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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 fb810a2c50c2
children 77b506ac64f3
rev   line source
rlm@29 1 #+title: Clojure Utilities for jMonkeyEngine3
rlm@23 2 #+author: Robert McIntyre
rlm@23 3 #+email: rlm@mit.edu
rlm@29 4 #+description:
rlm@29 5 #+keywords: JME3, clojure, import, utilities
rlm@23 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@29 8
rlm@34 9 [TABLE-OF-CONTENTS]
rlm@29 10
rlm@29 11 These are a collection of functions to make programming jMonkeyEngine
rlm@29 12 in clojure easier.
rlm@23 13
rlm@34 14 * Imports
rlm@28 15
rlm@66 16 #+name: import
rlm@23 17 #+begin_src clojure :results silent
rlm@23 18 (ns cortex.import
rlm@23 19 (:require swank.util.class-browse))
rlm@23 20
rlm@23 21 (defn permissive-import
rlm@23 22 [classname]
rlm@23 23 (eval `(try (import '~classname)
rlm@23 24 (catch java.lang.Exception e#
rlm@23 25 (println "couldn't import " '~classname))))
rlm@23 26 classname)
rlm@23 27
rlm@23 28 (defn jme-class? [classname]
rlm@23 29 (and
rlm@23 30 (.startsWith classname "com.jme3.")
rlm@23 31 ;; Don't import the Lwjgl stuff since it can throw exceptions
rlm@23 32 ;; upon being loaded.
rlm@23 33 (not (re-matches #".*Lwjgl.*" classname))))
rlm@23 34
rlm@23 35 (defn jme-classes
rlm@23 36 "returns a list of all jme3 classes"
rlm@23 37 []
rlm@23 38 (filter
rlm@23 39 jme-class?
rlm@23 40 (map :name
rlm@23 41 swank.util.class-browse/available-classes)))
rlm@23 42
rlm@23 43 (defn mega-import-jme3
rlm@23 44 "Import ALL the jme classes. For REPL use."
rlm@23 45 []
rlm@23 46 (doall
rlm@23 47 (map (comp permissive-import symbol) (jme-classes))))
rlm@23 48 #+end_src
rlm@23 49
rlm@29 50 jMonkeyEngine3 has a plethora of classes which can be overwhelming to
rlm@29 51 manage. This code uses reflection to import all of them. Once I'm
rlm@29 52 happy with the general structure of a namespace I can deal with
rlm@29 53 importing only the classes it actually needs.
rlm@29 54
rlm@23 55 The =mega-import-jme3= is quite usefull for debugging purposes since
rlm@34 56 it allows completion for almost all of JME's classes from the REPL.
rlm@23 57
rlm@23 58 Out of curiousity, let's see just how many classes =mega-import-jme3=
rlm@23 59 imports:
rlm@23 60
rlm@29 61 #+begin_src clojure :exports both :results output
rlm@29 62 (println (clojure.core/count (cortex.import/jme-classes)) "classes")
rlm@23 63 #+end_src
rlm@23 64
rlm@23 65 #+results:
rlm@29 66 : 955 classes
rlm@23 67
rlm@25 68
rlm@34 69 * Utilities
rlm@23 70
rlm@29 71 The utilities here come in three main groups:
rlm@29 72 - Changing settings in a running =Application=
rlm@29 73 - Creating objects
rlm@50 74 - Debug Actions
rlm@29 75 - Visualizing objects
rlm@23 76
rlm@29 77 *** Changing Settings
rlm@24 78
rlm@66 79 #+name: util
rlm@25 80 #+begin_src clojure
rlm@29 81 (ns cortex.util
rlm@34 82 "Utility functions for making jMonkeyEngine3 easier to program from
rlm@34 83 clojure."
