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working on touch
author Robert McIntyre <rlm@mit.edu>
date Tue, 10 Jan 2012 21:26:41 -0700
parents e4bcd0c481ba
children 2ff8c7c4e64d
rev   line source
rlm@73 1 #+title: First attempt at a creature!
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@73 9 * Intro
rlm@73 10 So far, I've made the following senses --
rlm@73 11 - Vision
rlm@73 12 - Hearing
rlm@73 13 - Touch
rlm@73 14 - Proprioception
rlm@73 15
rlm@73 16 And one effector:
rlm@73 17 - Movement
rlm@73 18
rlm@73 19 However, the code so far has only enabled these senses, but has not
rlm@73 20 actually implemented them. For example, there is still a lot of work
rlm@73 21 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 22 simulation that can be moved around and see the world from different
rlm@73 23 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 24 for the visual input, and I need to determine how/wether to
rlm@73 25 disceritise the visual input.
rlm@73 26
rlm@73 27 I also want to be able to visualize both the sensors and the
rlm@73 28 effectors in pretty pictures. This semi-retarted creature will by my
rlm@73 29 first attempt at bringing everything together.
rlm@73 30
rlm@73 31 * The creature's body
rlm@73 32
rlm@73 33 Still going to do an eve-like body in blender, but due to problems
rlm@73 34 importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73 35 the connecting here in clojure code, using the names of the individual
rlm@73 36 components and trial and error. Later, I'll maybe make some sort of
rlm@73 37 creature-building modifications to blender that support whatever
rlm@73 38 discreitized senses I'm going to make.
rlm@73 39
rlm@73 40 #+name: body-1
rlm@73 41 #+begin_src clojure
rlm@73 42 (ns cortex.silly
rlm@73 43 "let's play!"
rlm@73 44 {:author "Robert McIntyre"})
rlm@73 45
rlm@73 46 ;; TODO remove this!
rlm@73 47 (require 'cortex.import)
rlm@73 48 (cortex.import/mega-import-jme3)
rlm@73 49 (use '(cortex world util body hearing touch vision))
rlm@73 50
rlm@73 51 (rlm.rlm-commands/help)
rlm@73 52
rlm@87 53 (declare joint-create)
rlm@83 54
rlm@83 55 (defn load-bullet []
rlm@84 56 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 57 (.enqueue
rlm@84 58 sim
rlm@84 59 (fn []
rlm@84 60 (.stop sim)))
rlm@84 61 (.start sim)))
rlm@83 62
rlm@73 63 (defn load-blender-model
rlm@73 64 "Load a .blend file using an asset folder relative path."
rlm@73 65 [^String model]
rlm@73 66 (.loadModel
rlm@73 67 (doto (asset-manager)
rlm@73 68 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 69 model))
rlm@73 70
rlm@74 71 (defn meta-data [blender-node key]
rlm@74 72 (if-let [data (.getUserData blender-node "properties")]
rlm@74 73 (.findValue data key)
rlm@74 74 nil))
rlm@73 75
rlm@78 76 (defn blender-to-jme
rlm@78 77 "Convert from Blender coordinates to JME coordinates"
rlm@78 78 [#^Vector3f in]
rlm@78 79 (Vector3f. (.getX in)
rlm@78 80 (.getZ in)
rlm@78 81 (- (.getY in))))
rlm@74 82
rlm@79 83 (defn jme-to-blender
rlm@79 84 "Convert from JME coordinates to Blender coordinates"
rlm@79 85 [#^Vector3f in]
rlm@79 86 (Vector3f. (.getX in)
rlm@79 87 (- (.getZ in))
rlm@79 88 (.getY in)))
rlm@79 89
rlm@78 90 (defn joint-targets
rlm@78 91 "Return the two closest two objects to the joint object, ordered
rlm@78 92 from bottom to top according to the joint's rotation."
rlm@78 93 [#^Node parts #^Node joint]
rlm@78 94 ;;(println (meta-data joint "joint"))
rlm@78 95 (.getWorldRotation joint)
rlm@78 96 (loop [radius (float 0.01)]
rlm@78 97 (let [results (CollisionResults.)]
rlm@78 98 (.collideWith
rlm@78 99 parts
rlm@78 100 (BoundingBox. (.getWorldTranslation joint)
rlm@78 101 radius radius radius)
rlm@78 102 results)
rlm@78 103 (let [targets
rlm@78 104 (distinct
rlm@78 105 (map #(.getGeometry %) results))]
rlm@78 106 (if (>= (count targets) 2)
rlm@78 107 (sort-by
rlm@79 108 #(let [v
rlm@79 109 (jme-to-blender
rlm@79 110 (.mult
rlm@79 111 (.inverse (.getWorldRotation joint))
rlm@79 112 (.subtract (.getWorldTranslation %)
rlm@79 113 (.getWorldTranslation joint))))]
rlm@79 114 (println-repl (.getName %) ":" v)
rlm@79 115 (.dot (Vector3f. 1 1 1)
rlm@79 116 v))
rlm@78 117 (take 2 targets))
rlm@78 118 (recur (float (* radius 2))))))))
rlm@74 119
rlm@87 120 (defn world-to-local
rlm@87 121 "Convert the world coordinates into coordinates relative to the
rlm@87 122 object (i.e. local coordinates), taking into account the rotation
rlm@87 123 of object."
rlm@87 124 [#^Spatial object world-coordinate]
rlm@87 125 (let [out (Vector3f.)]
rlm@88 126 (.worldToLocal object world-coordinate out) out))
rlm@87 127
rlm@96 128 (defn local-to-world
rlm@96 129 "Convert the local coordinates into coordinates into world relative
rlm@96 130 coordinates"
rlm@96 131 [#^Spatial object local-coordinate]
rlm@96 132 (let [world-coordinate (Vector3f.)]
