector3f. 0 0 1)))))
rlm@83 324
rlm@83 325 origin (doto
rlm@83 326 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@83 327 :position (Vector3f. 0 0 0)))
rlm@83 328 top (doto
rlm@78 329 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@83 330 :position (.mult joint-rotation (Vector3f. 8 0 0)))
rlm@83 331
rlm@78 332 (.addControl
rlm@78 333 (RigidBodyControl.
rlm@83 334 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 335 bottom (doto
rlm@78 336 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 337 :position (Vector3f. 0 0 0))
rlm@83 338 (.addControl
rlm@78 339 (RigidBodyControl.
rlm@78 340 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 341 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 342 :color ColorRGBA/Gray :mass 0)
rlm@78 343 a (.getControl top RigidBodyControl)
rlm@78 344 b (.getControl bottom RigidBodyControl)]
rlm@83 345
rlm@78 346 (cond
rlm@83 347 (= joint :cone)
rlm@83 348
rlm@83 349 (doto (ConeJoint.
rlm@83 350 a b
rlm@83 351 (get-subjective-position joint-position top)
rlm@83 352 (get-subjective-position joint-position bottom)
rlm@83 353 joint-rotation
rlm@83 354 joint-rotation
rlm@83 355 )
rlm@78 356
rlm@83 357
rlm@83 358 (.setLimit (* (/ 10) Math/PI)
rlm@83 359 (* (/ 4) Math/PI)
rlm@83 360 0)))
rlm@83 361 [origin top bottom table]))
rlm@78 362
rlm@78 363
rlm@78 364
rlm@78 365 (defn test-joint [joint]
rlm@83 366 (let [[origin top bottom floor] (world-setup joint)
rlm@78 367 control (.getControl top RigidBodyControl)
rlm@78 368 move-up? (atom false)
rlm@78 369 move-down? (atom false)
rlm@78 370 move-left? (atom false)
rlm@78 371 move-right? (atom false)
rlm@78 372 roll-left? (atom false)
rlm@78 373 roll-right? (atom false)
rlm@78 374 timer (atom 0)]
rlm@78 375
rlm@78 376 (world
rlm@83 377 (nodify [top bottom floor origin])
rlm@78 378 (merge standard-debug-controls
rlm@78 379 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 380 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 381 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 382 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 383 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 384 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 385
rlm@78 386 (fn [world]
rlm@78 387 (light-up-everything world)
rlm@78 388 (enable-debug world)
rlm@78 389 (set-gravity world (Vector3f. 0 0 0))
rlm@78 390 )
rlm@78 391
rlm@78 392 (fn [world _]
rlm@78 393 (if (zero? (rem (swap! timer inc) 100))
rlm@78 394 (do
rlm@78 395 ;; (println-repl @timer)
rlm@78 396 (.attachChild (.getRootNode world)
rlm@78 397 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 398 :position (.getWorldTranslation top)
rlm@83 399 :physical? false))
rlm@83 400 (.attachChild (.getRootNode world)
rlm@83 401 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 402 :position (.getWorldTranslation bottom)
rlm@83 403 :physical? false))))
rlm@83 404
rlm@78 405 (if @move-up?
rlm@78 406 (.applyTorque control
rlm@78 407 (.mult (.getPhysicsRotation control)
rlm@78 408 (Vector3f. 0 0 10))))
rlm@78 409 (if @move-down?
rlm@78 410 (.applyTorque control
rlm@78 411 (.mult (.getPhysicsRotation control)
rlm@78 412 (Vector3f. 0 0 -10))))
rlm@78 413 (if @move-left?
rlm@78 414 (.applyTorque control
rlm@78 415 (.mult (.getPhysicsRotation control)
rlm@78 416 (Vector3f. 0 10 0))))
rlm@78 417 (if @move-right?
rlm@78 418 (.applyTorque control
rlm@78 419 (.mult (.getPhysicsRotation control)
rlm@78 420 (Vector3f. 0 -10 0))))
rlm@78 421 (if @roll-left?
rlm@78 422 (.applyTorque control
rlm@78 423 (.mult (.getPhysicsRotation control)
rlm@78 424 (Vector3f. -1 0 0))))
rlm@78 425 (if @roll-right?
rlm@78 426 (.applyTorque control
rlm@78 427 (.mult (.getPhysicsRotation control)
rlm@78 428 (Vector3f. 1 0 0))))))))
rlm@83 429
rlm@83 430
rlm@83 431
rlm@83 432
rlm@83 433
rlm@83 434
rlm@83 435
rlm@83 436
rlm@83 437
rlm@83 438
rlm@83 439
rlm@83 440
rlm@83 441
rlm@83 442 ;; please validate these.
