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1 #+title: First attempt at a creature!
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description:
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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
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10
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11
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12 * Intro
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13 So far, I've made the following senses --
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14 - Vision
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15 - Hearing
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16 - Touch
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17 - Proprioception
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18
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19 And one effector:
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20 - Movement
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21
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22 However, the code so far has only enabled these senses, but has not
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23 actually implemented them. For example, there is still a lot of work
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24 to be done for vision. I need to be able to create an /eyeball/ in
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25 simulation that can be moved around and see the world from different
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26 angles. I also need to determine weather to use log-polar or cartesian
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27 for the visual input, and I need to determine how/wether to
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28 disceritise the visual input.
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29
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30 I also want to be able to visualize both the sensors and the
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31 effectors in pretty pictures. This semi-retarted creature will be my
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32 first attempt at bringing everything together.
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33
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34 * The creature's body
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35
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36 Still going to do an eve-like body in blender, but due to problems
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37 importing the joints, etc into jMonkeyEngine3, I'm going to do all
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38 the connecting here in clojure code, using the names of the individual
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39 components and trial and error. Later, I'll maybe make some sort of
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40 creature-building modifications to blender that support whatever
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41 discritized senses I'm going to make.
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42
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43 #+name: body-1
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44 #+begin_src clojure
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45 (ns cortex.silly
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46 "let's play!"
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47 {:author "Robert McIntyre"})
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48
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49 ;; TODO remove this!
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50 (require 'cortex.import)
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51 (cortex.import/mega-import-jme3)
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52 (use '(cortex world util body hearing touch vision sense
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53 proprioception movement))
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54
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55 (rlm.rlm-commands/help)
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56 (import java.awt.image.BufferedImage)
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57 (import javax.swing.JPanel)
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58 (import javax.swing.SwingUtilities)
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59 (import java.awt.Dimension)
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60 (import javax.swing.JFrame)
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61 (import java.awt.Dimension)
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62 (import com.aurellem.capture.RatchetTimer)
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63 (declare joint-create)
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64 (use 'clojure.contrib.def)
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65
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66 (defn load-blender-model
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67 "Load a .blend file using an asset folder relative path."
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68 [^String model]
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69 (.loadModel
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70 (doto (asset-manager)
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71 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
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72 model))
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73
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74 (defn blender-to-jme
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75 "Convert from Blender coordinates to JME coordinates"
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76 [#^Vector3f in]
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77 (Vector3f. (.getX in)
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78 (.getZ in)
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79 (- (.getY in))))
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80
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81
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82 (defmulti joint-dispatch
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83 "Translate blender pseudo-joints into real JME joints."
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84 (fn [constraints & _]
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85 (:type constraints)))
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86
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87 (defmethod joint-dispatch :point
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88 [constraints control-a control-b pivot-a pivot-b rotation]
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89 (println-repl "creating POINT2POINT joint")
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90 ;; bullet's point2point joints are BROKEN, so we must use the
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91 ;; generic 6DOF joint instead of an actual Point2Point joint!
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92
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93 ;; should be able to do this:
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94 (comment
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95 (Point2PointJoint.
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96 control-a
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97 control-b
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98 pivot-a
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99 pivot-b))
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100
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101 ;; but instead we must do this:
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102 (println-repl "substuting 6DOF joint for POINT2POINT joint!")
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103 (doto
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104 (SixDofJoint.
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105 control-a
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106 control-b
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107 pivot-a
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108 pivot-b
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109 false)
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110 (.setLinearLowerLimit Vector3f/ZERO)
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111 (.setLinearUpperLimit Vector3f/ZERO)
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112 ;;(.setAngularLowerLimit (Vector3f. 1 1 1))
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113 ;;(.setAngularUpperLimit (Vector3f. 0 0 0))
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114
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115 ))
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116
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117
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118 (defmethod joint-dispatch :hinge
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119 [constraints control-a control-b pivot-a pivot-b rotation]
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120 (println-repl "creating HINGE joint")
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121 (let [axis
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122 (if-let
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123 [axis (:axis constraints)]
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124 axis
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125 Vector3f/UNIT_X)
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126 [limit-1 limit-2] (:limit constraints)
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127 hinge-axis
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128 (.mult
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129 rotation
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130 (blender-to-jme axis))]
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131 (doto
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132 (HingeJoint.
