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going to work on proprioception
author Robert McIntyre <rlm@mit.edu>
date Tue, 24 Jan 2012 18:12:14 -0700
parents 91773e8ec50f
children 3d65633dd736
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@124 9 * ideas
rlm@124 10 - [ ] directly change the UV-pixels to show sensor activation
rlm@124 11 - [ ] write an explination for why greyscale bitmaps for senses is appropiate
rlm@124 12 - [ ] write tests for integration
rlm@124 13 - [ ] usertime/gametime HUD display
rlm@124 14 - [ ] use sawfish to auto-tile sense windows
rlm@124 15 - [ ] sawfish keybinding to automatically delete all sense windows
rlm@124 16 - [ ] proprioception sensor map in the style of the other senses
rlm@124 17 - [ ] optional fourier view of sound
rlm@124 18 - [ ] enable greyscale bitmaps for touch
rlm@124 19
rlm@99 20
rlm@73 21 * Intro
rlm@73 22 So far, I've made the following senses --
rlm@73 23 - Vision
rlm@73 24 - Hearing
rlm@73 25 - Touch
rlm@73 26 - Proprioception
rlm@73 27
rlm@73 28 And one effector:
rlm@73 29 - Movement
rlm@73 30
rlm@73 31 However, the code so far has only enabled these senses, but has not
rlm@73 32 actually implemented them. For example, there is still a lot of work
rlm@73 33 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 34 simulation that can be moved around and see the world from different
rlm@73 35 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 36 for the visual input, and I need to determine how/wether to
rlm@73 37 disceritise the visual input.
rlm@73 38
rlm@73 39 I also want to be able to visualize both the sensors and the
rlm@104 40 effectors in pretty pictures. This semi-retarted creature will be my
rlm@73 41 first attempt at bringing everything together.
rlm@73 42
rlm@73 43 * The creature's body
rlm@73 44
rlm@73 45 Still going to do an eve-like body in blender, but due to problems
rlm@104 46 importing the joints, etc into jMonkeyEngine3, I'm going to do all
rlm@73 47 the connecting here in clojure code, using the names of the individual
rlm@73 48 components and trial and error. Later, I'll maybe make some sort of
rlm@73 49 creature-building modifications to blender that support whatever
rlm@73 50 discreitized senses I'm going to make.
rlm@73 51
rlm@73 52 #+name: body-1
rlm@73 53 #+begin_src clojure
rlm@73 54 (ns cortex.silly
rlm@73 55 "let's play!"
rlm@73 56 {:author "Robert McIntyre"})
rlm@73 57
rlm@73 58 ;; TODO remove this!
rlm@73 59 (require 'cortex.import)
rlm@73 60 (cortex.import/mega-import-jme3)
rlm@73 61 (use '(cortex world util body hearing touch vision))
rlm@73 62
rlm@73 63 (rlm.rlm-commands/help)
rlm@99 64 (import java.awt.image.BufferedImage)
rlm@99 65 (import javax.swing.JPanel)
rlm@99 66 (import javax.swing.SwingUtilities)
rlm@99 67 (import java.awt.Dimension)
rlm@99 68 (import javax.swing.JFrame)
rlm@99 69 (import java.awt.Dimension)
rlm@106 70 (import com.aurellem.capture.RatchetTimer)
rlm@99 71 (declare joint-create)
rlm@108 72 (use 'clojure.contrib.def)
rlm@73 73
rlm@100 74 (defn points->image
rlm@100 75 "Take a sparse collection of points and visuliaze it as a
rlm@100 76 BufferedImage."
rlm@102 77
rlm@102 78 ;; TODO maybe parallelize this since it's easy
rlm@102 79
rlm@100 80 [points]
rlm@106 81 (if (empty? points)
rlm@106 82 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
rlm@106 83 (let [xs (vec (map first points))
rlm@106 84 ys (vec (map second points))
rlm@106 85 x0 (apply min xs)
rlm@106 86 y0 (apply min ys)
rlm@106 87 width (- (apply max xs) x0)
rlm@106 88 height (- (apply max ys) y0)
rlm@106 89 image (BufferedImage. (inc width) (inc height)
rlm@119 90 BufferedImage/TYPE_INT_RGB)]
rlm@118 91 (dorun
rlm@118 92 (for [x (range (.getWidth image))
rlm@118 93 y (range (.getHeight image))]
rlm@119 94 (.setRGB image x y 0xFF0000)))
rlm@106 95 (dorun
rlm@106 96 (for [index (range (count points))]
rlm@106 97 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
rlm@106 98
rlm@106 99 image)))
rlm@100 100
rlm@101 101 (defn average [coll]
rlm@101 102 (/ (reduce + coll) (count coll)))
rlm@101 103
rlm@101 104 (defn collapse-1d
rlm@101 105 "One dimensional analogue of collapse"
rlm@101 106 [center line]
rlm@101 107 (let [length (count line)
rlm@101 108 num-above (count (filter (partial < center) line))
rlm@101 109 num-below (- length num-above)]
rlm@101 110 (range (- center num-below)
rlm@115 111 (+ center num-above))))
rlm@99 112
rlm@99 113 (defn collapse
rlm@99 114 "Take a set of pairs of integers and collapse them into a
rlm@99 115 contigous bitmap."
