Mercurial > cortex

annotate org/skin.org @ 76:5e75b616ca60

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
going to work on constraints for the joints in the hand.
author Robert McIntyre <rlm@mit.edu>
date Wed, 28 Dec 2011 23:12:32 -0700
parents 39e4e1542e4a
children e8df6e76c3e5
rev   line source
rlm@37 1 #+title: Simulated Sense of Touch
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@37 4 #+description: Simulated touch for AI research using JMonkeyEngine and clojure.
rlm@37 5 #+keywords: simulation, tactile sense, jMonkeyEngine3, clojure
rlm@4 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@0 8
rlm@39 9
rlm@37 10 * Touch
rlm@0 11
rlm@37 12 My creatures need to be able to feel their environments. The idea here
rlm@43 13 is to create thousands of small /touch receptors/ along the geometries
rlm@43 14 which make up the creature's body. The number of touch receptors in a
rlm@43 15 given area is determined by how complicated that area is, as
rlm@43 16 determined by the total number of triangles in that region. This way,
rlm@43 17 complicated regions like the hands/face, etc. get more touch receptors
rlm@43 18 than simpler areas of the body.
rlm@0 19
rlm@66 20 #+name: skin-main
rlm@0 21 #+begin_src clojure
rlm@37 22 (ns cortex.touch
rlm@37 23 "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry
rlm@37 24 to be outfitted with touch sensors with density proportional to the
rlm@37 25 density of triangles along the surface of the Geometry. Enables a
rlm@37 26 Geometry to know what parts of itself are touching nearby objects."
rlm@37 27 {:author "Robert McIntyre"}
rlm@37 28 (:use (cortex world util))
rlm@37 29 (:import com.jme3.scene.Geometry)
rlm@39 30 (:import com.jme3.collision.CollisionResults)
rlm@39 31 (:import (com.jme3.math Triangle Vector3f Ray)))
rlm@37 32
rlm@37 33 (defn triangles
rlm@37 34 "Return a sequence of all the Triangles which compose a given
rlm@37 35 Geometry."
rlm@37 36 [#^Geometry geom]
rlm@6 37 (let
rlm@6 38 [mesh (.getMesh geom)
rlm@6 39 triangles (transient [])]
rlm@6 40 (dorun
rlm@6 41 (for [n (range (.getTriangleCount mesh))]
rlm@6 42 (let [tri (Triangle.)]
rlm@6 43 (.getTriangle mesh n tri)
rlm@37 44 ;; (.calculateNormal tri)
rlm@37 45 ;; (.calculateCenter tri)
rlm@6 46 (conj! triangles tri))))
rlm@6 47 (persistent! triangles)))
rlm@6 48
rlm@7 49 (defn get-ray-origin
rlm@37 50 "Return the origin which a Ray would have to have to be in the exact
rlm@37 51 center of a particular Triangle in the Geometry in World
rlm@37 52 Coordinates."
rlm@7 53 [geom tri]
rlm@7 54 (let [new (Vector3f.)]
rlm@7 55 (.calculateCenter tri)
rlm@37 56 (.localToWorld geom (.getCenter tri) new) new))
rlm@6 57
rlm@7 58 (defn get-ray-direction
rlm@37 59 "Return the direction which a Ray would have to have to be in the
rlm@37 60 exact center of a particular Triangle in the Geometry, pointing
rlm@37 61 normal to the Triangle, in coordinates relative to the center of the
rlm@37 62 Triangle."
rlm@7 63 [geom tri]
rlm@9 64 (let [n+c (Vector3f.)]
rlm@7 65 (.calculateNormal tri)
rlm@9 66 (.calculateCenter tri)
rlm@37 67 (.localToWorld
rlm@37 68 geom
rlm@37 69 (.add (.getCenter tri) (.getNormal tri)) n+c)
rlm@37 70 (.subtract n+c (get-ray-origin geom tri))))
rlm@37 71
rlm@37 72 (defn normal-rays
rlm@37 73 "For each Triangle which comprises the Geometry, returns a Ray which
rlm@37 74 is centered on that Triangle, points outward in a normal direction,
rlm@37 75 and extends for =limit= distance."