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133 control-a
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134 control-b
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135 pivot-a
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136 pivot-b
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137 hinge-axis
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138 hinge-axis)
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139 (.setLimit limit-1 limit-2))))
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140
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141 (defmethod joint-dispatch :cone
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142 [constraints control-a control-b pivot-a pivot-b rotation]
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143 (let [limit-xz (:limit-xz constraints)
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144 limit-xy (:limit-xy constraints)
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145 twist (:twist constraints)]
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146
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147 (println-repl "creating CONE joint")
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148 (println-repl rotation)
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149 (println-repl
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150 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
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151 (println-repl
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152 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
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153 (println-repl
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154 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
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155 (doto
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156 (ConeJoint.
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157 control-a
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158 control-b
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159 pivot-a
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160 pivot-b
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161 rotation
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162 rotation)
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163 (.setLimit (float limit-xz)
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164 (float limit-xy)
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165 (float twist)))))
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166
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167 (defn connect
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168 "here are some examples:
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169 {:type :point}
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170 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
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171 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
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172
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173 {:type :cone :limit-xz 0]
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174 :limit-xy 0]
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175 :twist 0]} (use XZY rotation mode in blender!)"
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176 [#^Node obj-a #^Node obj-b #^Node joint]
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177 (let [control-a (.getControl obj-a RigidBodyControl)
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178 control-b (.getControl obj-b RigidBodyControl)
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179 joint-center (.getWorldTranslation joint)
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180 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
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181 pivot-a (world-to-local obj-a joint-center)
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182 pivot-b (world-to-local obj-b joint-center)]
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183
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184 (if-let [constraints
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185 (map-vals
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186 eval
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187 (read-string
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188 (meta-data joint "joint")))]
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189 ;; A side-effect of creating a joint registers
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190 ;; it with both physics objects which in turn
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191 ;; will register the joint with the physics system
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192 ;; when the simulation is started.
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193 (do
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194 (println-repl "creating joint between"
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195 (.getName obj-a) "and" (.getName obj-b))
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196 (joint-dispatch constraints
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197 control-a control-b
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198 pivot-a pivot-b
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199 joint-rotation))
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200 (println-repl "could not find joint meta-data!"))))
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201
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202
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203
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204
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205 (defn assemble-creature [#^Node pieces joints]
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206 (dorun
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207 (map
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208 (fn [geom]
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209 (let [physics-control
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210 (RigidBodyControl.
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211 (HullCollisionShape.
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212 (.getMesh geom))
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213 (if-let [mass (meta-data geom "mass")]
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214 (do
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215 (println-repl
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216 "setting" (.getName geom) "mass to" (float mass))
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217 (float mass))
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218 (float 1)))]
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219
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220 (.addControl geom physics-control)))
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221 (filter #(isa? (class %) Geometry )
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222 (node-seq pieces))))
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223 (dorun
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224 (map
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225 (fn [joint]
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226 (let [[obj-a obj-b] (joint-targets pieces joint)]
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227 (connect obj-a obj-b joint)))
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228 joints))
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229 pieces)
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230
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231 (declare blender-creature)
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232
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233 (def hand "Models/creature1/one.blend")
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234
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235 (def worm "Models/creature1/try-again.blend")
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236
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237 (defn worm-model [] (load-blender-model worm))
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238
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239 (defn x-ray [#^ColorRGBA color]
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240 (doto (Material. (asset-manager)
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241 "Common/MatDefs/Misc/Unshaded.j3md")
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242 (.setColor "Color" color)
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243 (-> (.getAdditionalRenderState)
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244 (.setDepthTest false))))
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245
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246 (defn colorful []
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247 (.getChild (worm-model) "worm-21"))
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248
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249 (import jme3tools.converters.ImageToAwt)
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250
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251 (import ij.ImagePlus)
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252
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253
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254
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255 (defn test-eye []
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256 (.getChild
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257 (.getChild (worm-model) "eyes")
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258 "eye"))
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259
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260
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261
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262 ;; Ears work the same way as vision.
