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minor fixes
author Robert McIntyre <rlm@mit.edu>
date Sun, 12 Feb 2012 16:00:31 -0700
parents 4e220c8fb1ed
children 95a9f6f1cb82
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rlm@37 1 #+title: Simulated Sense of Touch
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@37 4 #+description: Simulated touch for AI research using JMonkeyEngine and clojure.
rlm@37 5 #+keywords: simulation, tactile sense, jMonkeyEngine3, clojure
rlm@4 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@0 8
rlm@37 9 * Touch
rlm@0 10
rlm@226 11 Touch is critical to navigation and spatial reasoning and as such I
rlm@226 12 need a simulated version of it to give to my AI creatures.
rlm@0 13
rlm@228 14 Human skin has a wide array of touch sensors, each of which speciliaze
rlm@228 15 in detecting different vibrational modes and pressures. These sensors
rlm@228 16 can integrate a vast expanse of skin (i.e. your entire palm), or a
rlm@228 17 tiny patch of skin at the tip of your finger. The hairs of the skin
rlm@228 18 help detect objects before they even come into contact with the skin
rlm@247 19 proper.
rlm@228 20
rlm@248 21 However, touch in my simulated world can not exactly correspond to
rlm@248 22 human touch because my creatures are made out of completely rigid
rlm@248 23 segments that don't deform like human skin.
rlm@248 24
rlm@228 25 Instead of measuring deformation or vibration, I surround each rigid
rlm@247 26 part with a plenitude of hair-like objects (/feelers/) which do not
rlm@247 27 interact with the physical world. Physical objects can pass through
rlm@248 28 them with no effect. The feelers are able to tell when other objects
rlm@248 29 pass through them, and they constantly report how much of their extent
rlm@248 30 is covered. So even though the creature's body parts do not deform,
rlm@248 31 the feelers create a margin around those body parts which achieves a
rlm@248 32 sense of touch which is a hybrid between a human's sense of
rlm@248 33 deformation and sense from hairs.
rlm@228 34
rlm@228 35 Implementing touch in jMonkeyEngine follows a different techinal route
rlm@228 36 than vision and hearing. Those two senses piggybacked off
rlm@228 37 jMonkeyEngine's 3D audio and video rendering subsystems. To simulate
rlm@247 38 touch, I use jMonkeyEngine's physics system to execute many small
rlm@247 39 collision detections, one for each feeler. The placement of the
rlm@247 40 feelers is determined by a UV-mapped image which shows where each
rlm@247 41 feeler should be on the 3D surface of the body.
rlm@228 42
rlm@229 43 * Defining Touch Meta-Data in Blender
rlm@229 44
rlm@245 45 Each geometry can have a single UV map which describes the position of
rlm@247 46 the feelers which will constitute its sense of touch. This image path
rlm@245 47 is stored under the "touch" key. The image itself is black and white,
rlm@247 48 with black meaning a feeler length of 0 (no feeler is present) and
rlm@247 49 white meaning a feeler length of =scale=, which is a float stored
rlm@247 50 under the key "scale".
rlm@229 51
rlm@231 52 #+name: meta-data
rlm@0 53 #+begin_src clojure
rlm@229 54 (defn tactile-sensor-profile
rlm@229 55 "Return the touch-sensor distribution image in BufferedImage format,
rlm@229 56 or nil if it does not exist."
rlm@229 57 [#^Geometry obj]
rlm@229 58 (if-let [image-path (meta-data obj "touch")]
rlm@229 59 (load-image image-path)))
rlm@233 60
rlm@233 61 (defn tactile-scale
rlm@247 62 "Return the length of each feeler. Default scale is 0.01
rlm@247 63 jMonkeyEngine units."
rlm@233 64 [#^Geometry obj]
rlm@233 65 (if-let [scale (meta-data obj "scale")]
rlm@233 66 scale 0.1))
rlm@228 67 #+end_src
rlm@156 68
rlm@246 69 Here is an example of a UV-map which specifies the position of touch
rlm@247 70 sensors along the surface of the upper segment of the worm.
