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faster touch creation code
author Robert McIntyre <rlm@mit.edu>
date Mon, 09 Jan 2012 06:02:06 -0700
parents 6d7c17c847a3
children e70ec4bba96b
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 (rlm.rlm-commands/help)
rlm@73 52
rlm@87 53 (declare joint-create)
rlm@83 54
rlm@83 55 (defn load-bullet []
rlm@84 56 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 57 (.enqueue
rlm@84 58 sim
rlm@84 59 (fn []
rlm@84 60 (.stop sim)))
rlm@84 61 (.start sim)))
rlm@83 62
rlm@73 63 (defn load-blender-model
rlm@73 64 "Load a .blend file using an asset folder relative path."
rlm@73 65 [^String model]
rlm@73 66 (.loadModel
rlm@73 67 (doto (asset-manager)
rlm@73 68 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 69 model))
rlm@73 70
rlm@74 71 (defn meta-data [blender-node key]
rlm@74 72 (if-let [data (.getUserData blender-node "properties")]
rlm@74 73 (.findValue data key)
rlm@74 74 nil))
rlm@73 75
rlm@78 76 (defn blender-to-jme
rlm@78 77 "Convert from Blender coordinates to JME coordinates"
rlm@78 78 [#^Vector3f in]
rlm@78 79 (Vector3f. (.getX in)
rlm@78 80 (.getZ in)
rlm@78 81 (- (.getY in))))
rlm@74 82
rlm@79 83 (defn jme-to-blender
rlm@79 84 "Convert from JME coordinates to Blender coordinates"
rlm@79 85 [#^Vector3f in]
rlm@79 86 (Vector3f. (.getX in)
rlm@79 87 (- (.getZ in))
rlm@79 88 (.getY in)))
rlm@79 89
rlm@78 90 (defn joint-targets
rlm@78 91 "Return the two closest two objects to the joint object, ordered
rlm@78 92 from bottom to top according to the joint's rotation."
rlm@78 93 [#^Node parts #^Node joint]
rlm@78 94 ;;(println (meta-data joint "joint"))
rlm@78 95 (.getWorldRotation joint)
rlm@78 96 (loop [radius (float 0.01)]
rlm@78 97 (let [results (CollisionResults.)]
rlm@78 98 (.collideWith
rlm@78 99 parts
rlm@78 100 (BoundingBox. (.getWorldTranslation joint)
rlm@78 101 radius radius radius)
rlm@78 102 results)
rlm@78 103 (let [targets
rlm@78 104 (distinct
rlm@78 105 (map #(.getGeometry %) results))]
rlm@78 106 (if (>= (count targets) 2)
rlm@78 107 (sort-by
rlm@79 108 #(let [v
rlm@79 109 (jme-to-blender
rlm@79 110 (.mult
rlm@79 111 (.inverse (.getWorldRotation joint))
rlm@79 112 (.subtract (.getWorldTranslation %)
rlm@79 113 (.getWorldTranslation joint))))]
rlm@79 114 (println-repl (.getName %) ":" v)
rlm@79 115 (.dot (Vector3f. 1 1 1)
rlm@79 116 v))
rlm@78 117 (take 2 targets))
rlm@78 118 (recur (float (* radius 2))))))))
rlm@74 119
rlm@87 120 (defn world-to-local
rlm@87 121 "Convert the world coordinates into coordinates relative to the
rlm@87 122 object (i.e. local coordinates), taking into account the rotation
rlm@87 123 of object."
rlm@87 124 [#^Spatial object world-coordinate]
rlm@87 125 (let [out (Vector3f.)]
rlm@88 126 (.worldToLocal object world-coordinate out) out))
rlm@87 127
rlm@87 128 (defmulti joint-dispatch
rlm@87 129 "Translate blender pseudo-joints into real JME joints."
rlm@88 130 (fn [constraints & _]
rlm@87 131 (:type constraints)))
rlm@87 132
rlm@87 133 (defmethod joint-dispatch :point
rlm@87 134 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 135 (println-repl "creating POINT2POINT joint")
rlm@87 136 (Point2PointJoint.
