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first draft of automatic constraints from blender
author Robert McIntyre <rlm@mit.edu>
date Wed, 04 Jan 2012 08:36:42 -0700
parents f4c77512808e
children 77b506ac64f3
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 (use '[clojure.contrib [seq :only [find-first]]])
rlm@73 52
rlm@73 53
rlm@73 54 (rlm.rlm-commands/help)
rlm@73 55
rlm@73 56 (defn load-blender-model
rlm@73 57 "Load a .blend file using an asset folder relative path."
rlm@73 58 [^String model]
rlm@73 59 (.loadModel
rlm@73 60 (doto (asset-manager)
rlm@73 61 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 62 model))
rlm@73 63
rlm@74 64 (defn meta-data [blender-node key]
rlm@74 65 (if-let [data (.getUserData blender-node "properties")]
rlm@74 66 (.findValue data key)
rlm@74 67 nil))
rlm@73 68
rlm@74 69
rlm@74 70 (defn hand []
rlm@74 71 (load-blender-model "Models/creature1/one.blend"))
rlm@74 72
rlm@74 73
rlm@73 74
rlm@74 75 (def hand-names
rlm@74 76 #{
rlm@74 77 "middle-1"
rlm@74 78 "middle-2"
rlm@74 79 "middle-3"
rlm@74 80 "palm"
rlm@74 81 "pinky-1"
rlm@74 82 "pinky-2"
rlm@74 83 "pinky-3"
rlm@74 84 "pointer-1"
rlm@74 85 "pointer-2"
rlm@74 86 "pointer-3"
rlm@74 87 "ring-1"
rlm@74 88 "ring-2"
rlm@74 89 "ring-3"
rlm@74 90 "thumb-1"
rlm@74 91 "thumb-2"})
rlm@74 92
rlm@74 93 (defn hand-pieces []
rlm@74 94 (filter
rlm@74 95 (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
rlm@74 96
rlm@74 97 (defn hand-joints []
rlm@74 98 (map #(.getWorldTranslation %)
rlm@74 99 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@74 100 (node-seq (hand)))))
rlm@77 101 (defn worm []
rlm@77 102 (load-blender-model "Models/creature1/try-again.blend"))
rlm@77 103
rlm@74 104
rlm@74 105 (defn worm-pieces []
rlm@74 106 (filter
rlm@74 107 (comp #{"worm-2" "worm-1"}
rlm@74 108 #(apply str (drop-last (.getName %))))
rlm@77 109 (node-seq (worm))))
rlm@74 110
rlm@74 111 (defn worm-joints []
rlm@77 112 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@77 113 (node-seq (worm))))
rlm@74 114
rlm@77 115 (defn bullet-trans []
rlm@77 116 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 117 :position (Vector3f. -10 5 0))
rlm@77 118 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 119 :position (Vector3f. -10 -5 0)
rlm@77 120 :mass 0)
rlm@77 121 control-a (.getControl obj-a RigidBodyControl)
rlm@77 122 control-b (.getControl obj-b RigidBodyControl)
rlm@77 123 swivel
rlm@77 124 (.toRotationMatrix
rlm@77 125 (doto (Quaternion.)
rlm@77 126 (.fromAngleAxis (/ Math/PI 2)
rlm@77 127 Vector3f/UNIT_X)))]
rlm@77 128 (doto
rlm@77 129 (ConeJoint.
