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refactored proprioception
author Robert McIntyre <rlm@mit.edu>
date Fri, 03 Feb 2012 06:21:39 -0700
parents e8df6e76c3e5
children 811127d79d24
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@129 9
rlm@129 10
rlm@99 11
rlm@73 12 * Intro
rlm@73 13 So far, I've made the following senses --
rlm@73 14 - Vision
rlm@73 15 - Hearing
rlm@73 16 - Touch
rlm@73 17 - Proprioception
rlm@73 18
rlm@73 19 And one effector:
rlm@73 20 - Movement
rlm@73 21
rlm@73 22 However, the code so far has only enabled these senses, but has not
rlm@73 23 actually implemented them. For example, there is still a lot of work
rlm@73 24 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 25 simulation that can be moved around and see the world from different
rlm@73 26 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 27 for the visual input, and I need to determine how/wether to
rlm@73 28 disceritise the visual input.
rlm@73 29
rlm@73 30 I also want to be able to visualize both the sensors and the
rlm@104 31 effectors in pretty pictures. This semi-retarted creature will be my
rlm@73 32 first attempt at bringing everything together.
rlm@73 33
rlm@73 34 * The creature's body
rlm@73 35
rlm@73 36 Still going to do an eve-like body in blender, but due to problems
rlm@104 37 importing the joints, etc into jMonkeyEngine3, I'm going to do all
rlm@73 38 the connecting here in clojure code, using the names of the individual
rlm@73 39 components and trial and error. Later, I'll maybe make some sort of
rlm@73 40 creature-building modifications to blender that support whatever
rlm@73 41 discreitized senses I'm going to make.
rlm@73 42
rlm@73 43 #+name: body-1
rlm@73 44 #+begin_src clojure
rlm@73 45 (ns cortex.silly
rlm@73 46 "let's play!"
rlm@73 47 {:author "Robert McIntyre"})
rlm@73 48
rlm@73 49 ;; TODO remove this!
rlm@73 50 (require 'cortex.import)
rlm@73 51 (cortex.import/mega-import-jme3)
rlm@157 52 (use '(cortex world util body hearing touch vision sense proprioception))
rlm@73 53
rlm@73 54 (rlm.rlm-commands/help)
rlm@99 55 (import java.awt.image.BufferedImage)
rlm@99 56 (import javax.swing.JPanel)
rlm@99 57 (import javax.swing.SwingUtilities)
rlm@99 58 (import java.awt.Dimension)
rlm@99 59 (import javax.swing.JFrame)
rlm@99 60 (import java.awt.Dimension)
rlm@106 61 (import com.aurellem.capture.RatchetTimer)
rlm@99 62 (declare joint-create)
rlm@108 63 (use 'clojure.contrib.def)
rlm@73 64
rlm@73 65 (defn load-blender-model
rlm@73 66 "Load a .blend file using an asset folder relative path."
rlm@73 67 [^String model]
rlm@73 68 (.loadModel
rlm@73 69 (doto (asset-manager)
rlm@73 70 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 71 model))
rlm@73 72
rlm@78 73 (defn blender-to-jme
rlm@78 74 "Convert from Blender coordinates to JME coordinates"
rlm@78 75 [#^Vector3f in]
rlm@78 76 (Vector3f. (.getX in)
rlm@78 77 (.getZ in)
rlm@78 78 (- (.getY in))))
rlm@74 79
rlm@96 80
rlm@87 81 (defmulti joint-dispatch
rlm@87 82 "Translate blender pseudo-joints into real JME joints."
rlm@88 83 (fn [constraints & _]
rlm@87 84 (:type constraints)))
rlm@87 85
rlm@87 86 (defmethod joint-dispatch :point
rlm@87 87 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 88 (println-repl "creating POINT2POINT joint")
rlm@130 89 ;; bullet's point2point joints are BROKEN, so we must use the
rlm@130 90 ;; generic 6DOF joint instead of an actual Point2Point joint!
rlm@130 91
rlm@130 92 ;; should be able to do this:
rlm@130 93 (comment
rlm@130 94 (Point2PointJoint.
rlm@130 95 control-a
rlm@130 96 control-b
rlm@130 97 pivot-a
rlm@130 98 pivot-b))
rlm@130 99
rlm@130 100 ;; but instead we must do this:
rlm@130 101 (println-repl "substuting 6DOF joint for POINT2POINT joint!")
