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MASSIVE cleanup, especially in the vision code
author Robert McIntyre <rlm@mit.edu>
date Thu, 03 Nov 2011 08:28:26 -0700
parents 0206878c28b4
children bc93abad23ee
rev   line source
rlm@29 1 #+title: Clojure Utilities for jMonkeyEngine3
rlm@23 2 #+author: Robert McIntyre
rlm@23 3 #+email: rlm@mit.edu
rlm@29 4 #+description:
rlm@29 5 #+keywords: JME3, clojure, import, utilities
rlm@23 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@29 8
rlm@34 9 [TABLE-OF-CONTENTS]
rlm@29 10
rlm@29 11 These are a collection of functions to make programming jMonkeyEngine
rlm@29 12 in clojure easier.
rlm@23 13
rlm@34 14 * Imports
rlm@28 15
rlm@23 16 #+srcname: import
rlm@23 17 #+begin_src clojure :results silent
rlm@23 18 (ns cortex.import
rlm@23 19 (:require swank.util.class-browse))
rlm@23 20
rlm@23 21 (defn permissive-import
rlm@23 22 [classname]
rlm@23 23 (eval `(try (import '~classname)
rlm@23 24 (catch java.lang.Exception e#
rlm@23 25 (println "couldn't import " '~classname))))
rlm@23 26 classname)
rlm@23 27
rlm@23 28 (defn jme-class? [classname]
rlm@23 29 (and
rlm@23 30 (.startsWith classname "com.jme3.")
rlm@23 31 ;; Don't import the Lwjgl stuff since it can throw exceptions
rlm@23 32 ;; upon being loaded.
rlm@23 33 (not (re-matches #".*Lwjgl.*" classname))))
rlm@23 34
rlm@23 35 (defn jme-classes
rlm@23 36 "returns a list of all jme3 classes"
rlm@23 37 []
rlm@23 38 (filter
rlm@23 39 jme-class?
rlm@23 40 (map :name
rlm@23 41 swank.util.class-browse/available-classes)))
rlm@23 42
rlm@23 43 (defn mega-import-jme3
rlm@23 44 "Import ALL the jme classes. For REPL use."
rlm@23 45 []
rlm@23 46 (doall
rlm@23 47 (map (comp permissive-import symbol) (jme-classes))))
rlm@23 48 #+end_src
rlm@23 49
rlm@29 50 jMonkeyEngine3 has a plethora of classes which can be overwhelming to
rlm@29 51 manage. This code uses reflection to import all of them. Once I'm
rlm@29 52 happy with the general structure of a namespace I can deal with
rlm@29 53 importing only the classes it actually needs.
rlm@29 54
rlm@23 55 The =mega-import-jme3= is quite usefull for debugging purposes since
rlm@34 56 it allows completion for almost all of JME's classes from the REPL.
rlm@23 57
rlm@23 58 Out of curiousity, let's see just how many classes =mega-import-jme3=
rlm@23 59 imports:
rlm@23 60
rlm@29 61 #+begin_src clojure :exports both :results output
rlm@29 62 (println (clojure.core/count (cortex.import/jme-classes)) "classes")
rlm@23 63 #+end_src
rlm@23 64
rlm@23 65 #+results:
rlm@29 66 : 955 classes
rlm@23 67
rlm@25 68
rlm@34 69 * Utilities
rlm@23 70
rlm@29 71 The utilities here come in three main groups:
rlm@29 72 - Changing settings in a running =Application=
rlm@29 73 - Creating objects
rlm@29 74 - Visualizing objects
rlm@23 75
rlm@23 76
rlm@29 77 *** Changing Settings
rlm@24 78
rlm@25 79 #+srcname: util
rlm@25 80 #+begin_src clojure
rlm@29 81 (ns cortex.util
rlm@34 82 "Utility functions for making jMonkeyEngine3 easier to program from
rlm@34 83 clojure."
rlm@29 84 {:author "Robert McIntyre"}
rlm@29 85 (:use cortex.world)
rlm@29 86 (:use clojure.contrib.def)
rlm@29 87 (:import com.jme3.math.Vector3f)
rlm@29 88 (:import com.jme3.math.Quaternion)
rlm@29 89 (:import com.jme3.asset.TextureKey)
rlm@29 90 (:import com.jme3.bullet.control.RigidBodyControl)
rlm@29 91 (:import com.jme3.bullet.collision.shapes.GImpactCollisionShape)
rlm@29 92 (:import com.jme3.scene.shape.Box)
rlm@29 93 (:import com.jme3.scene.Node)
rlm@29 94 (:import com.jme3.scene.shape.Sphere)
rlm@29 95 (:import com.jme3.light.DirectionalLight)
rlm@29 96 (:import com.jme3.math.ColorRGBA)
rlm@29 97 (:import com.jme3.bullet.BulletAppState)
rlm@29 98 (:import com.jme3.material.Material)
rlm@29 99 (:import com.jme3.scene.Geometry))
rlm@25 100
rlm@29 101 (defvar println-repl
rlm@29 102 (bound-fn [& args] (apply println args))
rlm@29 103 "println called from the LWJGL thread will not go to the REPL, but
rlm@29 104 instead to whatever terminal started the JVM process. This function
rlm@29 105 will always output to the REPL")
rlm@25 106
rlm@29 107 (defn position-camera
rlm@34 108 "Change the position of the in-world camera."
