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data format for touch implemented
author Robert McIntyre <rlm@mit.edu>
date Sat, 14 Jan 2012 20:44:13 -0700
parents 65332841b7d9
children 85ee8bb80edf
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@99 9
rlm@99 10 * objectives
rlm@99 11 - [ ] get an overall bitmap-like image for touch
rlm@99 12 - [ ] write code to visuliaze this bitmap
rlm@99 13 - [ ] directly change the UV-pixels to show touch sensor activation
rlm@99 14 - [ ] write an explination for why b&w bitmaps for senses is appropiate
rlm@99 15 - [ ] clean up touch code and write visulazation test
rlm@99 16 - [ ] do the same for eyes
rlm@99 17
rlm@73 18 * Intro
rlm@73 19 So far, I've made the following senses --
rlm@73 20 - Vision
rlm@73 21 - Hearing
rlm@73 22 - Touch
rlm@73 23 - Proprioception
rlm@73 24
rlm@73 25 And one effector:
rlm@73 26 - Movement
rlm@73 27
rlm@73 28 However, the code so far has only enabled these senses, but has not
rlm@73 29 actually implemented them. For example, there is still a lot of work
rlm@73 30 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 31 simulation that can be moved around and see the world from different
rlm@73 32 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 33 for the visual input, and I need to determine how/wether to
rlm@73 34 disceritise the visual input.
rlm@73 35
rlm@73 36 I also want to be able to visualize both the sensors and the
rlm@73 37 effectors in pretty pictures. This semi-retarted creature will by my
rlm@73 38 first attempt at bringing everything together.
rlm@73 39
rlm@73 40 * The creature's body
rlm@73 41
rlm@73 42 Still going to do an eve-like body in blender, but due to problems
rlm@73 43 importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73 44 the connecting here in clojure code, using the names of the individual
rlm@73 45 components and trial and error. Later, I'll maybe make some sort of
rlm@73 46 creature-building modifications to blender that support whatever
rlm@73 47 discreitized senses I'm going to make.
rlm@73 48
rlm@73 49 #+name: body-1
rlm@73 50 #+begin_src clojure
rlm@73 51 (ns cortex.silly
rlm@73 52 "let's play!"
rlm@73 53 {:author "Robert McIntyre"})
rlm@73 54
rlm@73 55 ;; TODO remove this!
rlm@73 56 (require 'cortex.import)
rlm@73 57 (cortex.import/mega-import-jme3)
rlm@73 58 (use '(cortex world util body hearing touch vision))
rlm@73 59
rlm@73 60 (rlm.rlm-commands/help)
rlm@99 61 (import java.awt.image.BufferedImage)
rlm@99 62 (import javax.swing.JPanel)
rlm@99 63 (import javax.swing.SwingUtilities)
rlm@99 64 (import java.awt.Dimension)
rlm@99 65 (import javax.swing.JFrame)
rlm@99 66 (import java.awt.Dimension)
rlm@99 67 (declare joint-create)
rlm@73 68
rlm@99 69 (defn view-image
rlm@99 70 "Initailizes a JPanel on which you may draw a BufferedImage.
rlm@99 71 Returns a function that accepts a BufferedImage and draws it to the
rlm@99 72 JPanel."
rlm@99 73 []
rlm@99 74 (let [image
rlm@99 75 (atom
rlm@99 76 (BufferedImage. 1 1 BufferedImage/TYPE_4BYTE_ABGR))
rlm@99 77 panel
rlm@99 78 (proxy [JPanel] []
rlm@99 79 (paint
rlm@99 80 [graphics]
rlm@99 81 (proxy-super paintComponent graphics)
rlm@99 82 (.drawImage graphics @image 0 0 nil)))
rlm@99 83 frame (JFrame. "Display Image")]
rlm@99 84 (SwingUtilities/invokeLater
rlm@99 85 (fn []
rlm@99 86 (doto frame
rlm@99 87 (-> (.getContentPane) (.add panel))
rlm@99 88 (.pack)
rlm@99 89 (.setLocationRelativeTo nil)
rlm@99 90 (.setResizable true)
rlm@99 91 (.setVisible true))))
rlm@99 92 (fn [#^BufferedImage i]
rlm@99 93 (reset! image i)
rlm@99 94 (.setSize frame (+ 8 (.getWidth i)) (+ 28 (.getHeight i)))
rlm@99 95 (.repaint panel 0 0 (.getWidth i) (.getHeight i)))))
rlm@99 96
rlm@100 97 (defn points->image
rlm@100 98 "Take a sparse collection of points and visuliaze it as a
rlm@100 99 BufferedImage."
rlm@102 100
rlm@102 101 ;; TODO maybe parallelize this since it's easy
rlm@102 102
rlm@100 103 [points]
rlm@101 104 (let [xs (vec (map first points))
rlm@101 105 ys (vec (map second points))
rlm@101 106 x0 (apply min xs)
rlm@101 107 y0 (apply min ys)
rlm@101 108 width (- (apply max xs) x0)
rlm@101 109 height (- (apply max ys) y0)
rlm@101 110 image (BufferedImage. (inc width) (inc height)
rlm@101 111 BufferedImage/TYPE_BYTE_BINARY)]
rlm@101 112 (dorun
rlm@101 113 (for [index (range (count points))]
rlm@101 114 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
rlm@99 115
rlm@101 116 image))
rlm@100 117
rlm@101 118 (defn test-data
rlm@101 119 []
rlm@101 120 (vec
rlm@102 121 (for [a (range 0 1000 2)
rlm@102 122 b (range 0 1000 2)]
rlm@101 123 (vector a b))
rlm@101 124 ))
rlm@99 125
rlm@101 126 (defn average [coll]
rlm@101 127 (/ (reduce + coll) (count coll)))
rlm@101 128
rlm@101 129 (defn collapse-1d
rlm@101 130 "One dimensional analogue of collapse"
rlm@101 131 [center line]
rlm@101 132 (let [length (count line)
rlm@101 133 num-above (count (filter (partial < center) line))
rlm@101 134 num-below (- length num-above)]
rlm@101 135 (range (- center num-below)
rlm@101 136 (+ center num-above))
rlm@101 137 ))
rlm@99 138
rlm@99 139 (defn collapse
rlm@99 140 "Take a set of pairs of integers and collapse them into a
rlm@99 141 contigous bitmap."