rlm@130 102 (doto
rlm@130 103 (SixDofJoint.
rlm@130 104 control-a
rlm@130 105 control-b
rlm@130 106 pivot-a
rlm@130 107 pivot-b
rlm@130 108 false)
rlm@130 109 (.setLinearLowerLimit Vector3f/ZERO)
rlm@130 110 (.setLinearUpperLimit Vector3f/ZERO)
rlm@130 111 ;;(.setAngularLowerLimit (Vector3f. 1 1 1))
rlm@130 112 ;;(.setAngularUpperLimit (Vector3f. 0 0 0))
rlm@130 113
rlm@130 114 ))
rlm@130 115
rlm@87 116
rlm@87 117 (defmethod joint-dispatch :hinge
rlm@87 118 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 119 (println-repl "creating HINGE joint")
rlm@87 120 (let [axis
rlm@87 121 (if-let
rlm@87 122 [axis (:axis constraints)]
rlm@87 123 axis
rlm@87 124 Vector3f/UNIT_X)
rlm@87 125 [limit-1 limit-2] (:limit constraints)
rlm@87 126 hinge-axis
rlm@87 127 (.mult
rlm@87 128 rotation
rlm@87 129 (blender-to-jme axis))]
rlm@87 130 (doto
rlm@87 131 (HingeJoint.
rlm@87 132 control-a
rlm@87 133 control-b
rlm@87 134 pivot-a
rlm@87 135 pivot-b
rlm@87 136 hinge-axis
rlm@87 137 hinge-axis)
rlm@87 138 (.setLimit limit-1 limit-2))))
rlm@87 139
rlm@87 140 (defmethod joint-dispatch :cone
rlm@87 141 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 142 (let [limit-xz (:limit-xz constraints)
rlm@87 143 limit-xy (:limit-xy constraints)
rlm@87 144 twist (:twist constraints)]
rlm@87 145
rlm@87 146 (println-repl "creating CONE joint")
rlm@87 147 (println-repl rotation)
rlm@87 148 (println-repl
rlm@87 149 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 150 (println-repl
rlm@87 151 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 152 (println-repl
rlm@87 153 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 154 (doto
rlm@87 155 (ConeJoint.
rlm@87 156 control-a
rlm@87 157 control-b
rlm@87 158 pivot-a
rlm@87 159 pivot-b
rlm@87 160 rotation
rlm@87 161 rotation)
rlm@87 162 (.setLimit (float limit-xz)
rlm@87 163 (float limit-xy)
rlm@87 164 (float twist)))))
rlm@87 165
rlm@88 166 (defn connect
rlm@87 167 "here are some examples:
rlm@87 168 {:type :point}
rlm@87 169 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 170 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 171
rlm@89 172 {:type :cone :limit-xz 0]
rlm@89 173 :limit-xy 0]
rlm@89 174 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 175 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 176 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 177 control-b (.getControl obj-b RigidBodyControl)
rlm@87 178 joint-center (.getWorldTranslation joint)
rlm@87 179 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 180 pivot-a (world-to-local obj-a joint-center)
rlm@87 181 pivot-b (world-to-local obj-b joint-center)]
rlm@89 182
rlm@87 183 (if-let [constraints
rlm@87 184 (map-vals
rlm@87 185 eval
rlm@87 186 (read-string
rlm@87 187 (meta-data joint "joint")))]
rlm@89 188 ;; A side-effect of creating a joint registers
rlm@89 189 ;; it with both physics objects which in turn
rlm@89 190 ;; will register the joint with the physics system
rlm@89 191 ;; when the simulation is started.
rlm@87 192 (do
rlm@87 193 (println-repl "creating joint between"
rlm@87 194 (.getName obj-a) "and" (.getName obj-b))
rlm@87 195 (joint-dispatch constraints
rlm@87 196 control-a control-b
rlm@87 197 pivot-a pivot-b
rlm@87 198 joint-rotation))
rlm@87 199 (println-repl "could not find joint meta-data!"))))
rlm@87 200
rlm@130 201
rlm@130 202
rlm@130 203
rlm@78 204 (defn assemble-creature [#^Node pieces joints]
rlm@78 205 (dorun
rlm@78 206 (map
rlm@78 207 (fn [geom]
rlm@78 208 (let [physics-control
rlm@78 209 (RigidBodyControl.
rlm@78 210 (HullCollisionShape.