rlm@77 130 control-a control-b
rlm@77 131 (Vector3f. 0 5 0)
rlm@77 132 (Vector3f. 0 -5 0)
rlm@77 133 swivel swivel)
rlm@77 134 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 135 (/ Math/PI 4)
rlm@77 136 (* Math/PI 0.8)))
rlm@77 137 (world (nodify
rlm@77 138 [obj-a obj-b])
rlm@77 139 standard-debug-controls
rlm@77 140 enable-debug
rlm@77 141 no-op)))
rlm@74 142
rlm@74 143
rlm@77 144 (defn bullet-trans* []
rlm@77 145 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 146 :position (Vector3f. 5 0 0)
rlm@77 147 :mass 90)
rlm@77 148 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 149 :position (Vector3f. -5 0 0)
rlm@77 150 :mass 0)
rlm@77 151 control-a (.getControl obj-a RigidBodyControl)
rlm@77 152 control-b (.getControl obj-b RigidBodyControl)
rlm@77 153 move-up? (atom nil)
rlm@77 154 move-down? (atom nil)
rlm@77 155 move-left? (atom nil)
rlm@77 156 move-right? (atom nil)
rlm@77 157 roll-left? (atom nil)
rlm@77 158 roll-right? (atom nil)
rlm@77 159 force 100
rlm@77 160 swivel
rlm@77 161 (.toRotationMatrix
rlm@77 162 (doto (Quaternion.)
rlm@77 163 (.fromAngleAxis (/ Math/PI 2)
rlm@77 164 Vector3f/UNIT_X)))
rlm@77 165 x-move
rlm@77 166 (doto (Matrix3f.)
rlm@77 167 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 168 (.normalize (Vector3f. 1 1 0))))
rlm@77 169
rlm@77 170 timer (atom 0)]
rlm@77 171 (doto
rlm@77 172 (ConeJoint.
rlm@77 173 control-a control-b
rlm@77 174 (Vector3f. -8 0 0)
rlm@77 175 (Vector3f. 2 0 0)
rlm@77 176 ;;swivel swivel
rlm@77 177 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 178 x-move Matrix3f/IDENTITY
rlm@77 179 )
rlm@77 180 (.setCollisionBetweenLinkedBodys false)
rlm@77 181 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 182 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 183 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 184 (world (nodify
rlm@77 185 [obj-a obj-b])
rlm@77 186 (merge standard-debug-controls
rlm@77 187 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 188 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 189 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 190 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 191 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 192 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 193
rlm@77 194 (fn [world]
rlm@77 195 (enable-debug world)
rlm@77 196 (set-gravity world Vector3f/ZERO)
rlm@77 197 )
rlm@77 198
rlm@77 199 (fn [world _]
rlm@77 200
rlm@77 201 (if @move-up?
rlm@77 202 (.applyForce control-a
rlm@77 203 (Vector3f. force 0 0)
rlm@77 204 (Vector3f. 0 0 0)))
rlm@77 205 (if @move-down?
rlm@77 206 (.applyForce control-a
rlm@77 207 (Vector3f. (- force) 0 0)
rlm@77 208 (Vector3f. 0 0 0)))
rlm@77 209 (if @move-left?
rlm@77 210 (.applyForce control-a
rlm@77 211 (Vector3f. 0 force 0)
rlm@77 212 (Vector3f. 0 0 0)))
rlm@77 213 (if @move-right?
rlm@77 214 (.applyForce control-a
rlm@77 215 (Vector3f. 0 (- force) 0)
rlm@77 216 (Vector3f. 0 0 0)))
rlm@77 217
rlm@77 218 (if @roll-left?
rlm@77 219 (.applyForce control-a
rlm@77 220 (Vector3f. 0 0 force)
rlm@77 221 (Vector3f. 0 0 0)))
rlm@77 222 (if @roll-right?
rlm@77 223 (.applyForce control-a
rlm@77 224 (Vector3f. 0 0 (- force))
rlm@77 225 (Vector3f. 0 0 0)))
rlm@77 226
rlm@77 227 (if (zero? (rem (swap! timer inc) 100))
rlm@77 228 (.attachChild
rlm@77 229 (.getRootNode world)
rlm@77 230 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 231 :physical? false :position
rlm@77 232 (.getWorldTranslation obj-a)))))
rlm@77 233 )
rlm@77 234 ))
rlm@77 235
rlm@77 236
rlm@77 237
rlm@77 238
rlm@77 239
rlm@77 240
rlm@77 241
rlm@77 242
rlm@77 243
rlm@77 244
rlm@77 245
rlm@77 246 (defn world-setup [joint]
rlm@77 247 (let [top (doto
rlm@77 248 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@77 249 :position (Vector3f. 0 7 0))
rlm@77 250 (.addControl
rlm@77 251 (RigidBodyControl.
