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rendering video for the first time!
author Robert McIntyre <rlm@mit.edu>
date Thu, 16 Feb 2012 21:14:28 -0700
parents 85f3ff3e3f26
children c78917fb0615
rev   line source
rlm@281 1 #+title:
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@281 9 * Intro
rlm@129 10
rlm@281 11 This is the ultimate test which features all of the senses that I've
rlm@281 12 made so far. The blender file for the creature serves as an example of
rlm@281 13 a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].
rlm@73 14
rlm@192 15 #+name: integration
rlm@73 16 #+begin_src clojure
rlm@192 17 (ns cortex.integration
rlm@73 18 "let's play!"
rlm@192 19 {:author "Robert McIntyre"}
rlm@281 20 (:use (cortex world util body sense
rlm@281 21 hearing touch vision proprioception movement))
rlm@192 22 (:import (com.jme3.math ColorRGBA Vector3f))
rlm@281 23 (:import java.io.File)
rlm@192 24 (:import com.jme3.audio.AudioNode)
rlm@192 25 (:import com.aurellem.capture.RatchetTimer))
rlm@73 26
rlm@281 27 (dorun (cortex.import/mega-import-jme3))
rlm@281 28 (rlm.rlm-commands/help)
rlm@74 29
rlm@281 30 (def hand "Models/test-creature/hand.blend")
rlm@78 31
rlm@281 32 (def output-base (File. "/home/r/proj/cortex/render/hand"))
rlm@189 33
rlm@297 34
rlm@297 35 ;; Let the hand fall palm-up
rlm@297 36
rlm@297 37 ;; it curls its phalanges, starting with the pinky.
rlm@297 38
rlm@297 39 ;; it lets these fall back down?
rlm@297 40
rlm@297 41 ;; block falls down onto the hand, accompanied by a sound. The block
rlm@297 42 ;; can be seen by the hand's eye.
rlm@297 43
rlm@297 44 ;; hand FORCEFULLY catapults the block so that it hits the camera.
rlm@297 45
rlm@297 46
rlm@296 47 (defn motor-control-program
rlm@296 48 "Create a function which will execute the motor script"
rlm@296 49 [muscle-positions
rlm@296 50 script]
rlm@296 51 (let [current-frame (atom -1)
rlm@296 52 keyed-script (group-by first script)
rlm@296 53 current-forces (atom {}) ]
rlm@296 54 (fn [effectors]
rlm@296 55 (let [indexed-effectors (vec effectors)]
rlm@296 56 (dorun
rlm@296 57 (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@296 58 (swap! current-forces (fn [m] (assoc m part force)))))
rlm@296 59 (doall (map (fn [effector power]
rlm@296 60 (effector (int power)))
rlm@296 61 effectors
rlm@296 62 (map #(@current-forces % 0) muscle-positions)))))))
rlm@296 63
rlm@296 64 (def muscle-positions
rlm@296 65 [:pointer-2-e
rlm@296 66 :pointer-2-f
rlm@296 67 :thumb-1
rlm@296 68 :thumb-1
rlm@296 69 :pointer-1-e
rlm@296 70 :pointer-1-f
rlm@296 71 :thumb-2-e
rlm@296 72 :thumb-2-f
rlm@296 73 :middle-1-e
rlm@296 74 :middle-1-f
rlm@296 75 :pointer-3-f
rlm@296 76 :pointer-3-e
rlm@296 77 :middle-2-e
rlm@296 78 :middle-2-f
rlm@296 79 :middle-3-f
rlm@296 80 :middle-3-e
rlm@296 81 :pinky-2-e
rlm@296 82 :pinky-2-f
rlm@296 83 :pinky-3-f
rlm@296 84 :pinky-3-e
rlm@296 85 :ring-3-e
rlm@296 86 :ring-3-f
rlm@296 87 :ring-2-f