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263
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264 ;; (hearing creature) will return [init-functions
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265 ;; sensor-functions]. The init functions each take the world and
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266 ;; register a SoundProcessor that does foureier transforms on the
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267 ;; incommong sound data, making it available to each sensor function.
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268
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269 (defn creature-ears
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270 "Return the children of the creature's \"ears\" node."
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271 ;;dylan
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272 ;;"The ear nodes which are children of the \"ears\" node in the
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273 ;;creature."
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274 [#^Node creature]
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275 (if-let [ear-node (.getChild creature "ears")]
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276 (seq (.getChildren ear-node))
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277 (do (println-repl "could not find ears node") [])))
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278
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279
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280 ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
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281 ;;anchor-qualia, augment-organ, with-organ
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282
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283
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284 (defn update-listener-velocity
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285 "Update the listener's velocity every update loop."
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286 [#^Spatial obj #^Listener lis]
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287 (let [old-position (atom (.getLocation lis))]
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288 (.addControl
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289 obj
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290 (proxy [AbstractControl] []
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291 (controlUpdate [tpf]
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292 (let [new-position (.getLocation lis)]
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293 (.setVelocity
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294 lis
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295 (.mult (.subtract new-position @old-position)
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296 (float (/ tpf))))
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297 (reset! old-position new-position)))
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298 (controlRender [_ _])))))
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299
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300 (import com.aurellem.capture.audio.AudioSendRenderer)
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301
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302 (defn attach-ear
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303 [#^Application world #^Node creature #^Spatial ear continuation]
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304 (let [target (closest-node creature ear)
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305 lis (Listener.)
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306 audio-renderer (.getAudioRenderer world)
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307 sp (sound-processor continuation)]
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308 (.setLocation lis (.getWorldTranslation ear))
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309 (.setRotation lis (.getWorldRotation ear))
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310 (bind-sense target lis)
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311 (update-listener-velocity target lis)
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312 (.addListener audio-renderer lis)
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313 (.registerSoundProcessor audio-renderer lis sp)))
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314
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315 (defn enable-hearing
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316 [#^Node creature #^Spatial ear]
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317 (let [hearing-data (atom [])]
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318 [(fn [world]
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319 (attach-ear world creature ear
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320 (fn [data]
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321 (reset! hearing-data (vec data)))))
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322 [(fn []
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323 (let [data @hearing-data
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324 topology
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325 (vec (map #(vector % 0) (range 0 (count data))))
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326 scaled-data
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327 (vec
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328 (map
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329 #(rem (int (* 255 (/ (+ 1 %) 2))) 256)
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330 data))]
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331 [topology scaled-data]))
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332 ]]))
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333
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334 (defn hearing
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335 [#^Node creature]
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336 (reduce
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337 (fn [[init-a senses-a]
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338 [init-b senses-b]]
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339 [(conj init-a init-b)
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340 (into senses-a senses-b)])
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341 [[][]]
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342 (for [ear (creature-ears creature)]
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343 (enable-hearing creature ear))))
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344
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345
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346
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347
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348
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349
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rlm@128
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350 ;; lower level --- nodes
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351 ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
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352
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353 ;; higher level -- organs
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354 ;;
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355
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356 ;; higher level --- sense/effector
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357 ;; these are the functions that provide world i/o, chinese-room style
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358
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359
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360
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361
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362 (defn blender-creature
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rlm@116
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363 "Return a creature with all joints in place."
