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got a finger working!
author Robert McIntyre <rlm@mit.edu>
date Thu, 05 Jan 2012 02:35:07 -0700
parents 01dbdb0d5500
children 10f495560c59
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@73 53 (defn load-blender-model
rlm@73 54 "Load a .blend file using an asset folder relative path."
rlm@73 55 [^String model]
rlm@73 56 (.loadModel
rlm@73 57 (doto (asset-manager)
rlm@73 58 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 59 model))
rlm@73 60
rlm@74 61 (defn meta-data [blender-node key]
rlm@74 62 (if-let [data (.getUserData blender-node "properties")]
rlm@74 63 (.findValue data key)
rlm@74 64 nil))
rlm@73 65
rlm@78 66 (defn blender-to-jme
rlm@78 67 "Convert from Blender coordinates to JME coordinates"
rlm@78 68 [#^Vector3f in]
rlm@78 69 (Vector3f. (.getX in)
rlm@78 70 (.getZ in)
rlm@78 71 (- (.getY in))))
rlm@74 72
rlm@79 73 (defn jme-to-blender
rlm@79 74 "Convert from JME coordinates to Blender coordinates"
rlm@79 75 [#^Vector3f in]
rlm@79 76 (Vector3f. (.getX in)
rlm@79 77 (- (.getZ in))
rlm@79 78 (.getY in)))
rlm@79 79
rlm@78 80 (defn joint-targets
rlm@78 81 "Return the two closest two objects to the joint object, ordered
rlm@78 82 from bottom to top according to the joint's rotation."
rlm@78 83 [#^Node parts #^Node joint]
rlm@78 84 ;;(println (meta-data joint "joint"))
rlm@78 85 (.getWorldRotation joint)
rlm@78 86 (loop [radius (float 0.01)]
rlm@78 87 (let [results (CollisionResults.)]
rlm@78 88 (.collideWith
rlm@78 89 parts
rlm@78 90 (BoundingBox. (.getWorldTranslation joint)
rlm@78 91 radius radius radius)
rlm@78 92 results)
rlm@78 93 (let [targets
rlm@78 94 (distinct
rlm@78 95 (map #(.getGeometry %) results))]
rlm@78 96 (if (>= (count targets) 2)
rlm@78 97 (sort-by
rlm@79 98 #(let [v
rlm@79 99 (jme-to-blender
rlm@79 100 (.mult
rlm@79 101 (.inverse (.getWorldRotation joint))
rlm@79 102 (.subtract (.getWorldTranslation %)
rlm@79 103 (.getWorldTranslation joint))))]
rlm@79 104 (println-repl (.getName %) ":" v)
rlm@79 105 (.dot (Vector3f. 1 1 1)
rlm@79 106 v))
rlm@78 107 (take 2 targets))
rlm@78 108 (recur (float (* radius 2))))))))
rlm@74 109
rlm@78 110 (defn connect
rlm@78 111 "here are some examples:
rlm@78 112 {:type :point}
rlm@78 113 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@78 114 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74 115
rlm@78 116 {:type :cone :limit-xz 0]
rlm@79 117 :limit-xy 0]
rlm@79 118 :twist 0]} (use XZY rotation mode in blender!)"
rlm@78 119 ([#^Node obj-a #^Node obj-b #^Node joint]
rlm@78 120 (let [center-a (.getWorldTranslation obj-a)
rlm@78 121 center-b (.getWorldTranslation obj-b)
rlm@78 122 joint-center (.getWorldTranslation joint)
rlm@78 123 pivot-a (.subtract joint-center center-a)
rlm@78 124 pivot-b (.subtract joint-center center-b)
rlm@78 125 control-a (.getControl obj-a RigidBodyControl)
rlm@78 126 control-b (.getControl obj-b RigidBodyControl)]
rlm@78 127 ;; A side-effect of creating a joint registers
rlm@78 128 ;; it with both physics objects which in turn
rlm@78 129 ;; will register the joint with the physics system
rlm@78 130 ;; when the simulation is started.