rlm@99 142 [points]
rlm@101 143 (let
rlm@101 144 [num-points (count points)
rlm@101 145 center (vector
rlm@102 146 (int (average (map first points)))
rlm@102 147 (int (average (map first points))))
rlm@101 148 flattened
rlm@101 149 (reduce
rlm@101 150 concat
rlm@101 151 (map
rlm@101 152 (fn [column]
rlm@101 153 (map vector
rlm@101 154 (map first column)
rlm@101 155 (collapse-1d (second center)
rlm@101 156 (map second column))))
rlm@101 157 (partition-by first (sort-by first points))))
rlm@101 158 squeezed
rlm@101 159 (reduce
rlm@101 160 concat
rlm@101 161 (map
rlm@101 162 (fn [row]
rlm@101 163 (map vector
rlm@101 164 (collapse-1d (first center)
rlm@101 165 (map first row))
rlm@101 166 (map second row)))
rlm@102 167 (partition-by second (sort-by second flattened))))
rlm@102 168 ;;vi (view-image)
rlm@102 169 relocate
rlm@102 170 (let [min-x (apply min (map first squeezed))
rlm@102 171 min-y (apply min (map second squeezed))]
rlm@102 172 (map (fn [[x y]]
rlm@102 173 [(- x min-x)
rlm@102 174 (- y min-y)])
rlm@102 175 squeezed))
rlm@102 176 ]
rlm@102 177 ;;(vi (points->image points))
rlm@102 178 ;;(Thread/sleep 1000)
rlm@102 179 ;;(vi (points->image flattened))
rlm@102 180 ;;(Thread/sleep 1000)
rlm@102 181 ;;(vi (points->image squeezed))
rlm@102 182 relocate
rlm@101 183 ))
rlm@83 184
rlm@83 185 (defn load-bullet []
rlm@84 186 (let [sim (world (Node.) {} no-op no-op)]
rlm@102 187 (doto sim
rlm@102 188 (.enqueue
rlm@102 189 (fn []
rlm@102 190 (.stop sim)))
rlm@102 191 (.start))))
rlm@83 192
rlm@73 193 (defn load-blender-model
rlm@73 194 "Load a .blend file using an asset folder relative path."
rlm@73 195 [^String model]
rlm@73 196 (.loadModel
rlm@73 197 (doto (asset-manager)
rlm@73 198 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 199 model))
rlm@73 200
rlm@74 201 (defn meta-data [blender-node key]
rlm@74 202 (if-let [data (.getUserData blender-node "properties")]
rlm@74 203 (.findValue data key)
rlm@74 204 nil))
rlm@73 205
rlm@78 206 (defn blender-to-jme
rlm@78 207 "Convert from Blender coordinates to JME coordinates"
rlm@78 208 [#^Vector3f in]
rlm@78 209 (Vector3f. (.getX in)
rlm@78 210 (.getZ in)
rlm@78 211 (- (.getY in))))
rlm@74 212
rlm@79 213 (defn jme-to-blender
rlm@79 214 "Convert from JME coordinates to Blender coordinates"
rlm@79 215 [#^Vector3f in]
rlm@79 216 (Vector3f. (.getX in)
rlm@79 217 (- (.getZ in))
rlm@79 218 (.getY in)))
rlm@79 219
rlm@78 220 (defn joint-targets
rlm@78 221 "Return the two closest two objects to the joint object, ordered
rlm@78 222 from bottom to top according to the joint's rotation."
rlm@78 223 [#^Node parts #^Node joint]
rlm@78 224 ;;(println (meta-data joint "joint"))
rlm@78 225 (.getWorldRotation joint)
rlm@78 226 (loop [radius (float 0.01)]
rlm@78 227 (let [results (CollisionResults.)]
rlm@78 228 (.collideWith
rlm@78 229 parts
rlm@78 230 (BoundingBox. (.getWorldTranslation joint)
rlm@78 231 radius radius radius)
rlm@78 232 results)
rlm@78 233 (let [targets
rlm@78 234 (distinct
rlm@78 235 (map #(.getGeometry %) results))]
rlm@78 236 (if (>= (count targets) 2)
rlm@78 237 (sort-by
rlm@79 238 #(let [v
rlm@79 239 (jme-to-blender
rlm@79 240 (.mult
rlm@79 241 (.inverse (.getWorldRotation joint))
rlm@79 242 (.subtract (.getWorldTranslation %)
rlm@79 243 (.getWorldTranslation joint))))]
rlm@79 244 (println-repl (.getName %) ":" v)
rlm@79 245 (.dot (Vector3f. 1 1 1)
rlm@79 246 v))
rlm@78 247 (take 2 targets))
rlm@78 248 (recur (float (* radius 2))))))))
rlm@74 249
rlm@87 250 (defn world-to-local
rlm@87 251 "Convert the world coordinates into coordinates relative to the
rlm@87 252 object (i.e. local coordinates), taking into account the rotation
rlm@87 253 of object."
rlm@87 254 [#^Spatial object world-coordinate]
rlm@87 255 (let [out (Vector3f.)]
rlm@88 256 (.worldToLocal object world-coordinate out) out))
rlm@87 257
rlm@96 258 (defn local-to-world
rlm@96 259 "Convert the local coordinates into coordinates into world relative
rlm@96 260 coordinates"
rlm@96 261 [#^Spatial object local-coordinate]
rlm@96 262 (let [world-coordinate (Vector3f.)]
rlm@96 263 (.localToWorld object local-coordinate world-coordinate)
rlm@96 264 world-coordinate))
rlm@96 265
rlm@96 266
rlm@87 267 (defmulti joint-dispatch
rlm@87 268 "Translate blender pseudo-joints into real JME joints."
rlm@88 269 (fn [constraints & _]
rlm@87 270 (:type constraints)))
rlm@87 271
rlm@87 272 (defmethod joint-dispatch :point
rlm@87 273 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 274 (println-repl "creating POINT2POINT joint")
rlm@87 275 (Point2PointJoint.
rlm@87 276 control-a
rlm@87 277 control-b
rlm@87 278 pivot-a
rlm@87 279 pivot-b))
rlm@87 280
rlm@87 281 (defmethod joint-dispatch :hinge
rlm@87 282 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 283 (println-repl "creating HINGE joint")
rlm@87 284 (let [axis
rlm@87 285 (if-let
rlm@87 286 [axis (:axis constraints)]
rlm@87 287 axis
rlm@87 288 Vector3f/UNIT_X)
rlm@87 289 [limit-1 limit-2] (:limit constraints)
rlm@87 290 hinge-axis
rlm@87 291 (.mult
rlm@87 292 rotation
rlm@87 293 (blender-to-jme axis))]
rlm@87 294 (doto
rlm@87 295 (HingeJoint.