rlm@78 211 (.getMesh geom))
rlm@78 212 (if-let [mass (meta-data geom "mass")]
rlm@78 213 (do
rlm@78 214 (println-repl
rlm@78 215 "setting" (.getName geom) "mass to" (float mass))
rlm@78 216 (float mass))
rlm@78 217 (float 1)))]
rlm@78 218
rlm@78 219 (.addControl geom physics-control)))
rlm@78 220 (filter #(isa? (class %) Geometry )
rlm@78 221 (node-seq pieces))))
rlm@78 222 (dorun
rlm@78 223 (map
rlm@78 224 (fn [joint]
rlm@133 225 (let [[obj-a obj-b] (joint-targets pieces joint)]
rlm@88 226 (connect obj-a obj-b joint)))
rlm@78 227 joints))
rlm@78 228 pieces)
rlm@74 229
rlm@116 230 (declare blender-creature)
rlm@74 231
rlm@78 232 (def hand "Models/creature1/one.blend")
rlm@74 233
rlm@78 234 (def worm "Models/creature1/try-again.blend")
rlm@78 235
rlm@90 236 (defn worm-model [] (load-blender-model worm))
rlm@90 237
rlm@80 238 (defn x-ray [#^ColorRGBA color]
rlm@80 239 (doto (Material. (asset-manager)
rlm@80 240 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 241 (.setColor "Color" color)
rlm@80 242 (-> (.getAdditionalRenderState)
rlm@80 243 (.setDepthTest false))))
rlm@80 244
rlm@91 245 (defn colorful []
rlm@91 246 (.getChild (worm-model) "worm-21"))
rlm@90 247
rlm@90 248 (import jme3tools.converters.ImageToAwt)
rlm@90 249
rlm@90 250 (import ij.ImagePlus)
rlm@90 251
rlm@94 252
rlm@109 253
rlm@111 254 (defn test-eye []
rlm@117 255 (.getChild
rlm@117 256 (.getChild (worm-model) "eyes")
rlm@117 257 "eye"))
rlm@111 258
rlm@111 259
rlm@123 260
rlm@123 261 ;; Ears work the same way as vision.
rlm@123 262
rlm@123 263 ;; (hearing creature) will return [init-functions
rlm@123 264 ;; sensor-functions]. The init functions each take the world and
rlm@123 265 ;; register a SoundProcessor that does foureier transforms on the
rlm@123 266 ;; incommong sound data, making it available to each sensor function.
rlm@123 267
rlm@123 268 (defn creature-ears
rlm@128 269 "Return the children of the creature's \"ears\" node."
rlm@128 270 ;;dylan
rlm@128 271 ;;"The ear nodes which are children of the \"ears\" node in the
rlm@128 272 ;;creature."
rlm@123 273 [#^Node creature]
rlm@123 274 (if-let [ear-node (.getChild creature "ears")]
rlm@123 275 (seq (.getChildren ear-node))
rlm@123 276 (do (println-repl "could not find ears node") [])))
rlm@123 277
rlm@116 278
rlm@128 279 ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
rlm@128 280 ;;anchor-qualia, augment-organ, with-organ
rlm@117 281
rlm@117 282
rlm@123 283 (defn update-listener-velocity
rlm@123 284 "Update the listener's velocity every update loop."
rlm@123 285 [#^Spatial obj #^Listener lis]
rlm@123 286 (let [old-position (atom (.getLocation lis))]
rlm@123 287 (.addControl
rlm@123 288 obj
rlm@123 289 (proxy [AbstractControl] []
rlm@123 290 (controlUpdate [tpf]
rlm@123 291 (let [new-position (.getLocation lis)]
rlm@123 292 (.setVelocity
rlm@123 293 lis
rlm@123 294 (.mult (.subtract new-position @old-position)
rlm@123 295 (float (/ tpf))))
rlm@123 296 (reset! old-position new-position)))
rlm@123 297 (controlRender [_ _])))))
rlm@123 298
rlm@123 299 (import com.aurellem.capture.audio.AudioSendRenderer)
rlm@123 300
rlm@123 301 (defn attach-ear
rlm@123 302 [#^Application world #^Node creature #^Spatial ear continuation]
rlm@123 303 (let [target (closest-node creature ear)
rlm@123 304 lis (Listener.)