rlm@96 133 (.localToWorld object local-coordinate world-coordinate)
rlm@96 134 world-coordinate))
rlm@96 135
rlm@96 136
rlm@87 137 (defmulti joint-dispatch
rlm@87 138 "Translate blender pseudo-joints into real JME joints."
rlm@88 139 (fn [constraints & _]
rlm@87 140 (:type constraints)))
rlm@87 141
rlm@87 142 (defmethod joint-dispatch :point
rlm@87 143 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 144 (println-repl "creating POINT2POINT joint")
rlm@87 145 (Point2PointJoint.
rlm@87 146 control-a
rlm@87 147 control-b
rlm@87 148 pivot-a
rlm@87 149 pivot-b))
rlm@87 150
rlm@87 151 (defmethod joint-dispatch :hinge
rlm@87 152 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 153 (println-repl "creating HINGE joint")
rlm@87 154 (let [axis
rlm@87 155 (if-let
rlm@87 156 [axis (:axis constraints)]
rlm@87 157 axis
rlm@87 158 Vector3f/UNIT_X)
rlm@87 159 [limit-1 limit-2] (:limit constraints)
rlm@87 160 hinge-axis
rlm@87 161 (.mult
rlm@87 162 rotation
rlm@87 163 (blender-to-jme axis))]
rlm@87 164 (doto
rlm@87 165 (HingeJoint.
rlm@87 166 control-a
rlm@87 167 control-b
rlm@87 168 pivot-a
rlm@87 169 pivot-b
rlm@87 170 hinge-axis
rlm@87 171 hinge-axis)
rlm@87 172 (.setLimit limit-1 limit-2))))
rlm@87 173
rlm@87 174 (defmethod joint-dispatch :cone
rlm@87 175 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 176 (let [limit-xz (:limit-xz constraints)
rlm@87 177 limit-xy (:limit-xy constraints)
rlm@87 178 twist (:twist constraints)]
rlm@87 179
rlm@87 180 (println-repl "creating CONE joint")
rlm@87 181 (println-repl rotation)
rlm@87 182 (println-repl
rlm@87 183 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 184 (println-repl
rlm@87 185 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 186 (println-repl
rlm@87 187 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 188 (doto
rlm@87 189 (ConeJoint.
rlm@87 190 control-a
rlm@87 191 control-b
rlm@87 192 pivot-a
rlm@87 193 pivot-b
rlm@87 194 rotation
rlm@87 195 rotation)
rlm@87 196 (.setLimit (float limit-xz)
rlm@87 197 (float limit-xy)
rlm@87 198 (float twist)))))
rlm@87 199
rlm@88 200 (defn connect
rlm@87 201 "here are some examples:
rlm@87 202 {:type :point}
rlm@87 203 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 204 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 205
rlm@89 206 {:type :cone :limit-xz 0]
rlm@89 207 :limit-xy 0]
rlm@89 208 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 209 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 210 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 211 control-b (.getControl obj-b RigidBodyControl)
rlm@87 212 joint-center (.getWorldTranslation joint)
rlm@87 213 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 214 pivot-a (world-to-local obj-a joint-center)
rlm@87 215 pivot-b (world-to-local obj-b joint-center)]
rlm@89 216
rlm@87 217 (if-let [constraints
rlm@87 218 (map-vals
rlm@87 219 eval
rlm@87 220 (read-string
rlm@87 221 (meta-data joint "joint")))]
rlm@89 222 ;; A side-effect of creating a joint registers
rlm@89 223 ;; it with both physics objects which in turn
rlm@89 224 ;; will register the joint with the physics system
rlm@89 225 ;; when the simulation is started.
rlm@87 226 (do
rlm@87 227 (println-repl "creating joint between"
rlm@87 228 (.getName obj-a) "and" (.getName obj-b))
rlm@87 229 (joint-dispatch constraints
rlm@87 230 control-a control-b
rlm@87 231 pivot-a pivot-b
rlm@87 232 joint-rotation))
rlm@87 233 (println-repl "could not find joint meta-data!"))))
rlm@87 234
rlm@78 235 (defn assemble-creature [#^Node pieces joints]
rlm@78 236 (dorun
rlm@78 237 (map
rlm@78 238 (fn [geom]
rlm@78 239 (let [physics-control
rlm@78 240 (RigidBodyControl.
rlm@78 241 (HullCollisionShape.
rlm@78 242 (.getMesh geom))
rlm@78 243 (if-let [mass (meta-data geom "mass")]
rlm@78 244 (do
rlm@78 245 (println-repl
rlm@78 246 "setting" (.getName geom) "mass to" (float mass))
rlm@78 247 (float mass))
rlm@78 248 (float 1)))]
rlm@78 249
rlm@78 250 (.addControl geom physics-control)))
rlm@78 251 (filter #(isa? (class %) Geometry )
rlm@78 252 (node-seq pieces))))
rlm@77 253
rlm@78 254 (dorun
rlm@78 255 (map
rlm@78 256 (fn [joint]
rlm@78 257 (let [[obj-a obj-b]
rlm@78 258 (joint-targets pieces joint)]
rlm@88 259 (connect obj-a obj-b joint)))
rlm@78 260 joints))
rlm@78 261 pieces)
rlm@74 262
rlm@78 263 (defn blender-creature [blender-path]
rlm@78 264 (let [model (load-blender-model blender-path)
rlm@78 265 joints
rlm@78 266 (if-let [joint-node (.getChild model "joints")]
rlm@78 267 (seq (.getChildren joint-node))
rlm@78 268 (do (println-repl "could not find joints node")
rlm@78 269 []))]
rlm@78 270 (assemble-creature model joints)))
rlm@74 271
rlm@78 272 (def hand "Models/creature1/one.blend")
rlm@74 273
rlm@78 274 (def worm "Models/creature1/try-again.blend")
rlm@78 275
rlm@90 276 (def touch "Models/creature1/touch.blend")
rlm@90 277
rlm@90 278 (defn worm-model [] (load-blender-model worm))
rlm@90 279
rlm@80 280 (defn x-ray [#^ColorRGBA color]
rlm@80 281 (doto (Material. (asset-manager)
rlm@80 282 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 283 (.setColor "Color" color)
rlm@80 284 (-> (.getAdditionalRenderState)
rlm@80 285 (.setDepthTest false))))
rlm@80 286
rlm@78 287 (defn test-creature [thing]
rlm@80 288 (let [x-axis
rlm@80 289 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 290 y-axis
rlm@80 291 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 292 z-axis
rlm@80 293 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 294 (world
rlm@78 295 (nodify [(blender-creature thing)
rlm@81 296 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 297 :color ColorRGBA/Gray :mass 0)
rlm@80 298 x-axis y-axis z-axis
rlm@80 299 ])
rlm@78 300 standard-debug-controls
rlm@90 301 (fn [world]
rlm@90 302 (light-up-everything world)
rlm@90 303 (enable-debug world)
rlm@90 304 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 305 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 306 (.setTimer world (NanoTimer.))
