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annotate org/body.org @ 62:2b9d81017cb7

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moved utility functions out of body and into util
author Robert McIntyre <rlm@mit.edu>
date Mon, 28 Nov 2011 21:28:46 -0700
parents 7b44348af538
children 7f2653ad3199
rev   line source
rlm@0 1 #+title: The BODY!!!
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@4 4 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
rlm@4 5 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 6 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@4 7
rlm@58 8 * Body
rlm@0 9
rlm@0 10 #+srcname: body-main
rlm@0 11 #+begin_src clojure
rlm@44 12 (ns cortex.body
rlm@44 13 (use (cortex world util import)))
rlm@44 14
rlm@0 15 (use 'clojure.contrib.def)
rlm@0 16 (cortex.import/mega-import-jme3)
rlm@0 17 (rlm.rlm-commands/help)
rlm@0 18
rlm@49 19 (defn load-blender-model
rlm@49 20 [^String model]
rlm@49 21 (.loadModel
rlm@49 22 (doto (asset-manager)
rlm@49 23 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@49 24 model))
rlm@49 25
rlm@52 26 (defn skel [node]
rlm@52 27 (doto
rlm@52 28 (.getSkeleton
rlm@52 29 (.getControl node SkeletonControl))
rlm@52 30 ;; this is necessary to force the skeleton to have accurate world
rlm@52 31 ;; transforms before it is rendered to the screen.
rlm@52 32 (.resetAndUpdate)))
rlm@52 33
rlm@50 34
rlm@52 35 (defn green-x-ray []
rlm@51 36 (doto (Material. (asset-manager)
rlm@51 37 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@51 38 (.setColor "Color" ColorRGBA/Green)
rlm@52 39 (-> (.getAdditionalRenderState)
rlm@52 40 (.setDepthTest false))))
rlm@51 41
rlm@51 42
rlm@58 43 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@58 44
rlm@60 45 ;;;;;;;;;;;; eve-style bodies ;;;;;;;;
rlm@58 46
rlm@58 47 (defn worm [segment-length num-segments interstitial-space radius]
rlm@58 48 (letfn [(nth-segment
rlm@58 49 [n]
rlm@58 50 (box segment-length radius radius :mass 0.1
rlm@58 51 :position
rlm@58 52 (Vector3f.
rlm@58 53 (* 2 n (+ interstitial-space segment-length)) 0 0)
rlm@58 54 :name (str "worm-segment" n)
rlm@58 55 :color (ColorRGBA/randomColor)))]
rlm@58 56 (map nth-segment (range num-segments))))
rlm@58 57
rlm@58 58
rlm@58 59 (defn connect-at-midpoint
rlm@58 60 [segmentA segmentB]
rlm@58 61 (let [centerA (.getWorldTranslation segmentA)
rlm@58 62 centerB (.getWorldTranslation segmentB)
rlm@58 63 midpoint (.mult (.add centerA centerB) (float 0.5))
rlm@58 64 pivotA (.subtract midpoint centerA)
rlm@58 65 pivotB (.subtract midpoint centerB)
rlm@58 66 joint (Point2PointJoint.
rlm@58 67 (.getControl segmentA RigidBodyControl)
rlm@58 68 (.getControl segmentB RigidBodyControl)
rlm@58 69 pivotA
rlm@58 70 pivotB)]
rlm@58 71 segmentB))
rlm@58 72
rlm@58 73 (defn point-worm []
rlm@58 74 (let [segments (worm 0.2 5 0.1 0.1)]
rlm@58 75 (dorun (map (partial apply connect-at-midpoint)
rlm@58 76 (partition 2 1 segments)))
rlm@58 77 (nodify "worm" segments)))
rlm@58 78
rlm@58 79 (defn test-worm []
rlm@58 80 (.start
rlm@58 81 (world
rlm@58 82 (doto (Node.)
rlm@58 83 ;;(.attachChild (point-worm))
rlm@58 84 (.attachChild (load-blender-model
rlm@58 85 "Models/anim2/joint-worm.blend"))
rlm@58 86
rlm@58 87 (.attachChild (box 10 1 10
rlm@58 88 :position (Vector3f. 0 -2 0) :mass 0
rlm@58 89 :color (ColorRGBA/Gray))))
rlm@58 90 {
rlm@58 91 "key-space" (fire-cannon-ball)
rlm@58 92 }
rlm@58 93 (fn [world]
rlm@58 94 (enable-debug world)
rlm@58 95 (light-up-everything world)
rlm@58 96 ;;(.setTimer world (NanoTimer.))