rlm@87 137 control-a
rlm@87 138 control-b
rlm@87 139 pivot-a
rlm@87 140 pivot-b))
rlm@87 141
rlm@87 142 (defmethod joint-dispatch :hinge
rlm@87 143 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 144 (println-repl "creating HINGE joint")
rlm@87 145 (let [axis
rlm@87 146 (if-let
rlm@87 147 [axis (:axis constraints)]
rlm@87 148 axis
rlm@87 149 Vector3f/UNIT_X)
rlm@87 150 [limit-1 limit-2] (:limit constraints)
rlm@87 151 hinge-axis
rlm@87 152 (.mult
rlm@87 153 rotation
rlm@87 154 (blender-to-jme axis))]
rlm@87 155 (doto
rlm@87 156 (HingeJoint.
rlm@87 157 control-a
rlm@87 158 control-b
rlm@87 159 pivot-a
rlm@87 160 pivot-b
rlm@87 161 hinge-axis
rlm@87 162 hinge-axis)
rlm@87 163 (.setLimit limit-1 limit-2))))
rlm@87 164
rlm@87 165 (defmethod joint-dispatch :cone
rlm@87 166 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 167 (let [limit-xz (:limit-xz constraints)
rlm@87 168 limit-xy (:limit-xy constraints)
rlm@87 169 twist (:twist constraints)]
rlm@87 170
rlm@87 171 (println-repl "creating CONE joint")
rlm@87 172 (println-repl rotation)
rlm@87 173 (println-repl
rlm@87 174 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 175 (println-repl
rlm@87 176 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 177 (println-repl
rlm@87 178 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 179 (doto
rlm@87 180 (ConeJoint.
rlm@87 181 control-a
rlm@87 182 control-b
rlm@87 183 pivot-a
rlm@87 184 pivot-b
rlm@87 185 rotation
rlm@87 186 rotation)
rlm@87 187 (.setLimit (float limit-xz)
rlm@87 188 (float limit-xy)
rlm@87 189 (float twist)))))
rlm@87 190
rlm@88 191 (defn connect
rlm@87 192 "here are some examples:
rlm@87 193 {:type :point}
rlm@87 194 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 195 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 196
rlm@89 197 {:type :cone :limit-xz 0]
rlm@89 198 :limit-xy 0]
rlm@89 199 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 200 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 201 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 202 control-b (.getControl obj-b RigidBodyControl)
rlm@87 203 joint-center (.getWorldTranslation joint)
rlm@87 204 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 205 pivot-a (world-to-local obj-a joint-center)
rlm@87 206 pivot-b (world-to-local obj-b joint-center)]
rlm@89 207
rlm@87 208 (if-let [constraints
rlm@87 209 (map-vals
rlm@87 210 eval
rlm@87 211 (read-string
rlm@87 212 (meta-data joint "joint")))]
rlm@89 213 ;; A side-effect of creating a joint registers
rlm@89 214 ;; it with both physics objects which in turn
rlm@89 215 ;; will register the joint with the physics system
rlm@89 216 ;; when the simulation is started.
rlm@87 217 (do
rlm@87 218 (println-repl "creating joint between"
rlm@87 219 (.getName obj-a) "and" (.getName obj-b))
rlm@87 220 (joint-dispatch constraints
rlm@87 221 control-a control-b
rlm@87 222 pivot-a pivot-b
rlm@87 223 joint-rotation))
rlm@87 224 (println-repl "could not find joint meta-data!"))))
rlm@87 225
rlm@78 226 (defn assemble-creature [#^Node pieces joints]
rlm@78 227 (dorun
rlm@78 228 (map
rlm@78 229 (fn [geom]
rlm@78 230 (let [physics-control
rlm@78 231 (RigidBodyControl.
rlm@78 232 (HullCollisionShape.
