annotate org/depth-map.org @ 522:1e51263afdc0

moar changes.
author Robert McIntyre <rlm@mit.edu>
date Mon, 31 Mar 2014 09:21:28 -0400
parents a86555b02916
children
rev   line source
rlm@458 1
rlm@458 2 #+begin_src clojure
rlm@458 3 (ns cortex.depth-map
rlm@458 4 "lol depth maps."
rlm@458 5 {:author "Robert McIntyre"}
rlm@458 6 (:use (cortex world util body sense vision touch))
rlm@458 7 (:import (com.jme3.scene Geometry Node Mesh))
rlm@458 8 (:import com.jme3.collision.CollisionResults)
rlm@458 9 (:import com.jme3.scene.VertexBuffer$Type)
rlm@458 10
rlm@458 11 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
rlm@458 12
rlm@458 13 (cortex.import/mega-import-jme3)
rlm@458 14
rlm@458 15 (defn convert-pixel-to-ray
rlm@459 16 [camera ray x y]
rlm@458 17 (let [pixel-arrow
rlm@458 18 (.getWorldCoordinates
rlm@458 19 camera
rlm@458 20 (Vector2f. (float x) (float y))
rlm@458 21 ;; this is the "z depth" and can be anything, since
rlm@458 22 ;; we only care about direction
rlm@458 23 (float 1))
rlm@458 24 ;; now that we have the direction of a pixel, subtract
rlm@458 25 ray (Ray.)]
rlm@458 26 (set-ray ray Matrix4f/IDENTITY (.getLocation camera)
rlm@458 27 pixel-arrow) ray))
rlm@458 28
rlm@458 29 (defn generate-depth-map-points
rlm@458 30 "Generate a data structure representating the depth of the first
rlm@458 31 object to collide with a ray from the camera's current position."
rlm@458 32 [world camera]
rlm@458 33 (let [width (.getWidth camera)
rlm@458 34 height (.getHeight camera)
rlm@458 35 pixels (for [x (range width) y (range height)]
rlm@458 36 [x y])
rlm@459 37 temp-ray (Ray.)
rlm@458 38 depths
rlm@458 39 (for [[x y] pixels]
rlm@459 40 (let [ray (convert-pixel-to-ray camera temp-ray x y)
rlm@458 41 results (CollisionResults.)]
rlm@458 42 (.collideWith world ray results)
rlm@459 43 (if-let [closest (.getClosestCollision results)]
rlm@459 44 (.hashCode (.getGeometry closest)) 0)))]
rlm@459 45
rlm@458 46 (zipmap pixels depths)))
rlm@458 47
rlm@458 48 (defn test-world []
rlm@458 49 (nodify [(floor*) (brick-wall*)]))
rlm@458 50
rlm@459 51 (import com.aurellem.capture.RatchetTimer)
rlm@459 52
rlm@459 53 (defn depth-map-test []
rlm@459 54 (let [the-world (test-world)]
rlm@459 55 (world
rlm@459 56 the-world
rlm@459 57 ;;controls
rlm@459 58 standard-debug-controls
rlm@459 59 ;;init
rlm@459 60 (fn [world]
rlm@459 61 (let [timer (RatchetTimer. 60)]
rlm@459 62 (.setTimer world timer)
rlm@459 63 (display-dilated-time world timer)))
rlm@459 64 ;; update
rlm@459 65 no-op)))
rlm@459 66
rlm@458 67 #+end_src