rlm@87 296 control-a
rlm@87 297 control-b
rlm@87 298 pivot-a
rlm@87 299 pivot-b
rlm@87 300 hinge-axis
rlm@87 301 hinge-axis)
rlm@87 302 (.setLimit limit-1 limit-2))))
rlm@87 303
rlm@87 304 (defmethod joint-dispatch :cone
rlm@87 305 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 306 (let [limit-xz (:limit-xz constraints)
rlm@87 307 limit-xy (:limit-xy constraints)
rlm@87 308 twist (:twist constraints)]
rlm@87 309
rlm@87 310 (println-repl "creating CONE joint")
rlm@87 311 (println-repl rotation)
rlm@87 312 (println-repl
rlm@87 313 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 314 (println-repl
rlm@87 315 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 316 (println-repl
rlm@87 317 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 318 (doto
rlm@87 319 (ConeJoint.
rlm@87 320 control-a
rlm@87 321 control-b
rlm@87 322 pivot-a
rlm@87 323 pivot-b
rlm@87 324 rotation
rlm@87 325 rotation)
rlm@87 326 (.setLimit (float limit-xz)
rlm@87 327 (float limit-xy)
rlm@87 328 (float twist)))))
rlm@87 329
rlm@88 330 (defn connect
rlm@87 331 "here are some examples:
rlm@87 332 {:type :point}
rlm@87 333 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 334 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 335
rlm@89 336 {:type :cone :limit-xz 0]
rlm@89 337 :limit-xy 0]
rlm@89 338 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 339 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 340 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 341 control-b (.getControl obj-b RigidBodyControl)
rlm@87 342 joint-center (.getWorldTranslation joint)
rlm@87 343 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 344 pivot-a (world-to-local obj-a joint-center)
rlm@87 345 pivot-b (world-to-local obj-b joint-center)]
rlm@89 346
rlm@87 347 (if-let [constraints
rlm@87 348 (map-vals
rlm@87 349 eval
rlm@87 350 (read-string
rlm@87 351 (meta-data joint "joint")))]
rlm@89 352 ;; A side-effect of creating a joint registers
rlm@89 353 ;; it with both physics objects which in turn
rlm@89 354 ;; will register the joint with the physics system
rlm@89 355 ;; when the simulation is started.
rlm@87 356 (do
rlm@87 357 (println-repl "creating joint between"
rlm@87 358 (.getName obj-a) "and" (.getName obj-b))
rlm@87 359 (joint-dispatch constraints
rlm@87 360 control-a control-b
rlm@87 361 pivot-a pivot-b
rlm@87 362 joint-rotation))
rlm@87 363 (println-repl "could not find joint meta-data!"))))
rlm@87 364
rlm@78 365 (defn assemble-creature [#^Node pieces joints]
rlm@78 366 (dorun
rlm@78 367 (map
rlm@78 368 (fn [geom]
rlm@78 369 (let [physics-control
rlm@78 370 (RigidBodyControl.
rlm@78 371 (HullCollisionShape.
rlm@78 372 (.getMesh geom))
rlm@78 373 (if-let [mass (meta-data geom "mass")]
rlm@78 374 (do
rlm@78 375 (println-repl
rlm@78 376 "setting" (.getName geom) "mass to" (float mass))
rlm@78 377 (float mass))
rlm@78 378 (float 1)))]
rlm@78 379
rlm@78 380 (.addControl geom physics-control)))
rlm@78 381 (filter #(isa? (class %) Geometry )
rlm@78 382 (node-seq pieces))))
rlm@78 383 (dorun
rlm@78 384 (map
rlm@78 385 (fn [joint]
rlm@78 386 (let [[obj-a obj-b]
rlm@78 387 (joint-targets pieces joint)]
rlm@88 388 (connect obj-a obj-b joint)))
rlm@78 389 joints))
rlm@78 390 pieces)
rlm@74 391
rlm@78 392 (defn blender-creature [blender-path]
rlm@78 393 (let [model (load-blender-model blender-path)
rlm@78 394 joints
rlm@78 395 (if-let [joint-node (.getChild model "joints")]
rlm@78 396 (seq (.getChildren joint-node))
rlm@78 397 (do (println-repl "could not find joints node")
rlm@78 398 []))]
rlm@78 399 (assemble-creature model joints)))
rlm@74 400
rlm@78 401 (def hand "Models/creature1/one.blend")
rlm@74 402
rlm@78 403 (def worm "Models/creature1/try-again.blend")
rlm@78 404
rlm@90 405 (def touch "Models/creature1/touch.blend")
rlm@90 406
rlm@90 407 (defn worm-model [] (load-blender-model worm))
rlm@90 408
rlm@80 409 (defn x-ray [#^ColorRGBA color]
rlm@80 410 (doto (Material. (asset-manager)
rlm@80 411 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 412 (.setColor "Color" color)
rlm@80 413 (-> (.getAdditionalRenderState)
rlm@80 414 (.setDepthTest false))))
rlm@80 415
rlm@78 416 (defn test-creature [thing]
rlm@80 417 (let [x-axis
rlm@80 418 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 419 y-axis
rlm@80 420 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 421 z-axis
rlm@80 422 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 423 (world
rlm@78 424 (nodify [(blender-creature thing)
rlm@81 425 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 426 :color ColorRGBA/Gray :mass 0)
rlm@80 427 x-axis y-axis z-axis
rlm@80 428 ])
rlm@78 429 standard-debug-controls
rlm@90 430 (fn [world]
rlm@90 431 (light-up-everything world)
rlm@90 432 (enable-debug world)
rlm@90 433 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 434 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 435 (.setTimer world (NanoTimer.))
rlm@93 436 (set-gravity world (Vector3f. 0 0 0))
rlm@90 437 (speed-up world)
rlm@90 438 )
rlm@90 439 no-op
rlm@90 440 ;;(let [timer (atom 0)]
rlm@90 441 ;; (fn [_ _]
rlm@90 442 ;; (swap! timer inc)
rlm@90 443 ;; (if (= (rem @timer 60) 0)
rlm@90 444 ;; (println-repl (float (/ @timer 60))))))
rlm@90 445 )))
rlm@90 446
rlm@91 447 (defn colorful []
rlm@91 448 (.getChild (worm-model) "worm-21"))
rlm@90 449
rlm@90 450 (import jme3tools.converters.ImageToAwt)
rlm@90 451
rlm@90 452 (import ij.ImagePlus)
rlm@90 453
rlm@90 454 (defn triangle-indices
rlm@90 455 "Get the triangle vertex indices of a given triangle from a given
rlm@90 456 mesh."