rlm@29 84 {:author "Robert McIntyre"}
rlm@29 85 (:use cortex.world)
rlm@29 86 (:use clojure.contrib.def)
rlm@29 87 (:import com.jme3.math.Vector3f)
rlm@29 88 (:import com.jme3.math.Quaternion)
rlm@29 89 (:import com.jme3.asset.TextureKey)
rlm@29 90 (:import com.jme3.bullet.control.RigidBodyControl)
rlm@29 91 (:import com.jme3.bullet.collision.shapes.GImpactCollisionShape)
rlm@29 92 (:import com.jme3.scene.shape.Box)
rlm@29 93 (:import com.jme3.scene.Node)
rlm@29 94 (:import com.jme3.scene.shape.Sphere)
rlm@47 95 (:import com.jme3.light.AmbientLight)
rlm@29 96 (:import com.jme3.light.DirectionalLight)
rlm@29 97 (:import com.jme3.math.ColorRGBA)
rlm@29 98 (:import com.jme3.bullet.BulletAppState)
rlm@29 99 (:import com.jme3.material.Material)
rlm@40 100 (:import com.jme3.scene.Geometry)
rlm@40 101 (:import (java.util.logging Level Logger)))
rlm@40 102
rlm@40 103
rlm@25 104
rlm@29 105 (defvar println-repl
rlm@29 106 (bound-fn [& args] (apply println args))
rlm@29 107 "println called from the LWJGL thread will not go to the REPL, but
rlm@29 108 instead to whatever terminal started the JVM process. This function
rlm@29 109 will always output to the REPL")
rlm@25 110
rlm@29 111 (defn position-camera
rlm@34 112 "Change the position of the in-world camera."
rlm@34 113 ([world position direction up]
rlm@34 114 (doto (.getCamera world)
rlm@29 115 (.setLocation )
rlm@29 116 (.lookAt direction up)))
rlm@34 117 ([world position direction]
rlm@29 118 (position-camera
rlm@34 119 world position direction Vector3f/UNIT_Y)))
rlm@25 120
rlm@29 121 (defn enable-debug
rlm@34 122 "Turn on debug wireframes for every object in this simulation."
rlm@29 123 [world]
rlm@29 124 (.enableDebug
rlm@29 125 (.getPhysicsSpace
rlm@29 126 (.getState
rlm@29 127 (.getStateManager world)
rlm@29 128 BulletAppState))
rlm@29 129 (asset-manager)))
rlm@29 130
rlm@40 131 (defn no-logging
rlm@40 132 "Disable all of jMonkeyEngine's logging."
rlm@40 133 []
rlm@40 134 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@40 135
rlm@40 136 (defn set-accuracy
rlm@40 137 "Change the accuracy at which the World's Physics is calculated."
rlm@40 138 [world new-accuracy]
rlm@40 139 (let [physics-manager
rlm@40 140 (.getState
rlm@40 141 (.getStateManager world) BulletAppState)]
rlm@40 142 (.setAccuracy
rlm@40 143 (.getPhysicsSpace physics-manager)
rlm@40 144 (float new-accuracy))))
rlm@40 145
rlm@40 146
rlm@34 147 (defn set-gravity
rlm@29 148 "In order to change the gravity of a scene, it is not only necessary
rlm@29 149 to set the gravity variable, but to \"tap\" every physics object in
rlm@29 150 the scene to reactivate physics calculations."
rlm@34 151 [world gravity]
rlm@25 152 (traverse
rlm@25 153 (fn [geom]
rlm@25 154 (if-let
rlm@29 155 ;; only set gravity for physical objects.
rlm@25 156 [control (.getControl geom RigidBodyControl)]
rlm@25 157 (do
rlm@25 158 (.setGravity control gravity)
rlm@29 159 ;; tappsies!
rlm@29 160 (.applyImpulse control Vector3f/ZERO Vector3f/ZERO))))
rlm@34 161 (.getRootNode world)))
rlm@29 162
rlm@29 163 (defn add-element
rlm@34 164 "Add the Spatial to the world's environment"
rlm@34 165 ([world element node]
rlm@29 166 (.addAll
rlm@29 167 (.getPhysicsSpace
rlm@29 168 (.getState
rlm@34 169 (.getStateManager world)
rlm@29 170 BulletAppState))
rlm@29 171 element)
rlm@29 172 (.attachChild node element))
rlm@34 173 ([world element]
rlm@34 174 (add-element world element (.getRootNode world))))
rlm@29 175
rlm@29 176 (defn apply-map
rlm@29 177 "Like apply, but works for maps and functions that expect an
rlm@29 178 implicit map and nothing else as in (fn [& {}]).