rlm@78 233 (.getMesh geom))
rlm@78 234 (if-let [mass (meta-data geom "mass")]
rlm@78 235 (do
rlm@78 236 (println-repl
rlm@78 237 "setting" (.getName geom) "mass to" (float mass))
rlm@78 238 (float mass))
rlm@78 239 (float 1)))]
rlm@78 240
rlm@78 241 (.addControl geom physics-control)))
rlm@78 242 (filter #(isa? (class %) Geometry )
rlm@78 243 (node-seq pieces))))
rlm@77 244
rlm@78 245 (dorun
rlm@78 246 (map
rlm@78 247 (fn [joint]
rlm@78 248 (let [[obj-a obj-b]
rlm@78 249 (joint-targets pieces joint)]
rlm@88 250 (connect obj-a obj-b joint)))
rlm@78 251 joints))
rlm@78 252 pieces)
rlm@74 253
rlm@78 254 (defn blender-creature [blender-path]
rlm@78 255 (let [model (load-blender-model blender-path)
rlm@78 256 joints
rlm@78 257 (if-let [joint-node (.getChild model "joints")]
rlm@78 258 (seq (.getChildren joint-node))
rlm@78 259 (do (println-repl "could not find joints node")
rlm@78 260 []))]
rlm@78 261 (assemble-creature model joints)))
rlm@74 262
rlm@78 263 (def hand "Models/creature1/one.blend")
rlm@74 264
rlm@78 265 (def worm "Models/creature1/try-again.blend")
rlm@78 266
rlm@90 267 (def touch "Models/creature1/touch.blend")
rlm@90 268
rlm@90 269 (defn worm-model [] (load-blender-model worm))
rlm@90 270
rlm@80 271 (defn x-ray [#^ColorRGBA color]
rlm@80 272 (doto (Material. (asset-manager)
rlm@80 273 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 274 (.setColor "Color" color)
rlm@80 275 (-> (.getAdditionalRenderState)
rlm@80 276 (.setDepthTest false))))
rlm@80 277
rlm@78 278 (defn test-creature [thing]
rlm@80 279 (let [x-axis
rlm@80 280 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 281 y-axis
rlm@80 282 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 283 z-axis
rlm@80 284 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 285 (world
rlm@78 286 (nodify [(blender-creature thing)
rlm@81 287 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 288 :color ColorRGBA/Gray :mass 0)
rlm@80 289 x-axis y-axis z-axis
rlm@80 290 ])
rlm@78 291 standard-debug-controls
rlm@90 292 (fn [world]
rlm@90 293 (light-up-everything world)
rlm@90 294 (enable-debug world)
rlm@90 295 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 296 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 297 (.setTimer world (NanoTimer.))
rlm@90 298 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@90 299 (speed-up world)
rlm@90 300 )
rlm@90 301 no-op
rlm@90 302 ;;(let [timer (atom 0)]
rlm@90 303 ;; (fn [_ _]
rlm@90 304 ;; (swap! timer inc)
rlm@90 305 ;; (if (= (rem @timer 60) 0)
rlm@90 306 ;; (println-repl (float (/ @timer 60))))))
rlm@90 307 )))
rlm@90 308
rlm@90 309
rlm@91 310 (defn colorful []
rlm@91 311 (.getChild (worm-model) "worm-21"))
rlm@90 312
rlm@90 313 (import jme3tools.converters.ImageToAwt)
rlm@90 314
rlm@90 315 (import ij.ImagePlus)
rlm@90 316
rlm@90 317 (defn triangle-indices
rlm@90 318 "Get the triangle vertex indices of a given triangle from a given
rlm@90 319 mesh."
rlm@90 320 [#^Mesh mesh triangle-index]
rlm@90 321 (let [indices (int-array 3)]
rlm@90 322 (.getTriangle mesh triangle-index indices)
rlm@90 323 (vec indices)))
rlm@90 324
rlm@90 325 (defn uv-coord
rlm@90 326 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 327 [#^Mesh mesh vertex-index]
rlm@90 328 (let [UV-buffer
rlm@90 329 (.getData
rlm@90 330 (.getBuffer
rlm@90 331 mesh
rlm@90 332 VertexBuffer$Type/TexCoord))]
rlm@91 333 (Vector2f.
rlm@91 334 (.get UV-buffer (* vertex-index 2))
rlm@91 335 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 336
rlm@91 337 (defn touch-receptor-image
rlm@91 338 "Return the touch-sensor distribution image in ImagePlus format."
rlm@91 339 [#^Geometry obj]
rlm@90 340 (let
rlm@91 341 [mat (.getMaterial obj)
rlm@90 342 texture
rlm@90 343 (.getTextureValue
rlm@90 344 (.getTextureParam
rlm@90 345 mat
rlm@90 346 MaterialHelper/TEXTURE_TYPE_DIFFUSE))
rlm@90 347 im (.getImage texture)]
rlm@90 348 (ImagePlus.
