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author Robert McIntyre <rlm@mit.edu>
date Sun, 08 Jan 2012 06:11:58 -0700
parents cd5151b5e7c3
children 2bcc7636cfea
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@87 128 (defmulti joint-dispatch
rlm@87 129 "Translate blender pseudo-joints into real JME joints."
rlm@88 130 (fn [constraints & _]
rlm@87 131 (:type constraints)))
rlm@87 132
rlm@87 133 (defmethod joint-dispatch :point
rlm@87 134 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 135 (println-repl "creating POINT2POINT joint")
rlm@87 136 (Point2PointJoint.
rlm@87 137 control-a
rlm@87 138 control-b
rlm@87 139 pivot-a
rlm@87 140 pivot-b))
rlm@87 141
rlm@87 142 (defmethod joint-dispatch :hinge
rlm@87 143 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 144 (println-repl "creating HINGE joint")
rlm@87 145 (let [axis
rlm@87 146 (if-let
rlm@87 147 [axis (:axis constraints)]
rlm@87 148 axis
rlm@87 149 Vector3f/UNIT_X)
rlm@87 150 [limit-1 limit-2] (:limit constraints)
rlm@87 151 hinge-axis
rlm@87 152 (.mult
rlm@87 153 rotation
rlm@87 154 (blender-to-jme axis))]
rlm@87 155 (doto
rlm@87 156 (HingeJoint.
rlm@87 157 control-a
rlm@87 158 control-b
rlm@87 159 pivot-a
rlm@87 160 pivot-b
rlm@87 161 hinge-axis
rlm@87 162 hinge-axis)
rlm@87 163 (.setLimit limit-1 limit-2))))
rlm@87 164
rlm@87 165 (defmethod joint-dispatch :cone
rlm@87 166 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 167 (let [limit-xz (:limit-xz constraints)
rlm@87 168 limit-xy (:limit-xy constraints)
rlm@87 169 twist (:twist constraints)]
rlm@87 170
rlm@87 171 (println-repl "creating CONE joint")
rlm@87 172 (println-repl rotation)
rlm@87 173 (println-repl
rlm@87 174 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 175 (println-repl
rlm@87 176 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 177 (println-repl
rlm@87 178 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 179 (doto
rlm@87 180 (ConeJoint.
rlm@87 181 control-a
rlm@87 182 control-b
rlm@87 183 pivot-a
rlm@87 184 pivot-b
rlm@87 185 rotation
rlm@87 186 rotation)
rlm@87 187 (.setLimit (float limit-xz)
rlm@87 188 (float limit-xy)
rlm@87 189 (float twist)))))
rlm@87 190
rlm@88 191 (defn connect
rlm@87 192 "here are some examples:
rlm@87 193 {:type :point}
rlm@87 194 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 195 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 196
rlm@89 197 {:type :cone :limit-xz 0]
rlm@89 198 :limit-xy 0]
rlm@89 199 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 200 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 201 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 202 control-b (.getControl obj-b RigidBodyControl)
rlm@87 203 joint-center (.getWorldTranslation joint)
rlm@87 204 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 205 pivot-a (world-to-local obj-a joint-center)
rlm@87 206 pivot-b (world-to-local obj-b joint-center)]
rlm@89 207
rlm@87 208 (if-let [constraints
rlm@87 209 (map-vals
rlm@87 210 eval
rlm@87 211 (read-string
rlm@87 212 (meta-data joint "joint")))]
rlm@89 213 ;; A side-effect of creating a joint registers
rlm@89 214 ;; it with both physics objects which in turn
rlm@89 215 ;; will register the joint with the physics system
rlm@89 216 ;; when the simulation is started.
rlm@87 217 (do
rlm@87 218 (println-repl "creating joint between"
rlm@87 219 (.getName obj-a) "and" (.getName obj-b))
rlm@87 220 (joint-dispatch constraints
rlm@87 221 control-a control-b
rlm@87 222 pivot-a pivot-b
rlm@87 223 joint-rotation))
rlm@87 224 (println-repl "could not find joint meta-data!"))))