rlm@29 179 ------- Example -------
rlm@29 180 (defn demo [& {:keys [www] :or {www \"oh yeah\"} :as env}]
rlm@29 181 (println www))
rlm@29 182 (apply-map demo {:www \"hello!\"})
rlm@29 183 -->\"hello\""
rlm@29 184 [fn m]
rlm@29 185 (apply fn (reduce #(into %1 %2) [] m)))
rlm@29 186
rlm@25 187 #+end_src
rlm@25 188
rlm@47 189 #+results: util
rlm@47 190 : #'cortex.util/apply-map
rlm@73 191
rlm@25 192
rlm@29 193 *** Creating Basic Shapes
rlm@29 194
rlm@66 195 #+name: shapes
rlm@25 196 #+begin_src clojure :results silent
rlm@25 197 (in-ns 'cortex.util)
rlm@29 198
rlm@25 199 (defrecord shape-description
rlm@25 200 [name
rlm@25 201 color
rlm@25 202 mass
rlm@25 203 friction
rlm@25 204 texture
rlm@25 205 material
rlm@25 206 position
rlm@25 207 rotation
rlm@25 208 shape
rlm@29 209 physical?
rlm@29 210 GImpact?
rlm@29 211 ])
rlm@25 212
rlm@34 213 (defvar base-shape
rlm@25 214 (shape-description.
rlm@25 215 "default-shape"
rlm@25 216 false
rlm@25 217 ;;ColorRGBA/Blue
rlm@25 218 1.0 ;; mass
rlm@25 219 1.0 ;; friction
rlm@25 220 ;; texture
rlm@25 221 "Textures/Terrain/BrickWall/BrickWall.jpg"
rlm@25 222 ;; material
rlm@25 223 "Common/MatDefs/Misc/Unshaded.j3md"
rlm@25 224 Vector3f/ZERO
rlm@25 225 Quaternion/IDENTITY
rlm@25 226 (Box. Vector3f/ZERO 0.5 0.5 0.5)
rlm@29 227 true
rlm@34 228 false)
rlm@34 229 "Basic settings for shapes.")
rlm@25 230
rlm@25 231 (defn make-shape
rlm@25 232 [#^shape-description d]
rlm@29 233 (let [asset-manager (asset-manager)
rlm@25 234 mat (Material. asset-manager (:material d))
rlm@25 235 geom (Geometry. (:name d) (:shape d))]
rlm@25 236 (if (:texture d)
rlm@25 237 (let [key (TextureKey. (:texture d))]
rlm@34 238 ;;(.setGenerateMips key true)
rlm@34 239 ;;(.setTexture mat "ColorMap" (.loadTexture asset-manager key))
rlm@34 240 ))
rlm@25 241 (if (:color d) (.setColor mat "Color" (:color d)))
rlm@25 242 (.setMaterial geom mat)
rlm@25 243 (if-let [rotation (:rotation d)] (.rotate geom rotation))
rlm@25 244 (.setLocalTranslation geom (:position d))
rlm@25 245 (if (:physical? d)
rlm@29 246 (let [physics-control
rlm@29 247 (if (:GImpact d)
rlm@29 248 ;; Create an accurate mesh collision shape if desired.
rlm@29 249 (RigidBodyControl.
rlm@29 250 (doto (GImpactCollisionShape.
rlm@29 251 (.getMesh geom))
rlm@29 252 (.createJmeMesh)
rlm@73 253 ;;(.setMargin 0)
rlm@73 254 )
rlm@29 255 (float (:mass d)))
rlm@29 256 ;; otherwise use jme3's default
rlm@29 257 (RigidBodyControl. (float (:mass d))))]
rlm@25 258 (.addControl geom physics-control)
rlm@25 259 ;;(.setSleepingThresholds physics-control (float 0) (float 0))
rlm@25 260 (.setFriction physics-control (:friction d))))
rlm@25 261 geom))
rlm@25 262
rlm@25 263 (defn box
rlm@25 264 ([l w h & {:as options}]
rlm@25 265 (let [options (merge base-shape options)]
rlm@25 266 (make-shape (assoc options
rlm@25 267 :shape (Box. l w h)))))
rlm@25 268 ([] (box 0.5 0.5 0.5)))
rlm@25 269
rlm@25 270 (defn sphere
rlm@25 271 ([r & {:as options}]
rlm@25 272 (let [options (merge base-shape options)]
rlm@25 273 (make-shape (assoc options
rlm@25 274 :shape (Sphere. 32 32 (float r))))))
rlm@25 275 ([] (sphere 0.5)))
rlm@62 276
rlm@74 277 (defn green-x-ray
rlm@74 278 "A usefull material for debuging -- it can be seen no matter what
rlm@74 279 object occuldes it."