rlm@90 349 "UV-map"
rlm@90 350 (ImageToAwt/convert im false false 0))))
rlm@90 351
rlm@91 352
rlm@91 353 (import ij.process.ImageProcessor)
rlm@91 354 (import java.awt.image.BufferedImage)
rlm@91 355
rlm@91 356 (defprotocol Frame
rlm@91 357 (frame [this]))
rlm@91 358
rlm@91 359 (extend-type BufferedImage
rlm@91 360 Frame
rlm@91 361 (frame [image]
rlm@91 362 (merge
rlm@91 363 (apply
rlm@91 364 hash-map
rlm@91 365 (interleave
rlm@91 366 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 367 (vector x y)))
rlm@91 368 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 369 (let [data (.getRGB image x y)]
rlm@91 370 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 371 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 372 :b (bit-and 0x0000ff data)))))))
rlm@91 373 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 374
rlm@91 375
rlm@91 376 (extend-type ImagePlus
rlm@91 377 Frame
rlm@91 378 (frame [image+]
rlm@91 379 (frame (.getBufferedImage image+))))
rlm@91 380
rlm@91 381 (defn rgb->int [r g b]
rlm@91 382 (+ (bit-shift-left r 16)
rlm@91 383 (bit-shift-left g 8)
rlm@91 384 b))
rlm@91 385
rlm@91 386
rlm@91 387
rlm@91 388 (defn filter-pixels
rlm@91 389 "List the coordinates of all pixels matching pred."
rlm@91 390 [pred #^ImageProcessor ip]
rlm@91 391 (let
rlm@91 392 [width (.getWidth ip)
rlm@91 393 height (.getHeight ip)]
rlm@91 394 ((fn accumulate [x y matches]
rlm@91 395 (cond
rlm@91 396 (>= y height) matches
rlm@91 397 (>= x width) (recur 0 (inc y) matches)
rlm@91 398 (pred (.getPixel ip x y))
rlm@91 399 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 400 :else (recur (inc x) y matches)))
rlm@91 401 0 0 [])))
rlm@91 402
rlm@91 403
rlm@91 404
rlm@91 405
rlm@91 406
rlm@91 407 (defn filter-pixels*
rlm@91 408 [pred #^ImageProcessor ip]
rlm@91 409 (let
rlm@91 410 [width (.getWidth ip)
rlm@91 411 height (.getHeight ip)
rlm@91 412 coords (ref [])
rlm@91 413 process
rlm@91 414 (fn [[start end]]
rlm@91 415 (loop [i start]
rlm@91 416 (if (<= i end)
rlm@91 417 (do
rlm@91 418 (let [column (rem i height)
rlm@91 419 row (unchecked-divide i width)]
rlm@91 420 (if (pred (.getPixel ip row column))
rlm@91 421 (dosync (ref-set
rlm@91 422 coords
rlm@91 423 (conj @coords (Vector2f. column row)))))
rlm@91 424
rlm@91 425 (recur (inc i)))))))
rlm@91 426 ]
rlm@91 427
rlm@91 428
rlm@91 429 (dorun
rlm@91 430 (pmap process (partition
rlm@91 431 2
rlm@91 432 (conj (vec (range 0 (* width height) 100))
rlm@91 433 (* width height)))))
rlm@91 434 @coords))
rlm@91 435
rlm@91 436
rlm@91 437
rlm@91 438 (comment
rlm@91 439 ((->
rlm@91 440 f
rlm@91 441 (partial x)
rlm@91 442 (partial y)
rlm@91 443 (partial z))))
rlm@91 444
rlm@91 445 (defn filter-pixels**
rlm@91 446 [pred #^ImageProcessor ip]
rlm@91 447 (let [width (.getWidth ip)
rlm@91 448 height (.getHeight ip)]
rlm@91 449 ((fn f [x1 x2 y1 y2]
rlm@91 450 (println x1)
rlm@91 451 (if
rlm@91 452 (and
rlm@91 453 (= x1 (dec x2))
rlm@91 454 (= y1 (dec y2)))
rlm@91 455 (if (pred (.getPixel ip x1 y1))
rlm@91 456 [[x1 y1]]
rlm@91 457 [])
rlm@91 458 (let
rlm@91 459 [xm (+ x1 (/ (- x2 x1) 2))
rlm@91 460 ym (+ y1 (/ (- y2 y1) 2))]
rlm@91 461 (apply concat
rlm@91 462 (pvalues
rlm@91 463 ;;(f x1 xm y1 ym)
rlm@91 464 ;;(f xm x2 y1 ym)
rlm@91 465 ;;(f x1 xm ym y2)
rlm@91 466 (f xm x2 ym y2))))))
rlm@91 467 0 width 0 height)))
rlm@91 468
rlm@91 469
rlm@91 470
rlm@91 471
rlm@91 472
rlm@91 473
rlm@91 474
rlm@91 475
rlm@91 476 (defn white-coordinates*
rlm@91 477 [#^ImageProcessor ip]
rlm@91 478 (filter-pixels** #(== % -1) ip))
rlm@91 479
rlm@91 480
rlm@91 481 (defn white-coordinates
rlm@91 482 "List the coordinates of all the white pixels in an image."