rlm@296 88 :ring-2-e
rlm@296 89 :ring-1-e
rlm@296 90 :ring-1-f
rlm@296 91 :thumb-1-e
rlm@296 92 :thumb-1-f
rlm@296 93 :pinky-1-f
rlm@296 94 :pinky-1-e])
rlm@296 95
rlm@296 96 (def full 9001)
rlm@296 97 ;; the systax here is [keyframe body-part force]
rlm@296 98 (def wiggle-each-finger-tip
rlm@298 99 [[300 :pinky-3-f 50]
rlm@298 100 [320 :pinky-2-f 80]
rlm@298 101 [340 :pinky-1-f 100]
rlm@297 102
rlm@298 103 [310 :ring-3-f 100]
rlm@298 104 [330 :ring-2-f 120]
rlm@298 105 [350 :ring-1-f 140]
rlm@296 106
rlm@298 107 [330 :middle-3-f 120]
rlm@298 108 [340 :middle-2-f 120]
rlm@298 109 [360 :middle-1-f 30]
rlm@296 110
rlm@298 111 [350 :pointer-3-f 120]
rlm@298 112 [360 :pointer-2-f 120]
rlm@298 113 [380 :pointer-1-f 30]
rlm@296 114
rlm@298 115 [800 :pinky-3-f 0]
rlm@298 116 [800 :pinky-2-f 0]
rlm@298 117 [800 :pinky-1-f 0]
rlm@296 118
rlm@298 119 [800 :ring-3-f 0]
rlm@298 120 [800 :ring-2-f 0]
rlm@298 121 [800 :ring-1-f 0]
rlm@296 122
rlm@298 123 [800 :middle-3-f 0]
rlm@298 124 [800 :middle-2-f 0]
rlm@298 125 [800 :middle-1-f 0]
rlm@296 126
rlm@298 127 [800 :pointer-3-f 0]
rlm@298 128 [800 :pointer-2-f 0]
rlm@298 129 [800 :pointer-1-f 0]
rlm@297 130
rlm@297 131
rlm@298 132 [800 :pinky-3-e 50]
rlm@298 133 [800 :pinky-2-e 80]
rlm@298 134 [800 :pinky-1-e 100]
rlm@297 135
rlm@298 136 [800 :ring-3-e 100]
rlm@298 137 [800 :ring-2-e 120]
rlm@298 138 [800 :ring-1-e 140]
rlm@298 139
rlm@298 140 [800 :middle-3-e 120]
rlm@298 141 [800 :middle-2-e 120]
rlm@298 142 [800 :middle-1-e 30]
rlm@298 143
rlm@298 144 [800 :pointer-3-e 120]
rlm@298 145 [800 :pointer-2-e 120]
rlm@298 146 [800 :pointer-1-e 30]
rlm@298 147
rlm@298 148 [870 :pinky-3-e 0]
rlm@298 149 [870 :pinky-2-e 0]
rlm@298 150 [870 :pinky-1-e 0]
rlm@298 151
rlm@298 152 [870 :ring-3-e 0]
rlm@298 153 [870 :ring-2-e 0]
rlm@298 154 [870 :ring-1-e 0]
rlm@298 155
rlm@298 156 [870 :middle-3-e 0]
rlm@298 157 [870 :middle-2-e 0]
rlm@298 158 [870 :middle-1-e 0]
rlm@298 159
rlm@298 160 [870 :pointer-3-e 0]
rlm@298 161 [870 :pointer-2-e 0]
rlm@298 162 [870 :pointer-1-e 0]
rlm@298 163
rlm@298 164 [1500 :pointer-1-f full]
rlm@298 165 [1500 :pointer-2-f full]
rlm@298 166 [1500 :pointer-3-f full]
rlm@298 167
rlm@298 168 [1500 :middle-1-f full]
rlm@298 169 [1500 :middle-2-f full]
rlm@298 170 [1500 :middle-3-f full]
rlm@298 171
rlm@298 172 [1510 :pointer-1-f 0]
rlm@298 173 [1510 :pointer-2-f 0]
rlm@298 174 [1510 :pointer-3-f 0]
rlm@298 175
rlm@298 176 [1510 :middle-1-f 0]
rlm@298 177 [1510 :middle-2-f 0]
rlm@298 178 [1510 :middle-3-f 0]
rlm@297 179 ])
rlm@297 180
rlm@298 181 (defn gen-summon-ball [debug?]
rlm@298 182 (let [wait (atom 1100)]
rlm@297 183 (fn [world]
rlm@297 184 (if (= 0 (swap! wait dec))
rlm@297 185 (let [brick
rlm@297 186 (box 0.8 0.8 0.8 :mass 0.05
rlm@298 187 :position (Vector3f. -0.5 0 0.5)
rlm@298 188 :color (ColorRGBA/Red))
rlm@298 189 bell (AudioNode. (asset-manager)
rlm@298 190 "Sounds/pure.wav" false)]
rlm@298 191 (.play bell)
rlm@298 192 (if debug?