rlm@90 457 [#^Mesh mesh triangle-index]
rlm@90 458 (let [indices (int-array 3)]
rlm@90 459 (.getTriangle mesh triangle-index indices)
rlm@90 460 (vec indices)))
rlm@90 461
rlm@90 462 (defn uv-coord
rlm@90 463 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 464 [#^Mesh mesh vertex-index]
rlm@90 465 (let [UV-buffer
rlm@90 466 (.getData
rlm@90 467 (.getBuffer
rlm@90 468 mesh
rlm@90 469 VertexBuffer$Type/TexCoord))]
rlm@91 470 (Vector2f.
rlm@91 471 (.get UV-buffer (* vertex-index 2))
rlm@91 472 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 473
rlm@93 474 (defn tri-uv-coord
rlm@93 475 "Get the uv-cooridnates of the triangle's verticies."
rlm@93 476 [#^Mesh mesh #^Triangle triangle]
rlm@93 477 (map (partial uv-coord mesh)
rlm@93 478 (triangle-indices mesh (.getIndex triangle))))
rlm@93 479
rlm@91 480 (defn touch-receptor-image
rlm@97 481 "Return the touch-sensor distribution image in ImagePlus format, or
rlm@97 482 nil if it does not exist."
rlm@91 483 [#^Geometry obj]
rlm@97 484 (let [mat (.getMaterial obj)]
rlm@97 485 (if-let [texture-param
rlm@97 486 (.getTextureParam
rlm@97 487 mat
rlm@97 488 MaterialHelper/TEXTURE_TYPE_DIFFUSE)]
rlm@97 489 (let
rlm@97 490 [texture
rlm@97 491 (.getTextureValue texture-param)
rlm@97 492 im (.getImage texture)]
rlm@97 493 (ImagePlus.
rlm@97 494 "UV-map"
rlm@97 495 (ImageToAwt/convert im false false 0))))))
rlm@91 496
rlm@91 497 (import ij.process.ImageProcessor)
rlm@91 498 (import java.awt.image.BufferedImage)
rlm@91 499
rlm@91 500 (defprotocol Frame
rlm@91 501 (frame [this]))
rlm@91 502
rlm@91 503 (extend-type BufferedImage
rlm@91 504 Frame
rlm@91 505 (frame [image]
rlm@91 506 (merge
rlm@91 507 (apply
rlm@91 508 hash-map
rlm@91 509 (interleave
rlm@91 510 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 511 (vector x y)))
rlm@91 512 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 513 (let [data (.getRGB image x y)]
rlm@91 514 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 515 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 516 :b (bit-and 0x0000ff data)))))))
rlm@91 517 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 518
rlm@91 519
rlm@91 520 (extend-type ImagePlus
rlm@91 521 Frame
rlm@91 522 (frame [image+]
rlm@91 523 (frame (.getBufferedImage image+))))
rlm@91 524
rlm@94 525
rlm@92 526 (def white -1)
rlm@94 527
rlm@91 528 (defn filter-pixels
rlm@91 529 "List the coordinates of all pixels matching pred."
rlm@92 530 {:author "Dylan Holmes"}
rlm@91 531 [pred #^ImageProcessor ip]
rlm@91 532 (let
rlm@91 533 [width (.getWidth ip)
rlm@91 534 height (.getHeight ip)]
rlm@91 535 ((fn accumulate [x y matches]
rlm@91 536 (cond
rlm@91 537 (>= y height) matches
rlm@91 538 (>= x width) (recur 0 (inc y) matches)
rlm@91 539 (pred (.getPixel ip x y))
rlm@91 540 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 541 :else (recur (inc x) y matches)))
rlm@91 542 0 0 [])))
rlm@91 543
rlm@91 544 (defn white-coordinates
rlm@91 545 "List the coordinates of all the white pixels in an image."
rlm@91 546 [#^ImageProcessor ip]
rlm@92 547 (filter-pixels #(= % white) ip))
rlm@91 548
rlm@102 549 (defn same-side?
rlm@102 550 "Given the points p1 and p2 and the reference point ref, is point p
rlm@102 551 on the same side of the line that goes through p1 and p2 as ref is?"
rlm@102 552 [p1 p2 ref p]
rlm@91 553 (<=
rlm@91 554 0
rlm@91 555 (.dot
rlm@91 556 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 557 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 558
rlm@94 559 (defn triangle->matrix4f
rlm@94 560 "Converts the triangle into a 4x4 matrix of vertices: The first
rlm@94 561 three columns contain the vertices of the triangle; the last
rlm@94 562 contains the unit normal of the triangle. The bottom row is filled
rlm@94 563 with 1s."
rlm@94 564 [#^Triangle t]
rlm@94 565 (let [mat (Matrix4f.)
rlm@94 566 [vert-1 vert-2 vert-3]
rlm@94 567 ((comp vec map) #(.get t %) (range 3))
rlm@94 568 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@94 569 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@94 570 (dorun
rlm@94 571 (for [row (range 4) col (range 3)]
rlm@94 572 (do
rlm@94 573 (.set mat col row (.get (vertices row)col))
rlm@94 574 (.set mat 3 row 1))))
rlm@94 575 mat))
rlm@94 576
rlm@94 577 (defn triangle-transformation
rlm@94 578 "Returns the affine transformation that converts each vertex in the
rlm@94 579 first triangle into the corresponding vertex in the second
rlm@94 580 triangle."
rlm@94 581 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 582 (.mult
rlm@94 583 (triangle->matrix4f tri-2)
rlm@94 584 (.invert (triangle->matrix4f tri-1))))
rlm@94 585
rlm@94 586 (def death (Triangle.
rlm@94 587 (Vector3f. 1 1 1)
rlm@94 588 (Vector3f. 1 2 3)
rlm@94 589 (Vector3f. 5 6 7)))
rlm@94 590
rlm@94 591 (def death-2 (Triangle.
rlm@94 592 (Vector3f. 2 2 2)
rlm@94 593 (Vector3f. 1 1 1)
rlm@94 594 (Vector3f. 0 1 0)))
rlm@94 595
rlm@94 596 (defn vector2f->vector3f [v]
rlm@94 597 (Vector3f. (.getX v) (.getY v) 0))
rlm@94 598
rlm@94 599 (extend-type Triangle
rlm@94 600 Textual
rlm@94 601 (text [t]
rlm@94 602 (println "Triangle: " \newline (.get1 t) \newline
rlm@94 603 (.get2 t) \newline (.get3 t))))
rlm@94 604
rlm@94 605 (defn map-triangle [f #^Triangle tri]
rlm@94 606 (Triangle.