rlm@91 483 [#^ImageProcessor ip]
rlm@91 484 (let [height (.getHeight ip)
rlm@91 485 width (.getWidth ip)
rlm@91 486 coords (transient [])]
rlm@91 487 (dorun
rlm@91 488 (for [x (range width)
rlm@91 489 y (range height)]
rlm@91 490 (let [pixel (.getPixel ip x y)]
rlm@91 491 (if (= pixel -1)
rlm@91 492 (conj! coords (Vector2f. x y))))))
rlm@91 493 (persistent! coords)))
rlm@91 494
rlm@91 495
rlm@91 496
rlm@91 497
rlm@91 498
rlm@91 499
rlm@91 500
rlm@91 501
rlm@91 502 (def white {:r 255, :g 255, :b 255})
rlm@91 503 (def black {:r 0, :g 0, :b 0})
rlm@91 504
rlm@91 505
rlm@91 506 (defn same-side? [p1 p2 ref p]
rlm@91 507 (<=
rlm@91 508 0
rlm@91 509 (.dot
rlm@91 510 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 511 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 512
rlm@91 513 (defn inside-triangle?
rlm@91 514 [vert-1 vert-2 vert-3 p]
rlm@91 515 (and
rlm@91 516 (same-side? vert-1 vert-2 vert-3 p)
rlm@91 517 (same-side? vert-2 vert-3 vert-1 p)
rlm@91 518 (same-side? vert-3 vert-1 vert-2 p)))
rlm@91 519
rlm@91 520
rlm@91 521 (defn white? [color]
rlm@91 522 (and
rlm@91 523 (= (:r color) 255)
rlm@91 524 (= (:b color) 255)
rlm@91 525 (= (:g color) 255)))
rlm@91 526
rlm@91 527
rlm@90 528 ;; for each triangle in the mesh,
rlm@90 529 ;; get the normal to the triangle,
rlm@90 530 ;; look at the UV touch map, restricted to that triangle,
rlm@90 531 ;; get the positions of those touch sensors in geometry-relative
rlm@90 532 ;; coordinates.
rlm@91 533 (defn tactile-coords [#^Geometry obj]
rlm@91 534 (let [mesh (.getMesh obj)
rlm@91 535 num-triangles (.getTriangleCount mesh)
rlm@91 536 num-verticies (.getVertexCount mesh)
rlm@91 537 uv-coord (partial uv-coord mesh)
rlm@91 538 triangle-indices (partial triangle-indices mesh)
rlm@91 539 receptors (touch-receptor-image obj)
rlm@91 540 ]
rlm@91 541 (map
rlm@91 542 (fn [[tri-1 tri-2 tri-3]]
rlm@91 543 (let [width (.getWidth receptors)
rlm@91 544 height (.getHeight receptors)
rlm@91 545 uv-1 (uv-coord tri-1)
rlm@91 546 uv-2 (uv-coord tri-2)
rlm@91 547 uv-3 (uv-coord tri-3)
rlm@91 548 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@91 549 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@91 550 max-x (Math/ceil (* width (apply max x-coords)))
rlm@91 551 min-x (Math/floor (* width (apply min x-coords)))
rlm@91 552 max-y (Math/ceil (* height (apply max y-coords)))
rlm@91 553 min-y (Math/floor (* height (apply min y-coords)))
rlm@91 554
rlm@91 555 image-1 (Vector2f. (* width (.getX uv-1))
rlm@91 556 (* height (.getY uv-1)))
rlm@91 557 image-2 (Vector2f. (* width (.getX uv-2))
rlm@91 558 (* height (.getY uv-2)))
rlm@91 559 image-3 (Vector2f. (* width (.getX uv-3))
rlm@91 560 (* height (.getY uv-3)))
rlm@91 561 left-corner
rlm@91 562 (Vector2f. min-x min-y)
rlm@91 563
rlm@91 564 ]
rlm@91 565
rlm@91 566 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@91 567 (let [processor (.crop (.getProcessor receptors))
rlm@91 568 image (frame (.getBufferedImage processor))]
rlm@91 569 (with-meta
rlm@91 570 (filter-keys
rlm@91 571 (fn [[x y]]
rlm@91 572 (inside-triangle?