rlm@87 225
rlm@78 226 (defn assemble-creature [#^Node pieces joints]
rlm@78 227 (dorun
rlm@78 228 (map
rlm@78 229 (fn [geom]
rlm@78 230 (let [physics-control
rlm@78 231 (RigidBodyControl.
rlm@78 232 (HullCollisionShape.
rlm@78 233 (.getMesh geom))
rlm@78 234 (if-let [mass (meta-data geom "mass")]
rlm@78 235 (do
rlm@78 236 (println-repl
rlm@78 237 "setting" (.getName geom) "mass to" (float mass))
rlm@78 238 (float mass))
rlm@78 239 (float 1)))]
rlm@78 240
rlm@78 241 (.addControl geom physics-control)))
rlm@78 242 (filter #(isa? (class %) Geometry )
rlm@78 243 (node-seq pieces))))
rlm@77 244
rlm@78 245 (dorun
rlm@78 246 (map
rlm@78 247 (fn [joint]
rlm@78 248 (let [[obj-a obj-b]
rlm@78 249 (joint-targets pieces joint)]
rlm@88 250 (connect obj-a obj-b joint)))
rlm@78 251 joints))
rlm@78 252 pieces)
rlm@74 253
rlm@78 254 (defn blender-creature [blender-path]
rlm@78 255 (let [model (load-blender-model blender-path)
rlm@78 256 joints
rlm@78 257 (if-let [joint-node (.getChild model "joints")]
rlm@78 258 (seq (.getChildren joint-node))
rlm@78 259 (do (println-repl "could not find joints node")
rlm@78 260 []))]
rlm@78 261 (assemble-creature model joints)))
rlm@74 262
rlm@78 263 (def hand "Models/creature1/one.blend")
rlm@74 264
rlm@78 265 (def worm "Models/creature1/try-again.blend")
rlm@78 266
rlm@90 267 (def touch "Models/creature1/touch.blend")
rlm@90 268
rlm@90 269 (defn worm-model [] (load-blender-model worm))
rlm@90 270
rlm@80 271 (defn x-ray [#^ColorRGBA color]
rlm@80 272 (doto (Material. (asset-manager)
rlm@80 273 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 274 (.setColor "Color" color)
rlm@80 275 (-> (.getAdditionalRenderState)
rlm@80 276 (.setDepthTest false))))
rlm@80 277
rlm@78 278 (defn test-creature [thing]
rlm@80 279 (let [x-axis
rlm@80 280 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 281 y-axis
rlm@80 282 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 283 z-axis
rlm@80 284 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 285 (world
rlm@78 286 (nodify [(blender-creature thing)
rlm@81 287 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 288 :color ColorRGBA/Gray :mass 0)
rlm@80 289 x-axis y-axis z-axis
rlm@80 290 ])
rlm@78 291 standard-debug-controls
rlm@90 292 (fn [world]
rlm@90 293 (light-up-everything world)
rlm@90 294 (enable-debug world)
rlm@90 295 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 296 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 297 (.setTimer world (NanoTimer.))
rlm@90 298 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@90 299 (speed-up world)
rlm@90 300 )
rlm@90 301 no-op
rlm@90 302 ;;(let [timer (atom 0)]
rlm@90 303 ;; (fn [_ _]
rlm@90 304 ;; (swap! timer inc)
rlm@90 305 ;; (if (= (rem @timer 60) 0)
rlm@90 306 ;; (println-repl (float (/ @timer 60))))))
rlm@90 307 )))
rlm@90 308
rlm@90 309
rlm@90 310 (def colorful (.getChild (worm-model) "worm-21"))
rlm@90 311
rlm@90 312 (def im-data
rlm@90 313 (let [sink (byte-array 3145727)
rlm@90 314 data (.getData (.getImage texture) 0)]
rlm@90 315 (.rewind data)
rlm@90 316 (.get data sink)
rlm@90 317 (vec (seq sink))))
rlm@90 318
rlm@90 319
rlm@90 320 (import jme3tools.converters.ImageToAwt)
rlm@90 321
rlm@90 322 (import ij.ImagePlus)
rlm@90 323
rlm@90 324
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@90 342 [(.get UV-buffer (* vertex-index 2))
rlm@90 343 (.get UV-buffer (+ 1 (* vertex-index 2)))]))
rlm@90 344
rlm@90 345 (defn touch-receptor-image [#^Geometry obj]
rlm@90 346
rlm@90 347
rlm@90 348
rlm@90 349 ;; yay there's a converter!