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364 [blender-path]
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365 (let [model (load-blender-model blender-path)
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366 joints (creature-joints model)]
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367 (assemble-creature model joints)))
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368
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rlm@126
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369 (defn gray-scale [num]
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370 (+ num
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371 (bit-shift-left num 8)
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372 (bit-shift-left num 16)))
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373
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rlm@130
|
374 (defn debug-touch-window
|
rlm@103
|
375 "creates function that offers a debug view of sensor data"
|
rlm@103
|
376 []
|
rlm@103
|
377 (let [vi (view-image)]
|
rlm@103
|
378 (fn
|
rlm@103
|
379 [[coords sensor-data]]
|
rlm@103
|
380 (let [image (points->image coords)]
|
rlm@103
|
381 (dorun
|
rlm@103
|
382 (for [i (range (count coords))]
|
rlm@103
|
383 (.setRGB image ((coords i) 0) ((coords i) 1)
|
rlm@126
|
384 (gray-scale (sensor-data i)))))
|
rlm@126
|
385
|
rlm@126
|
386
|
rlm@103
|
387 (vi image)))))
|
rlm@103
|
388
|
rlm@118
|
389 (defn debug-vision-window
|
rlm@118
|
390 "creates function that offers a debug view of sensor data"
|
rlm@118
|
391 []
|
rlm@118
|
392 (let [vi (view-image)]
|
rlm@118
|
393 (fn
|
rlm@118
|
394 [[coords sensor-data]]
|
rlm@118
|
395 (let [image (points->image coords)]
|
rlm@118
|
396 (dorun
|
rlm@118
|
397 (for [i (range (count coords))]
|
rlm@118
|
398 (.setRGB image ((coords i) 0) ((coords i) 1)
|
rlm@118
|
399 (sensor-data i))))
|
rlm@118
|
400 (vi image)))))
|
rlm@118
|
401
|
rlm@123
|
402 (defn debug-hearing-window
|
rlm@123
|
403 "view audio data"
|
rlm@123
|
404 [height]
|
rlm@123
|
405 (let [vi (view-image)]
|
rlm@123
|
406 (fn [[coords sensor-data]]
|
rlm@123
|
407 (let [image (BufferedImage. (count coords) height
|
rlm@123
|
408 BufferedImage/TYPE_INT_RGB)]
|
rlm@123
|
409 (dorun
|
rlm@123
|
410 (for [x (range (count coords))]
|
rlm@123
|
411 (dorun
|
rlm@123
|
412 (for [y (range height)]
|
rlm@123
|
413 (let [raw-sensor (sensor-data x)]
|
rlm@126
|
414 (.setRGB image x y (gray-scale raw-sensor)))))))
|
rlm@126
|
415
|
rlm@123
|
416 (vi image)))))
|
rlm@123
|
417
|
rlm@123
|
418
|
rlm@123
|
419
|
rlm@106
|
420 ;;(defn test-touch [world creature]
|
rlm@83
|
421
|
rlm@78
|
422
|
rlm@123
|
423
|
rlm@123
|
424
|
rlm@130
|
425
|
rlm@106
|
426 (defn test-creature [thing]
|
rlm@106
|
427 (let [x-axis
|
rlm@106
|
428 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
|
rlm@106
|
429 y-axis
|
rlm@106
|
430 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
|
rlm@106
|
431 z-axis
|
rlm@106
|
432 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
|
rlm@106
|
433 creature (blender-creature thing)
|
rlm@106
|
434 touch-nerves (touch creature)
|
rlm@130
|
435 touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
|
rlm@121
|
436 [init-vision-fns vision-data] (vision creature)
|
rlm@121
|
437 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
|
rlm@118
|
438 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