rlm@93 307 (set-gravity world (Vector3f. 0 0 0))
rlm@90 308 (speed-up world)
rlm@90 309 )
rlm@90 310 no-op
rlm@90 311 ;;(let [timer (atom 0)]
rlm@90 312 ;; (fn [_ _]
rlm@90 313 ;; (swap! timer inc)
rlm@90 314 ;; (if (= (rem @timer 60) 0)
rlm@90 315 ;; (println-repl (float (/ @timer 60))))))
rlm@90 316 )))
rlm@90 317
rlm@90 318
rlm@91 319 (defn colorful []
rlm@91 320 (.getChild (worm-model) "worm-21"))
rlm@90 321
rlm@90 322 (import jme3tools.converters.ImageToAwt)
rlm@90 323
rlm@90 324 (import ij.ImagePlus)
rlm@90 325
rlm@90 326 (defn triangle-indices
rlm@90 327 "Get the triangle vertex indices of a given triangle from a given
rlm@90 328 mesh."
rlm@90 329 [#^Mesh mesh triangle-index]
rlm@90 330 (let [indices (int-array 3)]
rlm@90 331 (.getTriangle mesh triangle-index indices)
rlm@90 332 (vec indices)))
rlm@90 333
rlm@90 334 (defn uv-coord
rlm@90 335 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 336 [#^Mesh mesh vertex-index]
rlm@90 337 (let [UV-buffer
rlm@90 338 (.getData
rlm@90 339 (.getBuffer
rlm@90 340 mesh
rlm@90 341 VertexBuffer$Type/TexCoord))]
rlm@91 342 (Vector2f.
rlm@91 343 (.get UV-buffer (* vertex-index 2))
rlm@91 344 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 345
rlm@93 346 (defn tri-uv-coord
rlm@93 347 "Get the uv-cooridnates of the triangle's verticies."
rlm@93 348 [#^Mesh mesh #^Triangle triangle]
rlm@93 349 (map (partial uv-coord mesh)
rlm@93 350 (triangle-indices mesh (.getIndex triangle))))
rlm@93 351
rlm@91 352 (defn touch-receptor-image
rlm@91 353 "Return the touch-sensor distribution image in ImagePlus format."
rlm@91 354 [#^Geometry obj]
rlm@90 355 (let
rlm@91 356 [mat (.getMaterial obj)
rlm@90 357 texture
rlm@90 358 (.getTextureValue
rlm@90 359 (.getTextureParam
rlm@90 360 mat
rlm@90 361 MaterialHelper/TEXTURE_TYPE_DIFFUSE))
rlm@90 362 im (.getImage texture)]
rlm@90 363 (ImagePlus.
rlm@90 364 "UV-map"
rlm@90 365 (ImageToAwt/convert im false false 0))))
rlm@90 366
rlm@91 367
rlm@91 368 (import ij.process.ImageProcessor)
rlm@91 369 (import java.awt.image.BufferedImage)
rlm@91 370
rlm@91 371 (defprotocol Frame
rlm@91 372 (frame [this]))
rlm@91 373
rlm@91 374 (extend-type BufferedImage
rlm@91 375 Frame
rlm@91 376 (frame [image]
rlm@91 377 (merge
rlm@91 378 (apply
rlm@91 379 hash-map
rlm@91 380 (interleave
rlm@91 381 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 382 (vector x y)))
rlm@91 383 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 384 (let [data (.getRGB image x y)]
rlm@91 385 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 386 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 387 :b (bit-and 0x0000ff data)))))))
rlm@91 388 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 389
rlm@91 390
rlm@91 391 (extend-type ImagePlus
rlm@91 392 Frame
rlm@91 393 (frame [image+]
rlm@91 394 (frame (.getBufferedImage image+))))
rlm@91 395
rlm@94 396
rlm@92 397 (def white -1)
rlm@94 398
rlm@91 399 (defn filter-pixels
rlm@91 400 "List the coordinates of all pixels matching pred."
rlm@92 401 {:author "Dylan Holmes"}
rlm@91 402 [pred #^ImageProcessor ip]
rlm@91 403 (let
rlm@91 404 [width (.getWidth ip)
rlm@91 405 height (.getHeight ip)]
rlm@91 406 ((fn accumulate [x y matches]
rlm@91 407 (cond
rlm@91 408 (>= y height) matches
rlm@91 409 (>= x width) (recur 0 (inc y) matches)
rlm@91 410 (pred (.getPixel ip x y))
rlm@91 411 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 412 :else (recur (inc x) y matches)))
rlm@91 413 0 0 [])))
rlm@91 414
rlm@91 415 (defn white-coordinates
rlm@91 416 "List the coordinates of all the white pixels in an image."