rlm@298 193 (.addControl
rlm@298 194 brick
rlm@298 195 (proxy [AbstractControl] []
rlm@298 196 (controlUpdate [tpf]
rlm@298 197 (println-repl (.getWorldTranslation brick)))
rlm@298 198 (controlRender [_ _]))))
rlm@297 199 (add-element world brick))))))
rlm@297 200
rlm@296 201
rlm@295 202 (def control-list
rlm@295 203 [
rlm@295 204 0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@296 205 0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 206 0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
rlm@295 207 0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
rlm@295 208 0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 209 0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 210 0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>
rlm@295 211 0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
rlm@295 212 0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 213 0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@298 214 0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 215 0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 216 0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 217 0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 218 0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 219 0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 220 0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 221 0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@296 222 0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>
rlm@296 223 0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>
rlm@295 224 0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 225 0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 226 0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 227 0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 228 0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 229 0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 230 0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>
rlm@295 231 0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>
rlm@295 232 0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 233 0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 234 ])
rlm@295 235
rlm@298 236 (import com.aurellem.capture.Capture)
rlm@298 237
rlm@281 238 (defn test-everything!
rlm@281 239 ([] (test-everything! false))
rlm@281 240 ([record?]
rlm@281 241 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@281 242
rlm@298 243 base (File. "/home/r/proj/cortex/render/hand")
rlm@298 244
rlm@298 245
rlm@281 246 creature (doto (load-blender-model hand)
rlm@281 247 (body!))
rlm@297 248
rlm@298 249 summon-ball (gen-summon-ball false)
rlm@192 250 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@298 251 touch (touch! creature)
rlm@298 252 touch-display (view-touch)
rlm@189 253
rlm@298 254 vision (vision! creature)
rlm@298 255 vision-display (view-vision)
rlm@189 256
rlm@298 257 hearing (hearing! creature)
rlm@298 258 hearing-display (view-hearing)
rlm@189 259
rlm@173 260 prop (proprioception! creature)
rlm@190 261 prop-display (view-proprioception)
rlm@148 262
rlm@296 263 control-script (motor-control-program
rlm@296 264 muscle-positions wiggle-each-finger-tip)
rlm@191 265 muscles (movement! creature)
rlm@281 266 muscle-display (view-movement)
rlm@281 267 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@189 268
rlm@281 269 fix-display (gen-fix-display)]
rlm@285 270 (world
rlm@285 271 (nodify [creature
rlm@285 272 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@285 273 :color ColorRGBA/Gray :mass 0)
rlm@285 274 me])
rlm@298 275 standard-debug-controls
rlm@298 276
rlm@285 277 (fn [world]
rlm@285 278 (.setTimer world (RatchetTimer. 60))
rlm@297 279 (position-camera
rlm@298 280 world (Vector3f. -0.13217318, 5.816415, -5.3089414)
rlm@298 281 (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
rlm@298 282
rlm@285 283 (light-up-everything world)
rlm@285 284 (enable-debug world)
rlm@285 285 (add-camera! world
rlm@285 286 (add-eye! creature
rlm@285 287 (.getChild
rlm@285 288 (.getChild creature "eyes") "eye"))
rlm@285 289 (comp (view-image) BufferedImage!))
rlm@298 290
rlm@298 291 (if record?
rlm@298 292 (Capture/captureVideo
rlm@298 293 world (File. base "main")))
rlm@298 294 (if record?