rlm@99 116 [points]
rlm@108 117 (if (empty? points) []
rlm@108 118 (let
rlm@108 119 [num-points (count points)
rlm@108 120 center (vector
rlm@108 121 (int (average (map first points)))
rlm@108 122 (int (average (map first points))))
rlm@108 123 flattened
rlm@108 124 (reduce
rlm@108 125 concat
rlm@108 126 (map
rlm@108 127 (fn [column]
rlm@108 128 (map vector
rlm@108 129 (map first column)
rlm@108 130 (collapse-1d (second center)
rlm@108 131 (map second column))))
rlm@108 132 (partition-by first (sort-by first points))))
rlm@108 133 squeezed
rlm@108 134 (reduce
rlm@108 135 concat
rlm@108 136 (map
rlm@108 137 (fn [row]
rlm@108 138 (map vector
rlm@108 139 (collapse-1d (first center)
rlm@108 140 (map first row))
rlm@108 141 (map second row)))
rlm@108 142 (partition-by second (sort-by second flattened))))
rlm@108 143 relocate
rlm@108 144 (let [min-x (apply min (map first squeezed))
rlm@108 145 min-y (apply min (map second squeezed))]
rlm@108 146 (map (fn [[x y]]
rlm@108 147 [(- x min-x)
rlm@108 148 (- y min-y)])
rlm@108 149 squeezed))]
rlm@115 150 relocate)))
rlm@83 151
rlm@83 152 (defn load-bullet []
rlm@84 153 (let [sim (world (Node.) {} no-op no-op)]
rlm@102 154 (doto sim
rlm@102 155 (.enqueue
rlm@102 156 (fn []
rlm@102 157 (.stop sim)))
rlm@102 158 (.start))))
rlm@83 159
rlm@73 160 (defn load-blender-model
rlm@73 161 "Load a .blend file using an asset folder relative path."
rlm@73 162 [^String model]
rlm@73 163 (.loadModel
rlm@73 164 (doto (asset-manager)
rlm@73 165 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 166 model))
rlm@73 167
rlm@74 168 (defn meta-data [blender-node key]
rlm@74 169 (if-let [data (.getUserData blender-node "properties")]
rlm@74 170 (.findValue data key)
rlm@74 171 nil))
rlm@73 172
rlm@78 173 (defn blender-to-jme
rlm@78 174 "Convert from Blender coordinates to JME coordinates"
rlm@78 175 [#^Vector3f in]
rlm@78 176 (Vector3f. (.getX in)
rlm@78 177 (.getZ in)
rlm@78 178 (- (.getY in))))
rlm@74 179
rlm@79 180 (defn jme-to-blender
rlm@79 181 "Convert from JME coordinates to Blender coordinates"
rlm@79 182 [#^Vector3f in]
rlm@79 183 (Vector3f. (.getX in)
rlm@79 184 (- (.getZ in))
rlm@79 185 (.getY in)))
rlm@79 186
rlm@78 187 (defn joint-targets
rlm@78 188 "Return the two closest two objects to the joint object, ordered
rlm@78 189 from bottom to top according to the joint's rotation."
rlm@78 190 [#^Node parts #^Node joint]
rlm@78 191 (loop [radius (float 0.01)]
rlm@78 192 (let [results (CollisionResults.)]
rlm@78 193 (.collideWith
rlm@78 194 parts
rlm@78 195 (BoundingBox. (.getWorldTranslation joint)
rlm@78 196 radius radius radius)
rlm@78 197 results)
rlm@78 198 (let [targets
rlm@78 199 (distinct
rlm@78 200 (map #(.getGeometry %) results))]
rlm@78 201 (if (>= (count targets) 2)
rlm@78 202 (sort-by
rlm@79 203 #(let [v
rlm@79 204 (jme-to-blender
rlm@79 205 (.mult
rlm@79 206 (.inverse (.getWorldRotation joint))
rlm@79 207 (.subtract (.getWorldTranslation %)
rlm@79 208 (.getWorldTranslation joint))))]
rlm@79 209 (println-repl (.getName %) ":" v)
rlm@79 210 (.dot (Vector3f. 1 1 1)
rlm@79 211 v))
rlm@78 212 (take 2 targets))
rlm@78 213 (recur (float (* radius 2))))))))
rlm@74 214
rlm@87 215 (defn world-to-local
rlm@87 216 "Convert the world coordinates into coordinates relative to the
rlm@87 217 object (i.e. local coordinates), taking into account the rotation
rlm@87 218 of object."
rlm@87 219 [#^Spatial object world-coordinate]
rlm@87 220 (let [out (Vector3f.)]
rlm@88 221 (.worldToLocal object world-coordinate out) out))
rlm@87 222
rlm@96 223 (defn local-to-world
rlm@96 224 "Convert the local coordinates into coordinates into world relative
rlm@96 225 coordinates"
rlm@96 226 [#^Spatial object local-coordinate]
rlm@96 227 (let [world-coordinate (Vector3f.)]