rlm@83 443
rlm@83 444 (defn get-subjective-position
rlm@83 445 "Convert the world coordinates into coordinates relative to
rlm@83 446 object (i.e. local coordinates), taking into account the rotation
rlm@83 447 of object."
rlm@83 448 [#^Vector3f world-coordinates object]
rlm@83 449 ;; I don't know if it's important to take into account the rotation
rlm@83 450 ;; of the object. If it isn't, then remove the multiplication-by-inverse.
rlm@83 451 (.mult (.inverse (.getWorldRotation object))
rlm@83 452 (.subtract world-coordinates (.getWorldTranslation object))))
rlm@83 453
rlm@83 454
rlm@83 455 (defn get-subjective-rotation
rlm@83 456 "cf get-subjective-position. Converts a rotation specified relative
rlm@83 457 to the world's axes into a rotation specified in terms of the object's
rlm@83 458 coordinate system."
rlm@83 459 [#^Quaternion world-rotation object]
rlm@83 460 (.mult (.inverse (.getWorldRotation object)) world-rotation))
rlm@83 461
rlm@83 462
rlm@83 463
rlm@83 464
rlm@83 465 (defn joint-create "Connect objects 1 and 2 using a joint constraint. If
rlm@83 466 only position is specified, creates a point-to-point joint at the
rlm@83 467 given location
rlm@83 468 in world coordinates. etc. etc. for other joints.
rlm@83 469 To ensure consistency, I may alter this function
rlm@83 470 so that it moves obj-1 to be at the apex of the cone.
rlm@83 471
rlm@83 472 NOTE:
rlm@83 473 In the usual construction method, you create a joint and, if your
rlm@83 474 contraints are consistent, all the objects snap into position and
rlm@83 475 orientation around it, otherwise the systen explodes.
rlm@83 476
rlm@83 477 This construction method assumes that you have in mind a position and
rlm@83 478 rotation for the joint, and that you have already put your objects
rlm@83 479 at the required distances from that joint so that no snapping needs
rlm@83 480 to occur. The radial distances ('pivot lengths') are therefore just set to be
rlm@83 481 the pre-existing distances between the objects and the joint."
rlm@83 482 [#^Node obj-1
rlm@83 483 #^Node obj-2
rlm@83 484 #^Vector3f joint-position
rlm@83 485 #^Quaternion joint-rotation
rlm@83 486 span-1
rlm@83 487 span-2
rlm@83 488 twist
rlm@83 489 ]
rlm@83 490
rlm@83 491 (let
rlm@83 492 [body-1 (.getControl obj-1 RigidBodyControl)
rlm@83 493 body-2 (.getControl obj-2 RigidBodyControl)
rlm@83 494 ]
rlm@83 495 (doto (ConeJoint.
rlm@83 496 body-1
rlm@83 497 body-2
rlm@83 498 (get-subjective-position joint-position body-1)
rlm@83 499 (get-subjective-position joint-position body-2)
rlm@83 500 ;; ALIGN X-AXIS OF OBJECT-1 WITH THE CENTRAL AXIS OF THE CONE TO
rlm@83 501 ;;LOWER THE RISK OF INCONSISTENCY
rlm@83 502 ;;(Matrix3f/IDENTITY)
rlm@83 503 (.toRotationMatrix (get-subjective-rotation joint-rotation body-1))
rlm@83 504 (.toRotationMatrix (get-subjective-rotation joint-rotation body-2))
rlm@83 505 )
rlm@83 506 (.setLimit
rlm@83 507 span-1
rlm@83 508 span-2
rlm@83 509 twist))))
rlm@83 510
rlm@83 511
rlm@83 512
rlm@83 513
rlm@83 514
rlm@83 515
rlm@78 516 #+end_src
rlm@78 517
rlm@78 518
rlm@78 519 * COMMENT purgatory
rlm@78 520 #+begin_src clojure
rlm@77 521 (defn bullet-trans []
rlm@77 522 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 523 :position (Vector3f. -10 5 0))
rlm@77 524 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 525 :position (Vector3f. -10 -5 0)
rlm@77 526 :mass 0)
rlm@77 527 control-a (.getControl obj-a RigidBodyControl)
rlm@77 528 control-b (.getControl obj-b RigidBodyControl)
rlm@77 529 swivel
rlm@77 530 (.toRotationMatrix
rlm@77 531 (doto (Quaternion.)
rlm@77 532 (.fromAngleAxis (/ Math/PI 2)
rlm@77 533 Vector3f/UNIT_X)))]
rlm@77 534 (doto
rlm@77 535 (ConeJoint.