rlm@78 131 (if-let [constraints
rlm@78 132 (map-vals
rlm@78 133 eval
rlm@78 134 (read-string
rlm@78 135 (meta-data joint "joint")))]
rlm@74 136
rlm@78 137 (let [joint-type (:type constraints)]
rlm@78 138 (println-repl "creating joint between"
rlm@78 139 (.getName obj-a) "and" (.getName obj-b))
rlm@78 140 (cond (= :point joint-type)
rlm@78 141 (do
rlm@78 142 (println-repl "creating POINT joint")
rlm@78 143 (Point2PointJoint.
rlm@78 144 control-a
rlm@78 145 control-b
rlm@78 146 pivot-a
rlm@78 147 pivot-b))
rlm@78 148 (= :hinge joint-type)
rlm@78 149 (do
rlm@78 150 (println-repl "creating HINGE joint")
rlm@78 151 (let [axis (if-let
rlm@78 152 [axis (:axis constraints)]
rlm@78 153 axis
rlm@78 154 Vector3f/UNIT_X)
rlm@78 155 [limit-1 limit-2] (:limit constraints)
rlm@78 156 hinge-axis
rlm@78 157 (.mult
rlm@78 158 (.getWorldRotation joint)
rlm@78 159 (blender-to-jme axis))]
rlm@78 160 (doto
rlm@78 161 (HingeJoint.
rlm@78 162 control-a
rlm@78 163 control-b
rlm@78 164 pivot-a
rlm@78 165 pivot-b
rlm@78 166 hinge-axis
rlm@78 167 hinge-axis)
rlm@78 168 (.setLimit limit-1 limit-2))))
rlm@78 169 (= :cone joint-type)
rlm@78 170 (do
rlm@78 171 (let [limit-xy (:limit-xz constraints)
rlm@79 172 limit-yz (:limit-xy constraints)
rlm@78 173 twist (:twist constraints)]
rlm@78 174
rlm@78 175 (println-repl "creating CONE joint")
rlm@80 176 (let [vector-1
rlm@80 177 (.mult (.getWorldRotation joint)
rlm@80 178 Vector3f/UNIT_X)
rlm@80 179 vector-2
rlm@80 180 (.normalize
rlm@80 181 (.subtract
rlm@80 182 (.getWorldTranslation joint)
rlm@80 183 (.getWorldTranslation obj-a)))
rlm@80 184 ]
rlm@80 185 (println-repl
rlm@80 186 "vector-1 :" vector-1)
rlm@80 187 (println-repl
rlm@80 188 "vector-2 :" vector-2)
rlm@80 189
rlm@80 190
rlm@80 191
rlm@80 192 (doto
rlm@80 193 (ConeJoint.
rlm@80 194 control-a
rlm@80 195 control-b
rlm@80 196 pivot-a
rlm@80 197 pivot-b
rlm@80 198
rlm@80 199 ;;(doto (Matrix3f.)
rlm@80 200 ;; (.fromStartEndVectors
rlm@80 201 ;; Vector3f/UNIT_X
rlm@80 202 ;; (.normalize
rlm@80 203 ;; (.subtract
rlm@80 204 ;; (.getWorldTranslation joint)
rlm@80 205 ;; (.getWorldTranslation obj-a)))))
rlm@80 206
rlm@80 207 (.toRotationMatrix (.getWorldRotation joint))
rlm@80 208
rlm@80 209 (.toRotationMatrix
rlm@80 210 (.fromAngleAxis (Quaternion.)
rlm@80 211 (.angleBetween Vector3f/UNIT_X pivot-a)
rlm@80 212 (.cross Vector3f/UNIT_X pivot-a)))
rlm@80 213
rlm@80 214 ;; (doto (Matrix3f.)
rlm@80 215 ;; (.fromStartEndVectors
rlm@80 216 ;; Vector3f/UNIT_X
rlm@80 217 ;; (.normalize
rlm@80 218 ;; vector-1)))
rlm@80 219
rlm@80 220 ;; (doto (Matrix3f.)