rlm@77 252 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
rlm@77 253 bottom (doto
rlm@77 254 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@77 255 :position (Vector3f. 0 -1 0))
rlm@77 256 (.addControl
rlm@77 257 (RigidBodyControl.
rlm@77 258 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@77 259 table (box 10 2 10 :position (Vector3f. 0 -6 0)
rlm@77 260 :color ColorRGBA/Gray :mass 0)
rlm@77 261 a (.getControl top RigidBodyControl)
rlm@77 262 b (.getControl bottom RigidBodyControl)]
rlm@77 263 (cond
rlm@77 264 (= joint :point)
rlm@77 265 (doto
rlm@77 266 (Point2PointJoint. a b
rlm@77 267 (Vector3f. 0 -2 0)
rlm@77 268 (Vector3f. 0 2 0))
rlm@77 269 (.setCollisionBetweenLinkedBodys false))
rlm@77 270 (= joint :hinge)
rlm@77 271 (doto
rlm@77 272 (HingeJoint.
rlm@77 273 a b
rlm@77 274 (Vector3f. 0 -2 0)
rlm@77 275 (Vector3f. 0 2 0)
rlm@77 276 (Vector3f. 0 0 1)
rlm@77 277 (Vector3f. 0 0 1)
rlm@77 278
rlm@77 279 )
rlm@77 280 (.setCollisionBetweenLinkedBodys false)
rlm@77 281 ;;(.setLimit (- Math/PI) Math/PI)
rlm@77 282 )
rlm@77 283 (= joint :cone)
rlm@77 284 ;; note to self -- jbullet does NOT implement cone joints
rlm@77 285 ;; correctly. You must use plain ol' bullet for this to work.
rlm@77 286 ;; It's faster anyway, so whatever.
rlm@77 287
rlm@77 288 (doto (ConeJoint.
rlm@77 289 a b
rlm@77 290 (Vector3f. 0 -5 0)
rlm@77 291 (Vector3f. 0 2 0)
rlm@77 292
rlm@77 293 (doto (Matrix3f.)
rlm@77 294 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 295 Vector3f/UNIT_Y))
rlm@77 296 (doto (Matrix3f.)
rlm@77 297 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 298 Vector3f/UNIT_Y))
rlm@77 299 )
rlm@77 300 ;;(.setAngularOnly true)
rlm@77 301
rlm@77 302 (.setCollisionBetweenLinkedBodys false)
rlm@77 303 (.setLimit (* 1 (/ Math/PI 4))
rlm@77 304 (* 1 (/ Math/PI 4))
rlm@77 305 (* 0 (/ Math/PI 4)))
rlm@77 306
rlm@77 307 )
rlm@77 308 (= joint :six)
rlm@77 309 (doto
rlm@77 310 (SixDofJoint.
rlm@77 311 a b
rlm@77 312 (Vector3f. 0 -2 0)
rlm@77 313 (Vector3f. 0 2 0)
rlm@77 314 ;;(doto (Matrix3f.)
rlm@77 315 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 316 ;; Vector3f/UNIT_Y))
rlm@77 317 ;;(doto (Matrix3f.)