rlm@90 350
rlm@90 351 (defn uv-image []
rlm@90 352 (let
rlm@90 353 [colorful (.getChild (worm-model) "worm-21")
rlm@90 354 mat (.getMaterial colorful)
rlm@90 355 texture
rlm@90 356 (.getTextureValue
rlm@90 357 (.getTextureParam
rlm@90 358 mat
rlm@90 359 MaterialHelper/TEXTURE_TYPE_DIFFUSE))
rlm@90 360 im (.getImage texture)]
rlm@90 361 (ImagePlus.
rlm@90 362 "UV-map"
rlm@90 363 (ImageToAwt/convert im false false 0))))
rlm@90 364
rlm@90 365 ;; for each triangle in the mesh,
rlm@90 366 ;; get the normal to the triangle,
rlm@90 367 ;; look at the UV touch map, restricted to that triangle,
rlm@90 368 ;; get the positions of those touch sensors in geometry-relative
rlm@90 369 ;; coordinates.
rlm@90 370
rlm@90 371
rlm@90 372
rlm@90 373
rlm@90 374
rlm@90 375
rlm@90 376
rlm@90 377
rlm@90 378
rlm@90 379 (defrecord LulzLoader [])
rlm@90 380 (defprotocol Lulzable (load-lulz [this]))
rlm@90 381 (extend-type LulzLoader
rlm@90 382 Lulzable
rlm@90 383 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 384
rlm@90 385 (defn
rlm@90 386
rlm@90 387
rlm@78 388
rlm@78 389 (defn world-setup [joint]
rlm@90 390 (let [joint-position (Vector3f. 0 0 0)
rlm@83 391 joint-rotation
rlm@83 392 (.toRotationMatrix
rlm@83 393 (.mult
rlm@83 394 (doto (Quaternion.)
rlm@83 395 (.fromAngleAxis
rlm@83 396 (* 1 (/ Math/PI 4))
rlm@85 397 (Vector3f. -1 0 0)))
rlm@85 398 (doto (Quaternion.)
rlm@85 399 (.fromAngleAxis
rlm@85 400 (* 1 (/ Math/PI 2))
rlm@85 401 (Vector3f. 0 0 1)))))
rlm@84 402 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 403
rlm@83 404 origin (doto
rlm@83 405 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 406 :position top-position))
rlm@83 407 top (doto
rlm@78 408 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 409 :position top-position)
rlm@83 410
rlm@78 411 (.addControl
rlm@78 412 (RigidBodyControl.
rlm@83 413 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 414 bottom (doto
rlm@78 415 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 416 :position (Vector3f. 0 0 0))
rlm@83 417 (.addControl
rlm@78 418 (RigidBodyControl.
rlm@78 419 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 420 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 421 :color ColorRGBA/Gray :mass 0)
rlm@78 422 a (.getControl top RigidBodyControl)
rlm@78 423 b (.getControl bottom RigidBodyControl)]
rlm@83 424
rlm@78 425 (cond
rlm@83 426 (= joint :cone)
rlm@83 427
rlm@83 428 (doto (ConeJoint.