rlm@91 417 [#^ImageProcessor ip]
rlm@92 418 (filter-pixels #(= % white) ip))
rlm@91 419
rlm@91 420 (defn same-side? [p1 p2 ref p]
rlm@91 421 (<=
rlm@91 422 0
rlm@91 423 (.dot
rlm@91 424 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 425 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 426
rlm@94 427
rlm@94 428 (defn triangle->matrix4f
rlm@94 429 "Converts the triangle into a 4x4 matrix of vertices: The first
rlm@94 430 three columns contain the vertices of the triangle; the last
rlm@94 431 contains the unit normal of the triangle. The bottom row is filled
rlm@94 432 with 1s."
rlm@94 433 [#^Triangle t]
rlm@94 434 (let [mat (Matrix4f.)
rlm@94 435 [vert-1 vert-2 vert-3]
rlm@94 436 ((comp vec map) #(.get t %) (range 3))
rlm@94 437 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@94 438 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@94 439
rlm@94 440 (dorun
rlm@94 441 (for [row (range 4) col (range 3)]
rlm@94 442 (do
rlm@94 443 (.set mat col row (.get (vertices row)col))
rlm@94 444 (.set mat 3 row 1))))
rlm@94 445 mat))
rlm@94 446
rlm@94 447 (defn triangle-transformation
rlm@94 448 "Returns the affine transformation that converts each vertex in the
rlm@94 449 first triangle into the corresponding vertex in the second
rlm@94 450 triangle."
rlm@94 451 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 452 (.mult
rlm@94 453 (triangle->matrix4f tri-2)
rlm@94 454 (.invert (triangle->matrix4f tri-1))))
rlm@94 455
rlm@94 456 (def death (Triangle.
rlm@94 457 (Vector3f. 1 1 1)
rlm@94 458 (Vector3f. 1 2 3)
rlm@94 459 (Vector3f. 5 6 7)))
rlm@94 460
rlm@94 461 (def death-2 (Triangle.
rlm@94 462 (Vector3f. 2 2 2)
rlm@94 463 (Vector3f. 1 1 1)
rlm@94 464 (Vector3f. 0 1 0)))
rlm@94 465
rlm@94 466 (defn vector2f->vector3f [v]
rlm@94 467 (Vector3f. (.getX v) (.getY v) 0))
rlm@94 468
rlm@94 469
rlm@94 470 (extend-type Triangle
rlm@94 471 Textual
rlm@94 472 (text [t]
rlm@94 473 (println "Triangle: " \newline (.get1 t) \newline
rlm@94 474 (.get2 t) \newline (.get3 t))))
rlm@94 475
rlm@94 476
rlm@94 477 (defn map-triangle [f #^Triangle tri]
rlm@94 478 (Triangle.
rlm@94 479 (f 0 (.get1 tri))
rlm@94 480 (f 1 (.get2 tri))
rlm@94 481 (f 2 (.get3 tri))))
rlm@94 482
rlm@94 483 (defn triangle-seq [#^Triangle tri]
rlm@94 484 [(.get1 tri) (.get2 tri) (.get3 tri)])
rlm@94 485
rlm@94 486 (defn vector3f-seq [#^Vector3f v]
rlm@94 487 [(.getX v) (.getY v) (.getZ v)])
rlm@94 488
rlm@91 489 (defn inside-triangle?
rlm@94 490 "Is the point inside the triangle? Now what do we do?
rlm@94 491 You might want to hold on there"
rlm@95 492 {:author "Dylan Holmes"}
rlm@94 493 [tri p]
rlm@94 494 (let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
rlm@94 495 (and
rlm@94 496 (same-side? vert-1 vert-2 vert-3 p)
rlm@94 497 (same-side? vert-2 vert-3 vert-1 p)
rlm@94 498 (same-side? vert-3 vert-1 vert-2 p))))
rlm@91 499
rlm@94 500 (defn uv-triangle
rlm@94 501 "Convert the mesh triangle into the cooresponding triangle in
rlm@94 502 UV-space. Z-component of these triangles is always zero."
rlm@94 503 [#^Mesh mesh #^Triangle tri]
rlm@94 504 (apply #(Triangle. %1 %2 %3)
rlm@94 505 (map vector2f->vector3f
rlm@94 506 (tri-uv-coord mesh tri))))
rlm@91 507
rlm@94 508 (defn pixel-triangle
rlm@94 509 "Convert the mesh triange into the corresponding triangle in
rlm@94 510 UV-pixel-space. Z compenent will be zero."
rlm@94 511 [#^Mesh mesh #^Triangle tri width height]
rlm@94 512 (map-triangle (fn [_ v]
rlm@94 513 (Vector3f. (* width (.getX v))
rlm@94 514 (* height (.getY v))
rlm@94 515 0))
rlm@94 516 (uv-triangle mesh tri)))
rlm@93 517
rlm@96 518 (def rasterize pixel-triangle)
rlm@96 519
rlm@96 520
rlm@94 521 (defn triangle-bounds
rlm@94 522 "Dimensions of the bounding square of the triangle in the form
rlm@94 523 [x y width height].
rlm@94 524 Assumes that the triangle lies in the XY plane."
rlm@94 525 [#^Triangle tri]
rlm@94 526 (let [verts (map vector3f-seq (triangle-seq tri))
rlm@94 527 x (apply min (map first verts))
rlm@94 528 y (apply min (map second verts))]
rlm@93 529
rlm@94 530 [x y
rlm@94 531 (- (apply max (map first verts)) x)
rlm@94 532 (- (apply max (map second verts)) y)
rlm@94 533 ]))
rlm@93 534
rlm@93 535
rlm@94 536 (defn locate-tactile-sensors
rlm@94 537 "Search the geometry's tactile UV image for touch sensors, returning
rlm@94 538 their positions in geometry-relative coordinates."
