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annotate org/body.org @ 57:37a3256e1ed3

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author Robert McIntyre <rlm@mit.edu>
date Wed, 16 Nov 2011 02:42:50 -0700
parents 8b571c137f81
children 25142dad240a
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@53 8 * COMMENT 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@44 19 ;;(.loadModel
rlm@44 20 ;; (doto (asset-manager)
rlm@44 21 ;; (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44 22 ;; "Models/person/person.blend")
rlm@44 23
rlm@44 24 (defn view-model [^String model]
rlm@44 25 (view
rlm@44 26 (.loadModel
rlm@44 27 (doto (asset-manager)
rlm@44 28 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44 29 model)))
rlm@49 30
rlm@49 31 (defn load-blender-scene [^String model]
rlm@49 32 (.loadModel
rlm@49 33 (doto (asset-manager)
rlm@49 34 (.registerLoader BlenderLoader (into-array String ["blend"])))
rlm@49 35 model))
rlm@49 36
rlm@49 37 (defn load-blender-model
rlm@49 38 [^String model]
rlm@49 39 (.loadModel
rlm@49 40 (doto (asset-manager)
rlm@49 41 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@49 42 model))
rlm@49 43
rlm@49 44 (defn worm
rlm@49 45 []
rlm@50 46 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))
rlm@49 47
rlm@50 48 (defn oto
rlm@49 49 []
rlm@49 50 (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))
rlm@49 51
rlm@50 52 (defn sinbad
rlm@50 53 []
rlm@50 54 (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))
rlm@50 55
rlm@50 56 (defn worm-blender
rlm@50 57 []
rlm@50 58 (first (seq (.getChildren (load-blender-model
rlm@56 59 "Models/anim2/simple-worm.blend")))))
rlm@50 60
rlm@52 61 (defn skel [node]
rlm@52 62 (doto
rlm@52 63 (.getSkeleton
rlm@52 64 (.getControl node SkeletonControl))
rlm@52 65 ;; this is necessary to force the skeleton to have accurate world
rlm@52 66 ;; transforms before it is rendered to the screen.
rlm@52 67 (.resetAndUpdate)))
rlm@52 68
rlm@50 69 (defprotocol Textual
rlm@50 70 (text [something]
rlm@50 71 "Display a detailed textual analysis of the given object."))
rlm@50 72
rlm@50 73 (extend-type com.jme3.scene.Node
rlm@50 74 Textual
rlm@50 75 (text [node]
rlm@50 76 (println "Total Vertexes: " (.getVertexCount node))
rlm@50 77 (println "Total Triangles: " (.getTriangleCount node))
rlm@50 78 (println "Controls :")
rlm@50 79 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@50 80 (println "Has " (.getQuantity node) " Children:")
rlm@50 81 (doall (map text (.getChildren node)))))
rlm@50 82
rlm@50 83 (extend-type com.jme3.animation.AnimControl
rlm@50 84 Textual
rlm@50 85 (text [control]
rlm@50 86 (let [animations (.getAnimationNames control)]
rlm@52 87 (println "Animation Control with " (count animations) " animation(s):")
rlm@50 88 (dorun (map println animations)))))
rlm@50 89
rlm@50 90 (extend-type com.jme3.animation.SkeletonControl
rlm@50 91 Textual
rlm@50 92 (text [control]
rlm@50 93 (println "Skeleton Control with the following skeleton:")
rlm@50 94 (println (.getSkeleton control))))
rlm@50 95
rlm@52 96 (extend-type com.jme3.bullet.control.KinematicRagdollControl
rlm@52 97 Textual
rlm@52 98 (text [control]
rlm@52 99 (println "Ragdoll Control")))
rlm@52 100
rlm@52 101
rlm@50 102 (extend-type com.jme3.scene.Geometry
rlm@50 103 Textual
rlm@50 104 (text [control]
rlm@50 105 (println "...geo...")))
rlm@50 106
rlm@50 107
rlm@50 108
rlm@50 109
rlm@50 110 (defn body
rlm@52 111 "given a node with a SkeletonControl, will produce a body sutiable
rlm@52 112 for AI control with movement and proprioception."
rlm@50 113 [node]
rlm@50 114 (let [skeleton-control (.getControl node SkeletonControl)
rlm@53 115 krc (KinematicRagdollControl.)]