rlm@83 429 a b
rlm@87 430 (world-to-local top joint-position)
rlm@87 431 (world-to-local bottom joint-position)
rlm@83 432 joint-rotation
rlm@83 433 joint-rotation
rlm@83 434 )
rlm@78 435
rlm@83 436
rlm@83 437 (.setLimit (* (/ 10) Math/PI)
rlm@83 438 (* (/ 4) Math/PI)
rlm@83 439 0)))
rlm@83 440 [origin top bottom table]))
rlm@78 441
rlm@78 442 (defn test-joint [joint]
rlm@83 443 (let [[origin top bottom floor] (world-setup joint)
rlm@78 444 control (.getControl top RigidBodyControl)
rlm@78 445 move-up? (atom false)
rlm@78 446 move-down? (atom false)
rlm@78 447 move-left? (atom false)
rlm@78 448 move-right? (atom false)
rlm@78 449 roll-left? (atom false)
rlm@78 450 roll-right? (atom false)
rlm@78 451 timer (atom 0)]
rlm@78 452
rlm@78 453 (world
rlm@83 454 (nodify [top bottom floor origin])
rlm@78 455 (merge standard-debug-controls
rlm@78 456 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 457 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 458 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 459 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 460 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 461 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 462
rlm@78 463 (fn [world]
rlm@78 464 (light-up-everything world)
rlm@78 465 (enable-debug world)
rlm@78 466 (set-gravity world (Vector3f. 0 0 0))
rlm@78 467 )
rlm@78 468
rlm@78 469 (fn [world _]
rlm@78 470 (if (zero? (rem (swap! timer inc) 100))
rlm@78 471 (do
rlm@78 472 ;; (println-repl @timer)
rlm@78 473 (.attachChild (.getRootNode world)
rlm@78 474 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 475 :position (.getWorldTranslation top)
rlm@83 476 :physical? false))
rlm@83 477 (.attachChild (.getRootNode world)
rlm@83 478 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 479 :position (.getWorldTranslation bottom)
rlm@83 480 :physical? false))))
rlm@83 481
rlm@78 482 (if @move-up?
rlm@78 483 (.applyTorque control
rlm@78 484 (.mult (.getPhysicsRotation control)
rlm@78 485 (Vector3f. 0 0 10))))
rlm@78 486 (if @move-down?
rlm@78 487 (.applyTorque control
rlm@78 488 (.mult (.getPhysicsRotation control)
rlm@78 489 (Vector3f. 0 0 -10))))
rlm@78 490 (if @move-left?
rlm@78 491 (.applyTorque control
rlm@78 492 (.mult (.getPhysicsRotation control)
rlm@78 493 (Vector3f. 0 10 0))))
rlm@78 494 (if @move-right?
rlm@78 495 (.applyTorque control
rlm@78 496 (.mult (.getPhysicsRotation control)
rlm@78 497 (Vector3f. 0 -10 0))))
rlm@78 498 (if @roll-left?
rlm@78 499 (.applyTorque control
rlm@78 500 (.mult (.getPhysicsRotation control)
rlm@78 501 (Vector3f. -1 0 0))))
rlm@78 502 (if @roll-right?
rlm@78 503 (.applyTorque control
rlm@78 504 (.mult (.getPhysicsRotation control)
rlm@78 505 (Vector3f. 1 0 0))))))))
rlm@83 506
rlm@83 507
rlm@83 508
rlm@87 509 #+end_src
rlm@83 510
rlm@87 511 #+results: body-1
rlm@87 512 : #'cortex.silly/test-joint
rlm@78 513
rlm@78 514
rlm@78 515 * COMMENT purgatory
rlm@78 516 #+begin_src clojure
rlm@77 517 (defn bullet-trans []
rlm@77 518 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 519 :position (Vector3f. -10 5 0))
rlm@77 520 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 521 :position (Vector3f. -10 -5 0)
rlm@77 522 :mass 0)
rlm@77 523 control-a (.getControl obj-a RigidBodyControl)
rlm@77 524 control-b (.getControl obj-b RigidBodyControl)
rlm@77 525 swivel
rlm@77 526 (.toRotationMatrix
rlm@77 527 (doto (Quaternion.)
rlm@77 528 (.fromAngleAxis (/ Math/PI 2)
rlm@77 529 Vector3f/UNIT_X)))]
rlm@77 530 (doto
rlm@77 531 (ConeJoint.