rlm@298 295 (Capture/captureAudio
rlm@298 296 world (File. base "main.wav"))))
rlm@285 297 (fn [world tpf]
rlm@298 298 (prop-display
rlm@298 299 (prop)
rlm@298 300 (if record? (File. base "proprio")))
rlm@298 301 (touch-display
rlm@298 302 (map #(% (.getRootNode world)) touch)
rlm@298 303 (if record? (File. base "touch")))
rlm@298 304 (vision-display
rlm@298 305 (map #(% world) vision)
rlm@298 306 (if record? (File. base "vision")))
rlm@298 307 (hearing-display
rlm@298 308 (map #(% world) hearing)
rlm@298 309 (if record? (File. base "hearing")))
rlm@298 310 (muscle-display
rlm@298 311 (control-script muscles)
rlm@298 312 (if record? (File. base "muscle")))
rlm@298 313
rlm@297 314 (summon-ball world)
rlm@298 315
rlm@285 316 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@285 317 (fix-display world))))))
rlm@298 318
rlm@298 319
rlm@298 320 (comment
rlm@298 321 ;; list of touch targets
rlm@298 322 0 middle-11
rlm@298 323 1 middle-21
rlm@298 324 2 middle-31
rlm@298 325 3 pinky-11
rlm@298 326 4 pinky-21
rlm@298 327 5 pinky-31
rlm@298 328 6 pointer-11
rlm@298 329 7 pointer-21
rlm@298 330 8 pointer-31
rlm@298 331 9 ring-11
rlm@298 332 10 ring-21
rlm@298 333 11 ring-31
rlm@298 334 12 thumb-11
rlm@298 335 13 thumb-2.0011
rlm@298 336
rlm@298 337
rlm@298 338 ;; list of vision targets
rlm@298 339 0 :all
rlm@298 340 1 :green
rlm@298 341 2 :blue
rlm@298 342 3 :red
rlm@298 343
rlm@298 344 ;; list of proprio targets
rlm@298 345 0 middle-11 -> middle-21
rlm@298 346 1 middle-21 -> middle-31
rlm@298 347 2 thumb-11 -> thumb-2.0011
rlm@298 348 3 pointer-11 -> pointer-21
rlm@298 349 4 pointer-21 -> pointer-31
rlm@298 350 5 ring-21 -> ring-31
rlm@298 351 6 ring-11 -> ring-21
rlm@298 352 7 pinky-21 -> pinky-31
rlm@298 353 8 pinky-11 -> pinky-21
rlm@298 354 9 middle-11 -> palm1
rlm@298 355 10 pinky-11 -> palm1
rlm@298 356 11 palm1 -> pointer-11
rlm@298 357 12 palm1 -> ring-11
rlm@298 358 13 palm1 -> thumb-11
rlm@298 359
rlm@298 360
rlm@298 361 ;; list of muscle targets
rlm@298 362 0 :pointer-2-e
rlm@298 363 1 :pointer-2-f
rlm@298 364 2 :thumb-1
rlm@298 365 3 :thumb-1
rlm@298 366 4 :pointer-1-e
rlm@298 367 5 :pointer-1-f
rlm@298 368 6 :thumb-2-e
rlm@298 369 7 :thumb-2-f
rlm@298 370 8 :middle-1-e
rlm@298 371 9 :middle-1-f
rlm@298 372 10 :pointer-3-f
rlm@298 373 11 :pointer-3-e
rlm@298 374 12 :middle-2-e
rlm@298 375 13 :middle-2-f
rlm@298 376 14 :middle-3-f
rlm@298 377 15 :middle-3-e
rlm@298 378 16 :pinky-2-e
rlm@298 379 17 :pinky-2-f
rlm@298 380 18 :pinky-3-f
rlm@298 381 19 :pinky-3-e
rlm@298 382 20 :ring-3-e
rlm@298 383 21 :ring-3-f
rlm@298 384 22 :ring-2-f
rlm@298 385 23 :ring-2-e
rlm@298 386 24 :ring-1-e
rlm@298 387 25 :ring-1-f
rlm@298 388 26 :thumb-1-e
rlm@298 389 27 :thumb-1-f
rlm@298 390 28 :pinky-1-f
rlm@298 391 29 :pinky-1-e
rlm@298 392 )
rlm@298 393
rlm@298 394 (def base (File. "/home/r/proj/cortex/render/hand"))
rlm@298 395
rlm@298 396 (defn prepare-muscle [muscle]
rlm@298 397 ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
rlm@298 398
rlm@298 399 (defn prepare-touch [touch]
rlm@298 400 ["(" touch "-rotate" "180" ")"])
rlm@298 401
rlm@298 402 (defn generate-top-finger [tip-flexor tip-extensor tip
rlm@298 403 joint-2-3
rlm@298 404 mid-flexor mid-extensor mid
rlm@298 405 joint-1-2]
rlm@298 406 ["("
rlm@298 407 "-size" "113x357" "xc:transparent"
rlm@298 408 (prepare-muscle tip-flexor) "-geometry" "+0+7" "-composite"
