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1 #+title: The BODY!!!
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
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5 #+SETUPFILE: ../../aurellem/org/setup.org
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6 #+INCLUDE: ../../aurellem/org/level-0.org
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7
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8 * COMMENT Body
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9
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10 #+srcname: body-main
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11 #+begin_src clojure
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12 (ns cortex.body
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13 (use (cortex world util import)))
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14
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15 (use 'clojure.contrib.def)
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16 (cortex.import/mega-import-jme3)
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17 (rlm.rlm-commands/help)
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18
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19 ;;(.loadModel
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20 ;; (doto (asset-manager)
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21 ;; (.registerLoader BlenderModelLoader (into-array String ["blend"])))
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22 ;; "Models/person/person.blend")
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23
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24 (defn view-model [^String model]
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25 (view
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26 (.loadModel
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27 (doto (asset-manager)
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28 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
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29 model)))
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30
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31 (defn load-blender-scene [^String model]
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32 (.loadModel
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33 (doto (asset-manager)
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34 (.registerLoader BlenderLoader (into-array String ["blend"])))
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35 model))
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36
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37 (defn load-blender-model
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38 [^String model]
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39 (.loadModel
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40 (doto (asset-manager)
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41 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
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42 model))
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43
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44 (defn worm
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45 []
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46 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))
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47
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48 (defn oto
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49 []
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50 (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))
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51
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52 (defn sinbad
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53 []
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54 (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))
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55
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56 (defn worm-blender
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57 []
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58 (first (seq (.getChildren (load-blender-model
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59 "Models/anim2/worm3.blend")))))
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60
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61 (defn skel [node]
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62 (doto
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63 (.getSkeleton
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64 (.getControl node SkeletonControl))
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65 ;; this is necessary to force the skeleton to have accurate world
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66 ;; transforms before it is rendered to the screen.
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67 (.resetAndUpdate)))
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68
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69 (defprotocol Textual
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70 (text [something]
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71 "Display a detailed textual analysis of the given object."))
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72
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73 (extend-type com.jme3.scene.Node
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74 Textual
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75 (text [node]
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76 (println "Total Vertexes: " (.getVertexCount node))
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77 (println "Total Triangles: " (.getTriangleCount node))
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78 (println "Controls :")
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79 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
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80 (println "Has " (.getQuantity node) " Children:")
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81 (doall (map text (.getChildren node)))))
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82
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83 (extend-type com.jme3.animation.AnimControl
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84 Textual
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85 (text [control]
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86 (let [animations (.getAnimationNames control)]
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87 (println "Animation Control with " (count animations) " animation(s):")
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88 (dorun (map println animations)))))
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89
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90 (extend-type com.jme3.animation.SkeletonControl
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91 Textual
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92 (text [control]
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93 (println "Skeleton Control with the following skeleton:")
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94 (println (.getSkeleton control))))
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95
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96 (extend-type com.jme3.bullet.control.KinematicRagdollControl
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97 Textual
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98 (text [control]
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99 (println "Ragdoll Control")))
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100
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101
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102 (extend-type com.jme3.scene.Geometry
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103 Textual
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104 (text [control]
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105 (println "...geo...")))
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106
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107
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108
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109
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110 (defn body
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111 "given a node with a SkeletonControl, will produce a body sutiable
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112 for AI control with movement and proprioception."
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113 [node]
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114 (let [skeleton-control (.getControl node SkeletonControl)
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115 krc (KinematicRagdollControl.)]
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116 (comment
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117 (dorun
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118 (map #(.addBoneName krc %)
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119 ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
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120 ;;"mid2" "mid3" "tail" "head"]
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121 )))
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122
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123
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124
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125 (.addControl node krc)
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126 (.setRagdollMode krc)
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127 )
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128 node
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129 )
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130
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131 (defn green-x-ray []
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132 (doto (Material. (asset-manager)
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133 "Common/MatDefs/Misc/Unshaded.j3md")
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134 (.setColor "Color" ColorRGBA/Green)
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135 (-> (.getAdditionalRenderState)
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136 (.setDepthTest false))))
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137
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138 (defn show-skeleton [node]
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139 (let [sd
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140
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141 (doto
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142 (SkeletonDebugger. "aurellem-skel-debug"
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143 (skel node))
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144 (.setMaterial (green-x-ray)))]
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145 (.attachChild node sd)
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146 node))
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147
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148
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149
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150 (defn init-debug-skel-node
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151 [f debug-node skeleton]
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152 (let [bones
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153 (map #(.getBone skeleton %)
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154 (range (.getBoneCount skeleton)))]
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155 (dorun (map #(.setUserControl % true) bones))
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156 (dorun (map (fn [b]
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157 (println (.getName b)
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158 " -- " (f b)))
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159 bones))
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160
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161 (dorun
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162 (map #(.attachChild
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163 debug-node
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164 (doto
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165 (sphere 0.1
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166 :position (f %)
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167 :physical? false)
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168 (.setMaterial (green-x-ray))))
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169 bones)))
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170 debug-node)
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171
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172 (import jme3test.bullet.PhysicsTestHelper)
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173
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174
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175 (defn test-zzz [the-worm world value]
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176 (if (not value)
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177 (let [skeleton (skel the-worm)]
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178 (println-repl "enabling bones")
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179 (dorun
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180 (map
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181 #(.setUserControl (.getBone skeleton %) true)
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182 (range (.getBoneCount skeleton))))
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183
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184
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185 (let [b (.getBone skeleton 6)]
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186 (println-repl "moving " (.getName b))
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187 (println-repl (.getLocalPosition b))
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188 (.setUserTransforms b
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189 Vector3f/UNIT_X
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190 Quaternion/IDENTITY
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191 ;;(doto (Quaternion.)
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192 ;; (.fromAngles (/ Math/PI 2)
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193 ;; 0
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194 ;; 0
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195
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196 (Vector3f. 1 1 1))
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197
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198 )
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199
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200
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201
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202 (println-repl "hi! <3"))))
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203
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204
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205 (defn test-ragdoll []
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206
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207 (let [the-worm
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208
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209 ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
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210 (doto (show-skeleton (worm-blender))
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211 (.setLocalTranslation (Vector3f. 0 10 0))
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212 ;;(worm)
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213 ;;(oto)
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214 ;;(sinbad)
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215 )
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216 ]
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217
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218
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219 (.start
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220 (world
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221 (doto (Node.)
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222 (.attachChild the-worm))
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223 {"key-return" (fire-cannon-ball)
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224 "key-space" (partial test-zzz the-worm)
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225 }
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226 (fn [world]
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227 (light-up-everything world)
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228 (PhysicsTestHelper/createPhysicsTestWorld
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229 (.getRootNode world)
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230 (asset-manager)
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231 (.getPhysicsSpace
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232 (.getState (.getStateManager world) BulletAppState)))
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233 (set-gravity world Vector3f/ZERO)
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234 ;;(.setTimer world (NanoTimer.))
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235 ;;(org.lwjgl.input.Mouse/setGrabbed false)
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236 )
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237 no-op
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238 )
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239
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240
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241 )))
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250
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251
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252 #+end_src
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253
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256
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258
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259
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260
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261 * COMMENT generate Source.
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262 #+begin_src clojure :tangle ../src/cortex/body.clj
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263 <<body-main>>
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264 #+end_src
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265
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