Mercurial > cortex
annotate org/depth-map.org @ 458:42ddfe406c0a
working on depth maps for the lulz.
| author | Robert McIntyre <rlm@mit.edu> |
|---|---|
| date | Tue, 11 Jun 2013 07:13:42 -0400 |
| parents | |
| children | a86555b02916 |
| rev | line source |
|---|---|
| rlm@458 | 1 |
| rlm@458 | 2 #+begin_src clojure |
| rlm@458 | 3 (ns cortex.depth-map |
| rlm@458 | 4 "lol depth maps." |
| rlm@458 | 5 {:author "Robert McIntyre"} |
| rlm@458 | 6 (:use (cortex world util body sense vision touch)) |
| rlm@458 | 7 (:import (com.jme3.scene Geometry Node Mesh)) |
| rlm@458 | 8 (:import com.jme3.collision.CollisionResults) |
| rlm@458 | 9 (:import com.jme3.scene.VertexBuffer$Type) |
| rlm@458 | 10 |
| rlm@458 | 11 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f))) |
| rlm@458 | 12 |
| rlm@458 | 13 (cortex.import/mega-import-jme3) |
| rlm@458 | 14 |
| rlm@458 | 15 (defn convert-pixel-to-ray |
| rlm@458 | 16 [camera x y] |
| rlm@458 | 17 (let [pixel-arrow |
| rlm@458 | 18 (.getWorldCoordinates |
| rlm@458 | 19 camera |
| rlm@458 | 20 (Vector2f. (float x) (float y)) |
| rlm@458 | 21 ;; this is the "z depth" and can be anything, since |
| rlm@458 | 22 ;; we only care about direction |
| rlm@458 | 23 (float 1)) |
| rlm@458 | 24 ;; now that we have the direction of a pixel, subtract |
| rlm@458 | 25 ray (Ray.)] |
| rlm@458 | 26 (set-ray ray Matrix4f/IDENTITY (.getLocation camera) |
| rlm@458 | 27 pixel-arrow) ray)) |
| rlm@458 | 28 |
| rlm@458 | 29 |
| rlm@458 | 30 (defn generate-depth-map-points |
| rlm@458 | 31 "Generate a data structure representating the depth of the first |
| rlm@458 | 32 object to collide with a ray from the camera's current position." |
| rlm@458 | 33 [world camera] |
| rlm@458 | 34 (let [width (.getWidth camera) |
| rlm@458 | 35 height (.getHeight camera) |
| rlm@458 | 36 pixels (for [x (range width) y (range height)] |
| rlm@458 | 37 [x y]) |
| rlm@458 | 38 |
| rlm@458 | 39 depths |
| rlm@458 | 40 (for [[x y] pixels] |
| rlm@458 | 41 (let [ray (convert-pixel-to-ray camera x y) |
| rlm@458 | 42 results (CollisionResults.)] |
| rlm@458 | 43 (.collideWith world ray results) |
| rlm@458 | 44 (.getDistance (.getClosestCollision results))))] |
| rlm@458 | 45 (zipmap pixels depths))) |
| rlm@458 | 46 |
| rlm@458 | 47 (defn test-world [] |
| rlm@458 | 48 (nodify [(floor*) (brick-wall*)])) |
| rlm@458 | 49 |
| rlm@458 | 50 (defn run-depth-map-test [] |
| rlm@458 | 51 #+end_src |