rlm@94 607 (f 0 (.get1 tri))
rlm@94 608 (f 1 (.get2 tri))
rlm@94 609 (f 2 (.get3 tri))))
rlm@94 610
rlm@94 611 (defn triangle-seq [#^Triangle tri]
rlm@94 612 [(.get1 tri) (.get2 tri) (.get3 tri)])
rlm@94 613
rlm@94 614 (defn vector3f-seq [#^Vector3f v]
rlm@94 615 [(.getX v) (.getY v) (.getZ v)])
rlm@94 616
rlm@91 617 (defn inside-triangle?
rlm@94 618 "Is the point inside the triangle? Now what do we do?
rlm@94 619 You might want to hold on there"
rlm@95 620 {:author "Dylan Holmes"}
rlm@94 621 [tri p]
rlm@94 622 (let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
rlm@94 623 (and
rlm@94 624 (same-side? vert-1 vert-2 vert-3 p)
rlm@94 625 (same-side? vert-2 vert-3 vert-1 p)
rlm@94 626 (same-side? vert-3 vert-1 vert-2 p))))
rlm@91 627
rlm@94 628 (defn uv-triangle
rlm@94 629 "Convert the mesh triangle into the cooresponding triangle in
rlm@94 630 UV-space. Z-component of these triangles is always zero."
rlm@94 631 [#^Mesh mesh #^Triangle tri]
rlm@94 632 (apply #(Triangle. %1 %2 %3)
rlm@94 633 (map vector2f->vector3f
rlm@94 634 (tri-uv-coord mesh tri))))
rlm@91 635
rlm@94 636 (defn pixel-triangle
rlm@102 637 "Convert the mesh triangle into the corresponding triangle in
rlm@94 638 UV-pixel-space. Z compenent will be zero."
rlm@94 639 [#^Mesh mesh #^Triangle tri width height]
rlm@94 640 (map-triangle (fn [_ v]
rlm@94 641 (Vector3f. (* width (.getX v))
rlm@94 642 (* height (.getY v))
rlm@94 643 0))
rlm@94 644 (uv-triangle mesh tri)))
rlm@93 645
rlm@96 646 (def rasterize pixel-triangle)
rlm@96 647
rlm@96 648
rlm@94 649 (defn triangle-bounds
rlm@94 650 "Dimensions of the bounding square of the triangle in the form
rlm@94 651 [x y width height].
rlm@94 652 Assumes that the triangle lies in the XY plane."
rlm@94 653 [#^Triangle tri]
rlm@94 654 (let [verts (map vector3f-seq (triangle-seq tri))
rlm@94 655 x (apply min (map first verts))
rlm@94 656 y (apply min (map second verts))]
rlm@94 657 [x y
rlm@94 658 (- (apply max (map first verts)) x)
rlm@94 659 (- (apply max (map second verts)) y)
rlm@94 660 ]))
rlm@93 661
rlm@93 662
rlm@97 663 (defn locate-feelers
rlm@94 664 "Search the geometry's tactile UV image for touch sensors, returning
rlm@94 665 their positions in geometry-relative coordinates."
rlm@94 666 [#^Geometry geo]
rlm@97 667 (if-let [image (touch-receptor-image geo)]
rlm@97 668 (let [mesh (.getMesh geo)
rlm@97 669 tris (triangles geo)
rlm@102 670
rlm@97 671 width (.getWidth image)
rlm@97 672 height (.getHeight image)
rlm@97 673
rlm@97 674 ;; for each triangle
rlm@97 675 sensor-coords
rlm@97 676 (fn [tri]
rlm@97 677 ;; translate triangle to uv-pixel-space
rlm@97 678 (let [uv-tri
rlm@97 679 (pixel-triangle mesh tri width height)
rlm@97 680 bounds (vec (triangle-bounds uv-tri))]
rlm@97 681
rlm@97 682 ;; get that part of the picture
rlm@97 683
rlm@97 684 (apply #(.setRoi image %1 %2 %3 %4) bounds)
rlm@97 685 (let [cutout (.crop (.getProcessor image))
rlm@97 686 ;; extract white pixels inside triangle
rlm@97 687 cutout-tri
rlm@97 688 (map-triangle
rlm@97 689 (fn [_ v]
rlm@97 690 (.subtract
rlm@97 691 v
rlm@97 692 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 693 uv-tri)
rlm@97 694 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 695 (map vector2f->vector3f
rlm@97 696 (white-coordinates cutout)))
rlm@97 697 ;; translate pixel coordinates to world-space
rlm@97 698 transform (triangle-transformation cutout-tri tri)]
rlm@97 699 (map #(.mult transform %) whites))))]
rlm@97 700 (vec (map sensor-coords tris)))
rlm@97 701 (repeat (count (triangles geo)) [])))
rlm@102 702
rlm@102 703 (use 'clojure.contrib.def)
rlm@102 704
rlm@102 705 (defn-memo touch-topology [#^Gemoetry geo]
rlm@102 706 (let [feeler-coords
rlm@102 707 (map
rlm@102 708 #(vector (int (.getX %)) (int (.getY %)))
rlm@102 709 (white-coordinates
rlm@102 710 (.getProcessor (touch-receptor-image (colorful)))))]
rlm@102 711 (vec (collapse feeler-coords))))
rlm@102 712
rlm@97 713 (defn enable-touch [#^Geometry geo]
rlm@97 714 (let [feeler-coords (locate-feelers geo)
rlm@96 715 tris (triangles geo)
rlm@97 716 limit 0.1]
rlm@97 717 (fn [node]
rlm@97 718 (let [sensor-origins
rlm@97 719 (map
rlm@97 720 #(map (partial local-to-world geo) %)
rlm@97 721 feeler-coords)
rlm@97 722 triangle-normals
rlm@97 723 (map (partial get-ray-direction geo)
rlm@97 724 tris)
rlm@97 725 rays
rlm@97 726 (flatten
rlm@97 727 (map (fn [origins norm]
rlm@97 728 (map #(doto (Ray. % norm)
rlm@97 729 (.setLimit limit)) origins))
rlm@97 730 sensor-origins triangle-normals))]
rlm@102 731 (vector
rlm@102 732 (touch-topology geo)
rlm@102 733 (vec
rlm@102 734 (for [ray rays]
rlm@102 735 (do
rlm@102 736 (let [results (CollisionResults.)]