rlm@298 409 (prepare-muscle tip-extensor) "-geometry" "+98+7" "-composite"
rlm@298 410 (prepare-touch tip) "-geometry" "+18+0" "-composite"
rlm@298 411
rlm@298 412 joint-2-3 "-geometry" "+32+79" "-composite"
rlm@298 413
rlm@298 414 (prepare-muscle mid-flexor) "-geometry" "+19+131" "-composite"
rlm@298 415 (prepare-muscle mid-extensor) "-geometry" "+80+131" "-composite"
rlm@298 416 (prepare-touch mid) "-geometry" "+39+133" "-composite"
rlm@298 417
rlm@298 418 joint-1-2 "-geometry" "+32+193" "-composite"
rlm@298 419 ")"])
rlm@298 420
rlm@299 421 (defn file-names [#^File dir]
rlm@299 422 (map #(.getCanonicalPath %) (next (sort (file-seq dir)))))
rlm@299 423
rlm@299 424 (defn file-groups [& paths]
rlm@299 425 (apply (partial map list )
rlm@299 426 (map (comp file-names #(File. base %))
rlm@299 427 paths)))
rlm@299 428
rlm@299 429
rlm@299 430 (defn pinky []
rlm@299 431 (file-groups
rlm@299 432 "muscle/18"
rlm@299 433 "muscle/19"
rlm@299 434 "touch/5"
rlm@299 435 "proprio/7"
rlm@299 436
rlm@299 437 "muscle/17"
rlm@299 438 "muscle/16"
rlm@299 439 "touch/4"
rlm@299 440 "proprio/8"
rlm@299 441
rlm@299 442 "muscle/28"
rlm@299 443 "muscle/29"
rlm@299 444 "touch/3"
rlm@299 445 "proprio/10"))
rlm@299 446
rlm@299 447 (defn ring []
rlm@299 448 (file-groups
rlm@299 449 "muscle/21"
rlm@299 450 "muscle/20"
rlm@299 451 "touch/11"
rlm@299 452 "proprio/5"
rlm@299 453
rlm@299 454 "muscle/22"
rlm@299 455 "muscle/23"
rlm@299 456 "touch/10"
rlm@299 457 "proprio/6"
rlm@299 458
rlm@299 459 "muscle/25"
rlm@299 460 "muscle/24"
rlm@299 461 "touch/9"
rlm@299 462 "proprio/12"))
rlm@299 463
rlm@299 464 (defn middle []
rlm@299 465 (file-groups
rlm@299 466 "muscle/14"
rlm@299 467 "muscle/15"
rlm@299 468 "touch/2"
rlm@299 469 "proprio/1"
rlm@299 470
rlm@299 471 "muscle/12"
rlm@299 472 "muscle/13"
rlm@299 473 "touch/1"
rlm@299 474 "proprio/0"
rlm@299 475
rlm@299 476 "muscle/8"
rlm@299 477 "muscle/9"
rlm@299 478 "touch/0"
rlm@299 479 "proprio/9"))
rlm@299 480
rlm@299 481 (defn pointer []
rlm@299 482 (file-groups
rlm@299 483 "muscle/10"
rlm@299 484 "muscle/11"
rlm@299 485 "touch/8"
rlm@299 486 "proprio/4"
rlm@299 487
rlm@299 488 "muscle/1"
rlm@299 489 "muscle/0"
rlm@299 490 "touch/7"
rlm@299 491 "proprio/3"
rlm@299 492
rlm@299 493 "muscle/5"
rlm@299 494 "muscle/4"
rlm@299 495 "touch/6"
rlm@299 496 "proprio/11"))
rlm@299 497
rlm@299 498 (defn thumb []
rlm@299 499 (file-groups
rlm@299 500 "muscle/7"
rlm@299 501 "muscle/6"
rlm@299 502 "touch/13"
rlm@299 503 "proprio/2"
rlm@299 504
rlm@299 505 "muscle/27"
rlm@299 506 "muscle/26"
rlm@299 507 "muscle/3"
rlm@299 508 "muscle/2"
rlm@299 509 "touch/12"
rlm@299 510 "proprio/13"))
rlm@299 511
rlm@298 512 (defn generate-finger
rlm@298 513 [tip-flexor tip-extensor tip
rlm@298 514 joint-2-3
rlm@298 515 mid-flexor mid-extensor mid
rlm@298 516 joint-1-2
rlm@298 517 base-flexor base-extensor base
rlm@298 518 joint-palm-1]
rlm@298 519 ["("
rlm@298 520 "-size" "113x357" "xc:transparent"
rlm@298 521 (generate-top-finger
rlm@298 522 tip-flexor tip-extensor tip
rlm@298 523 joint-2-3
rlm@298 524 mid-flexor mid-extensor mid
rlm@298 525 joint-1-2) "-geometry" "+0+0" "-composite"
rlm@298 526 (prepare-muscle base-flexor) "-geometry" "+19+245" "-composite"
rlm@298 527 (prepare-muscle base-extensor) "-geometry" "+80+245" "-composite"
rlm@298 528 (prepare-touch base) "-geometry" "+39+247" "-composite"
rlm@298 529 joint-palm-1 "-geometry" "+32+307" "-composite"