rlm@77 318 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 319 ;; Vector3f/UNIT_Y))
rlm@77 320 true)
rlm@77 321 (.setCollisionBetweenLinkedBodys false)
rlm@77 322 (.setAngularLowerLimit (Vector3f. 0
rlm@77 323 (- (/ Math/PI 2))
rlm@77 324 0))
rlm@77 325
rlm@77 326 (.setAngularUpperLimit (Vector3f. 0
rlm@77 327 (/ Math/PI 2)
rlm@77 328 0))
rlm@77 329 (.setLinearLowerLimit (Vector3f. 0 0 0))
rlm@77 330 (.setLinearUpperLimit (Vector3f. 0 0 0))
rlm@77 331
rlm@77 332 )
rlm@77 333
rlm@77 334
rlm@77 335
rlm@77 336
rlm@77 337
rlm@77 338 )
rlm@77 339
rlm@77 340 [top bottom table]))
rlm@77 341
rlm@77 342 (defn speed-up [world]
rlm@77 343 (.setMoveSpeed (.getFlyByCamera world)
rlm@77 344 (float 100))
rlm@77 345 (.setRotationSpeed (.getFlyByCamera world)
rlm@77 346 (float 20))
rlm@77 347 world)
rlm@77 348
rlm@77 349
rlm@77 350 (defn test-joint [joint]
rlm@77 351 (let [[top bottom floor] (world-setup joint)
rlm@77 352 control (.getControl top RigidBodyControl)
rlm@77 353 move-up? (atom false)
rlm@77 354 move-down? (atom false)
rlm@77 355 move-left? (atom false)
rlm@77 356 move-right? (atom false)
rlm@77 357 roll-left? (atom false)
rlm@77 358 roll-right? (atom false)
rlm@77 359 timer (atom 0)]
rlm@77 360
rlm@77 361 (world
rlm@77 362 (nodify [top bottom floor])
rlm@77 363 (merge standard-debug-controls
rlm@77 364 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 365 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 366 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 367 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 368 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 369 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 370
rlm@77 371 (fn [world]
rlm@77 372 (light-up-everything world)
rlm@77 373 (enable-debug world)
rlm@77 374 (set-gravity world (Vector3f. 0 0 0))
rlm@77 375 )
rlm@77 376
rlm@77 377 (fn [world _]
rlm@77 378 (if (zero? (rem (swap! timer inc) 100))
rlm@77 379 (do
rlm@77 380 ;; (println-repl @timer)
rlm@77 381 (.attachChild (.getRootNode world)
rlm@77 382 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 383 :position (.getWorldTranslation top)
rlm@77 384 :physical? false))))
rlm@77 385 (if @move-up?
rlm@77 386 (.applyTorque control
rlm@77 387 (.mult (.getPhysicsRotation control)
rlm@77 388 (Vector3f. 0 0 10))))
rlm@77 389 (if @move-down?
rlm@77 390 (.applyTorque control
rlm@77 391 (.mult (.getPhysicsRotation control)
rlm@77 392 (Vector3f. 0 0 -10))))
rlm@77 393 (if @move-left?
rlm@77 394 (.applyTorque control
rlm@77 395 (.mult (.getPhysicsRotation control)
rlm@77 396 (Vector3f. 0 10 0))))
rlm@77 397 (if @move-right?
rlm@77 398 (.applyTorque control
rlm@77 399 (.mult (.getPhysicsRotation control)
rlm@77 400 (Vector3f. 0 -10 0))))
rlm@77 401 (if @roll-left?
rlm@77 402 (.applyTorque control
rlm@77 403 (.mult (.getPhysicsRotation control)
rlm@77 404 (Vector3f. -1 0 0))))
rlm@77 405 (if @roll-right?
rlm@77 406 (.applyTorque control
rlm@77 407 (.mult (.getPhysicsRotation control)
rlm@77 408 (Vector3f. 1 0 0))))))))
rlm@77 409
rlm@77 410
rlm@77 411
rlm@77 412 (defn run [joint] (.start (test-joint joint)))
rlm@77 413 (defn look [joint] (view (nodify (world-setup joint))))
rlm@77 414
rlm@77 415 (defn blender-to-jme
rlm@77 416 "Convert from Blender coordinates to JME coordinates"
rlm@77 417 [#^Vector3f in]
rlm@77 418 (Vector3f. (.getX in)
rlm@77 419 (.getZ in)
rlm@77 420 (- (.getY in))))
rlm@77 421
rlm@77 422
rlm@77 423 (defn joint-targets
rlm@77 424 "Return the two closest two objects to the joint object, ordered
rlm@77 425 from bottom to top according to the joint's rotation."