rlm@91 573 (.subtract image-1 left-corner)
rlm@91 574 (.subtract image-2 left-corner)
rlm@91 575 (.subtract image-3 left-corner)
rlm@91 576 (Vector2f. x y)))
rlm@91 577
rlm@91 578
rlm@91 579 (filter-vals white? image))
rlm@91 580 {:image
rlm@91 581 (comment
rlm@91 582 (.getBufferedImage
rlm@91 583 (doto processor
rlm@91 584 (.flipVertical))))
rlm@91 585 }
rlm@91 586 ))
rlm@91 587 )) (map triangle-indices (range num-triangles)))))
rlm@91 588
rlm@91 589
rlm@91 590
rlm@91 591
rlm@91 592
rlm@91 593
rlm@91 594
rlm@91 595 (defn all-names []
rlm@91 596 (concat
rlm@91 597 (re-split #"\n" (slurp (file-str
rlm@91 598 "/home/r/proj/names/dist.female.first")))
rlm@91 599 (re-split #"\n" (slurp (file-str
rlm@91 600 "/home/r/proj/names/dist.male.first")))
rlm@91 601 (re-split #"\n" (slurp (file-str
rlm@91 602 "/home/r/proj/names/dist.all.last")))))
rlm@90 603
rlm@90 604
rlm@90 605
rlm@90 606
rlm@90 607
rlm@90 608
rlm@90 609
rlm@90 610
rlm@90 611
rlm@90 612 (defrecord LulzLoader [])
rlm@90 613 (defprotocol Lulzable (load-lulz [this]))
rlm@90 614 (extend-type LulzLoader
rlm@90 615 Lulzable
rlm@90 616 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 617
rlm@78 618
rlm@78 619 (defn world-setup [joint]
rlm@90 620 (let [joint-position (Vector3f. 0 0 0)
rlm@83 621 joint-rotation
rlm@83 622 (.toRotationMatrix
rlm@83 623 (.mult
rlm@83 624 (doto (Quaternion.)
rlm@83 625 (.fromAngleAxis
rlm@83 626 (* 1 (/ Math/PI 4))
rlm@85 627 (Vector3f. -1 0 0)))
rlm@85 628 (doto (Quaternion.)
rlm@85 629 (.fromAngleAxis
rlm@85 630 (* 1 (/ Math/PI 2))
rlm@85 631 (Vector3f. 0 0 1)))))
rlm@84 632 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 633
rlm@83 634 origin (doto
rlm@83 635 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 636 :position top-position))
rlm@83 637 top (doto
rlm@78 638 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 639 :position top-position)
rlm@83 640
rlm@78 641 (.addControl
rlm@78 642 (RigidBodyControl.
rlm@83 643 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 644 bottom (doto
rlm@78 645 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 646 :position (Vector3f. 0 0 0))
rlm@83 647 (.addControl
rlm@78 648 (RigidBodyControl.
rlm@78 649 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 650 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 651 :color ColorRGBA/Gray :mass 0)
rlm@78 652 a (.getControl top RigidBodyControl)
rlm@78 653 b (.getControl bottom RigidBodyControl)]
rlm@83 654
rlm@78 655 (cond
rlm@83 656 (= joint :cone)
rlm@83 657
rlm@83 658 (doto (ConeJoint.