rlm@34 109 ([world position direction up]
rlm@34 110 (doto (.getCamera world)
rlm@29 111 (.setLocation )
rlm@29 112 (.lookAt direction up)))
rlm@34 113 ([world position direction]
rlm@29 114 (position-camera
rlm@34 115 world position direction Vector3f/UNIT_Y)))
rlm@25 116
rlm@29 117 (defn enable-debug
rlm@34 118 "Turn on debug wireframes for every object in this simulation."
rlm@29 119 [world]
rlm@29 120 (.enableDebug
rlm@29 121 (.getPhysicsSpace
rlm@29 122 (.getState
rlm@29 123 (.getStateManager world)
rlm@29 124 BulletAppState))
rlm@29 125 (asset-manager)))
rlm@29 126
rlm@34 127 (defn set-gravity
rlm@29 128 "In order to change the gravity of a scene, it is not only necessary
rlm@29 129 to set the gravity variable, but to \"tap\" every physics object in
rlm@29 130 the scene to reactivate physics calculations."
rlm@34 131 [world gravity]
rlm@25 132 (traverse
rlm@25 133 (fn [geom]
rlm@25 134 (if-let
rlm@29 135 ;; only set gravity for physical objects.
rlm@25 136 [control (.getControl geom RigidBodyControl)]
rlm@25 137 (do
rlm@25 138 (.setGravity control gravity)
rlm@29 139 ;; tappsies!
rlm@29 140 (.applyImpulse control Vector3f/ZERO Vector3f/ZERO))))
rlm@34 141 (.getRootNode world)))
rlm@29 142
rlm@29 143 (defn add-element
rlm@34 144 "Add the Spatial to the world's environment"
rlm@34 145 ([world element node]
rlm@29 146 (.addAll
rlm@29 147 (.getPhysicsSpace
rlm@29 148 (.getState
rlm@34 149 (.getStateManager world)
rlm@29 150 BulletAppState))
rlm@29 151 element)
rlm@29 152 (.attachChild node element))
rlm@34 153 ([world element]
rlm@34 154 (add-element world element (.getRootNode world))))
rlm@29 155
rlm@29 156 (defn apply-map
rlm@29 157 "Like apply, but works for maps and functions that expect an
rlm@29 158 implicit map and nothing else as in (fn [& {}]).
rlm@29 159 ------- Example -------
rlm@29 160 (defn demo [& {:keys [www] :or {www \"oh yeah\"} :as env}]
rlm@29 161 (println www))
rlm@29 162 (apply-map demo {:www \"hello!\"})
rlm@29 163 -->\"hello\""
rlm@29 164 [fn m]
rlm@29 165 (apply fn (reduce #(into %1 %2) [] m)))
rlm@29 166
rlm@25 167 #+end_src
rlm@25 168
rlm@25 169
rlm@29 170 *** Creating Basic Shapes
rlm@29 171
rlm@25 172 #+srcname: shapes
rlm@25 173 #+begin_src clojure :results silent
rlm@25 174 (in-ns 'cortex.util)
rlm@29 175
rlm@25 176 (defrecord shape-description
rlm@25 177 [name
rlm@25 178 color
rlm@25 179 mass
rlm@25 180 friction
rlm@25 181 texture
rlm@25 182 material
rlm@25 183 position
rlm@25 184 rotation
rlm@25 185 shape
rlm@29 186 physical?
rlm@29 187 GImpact?
rlm@29 188 ])
rlm@25 189
rlm@34 190 (defvar base-shape
rlm@25 191 (shape-description.
rlm@25 192 "default-shape"
rlm@25 193 false
rlm@25 194 ;;ColorRGBA/Blue
rlm@25 195 1.0 ;; mass
rlm@25 196 1.0 ;; friction
rlm@25 197 ;; texture
rlm@25 198 "Textures/Terrain/BrickWall/BrickWall.jpg"
rlm@25 199 ;; material
rlm@25 200 "Common/MatDefs/Misc/Unshaded.j3md"
rlm@25 201 Vector3f/ZERO
rlm@25 202 Quaternion/IDENTITY
rlm@25 203 (Box. Vector3f/ZERO 0.5 0.5 0.5)
rlm@29 204 true
rlm@34 205 false)
rlm@34 206 "Basic settings for shapes.")