rlm@80 221 ;; (.fromStartEndVectors
rlm@80 222 ;; Vector3f/UNIT_X
rlm@80 223 ;; vector-2))
rlm@80 224 )
rlm@80 225 (.setLimit (float limit-xy)
rlm@80 226 (float limit-yz)
rlm@80 227 (float twist))))))
rlm@80 228 true
rlm@80 229 (println-repl
rlm@80 230 "joint-type" joint-type "not recognized")))
rlm@80 231
rlm@78 232 (println-repl "could not find joint meta-data!")))))
rlm@74 233
rlm@78 234 (defn assemble-creature [#^Node pieces joints]
rlm@78 235 (dorun
rlm@78 236 (map
rlm@78 237 (fn [geom]
rlm@78 238 (let [physics-control
rlm@78 239 (RigidBodyControl.
rlm@78 240 (HullCollisionShape.
rlm@78 241 (.getMesh geom))
rlm@78 242 (if-let [mass (meta-data geom "mass")]
rlm@78 243 (do
rlm@78 244 (println-repl
rlm@78 245 "setting" (.getName geom) "mass to" (float mass))
rlm@78 246 (float mass))
rlm@78 247 (float 1)))]
rlm@78 248
rlm@78 249 (.addControl geom physics-control)))
rlm@78 250 (filter #(isa? (class %) Geometry )
rlm@78 251 (node-seq pieces))))
rlm@77 252
rlm@78 253 (dorun
rlm@78 254 (map
rlm@78 255 (fn [joint]
rlm@78 256 (let [[obj-a obj-b]
rlm@78 257 (joint-targets pieces joint)]
rlm@78 258 (connect obj-a obj-b joint)))
rlm@78 259 joints))
rlm@78 260 pieces)
rlm@74 261
rlm@78 262 (defn blender-creature [blender-path]
rlm@78 263 (let [model (load-blender-model blender-path)
rlm@78 264 joints
rlm@78 265 (if-let [joint-node (.getChild model "joints")]
rlm@78 266 (seq (.getChildren joint-node))
rlm@78 267 (do (println-repl "could not find joints node")
rlm@78 268 []))]
rlm@78 269 (assemble-creature model joints)))
rlm@74 270
rlm@78 271 (def hand "Models/creature1/one.blend")
rlm@74 272
rlm@78 273 (def worm "Models/creature1/try-again.blend")
rlm@78 274
rlm@80 275 (defn x-ray [#^ColorRGBA color]
rlm@80 276 (doto (Material. (asset-manager)
rlm@80 277 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 278 (.setColor "Color" color)
rlm@80 279 (-> (.getAdditionalRenderState)
rlm@80 280 (.setDepthTest false))))
rlm@80 281
rlm@78 282 (defn test-creature [thing]
rlm@80 283 (let [x-axis
rlm@80 284 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 285 y-axis
rlm@80 286 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 287 z-axis
rlm@80 288 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 289 (world
rlm@78 290 (nodify [(blender-creature thing)
rlm@78 291 (box 10 2 10 :position (Vector3f. 0 -5.5 0)
rlm@80 292 :color ColorRGBA/Gray :mass 0)
rlm@80 293 x-axis y-axis z-axis
rlm@80 294 ])
rlm@78 295 standard-debug-controls
rlm@78 296 (comp light-up-everything enable-debug
rlm@78 297 (fn [world]
rlm@78 298 (.setTimer world (NanoTimer.))
rlm@80 299 (set-gravity world (Vector3f. 0 0 0))
rlm@78 300 (speed-up world)
rlm@78 301 world
rlm@78 302 ))
rlm@80 303 no-op)))
rlm@78 304
rlm@78 305 (defn world-setup [joint]
rlm@78 306 (let [top (doto
rlm@78 307 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@78 308 :position (Vector3f. 0 7 0))
rlm@78 309 (.addControl
rlm@78 310 (RigidBodyControl.
rlm@78 311 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
rlm@78 312 bottom (doto
rlm@78 313 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@78 314 :position (Vector3f. 0 -1 0))
rlm@78 315 (.addControl
rlm@78 316 (RigidBodyControl.