rlm@229 71
rlm@246 72 #+attr_html: width=755
rlm@246 73 #+caption: This is the tactile-sensor-profile for the upper segment of the worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).
rlm@246 74 [[../images/finger-UV.png]]
rlm@234 75
rlm@247 76 * Implementation Summary
rlm@247 77
rlm@247 78 To simulate touch there are three conceptual steps. For each solid
rlm@247 79 object in the creature, you first have to get UV image and scale
rlm@247 80 paramater which define the position and length of the feelers. Then,
rlm@247 81 you use the triangles which compose the mesh and the UV data stored in
rlm@247 82 the mesh to determine the world-space position and orientation of each
rlm@248 83 feeler. Then once every frame, update these positions and orientations
rlm@248 84 to match the current position and orientation of the object, and use
rlm@247 85 physics collision detection to gather tactile data.
rlm@238 86
rlm@247 87 Extracting the meta-data has already been described. The third step,
rlm@247 88 physics collision detection, is handled in =(touch-kernel)=.
rlm@247 89 Translating the positions and orientations of the feelers from the
rlm@248 90 UV-map to world-space is itself a three-step process.
rlm@239 91
rlm@238 92 - Find the triangles which make up the mesh in pixel-space and in
rlm@247 93 world-space. =(triangles)= =(pixel-triangles)=.
rlm@239 94
rlm@247 95 - Find the coordinates of each feeler in world-space. These are the
rlm@247 96 origins of the feelers. =(feeler-origins)=.
rlm@239 97
rlm@238 98 - Calculate the normals of the triangles in world space, and add
rlm@238 99 them to each of the origins of the feelers. These are the
rlm@247 100 normalized coordinates of the tips of the feelers. =(feeler-tips)=.
rlm@239 101
rlm@247 102 * Triangle Math
rlm@247 103 ** Schrapnel Conversion Functions
rlm@239 104
rlm@247 105 #+name: triangles-1
rlm@247 106 #+begin_src clojure
rlm@247 107 (defn vector3f-seq [#^Vector3f v]
rlm@247 108 [(.getX v) (.getY v) (.getZ v)])
rlm@247 109
rlm@247 110 (defn triangle-seq [#^Triangle tri]
rlm@247 111 [(vector3f-seq (.get1 tri))
rlm@247 112 (vector3f-seq (.get2 tri))
rlm@247 113 (vector3f-seq (.get3 tri))])
rlm@247 114
rlm@247 115 (defn ->vector3f
rlm@247 116 ([coords] (Vector3f. (nth coords 0 0)
rlm@247 117 (nth coords 1 0)
rlm@247 118 (nth coords 2 0))))
rlm@247 119
rlm@247 120 (defn ->triangle [points]
rlm@247 121 (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))
rlm@247 122 #+end_src
rlm@247 123
rlm@248 124 It is convienent to treat a =Triangle= as a vector of vectors, and a
rlm@248 125 =Vector2f= and =Vector3f= as vectors of floats. (->vector3f) and
rlm@248 126 (->triangle) undo the operations of =(vector3f-seq)= and
rlm@248 127 =(triangle-seq)=. If these classes implemented =Iterable= then =(seq)=
rlm@248 128 would work on them automitacally.
rlm@248 129
rlm@247 130 ** Decomposing a 3D shape into Triangles
rlm@247 131
rlm@248 132 The rigid objects which make up a creature have an underlying
rlm@247 133 =Geometry=, which is a =Mesh= plus a =Material= and other important
rlm@248 134 data involved with displaying the object.
rlm@247 135
rlm@247 136 A =Mesh= is composed of =Triangles=, and each =Triangle= has three
rlm@247 137 verticies which have coordinates in world space and UV space.
rlm@247 138
rlm@247 139 Here, =(triangles)= gets all the world-space triangles which compose a
rlm@247 140 mesh, while =(pixel-triangles)= gets those same triangles expressed in
rlm@247 141 pixel coordinates (which are UV coordinates scaled to fit the height
rlm@247 142 and width of the UV image).