rlm@37 76 [limit #^Geometry geom]
rlm@37 77 (vec
rlm@37 78 (map
rlm@37 79 (fn [tri]
rlm@37 80 (doto
rlm@37 81 (Ray. (get-ray-origin geom tri)
rlm@37 82 (get-ray-direction geom tri))
rlm@37 83 (.setLimit limit)))
rlm@37 84 (triangles geom))))
rlm@37 85
rlm@37 86 (defn touch-percieve
rlm@37 87 "Augment a Geometry with the sense of touch. Returns a sequence of
rlm@37 88 non-negative integers, one for each triangle, with the value of the
rlm@37 89 integer describing how many objects a ray of length =limit=, normal
rlm@37 90 to the triangle and originating from its center, encountered. The
rlm@37 91 Geometry itself is not counted among the results."
rlm@37 92 [limit geom node]
rlm@37 93 (let [normals (normal-rays limit geom)]
rlm@37 94 (doall
rlm@37 95 (for [ray normals]
rlm@37 96 (do
rlm@37 97 (let [results (CollisionResults.)]
rlm@37 98 (.collideWith node ray results)
rlm@37 99 (let [touch-objects
rlm@37 100 (set (filter #(not (= geom %))
rlm@37 101 (map #(.getGeometry %) results)))]
rlm@37 102 (count touch-objects))))))))
rlm@37 103 #+end_src
rlm@37 104
rlm@37 105
rlm@37 106 * Example
rlm@37 107
rlm@66 108 #+name: touch-test
rlm@37 109 #+begin_src clojure
rlm@68 110 (ns cortex.test.touch
rlm@59 111 (:use (cortex world util touch))
rlm@59 112 (:import
rlm@59 113 com.jme3.scene.shape.Sphere
rlm@59 114 com.jme3.math.ColorRGBA
rlm@59 115 com.jme3.math.Vector3f
rlm@59 116 com.jme3.material.RenderState$BlendMode
rlm@59 117 com.jme3.renderer.queue.RenderQueue$Bucket
rlm@59 118 com.jme3.scene.shape.Box
rlm@68 119 com.jme3.scene.Node))
rlm@39 120
rlm@7 121 (defn ray-origin-debug
rlm@9 122 [ray color]
rlm@7 123 (make-shape
rlm@20 124 (assoc base-shape
rlm@20 125 :shape (Sphere. 5 5 0.05)
rlm@20 126 :name "arrow"
rlm@20 127 :color color
rlm@20 128 :texture false
rlm@20 129 :physical? false
rlm@20 130 :position
rlm@20 131 (.getOrigin ray))))
rlm@6 132
rlm@9 133 (defn ray-debug [ray color]
rlm@6 134 (make-shape
rlm@6 135 (assoc
rlm@6 136 base-shape
rlm@6 137 :name "debug-ray"
rlm@6 138 :physical? false
rlm@6 139 :shape (com.jme3.scene.shape.Line.
rlm@6 140 (.getOrigin ray)
rlm@6 141 (.add
rlm@6 142 (.getOrigin ray)
rlm@6 143 (.mult (.getDirection ray)
rlm@6 144 (float (.getLimit ray))))))))
rlm@6 145
rlm@6 146
rlm@10 147 (defn contact-color [contacts]
rlm@10 148 (case contacts
rlm@10 149 0 ColorRGBA/Gray
rlm@37 150 1 ColorRGBA/Red
rlm@10 151 2 ColorRGBA/Green
rlm@10 152 3 ColorRGBA/Yellow
rlm@10 153 4 ColorRGBA/Orange
rlm@10 154 5 ColorRGBA/Red
rlm@10 155 6 ColorRGBA/Magenta
rlm@10 156 7 ColorRGBA/Pink
rlm@10 157 8 ColorRGBA/White))
rlm@6 158
rlm@14 159 (defn update-ray-debug [node ray contacts]
rlm@14 160 (let [origin (.getChild node 0)]
rlm@14 161 (.setLocalTranslation origin (.getOrigin ray))
rlm@14 162 (.setColor (.getMaterial origin) "Color" (contact-color contacts))))
rlm@14 163
rlm@13 164 (defn init-node
rlm@13 165 [debug-node rays]
rlm@12 166 (.detachAllChildren debug-node)
rlm@13 167 (dorun
rlm@13 168 (for [ray rays]
rlm@13 169 (do
rlm@13 170 (.attachChild
rlm@13 171 debug-node
rlm@13 172 (doto (Node.)