rlm@77 536 control-a control-b
rlm@77 537 (Vector3f. 0 5 0)
rlm@77 538 (Vector3f. 0 -5 0)
rlm@77 539 swivel swivel)
rlm@77 540 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 541 (/ Math/PI 4)
rlm@77 542 (* Math/PI 0.8)))
rlm@77 543 (world (nodify
rlm@77 544 [obj-a obj-b])
rlm@77 545 standard-debug-controls
rlm@77 546 enable-debug
rlm@77 547 no-op)))
rlm@74 548
rlm@74 549
rlm@77 550 (defn bullet-trans* []
rlm@77 551 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 552 :position (Vector3f. 5 0 0)
rlm@77 553 :mass 90)
rlm@77 554 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 555 :position (Vector3f. -5 0 0)
rlm@77 556 :mass 0)
rlm@77 557 control-a (.getControl obj-a RigidBodyControl)
rlm@77 558 control-b (.getControl obj-b RigidBodyControl)
rlm@77 559 move-up? (atom nil)
rlm@77 560 move-down? (atom nil)
rlm@77 561 move-left? (atom nil)
rlm@77 562 move-right? (atom nil)
rlm@77 563 roll-left? (atom nil)
rlm@77 564 roll-right? (atom nil)
rlm@77 565 force 100
rlm@77 566 swivel
rlm@77 567 (.toRotationMatrix
rlm@77 568 (doto (Quaternion.)
rlm@77 569 (.fromAngleAxis (/ Math/PI 2)
rlm@77 570 Vector3f/UNIT_X)))
rlm@77 571 x-move
rlm@77 572 (doto (Matrix3f.)
rlm@77 573 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 574 (.normalize (Vector3f. 1 1 0))))
rlm@77 575
rlm@77 576 timer (atom 0)]
rlm@77 577 (doto
rlm@77 578 (ConeJoint.
rlm@77 579 control-a control-b
rlm@77 580 (Vector3f. -8 0 0)
rlm@77 581 (Vector3f. 2 0 0)
rlm@77 582 ;;swivel swivel
rlm@77 583 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 584 x-move Matrix3f/IDENTITY
rlm@77 585 )
rlm@77 586 (.setCollisionBetweenLinkedBodys false)
rlm@77 587 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 588 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 589 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 590 (world (nodify
rlm@77 591 [obj-a obj-b])
rlm@77 592 (merge standard-debug-controls
rlm@77 593 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 594 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 595 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 596 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 597 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 598 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 599
rlm@77 600 (fn [world]
rlm@77 601 (enable-debug world)
rlm@77 602 (set-gravity world Vector3f/ZERO)
rlm@77 603 )
rlm@77 604
rlm@77 605 (fn [world _]
rlm@77 606
rlm@77 607 (if @move-up?
rlm@77 608 (.applyForce control-a
rlm@77 609 (Vector3f. force 0 0)
rlm@77 610 (Vector3f. 0 0 0)))
rlm@77 611 (if @move-down?
rlm@77 612 (.applyForce control-a
rlm@77 613 (Vector3f. (- force) 0 0)
rlm@77 614 (Vector3f. 0 0 0)))
rlm@77 615 (if @move-left?
rlm@77 616 (.applyForce control-a
rlm@77 617 (Vector3f. 0 force 0)
rlm@77 618 (Vector3f. 0 0 0)))
rlm@77 619 (if @move-right?
rlm@77 620 (.applyForce control-a
rlm@77 621 (Vector3f. 0 (- force) 0)
rlm@77 622 (Vector3f. 0 0 0)))
rlm@77 623
rlm@77 624 (if @roll-left?
rlm@77 625 (.applyForce control-a
rlm@77 626 (Vector3f. 0 0 force)
rlm@77 627 (Vector3f. 0 0 0)))
rlm@77 628 (if @roll-right?
rlm@77 629 (.applyForce control-a
rlm@77 630 (Vector3f. 0 0 (- force))
rlm@77 631 (Vector3f. 0 0 0)))
rlm@77 632
rlm@77 633 (if (zero? (rem (swap! timer inc) 100))
rlm@77 634 (.attachChild
rlm@77 635 (.getRootNode world)
rlm@77 636 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 637 :physical? false :position
rlm@77 638 (.getWorldTranslation obj-a)))))
rlm@77 639 )
rlm@77 640 ))
rlm@77 641
rlm@77 642
rlm@77 643
rlm@73 644 #+end_src
rlm@73 645
rlm@73 646
rlm@73 647 * COMMENT generate source
rlm@73 648 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 649 <<body-1>>
rlm@73 650 #+end_src
rlm@73 651