rlm@102 737 (.collideWith node ray results)
rlm@102 738 (let [touch-objects
rlm@102 739 (set
rlm@102 740 (filter #(not (= geo %))
rlm@102 741 (map #(.getGeometry %) results)))]
rlm@102 742 (if (> (count touch-objects) 0)
rlm@102 743 1 0)))))))))))
rlm@94 744
rlm@97 745 (defn touch [#^Node pieces]
rlm@102 746 (map enable-touch
rlm@102 747 (filter #(isa? (class %) Geometry)
rlm@102 748 (node-seq pieces))))
rlm@102 749
rlm@96 750
rlm@91 751 (defn all-names []
rlm@91 752 (concat
rlm@91 753 (re-split #"\n" (slurp (file-str
rlm@91 754 "/home/r/proj/names/dist.female.first")))
rlm@91 755 (re-split #"\n" (slurp (file-str
rlm@91 756 "/home/r/proj/names/dist.male.first")))
rlm@91 757 (re-split #"\n" (slurp (file-str
rlm@91 758 "/home/r/proj/names/dist.all.last")))))
rlm@90 759
rlm@90 760
rlm@90 761
rlm@90 762
rlm@90 763
rlm@90 764
rlm@90 765
rlm@90 766
rlm@90 767
rlm@90 768 (defrecord LulzLoader [])
rlm@90 769 (defprotocol Lulzable (load-lulz [this]))
rlm@90 770 (extend-type LulzLoader
rlm@90 771 Lulzable
rlm@90 772 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 773
rlm@78 774
rlm@78 775 (defn world-setup [joint]
rlm@90 776 (let [joint-position (Vector3f. 0 0 0)
rlm@83 777 joint-rotation
rlm@83 778 (.toRotationMatrix
rlm@83 779 (.mult
rlm@83 780 (doto (Quaternion.)
rlm@83 781 (.fromAngleAxis
rlm@83 782 (* 1 (/ Math/PI 4))
rlm@85 783 (Vector3f. -1 0 0)))
rlm@85 784 (doto (Quaternion.)
rlm@85 785 (.fromAngleAxis
rlm@85 786 (* 1 (/ Math/PI 2))
rlm@85 787 (Vector3f. 0 0 1)))))
rlm@84 788 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 789
rlm@83 790 origin (doto
rlm@83 791 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 792 :position top-position))
rlm@83 793 top (doto
rlm@78 794 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 795 :position top-position)
rlm@83 796
rlm@78 797 (.addControl
rlm@78 798 (RigidBodyControl.
rlm@83 799 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 800 bottom (doto
rlm@78 801 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 802 :position (Vector3f. 0 0 0))
rlm@83 803 (.addControl
rlm@78 804 (RigidBodyControl.
rlm@78 805 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 806 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 807 :color ColorRGBA/Gray :mass 0)
rlm@78 808 a (.getControl top RigidBodyControl)
rlm@78 809 b (.getControl bottom RigidBodyControl)]
rlm@83 810
rlm@78 811 (cond
rlm@83 812 (= joint :cone)
rlm@83 813
rlm@83 814 (doto (ConeJoint.
rlm@83 815 a b
rlm@87 816 (world-to-local top joint-position)
rlm@87 817 (world-to-local bottom joint-position)
rlm@83 818 joint-rotation
rlm@83 819 joint-rotation
rlm@83 820 )
rlm@78 821
rlm@83 822
rlm@83 823 (.setLimit (* (/ 10) Math/PI)
rlm@83 824 (* (/ 4) Math/PI)
rlm@83 825 0)))
rlm@83 826 [origin top bottom table]))
rlm@78 827
rlm@78 828 (defn test-joint [joint]
rlm@83 829 (let [[origin top bottom floor] (world-setup joint)
rlm@78 830 control (.getControl top RigidBodyControl)
rlm@78 831 move-up? (atom false)
rlm@78 832 move-down? (atom false)
rlm@78 833 move-left? (atom false)
rlm@78 834 move-right? (atom false)
rlm@78 835 roll-left? (atom false)
rlm@78 836 roll-right? (atom false)
rlm@78 837 timer (atom 0)]
rlm@78 838
rlm@78 839 (world
rlm@83 840 (nodify [top bottom floor origin])
rlm@78 841 (merge standard-debug-controls
rlm@78 842 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 843 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 844 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 845 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 846 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 847 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 848
rlm@78 849 (fn [world]
rlm@78 850 (light-up-everything world)
rlm@78 851 (enable-debug world)
rlm@78 852 (set-gravity world (Vector3f. 0 0 0))
rlm@78 853 )
rlm@78 854
rlm@78 855 (fn [world _]
rlm@78 856 (if (zero? (rem (swap! timer inc) 100))
rlm@78 857 (do
rlm@78 858 ;; (println-repl @timer)
rlm@78 859 (.attachChild (.getRootNode world)
rlm@78 860 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 861 :position (.getWorldTranslation top)
rlm@83 862 :physical? false))
rlm@83 863 (.attachChild (.getRootNode world)
rlm@83 864 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 865 :position (.getWorldTranslation bottom)
rlm@83 866 :physical? false))))
rlm@83 867
rlm@78 868 (if @move-up?
rlm@78 869 (.applyTorque control
rlm@78 870 (.mult (.getPhysicsRotation control)
rlm@78 871 (Vector3f. 0 0 10))))
rlm@78 872 (if @move-down?
rlm@78 873 (.applyTorque control
rlm@78 874 (.mult (.getPhysicsRotation control)
rlm@78 875 (Vector3f. 0 0 -10))))
rlm@78 876 (if @move-left?
rlm@78 877 (.applyTorque control
rlm@78 878 (.mult (.getPhysicsRotation control)
rlm@78 879 (Vector3f. 0 10 0))))
rlm@78 880 (if @move-right?
rlm@78 881 (.applyTorque control
rlm@78 882 (.mult (.getPhysicsRotation control)
rlm@78 883 (Vector3f. 0 -10 0))))
rlm@78 884 (if @roll-left?
rlm@78 885 (.applyTorque control
rlm@78 886 (.mult (.getPhysicsRotation control)
rlm@78 887 (Vector3f. -1 0 0))))
rlm@78 888 (if @roll-right?
rlm@78 889 (.applyTorque control
rlm@78 890 (.mult (.getPhysicsRotation control)
rlm@78 891 (Vector3f. 1 0 0))))))))
rlm@83 892
rlm@83 893
rlm@97 894 (defn locate-feelers*
rlm@97 895 "Search the geometry's tactile UV image for touch sensors, returning
rlm@97 896 their positions in geometry-relative coordinates."
