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touch-debug partially works
author Robert McIntyre <rlm@mit.edu>
date Sun, 23 Oct 2011 11:30:42 -0700
parents 0eb2eac53361
children c32f3eb9fdeb
rev   line source
rlm@0 1 #+title: SKIN!
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@0 4 #+description: Simulating touch in JMonkeyEngine
rlm@4 5 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 6 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@6 7 #+babel: :mkdirp yes :noweb yes
rlm@0 8
rlm@5 9 let's see what checkboxes look like:
rlm@5 10
rlm@5 11 * test [1/2]
rlm@5 12 - [ ] item 1
rlm@5 13 - [X] item 2
rlm@0 14
rlm@0 15
rlm@0 16 * skin!
rlm@0 17
rlm@0 18 #+srcname: skin-main
rlm@0 19 #+begin_src clojure
rlm@0 20 (ns body.skin)
rlm@0 21 (use 'cortex.world)
rlm@0 22 (use 'cortex.import)
rlm@0 23 (use 'clojure.contrib.def)
rlm@0 24 (cortex.import/mega-import-jme3)
rlm@0 25 (rlm.rlm-commands/help)
rlm@0 26
rlm@0 27 (import java.util.logging.Level)
rlm@0 28 (import java.util.logging.Logger)
rlm@11 29 (use 'hello.brick-wall)
rlm@0 30
rlm@0 31
rlm@0 32
rlm@6 33 (defn triangles [#^Geometry geom]
rlm@6 34 (let
rlm@6 35 [mesh (.getMesh geom)
rlm@6 36 triangles (transient [])]
rlm@6 37 (dorun
rlm@6 38 (for [n (range (.getTriangleCount mesh))]
rlm@6 39 (let [tri (Triangle.)]
rlm@6 40 (.getTriangle mesh n tri)
rlm@6 41 (.calculateNormal tri)
rlm@6 42 (.calculateCenter tri)
rlm@6 43 (conj! triangles tri))))
rlm@6 44 (persistent! triangles)))
rlm@6 45
rlm@6 46
rlm@7 47 (defn get-ray-origin
rlm@7 48 [geom tri]
rlm@7 49 (let [new (Vector3f.)]
rlm@7 50 (.calculateCenter tri)
rlm@8 51 (.localToWorld geom (.getCenter tri) new)
rlm@7 52 new))
rlm@6 53
rlm@7 54 (defn get-ray-direction
rlm@7 55 [geom tri]
rlm@9 56 (let [n+c (Vector3f.)]
rlm@7 57 (.calculateNormal tri)
rlm@9 58 (.calculateCenter tri)
rlm@9 59 (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
rlm@9 60 (.subtract n+c (get-ray-origin geom tri))
rlm@8 61 ))
rlm@7 62
rlm@7 63 (defn ray-origin-debug
rlm@9 64 [ray color]
rlm@7 65 (make-shape
rlm@6 66 (assoc base-shape
rlm@6 67 :shape (Sphere. 5 5 0.05)
rlm@6 68 :name "arrow"
rlm@9 69 :color color
rlm@6 70 :texture false
rlm@6 71 :physical? false
rlm@6 72 :position
rlm@7 73 (.getOrigin ray))))
rlm@6 74
rlm@9 75 (defn ray-debug [ray color]
rlm@6 76 (make-shape
rlm@6 77 (assoc
rlm@6 78 base-shape
rlm@6 79 :name "debug-ray"
rlm@6 80 :physical? false
rlm@6 81 :shape (com.jme3.scene.shape.Line.