rlm@94 539 [#^Geometry geo]
rlm@94 540 (let [mesh (.getMesh geo)
rlm@96 541 tris (triangles geo)
rlm@96 542
rlm@94 543 image (touch-receptor-image geo)
rlm@94 544 width (.getWidth image)
rlm@94 545 height (.getHeight image)
rlm@96 546
rlm@94 547
rlm@94 548 ;; for each triangle
rlm@94 549 sensor-coords
rlm@94 550 (fn [tri]
rlm@94 551 ;; translate triangle to uv-pixel-space
rlm@94 552 (let [uv-tri
rlm@94 553 (pixel-triangle mesh tri width height)
rlm@94 554 bounds (vec (triangle-bounds uv-tri))]
rlm@94 555
rlm@94 556 ;; get that part of the picture
rlm@94 557
rlm@94 558 (apply #(.setRoi image %1 %2 %3 %4) bounds)
rlm@94 559 (let [cutout (.crop (.getProcessor image))
rlm@94 560 ;; extract white pixels inside triangle
rlm@94 561 cutout-tri
rlm@94 562 (map-triangle
rlm@94 563 (fn [_ v]
rlm@94 564 (.subtract
rlm@94 565 v
rlm@94 566 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@94 567 uv-tri)
rlm@94 568 whites (filter (partial inside-triangle? cutout-tri)
rlm@94 569 (map vector2f->vector3f
rlm@94 570 (white-coordinates cutout)))
rlm@94 571 ;; translate pixel coordinates to world-space
rlm@94 572 transform (triangle-transformation cutout-tri tri)]
rlm@94 573 (map #(.mult transform %) whites))))]
rlm@94 574
rlm@94 575
rlm@96 576
rlm@96 577 (vec (map sensor-coords tris))))
rlm@96 578
rlm@96 579 (defn locate-tactile-sensors*
rlm@96 580 "Search the geometry's tactile UV image for touch sensors, returning
rlm@96 581 their positions in geometry-relative coordinates."
rlm@96 582 [#^Geometry geo]
rlm@96 583 (let [uv-image (touch-receptor-image geo)
rlm@96 584 width (.getWidth uv-image)
rlm@96 585 height (.getHeight uv-image)
rlm@96 586
rlm@96 587 mesh (.getMesh geo)
rlm@96 588 mesh-tris (triangles geo)
rlm@96 589
rlm@96 590 ;; for each triangle
rlm@96 591 sensor-coords
rlm@96 592 (fn [tri]
rlm@96 593 ;; translate triangle to uv-pixel-space
rlm@96 594 (let [uv-tri
rlm@96 595 (rasterize mesh tri width height)
rlm@96 596 bounds (vec (triangle-bounds uv-tri))]
rlm@96 597
rlm@96 598 ;; get that part of the picture
rlm@96 599
rlm@96 600 (apply (partial (memfn setRoi) uv-image) bounds)
rlm@96 601 (let [cutout (.crop (.getProcessor uv-image))
rlm@96 602 ;; extract white pixels inside triangle
rlm@96 603 cutout-tri
rlm@96 604 (map-triangle
rlm@96 605 (fn [_ v]
rlm@96 606 (.subtract
rlm@96 607 v
rlm@96 608 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@96 609 uv-tri)
rlm@96 610 whites (filter (partial inside-triangle? cutout-tri)
rlm@96 611 (map vector2f->vector3f
rlm@96 612 (white-coordinates cutout)))
rlm@96 613 ;; translate pixel coordinates to world-space
rlm@96 614 transform (triangle-transformation cutout-tri tri)]
rlm@96 615 (map #(.mult transform %) whites))))]
rlm@96 616
rlm@96 617
rlm@96 618
rlm@96 619 (for [mesh-tri mesh-tris]
rlm@96 620
rlm@96 621 (let [uv-tri (rasterize mesh mesh-tri width height)
rlm@96 622 bounding-box (vec (triangle-bounds uv-tri))]
rlm@96 623 (apply (partial (memfn setRoi) uv-image) bounding-box)
rlm@96 624
rlm@96 625
rlm@96 626
rlm@96 627
rlm@96 628 ))
rlm@96 629 (vec (map sensor-coords mesh-tris))))
rlm@96 630
rlm@96 631
rlm@96 632
rlm@96 633 (defn measure-touchies [#^Geometry geo]
rlm@96 634 (let [tactile-sensor-coords (locate-tactile-sensors geo)
rlm@96 635 tris (triangles geo)]
rlm@96 636 (fn [world]
rlm@96 637 (let [sensor-origins (vec
rlm@96 638 (map
rlm@96 639 #(map (partial local-to-world geo) %)
rlm@96 640 tactile-sensor-coords))
rlm@96 641 triangle-normals (vec
rlm@96 642 (map (partial get-ray-direction geo)
rlm@96 643 tris))
rlm@96 644 rays (flatten
rlm@96 645 (map
rlm@96 646 (fn [origins normals]
rlm@96 647 (map
rlm@96 648 #(Ray. %1 %2)
rlm@96 649 origins
rlm@96 650 normals))
rlm@96 651 sensor-origins
rlm@96 652 (map repeat triangle-normals)))
rlm@96 653
rlm@94 654
rlm@96 655 ]
rlm@96 656 rays))))
rlm@96 657
rlm@96 658
rlm@96 659
rlm@96 660
rlm@96 661
rlm@96 662
rlm@96 663
rlm@96 664
rlm@96 665
rlm@96 666
rlm@94 667
rlm@94 668
rlm@94 669
rlm@94 670
rlm@94 671
rlm@94 672
rlm@93 673
rlm@93 674
rlm@91 675
rlm@90 676 ;; for each triangle in the mesh,
rlm@90 677 ;; get the normal to the triangle,
rlm@90 678 ;; look at the UV touch map, restricted to that triangle,
rlm@90 679 ;; get the positions of those touch sensors in geometry-relative
rlm@90 680 ;; coordinates.