rlm@97 897 [#^Geometry geo]
rlm@97 898 (let [uv-image (touch-receptor-image geo)
rlm@97 899 width (.getWidth uv-image)
rlm@97 900 height (.getHeight uv-image)
rlm@97 901
rlm@97 902 mesh (.getMesh geo)
rlm@97 903 mesh-tris (triangles geo)
rlm@97 904
rlm@97 905 ;; for each triangle
rlm@97 906 sensor-coords
rlm@97 907 (fn [tri]
rlm@97 908 ;; translate triangle to uv-pixel-space
rlm@97 909 (let [uv-tri
rlm@97 910 (rasterize mesh tri width height)
rlm@97 911 bounds (vec (triangle-bounds uv-tri))]
rlm@97 912
rlm@97 913 ;; get that part of the picture
rlm@97 914
rlm@97 915 (apply (partial (memfn setRoi) uv-image) bounds)
rlm@97 916 (let [cutout (.crop (.getProcessor uv-image))
rlm@97 917 ;; extract white pixels inside triangle
rlm@97 918 cutout-tri
rlm@97 919 (map-triangle
rlm@97 920 (fn [_ v]
rlm@97 921 (.subtract
rlm@97 922 v
rlm@97 923 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 924 uv-tri)
rlm@97 925 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 926 (map vector2f->vector3f
rlm@97 927 (white-coordinates cutout)))
rlm@97 928 ;; translate pixel coordinates to world-space
rlm@97 929 transform (triangle-transformation cutout-tri tri)]
rlm@97 930 (map #(.mult transform %) whites))))]
rlm@102 931
rlm@97 932 (for [mesh-tri mesh-tris]
rlm@97 933
rlm@97 934 (let [uv-tri (rasterize mesh mesh-tri width height)
rlm@97 935 bounding-box (vec (triangle-bounds uv-tri))]
rlm@97 936 (apply (partial (memfn setRoi) uv-image) bounding-box)
rlm@97 937 ))
rlm@97 938 (vec (map sensor-coords mesh-tris))))
rlm@97 939
rlm@97 940
rlm@97 941 (defn tactile-coords [#^Geometry obj]
rlm@97 942 (let [mesh (.getMesh obj)
rlm@97 943 num-triangles (.getTriangleCount mesh)
rlm@97 944 num-verticies (.getVertexCount mesh)
rlm@97 945 uv-coord (partial uv-coord mesh)
rlm@97 946 triangle-indices (partial triangle-indices mesh)
rlm@97 947 receptors (touch-receptor-image obj)
rlm@97 948 tris (triangles obj)
rlm@97 949 ]
rlm@97 950 (map
rlm@97 951 (fn [[tri-1 tri-2 tri-3]]
rlm@97 952 (let [width (.getWidth receptors)
rlm@97 953 height (.getHeight receptors)
rlm@97 954 uv-1 (uv-coord tri-1)
rlm@97 955 uv-2 (uv-coord tri-2)
rlm@97 956 uv-3 (uv-coord tri-3)
rlm@97 957 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@97 958 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@97 959 max-x (Math/ceil (* width (apply max x-coords)))
rlm@97 960 min-x (Math/floor (* width (apply min x-coords)))
rlm@97 961 max-y (Math/ceil (* height (apply max y-coords)))
rlm@97 962 min-y (Math/floor (* height (apply min y-coords)))
rlm@97 963
rlm@97 964 image-1 (Vector2f. (* width (.getX uv-1))
rlm@97 965 (* height (.getY uv-1)))
rlm@97 966 image-2 (Vector2f. (* width (.getX uv-2))
rlm@97 967 (* height (.getY uv-2)))
rlm@97 968 image-3 (Vector2f. (* width (.getX uv-3))
rlm@97 969 (* height (.getY uv-3)))
rlm@97 970 left-corner
rlm@97 971 (Vector2f. min-x min-y)
rlm@97 972 ]
rlm@97 973
rlm@97 974 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@97 975 (let [processor (.crop (.getProcessor receptors))]
rlm@97 976 (map
rlm@97 977 #(.add left-corner %)
rlm@97 978
rlm@97 979 (filter
rlm@97 980 (partial
rlm@97 981 inside-triangle?
rlm@97 982 (.subtract image-1 left-corner)
rlm@97 983 (.subtract image-2 left-corner)
rlm@97 984 (.subtract image-3 left-corner))
rlm@97 985 (white-coordinates processor))))
rlm@97 986 )) (map triangle-indices (range num-triangles)))))
rlm@83 987
rlm@87 988 #+end_src
rlm@83 989
rlm@87 990 #+results: body-1
rlm@87 991 : #'cortex.silly/test-joint
rlm@78 992
rlm@78 993
rlm@78 994 * COMMENT purgatory
rlm@78 995 #+begin_src clojure
rlm@77 996 (defn bullet-trans []
rlm@77 997 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 998 :position (Vector3f. -10 5 0))
rlm@77 999 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 1000 :position (Vector3f. -10 -5 0)
rlm@77 1001 :mass 0)
rlm@77 1002 control-a (.getControl obj-a RigidBodyControl)
rlm@77 1003 control-b (.getControl obj-b RigidBodyControl)
rlm@77 1004 swivel
rlm@77 1005 (.toRotationMatrix
rlm@77 1006 (doto (Quaternion.)
rlm@77 1007 (.fromAngleAxis (/ Math/PI 2)
rlm@77 1008 Vector3f/UNIT_X)))]
rlm@77 1009 (doto
rlm@77 1010 (ConeJoint.
rlm@77 1011 control-a control-b
rlm@77 1012 (Vector3f. 0 5 0)
rlm@77 1013 (Vector3f. 0 -5 0)
rlm@77 1014 swivel swivel)
rlm@77 1015 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 1016 (/ Math/PI 4)
rlm@77 1017 (* Math/PI 0.8)))
rlm@77 1018 (world (nodify
rlm@77 1019 [obj-a obj-b])
rlm@77 1020 standard-debug-controls
rlm@77 1021 enable-debug
rlm@77 1022 no-op)))
rlm@74 1023
rlm@74 1024
rlm@77 1025 (defn bullet-trans* []
rlm@77 1026 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 1027 :position (Vector3f. 5 0 0)
rlm@77 1028 :mass 90)
rlm@77 1029 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 1030 :position (Vector3f. -5 0 0)
rlm@77 1031 :mass 0)
rlm@77 1032 control-a (.getControl obj-a RigidBodyControl)
rlm@77 1033 control-b (.getControl obj-b RigidBodyControl)
rlm@77 1034 move-up? (atom nil)
rlm@77 1035 move-down? (atom nil)
rlm@77 1036 move-left? (atom nil)
rlm@77 1037 move-right? (atom nil)
rlm@77 1038 roll-left? (atom nil)
rlm@77 1039 roll-right? (atom nil)
rlm@77 1040 force 100
rlm@77 1041 swivel
rlm@77 1042 (.toRotationMatrix
rlm@77 1043 (doto (Quaternion.)
