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1 #+title: Movement!
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description: muscles for a simulated creature
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5 #+keywords: simulation, jMonkeyEngine3, clojure
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6 #+SETUPFILE: ../../aurellem/org/setup.org
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7 #+INCLUDE: ../../aurellem/org/level-0.org
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8
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9 #+name: movement
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10 #+begin_src clojure
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11 (ns cortex.movement
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12 (:use (cortex world util sense body))
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13 (:import jme3tools.converters.ImageToAwt)
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14 (:import java.awt.image.BufferedImage))
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15
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16 (cortex.import/mega-import-jme3)
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17
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18
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19
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20
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21 ;; here's how motor-control/ proprioception will work: Each muscle is
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22 ;; defined by a 1-D array of numbers (the "motor pool") each of which
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23 ;; represent muscle fibers. A muscle also has a scalar :strength
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24 ;; factor which determines how strong the muscle as a whole is.
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25 ;; The effector function for a muscle takes a number < (count
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26 ;; motor-pool) and that number is said to "activate" all the muscle
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27 ;; fibers whose index is lower than the number. Each fiber will apply
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28 ;; force in proportion to its value in the array. Lower values cause
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29 ;; less force. The lower values can be put at the "beginning" of the
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30 ;; 1-D array to simulate the layout of actual human muscles, which are
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31 ;; capable of more percise movements when exerting less force.
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32
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33 ;; I don't know how to encode proprioception, so for now, just return
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34 ;; a function for each joint that returns a triplet of floats which
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35 ;; represent relative roll, pitch, and yaw. Write display code for
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36 ;; this though.
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37
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38 (defn muscle-fiber-values
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39 "get motor pool strengths"
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40 [#^BufferedImage image]
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41 (vec
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42 (let [width (.getWidth image)]
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43 (for [x (range width)]
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44 (- 255
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45 (bit-and
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46 0x0000FF
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47 (.getRGB image x 0)))))))
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48
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49
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50 (defn creature-muscles
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51 "Return the children of the creature's \"muscles\" node."
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52 [#^Node creature]
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53 (if-let [muscle-node (.getChild creature "muscles")]
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54 (seq (.getChildren muscle-node))
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55 (do (println-repl "could not find muscles node") [])))
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56
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57 (defn single-muscle [#^Node parts #^Node muscle]
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58 (let [target (closest-node parts muscle)
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59 axis
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60 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
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61 strength (meta-data muscle "strength")
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62 image-name (read-string (meta-data muscle "muscle"))
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63 image
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64 (ImageToAwt/convert
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65 (.getImage (.loadTexture (asset-manager) image-name))
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66 false false 0)
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67 fibers (muscle-fiber-values image)
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68 fiber-integral (reductions + fibers)
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69 force-index (vec
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70 (map
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71 #(float (* strength (/ % (last
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72 fiber-integral))))
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73 fiber-integral))
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74 control (.getControl target RigidBodyControl)]
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75 (fn [n]
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76 (let [pool-index (min n (count fibers))]
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77 (.applyTorque control (.mult axis (force-index n)))))))
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78
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79
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80 (defn enable-muscles
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81 "Must be called on a creature after RigidBodyControls have been
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82 created."
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83 [#^Node creature]
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84 (let [muscles (creature-muscles creature)]
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85 (for [muscle muscles]
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86 (single-muscle creature muscle))))
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87
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88
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89 #+end_src
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90
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91
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92
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93
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94
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95 * COMMENT code generation
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96 #+begin_src clojure :tangle ../src/cortex/movement.clj
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97 <<movement>>
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98 #+end_src
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