rlm@123 305 audio-renderer (.getAudioRenderer world)
rlm@123 306 sp (sound-processor continuation)]
rlm@123 307 (.setLocation lis (.getWorldTranslation ear))
rlm@123 308 (.setRotation lis (.getWorldRotation ear))
rlm@123 309 (bind-sense target lis)
rlm@123 310 (update-listener-velocity target lis)
rlm@123 311 (.addListener audio-renderer lis)
rlm@123 312 (.registerSoundProcessor audio-renderer lis sp)))
rlm@123 313
rlm@123 314 (defn enable-hearing
rlm@123 315 [#^Node creature #^Spatial ear]
rlm@123 316 (let [hearing-data (atom [])]
rlm@123 317 [(fn [world]
rlm@123 318 (attach-ear world creature ear
rlm@123 319 (fn [data]
rlm@123 320 (reset! hearing-data (vec data)))))
rlm@123 321 [(fn []
rlm@123 322 (let [data @hearing-data
rlm@123 323 topology
rlm@123 324 (vec (map #(vector % 0) (range 0 (count data))))
rlm@123 325 scaled-data
rlm@123 326 (vec
rlm@123 327 (map
rlm@123 328 #(rem (int (* 255 (/ (+ 1 %) 2))) 256)
rlm@123 329 data))]
rlm@123 330 [topology scaled-data]))
rlm@123 331 ]]))
rlm@123 332
rlm@123 333 (defn hearing
rlm@123 334 [#^Node creature]
rlm@123 335 (reduce
rlm@123 336 (fn [[init-a senses-a]
rlm@123 337 [init-b senses-b]]
rlm@123 338 [(conj init-a init-b)
rlm@123 339 (into senses-a senses-b)])
rlm@123 340 [[][]]
rlm@123 341 (for [ear (creature-ears creature)]
rlm@123 342 (enable-hearing creature ear))))
rlm@123 343
rlm@128 344
rlm@128 345
rlm@128 346
rlm@128 347
rlm@128 348
rlm@128 349 ;; lower level --- nodes
rlm@128 350 ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
rlm@128 351
rlm@128 352 ;; higher level -- organs
rlm@128 353 ;;
rlm@128 354
rlm@128 355 ;; higher level --- sense/effector
rlm@128 356 ;; these are the functions that provide world i/o, chinese-room style
rlm@128 357
rlm@128 358
rlm@134 359
rlm@116 360
rlm@116 361 (defn blender-creature
rlm@116 362 "Return a creature with all joints in place."
rlm@116 363 [blender-path]
rlm@116 364 (let [model (load-blender-model blender-path)
rlm@134 365 joints (creature-joints model)]
rlm@134 366 (assemble-creature model joints)))
rlm@116 367
rlm@126 368 (defn gray-scale [num]
rlm@126 369 (+ num
rlm@126 370 (bit-shift-left num 8)
rlm@126 371 (bit-shift-left num 16)))
rlm@126 372
rlm@130 373 (defn debug-touch-window
rlm@103 374 "creates function that offers a debug view of sensor data"
rlm@103 375 []
rlm@103 376 (let [vi (view-image)]
rlm@103 377 (fn
rlm@103 378 [[coords sensor-data]]
rlm@103 379 (let [image (points->image coords)]
rlm@103 380 (dorun
rlm@103 381 (for [i (range (count coords))]
rlm@103 382 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@126 383 (gray-scale (sensor-data i)))))
rlm@126 384
rlm@126 385
rlm@103 386 (vi image)))))
rlm@103 387
rlm@118 388 (defn debug-vision-window
rlm@118 389 "creates function that offers a debug view of sensor data"
rlm@118 390 []
rlm@118 391 (let [vi (view-image)]
rlm@118 392 (fn
rlm@118 393 [[coords sensor-data]]
rlm@118 394 (let [image (points->image coords)]
rlm@118 395 (dorun
rlm@118 396 (for [i (range (count coords))]
rlm@118 397 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@118 398 (sensor-data i))))
rlm@118 399 (vi image)))))
rlm@118 400
rlm@123 401 (defn debug-hearing-window
rlm@123 402 "view audio data"
rlm@123 403 [height]
rlm@123 404 (let [vi (view-image)]
rlm@123 405 (fn [[coords sensor-data]]
rlm@123 406 (let [image (BufferedImage. (count coords) height
rlm@123 407 BufferedImage/TYPE_INT_RGB)]
rlm@123 408 (dorun
rlm@123 409 (for [x (range (count coords))]
rlm@123 410 (dorun
rlm@123 411 (for [y (range height)]
rlm@123 412 (let [raw-sensor (sensor-data x)]
rlm@126 413 (.setRGB image x y (gray-scale raw-sensor)))))))
rlm@126 414
rlm@123 415 (vi image)))))
rlm@123 416
rlm@123 417
rlm@123 418
rlm@106 419 ;;(defn test-touch [world creature]
rlm@83 420
rlm@78 421
rlm@123 422
rlm@123 423
rlm@130 424 ;; here's how motor-control/ proprioception will work: Each muscle is
rlm@130 425 ;; defined by a 1-D array of numbers (the "motor pool") each of which
rlm@130 426 ;; represent muscle fibers. A muscle also has a scalar :strength
rlm@130 427 ;; factor which determines how strong the muscle as a whole is.