rlm@25 207
rlm@25 208 (defn make-shape
rlm@25 209 [#^shape-description d]
rlm@29 210 (let [asset-manager (asset-manager)
rlm@25 211 mat (Material. asset-manager (:material d))
rlm@25 212 geom (Geometry. (:name d) (:shape d))]
rlm@25 213 (if (:texture d)
rlm@25 214 (let [key (TextureKey. (:texture d))]
rlm@34 215 ;;(.setGenerateMips key true)
rlm@34 216 ;;(.setTexture mat "ColorMap" (.loadTexture asset-manager key))
rlm@34 217 ))
rlm@25 218 (if (:color d) (.setColor mat "Color" (:color d)))
rlm@25 219 (.setMaterial geom mat)
rlm@25 220 (if-let [rotation (:rotation d)] (.rotate geom rotation))
rlm@25 221 (.setLocalTranslation geom (:position d))
rlm@25 222 (if (:physical? d)
rlm@29 223 (let [physics-control
rlm@29 224 (if (:GImpact d)
rlm@29 225 ;; Create an accurate mesh collision shape if desired.
rlm@29 226 (RigidBodyControl.
rlm@29 227 (doto (GImpactCollisionShape.
rlm@29 228 (.getMesh geom))
rlm@29 229 (.createJmeMesh)
rlm@29 230 (.setMargin 0))
rlm@29 231 (float (:mass d)))
rlm@29 232 ;; otherwise use jme3's default
rlm@29 233 (RigidBodyControl. (float (:mass d))))]
rlm@25 234 (.addControl geom physics-control)
rlm@25 235 ;;(.setSleepingThresholds physics-control (float 0) (float 0))
rlm@25 236 (.setFriction physics-control (:friction d))))
rlm@25 237 geom))
rlm@25 238
rlm@25 239 (defn box
rlm@25 240 ([l w h & {:as options}]
rlm@25 241 (let [options (merge base-shape options)]
rlm@25 242 (make-shape (assoc options
rlm@25 243 :shape (Box. l w h)))))
rlm@25 244 ([] (box 0.5 0.5 0.5)))
rlm@25 245
rlm@25 246 (defn sphere
rlm@25 247 ([r & {:as options}]
rlm@25 248 (let [options (merge base-shape options)]
rlm@25 249 (make-shape (assoc options
rlm@25 250 :shape (Sphere. 32 32 (float r))))))
rlm@25 251 ([] (sphere 0.5)))
rlm@29 252 #+end_src
rlm@25 253
rlm@29 254 *** Viewing Objects
rlm@25 255
rlm@29 256 #+srcname: world-view
rlm@29 257 #+begin_src clojure :results silent
rlm@29 258 (in-ns 'cortex.util)
rlm@25 259
rlm@29 260 (defprotocol Viewable
rlm@29 261 (view [something]))
rlm@29 262
rlm@29 263 (extend-type com.jme3.scene.Geometry
rlm@29 264 Viewable
rlm@29 265 (view [geo]
rlm@29 266 (view (doto (Node.)(.attachChild geo)))))
rlm@29 267
rlm@29 268 (extend-type com.jme3.scene.Node
rlm@29 269 Viewable
rlm@29 270 (view
rlm@29 271 [node]
rlm@29 272 (.start
rlm@29 273 (world
rlm@29 274 node
rlm@29 275 {}
rlm@29 276 (fn [world]
rlm@29 277 (enable-debug world)
rlm@29 278 (set-gravity world Vector3f/ZERO)
rlm@29 279 (let [sun
rlm@29 280 (doto (DirectionalLight.)
rlm@29 281 (.setDirection
rlm@29 282 (.normalizeLocal (Vector3f. 1 0 -2)))
rlm@29 283 (.setColor ColorRGBA/White))]
rlm@34 284 ;; lights are required to view some objects.
rlm@29 285 (.addLight (.getRootNode world) sun)))
rlm@29 286 no-op))))
rlm@25 287 #+end_src
rlm@25 288
rlm@29 289 Here I make the =Viewable= protocol and extend it to JME's types. Now
rlm@34 290 JME3's =hello-world= can be written as easily as:
rlm@29 291
rlm@29 292 #+begin_src clojure :results silent
rlm@29 293 (cortex.util/view (cortex.util/box))
rlm@29 294 #+end_src
rlm@29 295
rlm@29 296
rlm@24 297 * COMMENT code generation
rlm@24 298 #+begin_src clojure :tangle ../src/cortex/import.clj
rlm@24 299 <<import>>
rlm@24 300 #+end_src
rlm@25 301
rlm@25 302
rlm@29 303 #+begin_src clojure :tangle ../src/cortex/util.clj :noweb yes
rlm@25 304 <<util>>
rlm@25 305 <<shapes>>
rlm@29 306 <<world-view>>
rlm@25 307 #+end_src
rlm@25 308
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