rlm@53 116 (comment
rlm@50 117 (dorun
rlm@50 118 (map #(.addBoneName krc %)
rlm@53 119 ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
rlm@53 120 ;;"mid2" "mid3" "tail" "head"]
rlm@53 121 )))
rlm@50 122 (.addControl node krc)
rlm@52 123 (.setRagdollMode krc)
rlm@52 124 )
rlm@50 125 node
rlm@50 126 )
rlm@50 127
rlm@52 128 (defn green-x-ray []
rlm@51 129 (doto (Material. (asset-manager)
rlm@51 130 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@51 131 (.setColor "Color" ColorRGBA/Green)
rlm@52 132 (-> (.getAdditionalRenderState)
rlm@52 133 (.setDepthTest false))))
rlm@51 134
rlm@53 135 (defn show-skeleton [node]
rlm@50 136 (let [sd
rlm@51 137
rlm@50 138 (doto
rlm@51 139 (SkeletonDebugger. "aurellem-skel-debug"
rlm@51 140 (skel node))
rlm@51 141 (.setMaterial (green-x-ray)))]
rlm@53 142 (.attachChild node sd)
rlm@53 143 node))
rlm@50 144
rlm@51 145
rlm@50 146
rlm@50 147 (defn init-debug-skel-node
rlm@50 148 [f debug-node skeleton]
rlm@50 149 (let [bones
rlm@50 150 (map #(.getBone skeleton %)
rlm@50 151 (range (.getBoneCount skeleton)))]
rlm@50 152 (dorun (map #(.setUserControl % true) bones))
rlm@50 153 (dorun (map (fn [b]
rlm@50 154 (println (.getName b)
rlm@50 155 " -- " (f b)))
rlm@50 156 bones))
rlm@50 157 (dorun
rlm@50 158 (map #(.attachChild
rlm@50 159 debug-node
rlm@51 160 (doto
rlm@51 161 (sphere 0.1
rlm@51 162 :position (f %)
rlm@51 163 :physical? false)
rlm@51 164 (.setMaterial (green-x-ray))))
rlm@50 165 bones)))
rlm@50 166 debug-node)
rlm@50 167
rlm@52 168 (import jme3test.bullet.PhysicsTestHelper)
rlm@50 169
rlm@53 170
rlm@53 171 (defn test-zzz [the-worm world value]
rlm@53 172 (if (not value)
rlm@53 173 (let [skeleton (skel the-worm)]
rlm@53 174 (println-repl "enabling bones")
rlm@53 175 (dorun
rlm@53 176 (map
rlm@53 177 #(.setUserControl (.getBone skeleton %) true)
rlm@53 178 (range (.getBoneCount skeleton))))
rlm@53 179
rlm@53 180
rlm@56 181 (let [b (.getBone skeleton 2)]
rlm@53 182 (println-repl "moving " (.getName b))
rlm@53 183 (println-repl (.getLocalPosition b))
rlm@53 184 (.setUserTransforms b
rlm@54 185 Vector3f/UNIT_X
rlm@53 186 Quaternion/IDENTITY
rlm@54 187 ;;(doto (Quaternion.)
rlm@54 188 ;; (.fromAngles (/ Math/PI 2)
rlm@54 189 ;; 0
rlm@54 190 ;; 0
rlm@54 191
rlm@53 192 (Vector3f. 1 1 1))
rlm@53 193 )
rlm@53 194
rlm@53 195 (println-repl "hi! <3"))))
rlm@53 196
rlm@53 197
rlm@50 198 (defn test-ragdoll []
rlm@50 199
rlm@50 200 (let [the-worm
rlm@53 201
rlm@52 202 ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
rlm@53 203 (doto (show-skeleton (worm-blender))
rlm@53 204 (.setLocalTranslation (Vector3f. 0 10 0))
rlm@53 205 ;;(worm)
rlm@52 206 ;;(oto)
rlm@52 207 ;;(sinbad)
rlm@50 208 )
rlm@50 209 ]
rlm@50 210
rlm@50 211
rlm@50 212 (.start
rlm@50 213 (world
rlm@50 214 (doto (Node.)
rlm@50 215 (.attachChild the-worm))
rlm@53 216 {"key-return" (fire-cannon-ball)
rlm@53 217 "key-space" (partial test-zzz the-worm)
rlm@53 218 }
rlm@50 219 (fn [world]
rlm@50 220 (light-up-everything world)
rlm@52 221 (PhysicsTestHelper/createPhysicsTestWorld
rlm@52 222 (.getRootNode world)
rlm@52 223 (asset-manager)
rlm@52 224 (.getPhysicsSpace
rlm@52 225 (.getState (.getStateManager world) BulletAppState)))
rlm@53 226 (set-gravity world Vector3f/ZERO)
rlm@50 227 ;;(.setTimer world (NanoTimer.))
rlm@50 228 ;;(org.lwjgl.input.Mouse/setGrabbed false)
rlm@50 229 )
rlm@50 230 no-op
rlm@50 231 )
rlm@50 232
rlm@50 233
rlm@50 234 )))
rlm@50 235
rlm@55 236 (defn joint-control
rlm@55 237 [joint]
rlm@56 238 (let [physics-space (ref nil)]
rlm@55 239 (reify PhysicsControl
rlm@55 240 (setPhysicsSpace [this space]
rlm@55 241 (dosync
rlm@55 242 (ref-set physics-space space))
rlm@55 243 (.addJoint space joint))
rlm@55 244 (update [this tpf])
rlm@55 245 (setSpatial [this spatial])
rlm@55 246 (render [this rm vp])
rlm@55 247 (getPhysicsSpace [this] (deref physics-space))
rlm@56 248 (isEnabled [this] true)
rlm@56 249 (setEnabled [this state]))))
rlm@50 250
rlm@55 251 (defn add-joint
rlm@55 252 "Add a joint to a particular object. When the object is added to the
rlm@55 253 PhysicsSpace of a simulation, the joint will also be added"
rlm@55 254 [object joint]
rlm@55 255 (let [control (joint-control joint)]
rlm@55 256 (.addControl object control))
rlm@55 257 object)
rlm@50 258
rlm@55 259 (defn hinge-world
rlm@55 260 []
rlm@55 261 (let [sphere1 (sphere)
rlm@55 262 sphere2 (sphere 1 :position (Vector3f. 3 3 3))
rlm@55 263 joint (Point2PointJoint.