rlm@130 428 ;; The effector function for a muscle takes a number < (count
rlm@130 429 ;; motor-pool) and that number is said to "activate" all the muscle
rlm@130 430 ;; fibers whose index is lower than the number. Each fiber will apply
rlm@130 431 ;; force in proportion to its value in the array. Lower values cause
rlm@130 432 ;; less force. The lower values can be put at the "beginning" of the
rlm@130 433 ;; 1-D array to simulate the layout of actual human muscles, which are
rlm@130 434 ;; capable of more percise movements when exerting less force.
rlm@129 435
rlm@130 436 ;; I don't know how to encode proprioception, so for now, just return
rlm@130 437 ;; a function for each joint that returns a triplet of floats which
rlm@130 438 ;; represent relative roll, pitch, and yaw. Write display code for
rlm@130 439 ;; this though.
rlm@130 440
rlm@147 441 (defn muscle-fiber-values
rlm@147 442 "get motor pool strengths"
rlm@130 443 [#^BufferedImage image]
rlm@147 444 (vec
rlm@147 445 (let [width (.getWidth image)]
rlm@147 446 (for [x (range width)]
rlm@147 447 (- 255
rlm@147 448 (bit-and
rlm@147 449 0x0000FF
rlm@147 450 (.getRGB image x 0)))))))
rlm@147 451
rlm@147 452
rlm@147 453 (defn creature-muscles
rlm@147 454 "Return the children of the creature's \"muscles\" node."
rlm@147 455 [#^Node creature]
rlm@147 456 (if-let [muscle-node (.getChild creature "muscles")]
rlm@147 457 (seq (.getChildren muscle-node))
rlm@147 458 (do (println-repl "could not find muscles node") [])))
rlm@147 459
rlm@147 460 (defn single-muscle [#^Node parts #^Node muscle]
rlm@147 461 (let [target (closest-node parts muscle)
rlm@147 462 axis
rlm@147 463 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
rlm@147 464 strength (meta-data muscle "strength")
rlm@147 465 image-name (read-string (meta-data muscle "muscle"))
rlm@147 466 image
rlm@147 467 (ImageToAwt/convert
rlm@147 468 (.getImage (.loadTexture (asset-manager) image-name))
rlm@147 469 false false 0)
rlm@147 470 fibers (muscle-fiber-values image)
rlm@147 471 fiber-integral (reductions + fibers)
rlm@147 472 force-index (vec
rlm@147 473 (map
rlm@147 474 #(float (* strength (/ % (last
rlm@147 475 fiber-integral))))
rlm@147 476 fiber-integral))
rlm@147 477 control (.getControl target RigidBodyControl)]
rlm@147 478 (fn [n]
rlm@147 479 (let [pool-index (min n (count fibers))]
rlm@148 480 (.applyTorque control (.mult axis (force-index n)))))))
rlm@147 481
rlm@147 482
rlm@147 483 (defn enable-muscles
rlm@147 484 "Must be called on a creature after RigidBodyControls have been
rlm@147 485 created."
