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made the hand 10x stronger
author Robert McIntyre <rlm@mit.edu>
date Thu, 16 Feb 2012 09:59:44 -0700
parents 76a5edd6507d
children 1eed471e2ebf
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@295 34 (def control-list
rlm@295 35 [
rlm@295 36 0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 37 1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 38 0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
rlm@295 39 0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
rlm@295 40 0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 41 0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 42 0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>
rlm@295 43 0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
rlm@295 44 0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 45 0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 46 0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 47 0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 48 0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 49 0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 50 0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 51 0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 52 0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 53 0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 54 0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 55 0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 56 0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 57 0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 58 0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 59 0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 60 0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 61 0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>
rlm@295 62 0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>
rlm@295 63 0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
rlm@295 64 0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
rlm@295 65 ])
rlm@295 66
rlm@281 67 (defn test-everything!
rlm@281 68 ([] (test-everything! false))
rlm@281 69 ([record?]
rlm@281 70 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@281 71
rlm@192 72 bell (AudioNode. (asset-manager)
rlm@192 73 "Sounds/pure.wav" false)
rlm@281 74 creature (doto (load-blender-model hand)
rlm@281 75 (body!))
rlm@281 76
rlm@192 77 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@294 78 ;;touch (touch! creature)
rlm@294 79 ;;touch-display (view-touch)
rlm@189 80
rlm@294 81 ;;vision (vision! creature)
rlm@294 82 ;;vision-display (view-vision)
rlm@189 83
rlm@294 84 ;;hearing (hearing! creature)
rlm@294 85 ;;hearing-display (view-hearing)
rlm@189 86
rlm@173 87 prop (proprioception! creature)
rlm@190 88 prop-display (view-proprioception)
rlm@148 89
rlm@191 90 muscle-exertion (atom 0)
rlm@191 91 muscles (movement! creature)
rlm@281 92 muscle-display (view-movement)
rlm@281 93 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@189 94
rlm@281 95 fix-display (gen-fix-display)]
rlm@285 96 (world
rlm@285 97 (nodify [creature
rlm@285 98 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@285 99 :color ColorRGBA/Gray :mass 0)
rlm@285 100 me])
rlm@285 101 (merge standard-debug-controls
rlm@285 102 {"key-return"
rlm@285 103 (fn [_ value]
rlm@285 104 (if value
rlm@285 105 (.play bell)))
rlm@285 106 "key-h"
rlm@285 107 (fn [_ value]
rlm@285 108 (if value
rlm@285 109 (swap! muscle-exertion (partial + 20))))
rlm@285 110 "key-n"
rlm@285 111 (fn [_ value]
rlm@285 112 (if value
rlm@285 113 (swap! muscle-exertion (fn [v] (- v 20)))))})
rlm@285 114 (fn [world]
rlm@285 115 (.setTimer world (RatchetTimer. 60))
rlm@285 116 (light-up-everything world)
rlm@285 117 (enable-debug world)
rlm@285 118 (add-camera! world
rlm@285 119 (add-eye! creature
rlm@285 120 (.getChild
rlm@285 121 (.getChild creature "eyes") "eye"))
rlm@285 122 (comp (view-image) BufferedImage!))
rlm@285 123 (speed-up world))
rlm@285 124 (fn [world tpf]
rlm@294 125 ;;(prop-display (prop))
rlm@294 126 ;;(touch-display (map #(% (.getRootNode world)) touch))
rlm@294 127 ;;(vision-display (map #(% world) vision))
rlm@294 128 ;;(hearing-display (map #(% world) hearing))
rlm@295 129
rlm@295 130 (muscle-display
rlm@295 131 (map (fn [effector control]
rlm@295 132 (effector (int (* @muscle-exertion control))))
rlm@295 133 muscles
rlm@295 134 control-list))
rlm@295 135
rlm@285 136 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@285 137 (fix-display world))))))
rlm@87 138 #+end_src
rlm@83 139
rlm@282 140 #+results: integration
rlm@282 141 : #'cortex.integration/test-everything!
rlm@282 142
rlm@78 143 * COMMENT purgatory
rlm@78 144 #+begin_src clojure
rlm@77 145 (defn bullet-trans* []
rlm@77 146 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 147 :position (Vector3f. 5 0 0)
rlm@77 148 :mass 90)
rlm@77 149 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 150 :position (Vector3f. -5 0 0)
rlm@77 151 :mass 0)
rlm@77 152 control-a (.getControl obj-a RigidBodyControl)
rlm@77 153 control-b (.getControl obj-b RigidBodyControl)
rlm@77 154 move-up? (atom nil)
rlm@77 155 move-down? (atom nil)
rlm@77 156 move-left? (atom nil)
rlm@77 157 move-right? (atom nil)
rlm@77 158 roll-left? (atom nil)
rlm@77 159 roll-right? (atom nil)
rlm@77 160 force 100
rlm@77 161 swivel
rlm@77 162 (.toRotationMatrix
rlm@77 163 (doto (Quaternion.)
rlm@77 164 (.fromAngleAxis (/ Math/PI 2)
rlm@77 165 Vector3f/UNIT_X)))
rlm@77 166 x-move
rlm@77 167 (doto (Matrix3f.)
rlm@77 168 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 169 (.normalize (Vector3f. 1 1 0))))
rlm@77 170
rlm@77 171 timer (atom 0)]
rlm@77 172 (doto
rlm@77 173 (ConeJoint.