rlm@58 97 )
rlm@58 98 no-op)))
rlm@49 99
rlm@56 100 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@56 101
rlm@56 102
rlm@60 103 ;;;;;;;;; Mortor Control ;;;;;;;;;;;;;
rlm@56 104
rlm@56 105
rlm@60 106 ;; surprisingly ehough, terristerial creatures only move by using
rlm@60 107 ;; torque applied to their joints. There's not a single straight line
rlm@60 108 ;; of force in the human body at all! (a straight line of force would
rlm@60 109 ;; correspond to some sort of jet or rocket propulseion)
rlm@60 110
rlm@60 111 (defn torque-controls [control]
rlm@60 112 (let [torques
rlm@60 113 (concat
rlm@60 114 (map #(Vector3f. 0 (Math/sin %) (Math/cos %))
rlm@60 115 (range 0 (* Math/PI 2) (/ (* Math/PI 2) 20)))
rlm@60 116 [Vector3f/UNIT_X])]
rlm@60 117 (map (fn [torque-axis]
rlm@60 118 (fn [torque]
rlm@60 119 (.applyTorque
rlm@60 120 control
rlm@60 121 (.mult (.mult (.getPhysicsRotation control)
rlm@60 122 torque-axis)
rlm@60 123 (float
rlm@60 124 (* (.getMass control) torque))))))
rlm@60 125 torques)))
rlm@56 126
rlm@60 127 (defn motor-map
rlm@60 128 "Take a creature and generate a function that will enable fine
rlm@60 129 grained control over all the creature's limbs."
rlm@60 130 [#^Node creature]
rlm@60 131 (let [controls (keep #(.getControl % RigidBodyControl)
rlm@60 132 (node-seq creature))
rlm@60 133 limb-controls (reduce concat (map torque-controls controls))
rlm@60 134 body-control (partial map #(%1 %2) limb-controls)]
rlm@60 135 body-control))
rlm@56 136
rlm@60 137 (defn test-motor-map
rlm@60 138 "see how torque works."
rlm@60 139 []
rlm@60 140 (let [finger (box 3 0.5 0.5 :position (Vector3f. 0 2 0)
rlm@60 141 :mass 1 :color ColorRGBA/Green)
rlm@60 142 motor-map (motor-map finger)]
rlm@60 143 (world
rlm@60 144 (nodify [finger
rlm@60 145 (box 10 0.5 10 :position (Vector3f. 0 -5 0) :mass 0
rlm@60 146 :color ColorRGBA/Gray)])
rlm@60 147 standard-debug-controls
rlm@60 148 (fn [world]
rlm@60 149 (set-gravity world Vector3f/ZERO)
rlm@60 150 (light-up-everything world)
rlm@60 151 (.setTimer world (NanoTimer.)))
rlm@60 152 (fn [_ _]
rlm@60 153 (dorun (motor-map [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0]))))))
rlm@60 154
rlm@60 155 (defn test-torque
rlm@60 156 "see how torque works."
rlm@60 157 []
rlm@60 158 (let [finger (box 3 0.5 0.5 :position (Vector3f. 0 2 0)
rlm@60 159 :mass 1 :color ColorRGBA/Green)
rlm@60 160 move-left? (atom false)
rlm@60 161 move-right? (atom false)
rlm@60 162 control (.getControl finger RigidBodyControl)]
rlm@60 163 (world
rlm@60 164 (nodify [finger
rlm@60 165 (box 10 0.5 10 :position (Vector3f. 0 -5 0) :mass 0
rlm@60 166 :color ColorRGBA/Gray)])
rlm@60 167 (merge standard-debug-controls
rlm@60 168 {"key-k" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@60 169 "key-l" (fn [_ pressed?] (reset! move-right? pressed?))})
rlm@60 170 (fn [world]
rlm@60 171 (set-gravity world Vector3f/ZERO)
rlm@60 172 (light-up-everything world)
rlm@60 173 (.setTimer world (NanoTimer.)))
rlm@60 174 (fn [_ _]
rlm@60 175 (if @move-left?
rlm@60 176 (.applyTorque control
rlm@60 177 (.mult (.getPhysicsRotation control)
rlm@60 178 (Vector3f. -3 20 0))))
rlm@60 179 (if @move-right?