rlm@298 530 ")"])
rlm@298 531
rlm@298 532 (defn generate-thumb
rlm@298 533 [tip-flexor tip-extensor tip
rlm@298 534 joint-1-2
rlm@298 535 mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
rlm@298 536 joint-palm-1]
rlm@298 537 ["("
rlm@298 538 "-size" "113x357" "xc:transparent"
rlm@298 539 (generate-top-finger
rlm@298 540 tip-flexor tip-extensor tip
rlm@298 541 joint-1-2
rlm@298 542 mid-flexor mid-extensor mid
rlm@298 543 joint-palm-1) "-geometry" "+0+0" "-composite"
rlm@298 544 (prepare-muscle mid-flexor-2) "-geometry" "+2+131" "-composite"
rlm@298 545 (prepare-muscle mid-extensor-2) "-geometry" "+100+131" "-composite"
rlm@298 546 ")"])
rlm@298 547
rlm@298 548 (defn generate-hand
rlm@298 549 [pinky-pieces
rlm@298 550 ring-pieces
rlm@298 551 middle-pieces
rlm@298 552 pointer-pieces
rlm@298 553 thumb-pieces]
rlm@298 554 ["("
rlm@298 555 "-size" "688x769" "xc:transparent"
rlm@298 556 (apply generate-finger pinky-pieces)
rlm@298 557 "-geometry" "+0+195" "-composite"
rlm@298 558 (apply generate-finger ring-pieces)
rlm@298 559 "-geometry" "+111+100" "-composite"
rlm@298 560 (apply generate-finger middle-pieces)
rlm@298 561 "-geometry" "+228+0" "-composite"
rlm@298 562 "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
rlm@298 563 "-rotate" "45" ")"
rlm@298 564 "-geometry" "+300+420" "-composite"
rlm@298 565 (apply generate-finger pointer-pieces)
rlm@298 566 "-geometry" "+350+96" "-composite"
rlm@298 567 ")"])
rlm@298 568
rlm@298 569 (defn generate-vision
rlm@298 570 [all green blue red]
rlm@298 571 ["("
rlm@298 572 "-size" "204x192" "xc:transparent"
rlm@298 573 all "-geometry" "+0+0" "-composite"
rlm@298 574 green "-geometry" "+113+0" "-composite"
rlm@298 575 blue "-geometry" "+0+105" "-composite"
rlm@298 576 red "-geometry" "+113+105" "-composite"
rlm@298 577 ")"])
rlm@298 578
rlm@298 579 (def test-muscle (File. base "muscle/0/0000000.png"))
rlm@298 580 (def test-proprio (File. base "proprio/0/0000000.png"))
rlm@298 581 (def test-tip (File. base "touch/2/0000000.png"))
rlm@298 582 (def test-mid (File. base "touch/0/0000000.png"))
rlm@298 583 (def test-vision (File. base "vision/0/0000000.png"))
rlm@298 584 (def test-hearing (File. base "hearing/0/0000000.png"))
rlm@298 585 (def test-main (File. base "main/0000000.png"))
rlm@298 586
rlm@298 587 (def test-target (File. base "output.png"))
rlm@298 588
rlm@298 589 (def background (File. base "background.png"))
rlm@298 590
rlm@298 591 (use 'clojure.contrib.shell-out)
rlm@299 592
rlm@299 593 (defn vision []
rlm@299 594 (file-groups
rlm@299 595 "vision/0"
rlm@299 596 "vision/1"
rlm@299 597 "vision/2"
rlm@299 598 "vision/3"))
rlm@299 599
rlm@299 600 (defn hearing []
rlm@299 601 (file-names (File. base "hearing/0")))
rlm@299 602
rlm@299 603 (defn main []
rlm@299 604 (file-names (File. base "main")))
rlm@299 605
rlm@299 606 (defn targets []
rlm@299 607 (map
rlm@299 608 (comp #(.getCanonicalPath %)
rlm@299 609 #(File. (str base "/out/" (format "%07d.png" %))))
rlm@299 610 (range 0 (count (main)))))
rlm@299 611
rlm@299 612
rlm@299 613 (defn final-image [main [all red green blue] hearing
rlm@299 614 pinky ring middle pointer thumb target]
rlm@299 615 (println target)
rlm@299 616 (apply
rlm@298 617 sh
rlm@298 618 (flatten
rlm@298 619 ["convert"
rlm@298 620 (.getCanonicalPath background)
rlm@299 621
rlm@299 622 (generate-hand pinky ring middle pointer thumb)