|
rlm@123
|
439 [init-hearing-fns hearing-senses] (hearing creature)
|
rlm@123
|
440 hearing-windows (map (fn [_] (debug-hearing-window 50))
|
rlm@123
|
441 hearing-senses)
|
rlm@124
|
442 bell (AudioNode. (asset-manager)
|
rlm@128
|
443 "Sounds/pure.wav" false)
|
rlm@130
|
444 prop (proprioception creature)
|
rlm@135
|
445 prop-debug (proprioception-debug-window)
|
rlm@148
|
446
|
rlm@148
|
447 muscle-fns (enable-muscles creature)
|
rlm@123
|
448 ;; dream
|
rlm@123
|
449
|
rlm@106
|
450 ]
|
rlm@143
|
451
|
rlm@143
|
452
|
rlm@143
|
453 (apply
|
rlm@143
|
454 world
|
rlm@143
|
455 (with-movement
|
rlm@143
|
456 (.getChild creature "worm-21")
|
rlm@143
|
457 ["key-r" "key-t"
|
rlm@143
|
458 "key-f" "key-g"
|
rlm@143
|
459 "key-v" "key-b"]
|
rlm@143
|
460 [10 10 10 10 1 1]
|
rlm@143
|
461 [(nodify [creature
|
rlm@143
|
462 (box 10 2 10 :position (Vector3f. 0 -9 0)
|
rlm@143
|
463 :color ColorRGBA/Gray :mass 0)
|
rlm@143
|
464 x-axis y-axis z-axis
|
rlm@143
|
465 me
|
rlm@143
|
466 ])
|
rlm@143
|
467 (merge standard-debug-controls
|
rlm@143
|
468 {"key-return"
|
rlm@143
|
469 (fn [_ value]
|
rlm@143
|
470 (if value
|
rlm@143
|
471 (do
|
rlm@143
|
472 (println-repl "play-sound")
|
rlm@148
|
473 (.play bell))))
|
rlm@148
|
474 "key-h"
|
rlm@148
|
475 (fn [_ value]
|
rlm@148
|
476 (if value
|
rlm@148
|
477 (do
|
rlm@148
|
478 (println-repl "muscle activating!")
|
rlm@148
|
479 ((first muscle-fns) 199))))
|
rlm@148
|
480
|
rlm@148
|
481 })
|
rlm@143
|
482 (fn [world]
|
rlm@143
|
483 (light-up-everything world)
|
rlm@143
|
484 (enable-debug world)
|
rlm@143
|
485 (dorun (map #(% world) init-vision-fns))
|
rlm@143
|
486 (dorun (map #(% world) init-hearing-fns))
|
rlm@143
|
487
|
rlm@143
|
488 (add-eye world
|
rlm@143
|
489 (attach-eye creature (test-eye))
|
rlm@143
|
490 (comp (view-image) BufferedImage!))
|
rlm@143
|
491
|
rlm@143
|
492 (add-eye world (.getCamera world) no-op)
|
rlm@145
|
493 ;;(set-gravity world (Vector3f. 0 0 0))
|
rlm@143
|
494 ;;(com.aurellem.capture.Capture/captureVideo
|
rlm@143
|
495 ;; world (file-str "/home/r/proj/ai-videos/hand"))
|
rlm@143
|
496 ;;(.setTimer world (RatchetTimer. 60))
|
rlm@143
|
497 (speed-up world)
|
rlm@148
|
498 (set-gravity world (Vector3f. 0 0 0))
|
rlm@143
|
499 )
|
rlm@143
|
500 (fn [world tpf]
|
rlm@143
|
501 ;;(dorun
|
rlm@143
|
502 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
|
rlm@143
|
503
|
rlm@143
|
504 (prop-debug (prop))
|
rlm@143
|
505
|
rlm@143
|
506 (dorun
|
rlm@143
|
507 (map #(%1 (%2 (.getRootNode world)))
|
rlm@143
|
508 touch-debug-windows touch-nerves))
|
rlm@143
|
509
|
rlm@143
|
510 (dorun
|
rlm@143
|
511 (map #(%1 (%2))
|
rlm@143
|
512 vision-debug vision-data))
|
rlm@143
|
513 (dorun
|
rlm@143
|
514 (map #(%1 (%2)) hearing-windows hearing-senses))
|
rlm@143
|
515
|
rlm@143
|
516
|
rlm@143
|
517 ;;(println-repl (vision-data))
|
rlm@143
|
518 (.setLocalTranslation me (.getLocation (.getCamera world)))
|
rlm@143
|
519
|
rlm@143
|
520
|
rlm@143
|
521 )]
|
rlm@106
|
522 ;;(let [timer (atom 0)]
|
rlm@106
|
523 ;; (fn [_ _]
|
rlm@106
|
524 ;; (swap! timer inc)
|
rlm@106
|
525 ;; (if (= (rem @timer 60) 0)
|
rlm@106
|
526 ;; (println-repl (float (/ @timer 60))))))
|
rlm@143
|
527 ))))
|
rlm@83
|
528
|
rlm@109
|
529
|
rlm@116
|
530
|
rlm@116
|
531 ;; the camera will stay in its initial position/rotation with relation
|
rlm@116
|
532 ;; to the spatial.