rlm@247 143
rlm@247 144 #+name: triangles-2
rlm@247 145 #+begin_src clojure
rlm@247 146 (in-ns 'cortex.touch)
rlm@247 147 (defn triangle
rlm@247 148 "Get the triangle specified by triangle-index from the mesh."
rlm@247 149 [#^Geometry geo triangle-index]
rlm@247 150 (triangle-seq
rlm@247 151 (let [scratch (Triangle.)]
rlm@247 152 (.getTriangle (.getMesh geo) triangle-index scratch) scratch)))
rlm@247 153
rlm@247 154 (defn triangles
rlm@247 155 "Return a sequence of all the Triangles which compose a given
rlm@247 156 Geometry."
rlm@247 157 [#^Geometry geo]
rlm@247 158 (map (partial triangle geo) (range (.getTriangleCount (.getMesh geo)))))
rlm@247 159
rlm@247 160 (defn triangle-vertex-indices
rlm@247 161 "Get the triangle vertex indices of a given triangle from a given
rlm@247 162 mesh."
rlm@247 163 [#^Mesh mesh triangle-index]
rlm@247 164 (let [indices (int-array 3)]
rlm@247 165 (.getTriangle mesh triangle-index indices)
rlm@247 166 (vec indices)))
rlm@247 167
rlm@247 168 (defn vertex-UV-coord
rlm@247 169 "Get the UV-coordinates of the vertex named by vertex-index"
rlm@247 170 [#^Mesh mesh vertex-index]
rlm@247 171 (let [UV-buffer
rlm@247 172 (.getData
rlm@247 173 (.getBuffer
rlm@247 174 mesh
rlm@247 175 VertexBuffer$Type/TexCoord))]
rlm@247 176 [(.get UV-buffer (* vertex-index 2))
rlm@247 177 (.get UV-buffer (+ 1 (* vertex-index 2)))]))
rlm@247 178
rlm@247 179 (defn pixel-triangle [#^Geometry geo image index]
rlm@247 180 (let [mesh (.getMesh geo)
rlm@247 181 width (.getWidth image)
rlm@247 182 height (.getHeight image)]
rlm@247 183 (vec (map (fn [[u v]] (vector (* width u) (* height v)))
rlm@247 184 (map (partial vertex-UV-coord mesh)
rlm@247 185 (triangle-vertex-indices mesh index))))))
rlm@247 186
rlm@248 187 (defn pixel-triangles
rlm@248 188 "The pixel-space triangles of the Geometry, in the same order as
rlm@248 189 (triangles geo)"
rlm@248 190 [#^Geometry geo image]
rlm@248 191 (let [height (.getHeight image)
rlm@248 192 width (.getWidth image)]
rlm@248 193 (map (partial pixel-triangle geo image)
rlm@248 194 (range (.getTriangleCount (.getMesh geo))))))
rlm@247 195 #+end_src
rlm@247 196 ** The Affine Transform from one Triangle to Another
rlm@247 197
rlm@247 198 =(pixel-triangles)= gives us the mesh triangles expressed in pixel
rlm@247 199 coordinates and =(triangles)= gives us the mesh triangles expressed in
rlm@247 200 world coordinates. The tactile-sensor-profile gives the position of
rlm@248 201 each feeler in pixel-space. In order to convert pixel-space
rlm@247 202 coordinates into world-space coordinates we need something that takes
rlm@247 203 coordinates on the surface of one triangle and gives the corresponding
rlm@247 204 coordinates on the surface of another triangle.
rlm@247 205
rlm@247 206 Triangles are [[http://mathworld.wolfram.com/AffineTransformation.html ][affine]], which means any triangle can be transformed into
rlm@247 207 any other by a combination of translation, scaling, and
rlm@248 208 rotation. The affine transformation from one triangle to another
rlm@247 209 is readily computable if the triangle is expressed in terms of a $4x4$
rlm@247 210 matrix.