rlm@78 317 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@78 318 table (box 10 2 10 :position (Vector3f. 0 -6 0)
rlm@78 319 :color ColorRGBA/Gray :mass 0)
rlm@78 320 a (.getControl top RigidBodyControl)
rlm@78 321 b (.getControl bottom RigidBodyControl)]
rlm@78 322 (cond
rlm@78 323 (= joint :point)
rlm@78 324 (doto
rlm@78 325 (Point2PointJoint. a b
rlm@78 326 (Vector3f. 0 -2 0)
rlm@78 327 (Vector3f. 0 2 0))
rlm@78 328 (.setCollisionBetweenLinkedBodys false))
rlm@78 329 (= joint :hinge)
rlm@78 330 (doto
rlm@78 331 (HingeJoint.
rlm@78 332 a b
rlm@78 333 (Vector3f. 0 -2 0)
rlm@78 334 (Vector3f. 0 2 0)
rlm@78 335 (Vector3f. 0 0 1)
rlm@78 336 (Vector3f. 0 0 1)
rlm@78 337
rlm@78 338 )
rlm@78 339 (.setCollisionBetweenLinkedBodys false)
rlm@78 340 ;;(.setLimit (- Math/PI) Math/PI)
rlm@78 341 )
rlm@78 342 (= joint :cone)
rlm@78 343 ;; note to self -- jbullet does NOT implement cone joints
rlm@78 344 ;; correctly. You must use plain ol' bullet for this to work.
rlm@78 345 ;; It's faster anyway, so whatever.
rlm@78 346
rlm@78 347 (doto (ConeJoint.
rlm@78 348 a b
rlm@78 349 (Vector3f. 0 -5 0)
rlm@78 350 (Vector3f. 0 2 0)
rlm@78 351
rlm@78 352 (doto (Matrix3f.)
rlm@78 353 (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 354 Vector3f/UNIT_Y))
rlm@78 355 (doto (Matrix3f.)
rlm@78 356 (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 357 (.normalize
rlm@80 358 (Vector3f. 0 0 -1))))
rlm@78 359 )
rlm@78 360 ;;(.setAngularOnly true)
rlm@78 361
rlm@78 362 (.setCollisionBetweenLinkedBodys false)
rlm@78 363 (.setLimit (* 1 (/ Math/PI 4))
rlm@78 364 (* 1 (/ Math/PI 2))
rlm@78 365 (* 0 (/ Math/PI 4)))
rlm@78 366
rlm@78 367 )
rlm@78 368 (= joint :six)
rlm@78 369 (doto
rlm@78 370 (SixDofJoint.
rlm@78 371 a b
rlm@78 372 (Vector3f. 0 -2 0)
rlm@78 373 (Vector3f. 0 2 0)
rlm@78 374 ;;(doto (Matrix3f.)
rlm@78 375 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 376 ;; Vector3f/UNIT_Y))
rlm@78 377 ;;(doto (Matrix3f.)