|
rlm@116
|
533
|
rlm@116
|
534
|
rlm@117
|
535 (defn follow-test
|
rlm@117
|
536 "show a camera that stays in the same relative position to a blue cube."
|
rlm@117
|
537 []
|
rlm@116
|
538 (let [camera-pos (Vector3f. 0 30 0)
|
rlm@116
|
539 rock (box 1 1 1 :color ColorRGBA/Blue
|
rlm@116
|
540 :position (Vector3f. 0 10 0)
|
rlm@116
|
541 :mass 30
|
rlm@116
|
542 )
|
rlm@118
|
543 rot (.getWorldRotation rock)
|
rlm@116
|
544
|
rlm@116
|
545 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
|
rlm@116
|
546 :position (Vector3f. 0 -3 0))]
|
rlm@116
|
547
|
rlm@116
|
548 (world
|
rlm@116
|
549 (nodify [rock table])
|
rlm@116
|
550 standard-debug-controls
|
rlm@116
|
551 (fn [world]
|
rlm@116
|
552 (let
|
rlm@116
|
553 [cam (doto (.clone (.getCamera world))
|
rlm@116
|
554 (.setLocation camera-pos)
|
rlm@116
|
555 (.lookAt Vector3f/ZERO
|
rlm@116
|
556 Vector3f/UNIT_X))]
|
rlm@123
|
557 (bind-sense rock cam)
|
rlm@116
|
558
|
rlm@116
|
559 (.setTimer world (RatchetTimer. 60))
|
rlm@116
|
560 (add-eye world cam (comp (view-image) BufferedImage!))
|
rlm@116
|
561 (add-eye world (.getCamera world) no-op))
|
rlm@116
|
562 )
|
rlm@118
|
563 (fn [_ _] (println-repl rot)))))
|
rlm@116
|
564
|
rlm@118
|
565
|
rlm@123
|
566
|
rlm@87
|
567 #+end_src
|
rlm@83
|
568
|
rlm@87
|
569 #+results: body-1
|
rlm@133
|
570 : #'cortex.silly/follow-test
|
rlm@78
|
571
|
rlm@78
|
572
|
rlm@78
|
573 * COMMENT purgatory
|
rlm@78
|
574 #+begin_src clojure
|
rlm@74
|
575
|
rlm@77
|
576 (defn bullet-trans* []
|
rlm@77
|
577 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
|
rlm@77
|
578 :position (Vector3f. 5 0 0)
|
rlm@77
|
579 :mass 90)
|
rlm@77
|
580 obj-b (sphere 0.5 :color ColorRGBA/Blue
|
rlm@77
|
581 :position (Vector3f. -5 0 0)
|
rlm@77
|
582 :mass 0)
|
rlm@77
|
583 control-a (.getControl obj-a RigidBodyControl)
|
rlm@77
|
584 control-b (.getControl obj-b RigidBodyControl)
|
rlm@77
|
585 move-up? (atom nil)
|
rlm@77
|
586 move-down? (atom nil)
|
rlm@77
|
587 move-left? (atom nil)
|
rlm@77
|
588 move-right? (atom nil)
|
rlm@77
|
589 roll-left? (atom nil)
|
rlm@77
|
590 roll-right? (atom nil)
|
rlm@77
|
591 force 100
|
rlm@77
|
592 swivel
|
rlm@77
|
593 (.toRotationMatrix
|
rlm@77
|
594 (doto (Quaternion.)
