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1 (ns org.aurellem.worm-learn
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2 "General worm creation framework."
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3 {:author "Robert McIntyre"}
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4 (:use (cortex world util import body sense
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5 hearing touch vision proprioception movement))
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6 (:import (com.jme3.math ColorRGBA Vector3f))
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7 (:import java.io.File)
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8 (:import com.jme3.audio.AudioNode)
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9 (:import com.aurellem.capture.RatchetTimer)
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10 (:import (com.aurellem.capture Capture IsoTimer))
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11 (:import (com.jme3.math Vector3f ColorRGBA)))
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12
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13
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14 (dorun (cortex.import/mega-import-jme3))
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15 (rlm.rlm-commands/help)
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16
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17
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18 (defn worm-segment []
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19 (load-blender-model "Models/worm-segment/worm-segment.blend"))
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20
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21
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22 (defn worm []
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23 (load-blender-model "Models/worm-segment/worm.blend"))
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24
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25
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26 (defn gen-worm
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27 "create a creature acceptable for testing as a replacement for the
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28 worm."
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29 []
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30 (nodify
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31 "worm"
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32 [(nodify
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33 "eyes"
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34 [(doto
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35 (Node. "eye1")
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36 (.setLocalTranslation (Vector3f. 0 -1.1 0))
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37 (.setUserData
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38
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39 "eye"
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40 "(let [retina
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41 \"Models/test-creature/retina-small.png\"]
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42 {:all retina :red retina
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43 :green retina :blue retina})"))])
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44 (box
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45 0.2 0.2 0.2
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46 :name "worm-segment"
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47 :position (Vector3f. 0 0 0)
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48 :color ColorRGBA/Orange)]))
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49
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50
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51 (defn test-basic-touch
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52 "Testing touch:
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53 You should see a cube fall onto a table. There is a cross-shaped
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54 display which reports the cube's sensation of touch. This display
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55 should change when the cube hits the table, and whenever you hit
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56 the cube with balls.
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57
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58 Keys:
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59 <space> : fire ball"
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60 ([] (test-basic-touch false))
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61 ([record?]
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62 (let [head (doto (worm) (body!))
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63 touch (touch! head)
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64 touch-display (view-touch)]
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65 (world
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66 (nodify [head
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67 (box 10 1 10 :position (Vector3f. 0 -10 0)
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68 :color ColorRGBA/Gray :mass 0)])
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69
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70 standard-debug-controls
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71
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72 (fn [world]
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73 (let [timer (IsoTimer. 60)]
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74 (.setTimer world timer)
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75 (display-dilated-time world timer))
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76 (if record?
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77 (Capture/captureVideo
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78 world
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79 (File. "/home/r/proj/cortex/render/touch-cube/main-view/")))
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80 (speed-up world)
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81 (light-up-everything world))
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82
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83 (fn [world tpf]
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84 (touch-display
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85 (map #(% (.getRootNode world)) touch)
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86 (if record?
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87 (File. "/home/r/proj/cortex/render/touch-cube/touch/"))))))))
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