rlm@147 486 [#^Node creature]
rlm@147 487 (let [muscles (creature-muscles creature)]
rlm@147 488 (for [muscle muscles]
rlm@147 489 (single-muscle creature muscle))))
rlm@130 490
rlm@106 491 (defn test-creature [thing]
rlm@106 492 (let [x-axis
rlm@106 493 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@106 494 y-axis
rlm@106 495 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@106 496 z-axis
rlm@106 497 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
rlm@106 498 creature (blender-creature thing)
rlm@106 499 touch-nerves (touch creature)
rlm@130 500 touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
rlm@121 501 [init-vision-fns vision-data] (vision creature)
rlm@121 502 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
rlm@118 503 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@123 504 [init-hearing-fns hearing-senses] (hearing creature)
rlm@123 505 hearing-windows (map (fn [_] (debug-hearing-window 50))
rlm@123 506 hearing-senses)
rlm@124 507 bell (AudioNode. (asset-manager)
rlm@128 508 "Sounds/pure.wav" false)
rlm@130 509 prop (proprioception creature)
rlm@135 510 prop-debug (proprioception-debug-window)
rlm@148 511
rlm@148 512 muscle-fns (enable-muscles creature)
rlm@123 513 ;; dream
rlm@123 514
rlm@106 515 ]
rlm@143 516
rlm@143 517
rlm@143 518 (apply
rlm@143 519 world
rlm@143 520 (with-movement
rlm@143 521 (.getChild creature "worm-21")
rlm@143 522 ["key-r" "key-t"
rlm@143 523 "key-f" "key-g"
rlm@143 524 "key-v" "key-b"]
rlm@143 525 [10 10 10 10 1 1]
rlm@143 526 [(nodify [creature
rlm@143 527 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@143 528 :color ColorRGBA/Gray :mass 0)
rlm@143 529 x-axis y-axis z-axis
rlm@143 530 me
rlm@143 531 ])
rlm@143 532 (merge standard-debug-controls
rlm@143 533 {"key-return"
rlm@143 534 (fn [_ value]
rlm@143 535 (if value
rlm@143 536 (do
rlm@143 537 (println-repl "play-sound")
rlm@148 538 (.play bell))))
rlm@148 539 "key-h"
rlm@148 540 (fn [_ value]
rlm@148 541 (if value
rlm@148 542 (do
rlm@148 543 (println-repl "muscle activating!")
rlm@148 544 ((first muscle-fns) 199))))
rlm@148 545
rlm@148 546 })
rlm@143 547 (fn [world]
rlm@143 548 (light-up-everything world)
rlm@143 549 (enable-debug world)
rlm@143 550 (dorun (map #(% world) init-vision-fns))
rlm@143 551 (dorun (map #(% world) init-hearing-fns))
rlm@143 552
rlm@143 553 (add-eye world
rlm@143 554 (attach-eye creature (test-eye))
rlm@143 555 (comp (view-image) BufferedImage!))
rlm@143 556
rlm@143 557 (add-eye world (.getCamera world) no-op)
rlm@145 558 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@143 559 ;;(com.aurellem.capture.Capture/captureVideo
rlm@143 560 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@143 561 ;;(.setTimer world (RatchetTimer. 60))
rlm@143 562 (speed-up world)
rlm@148 563 (set-gravity world (Vector3f. 0 0 0))
rlm@143 564 )
rlm@143 565 (fn [world tpf]
rlm@143 566 ;;(dorun
rlm@143 567 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
rlm@143 568
rlm@143 569 (prop-debug (prop))
rlm@143 570
rlm@143 571 (dorun
rlm@143 572 (map #(%1 (%2 (.getRootNode world)))
rlm@143 573 touch-debug-windows touch-nerves))
rlm@143 574
rlm@143 575 (dorun
rlm@143 576 (map #(%1 (%2))
rlm@143 577 vision-debug vision-data))
rlm@143 578 (dorun
rlm@143 579 (map #(%1 (%2)) hearing-windows hearing-senses))
rlm@143 580
rlm@143 581
rlm@143 582 ;;(println-repl (vision-data))
rlm@143 583 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@143 584
rlm@143 585
rlm@143 586 )]
rlm@106 587 ;;(let [timer (atom 0)]
rlm@106 588 ;; (fn [_ _]
rlm@106 589 ;; (swap! timer inc)
rlm@106 590 ;; (if (= (rem @timer 60) 0)
rlm@106 591 ;; (println-repl (float (/ @timer 60))))))
rlm@143 592 ))))
rlm@83 593
rlm@109 594
rlm@116 595
rlm@116 596 ;; the camera will stay in its initial position/rotation with relation
rlm@116 597 ;; to the spatial.
rlm@116 598
rlm@116 599
rlm@117 600 (defn follow-test
rlm@117 601 "show a camera that stays in the same relative position to a blue cube."