rlm@298 623 "-geometry" "+809+22" "-composite"
rlm@298 624
rlm@299 625 (generate-vision all red green blue)
rlm@298 626 "-geometry" "+974+599" "-composite"
rlm@298 627
rlm@298 628 hearing
rlm@298 629 "-geometry" "+784+819" "-composite"
rlm@298 630
rlm@298 631 main
rlm@298 632 "-geometry" "+78+202" "-composite"
rlm@298 633
rlm@299 634 target])))
rlm@298 635
rlm@299 636 (defn convert-files []
rlm@299 637 (dorun
rlm@299 638 (pmap final-image
rlm@299 639 (main)
rlm@299 640 (vision)
rlm@299 641 (hearing)
rlm@299 642 (pinky)
rlm@299 643 (ring)
rlm@299 644 (middle)
rlm@299 645 (pointer)
rlm@299 646 (thumb)
rlm@299 647 (targets))))
rlm@299 648 #+end_src
rlm@298 649
rlm@298 650
rlm@299 651 #+begin_src sh
rlm@299 652 cd /home/r/proj/cortex/render/hand
rlm@298 653
rlm@299 654 ffmpeg -r 60 -i out/%07d.png -i main.wav -b:a 128k \
rlm@299 655 -b:v 9000k -c:a libvorbis -c:v libtheora hand.ogg
rlm@87 656 #+end_src
rlm@83 657
rlm@282 658 #+results: integration
rlm@299 659 : #'cortex.integration/convert-files
rlm@282 660
rlm@78 661 * COMMENT purgatory
rlm@78 662 #+begin_src clojure
rlm@77 663 (defn bullet-trans* []
rlm@77 664 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 665 :position (Vector3f. 5 0 0)
rlm@77 666 :mass 90)
rlm@77 667 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 668 :position (Vector3f. -5 0 0)
rlm@77 669 :mass 0)
rlm@77 670 control-a (.getControl obj-a RigidBodyControl)
rlm@77 671 control-b (.getControl obj-b RigidBodyControl)
rlm@77 672 move-up? (atom nil)
rlm@77 673 move-down? (atom nil)
rlm@77 674 move-left? (atom nil)
rlm@77 675 move-right? (atom nil)
rlm@77 676 roll-left? (atom nil)
rlm@77 677 roll-right? (atom nil)
rlm@77 678 force 100
rlm@77 679 swivel
rlm@77 680 (.toRotationMatrix
rlm@77 681 (doto (Quaternion.)
rlm@77 682 (.fromAngleAxis (/ Math/PI 2)
rlm@77 683 Vector3f/UNIT_X)))
rlm@77 684 x-move
rlm@77 685 (doto (Matrix3f.)
rlm@77 686 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 687 (.normalize (Vector3f. 1 1 0))))
rlm@77 688
rlm@77 689 timer (atom 0)]
rlm@77 690 (doto
rlm@77 691 (ConeJoint.
rlm@77 692 control-a control-b
rlm@77 693 (Vector3f. -8 0 0)
rlm@77 694 (Vector3f. 2 0 0)
rlm@77 695 ;;swivel swivel
rlm@77 696 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 697 x-move Matrix3f/IDENTITY
rlm@77 698 )
rlm@77 699 (.setCollisionBetweenLinkedBodys false)
rlm@77 700 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 701 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 702 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 703 (world (nodify
rlm@77 704 [obj-a obj-b])
rlm@77 705 (merge standard-debug-controls
rlm@77 706 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 707 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 708 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 709 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 710 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 711 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 712
rlm@77 713 (fn [world]
rlm@77 714 (enable-debug world)
rlm@77 715 (set-gravity world Vector3f/ZERO)
rlm@77 716 )
rlm@77 717
rlm@77 718 (fn [world _]
rlm@77 719
rlm@77 720 (if @move-up?
rlm@77 721 (.applyForce control-a
rlm@77 722 (Vector3f. force 0 0)
rlm@77 723 (Vector3f. 0 0 0)))
rlm@77 724 (if @move-down?
rlm@77 725 (.applyForce control-a
rlm@77 726 (Vector3f. (- force) 0 0)
rlm@77 727 (Vector3f. 0 0 0)))
rlm@77 728 (if @move-left?