rlm@55 264 (.getControl sphere1 RigidBodyControl)
rlm@55 265 (.getControl sphere2 RigidBodyControl)
rlm@55 266 Vector3f/ZERO (Vector3f. 3 3 3))]
rlm@55 267 (add-joint sphere1 joint)
rlm@55 268 (doto (Node. "hinge-world")
rlm@55 269 (.attachChild sphere1)
rlm@55 270 (.attachChild sphere2))))
rlm@55 271
rlm@56 272 (defn test-joint []
rlm@56 273 (view (hinge-world)))
rlm@55 274
rlm@49 275
rlm@49 276
rlm@49 277
rlm@56 278 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@56 279 ;;; here is the ragdoll stuff
rlm@56 280
rlm@56 281 (def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
rlm@56 282 (def mesh worm-mesh)
rlm@56 283
rlm@56 284 (.getFloatBuffer mesh VertexBuffer$Type/Position)
rlm@56 285 (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
rlm@56 286 (.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex))
rlm@56 287
rlm@56 288
rlm@56 289 (defn position [index]
rlm@56 290 (.get
rlm@56 291 (.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
rlm@56 292 index))
rlm@56 293
rlm@56 294 (defn bones [index]
rlm@56 295 (.get
rlm@56 296 (.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex))
rlm@56 297 index))
rlm@56 298
rlm@56 299 (defn bone-weights [index]
rlm@56 300 (.get
rlm@56 301 (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
rlm@56 302 index))
rlm@56 303
rlm@57 304
rlm@57 305
rlm@57 306 (defn vertex-bones [vertex]
rlm@57 307 (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
rlm@57 308
rlm@57 309 (defn vertex-weights [vertex]
rlm@57 310 (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
rlm@57 311
rlm@57 312 (defn vertex-position [index]
rlm@57 313 (let [offset (* index 3)]
rlm@57 314 (Vector3f. (position offset)
rlm@57 315 (position (inc offset))
rlm@57 316 (position (inc(inc offset))))))
rlm@57 317
rlm@57 318 (def vertex-info (juxt vertex-position vertex-bones vertex-weights))
rlm@57 319
rlm@57 320 (defn bone-control-color [index]
rlm@57 321 (get {[1 0 0 0] ColorRGBA/Red
rlm@57 322 [1 2 0 0] ColorRGBA/Magenta
rlm@57 323 [2 0 0 0] ColorRGBA/Blue}
rlm@57 324 (vertex-bones index)
rlm@57 325 ColorRGBA/White))
rlm@57 326
rlm@56 327 (defn influence-color [index bone-num]
rlm@56 328 (get
rlm@56 329 {(float 0) ColorRGBA/Blue
rlm@56 330 (float 0.5) ColorRGBA/Green
rlm@56 331 (float 1) ColorRGBA/Red}
rlm@57 332 ;; find the weight of the desired bone
rlm@57 333 ((zipmap (vertex-bones index)(vertex-weights index))
rlm@57 334 bone-num)
rlm@57 335 ColorRGBA/Blue))
rlm@57 336
rlm@57 337
rlm@57 338
rlm@57 339
rlm@57 340 (def worm-vertices (set (map vertex-info (range 60))))
rlm@57 341
rlm@56 342
rlm@56 343 (defn test-info []
rlm@56 344 (let [points (Node.)]
rlm@56 345 (dorun
rlm@56 346 (map #(.attachChild points %)
rlm@56 347 (map #(sphere 0.01
rlm@57 348 :position (vertex-position %)
rlm@57 349 :color (influence-color % 1)
rlm@56 350 :physical? false)
rlm@57 351 (range 60))))
rlm@56 352 (view points)))
rlm@56 353
rlm@56 354
rlm@56 355
rlm@56 356
rlm@56 357
rlm@56 358
rlm@56 359
rlm@56 360
rlm@56 361 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@56 362
rlm@56 363
rlm@56 364
rlm@56 365
rlm@56 366
rlm@56 367
rlm@56 368
rlm@56 369
rlm@0 370 #+end_src
rlm@0 371
rlm@0 372
rlm@0 373
rlm@0 374
rlm@0 375
rlm@0 376
rlm@0 377
rlm@0 378
rlm@0 379 * COMMENT generate Source.
rlm@44 380 #+begin_src clojure :tangle ../src/cortex/body.clj
rlm@0 381 <<body-main>>
rlm@0 382 #+end_src
rlm@0 383