rlm@77 426 [#^Node parts #^Node joint]
rlm@77 427 ;;(println (meta-data joint "joint"))
rlm@77 428 (.getWorldRotation joint)
rlm@74 429 (loop [radius (float 0.01)]
rlm@74 430 (let [results (CollisionResults.)]
rlm@74 431 (.collideWith
rlm@74 432 parts
rlm@77 433 (BoundingBox. (.getWorldTranslation joint)
rlm@77 434 radius radius radius)
rlm@74 435 results)
rlm@74 436 (let [targets
rlm@74 437 (distinct
rlm@74 438 (map #(.getGeometry %) results))]
rlm@74 439 (if (>= (count targets) 2)
rlm@77 440 (sort-by
rlm@77 441 #(.getY
rlm@77 442 (.mult
rlm@77 443 (.inverse (.getWorldRotation joint))
rlm@77 444 (.subtract (.getWorldTranslation %)
rlm@77 445 (.getWorldTranslation joint))))
rlm@77 446 (take 2 targets))
rlm@74 447 (recur (float (* radius 2))))))))
rlm@74 448
rlm@77 449 (defn connect
rlm@77 450 "here are some examples:
rlm@77 451 {:type :point}
rlm@77 452 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@77 453 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74 454
rlm@77 455 {:type :cone :limit-xz 0]
rlm@77 456 :limit-yz 0]
rlm@77 457 :twist 0]}
rlm@77 458 "
rlm@77 459 ([#^Node obj-a #^Node obj-b #^Node joint]
rlm@77 460 (let [center-a (.getWorldTranslation obj-a)
rlm@77 461 center-b (.getWorldTranslation obj-b)
rlm@77 462 joint-center (.getWorldTranslation joint)
rlm@77 463 pivot-a (.subtract joint-center center-a)
rlm@77 464 pivot-b (.subtract joint-center center-b)
rlm@77 465 control-a (.getControl obj-a RigidBodyControl)
rlm@77 466 control-b (.getControl obj-b RigidBodyControl)]
rlm@77 467 ;; A side-effect of creating a joint registers
rlm@77 468 ;; it with both physics objects which in turn
rlm@77 469 ;; will register the joint with the physics system
rlm@77 470 ;; when the simulation is started.
rlm@77 471 (if-let [constraints
rlm@77 472 (map-vals
rlm@77 473 eval
rlm@77 474 (read-string
rlm@77 475 (meta-data (first (worm-joints)) "joint")))]
rlm@74 476
rlm@77 477 (let [joint-type (:type constraints)]
rlm@77 478 (cond (= :point joint-type)
rlm@77 479 (do
rlm@77 480 (println-repl "creating POINT joint")
rlm@77 481 (Point2PointJoint.
rlm@77 482 control-a
rlm@77 483 control-b
rlm@77 484 pivot-a
rlm@77 485 pivot-b))
rlm@77 486 (= :hinge joint-type)
rlm@77 487 (do
rlm@77 488 (println-repl "creating HINGE joint")
rlm@77 489 (let [axis (if-let
rlm@77 490 [axis (:axis constraints)]
rlm@77 491 axis
rlm@77 492 Vector3f/UNIT_X)
rlm@77 493 [limit-1 limit-2] (:limit constraints)
rlm@77 494 hinge-axis
rlm@77 495 (.mult
rlm@77 496 (.getWorldRotation joint)
rlm@77 497 (blender-to-jme axis))]
rlm@77 498 (doto
rlm@77 499 (HingeJoint.