|
rlm@77
|
595 (.fromAngleAxis (/ Math/PI 2)
|
rlm@77
|
596 Vector3f/UNIT_X)))
|
rlm@77
|
597 x-move
|
rlm@77
|
598 (doto (Matrix3f.)
|
rlm@77
|
599 (.fromStartEndVectors Vector3f/UNIT_X
|
rlm@77
|
600 (.normalize (Vector3f. 1 1 0))))
|
rlm@77
|
601
|
rlm@77
|
602 timer (atom 0)]
|
rlm@77
|
603 (doto
|
rlm@77
|
604 (ConeJoint.
|
rlm@77
|
605 control-a control-b
|
rlm@77
|
606 (Vector3f. -8 0 0)
|
rlm@77
|
607 (Vector3f. 2 0 0)
|
rlm@77
|
608 ;;swivel swivel
|
rlm@77
|
609 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
|
rlm@77
|
610 x-move Matrix3f/IDENTITY
|
rlm@77
|
611 )
|
rlm@77
|
612 (.setCollisionBetweenLinkedBodys false)
|
rlm@77
|
613 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
|
rlm@77
|
614 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
|
rlm@77
|
615 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
|
rlm@77
|
616 (world (nodify
|
rlm@77
|
617 [obj-a obj-b])
|
rlm@77
|
618 (merge standard-debug-controls
|
rlm@77
|
619 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
|
rlm@77
|
620 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
|
rlm@77
|
621 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
|
rlm@77
|
622 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
|
rlm@77
|
623 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
|
rlm@77
|
624 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
|
rlm@77
|
625
|
rlm@77
|
626 (fn [world]
|
rlm@77
|
627 (enable-debug world)
|
rlm@77
|
628 (set-gravity world Vector3f/ZERO)
|
rlm@77
|
629 )
|
rlm@77
|
630
|
rlm@77
|
631 (fn [world _]
|
rlm@77
|
632
|
rlm@77
|
633 (if @move-up?
|
rlm@77
|
634 (.applyForce control-a
|
rlm@77
|
635 (Vector3f. force 0 0)
|
rlm@77
|
636 (Vector3f. 0 0 0)))
|
rlm@77
|
637 (if @move-down?
|
rlm@77
|
638 (.applyForce control-a
|
rlm@77
|
639 (Vector3f. (- force) 0 0)
|
rlm@77
|
640 (Vector3f. 0 0 0)))
|
rlm@77
|
641 (if @move-left?
|
rlm@77
|
642 (.applyForce control-a
|
rlm@77
|
643 (Vector3f. 0 force 0)
|
rlm@77
|
644 (Vector3f. 0 0 0)))
|
rlm@77
|
645 (if @move-right?
|
rlm@77
|
646 (.applyForce control-a
|
rlm@77
|
647 (Vector3f. 0 (- force) 0)
|
rlm@77
|
648 (Vector3f. 0 0 0)))
|
rlm@77
|
649
|
rlm@77
|
650 (if @roll-left?
|
rlm@77
|
651 (.applyForce control-a
|
rlm@77
|
652 (Vector3f. 0 0 force)
|
rlm@77
|
653 (Vector3f. 0 0 0)))
|
rlm@77
|
654 (if @roll-right?