rlm@14 173 (.attachChild (ray-origin-debug ray ColorRGBA/Gray))
rlm@20 174 (.attachChild (ray-debug ray ColorRGBA/Gray))
rlm@14 175 ))))))
rlm@14 176
rlm@13 177 (defn manage-ray-debug-node [debug-node geom touch-data limit]
rlm@13 178 (let [rays (normal-rays limit geom)]
rlm@13 179 (if (not= (count (.getChildren debug-node)) (count touch-data))
rlm@13 180 (init-node debug-node rays))
rlm@13 181 (dorun
rlm@13 182 (for [n (range (count touch-data))]
rlm@14 183 (update-ray-debug
rlm@14 184 (.getChild debug-node n) (nth rays n) (nth touch-data n))))))
rlm@12 185
rlm@0 186 (defn transparent-sphere []
rlm@0 187 (doto
rlm@0 188 (make-shape
rlm@0 189 (merge base-shape
rlm@0 190 {:position (Vector3f. 0 2 0)
rlm@0 191 :name "the blob."
rlm@0 192 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 193 :texture "Textures/purpleWisp.png"
rlm@0 194 :physical? true
rlm@0 195 :mass 70
rlm@0 196 :color ColorRGBA/Blue
rlm@0 197 :shape (Sphere. 10 10 1)}))
rlm@0 198 (-> (.getMaterial)
rlm@0 199 (.getAdditionalRenderState)
rlm@0 200 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 201 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 202
rlm@0 203 (defn transparent-box []
rlm@0 204 (doto
rlm@0 205 (make-shape
rlm@0 206 (merge base-shape
rlm@0 207 {:position (Vector3f. 0 2 0)
rlm@10 208 :name "box"
rlm@0 209 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0 210 :texture "Textures/purpleWisp.png"
rlm@0 211 :physical? true
rlm@0 212 :mass 70
rlm@0 213 :color ColorRGBA/Blue
rlm@0 214 :shape (Box. 1 1 1)}))
rlm@0 215 (-> (.getMaterial)
rlm@0 216 (.getAdditionalRenderState)
rlm@0 217 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0 218 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0 219
rlm@6 220 (defn transparent-floor []
rlm@6 221 (doto
rlm@6 222 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)
rlm@6 223 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@10 224 :texture "Textures/redWisp.png"
rlm@10 225 :name "floor")
rlm@6 226 (-> (.getMaterial)
rlm@6 227 (.getAdditionalRenderState)
rlm@6 228 (.setBlendMode RenderState$BlendMode/Alpha))
rlm@6 229 (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@6 230
rlm@69 231 (defn test-skin
rlm@69 232 "Testing touch:
rlm@69 233 you should see a ball which responds to the table
rlm@69 234 and whatever balls hit it."
rlm@69 235 []
rlm@0 236 (let [b
rlm@58 237 ;;(transparent-box)
rlm@58 238 (transparent-sphere)
rlm@10 239 ;;(sphere)
rlm@58 240 f (transparent-floor)
rlm@6 241 debug-node (Node.)
rlm@12 242 node (doto (Node.) (.attachChild b) (.attachChild f))
rlm@12 243 root-node (doto (Node.) (.attachChild node)
rlm@12 244 (.attachChild debug-node))
rlm@12 245 ]
rlm@0 246
rlm@0 247 (world
rlm@12 248 root-node
rlm@15 249 {"key-return" (fire-cannon-ball node)}
rlm@0 250 (fn [world]
rlm@20 251 ;; (Capture/SimpleCaptureVideo
rlm@20 252 ;; world
rlm@20 253 ;; (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@20 254 ;; (no-logging)
rlm@20 255 ;;(enable-debug world)
rlm@20 256 ;; (set-accuracy world (/ 1 60))
rlm@58 257 )
rlm@58 258
rlm@0 259 (fn [& _]
rlm@19 260 (let [sensitivity 0.2
rlm@18 261 touch-data (touch-percieve sensitivity b node)]
rlm@68 262 (manage-ray-debug-node debug-node b touch-data sensitivity))
rlm@0 263 ))))
rlm@0 264
rlm@37 265
rlm@0 266 #+end_src
rlm@0 267
rlm@0 268
rlm@10 269
rlm@10 270
rlm@6 271
rlm@0 272 * COMMENT code generation
rlm@39 273 #+begin_src clojure :tangle ../src/cortex/touch.clj
rlm@0 274 <<skin-main>>
rlm@0 275 #+end_src
rlm@0 276
rlm@68 277 #+begin_src clojure :tangle ../src/cortex/test/touch.clj
rlm@39 278 <<touch-test>>
rlm@39 279 #+end_src
rlm@39 280
rlm@0 281
rlm@0 282
rlm@0 283
rlm@32 284
rlm@32 285