rlm@77 174 control-a control-b
rlm@77 175 (Vector3f. -8 0 0)
rlm@77 176 (Vector3f. 2 0 0)
rlm@77 177 ;;swivel swivel
rlm@77 178 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 179 x-move Matrix3f/IDENTITY
rlm@77 180 )
rlm@77 181 (.setCollisionBetweenLinkedBodys false)
rlm@77 182 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 183 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 184 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 185 (world (nodify
rlm@77 186 [obj-a obj-b])
rlm@77 187 (merge standard-debug-controls
rlm@77 188 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 189 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 190 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 191 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 192 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 193 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 194
rlm@77 195 (fn [world]
rlm@77 196 (enable-debug world)
rlm@77 197 (set-gravity world Vector3f/ZERO)
rlm@77 198 )
rlm@77 199
rlm@77 200 (fn [world _]
rlm@77 201
rlm@77 202 (if @move-up?
rlm@77 203 (.applyForce control-a
rlm@77 204 (Vector3f. force 0 0)
rlm@77 205 (Vector3f. 0 0 0)))
rlm@77 206 (if @move-down?
rlm@77 207 (.applyForce control-a
rlm@77 208 (Vector3f. (- force) 0 0)
rlm@77 209 (Vector3f. 0 0 0)))
rlm@77 210 (if @move-left?
rlm@77 211 (.applyForce control-a
rlm@77 212 (Vector3f. 0 force 0)
rlm@77 213 (Vector3f. 0 0 0)))
rlm@77 214 (if @move-right?
rlm@77 215 (.applyForce control-a
rlm@77 216 (Vector3f. 0 (- force) 0)
rlm@77 217 (Vector3f. 0 0 0)))
rlm@77 218
rlm@77 219 (if @roll-left?
rlm@77 220 (.applyForce control-a
rlm@77 221 (Vector3f. 0 0 force)
rlm@77 222 (Vector3f. 0 0 0)))
rlm@77 223 (if @roll-right?
rlm@77 224 (.applyForce control-a
rlm@77 225 (Vector3f. 0 0 (- force))
rlm@77 226 (Vector3f. 0 0 0)))
rlm@77 227
rlm@77 228 (if (zero? (rem (swap! timer inc) 100))
rlm@77 229 (.attachChild
rlm@77 230 (.getRootNode world)
rlm@77 231 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 232 :physical? false :position
rlm@77 233 (.getWorldTranslation obj-a)))))
rlm@77 234 )
rlm@77 235 ))
rlm@77 236
rlm@106 237 (defn test-joint [joint]
rlm@106 238 (let [[origin top bottom floor] (world-setup joint)
rlm@106 239 control (.getControl top RigidBodyControl)
rlm@106 240 move-up? (atom false)
rlm@106 241 move-down? (atom false)
rlm@106 242 move-left? (atom false)
rlm@106 243 move-right? (atom false)
rlm@106 244 roll-left? (atom false)
rlm@106 245 roll-right? (atom false)
rlm@106 246 timer (atom 0)]
rlm@106 247
rlm@106 248 (world
rlm@106 249 (nodify [top bottom floor origin])
rlm@106 250 (merge standard-debug-controls
rlm@106 251 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106 252 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106 253 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106 254 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106 255 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106 256 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@106 257
rlm@106 258 (fn [world]
rlm@106 259 (light-up-everything world)
rlm@106 260 (enable-debug world)
rlm@106 261 (set-gravity world (Vector3f. 0 0 0))
rlm@106 262 )
rlm@106 263
rlm@106 264 (fn [world _]
rlm@106 265 (if (zero? (rem (swap! timer inc) 100))
rlm@106 266 (do
rlm@106 267 ;; (println-repl @timer)
rlm@106 268 (.attachChild (.getRootNode world)
rlm@106 269 (sphere 0.05 :color ColorRGBA/Yellow
rlm@106 270 :position (.getWorldTranslation top)
rlm@106 271 :physical? false))
rlm@106 272 (.attachChild (.getRootNode world)
rlm@106 273 (sphere 0.05 :color ColorRGBA/LightGray
rlm@106 274 :position (.getWorldTranslation bottom)
rlm@106 275 :physical? false))))
rlm@106 276
rlm@106 277 (if @move-up?
rlm@106 278 (.applyTorque control
rlm@106 279 (.mult (.getPhysicsRotation control)
rlm@106 280 (Vector3f. 0 0 10))))
rlm@106 281 (if @move-down?
rlm@106 282 (.applyTorque control
rlm@106 283 (.mult (.getPhysicsRotation control)
rlm@106 284 (Vector3f. 0 0 -10))))
rlm@106 285 (if @move-left?
rlm@106 286 (.applyTorque control
rlm@106 287 (.mult (.getPhysicsRotation control)
rlm@106 288 (Vector3f. 0 10 0))))
rlm@106 289 (if @move-right?
rlm@106 290 (.applyTorque control
rlm@106 291 (.mult (.getPhysicsRotation control)
rlm@106 292 (Vector3f. 0 -10 0))))
rlm@106 293 (if @roll-left?
rlm@106 294 (.applyTorque control
rlm@106 295 (.mult (.getPhysicsRotation control)
rlm@106 296 (Vector3f. -1 0 0))))
rlm@106 297 (if @roll-right?
rlm@106 298 (.applyTorque control
rlm@106 299 (.mult (.getPhysicsRotation control)
rlm@106 300 (Vector3f. 1 0 0))))))))
rlm@99 301 #+end_src
rlm@192 302
rlm@99 303
rlm@99 304 * COMMENT generate source
rlm@192 305 #+begin_src clojure :tangle ../src/cortex/integration.clj
rlm@192 306 <<integration>>
rlm@99 307 #+end_src
rlm@99 308
rlm@99 309
rlm@94 310
rlm@94 311