rlm@78 378 ;; (.fromStartEndVectors Vector3f/UNIT_X
rlm@78 379 ;; Vector3f/UNIT_Y))
rlm@78 380 true)
rlm@78 381 (.setCollisionBetweenLinkedBodys false)
rlm@78 382 (.setAngularLowerLimit (Vector3f. 0
rlm@78 383 (- (/ Math/PI 2))
rlm@78 384 0))
rlm@78 385
rlm@78 386 (.setAngularUpperLimit (Vector3f. 0
rlm@78 387 (/ Math/PI 2)
rlm@78 388 0))
rlm@78 389 (.setLinearLowerLimit (Vector3f. 0 0 0))
rlm@78 390 (.setLinearUpperLimit (Vector3f. 0 0 0))
rlm@78 391
rlm@78 392 )
rlm@78 393
rlm@78 394
rlm@78 395
rlm@78 396
rlm@78 397
rlm@78 398 )
rlm@78 399
rlm@78 400 [top bottom table]))
rlm@78 401
rlm@78 402
rlm@78 403 (defn test-joint [joint]
rlm@78 404 (let [[top bottom floor] (world-setup joint)
rlm@78 405 control (.getControl top RigidBodyControl)
rlm@78 406 move-up? (atom false)
rlm@78 407 move-down? (atom false)
rlm@78 408 move-left? (atom false)
rlm@78 409 move-right? (atom false)
rlm@78 410 roll-left? (atom false)
rlm@78 411 roll-right? (atom false)
rlm@78 412 timer (atom 0)]
rlm@78 413
rlm@78 414 (world
rlm@78 415 (nodify [top bottom floor])
rlm@78 416 (merge standard-debug-controls
rlm@78 417 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 418 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 419 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 420 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 421 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 422 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 423
rlm@78 424 (fn [world]
rlm@78 425 (light-up-everything world)
rlm@78 426 (enable-debug world)
rlm@78 427 (set-gravity world (Vector3f. 0 0 0))
rlm@78 428 )
rlm@78 429
rlm@78 430 (fn [world _]
rlm@78 431 (if (zero? (rem (swap! timer inc) 100))
rlm@78 432 (do
rlm@78 433 ;; (println-repl @timer)
rlm@78 434 (.attachChild (.getRootNode world)
rlm@78 435 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 436 :position (.getWorldTranslation top)
rlm@78 437 :physical? false))))
rlm@78 438 (if @move-up?
rlm@78 439 (.applyTorque control
rlm@78 440 (.mult (.getPhysicsRotation control)
rlm@78 441 (Vector3f. 0 0 10))))
rlm@78 442 (if @move-down?
rlm@78 443 (.applyTorque control
rlm@78 444 (.mult (.getPhysicsRotation control)
rlm@78 445 (Vector3f. 0 0 -10))))
rlm@78 446 (if @move-left?
rlm@78 447 (.applyTorque control
rlm@78 448 (.mult (.getPhysicsRotation control)
rlm@78 449 (Vector3f. 0 10 0))))
rlm@78 450 (if @move-right?
rlm@78 451 (.applyTorque control
rlm@78 452 (.mult (.getPhysicsRotation control)
rlm@78 453 (Vector3f. 0 -10 0))))
rlm@78 454 (if @roll-left?
rlm@78 455 (.applyTorque control
rlm@78 456 (.mult (.getPhysicsRotation control)
rlm@78 457 (Vector3f. -1 0 0))))
rlm@78 458 (if @roll-right?
rlm@78 459 (.applyTorque control
rlm@78 460 (.mult (.getPhysicsRotation control)
rlm@78 461 (Vector3f. 1 0 0))))))))
rlm@78 462 #+end_src
rlm@78 463
rlm@78 464
rlm@78 465 * COMMENT purgatory
rlm@78 466 #+begin_src clojure
rlm@77 467 (defn bullet-trans []
rlm@77 468 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 469 :position (Vector3f. -10 5 0))
rlm@77 470 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 471 :position (Vector3f. -10 -5 0)
rlm@77 472 :mass 0)
rlm@77 473 control-a (.getControl obj-a RigidBodyControl)
rlm@77 474 control-b (.getControl obj-b RigidBodyControl)
rlm@77 475 swivel
rlm@77 476 (.toRotationMatrix
rlm@77 477 (doto (Quaternion.)
rlm@77 478 (.fromAngleAxis (/ Math/PI 2)
rlm@77 479 Vector3f/UNIT_X)))]
rlm@77 480 (doto
rlm@77 481 (ConeJoint.