rlm@247 211
rlm@247 212 \begin{bmatrix}
rlm@247 213 x_1 & x_2 & x_3 & n_x \\
rlm@247 214 y_1 & y_2 & y_3 & n_y \\
rlm@247 215 z_1 & z_2 & z_3 & n_z \\
rlm@247 216 1 & 1 & 1 & 1
rlm@247 217 \end{bmatrix}
rlm@247 218
rlm@247 219 Here, the first three columns of the matrix are the verticies of the
rlm@247 220 triangle. The last column is the right-handed unit normal of the
rlm@247 221 triangle.
rlm@247 222
rlm@247 223 With two triangles $T_{1}$ and $T_{2}$ each expressed as a matrix like
rlm@247 224 above, the affine transform from $T_{1}$ to $T_{2}$ is
rlm@247 225
rlm@247 226 $T_{2}T_{1}^{-1}$
rlm@247 227
rlm@248 228 The clojure code below recaptiulates the formulas above, using
rlm@248 229 jMonkeyEngine's =Matrix4f= objects, which can describe any affine
rlm@248 230 transformation.
rlm@247 231
rlm@247 232 #+name: triangles-3
rlm@247 233 #+begin_src clojure
rlm@247 234 (in-ns 'cortex.touch)
rlm@247 235
rlm@247 236 (defn triangle->matrix4f
rlm@247 237 "Converts the triangle into a 4x4 matrix: The first three columns
rlm@247 238 contain the vertices of the triangle; the last contains the unit
rlm@247 239 normal of the triangle. The bottom row is filled with 1s."
rlm@247 240 [#^Triangle t]
rlm@247 241 (let [mat (Matrix4f.)
rlm@247 242 [vert-1 vert-2 vert-3]
rlm@247 243 ((comp vec map) #(.get t %) (range 3))
rlm@247 244 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@247 245 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@247 246 (dorun
rlm@247 247 (for [row (range 4) col (range 3)]
rlm@247 248 (do
rlm@247 249 (.set mat col row (.get (vertices row) col))
rlm@247 250 (.set mat 3 row 1)))) mat))
rlm@247 251
rlm@247 252 (defn triangles->affine-transform
rlm@247 253 "Returns the affine transformation that converts each vertex in the
rlm@247 254 first triangle into the corresponding vertex in the second
rlm@247 255 triangle."
rlm@247 256 [#^Triangle tri-1 #^Triangle tri-2]
rlm@247 257 (.mult
rlm@247 258 (triangle->matrix4f tri-2)
rlm@247 259 (.invert (triangle->matrix4f tri-1))))
rlm@247 260 #+end_src
rlm@247 261 ** Triangle Boundaries
rlm@247 262
rlm@247 263 For efficiency's sake I will divide the tactile-profile image into
rlm@247 264 small squares which inscribe each pixel-triangle, then extract the
rlm@247 265 points which lie inside the triangle and map them to 3D-space using
rlm@247 266 =(triangle-transform)= above. To do this I need a function,
rlm@247 267 =(convex-bounds)= which finds the smallest box which inscribes a 2D
rlm@247 268 triangle.
rlm@247 269
rlm@247 270 =(inside-triangle?)= determines whether a point is inside a triangle
rlm@247 271 in 2D pixel-space.
rlm@247 272
rlm@247 273 #+name: triangles-4
rlm@247 274 #+begin_src clojure
rlm@247 275 (defn convex-bounds
rlm@247 276 "Returns the smallest square containing the given vertices, as a
rlm@247 277 vector of integers [left top width height]."
rlm@247 278 [verts]
rlm@247 279 (let [xs (map first verts)
rlm@247 280 ys (map second verts)
rlm@247 281 x0 (Math/floor (apply min xs))
rlm@247 282 y0 (Math/floor (apply min ys))
rlm@247 283 x1 (Math/ceil (apply max xs))
rlm@247 284 y1 (Math/ceil (apply max ys))]
rlm@247 285 [x0 y0 (- x1 x0) (- y1 y0)]))
rlm@247 286
rlm@247 287 (defn same-side?