rlm@74 280 []
rlm@74 281 (doto (Material. (asset-manager)
rlm@74 282 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@74 283 (.setColor "Color" ColorRGBA/Green)
rlm@74 284 (-> (.getAdditionalRenderState)
rlm@74 285 (.setDepthTest false))))
rlm@74 286
rlm@62 287 (defn node-seq
rlm@62 288 "Take a node and return a seq of all its children
rlm@62 289 recursively. There will be no nodes left in the resulting
rlm@62 290 structure"
rlm@62 291 [#^Node node]
rlm@62 292 (tree-seq #(isa? (class %) Node) #(.getChildren %) node))
rlm@62 293
rlm@62 294 (defn nodify
rlm@62 295 "Take a sequence of things that can be attached to a node and return
rlm@62 296 a node with all of them attached"
rlm@62 297 ([name children]
rlm@62 298 (let [node (Node. name)]
rlm@62 299 (dorun (map #(.attachChild node %) children))
rlm@62 300 node))
rlm@62 301 ([children] (nodify "" children)))
rlm@62 302
rlm@62 303
rlm@29 304 #+end_src
rlm@25 305
rlm@25 306
rlm@50 307 *** Debug Actions
rlm@66 308 #+name: debug-actions
rlm@29 309 #+begin_src clojure :results silent
rlm@60 310 (in-ns 'cortex.util)
rlm@60 311
rlm@47 312 (defn basic-light-setup
rlm@47 313 "returns a sequence of lights appropiate for fully lighting a scene"
rlm@47 314 []
rlm@47 315 (conj
rlm@47 316 (doall
rlm@47 317 (map
rlm@47 318 (fn [direction]
rlm@47 319 (doto (DirectionalLight.)
rlm@47 320 (.setDirection direction)
rlm@47 321 (.setColor ColorRGBA/White)))
rlm@47 322 [;; six faces of a cube
rlm@47 323 Vector3f/UNIT_X
rlm@47 324 Vector3f/UNIT_Y
rlm@47 325 Vector3f/UNIT_Z
rlm@47 326 (.mult Vector3f/UNIT_X (float -1))
rlm@47 327 (.mult Vector3f/UNIT_Y (float -1))
rlm@47 328 (.mult Vector3f/UNIT_Z (float -1))]))
rlm@47 329 (doto (AmbientLight.)
rlm@47 330 (.setColor ColorRGBA/White))))
rlm@47 331
rlm@47 332 (defn light-up-everything
rlm@47 333 "Add lights to a world appropiate for quickly seeing everything
rlm@47 334 in the scene. Adds six DirectionalLights facing in orthogonal
rlm@47 335 directions, and one AmbientLight to provide overall lighting
rlm@47 336 coverage."
rlm@47 337 [world]
rlm@47 338 (dorun
rlm@47 339 (map
rlm@47 340 #(.addLight (.getRootNode world) %)
rlm@47 341 (basic-light-setup))))
rlm@50 342
rlm@50 343 (defn fire-cannon-ball
rlm@50 344 "Creates a function that fires a cannon-ball from the current game's
rlm@50 345 camera. The cannon-ball will be attached to the node if provided, or
rlm@50 346 to the game's RootNode if no node is provided."