rlm@83 659 a b
rlm@87 660 (world-to-local top joint-position)
rlm@87 661 (world-to-local bottom joint-position)
rlm@83 662 joint-rotation
rlm@83 663 joint-rotation
rlm@83 664 )
rlm@78 665
rlm@83 666
rlm@83 667 (.setLimit (* (/ 10) Math/PI)
rlm@83 668 (* (/ 4) Math/PI)
rlm@83 669 0)))
rlm@83 670 [origin top bottom table]))
rlm@78 671
rlm@78 672 (defn test-joint [joint]
rlm@83 673 (let [[origin top bottom floor] (world-setup joint)
rlm@78 674 control (.getControl top RigidBodyControl)
rlm@78 675 move-up? (atom false)
rlm@78 676 move-down? (atom false)
rlm@78 677 move-left? (atom false)
rlm@78 678 move-right? (atom false)
rlm@78 679 roll-left? (atom false)
rlm@78 680 roll-right? (atom false)
rlm@78 681 timer (atom 0)]
rlm@78 682
rlm@78 683 (world
rlm@83 684 (nodify [top bottom floor origin])
rlm@78 685 (merge standard-debug-controls
rlm@78 686 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 687 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 688 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 689 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 690 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 691 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 692
rlm@78 693 (fn [world]
rlm@78 694 (light-up-everything world)
rlm@78 695 (enable-debug world)
rlm@78 696 (set-gravity world (Vector3f. 0 0 0))
rlm@78 697 )
rlm@78 698
rlm@78 699 (fn [world _]
rlm@78 700 (if (zero? (rem (swap! timer inc) 100))
rlm@78 701 (do
rlm@78 702 ;; (println-repl @timer)
rlm@78 703 (.attachChild (.getRootNode world)
rlm@78 704 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 705 :position (.getWorldTranslation top)
rlm@83 706 :physical? false))
rlm@83 707 (.attachChild (.getRootNode world)
rlm@83 708 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 709 :position (.getWorldTranslation bottom)
rlm@83 710 :physical? false))))
rlm@83 711
rlm@78 712 (if @move-up?
rlm@78 713 (.applyTorque control
rlm@78 714 (.mult (.getPhysicsRotation control)
rlm@78 715 (Vector3f. 0 0 10))))
rlm@78 716 (if @move-down?
rlm@78 717 (.applyTorque control
rlm@78 718 (.mult (.getPhysicsRotation control)
rlm@78 719 (Vector3f. 0 0 -10))))
rlm@78 720 (if @move-left?
rlm@78 721 (.applyTorque control
rlm@78 722 (.mult (.getPhysicsRotation control)
rlm@78 723 (Vector3f. 0 10 0))))
rlm@78 724 (if @move-right?
rlm@78 725 (.applyTorque control
rlm@78 726 (.mult (.getPhysicsRotation control)
rlm@78 727 (Vector3f. 0 -10 0))))
rlm@78 728 (if @roll-left?
rlm@78 729 (.applyTorque control
rlm@78 730 (.mult (.getPhysicsRotation control)
rlm@78 731 (Vector3f. -1 0 0))))
rlm@78 732 (if @roll-right?
rlm@78 733 (.applyTorque control
rlm@78 734 (.mult (.getPhysicsRotation control)
rlm@78 735 (Vector3f. 1 0 0))))))))
rlm@83 736
rlm@83 737
rlm@83 738
rlm@87 739 #+end_src
rlm@83 740
rlm@87 741 #+results: body-1
rlm@87 742 : #'cortex.silly/test-joint
rlm@78 743
rlm@78 744
rlm@78 745 * COMMENT purgatory
rlm@78 746 #+begin_src clojure
rlm@77 747 (defn bullet-trans []
rlm@77 748 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 749 :position (Vector3f. -10 5 0))
rlm@77 750 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 751 :position (Vector3f. -10 -5 0)
rlm@77 752 :mass 0)
rlm@77 753 control-a (.getControl obj-a RigidBodyControl)
rlm@77 754 control-b (.getControl obj-b RigidBodyControl)
rlm@77 755 swivel
rlm@77 756 (.toRotationMatrix
rlm@77 757 (doto (Quaternion.)
rlm@77 758 (.fromAngleAxis (/ Math/PI 2)
rlm@77 759 Vector3f/UNIT_X)))]
rlm@77 760 (doto
rlm@77 761 (ConeJoint.