rlm@247 288 "Given the points p1 and p2 and the reference point ref, is point p
rlm@247 289 on the same side of the line that goes through p1 and p2 as ref is?"
rlm@247 290 [p1 p2 ref p]
rlm@247 291 (<=
rlm@247 292 0
rlm@247 293 (.dot
rlm@247 294 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@247 295 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@247 296
rlm@247 297 (defn inside-triangle?
rlm@247 298 "Is the point inside the triangle?"
rlm@247 299 {:author "Dylan Holmes"}
rlm@247 300 [#^Triangle tri #^Vector3f p]
rlm@247 301 (let [[vert-1 vert-2 vert-3] [(.get1 tri) (.get2 tri) (.get3 tri)]]
rlm@247 302 (and
rlm@247 303 (same-side? vert-1 vert-2 vert-3 p)
rlm@247 304 (same-side? vert-2 vert-3 vert-1 p)
rlm@247 305 (same-side? vert-3 vert-1 vert-2 p))))
rlm@247 306 #+end_src
rlm@247 307
rlm@247 308 * Feeler Coordinates
rlm@247 309
rlm@247 310 The triangle-related functions above make short work of calculating
rlm@247 311 the positions and orientations of each feeler in world-space.
rlm@247 312
rlm@247 313 #+name: sensors
rlm@247 314 #+begin_src clojure
rlm@247 315 (in-ns 'cortex.touch)
rlm@247 316
rlm@247 317 (defn feeler-pixel-coords
rlm@247 318 "Returns the coordinates of the feelers in pixel space in lists, one
rlm@247 319 list for each triangle, ordered in the same way as (triangles) and
rlm@247 320 (pixel-triangles)."
rlm@247 321 [#^Geometry geo image]
rlm@247 322 (map
rlm@247 323 (fn [pixel-triangle]
rlm@247 324 (filter
rlm@247 325 (fn [coord]
rlm@247 326 (inside-triangle? (->triangle pixel-triangle)
rlm@247 327 (->vector3f coord)))
rlm@247 328 (white-coordinates image (convex-bounds pixel-triangle))))
rlm@247 329 (pixel-triangles geo image)))
rlm@247 330
rlm@247 331 (defn feeler-world-coords
rlm@247 332 "Returns the coordinates of the feelers in world space in lists, one
rlm@247 333 list for each triangle, ordered in the same way as (triangles) and
rlm@247 334 (pixel-triangles)."
rlm@247 335 [#^Geometry geo image]
rlm@247 336 (let [transforms
rlm@247 337 (map #(triangles->affine-transform
rlm@247 338 (->triangle %1) (->triangle %2))
rlm@247 339 (pixel-triangles geo image)
rlm@247 340 (triangles geo))]
rlm@247 341 (map (fn [transform coords]
rlm@247 342 (map #(.mult transform (->vector3f %)) coords))
rlm@247 343 transforms (feeler-pixel-coords geo image))))
rlm@247 344
rlm@247 345 (defn feeler-origins
rlm@247 346 "The world space coordinates of the root of each feeler."
rlm@247 347 [#^Geometry geo image]
rlm@247 348 (reduce concat (feeler-world-coords geo image)))
rlm@247 349
rlm@247 350 (defn feeler-tips
rlm@247 351 "The world space coordinates of the tip of each feeler."
rlm@247 352 [#^Geometry geo image]
rlm@247 353 (let [world-coords (feeler-world-coords geo image)
rlm@247 354 normals
rlm@247 355 (map
rlm@247 356 (fn [triangle]
rlm@247 357 (.calculateNormal triangle)
rlm@247 358 (.clone (.getNormal triangle)))
rlm@247 359 (map ->triangle (triangles geo)))]
rlm@247 360
rlm@247 361 (mapcat (fn [origins normal]
rlm@247 362 (map #(.add % normal) origins))
rlm@247 363 world-coords normals)))
rlm@247 364
rlm@247 365 (defn touch-topology
rlm@247 366 "touch-topology? is not a function."