rlm@77 729 (.applyForce control-a
rlm@77 730 (Vector3f. 0 force 0)
rlm@77 731 (Vector3f. 0 0 0)))
rlm@77 732 (if @move-right?
rlm@77 733 (.applyForce control-a
rlm@77 734 (Vector3f. 0 (- force) 0)
rlm@77 735 (Vector3f. 0 0 0)))
rlm@77 736
rlm@77 737 (if @roll-left?
rlm@77 738 (.applyForce control-a
rlm@77 739 (Vector3f. 0 0 force)
rlm@77 740 (Vector3f. 0 0 0)))
rlm@77 741 (if @roll-right?
rlm@77 742 (.applyForce control-a
rlm@77 743 (Vector3f. 0 0 (- force))
rlm@77 744 (Vector3f. 0 0 0)))
rlm@77 745
rlm@77 746 (if (zero? (rem (swap! timer inc) 100))
rlm@77 747 (.attachChild
rlm@77 748 (.getRootNode world)
rlm@77 749 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 750 :physical? false :position
rlm@77 751 (.getWorldTranslation obj-a)))))
rlm@77 752 )
rlm@77 753 ))
rlm@77 754
rlm@106 755 (defn test-joint [joint]
rlm@106 756 (let [[origin top bottom floor] (world-setup joint)
rlm@106 757 control (.getControl top RigidBodyControl)
rlm@106 758 move-up? (atom false)
rlm@106 759 move-down? (atom false)
rlm@106 760 move-left? (atom false)
rlm@106 761 move-right? (atom false)
rlm@106 762 roll-left? (atom false)
rlm@106 763 roll-right? (atom false)
rlm@106 764 timer (atom 0)]
rlm@106 765
rlm@106 766 (world
rlm@106 767 (nodify [top bottom floor origin])
rlm@106 768 (merge standard-debug-controls
rlm@106 769 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106 770 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106 771 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106 772 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106 773 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106 774 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@106 775
rlm@106 776 (fn [world]
rlm@106 777 (light-up-everything world)
rlm@106 778 (enable-debug world)
rlm@106 779 (set-gravity world (Vector3f. 0 0 0))
rlm@106 780 )
rlm@106 781
rlm@106 782 (fn [world _]
rlm@106 783 (if (zero? (rem (swap! timer inc) 100))
rlm@106 784 (do
rlm@106 785 ;; (println-repl @timer)
rlm@106 786 (.attachChild (.getRootNode world)
rlm@106 787 (sphere 0.05 :color ColorRGBA/Yellow
rlm@106 788 :position (.getWorldTranslation top)
rlm@106 789 :physical? false))
rlm@106 790 (.attachChild (.getRootNode world)
rlm@106 791 (sphere 0.05 :color ColorRGBA/LightGray
rlm@106 792 :position (.getWorldTranslation bottom)
rlm@106 793 :physical? false))))
rlm@106 794
rlm@106 795 (if @move-up?
rlm@106 796 (.applyTorque control
rlm@106 797 (.mult (.getPhysicsRotation control)
rlm@106 798 (Vector3f. 0 0 10))))
rlm@106 799 (if @move-down?
rlm@106 800 (.applyTorque control
rlm@106 801 (.mult (.getPhysicsRotation control)
rlm@106 802 (Vector3f. 0 0 -10))))
rlm@106 803 (if @move-left?
rlm@106 804 (.applyTorque control
rlm@106 805 (.mult (.getPhysicsRotation control)
rlm@106 806 (Vector3f. 0 10 0))))
rlm@106 807 (if @move-right?
rlm@106 808 (.applyTorque control
rlm@106 809 (.mult (.getPhysicsRotation control)
rlm@106 810 (Vector3f. 0 -10 0))))
rlm@106 811 (if @roll-left?
rlm@106 812 (.applyTorque control
rlm@106 813 (.mult (.getPhysicsRotation control)
rlm@106 814 (Vector3f. -1 0 0))))
rlm@106 815 (if @roll-right?
rlm@106 816 (.applyTorque control
rlm@106 817 (.mult (.getPhysicsRotation control)
rlm@106 818 (Vector3f. 1 0 0))))))))
rlm@99 819 #+end_src
rlm@192 820
rlm@99 821
rlm@99 822 * COMMENT generate source
rlm@192 823 #+begin_src clojure :tangle ../src/cortex/integration.clj
rlm@192 824 <<integration>>
rlm@99 825 #+end_src
rlm@99 826
rlm@99 827
rlm@94 828
rlm@94 829