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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 f4c77512808e
children 1f84f425e05d
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 (use '[clojure.contrib [seq :only [find-first]]])
rlm@73 52
rlm@73 53
rlm@73 54 (rlm.rlm-commands/help)
rlm@73 55
rlm@73 56 (defn load-blender-model
rlm@73 57 "Load a .blend file using an asset folder relative path."
rlm@73 58 [^String model]
rlm@73 59 (.loadModel
rlm@73 60 (doto (asset-manager)
rlm@73 61 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 62 model))
rlm@73 63
rlm@74 64 (defn meta-data [blender-node key]
rlm@74 65 (if-let [data (.getUserData blender-node "properties")]
rlm@74 66 (.findValue data key)
rlm@74 67 nil))
rlm@73 68
rlm@74 69 (defn hand2 []
rlm@74 70 (load-blender-model "Models/creature1/try-again.blend"))
rlm@74 71
rlm@74 72 (defn hand []
rlm@74 73 (load-blender-model "Models/creature1/one.blend"))
rlm@74 74
rlm@74 75
rlm@73 76
rlm@74 77 (def hand-names
rlm@74 78 #{
rlm@74 79 "middle-1"
rlm@74 80 "middle-2"
rlm@74 81 "middle-3"
rlm@74 82 "palm"
rlm@74 83 "pinky-1"
rlm@74 84 "pinky-2"
rlm@74 85 "pinky-3"
rlm@74 86 "pointer-1"
rlm@74 87 "pointer-2"
rlm@74 88 "pointer-3"
rlm@74 89 "ring-1"
rlm@74 90 "ring-2"
rlm@74 91 "ring-3"
rlm@74 92 "thumb-1"
rlm@74 93 "thumb-2"})
rlm@74 94
rlm@74 95 (defn hand-pieces []
rlm@74 96 (filter
rlm@74 97 (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
rlm@74 98
rlm@74 99 (defn hand-joints []
rlm@74 100 (map #(.getWorldTranslation %)
rlm@74 101 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@74 102 (node-seq (hand)))))
rlm@74 103
rlm@74 104 (defn worm-pieces []
rlm@74 105 (filter
rlm@74 106 (comp #{"worm-2" "worm-1"}
rlm@74 107 #(apply str (drop-last (.getName %))))
rlm@74 108 (node-seq (hand2))))
rlm@74 109
rlm@74 110 (defn worm-joints []
rlm@74 111 [Vector3f/ZERO])
rlm@74 112
rlm@74 113
rlm@74 114
rlm@74 115 (defn find-joint
rlm@74 116 [#^Node parts #^Vector3f joint-position]
rlm@74 117 (loop [radius (float 0.01)]
rlm@74 118 (let [results (CollisionResults.)]
rlm@74 119 (.collideWith
rlm@74 120 parts
rlm@74 121 (BoundingBox. joint-position radius radius radius)
rlm@74 122 results)
rlm@74 123 (let [targets
rlm@74 124 (distinct
rlm@74 125 (map #(.getGeometry %) results))]
rlm@74 126 (if (>= (count targets) 2)
rlm@74 127 (take 2 targets)
rlm@74 128 (recur (float (* radius 2))))))))
rlm@74 129
rlm@74 130
rlm@74 131
rlm@74 132 (defn connect-at-point
rlm@74 133 [obj-a obj-b point]
rlm@74 134 (let [center-a (.getWorldTranslation obj-a)
rlm@74 135 center-b (.getWorldTranslation obj-b)
rlm@74 136 pivot-a (.subtract point center-a)
rlm@74 137 pivot-b (.subtract point center-b)
rlm@74 138 ;; A side-effect of creating a joint registers
rlm@74 139 ;; it with both physics objects which in turn
rlm@74 140 ;; will register the joint with the physics system
rlm@74 141 ;; when the simulation is started.
rlm@74 142 joint (Point2PointJoint.
rlm@74 143 (.getControl obj-a RigidBodyControl)
rlm@74 144 (.getControl obj-b RigidBodyControl)
rlm@74 145 pivot-a
rlm@74 146 pivot-b)]
rlm@74 147 obj-a))
rlm@74 148
rlm@74 149
rlm@74 150 (defn physical-hand [#^Node pieces joints]
rlm@74 151 ;; Make each piece a physical entity in the simulation.
rlm@74 152 (dorun
rlm@74 153 (map
rlm@74 154 (fn [geom]
rlm@74 155 (let [physics-control
rlm@74 156 (RigidBodyControl.
rlm@74 157 (HullCollisionShape.
rlm@74 158 (.getMesh geom))
rlm@74 159 ;; TODO: fix this.
rlm@74 160 (float 1.0))]
rlm@74 161 (.addControl geom physics-control)))
rlm@74 162 (filter #(isa? (class %) Geometry )
rlm@74 163 (node-seq pieces))))
rlm@74 164 (dorun
rlm@74 165 (map
rlm@74 166 (fn [joint-position]
rlm@74 167 (let [[geom-a geom-b] (find-joint pieces joint-position)]
rlm@74 168 (connect-at-point geom-a geom-b joint-position)))
rlm@74 169 joints))
rlm@74 170 pieces)
rlm@74 171
rlm@74 172
rlm@74 173 (defn the-hand! [] (physical-hand (hand) (hand-joints)))
rlm@74 174
rlm@74 175
rlm@74 176 (defn test-hand []
rlm@74 177 (world
rlm@74 178 (nodify [(the-hand!)
rlm@75 179 (box 10 1 10 :position (Vector3f. 0 -10 0)
rlm@74 180 :color ColorRGBA/Gray
rlm@74 181 :mass 0)])
rlm@74 182 standard-debug-controls
rlm@75 183 enable-debug
rlm@75 184 (fn [_ _]
rlm@75 185 (Thread/sleep 100))))
rlm@74 186
rlm@74 187
rlm@74 188
rlm@74 189
rlm@74 190
rlm@73 191
rlm@73 192
rlm@73 193 #+end_src
rlm@73 194
rlm@75 195 #+results: body-1
rlm@75 196 : #'cortex.silly/test-hand
rlm@75 197
rlm@73 198
rlm@73 199
rlm@73 200 * COMMENT generate source
rlm@73 201 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 202 <<body-1>>
rlm@73 203 #+end_src
rlm@73 204