rlm@247 367 [#^Geometry geo image]
rlm@247 368 (collapse (reduce concat (feeler-pixel-coords geo image))))
rlm@247 369 #+end_src
rlm@247 370 * Simulated Touch
rlm@247 371
rlm@247 372 =(touch-kernel)= generates functions to be called from within a
rlm@247 373 simulation that perform the necessary physics collisions to collect
rlm@247 374 tactile data, and =(touch!)= recursively applies it to every node in
rlm@247 375 the creature.
rlm@238 376
rlm@233 377 #+name: kernel
rlm@233 378 #+begin_src clojure
rlm@233 379 (in-ns 'cortex.touch)
rlm@233 380
rlm@244 381 (defn set-ray [#^Ray ray #^Matrix4f transform
rlm@244 382 #^Vector3f origin #^Vector3f tip]
rlm@243 383 ;; Doing everything locally recduces garbage collection by enough to
rlm@243 384 ;; be worth it.
rlm@243 385 (.mult transform origin (.getOrigin ray))
rlm@243 386
rlm@243 387 (.mult transform tip (.getDirection ray))
rlm@244 388 (.subtractLocal (.getDirection ray) (.getOrigin ray)))
rlm@242 389
rlm@233 390 (defn touch-kernel
rlm@234 391 "Constructs a function which will return tactile sensory data from
rlm@234 392 'geo when called from inside a running simulation"
rlm@234 393 [#^Geometry geo]
rlm@243 394 (if-let
rlm@243 395 [profile (tactile-sensor-profile geo)]
rlm@243 396 (let [ray-reference-origins (feeler-origins geo profile)
rlm@243 397 ray-reference-tips (feeler-tips geo profile)
rlm@244 398 ray-length (tactile-scale geo)
rlm@243 399 current-rays (map (fn [_] (Ray.)) ray-reference-origins)
rlm@243 400 topology (touch-topology geo profile)]
rlm@244 401 (dorun (map #(.setLimit % ray-length) current-rays))
rlm@233 402 (fn [node]
rlm@243 403 (let [transform (.getWorldMatrix geo)]
rlm@243 404 (dorun
rlm@244 405 (map (fn [ray ref-origin ref-tip]
rlm@244 406 (set-ray ray transform ref-origin ref-tip))
rlm@243 407 current-rays ray-reference-origins
rlm@244 408 ray-reference-tips))
rlm@233 409 (vector
rlm@243 410 topology
rlm@233 411 (vec
rlm@243 412 (for [ray current-rays]
rlm@233 413 (do
rlm@233 414 (let [results (CollisionResults.)]
rlm@233 415 (.collideWith node ray results)
rlm@233 416 (let [touch-objects
rlm@233 417 (filter #(not (= geo (.getGeometry %)))
rlm@233 418 results)]
rlm@233 419 [(if (empty? touch-objects)
rlm@243 420 (.getLimit ray)
rlm@243 421 (.getDistance (first touch-objects)))
rlm@243 422 (.getLimit ray)])))))))))))
rlm@233 423
rlm@233 424 (defn touch!
rlm@233 425 "Endow the creature with the sense of touch. Returns a sequence of
rlm@233 426 functions, one for each body part with a tactile-sensor-proile,
rlm@233 427 each of which when called returns sensory data for that body part."
rlm@233 428 [#^Node creature]
rlm@233 429 (filter
rlm@233 430 (comp not nil?)
rlm@233 431 (map touch-kernel
rlm@233 432 (filter #(isa? (class %) Geometry)
rlm@233 433 (node-seq creature)))))
rlm@233 434 #+end_src
rlm@233 435
rlm@247 436 * Visualizing Touch
rlm@238 437
rlm@233 438 #+name: visualization
rlm@233 439 #+begin_src clojure
rlm@233 440 (in-ns 'cortex.touch)
rlm@233 441
rlm@233 442 (defn touch->gray
rlm@245 443 "Convert a pair of [distance, max-distance] into a grayscale pixel."