rlm@6 82 (.getOrigin ray)
rlm@6 83 (.add
rlm@6 84 (.getOrigin ray)
rlm@6 85 (.mult (.getDirection ray)
rlm@6 86 (float (.getLimit ray))))))))
rlm@6 87
rlm@6 88
rlm@10 89 (defn contact-color [contacts]
rlm@10 90 (case contacts
rlm@10 91 0 ColorRGBA/Gray
rlm@10 92 1 ColorRGBA/Blue
rlm@10 93 2 ColorRGBA/Green
rlm@10 94 3 ColorRGBA/Yellow
rlm@10 95 4 ColorRGBA/Orange
rlm@10 96 5 ColorRGBA/Red
rlm@10 97 6 ColorRGBA/Magenta
rlm@10 98 7 ColorRGBA/Pink
rlm@10 99 8 ColorRGBA/White))
rlm@6 100
rlm@6 101 (defn normal-rays
rlm@6 102 "returns rays"
rlm@6 103 [limit #^Geometry geom]
rlm@6 104 (vec
rlm@6 105 (map
rlm@6 106 (fn [tri]
rlm@6 107 (doto
rlm@6 108 (Ray. (get-ray-origin geom tri)
rlm@6 109 (get-ray-direction geom tri))
rlm@12 110 (.setLimit limit)))
rlm@6 111 (triangles geom))))
rlm@6 112
rlm@6 113
rlm@6 114 (defn collision-debug [node result]
rlm@6 115 (println-repl "contact point: " (.getContactPoint result))
rlm@14 116
rlm@14 117
rlm@6 118 )
rlm@6 119
rlm@14 120 (defn update-ray-debug [node ray contacts]
rlm@14 121 (let [origin (.getChild node 0)]
rlm@14 122 (.setLocalTranslation origin (.getOrigin ray))
rlm@14 123 (.setColor (.getMaterial origin) "Color" (contact-color contacts))))
rlm@14 124
rlm@14 125
rlm@13 126
rlm@13 127
rlm@13 128 (defn init-node
rlm@13 129 [debug-node rays]
rlm@13 130 (println-repl "Init touch debug node.")
rlm@12 131 (.detachAllChildren debug-node)
rlm@13 132 (dorun
rlm@13 133 (for [ray rays]
rlm@13 134 (do
rlm@13 135 (.attachChild
rlm@13 136 debug-node
rlm@13 137 (doto (Node.)
rlm@14 138 (.attachChild (ray-origin-debug ray ColorRGBA/Gray))
rlm@14 139 ;;(.attachChild (ray-debug ray ColorRGBA/Gray))
rlm@14 140 ))))))
rlm@14 141
rlm@12 142
rlm@12 143
rlm@13 144 (defn manage-ray-debug-node [debug-node geom touch-data limit]
rlm@13 145 (let [rays (normal-rays limit geom)]
rlm@13 146 (if (not= (count (.getChildren debug-node)) (count touch-data))
rlm@13 147 (init-node debug-node rays))
rlm@13 148 (dorun
rlm@13 149 (for [n (range (count touch-data))]
rlm@14 150 (update-ray-debug
rlm@14 151 (.getChild debug-node n) (nth rays n) (nth touch-data n))))))
rlm@12 152
rlm@12 153
rlm@13 154 (defn touch-percieve [limit geom node]
rlm@6 155 (let [normals (normal-rays limit geom)]
rlm@12 156
rlm@6 157 (doall
rlm@6 158 (for [ray normals]
rlm@6 159 (do
rlm@6 160 (let [results (CollisionResults.)]
rlm@10 161 (.collideWith node ray results)
rlm@10 162 (let [answer (count (filter #(not (= geom (.getGeometry %))) results))
rlm@10 163 ;;color (contact-color answer)
rlm@10 164 ]
rlm@10 165 ;;(dorun (map #(println-repl (.getName (.getGeometry %))) results))
rlm@12 166
rlm@10 167
rlm@10 168 ;;(println-repl (.size results) "results for " ray)
rlm@10 169 ;;(doall (map (partial collision-debug node) results))
rlm@10 170 answer
rlm@10 171 )))))))
rlm@6 172
rlm@0 173 (defn enable-debug [world]
rlm@0 174 (.enableDebug
rlm@0 175 (.getPhysicsSpace
rlm@0 176 (.getState
rlm@0 177 (.getStateManager world)
rlm@0 178 BulletAppState))
rlm@0 179 (asset-manager)))
rlm@0 180
rlm@11 181 (defn no-logging []
rlm@11 182 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@11 183
rlm@11 184 (defn set-accuracy [world new-accuracy]
rlm@11 185 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
rlm@11 186 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
rlm@11 187
rlm@11 188
rlm@0 189 (defn transparent-sphere []
rlm@0 190 (doto
rlm@0 191 (make-shape
rlm@0 192 (merge base-shape
rlm@0 193 {:position (Vector3f. 0 2 0)
rlm@0 194 :name "the blob."