rlm@117 602 []
rlm@116 603 (let [camera-pos (Vector3f. 0 30 0)
rlm@116 604 rock (box 1 1 1 :color ColorRGBA/Blue
rlm@116 605 :position (Vector3f. 0 10 0)
rlm@116 606 :mass 30
rlm@116 607 )
rlm@118 608 rot (.getWorldRotation rock)
rlm@116 609
rlm@116 610 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
rlm@116 611 :position (Vector3f. 0 -3 0))]
rlm@116 612
rlm@116 613 (world
rlm@116 614 (nodify [rock table])
rlm@116 615 standard-debug-controls
rlm@116 616 (fn [world]
rlm@116 617 (let
rlm@116 618 [cam (doto (.clone (.getCamera world))
rlm@116 619 (.setLocation camera-pos)
rlm@116 620 (.lookAt Vector3f/ZERO
rlm@116 621 Vector3f/UNIT_X))]
rlm@123 622 (bind-sense rock cam)
rlm@116 623
rlm@116 624 (.setTimer world (RatchetTimer. 60))
rlm@116 625 (add-eye world cam (comp (view-image) BufferedImage!))
rlm@116 626 (add-eye world (.getCamera world) no-op))
rlm@116 627 )
rlm@118 628 (fn [_ _] (println-repl rot)))))
rlm@116 629
rlm@118 630
rlm@123 631
rlm@87 632 #+end_src
rlm@83 633
rlm@87 634 #+results: body-1
rlm@133 635 : #'cortex.silly/follow-test
rlm@78 636
rlm@78 637
rlm@78 638 * COMMENT purgatory
rlm@78 639 #+begin_src clojure
rlm@74 640
rlm@77 641 (defn bullet-trans* []
rlm@77 642 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 643 :position (Vector3f. 5 0 0)
rlm@77 644 :mass 90)
rlm@77 645 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 646 :position (Vector3f. -5 0 0)
rlm@77 647 :mass 0)
rlm@77 648 control-a (.getControl obj-a RigidBodyControl)
rlm@77 649 control-b (.getControl obj-b RigidBodyControl)
rlm@77 650 move-up? (atom nil)
rlm@77 651 move-down? (atom nil)
rlm@77 652 move-left? (atom nil)
rlm@77 653 move-right? (atom nil)
rlm@77 654 roll-left? (atom nil)
rlm@77 655 roll-right? (atom nil)
rlm@77 656 force 100
rlm@77 657 swivel
rlm@77 658 (.toRotationMatrix
rlm@77 659 (doto (Quaternion.)
rlm@77 660 (.fromAngleAxis (/ Math/PI 2)
rlm@77 661 Vector3f/UNIT_X)))
rlm@77 662 x-move
rlm@77 663 (doto (Matrix3f.)
rlm@77 664 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 665 (.normalize (Vector3f. 1 1 0))))
rlm@77 666
rlm@77 667 timer (atom 0)]
rlm@77 668 (doto
rlm@77 669 (ConeJoint.
rlm@77 670 control-a control-b
rlm@77 671 (Vector3f. -8 0 0)
rlm@77 672 (Vector3f. 2 0 0)
rlm@77 673 ;;swivel swivel
rlm@77 674 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 675 x-move Matrix3f/IDENTITY
rlm@77 676 )
rlm@77 677 (.setCollisionBetweenLinkedBodys false)
rlm@77 678 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 679 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 680 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 681 (world (nodify
rlm@77 682 [obj-a obj-b])
rlm@77 683 (merge standard-debug-controls
rlm@77 684 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 685 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 686 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 687 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 688 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 689 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 690
rlm@77 691 (fn [world]
rlm@77 692 (enable-debug world)
rlm@77 693 (set-gravity world Vector3f/ZERO)
rlm@77 694 )
rlm@77 695
rlm@77 696 (fn [world _]
rlm@77 697
rlm@77 698 (if @move-up?
rlm@77 699 (.applyForce control-a
rlm@77 700 (Vector3f. force 0 0)
rlm@77 701 (Vector3f. 0 0 0)))
rlm@77 702 (if @move-down?
rlm@77 703 (.applyForce control-a
rlm@77 704 (Vector3f. (- force) 0 0)
rlm@77 705 (Vector3f. 0 0 0)))
rlm@77 706 (if @move-left?