rlm@233 444 [distance max-distance]
rlm@245 445 (gray (- 255 (rem (int (* 255 (/ distance max-distance))) 256))))
rlm@233 446
rlm@233 447 (defn view-touch
rlm@245 448 "Creates a function which accepts a list of touch sensor-data and
rlm@233 449 displays each element to the screen."
rlm@233 450 []
rlm@233 451 (view-sense
rlm@246 452 (fn [[coords sensor-data]]
rlm@233 453 (let [image (points->image coords)]
rlm@233 454 (dorun
rlm@233 455 (for [i (range (count coords))]
rlm@233 456 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@246 457 (apply touch->gray (sensor-data i))))) image))))
rlm@233 458 #+end_src
rlm@232 459 * Adding Touch to the Worm
rlm@232 460
rlm@232 461 #+name: test-touch
rlm@232 462 #+begin_src clojure
rlm@232 463 (ns cortex.test.touch
rlm@232 464 (:use (cortex world util sense body touch))
rlm@232 465 (:use cortex.test.body))
rlm@232 466
rlm@232 467 (cortex.import/mega-import-jme3)
rlm@232 468
rlm@232 469 (defn test-touch []
rlm@232 470 (let [the-worm (doto (worm) (body!))
rlm@232 471 touch (touch! the-worm)
rlm@232 472 touch-display (view-touch)]
rlm@232 473 (world (nodify [the-worm (floor)])
rlm@232 474 standard-debug-controls
rlm@232 475
rlm@232 476 (fn [world]
rlm@244 477 (speed-up world)
rlm@232 478 (light-up-everything world))
rlm@232 479
rlm@232 480 (fn [world tpf]
rlm@246 481 (touch-display
rlm@246 482 (map #(% (.getRootNode world)) touch))))))
rlm@232 483 #+end_src
rlm@247 484
rlm@247 485 * Headers
rlm@247 486
rlm@247 487 #+name: touch-header
rlm@247 488 #+begin_src clojure
rlm@247 489 (ns cortex.touch
rlm@247 490 "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry
rlm@247 491 to be outfitted with touch sensors with density determined by a UV
rlm@247 492 image. In this way a Geometry can know what parts of itself are
rlm@247 493 touching nearby objects. Reads specially prepared blender files to
rlm@247 494 construct this sense automatically."
rlm@247 495 {:author "Robert McIntyre"}
rlm@247 496 (:use (cortex world util sense))
rlm@247 497 (:use clojure.contrib.def)
rlm@247 498 (:import (com.jme3.scene Geometry Node Mesh))
rlm@247 499 (:import com.jme3.collision.CollisionResults)
rlm@247 500 (:import com.jme3.scene.VertexBuffer$Type)
rlm@247 501 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
rlm@247 502 #+end_src
rlm@247 503
rlm@228 504 * Source Listing
rlm@228 505 * Next
rlm@228 506
rlm@228 507
rlm@226 508 * COMMENT Code Generation
rlm@39 509 #+begin_src clojure :tangle ../src/cortex/touch.clj
rlm@231 510 <<touch-header>>
rlm@231 511 <<meta-data>>
rlm@231 512 <<triangles-1>>
rlm@247 513 <<triangles-2>>
rlm@231 514 <<triangles-3>>
rlm@231 515 <<triangles-4>>
rlm@231 516 <<sensors>>
rlm@231 517 <<kernel>>
rlm@231 518 <<visualization>>
rlm@0 519 #+end_src
rlm@0 520
rlm@232 521
rlm@68 522 #+begin_src clojure :tangle ../src/cortex/test/touch.clj
rlm@232 523 <<test-touch>>
rlm@39 524 #+end_src
rlm@39 525
rlm@0 526
rlm@0 527
rlm@0 528
rlm@32 529
rlm@32 530
rlm@226 531