rlm@91 681 (defn tactile-coords [#^Geometry obj]
rlm@91 682 (let [mesh (.getMesh obj)
rlm@91 683 num-triangles (.getTriangleCount mesh)
rlm@91 684 num-verticies (.getVertexCount mesh)
rlm@91 685 uv-coord (partial uv-coord mesh)
rlm@91 686 triangle-indices (partial triangle-indices mesh)
rlm@91 687 receptors (touch-receptor-image obj)
rlm@93 688 tris (triangles obj)
rlm@91 689 ]
rlm@91 690 (map
rlm@91 691 (fn [[tri-1 tri-2 tri-3]]
rlm@91 692 (let [width (.getWidth receptors)
rlm@91 693 height (.getHeight receptors)
rlm@91 694 uv-1 (uv-coord tri-1)
rlm@91 695 uv-2 (uv-coord tri-2)
rlm@91 696 uv-3 (uv-coord tri-3)
rlm@91 697 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@91 698 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@91 699 max-x (Math/ceil (* width (apply max x-coords)))
rlm@91 700 min-x (Math/floor (* width (apply min x-coords)))
rlm@91 701 max-y (Math/ceil (* height (apply max y-coords)))
rlm@91 702 min-y (Math/floor (* height (apply min y-coords)))
rlm@91 703
rlm@91 704 image-1 (Vector2f. (* width (.getX uv-1))
rlm@91 705 (* height (.getY uv-1)))
rlm@91 706 image-2 (Vector2f. (* width (.getX uv-2))
rlm@91 707 (* height (.getY uv-2)))
rlm@91 708 image-3 (Vector2f. (* width (.getX uv-3))
rlm@91 709 (* height (.getY uv-3)))
rlm@91 710 left-corner
rlm@91 711 (Vector2f. min-x min-y)
rlm@91 712 ]
rlm@91 713
rlm@91 714 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@93 715 (let [processor (.crop (.getProcessor receptors))]
rlm@93 716 (map
rlm@93 717 #(.add left-corner %)
rlm@93 718
rlm@93 719 (filter
rlm@93 720 (partial
rlm@93 721 inside-triangle?
rlm@93 722 (.subtract image-1 left-corner)
rlm@93 723 (.subtract image-2 left-corner)
rlm@93 724 (.subtract image-3 left-corner))
rlm@93 725 (white-coordinates processor))))
rlm@91 726 )) (map triangle-indices (range num-triangles)))))
rlm@93 727
rlm@91 728
rlm@91 729
rlm@91 730
rlm@91 731
rlm@91 732
rlm@91 733
rlm@91 734 (defn all-names []
rlm@91 735 (concat
rlm@91 736 (re-split #"\n" (slurp (file-str
rlm@91 737 "/home/r/proj/names/dist.female.first")))
rlm@91 738 (re-split #"\n" (slurp (file-str
rlm@91 739 "/home/r/proj/names/dist.male.first")))
rlm@91 740 (re-split #"\n" (slurp (file-str
rlm@91 741 "/home/r/proj/names/dist.all.last")))))
rlm@90 742
rlm@90 743
rlm@90 744
rlm@90 745
rlm@90 746
rlm@90 747
rlm@90 748
rlm@90 749
rlm@90 750
rlm@90 751 (defrecord LulzLoader [])
rlm@90 752 (defprotocol Lulzable (load-lulz [this]))
rlm@90 753 (extend-type LulzLoader
rlm@90 754 Lulzable
rlm@90 755 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 756
rlm@78 757
rlm@78 758 (defn world-setup [joint]
rlm@90 759 (let [joint-position (Vector3f. 0 0 0)
rlm@83 760 joint-rotation
rlm@83 761 (.toRotationMatrix
rlm@83 762 (.mult
rlm@83 763 (doto (Quaternion.)
rlm@83 764 (.fromAngleAxis
rlm@83 765 (* 1 (/ Math/PI 4))
rlm@85 766 (Vector3f. -1 0 0)))
rlm@85 767 (doto (Quaternion.)
rlm@85 768 (.fromAngleAxis
rlm@85 769 (* 1 (/ Math/PI 2))
rlm@85 770 (Vector3f. 0 0 1)))))
rlm@84 771 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 772
rlm@83 773 origin (doto
rlm@83 774 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 775 :position top-position))
rlm@83 776 top (doto
rlm@78 777 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 778 :position top-position)
rlm@83 779
rlm@78 780 (.addControl
rlm@78 781 (RigidBodyControl.
rlm@83 782 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 783 bottom (doto
rlm@78 784 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 785 :position (Vector3f. 0 0 0))
rlm@83 786 (.addControl
rlm@78 787 (RigidBodyControl.
rlm@78 788 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 789 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 790 :color ColorRGBA/Gray :mass 0)
rlm@78 791 a (.getControl top RigidBodyControl)
rlm@78 792 b (.getControl bottom RigidBodyControl)]
rlm@83 793
rlm@78 794 (cond
rlm@83 795 (= joint :cone)
rlm@83 796
rlm@83 797 (doto (ConeJoint.