rlm@50 347 ([node]
rlm@50 348 (fn [game value]
rlm@50 349 (if (not value)
rlm@50 350 (let [camera (.getCamera game)
rlm@50 351 cannon-ball
rlm@50 352 (sphere 0.7
rlm@50 353 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@50 354 :texture "Textures/PokeCopper.jpg"
rlm@50 355 :position
rlm@50 356 (.add (.getLocation camera)
rlm@50 357 (.mult (.getDirection camera) (float 1)))
rlm@50 358 :mass 3)] ;200 0.05
rlm@50 359 (.setLinearVelocity
rlm@50 360 (.getControl cannon-ball RigidBodyControl)
rlm@50 361 (.mult (.getDirection camera) (float 50))) ;50
rlm@50 362 (add-element game cannon-ball (if node node (.getRootNode game)))))))
rlm@50 363 ([]
rlm@50 364 (fire-cannon-ball false)))
rlm@60 365
rlm@60 366 (def standard-debug-controls
rlm@60 367 {"key-space" (fire-cannon-ball)})
rlm@60 368
rlm@60 369
rlm@60 370
rlm@60 371
rlm@50 372 #+end_src
rlm@50 373
rlm@50 374
rlm@50 375 *** Viewing Objects
rlm@50 376
rlm@66 377 #+name: world-view
rlm@50 378 #+begin_src clojure :results silent
rlm@50 379 (in-ns 'cortex.util)
rlm@50 380
rlm@50 381 (defprotocol Viewable
rlm@50 382 (view [something]))
rlm@50 383
rlm@50 384 (extend-type com.jme3.scene.Geometry
rlm@50 385 Viewable
rlm@50 386 (view [geo]
rlm@50 387 (view (doto (Node.)(.attachChild geo)))))
rlm@47 388
rlm@29 389 (extend-type com.jme3.scene.Node
rlm@29 390 Viewable
rlm@29 391 (view
rlm@29 392 [node]
rlm@29 393 (.start
rlm@29 394 (world
rlm@29 395 node
rlm@29 396 {}
rlm@29 397 (fn [world]
rlm@29 398 (enable-debug world)
rlm@29 399 (set-gravity world Vector3f/ZERO)
rlm@47 400 (light-up-everything world))
rlm@29 401 no-op))))
rlm@62 402
rlm@62 403 (extend-type com.jme3.math.ColorRGBA
rlm@62 404 Viewable
rlm@62 405 (view
rlm@62 406 [color]
rlm@62 407 (view (doto (Node.)
rlm@62 408 (.attachChild (box 1 1 1 :color color))))))
rlm@62 409
rlm@62 410 (defprotocol Textual
rlm@62 411 (text [something]
rlm@62 412 "Display a detailed textual analysis of the given object."))
rlm@62 413
rlm@62 414 (extend-type com.jme3.scene.Node
rlm@62 415 Textual
rlm@62 416 (text [node]
rlm@62 417 (println "Total Vertexes: " (.getVertexCount node))
rlm@62 418 (println "Total Triangles: " (.getTriangleCount node))
rlm@62 419 (println "Controls :")
rlm@62 420 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@62 421 (println "Has " (.getQuantity node) " Children:")
rlm@62 422 (doall (map text (.getChildren node)))))
rlm@62 423
rlm@62 424 (extend-type com.jme3.animation.AnimControl
rlm@62 425 Textual
rlm@62 426 (text [control]
rlm@62 427 (let [animations (.getAnimationNames control)]
rlm@62 428 (println "Animation Control with " (count animations) " animation(s):")
rlm@62 429 (dorun (map println animations)))))
rlm@62 430
rlm@62 431 (extend-type com.jme3.animation.SkeletonControl
rlm@62 432 Textual
rlm@62 433 (text [control]
rlm@62 434 (println "Skeleton Control with the following skeleton:")
rlm@62 435 (println (.getSkeleton control))))
rlm@62 436
rlm@62 437 (extend-type com.jme3.bullet.control.KinematicRagdollControl
rlm@62 438 Textual
rlm@62 439 (text [control]
rlm@62 440 (println "Ragdoll Control")))
rlm@62 441
rlm@62 442 (extend-type com.jme3.scene.Geometry
rlm@62 443 Textual
rlm@62 444 (text [control]
rlm@62 445 (println "...geo...")))
rlm@25 446 #+end_src
rlm@25 447
rlm@29 448 Here I make the =Viewable= protocol and extend it to JME's types. Now
rlm@34 449 JME3's =hello-world= can be written as easily as:
rlm@29 450
rlm@29 451 #+begin_src clojure :results silent
rlm@29 452 (cortex.util/view (cortex.util/box))
rlm@29 453 #+end_src
rlm@29 454
rlm@29 455
rlm@24 456 * COMMENT code generation
rlm@24 457 #+begin_src clojure :tangle ../src/cortex/import.clj
rlm@24 458 <<import>>
rlm@24 459 #+end_src
rlm@25 460
rlm@25 461
rlm@29 462 #+begin_src clojure :tangle ../src/cortex/util.clj :noweb yes
rlm@25 463 <<util>>
rlm@25 464 <<shapes>>
rlm@50 465 <<debug-actions>>
rlm@29 466 <<world-view>>
rlm@25 467 #+end_src
rlm@25 468
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