rlm@77 707 (.applyForce control-a
rlm@77 708 (Vector3f. 0 force 0)
rlm@77 709 (Vector3f. 0 0 0)))
rlm@77 710 (if @move-right?
rlm@77 711 (.applyForce control-a
rlm@77 712 (Vector3f. 0 (- force) 0)
rlm@77 713 (Vector3f. 0 0 0)))
rlm@77 714
rlm@77 715 (if @roll-left?
rlm@77 716 (.applyForce control-a
rlm@77 717 (Vector3f. 0 0 force)
rlm@77 718 (Vector3f. 0 0 0)))
rlm@77 719 (if @roll-right?
rlm@77 720 (.applyForce control-a
rlm@77 721 (Vector3f. 0 0 (- force))
rlm@77 722 (Vector3f. 0 0 0)))
rlm@77 723
rlm@77 724 (if (zero? (rem (swap! timer inc) 100))
rlm@77 725 (.attachChild
rlm@77 726 (.getRootNode world)
rlm@77 727 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 728 :physical? false :position
rlm@77 729 (.getWorldTranslation obj-a)))))
rlm@77 730 )
rlm@77 731 ))
rlm@77 732
rlm@106 733 (defn test-joint [joint]
rlm@106 734 (let [[origin top bottom floor] (world-setup joint)
rlm@106 735 control (.getControl top RigidBodyControl)
rlm@106 736 move-up? (atom false)
rlm@106 737 move-down? (atom false)
rlm@106 738 move-left? (atom false)
rlm@106 739 move-right? (atom false)
rlm@106 740 roll-left? (atom false)
rlm@106 741 roll-right? (atom false)
rlm@106 742 timer (atom 0)]
rlm@106 743
rlm@106 744 (world
rlm@106 745 (nodify [top bottom floor origin])
rlm@106 746 (merge standard-debug-controls
rlm@106 747 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106 748 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106 749 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106 750 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106 751 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106 752 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@106 753
rlm@106 754 (fn [world]
rlm@106 755 (light-up-everything world)
rlm@106 756 (enable-debug world)
rlm@106 757 (set-gravity world (Vector3f. 0 0 0))
rlm@106 758 )
rlm@106 759
rlm@106 760 (fn [world _]
rlm@106 761 (if (zero? (rem (swap! timer inc) 100))
rlm@106 762 (do
rlm@106 763 ;; (println-repl @timer)
rlm@106 764 (.attachChild (.getRootNode world)
rlm@106 765 (sphere 0.05 :color ColorRGBA/Yellow
rlm@106 766 :position (.getWorldTranslation top)
rlm@106 767 :physical? false))
rlm@106 768 (.attachChild (.getRootNode world)
rlm@106 769 (sphere 0.05 :color ColorRGBA/LightGray
rlm@106 770 :position (.getWorldTranslation bottom)
rlm@106 771 :physical? false))))
rlm@106 772
rlm@106 773 (if @move-up?
rlm@106 774 (.applyTorque control
rlm@106 775 (.mult (.getPhysicsRotation control)
rlm@106 776 (Vector3f. 0 0 10))))
rlm@106 777 (if @move-down?
rlm@106 778 (.applyTorque control
rlm@106 779 (.mult (.getPhysicsRotation control)
rlm@106 780 (Vector3f. 0 0 -10))))
rlm@106 781 (if @move-left?
rlm@106 782 (.applyTorque control
rlm@106 783 (.mult (.getPhysicsRotation control)
rlm@106 784 (Vector3f. 0 10 0))))
rlm@106 785 (if @move-right?
rlm@106 786 (.applyTorque control
rlm@106 787 (.mult (.getPhysicsRotation control)
rlm@106 788 (Vector3f. 0 -10 0))))
rlm@106 789 (if @roll-left?
rlm@106 790 (.applyTorque control
rlm@106 791 (.mult (.getPhysicsRotation control)
rlm@106 792 (Vector3f. -1 0 0))))
rlm@106 793 (if @roll-right?
rlm@106 794 (.applyTorque control
rlm@106 795 (.mult (.getPhysicsRotation control)
rlm@106 796 (Vector3f. 1 0 0))))))))
rlm@99 797 #+end_src
rlm@99 798
rlm@99 799
rlm@99 800 * COMMENT generate source
rlm@99 801 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99 802 <<body-1>>
rlm@99 803 #+end_src
rlm@99 804
rlm@99 805
rlm@94 806
rlm@94 807