rlm@83 798 a b
rlm@87 799 (world-to-local top joint-position)
rlm@87 800 (world-to-local bottom joint-position)
rlm@83 801 joint-rotation
rlm@83 802 joint-rotation
rlm@83 803 )
rlm@78 804
rlm@83 805
rlm@83 806 (.setLimit (* (/ 10) Math/PI)
rlm@83 807 (* (/ 4) Math/PI)
rlm@83 808 0)))
rlm@83 809 [origin top bottom table]))
rlm@78 810
rlm@78 811 (defn test-joint [joint]
rlm@83 812 (let [[origin top bottom floor] (world-setup joint)
rlm@78 813 control (.getControl top RigidBodyControl)
rlm@78 814 move-up? (atom false)
rlm@78 815 move-down? (atom false)
rlm@78 816 move-left? (atom false)
rlm@78 817 move-right? (atom false)
rlm@78 818 roll-left? (atom false)
rlm@78 819 roll-right? (atom false)
rlm@78 820 timer (atom 0)]
rlm@78 821
rlm@78 822 (world
rlm@83 823 (nodify [top bottom floor origin])
rlm@78 824 (merge standard-debug-controls
rlm@78 825 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 826 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 827 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 828 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 829 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 830 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 831
rlm@78 832 (fn [world]
rlm@78 833 (light-up-everything world)
rlm@78 834 (enable-debug world)
rlm@78 835 (set-gravity world (Vector3f. 0 0 0))
rlm@78 836 )
rlm@78 837
rlm@78 838 (fn [world _]
rlm@78 839 (if (zero? (rem (swap! timer inc) 100))
rlm@78 840 (do
rlm@78 841 ;; (println-repl @timer)
rlm@78 842 (.attachChild (.getRootNode world)
rlm@78 843 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 844 :position (.getWorldTranslation top)
rlm@83 845 :physical? false))
rlm@83 846 (.attachChild (.getRootNode world)
rlm@83 847 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 848 :position (.getWorldTranslation bottom)
rlm@83 849 :physical? false))))
rlm@83 850
rlm@78 851 (if @move-up?
rlm@78 852 (.applyTorque control
rlm@78 853 (.mult (.getPhysicsRotation control)
rlm@78 854 (Vector3f. 0 0 10))))
rlm@78 855 (if @move-down?
rlm@78 856 (.applyTorque control
rlm@78 857 (.mult (.getPhysicsRotation control)
rlm@78 858 (Vector3f. 0 0 -10))))
rlm@78 859 (if @move-left?
rlm@78 860 (.applyTorque control
rlm@78 861 (.mult (.getPhysicsRotation control)
rlm@78 862 (Vector3f. 0 10 0))))
rlm@78 863 (if @move-right?
rlm@78 864 (.applyTorque control
rlm@78 865 (.mult (.getPhysicsRotation control)
rlm@78 866 (Vector3f. 0 -10 0))))
rlm@78 867 (if @roll-left?
rlm@78 868 (.applyTorque control
rlm@78 869 (.mult (.getPhysicsRotation control)
rlm@78 870 (Vector3f. -1 0 0))))
rlm@78 871 (if @roll-right?
rlm@78 872 (.applyTorque control
rlm@78 873 (.mult (.getPhysicsRotation control)
rlm@78 874 (Vector3f. 1 0 0))))))))
rlm@83 875
rlm@83 876
rlm@83 877
rlm@87 878 #+end_src
rlm@83 879
rlm@87 880 #+results: body-1
rlm@87 881 : #'cortex.silly/test-joint
rlm@78 882
rlm@78 883
rlm@78 884 * COMMENT purgatory
rlm@78 885 #+begin_src clojure
rlm@77 886 (defn bullet-trans []
rlm@77 887 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 888 :position (Vector3f. -10 5 0))
rlm@77 889 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 890 :position (Vector3f. -10 -5 0)
rlm@77 891 :mass 0)
rlm@77 892 control-a (.getControl obj-a RigidBodyControl)
rlm@77 893 control-b (.getControl obj-b RigidBodyControl)
rlm@77 894 swivel
rlm@77 895 (.toRotationMatrix
rlm@77 896 (doto (Quaternion.)
rlm@77 897 (.fromAngleAxis (/ Math/PI 2)
rlm@77 898 Vector3f/UNIT_X)))]
rlm@77 899 (doto
rlm@77 900 (ConeJoint.
rlm@77 901 control-a control-b
rlm@77 902 (Vector3f. 0 5 0)
rlm@77 903 (Vector3f. 0 -5 0)
rlm@77 904 swivel swivel)
rlm@77 905 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 906 (/ Math/PI 4)
rlm@77 907 (* Math/PI 0.8)))
rlm@77 908 (world (nodify
rlm@77 909 [obj-a obj-b])
rlm@77 910 standard-debug-controls
rlm@77 911 enable-debug
rlm@77 912 no-op)))
rlm@74 913
rlm@74 914
rlm@77 915 (defn bullet-trans* []
rlm@77 916 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 917 :position (Vector3f. 5 0 0)
rlm@77 918 :mass 90)
rlm@77 919 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 920 :position (Vector3f. -5 0 0)
rlm@77 921 :mass 0)
rlm@77 922 control-a (.getControl obj-a RigidBodyControl)
rlm@77 923 control-b (.getControl obj-b RigidBodyControl)
rlm@77 924 move-up? (atom nil)
rlm@77 925 move-down? (atom nil)
rlm@77 926 move-left? (atom nil)
rlm@77 927 move-right? (atom nil)
rlm@77 928 roll-left? (atom nil)
rlm@77 929 roll-right? (atom nil)
rlm@77 930 force 100
rlm@77 931 swivel
rlm@77 932 (.toRotationMatrix
rlm@77 933 (doto (Quaternion.)
rlm@77 934 (.fromAngleAxis (/ Math/PI 2)
rlm@77 935 Vector3f/UNIT_X)))
rlm@77 936 x-move
rlm@77 937 (doto (Matrix3f.)
rlm@77 938 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 939 (.normalize (Vector3f. 1 1 0))))
rlm@77 940
rlm@77 941 timer (atom 0)]
rlm@77 942 (doto
rlm@77 943 (ConeJoint.