rlm@77 1044 (.fromAngleAxis (/ Math/PI 2)
rlm@77 1045 Vector3f/UNIT_X)))
rlm@77 1046 x-move
rlm@77 1047 (doto (Matrix3f.)
rlm@77 1048 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 1049 (.normalize (Vector3f. 1 1 0))))
rlm@77 1050
rlm@77 1051 timer (atom 0)]
rlm@77 1052 (doto
rlm@77 1053 (ConeJoint.
rlm@77 1054 control-a control-b
rlm@77 1055 (Vector3f. -8 0 0)
rlm@77 1056 (Vector3f. 2 0 0)
rlm@77 1057 ;;swivel swivel
rlm@77 1058 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 1059 x-move Matrix3f/IDENTITY
rlm@77 1060 )
rlm@77 1061 (.setCollisionBetweenLinkedBodys false)
rlm@77 1062 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 1063 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 1064 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 1065 (world (nodify
rlm@77 1066 [obj-a obj-b])
rlm@77 1067 (merge standard-debug-controls
rlm@77 1068 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 1069 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 1070 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 1071 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 1072 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 1073 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 1074
rlm@77 1075 (fn [world]
rlm@77 1076 (enable-debug world)
rlm@77 1077 (set-gravity world Vector3f/ZERO)
rlm@77 1078 )
rlm@77 1079
rlm@77 1080 (fn [world _]
rlm@77 1081
rlm@77 1082 (if @move-up?
rlm@77 1083 (.applyForce control-a
rlm@77 1084 (Vector3f. force 0 0)
rlm@77 1085 (Vector3f. 0 0 0)))
rlm@77 1086 (if @move-down?
rlm@77 1087 (.applyForce control-a
rlm@77 1088 (Vector3f. (- force) 0 0)
rlm@77 1089 (Vector3f. 0 0 0)))
rlm@77 1090 (if @move-left?
rlm@77 1091 (.applyForce control-a
rlm@77 1092 (Vector3f. 0 force 0)
rlm@77 1093 (Vector3f. 0 0 0)))
rlm@77 1094 (if @move-right?
rlm@77 1095 (.applyForce control-a
rlm@77 1096 (Vector3f. 0 (- force) 0)
rlm@77 1097 (Vector3f. 0 0 0)))
rlm@77 1098
rlm@77 1099 (if @roll-left?
rlm@77 1100 (.applyForce control-a
rlm@77 1101 (Vector3f. 0 0 force)
rlm@77 1102 (Vector3f. 0 0 0)))
rlm@77 1103 (if @roll-right?
rlm@77 1104 (.applyForce control-a
rlm@77 1105 (Vector3f. 0 0 (- force))
rlm@77 1106 (Vector3f. 0 0 0)))
rlm@77 1107
rlm@77 1108 (if (zero? (rem (swap! timer inc) 100))
rlm@77 1109 (.attachChild
rlm@77 1110 (.getRootNode world)
rlm@77 1111 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 1112 :physical? false :position
rlm@77 1113 (.getWorldTranslation obj-a)))))
rlm@77 1114 )
rlm@77 1115 ))
rlm@77 1116
rlm@94 1117 (defn transform-trianglesdsd
rlm@94 1118 "Transform that converts each vertex in the first triangle
rlm@94 1119 into the corresponding vertex in the second triangle."
rlm@94 1120 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 1121 (let [in [(.get1 tri-1)
rlm@94 1122 (.get2 tri-1)
rlm@94 1123 (.get3 tri-1)]
rlm@94 1124 out [(.get1 tri-2)
rlm@94 1125 (.get2 tri-2)
rlm@94 1126 (.get3 tri-2)]]
rlm@94 1127 (let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
rlm@94 1128 in* [(.mult translate (in 0))
rlm@94 1129 (.mult translate (in 1))
rlm@94 1130 (.mult translate (in 2))]
rlm@94 1131 final-translation
rlm@94 1132 (doto (Matrix4f.)
rlm@94 1133 (.setTranslation (out 1)))
rlm@94 1134
rlm@94 1135 rotate-1
rlm@94 1136 (doto (Matrix3f.)
rlm@94 1137 (.fromStartEndVectors
rlm@94 1138 (.normalize
rlm@94 1139 (.subtract
rlm@94 1140 (in* 1) (in* 0)))
rlm@94 1141 (.normalize
rlm@94 1142 (.subtract
rlm@94 1143 (out 1) (out 0)))))
rlm@94 1144 in** [(.mult rotate-1 (in* 0))
rlm@94 1145 (.mult rotate-1 (in* 1))
rlm@94 1146 (.mult rotate-1 (in* 2))]
rlm@94 1147 scale-factor-1
rlm@94 1148 (.mult
rlm@94 1149 (.normalize
rlm@94 1150 (.subtract
rlm@94 1151 (out 1)
rlm@94 1152 (out 0)))
rlm@94 1153 (/ (.length
rlm@94 1154 (.subtract (out 1)
rlm@94 1155 (out 0)))
rlm@94 1156 (.length
rlm@94 1157 (.subtract (in** 1)
rlm@94 1158 (in** 0)))))
rlm@94 1159 scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
rlm@94 1160 in*** [(.mult scale-1 (in** 0))
rlm@94 1161 (.mult scale-1 (in** 1))
rlm@94 1162 (.mult scale-1 (in** 2))]
rlm@94 1163
rlm@94 1164
rlm@94 1165
rlm@94 1166
rlm@94 1167
rlm@94 1168 ]
rlm@94 1169
rlm@94 1170 (dorun (map println in))
rlm@94 1171 (println)
rlm@94 1172 (dorun (map println in*))
rlm@94 1173 (println)
rlm@94 1174 (dorun (map println in**))
rlm@94 1175 (println)
rlm@94 1176 (dorun (map println in***))
rlm@94 1177 (println)
rlm@94 1178
rlm@99 1179 ))))
rlm@94 1180
rlm@94 1181
rlm@99 1182
rlm@99 1183
rlm@99 1184 #+end_src
rlm@99 1185
rlm@99 1186
rlm@99 1187 * COMMENT generate source
rlm@99 1188 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99 1189 <<body-1>>
rlm@99 1190 #+end_src
rlm@99 1191
rlm@99 1192
rlm@94 1193
rlm@94 1194