rlm@77 532 control-a control-b
rlm@77 533 (Vector3f. 0 5 0)
rlm@77 534 (Vector3f. 0 -5 0)
rlm@77 535 swivel swivel)
rlm@77 536 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 537 (/ Math/PI 4)
rlm@77 538 (* Math/PI 0.8)))
rlm@77 539 (world (nodify
rlm@77 540 [obj-a obj-b])
rlm@77 541 standard-debug-controls
rlm@77 542 enable-debug
rlm@77 543 no-op)))
rlm@74 544
rlm@74 545
rlm@77 546 (defn bullet-trans* []
rlm@77 547 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 548 :position (Vector3f. 5 0 0)
rlm@77 549 :mass 90)
rlm@77 550 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 551 :position (Vector3f. -5 0 0)
rlm@77 552 :mass 0)
rlm@77 553 control-a (.getControl obj-a RigidBodyControl)
rlm@77 554 control-b (.getControl obj-b RigidBodyControl)
rlm@77 555 move-up? (atom nil)
rlm@77 556 move-down? (atom nil)
rlm@77 557 move-left? (atom nil)
rlm@77 558 move-right? (atom nil)
rlm@77 559 roll-left? (atom nil)
rlm@77 560 roll-right? (atom nil)
rlm@77 561 force 100
rlm@77 562 swivel
rlm@77 563 (.toRotationMatrix
rlm@77 564 (doto (Quaternion.)
rlm@77 565 (.fromAngleAxis (/ Math/PI 2)
rlm@77 566 Vector3f/UNIT_X)))
rlm@77 567 x-move
rlm@77 568 (doto (Matrix3f.)
rlm@77 569 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 570 (.normalize (Vector3f. 1 1 0))))
rlm@77 571
rlm@77 572 timer (atom 0)]
rlm@77 573 (doto
rlm@77 574 (ConeJoint.
rlm@77 575 control-a control-b
rlm@77 576 (Vector3f. -8 0 0)
rlm@77 577 (Vector3f. 2 0 0)
rlm@77 578 ;;swivel swivel
rlm@77 579 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 580 x-move Matrix3f/IDENTITY
rlm@77 581 )
rlm@77 582 (.setCollisionBetweenLinkedBodys false)
rlm@77 583 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 584 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 585 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 586 (world (nodify
rlm@77 587 [obj-a obj-b])
rlm@77 588 (merge standard-debug-controls
rlm@77 589 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 590 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 591 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 592 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 593 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 594 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 595
rlm@77 596 (fn [world]
rlm@77 597 (enable-debug world)
rlm@77 598 (set-gravity world Vector3f/ZERO)
rlm@77 599 )
rlm@77 600
rlm@77 601 (fn [world _]
rlm@77 602
rlm@77 603 (if @move-up?
rlm@77 604 (.applyForce control-a
rlm@77 605 (Vector3f. force 0 0)
rlm@77 606 (Vector3f. 0 0 0)))
rlm@77 607 (if @move-down?
rlm@77 608 (.applyForce control-a
rlm@77 609 (Vector3f. (- force) 0 0)
rlm@77 610 (Vector3f. 0 0 0)))
rlm@77 611 (if @move-left?
rlm@77 612 (.applyForce control-a
rlm@77 613 (Vector3f. 0 force 0)
rlm@77 614 (Vector3f. 0 0 0)))
rlm@77 615 (if @move-right?
rlm@77 616 (.applyForce control-a
rlm@77 617 (Vector3f. 0 (- force) 0)
rlm@77 618 (Vector3f. 0 0 0)))
rlm@77 619
rlm@77 620 (if @roll-left?
rlm@77 621 (.applyForce control-a
rlm@77 622 (Vector3f. 0 0 force)
rlm@77 623 (Vector3f. 0 0 0)))
rlm@77 624 (if @roll-right?
rlm@77 625 (.applyForce control-a
rlm@77 626 (Vector3f. 0 0 (- force))
rlm@77 627 (Vector3f. 0 0 0)))
rlm@77 628
rlm@77 629 (if (zero? (rem (swap! timer inc) 100))
rlm@77 630 (.attachChild
rlm@77 631 (.getRootNode world)
rlm@77 632 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 633 :physical? false :position
rlm@77 634 (.getWorldTranslation obj-a)))))
rlm@77 635 )
rlm@77 636 ))
rlm@77 637
rlm@77 638
rlm@77 639
rlm@73 640 #+end_src
rlm@73 641
rlm@73 642
rlm@73 643 * COMMENT generate source
rlm@73 644 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 645 <<body-1>>
rlm@73 646 #+end_src
rlm@73 647