rlm@60 180 (.applyTorque control (Vector3f. 0 0 1)))))))
rlm@60 181
rlm@60 182 (defn worm-pattern [time]
rlm@60 183 [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
rlm@60 184
rlm@60 185 0 0 0 0 0 0 0 0 0 0 0
rlm@60 186
rlm@60 187 (* 20 (Math/sin (* Math/PI 2 (/ (rem time 300 ) 300))))
rlm@60 188
rlm@60 189 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
rlm@60 190 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
rlm@60 191 0 0 0 0 0 0 0 0 0 0 0 0 0 0
rlm@60 192
rlm@60 193 ])
rlm@60 194
rlm@60 195 ;;;;;;;;;;;;;;;;;; Proprioception ;;;;;;;;;;;;;;;;;;;;;;;;
rlm@60 196
rlm@60 197 ;; this is not used as just getting the rotation would be simpler.
rlm@60 198 (defn proprioception-senses
rlm@60 199 "given a control , create a sequence of thunks that will report the
rlm@60 200 rotation of the control's object along the same axes as the motor-control map."
rlm@60 201 [control]
rlm@60 202 (let [torques
rlm@60 203 (concat
rlm@60 204 (map #(Vector3f. 0 (Math/sin %) (Math/cos %))
rlm@60 205 (range 0 (* Math/PI 2) (/ (* Math/PI 2) 20)))
rlm@60 206 [Vector3f/UNIT_X])]
rlm@60 207 (map (fn [torque-axis]
rlm@60 208 (fn []
rlm@60 209 (.getPhysicsRotation control)))
rlm@60 210 torques)))
rlm@60 211
rlm@60 212 (defn orthogonal-vect
rlm@60 213 "Return a vector orthogonal to the current one"
rlm@60 214 [vector]
rlm@60 215 (let [x (.getX vector)
rlm@60 216 y (.getY vector)
rlm@60 217 z (.getZ vector)]
rlm@60 218 (cond
rlm@60 219 (not= x (float 0)) (Vector3f. (- z) 0 x)
rlm@60 220 (not= y (float 0)) (Vector3f. 0 (- z) y)
rlm@60 221 (not= z (float 0)) (Vector3f. 0 (- z) y)
rlm@60 222 true Vector3f/ZERO)))
rlm@60 223
rlm@60 224 ;; from
rlm@60 225 ;; http://stackoverflow.com/questions/3684269/ \\
rlm@60 226 ;; component-of-a-quaternion-rotation-around-an-axis
rlm@60 227 (defn rot-about-axis [#^Quaternion q #^Vector3f axis]
rlm@60 228 (let [basis-1 (orthogonal-vect axis)
rlm@60 229 basis-2 (.cross axis basis-1)
rlm@60 230 rotated (.mult q basis-1)
rlm@60 231 alpha (.dot basis-1 (.project rotated basis-1))
rlm@60 232 beta (.dot basis-2 (.project rotated basis-2))]
rlm@60 233 (Math/atan2 beta alpha)))
rlm@60 234
rlm@60 235
rlm@60 236 (defn check-rot [a]
rlm@60 237 (rot-about-axis
rlm@60 238 (doto (Quaternion.)
rlm@60 239 (.fromAngleAxis
rlm@60 240 (float a)
rlm@60 241 (Vector3f. 1 0 0))) (Vector3f. 1 0 0)))
rlm@60 242
rlm@60 243 (defn relative-positions [joint]
rlm@60 244 (let [object-a (.getUserObject (.getBodyA joint))
rlm@60 245 object-b (.getUserObject (.getBodyB joint))
rlm@60 246 arm-a
rlm@60 247 (.normalize
rlm@60 248 (.subtract
rlm@60 249 (.localToWorld object-a (.getPivotA joint) nil)
rlm@60 250 (.getWorldTranslation object-a)))
rlm@60 251 rotate-a
rlm@60 252 (doto (Matrix3f.)
rlm@60 253 (.fromStartEndVectors arm-a Vector3f/UNIT_X))
rlm@60 254 arm-b
rlm@60 255 (.mult
rlm@60 256 rotate-a
rlm@60 257 (.normalize
rlm@60 258 (.subtract
rlm@60 259 (.localToWorld object-b (.getPivotB joint) nil)
rlm@60 260 (.getWorldTranslation object-b))))
rlm@60 261 pitch
rlm@60 262 (.angleBetween
rlm@60 263 (.normalize (Vector2f. (.getX arm-b) (.getY arm-b)))
rlm@60 264 (Vector2f. 1 0))
rlm@60 265 yaw
rlm@60 266 (.angleBetween
rlm@60 267 (.normalize (Vector2f. (.getX arm-b) (.getZ arm-b)))
rlm@60 268 (Vector2f. 1 0))
rlm@60 269
rlm@60 270 roll
rlm@61 271 (rot-about-axis
rlm@61 272 (.mult
rlm@61 273 (.getLocalRotation object-b)
rlm@61 274 (doto (Quaternion.)