rlm@77 944 control-a control-b
rlm@77 945 (Vector3f. -8 0 0)
rlm@77 946 (Vector3f. 2 0 0)
rlm@77 947 ;;swivel swivel
rlm@77 948 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 949 x-move Matrix3f/IDENTITY
rlm@77 950 )
rlm@77 951 (.setCollisionBetweenLinkedBodys false)
rlm@77 952 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 953 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 954 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 955 (world (nodify
rlm@77 956 [obj-a obj-b])
rlm@77 957 (merge standard-debug-controls
rlm@77 958 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 959 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 960 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 961 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 962 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 963 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 964
rlm@77 965 (fn [world]
rlm@77 966 (enable-debug world)
rlm@77 967 (set-gravity world Vector3f/ZERO)
rlm@77 968 )
rlm@77 969
rlm@77 970 (fn [world _]
rlm@77 971
rlm@77 972 (if @move-up?
rlm@77 973 (.applyForce control-a
rlm@77 974 (Vector3f. force 0 0)
rlm@77 975 (Vector3f. 0 0 0)))
rlm@77 976 (if @move-down?
rlm@77 977 (.applyForce control-a
rlm@77 978 (Vector3f. (- force) 0 0)
rlm@77 979 (Vector3f. 0 0 0)))
rlm@77 980 (if @move-left?
rlm@77 981 (.applyForce control-a
rlm@77 982 (Vector3f. 0 force 0)
rlm@77 983 (Vector3f. 0 0 0)))
rlm@77 984 (if @move-right?
rlm@77 985 (.applyForce control-a
rlm@77 986 (Vector3f. 0 (- force) 0)
rlm@77 987 (Vector3f. 0 0 0)))
rlm@77 988
rlm@77 989 (if @roll-left?
rlm@77 990 (.applyForce control-a
rlm@77 991 (Vector3f. 0 0 force)
rlm@77 992 (Vector3f. 0 0 0)))
rlm@77 993 (if @roll-right?
rlm@77 994 (.applyForce control-a
rlm@77 995 (Vector3f. 0 0 (- force))
rlm@77 996 (Vector3f. 0 0 0)))
rlm@77 997
rlm@77 998 (if (zero? (rem (swap! timer inc) 100))
rlm@77 999 (.attachChild
rlm@77 1000 (.getRootNode world)
rlm@77 1001 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 1002 :physical? false :position
rlm@77 1003 (.getWorldTranslation obj-a)))))
rlm@77 1004 )
rlm@77 1005 ))
rlm@77 1006
rlm@77 1007
rlm@77 1008
rlm@73 1009 #+end_src
rlm@73 1010
rlm@73 1011
rlm@73 1012 * COMMENT generate source
rlm@73 1013 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 1014 <<body-1>>
rlm@73 1015 #+end_src
rlm@73 1016
rlm@94 1017
rlm@94 1018
rlm@94 1019
rlm@94 1020
rlm@94 1021 (defn transform-trianglesdsd
rlm@94 1022 "Transform that converts each vertex in the first triangle
rlm@94 1023 into the corresponding vertex in the second triangle."
rlm@94 1024 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 1025 (let [in [(.get1 tri-1)
rlm@94 1026 (.get2 tri-1)
rlm@94 1027 (.get3 tri-1)]
rlm@94 1028 out [(.get1 tri-2)
rlm@94 1029 (.get2 tri-2)
rlm@94 1030 (.get3 tri-2)]]
rlm@94 1031 (let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
rlm@94 1032 in* [(.mult translate (in 0))
rlm@94 1033 (.mult translate (in 1))
rlm@94 1034 (.mult translate (in 2))]
rlm@94 1035 final-translation
rlm@94 1036 (doto (Matrix4f.)
rlm@94 1037 (.setTranslation (out 1)))
rlm@94 1038
rlm@94 1039 rotate-1
rlm@94 1040 (doto (Matrix3f.)
rlm@94 1041 (.fromStartEndVectors
rlm@94 1042 (.normalize
rlm@94 1043 (.subtract
rlm@94 1044 (in* 1) (in* 0)))
rlm@94 1045 (.normalize
rlm@94 1046 (.subtract
rlm@94 1047 (out 1) (out 0)))))
rlm@94 1048 in** [(.mult rotate-1 (in* 0))
rlm@94 1049 (.mult rotate-1 (in* 1))
rlm@94 1050 (.mult rotate-1 (in* 2))]
rlm@94 1051 scale-factor-1
rlm@94 1052 (.mult
rlm@94 1053 (.normalize
rlm@94 1054 (.subtract
rlm@94 1055 (out 1)
rlm@94 1056 (out 0)))
rlm@94 1057 (/ (.length
rlm@94 1058 (.subtract (out 1)
rlm@94 1059 (out 0)))
rlm@94 1060 (.length
rlm@94 1061 (.subtract (in** 1)
rlm@94 1062 (in** 0)))))
rlm@94 1063 scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
rlm@94 1064 in*** [(.mult scale-1 (in** 0))
rlm@94 1065 (.mult scale-1 (in** 1))
rlm@94 1066 (.mult scale-1 (in** 2))]
rlm@94 1067
rlm@94 1068
rlm@94 1069
rlm@94 1070
rlm@94 1071
rlm@94 1072 ]
rlm@94 1073
rlm@94 1074 (dorun (map println in))
rlm@94 1075 (println)
rlm@94 1076 (dorun (map println in*))
rlm@94 1077 (println)
rlm@94 1078 (dorun (map println in**))
rlm@94 1079 (println)
rlm@94 1080 (dorun (map println in***))
rlm@94 1081 (println)
rlm@94 1082
rlm@94 1083 )))
rlm@94 1084
rlm@94 1085
rlm@94 1086
rlm@94 1087
rlm@94 1088
rlm@94 1089
rlm@94 1090
rlm@94 1091
rlm@94 1092
rlm@94 1093
rlm@94 1094
rlm@94 1095
rlm@94 1096
rlm@94 1097
rlm@94 1098
rlm@94 1099
rlm@94 1100
rlm@94 1101
rlm@94 1102 )
rlm@94 1103
rlm@94 1104