|
rlm@77
|
655 (.applyForce control-a
|
rlm@77
|
656 (Vector3f. 0 0 (- force))
|
rlm@77
|
657 (Vector3f. 0 0 0)))
|
rlm@77
|
658
|
rlm@77
|
659 (if (zero? (rem (swap! timer inc) 100))
|
rlm@77
|
660 (.attachChild
|
rlm@77
|
661 (.getRootNode world)
|
rlm@77
|
662 (sphere 0.05 :color ColorRGBA/Yellow
|
rlm@77
|
663 :physical? false :position
|
rlm@77
|
664 (.getWorldTranslation obj-a)))))
|
rlm@77
|
665 )
|
rlm@77
|
666 ))
|
rlm@77
|
667
|
rlm@106
|
668 (defn test-joint [joint]
|
rlm@106
|
669 (let [[origin top bottom floor] (world-setup joint)
|
rlm@106
|
670 control (.getControl top RigidBodyControl)
|
rlm@106
|
671 move-up? (atom false)
|
rlm@106
|
672 move-down? (atom false)
|
rlm@106
|
673 move-left? (atom false)
|
rlm@106
|
674 move-right? (atom false)
|
rlm@106
|
675 roll-left? (atom false)
|
rlm@106
|
676 roll-right? (atom false)
|
rlm@106
|
677 timer (atom 0)]
|
rlm@106
|
678
|
rlm@106
|
679 (world
|
rlm@106
|
680 (nodify [top bottom floor origin])
|
rlm@106
|
681 (merge standard-debug-controls
|
rlm@106
|
682 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
|
rlm@106
|
683 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
|
rlm@106
|
684 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
|
rlm@106
|
685 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
|
rlm@106
|
686 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
|
rlm@106
|
687 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
|
rlm@106
|
688
|
rlm@106
|
689 (fn [world]
|
rlm@106
|
690 (light-up-everything world)
|
rlm@106
|
691 (enable-debug world)
|
rlm@106
|
692 (set-gravity world (Vector3f. 0 0 0))
|
rlm@106
|
693 )
|
rlm@106
|
694
|
rlm@106
|
695 (fn [world _]
|
rlm@106
|
696 (if (zero? (rem (swap! timer inc) 100))
|
rlm@106
|
697 (do
|
rlm@106
|
698 ;; (println-repl @timer)
|
rlm@106
|
699 (.attachChild (.getRootNode world)
|
rlm@106
|
700 (sphere 0.05 :color ColorRGBA/Yellow
|
rlm@106
|
701 :position (.getWorldTranslation top)
|
rlm@106
|
702 :physical? false))
|
rlm@106
|
703 (.attachChild (.getRootNode world)
|
rlm@106
|
704 (sphere 0.05 :color ColorRGBA/LightGray
|
rlm@106
|
705 :position (.getWorldTranslation bottom)
|
rlm@106
|
706 :physical? false))))
|
rlm@106
|
707
|
rlm@106
|
708 (if @move-up?
|
rlm@106
|
709 (.applyTorque control
|
rlm@106
|
710 (.mult (.getPhysicsRotation control)
|
rlm@106
|
711 (Vector3f. 0 0 10))))
|
rlm@106
|
712 (if @move-down?
|
rlm@106
|
713 (.applyTorque control
|
rlm@106
|
714 (.mult (.getPhysicsRotation control)
|
rlm@106
|
715 (Vector3f. 0 0 -10))))
|
rlm@106
|
716 (if @move-left?
|
rlm@106
|
717 (.applyTorque control
|
rlm@106
|
718 (.mult (.getPhysicsRotation control)
|
rlm@106
|
719 (Vector3f. 0 10 0))))
|
rlm@106
|
720 (if @move-right?
|
rlm@106
|
721 (.applyTorque control
|
rlm@106
|
722 (.mult (.getPhysicsRotation control)
|
rlm@106
|
723 (Vector3f. 0 -10 0))))
|
rlm@106
|
724 (if @roll-left?
|
rlm@106
|
725 (.applyTorque control
|
rlm@106
|
726 (.mult (.getPhysicsRotation control)
|
rlm@106
|
727 (Vector3f. -1 0 0))))
|
rlm@106
|
728 (if @roll-right?
|
rlm@106
|
729 (.applyTorque control
|
rlm@106
|
730 (.mult (.getPhysicsRotation control)
|
rlm@106
|
731 (Vector3f. 1 0 0))))))))
|
rlm@99
|
732 #+end_src
|
rlm@99
|
733
|
rlm@99
|
734
|
rlm@99
|
735 * COMMENT generate source
|
rlm@99
|
736 #+begin_src clojure :tangle ../src/cortex/silly.clj
|
rlm@99
|
737 <<body-1>>
|
rlm@99
|
738 #+end_src
|
rlm@99
|
739
|
rlm@99
|
740
|
rlm@94
|
741
|
rlm@94
|
742
|