rlm@61 275 (.fromRotationMatrix rotate-a)))
rlm@61 276 arm-b)
rlm@60 277 ]
rlm@60 278
rlm@60 279
rlm@60 280
rlm@60 281 ;;(println-repl
rlm@60 282 ;; "arm-b is " arm-b)
rlm@60 283 ;;(println-repl
rlm@60 284 ;; "pivot-b is " (.getPivotB joint))
rlm@60 285 ;;(println-repl
rlm@60 286 ;; (format "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n"
rlm@60 287 ;; pitch yaw roll))
rlm@60 288 [pitch yaw roll]))
rlm@60 289
rlm@60 290
rlm@60 291
rlm@60 292
rlm@60 293
rlm@60 294
rlm@60 295
rlm@60 296 (defn test-worm-control
rlm@60 297 []
rlm@60 298 (let [worm (point-worm)
rlm@60 299 time (atom 0)
rlm@60 300 worm-motor-map (motor-map worm)
rlm@61 301 ;;body-map (proprioception worm)
rlm@60 302 debug-segments
rlm@60 303 (map
rlm@60 304 #(doto
rlm@60 305 (make-shape
rlm@60 306 (assoc base-shape
rlm@60 307 :name "debug-line"
rlm@60 308 :physical? false
rlm@60 309 :shape
rlm@60 310 (com.jme3.scene.shape.Line.
rlm@60 311 (.add (.getWorldTranslation %)
rlm@60 312 (Vector3f. -0.2 0 0 ))
rlm@60 313 (.add (.getWorldTranslation %)
rlm@60 314 (Vector3f. 0.2 0 0)))))
rlm@60 315 (.setMaterial (green-x-ray)))
rlm@60 316 (drop 1 (node-seq worm)))]
rlm@60 317 (world
rlm@60 318 (nodify [worm
rlm@60 319 (box 10 0.5 10 :position (Vector3f. 0 -5 0) :mass 0
rlm@60 320 :color ColorRGBA/Gray)])
rlm@60 321 standard-debug-controls
rlm@60 322 (fn [world]
rlm@60 323 (.attachChild (.getRootNode world) (nodify debug-segments))
rlm@60 324 (enable-debug world)
rlm@60 325 (light-up-everything world)
rlm@60 326 (com.aurellem.capture.Capture/captureVideo
rlm@60 327 world
rlm@60 328 (file-str "/home/r/proj/cortex/tmp/moving-worm")))
rlm@60 329
rlm@60 330 (fn [_ _]
rlm@60 331 (dorun
rlm@60 332 (map
rlm@60 333 (fn [worm-segment
rlm@60 334 debug-segment]
rlm@60 335 (.rotate
rlm@60 336 debug-segment
rlm@60 337 (Quaternion. (float 0) (float 0.05) (float 0) (float 1))))
rlm@60 338 (drop 1 (node-seq worm))
rlm@60 339 debug-segments))
rlm@60 340 (swap! time inc)
rlm@61 341 ;;(println-repl (with-out-str (clojure.pprint/pprint (doall (body-map)))))
rlm@60 342 (Thread/sleep 200)
rlm@60 343 (dorun (worm-motor-map
rlm@60 344 (worm-pattern @time)))))))
rlm@60 345
rlm@60 346
rlm@60 347
rlm@60 348
rlm@60 349
rlm@60 350 (defn test-prop
rlm@60 351 "see how torque works."
rlm@60 352 []
rlm@60 353 (let [hand (box 1 0.2 0.2 :position (Vector3f. 0 2 0)
rlm@60 354 :mass 0 :color ColorRGBA/Green)
rlm@60 355 finger (box 1 0.2 0.2 :position (Vector3f. 2.4 2 0)
rlm@61 356 :mass 1 :color (ColorRGBA. 0.20 0.40 0.99 1.0))
rlm@60 357 floor (box 10 0.5 10 :position (Vector3f. 0 -5 0)
rlm@60 358 :mass 0 :color ColorRGBA/Gray)
rlm@60 359
rlm@60 360 move-up? (atom false)
rlm@60 361 move-down? (atom false)
rlm@60 362 move-left? (atom false)
rlm@60 363 move-right? (atom false)
rlm@60 364 roll-left? (atom false)
rlm@60 365 roll-right? (atom false)
rlm@60 366 control (.getControl finger RigidBodyControl)
rlm@60 367 joint
rlm@60 368 (doto
rlm@60 369 (Point2PointJoint.