rlm@0 195 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 196 :texture "Textures/purpleWisp.png"
rlm@0 197 :physical? true
rlm@0 198 :mass 70
rlm@0 199 :color ColorRGBA/Blue
rlm@0 200 :shape (Sphere. 10 10 1)}))
rlm@0 201 (-> (.getMaterial)
rlm@0 202 (.getAdditionalRenderState)
rlm@0 203 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 204 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 205
rlm@0 206 (defn transparent-box []
rlm@0 207 (doto
rlm@0 208 (make-shape
rlm@0 209 (merge base-shape
rlm@0 210 {:position (Vector3f. 0 2 0)
rlm@10 211 :name "box"
rlm@0 212 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 213 :texture "Textures/purpleWisp.png"
rlm@0 214 :physical? true
rlm@0 215 :mass 70
rlm@0 216 :color ColorRGBA/Blue
rlm@0 217 :shape (Box. 1 1 1)}))
rlm@0 218 (-> (.getMaterial)
rlm@0 219 (.getAdditionalRenderState)
rlm@0 220 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 221 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 222
rlm@6 223 (defn transparent-floor []
rlm@6 224 (doto
rlm@6 225 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)
rlm@6 226 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@10 227 :texture "Textures/redWisp.png"
rlm@10 228 :name "floor")
rlm@6 229 (-> (.getMaterial)
rlm@6 230 (.getAdditionalRenderState)
rlm@6 231 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@6 232 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@6 233
rlm@0 234 (defn test-skin []
rlm@0 235 (let [b
rlm@14 236 ;;(transparent-box)
rlm@14 237 (transparent-sphere)
rlm@10 238 ;;(sphere)
rlm@6 239 f (transparent-floor)
rlm@6 240 ;;controls
rlm@0 241 ;;(make-touch-sphere b)
rlm@6 242 ;;(make-touch b)
rlm@6 243 debug-node (Node.)
rlm@12 244 node (doto (Node.) (.attachChild b) (.attachChild f))
rlm@12 245 root-node (doto (Node.) (.attachChild node)
rlm@12 246 (.attachChild debug-node))
rlm@12 247 ]
rlm@0 248
rlm@0 249 (world
rlm@12 250 root-node
rlm@11 251 {"key-return" (fire-cannon-ball)}
rlm@6 252 ;;no-op
rlm@0 253 (fn [world]
rlm@6 254 ;; (Capture/SimpleCaptureVideo
rlm@6 255 ;; world
rlm@6 256 ;; (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@6 257 ;; (no-logging)
rlm@6 258 (enable-debug world)
rlm@6 259 ;; (set-accuracy world (/ 1 60))
rlm@11 260 )
rlm@0 261
rlm@0 262 (fn [& _]
rlm@13 263 (let [touch-data (touch-percieve 0.2 b node)]
rlm@13 264 (println-repl touch-data)
rlm@13 265 (manage-ray-debug-node debug-node b touch-data 0.2))
rlm@11 266 (Thread/sleep 10)
rlm@5 267 ;;(touch-print controls)
rlm@6 268 ;;(color-touch controls)
rlm@0 269 ))))
rlm@0 270
rlm@0 271 #+end_src
rlm@0 272
rlm@3 273 #+results: skin-main
rlm@3 274 : #'body.skin/test-skin
rlm@3 275
rlm@0 276
rlm@0 277
rlm@0 278
rlm@10 279
rlm@10 280
rlm@6 281
rlm@0 282
rlm@0 283 * COMMENT code generation
rlm@6 284 #+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
rlm@0 285 <<skin-main>>
rlm@0 286 #+end_src
rlm@0 287
rlm@0 288
rlm@0 289
rlm@0 290