rlm@77 500 control-a
rlm@77 501 control-b
rlm@77 502 pivot-a
rlm@77 503 pivot-b
rlm@77 504 hinge-axis
rlm@77 505 hinge-axis)
rlm@77 506 (.setLimit limit-1 limit-2))))
rlm@77 507 (= :cone joint-type)
rlm@77 508 (do
rlm@77 509 (let [limit-xy (:limit-xz constraints)
rlm@77 510 limit-yz (:limit-yz constraints)
rlm@77 511 twist (:twist constraints)]
rlm@77 512
rlm@77 513 (println-repl "creating CONE joint")
rlm@77 514 (doto
rlm@77 515 (ConeJoint.
rlm@77 516 control-a
rlm@77 517 control-b
rlm@77 518 pivot-a
rlm@77 519 pivot-b
rlm@77 520 (doto (Matrix3f.)
rlm@77 521 (.fromStartEndVectors
rlm@77 522 Vector3f/UNIT_X
rlm@77 523 (.normalize
rlm@77 524 (.subtract (.getWorldTranslation joint)
rlm@77 525 (.getWorldTranslation obj-a)))))
rlm@77 526 (doto (Matrix3f.)
rlm@77 527 (.fromStartEndVectors
rlm@77 528 Vector3f/UNIT_X
rlm@77 529 (.normalize
rlm@77 530 (.subtract
rlm@77 531 (.getWorldTranslation obj-b)
rlm@77 532 (.getWorldTranslation joint))))))
rlm@77 533 (.setLimit (float limit-xy)
rlm@77 534 (float limit-yz)
rlm@77 535 (float twist)))))
rlm@77 536 true
rlm@77 537 (println-repl
rlm@77 538 "joint-type " joint-type " not recognized")))
rlm@77 539
rlm@77 540 (println-repl "could not find joint meta-data!")))))
rlm@77 541
rlm@74 542
rlm@74 543
rlm@77 544 (defn physical-worm [#^Node pieces joints]
rlm@74 545 (dorun
rlm@74 546 (map
rlm@74 547 (fn [geom]
rlm@74 548 (let [physics-control
rlm@74 549 (RigidBodyControl.
rlm@74 550 (HullCollisionShape.
rlm@74 551 (.getMesh geom))
rlm@77 552 (if-let [mass (meta-data geom "mass")]
rlm@77 553 (do
rlm@77 554 (println-repl
rlm@77 555 "setting mass to " (float mass))
rlm@77 556 (float mass))
rlm@77 557 (float 1)))]
rlm@77 558
rlm@74 559 (.addControl geom physics-control)))
rlm@74 560 (filter #(isa? (class %) Geometry )
rlm@74 561 (node-seq pieces))))
rlm@77 562
rlm@74 563 (dorun
rlm@74 564 (map
rlm@77 565 (fn [joint]
rlm@77 566 (let [[obj-a obj-b]
rlm@77 567 (joint-targets pieces joint)]
rlm@77 568 (connect obj-a obj-b joint)))
rlm@77 569 joints))
rlm@77 570 pieces)
rlm@74 571
rlm@77 572 (defn the-worm []
rlm@77 573 (physical-worm (worm) (worm-joints)))
rlm@74 574
rlm@77 575 (defn test-worm []
rlm@74 576 (world
rlm@77 577 (nodify [(the-worm)
rlm@77 578 (box 10 2 10 :position (Vector3f. 0 -5 0)
rlm@77 579 :color ColorRGBA/Gray :mass 0)])
rlm@74 580 standard-debug-controls
rlm@77 581 (comp light-up-everything enable-debug
rlm@77 582 (fn [world]
rlm@77 583 (.setTimer world (NanoTimer.))
rlm@77 584 (speed-up world)
rlm@77 585 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@77 586 world
rlm@77 587 ))
rlm@77 588 no-op))
rlm@73 589
rlm@73 590 #+end_src
rlm@73 591
rlm@75 592 #+results: body-1
rlm@77 593 : #'cortex.silly/test-try-again
rlm@75 594
rlm@73 595
rlm@73 596
rlm@73 597 * COMMENT generate source
rlm@73 598 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 599 <<body-1>>
rlm@73 600 #+end_src
rlm@73 601