rlm@60 370 (.getControl hand RigidBodyControl)
rlm@60 371 control
rlm@60 372 (Vector3f. 1.2 0 0)
rlm@60 373 (Vector3f. -1.2 0 0 ))
rlm@60 374 (.setCollisionBetweenLinkedBodys false))
rlm@60 375 time (atom 0)
rlm@60 376 ]
rlm@60 377 (world
rlm@60 378 (nodify [hand finger floor])
rlm@60 379 (merge standard-debug-controls
rlm@60 380 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@60 381 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@60 382 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@60 383 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@60 384 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@60 385 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@60 386 (fn [world]
rlm@61 387 (set-gravity world (Vector3f. 0 0 0))
rlm@60 388 (.setMoveSpeed (.getFlyByCamera world) 50)
rlm@60 389 (.setRotationSpeed (.getFlyByCamera world) 50)
rlm@60 390 (light-up-everything world)
rlm@60 391 (.setTimer world (NanoTimer.))
rlm@60 392 )
rlm@60 393 (fn [_ _]
rlm@60 394 (if @move-up?
rlm@60 395 (.applyTorque control
rlm@60 396 (.mult (.getPhysicsRotation control)
rlm@61 397 (Vector3f. 0 0 10))))
rlm@60 398 (if @move-down?
rlm@60 399 (.applyTorque control
rlm@60 400 (.mult (.getPhysicsRotation control)
rlm@61 401 (Vector3f. 0 0 -10))))
rlm@60 402 (if @move-left?
rlm@60 403 (.applyTorque control
rlm@60 404 (.mult (.getPhysicsRotation control)
rlm@61 405 (Vector3f. 0 10 0))))
rlm@60 406 (if @move-right?
rlm@60 407 (.applyTorque control
rlm@60 408 (.mult (.getPhysicsRotation control)
rlm@61 409 (Vector3f. 0 -10 0))))
rlm@60 410 (if @roll-left?
rlm@60 411 (.applyTorque control
rlm@60 412 (.mult (.getPhysicsRotation control)
rlm@61 413 (Vector3f. -1 0 0))))
rlm@60 414 (if @roll-right?
rlm@60 415 (.applyTorque control
rlm@60 416 (.mult (.getPhysicsRotation control)
rlm@61 417 (Vector3f. 1 0 0))))
rlm@60 418
rlm@60 419 (if (= 0 (rem (swap! time inc) 2000))
rlm@61 420 (do
rlm@61 421
rlm@61 422 (apply
rlm@61 423 (comp
rlm@61 424 println-repl
rlm@61 425 #(format "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n" %1 %2 %3))
rlm@61 426 (relative-positions joint))))))))
rlm@56 427
rlm@0 428 #+end_src
rlm@0 429
rlm@60 430
rlm@61 431 * COMMENT failed-clojure-code
rlm@61 432 #+begin_src clojure
rlm@61 433 ;;(.loadModel
rlm@61 434 ;; (doto (asset-manager)
rlm@61 435 ;; (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@61 436 ;; "Models/person/person.blend")
rlm@61 437
rlm@61 438 (defn view-model [^String model]
rlm@61 439 (view
rlm@61 440 (.loadModel
rlm@61 441 (doto (asset-manager)
rlm@61 442 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@61 443 model)))
rlm@61 444
rlm@61 445 (defn load-blender-scene [^String model]
rlm@61 446 (.loadModel
rlm@61 447 (doto (asset-manager)
rlm@61 448 (.registerLoader BlenderLoader (into-array String ["blend"])))
rlm@61 449 model))
rlm@61 450
rlm@61 451 (defn worm
rlm@61 452 []
rlm@61 453 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))
rlm@61 454
rlm@61 455 (defn oto
rlm@61 456 []
rlm@61 457 (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))
rlm@61 458
rlm@61 459 (defn sinbad
rlm@61 460 []
rlm@61 461 (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))
rlm@61 462
rlm@61 463 (defn worm-blender
rlm@61 464 []
rlm@61 465 (first (seq (.getChildren (load-blender-model
rlm@61 466 "Models/anim2/simple-worm.blend")))))
rlm@61 467
rlm@61 468 (defn body
rlm@61 469 "given a node with a SkeletonControl, will produce a body sutiable
rlm@61 470 for AI control with movement and proprioception."