rlm@77 482 control-a control-b
rlm@77 483 (Vector3f. 0 5 0)
rlm@77 484 (Vector3f. 0 -5 0)
rlm@77 485 swivel swivel)
rlm@77 486 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 487 (/ Math/PI 4)
rlm@77 488 (* Math/PI 0.8)))
rlm@77 489 (world (nodify
rlm@77 490 [obj-a obj-b])
rlm@77 491 standard-debug-controls
rlm@77 492 enable-debug
rlm@77 493 no-op)))
rlm@74 494
rlm@74 495
rlm@77 496 (defn bullet-trans* []
rlm@77 497 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 498 :position (Vector3f. 5 0 0)
rlm@77 499 :mass 90)
rlm@77 500 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 501 :position (Vector3f. -5 0 0)
rlm@77 502 :mass 0)
rlm@77 503 control-a (.getControl obj-a RigidBodyControl)
rlm@77 504 control-b (.getControl obj-b RigidBodyControl)
rlm@77 505 move-up? (atom nil)
rlm@77 506 move-down? (atom nil)
rlm@77 507 move-left? (atom nil)
rlm@77 508 move-right? (atom nil)
rlm@77 509 roll-left? (atom nil)
rlm@77 510 roll-right? (atom nil)
rlm@77 511 force 100
rlm@77 512 swivel
rlm@77 513 (.toRotationMatrix
rlm@77 514 (doto (Quaternion.)
rlm@77 515 (.fromAngleAxis (/ Math/PI 2)
rlm@77 516 Vector3f/UNIT_X)))
rlm@77 517 x-move
rlm@77 518 (doto (Matrix3f.)
rlm@77 519 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 520 (.normalize (Vector3f. 1 1 0))))
rlm@77 521
rlm@77 522 timer (atom 0)]
rlm@77 523 (doto
rlm@77 524 (ConeJoint.
rlm@77 525 control-a control-b
rlm@77 526 (Vector3f. -8 0 0)
rlm@77 527 (Vector3f. 2 0 0)
rlm@77 528 ;;swivel swivel
rlm@77 529 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 530 x-move Matrix3f/IDENTITY
rlm@77 531 )
rlm@77 532 (.setCollisionBetweenLinkedBodys false)
rlm@77 533 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 534 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 535 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 536 (world (nodify
rlm@77 537 [obj-a obj-b])
rlm@77 538 (merge standard-debug-controls
rlm@77 539 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 540 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 541 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 542 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 543 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 544 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 545
rlm@77 546 (fn [world]
rlm@77 547 (enable-debug world)
rlm@77 548 (set-gravity world Vector3f/ZERO)
rlm@77 549 )
rlm@77 550
rlm@77 551 (fn [world _]
rlm@77 552
rlm@77 553 (if @move-up?
rlm@77 554 (.applyForce control-a
rlm@77 555 (Vector3f. force 0 0)
rlm@77 556 (Vector3f. 0 0 0)))
rlm@77 557 (if @move-down?
rlm@77 558 (.applyForce control-a
rlm@77 559 (Vector3f. (- force) 0 0)
rlm@77 560 (Vector3f. 0 0 0)))
rlm@77 561 (if @move-left?
rlm@77 562 (.applyForce control-a
rlm@77 563 (Vector3f. 0 force 0)
rlm@77 564 (Vector3f. 0 0 0)))
rlm@77 565 (if @move-right?
rlm@77 566 (.applyForce control-a
rlm@77 567 (Vector3f. 0 (- force) 0)
rlm@77 568 (Vector3f. 0 0 0)))
rlm@77 569
rlm@77 570 (if @roll-left?
rlm@77 571 (.applyForce control-a
rlm@77 572 (Vector3f. 0 0 force)
rlm@77 573 (Vector3f. 0 0 0)))
rlm@77 574 (if @roll-right?
rlm@77 575 (.applyForce control-a
rlm@77 576 (Vector3f. 0 0 (- force))
rlm@77 577 (Vector3f. 0 0 0)))
rlm@77 578
rlm@77 579 (if (zero? (rem (swap! timer inc) 100))
rlm@77 580 (.attachChild
rlm@77 581 (.getRootNode world)
rlm@77 582 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 583 :physical? false :position
rlm@77 584 (.getWorldTranslation obj-a)))))
rlm@77 585 )
rlm@77 586 ))
rlm@77 587
rlm@77 588
rlm@77 589
rlm@73 590 #+end_src
rlm@73 591
rlm@73 592
rlm@73 593 * COMMENT generate source
rlm@73 594 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 595 <<body-1>>
rlm@73 596 #+end_src
rlm@73 597