rlm@77 762 control-a control-b
rlm@77 763 (Vector3f. 0 5 0)
rlm@77 764 (Vector3f. 0 -5 0)
rlm@77 765 swivel swivel)
rlm@77 766 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 767 (/ Math/PI 4)
rlm@77 768 (* Math/PI 0.8)))
rlm@77 769 (world (nodify
rlm@77 770 [obj-a obj-b])
rlm@77 771 standard-debug-controls
rlm@77 772 enable-debug
rlm@77 773 no-op)))
rlm@74 774
rlm@74 775
rlm@77 776 (defn bullet-trans* []
rlm@77 777 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 778 :position (Vector3f. 5 0 0)
rlm@77 779 :mass 90)
rlm@77 780 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 781 :position (Vector3f. -5 0 0)
rlm@77 782 :mass 0)
rlm@77 783 control-a (.getControl obj-a RigidBodyControl)
rlm@77 784 control-b (.getControl obj-b RigidBodyControl)
rlm@77 785 move-up? (atom nil)
rlm@77 786 move-down? (atom nil)
rlm@77 787 move-left? (atom nil)
rlm@77 788 move-right? (atom nil)
rlm@77 789 roll-left? (atom nil)
rlm@77 790 roll-right? (atom nil)
rlm@77 791 force 100
rlm@77 792 swivel
rlm@77 793 (.toRotationMatrix
rlm@77 794 (doto (Quaternion.)
rlm@77 795 (.fromAngleAxis (/ Math/PI 2)
rlm@77 796 Vector3f/UNIT_X)))
rlm@77 797 x-move
rlm@77 798 (doto (Matrix3f.)
rlm@77 799 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 800 (.normalize (Vector3f. 1 1 0))))
rlm@77 801
rlm@77 802 timer (atom 0)]
rlm@77 803 (doto
rlm@77 804 (ConeJoint.
rlm@77 805 control-a control-b
rlm@77 806 (Vector3f. -8 0 0)
rlm@77 807 (Vector3f. 2 0 0)
rlm@77 808 ;;swivel swivel
rlm@77 809 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 810 x-move Matrix3f/IDENTITY
rlm@77 811 )
rlm@77 812 (.setCollisionBetweenLinkedBodys false)
rlm@77 813 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 814 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 815 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 816 (world (nodify
rlm@77 817 [obj-a obj-b])
rlm@77 818 (merge standard-debug-controls
rlm@77 819 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 820 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 821 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 822 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 823 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 824 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 825
rlm@77 826 (fn [world]
rlm@77 827 (enable-debug world)
rlm@77 828 (set-gravity world Vector3f/ZERO)
rlm@77 829 )
rlm@77 830
rlm@77 831 (fn [world _]
rlm@77 832
rlm@77 833 (if @move-up?
rlm@77 834 (.applyForce control-a
rlm@77 835 (Vector3f. force 0 0)
rlm@77 836 (Vector3f. 0 0 0)))
rlm@77 837 (if @move-down?
rlm@77 838 (.applyForce control-a
rlm@77 839 (Vector3f. (- force) 0 0)
rlm@77 840 (Vector3f. 0 0 0)))
rlm@77 841 (if @move-left?
rlm@77 842 (.applyForce control-a
rlm@77 843 (Vector3f. 0 force 0)
rlm@77 844 (Vector3f. 0 0 0)))
rlm@77 845 (if @move-right?
rlm@77 846 (.applyForce control-a
rlm@77 847 (Vector3f. 0 (- force) 0)
rlm@77 848 (Vector3f. 0 0 0)))
rlm@77 849
rlm@77 850 (if @roll-left?
rlm@77 851 (.applyForce control-a
rlm@77 852 (Vector3f. 0 0 force)
rlm@77 853 (Vector3f. 0 0 0)))
rlm@77 854 (if @roll-right?
rlm@77 855 (.applyForce control-a
rlm@77 856 (Vector3f. 0 0 (- force))
rlm@77 857 (Vector3f. 0 0 0)))
rlm@77 858
rlm@77 859 (if (zero? (rem (swap! timer inc) 100))
rlm@77 860 (.attachChild
rlm@77 861 (.getRootNode world)
rlm@77 862 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 863 :physical? false :position
rlm@77 864 (.getWorldTranslation obj-a)))))
rlm@77 865 )
rlm@77 866 ))
rlm@77 867
rlm@77 868
rlm@77 869
rlm@73 870 #+end_src
rlm@73 871
rlm@73 872
rlm@73 873 * COMMENT generate source
rlm@73 874 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 875 <<body-1>>
rlm@73 876 #+end_src
rlm@73 877