rlm@61 471 [node]
rlm@61 472 (let [skeleton-control (.getControl node SkeletonControl)
rlm@61 473 krc (KinematicRagdollControl.)]
rlm@61 474 (comment
rlm@61 475 (dorun
rlm@61 476 (map #(.addBoneName krc %)
rlm@61 477 ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
rlm@61 478 ;;"mid2" "mid3" "tail" "head"]
rlm@61 479 )))
rlm@61 480 (.addControl node krc)
rlm@61 481 (.setRagdollMode krc)
rlm@61 482 )
rlm@61 483 node
rlm@61 484 )
rlm@61 485 (defn show-skeleton [node]
rlm@61 486 (let [sd
rlm@61 487
rlm@61 488 (doto
rlm@61 489 (SkeletonDebugger. "aurellem-skel-debug"
rlm@61 490 (skel node))
rlm@61 491 (.setMaterial (green-x-ray)))]
rlm@61 492 (.attachChild node sd)
rlm@61 493 node))
rlm@61 494
rlm@61 495
rlm@61 496
rlm@61 497 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@61 498
rlm@61 499 ;; this could be a good way to give objects special properties like
rlm@61 500 ;; being eyes and the like
rlm@61 501
rlm@61 502 (.getUserData
rlm@61 503 (.getChild
rlm@61 504 (load-blender-model "Models/property/test.blend") 0)
rlm@61 505 "properties")
rlm@61 506
rlm@61 507 ;; the properties are saved along with the blender file.
rlm@61 508 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@61 509
rlm@61 510
rlm@61 511
rlm@61 512
rlm@61 513 (defn init-debug-skel-node
rlm@61 514 [f debug-node skeleton]
rlm@61 515 (let [bones
rlm@61 516 (map #(.getBone skeleton %)
rlm@61 517 (range (.getBoneCount skeleton)))]
rlm@61 518 (dorun (map #(.setUserControl % true) bones))
rlm@61 519 (dorun (map (fn [b]
rlm@61 520 (println (.getName b)
rlm@61 521 " -- " (f b)))
rlm@61 522 bones))
rlm@61 523 (dorun
rlm@61 524 (map #(.attachChild
rlm@61 525 debug-node
rlm@61 526 (doto
rlm@61 527 (sphere 0.1
rlm@61 528 :position (f %)
rlm@61 529 :physical? false)
rlm@61 530 (.setMaterial (green-x-ray))))
rlm@61 531 bones)))
rlm@61 532 debug-node)
rlm@61 533
rlm@61 534 (import jme3test.bullet.PhysicsTestHelper)
rlm@61 535
rlm@61 536
rlm@61 537 (defn test-zzz [the-worm world value]
rlm@61 538 (if (not value)
rlm@61 539 (let [skeleton (skel the-worm)]
rlm@61 540 (println-repl "enabling bones")
rlm@61 541 (dorun
rlm@61 542 (map
rlm@61 543 #(.setUserControl (.getBone skeleton %) true)
rlm@61 544 (range (.getBoneCount skeleton))))
rlm@61 545
rlm@61 546
rlm@61 547 (let [b (.getBone skeleton 2)]
rlm@61 548 (println-repl "moving " (.getName b))
rlm@61 549 (println-repl (.getLocalPosition b))
rlm@61 550 (.setUserTransforms b
rlm@61 551 Vector3f/UNIT_X
rlm@61 552 Quaternion/IDENTITY
rlm@61 553 ;;(doto (Quaternion.)
rlm@61 554 ;; (.fromAngles (/ Math/PI 2)
rlm@61 555 ;; 0
rlm@61 556 ;; 0
rlm@61 557
rlm@61 558 (Vector3f. 1 1 1))
rlm@61 559 )
rlm@61 560
rlm@61 561 (println-repl "hi! <3"))))
rlm@61 562
rlm@61 563
rlm@61 564 (defn test-ragdoll []
rlm@61 565
rlm@61 566 (let [the-worm
rlm@61 567
rlm@61 568 ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
rlm@61 569 (doto (show-skeleton (worm-blender))
rlm@61 570 (.setLocalTranslation (Vector3f. 0 10 0))
rlm@61 571 ;;(worm)
rlm@61 572 ;;(oto)
rlm@61 573 ;;(sinbad)
rlm@61 574 )
rlm@61 575 ]
rlm@61 576
rlm@61 577
rlm@61 578 (.start
rlm@61 579 (world
rlm@61 580 (doto (Node.)
rlm@61 581 (.attachChild the-worm))
rlm@61 582 {"key-return" (fire-cannon-ball)
rlm@61 583 "key-space" (partial test-zzz the-worm)
rlm@61 584 }
rlm@61 585 (fn [world]
rlm@61 586 (light-up-everything world)
rlm@61 587 (PhysicsTestHelper/createPhysicsTestWorld
rlm@61 588 (.getRootNode world)
rlm@61 589 (asset-manager)
rlm@61 590 (.getPhysicsSpace
rlm@61 591 (.getState (.getStateManager world) BulletAppState)))
rlm@61 592 (set-gravity world Vector3f/ZERO)
rlm@61 593 ;;(.setTimer world (NanoTimer.))
rlm@61 594 ;;(org.lwjgl.input.Mouse/setGrabbed false)
rlm@61 595 )
rlm@61 596 no-op
rlm@61 597 )
rlm@61 598
rlm@61 599
rlm@61 600 )))
rlm@61 601
rlm@61 602
rlm@61 603 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@61 604 ;;; here is the ragdoll stuff
rlm@61 605
rlm@61 606 (def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
rlm@61 607 (def mesh worm-mesh)
rlm@61 608
rlm@61 609 (.getFloatBuffer mesh VertexBuffer$Type/Position)
rlm@61 610 (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
rlm@61 611 (.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex))
rlm@61 612
rlm@61 613
rlm@61 614 (defn position [index]
rlm@61 615 (.get
rlm@61 616 (.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
rlm@61 617 index))
rlm@61 618
rlm@61 619 (defn bones [index]
rlm@61 620 (.get
rlm@61 621 (.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex))
rlm@61 622 index))
rlm@61 623
rlm@61 624 (defn bone-weights [index]
rlm@61 625 (.get
rlm@61 626 (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
rlm@61 627 index))
rlm@61 628
rlm@61 629
rlm@61 630
rlm@61 631 (defn vertex-bones [vertex]
rlm@61 632 (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
rlm@61 633
rlm@61 634 (defn vertex-weights [vertex]
rlm@61 635 (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
rlm@61 636
rlm@61 637 (defn vertex-position [index]
rlm@61 638 (let [offset (* index 3)]
rlm@61 639 (Vector3f. (position offset)
rlm@61 640 (position (inc offset))
rlm@61 641 (position (inc(inc offset))))))
rlm@61 642
rlm@61 643 (def vertex-info (juxt vertex-position vertex-bones vertex-weights))
rlm@61 644
rlm@61 645 (defn bone-control-color [index]
rlm@61 646 (get {[1 0 0 0] ColorRGBA/Red
rlm@61 647 [1 2 0 0] ColorRGBA/Magenta
rlm@61 648 [2 0 0 0] ColorRGBA/Blue}
rlm@61 649 (vertex-bones index)
rlm@61 650 ColorRGBA/White))
rlm@61 651
rlm@61 652 (defn influence-color [index bone-num]
rlm@61 653 (get
rlm@61 654 {(float 0) ColorRGBA/Blue
rlm@61 655 (float 0.5) ColorRGBA/Green
rlm@61 656 (float 1) ColorRGBA/Red}
rlm@61 657 ;; find the weight of the desired bone
rlm@61 658 ((zipmap (vertex-bones index)(vertex-weights index))
rlm@61 659 bone-num)
rlm@61 660 ColorRGBA/Blue))
rlm@61 661
rlm@61 662 (def worm-vertices (set (map vertex-info (range 60))))
rlm@61 663
rlm@61 664
rlm@61 665 (defn test-info []
rlm@61 666 (let [points (Node.)]
rlm@61 667 (dorun
rlm@61 668 (map #(.attachChild points %)
rlm@61 669 (map #(sphere 0.01
rlm@61 670 :position (vertex-position %)
rlm@61 671 :color (influence-color % 1)
rlm@61 672 :physical? false)
rlm@61 673 (range 60))))
rlm@61 674 (view points)))
rlm@61 675
rlm@61 676
rlm@61 677 (defrecord JointControl [joint physics-space]
rlm@61 678 PhysicsControl
rlm@61 679 (setPhysicsSpace [this space]
rlm@61 680 (dosync
rlm@61 681 (ref-set (:physics-space this) space))
rlm@61 682 (.addJoint space (:joint this)))
rlm@61 683 (update [this tpf])
rlm@61 684 (setSpatial [this spatial])
rlm@61 685 (render [this rm vp])
rlm@61 686 (getPhysicsSpace [this] (deref (:physics-space this)))
rlm@61 687 (isEnabled [this] true)
rlm@61 688 (setEnabled [this state]))
rlm@61 689
rlm@61 690 (defn add-joint
rlm@61 691 "Add a joint to a particular object. When the object is added to the
rlm@61 692 PhysicsSpace of a simulation, the joint will also be added"
rlm@61 693 [object joint]
rlm@61 694 (let [control (JointControl. joint (ref nil))]
rlm@61 695 (.addControl object control))
rlm@61 696 object)
rlm@61 697
rlm@61 698
rlm@61 699 (defn hinge-world
rlm@61 700 []
rlm@61 701 (let [sphere1 (sphere)
rlm@61 702 sphere2 (sphere 1 :position (Vector3f. 3 3 3))
rlm@61 703 joint (Point2PointJoint.
rlm@61 704 (.getControl sphere1 RigidBodyControl)
rlm@61 705 (.getControl sphere2 RigidBodyControl)
rlm@61 706 Vector3f/ZERO (Vector3f. 3 3 3))]
rlm@61 707 (add-joint sphere1 joint)
rlm@61 708 (doto (Node. "hinge-world")
rlm@61 709 (.attachChild sphere1)
rlm@61 710 (.attachChild sphere2))))
rlm@61 711
rlm@61 712
rlm@61 713 (defn test-joint []
rlm@61 714 (view (hinge-world)))
rlm@61 715
rlm@61 716 ;; (defn copier-gen []
rlm@61 717 ;; (let [count (atom 0)]
rlm@61 718 ;; (fn [in]
rlm@61 719 ;; (swap! count inc)
rlm@61 720 ;; (clojure.contrib.duck-streams/copy
rlm@61 721 ;; in (File. (str "/home/r/tmp/mao-test/clojure-images/"
rlm@61 722 ;; ;;/home/r/tmp/mao-test/clojure-images
rlm@61 723 ;; (format "%08d.png" @count)))))))
rlm@61 724 ;; (defn decrease-framerate []
rlm@61 725 ;; (map
rlm@61 726 ;; (copier-gen)
rlm@61 727 ;; (sort
rlm@61 728 ;; (map first
rlm@61 729 ;; (partition
rlm@61 730 ;; 4
rlm@61 731 ;; (filter #(re-matches #".*.png$" (.getCanonicalPath %))
rlm@61 732 ;; (file-seq
rlm@61 733 ;; (file-str
rlm@61 734 ;; "/home/r/media/anime/mao-temp/images"))))))))
rlm@61 735
rlm@61 736
rlm@61 737
rlm@61 738 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@61 739
rlm@61 740 (defn proprioception
rlm@61 741 "Create a proprioception map that reports the rotations of the
rlm@61 742 various limbs of the creature's body"
rlm@61 743 [creature]
rlm@61 744 [#^Node creature]
rlm@61 745 (let [
rlm@61 746 nodes (node-seq creature)
rlm@61 747 joints
rlm@61 748 (map
rlm@61 749 :joint
rlm@61 750 (filter
rlm@61 751 #(isa? (class %) JointControl)
rlm@61 752 (reduce
rlm@61 753 concat
rlm@61 754 (map (fn [node]
rlm@61 755 (map (fn [num] (.getControl node num))
rlm@61 756 (range (.getNumControls node))))
rlm@61 757 nodes))))]
rlm@61 758 (fn []
rlm@61 759 (reduce concat (map relative-positions (list (first joints)))))))
rlm@61 760
rlm@61 761
rlm@61 762 #+end_src
rlm@0 763
rlm@0 764
rlm@0 765
rlm@0 766
rlm@0 767
rlm@0 768
rlm@0 769
rlm@0 770 * COMMENT generate Source.
rlm@44 771 #+begin_src clojure :tangle ../src/cortex/body.clj
rlm@0 772 <<body-main>>
rlm@0 773 #+end_src
rlm@0 774
rlm@60 775