rlm@96 228 (.localToWorld object local-coordinate world-coordinate)
rlm@96 229 world-coordinate))
rlm@96 230
rlm@87 231 (defmulti joint-dispatch
rlm@87 232 "Translate blender pseudo-joints into real JME joints."
rlm@88 233 (fn [constraints & _]
rlm@87 234 (:type constraints)))
rlm@87 235
rlm@87 236 (defmethod joint-dispatch :point
rlm@87 237 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 238 (println-repl "creating POINT2POINT joint")
rlm@87 239 (Point2PointJoint.
rlm@87 240 control-a
rlm@87 241 control-b
rlm@87 242 pivot-a
rlm@87 243 pivot-b))
rlm@87 244
rlm@87 245 (defmethod joint-dispatch :hinge
rlm@87 246 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 247 (println-repl "creating HINGE joint")
rlm@87 248 (let [axis
rlm@87 249 (if-let
rlm@87 250 [axis (:axis constraints)]
rlm@87 251 axis
rlm@87 252 Vector3f/UNIT_X)
rlm@87 253 [limit-1 limit-2] (:limit constraints)
rlm@87 254 hinge-axis
rlm@87 255 (.mult
rlm@87 256 rotation
rlm@87 257 (blender-to-jme axis))]
rlm@87 258 (doto
rlm@87 259 (HingeJoint.
rlm@87 260 control-a
rlm@87 261 control-b
rlm@87 262 pivot-a
rlm@87 263 pivot-b
rlm@87 264 hinge-axis
rlm@87 265 hinge-axis)
rlm@87 266 (.setLimit limit-1 limit-2))))
rlm@87 267
rlm@87 268 (defmethod joint-dispatch :cone
rlm@87 269 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 270 (let [limit-xz (:limit-xz constraints)
rlm@87 271 limit-xy (:limit-xy constraints)
rlm@87 272 twist (:twist constraints)]
rlm@87 273
rlm@87 274 (println-repl "creating CONE joint")
rlm@87 275 (println-repl rotation)
rlm@87 276 (println-repl
rlm@87 277 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 278 (println-repl
rlm@87 279 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 280 (println-repl
rlm@87 281 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 282 (doto
rlm@87 283 (ConeJoint.
rlm@87 284 control-a
rlm@87 285 control-b
rlm@87 286 pivot-a
rlm@87 287 pivot-b
rlm@87 288 rotation
rlm@87 289 rotation)
rlm@87 290 (.setLimit (float limit-xz)
rlm@87 291 (float limit-xy)
rlm@87 292 (float twist)))))
rlm@87 293
rlm@88 294 (defn connect
rlm@87 295 "here are some examples:
rlm@87 296 {:type :point}
rlm@87 297 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 298 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 299
rlm@89 300 {:type :cone :limit-xz 0]
rlm@89 301 :limit-xy 0]
rlm@89 302 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 303 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 304 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 305 control-b (.getControl obj-b RigidBodyControl)
rlm@87 306 joint-center (.getWorldTranslation joint)
rlm@87 307 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 308 pivot-a (world-to-local obj-a joint-center)
rlm@87 309 pivot-b (world-to-local obj-b joint-center)]
rlm@89 310
rlm@87 311 (if-let [constraints
rlm@87 312 (map-vals
rlm@87 313 eval
rlm@87 314 (read-string
rlm@87 315 (meta-data joint "joint")))]
rlm@89 316 ;; A side-effect of creating a joint registers
rlm@89 317 ;; it with both physics objects which in turn
rlm@89 318 ;; will register the joint with the physics system
rlm@89 319 ;; when the simulation is started.
rlm@87 320 (do
rlm@87 321 (println-repl "creating joint between"
rlm@87 322 (.getName obj-a) "and" (.getName obj-b))
rlm@87 323 (joint-dispatch constraints
rlm@87 324 control-a control-b
rlm@87 325 pivot-a pivot-b
rlm@87 326 joint-rotation))
rlm@87 327 (println-repl "could not find joint meta-data!"))))
rlm@87 328
rlm@78 329 (defn assemble-creature [#^Node pieces joints]
rlm@78 330 (dorun
rlm@78 331 (map
rlm@78 332 (fn [geom]
rlm@78 333 (let [physics-control
rlm@78 334 (RigidBodyControl.
rlm@78 335 (HullCollisionShape.
rlm@78 336 (.getMesh geom))
rlm@78 337 (if-let [mass (meta-data geom "mass")]
rlm@78 338 (do
rlm@78 339 (println-repl
rlm@78 340 "setting" (.getName geom) "mass to" (float mass))
rlm@78 341 (float mass))
rlm@78 342 (float 1)))]
rlm@78 343
rlm@78 344 (.addControl geom physics-control)))
rlm@78 345 (filter #(isa? (class %) Geometry )
rlm@78 346 (node-seq pieces))))
rlm@78 347 (dorun
rlm@78 348 (map
rlm@78 349 (fn [joint]
rlm@78 350 (let [[obj-a obj-b]
rlm@78 351 (joint-targets pieces joint)]
rlm@88 352 (connect obj-a obj-b joint)))
rlm@78 353 joints))
rlm@78 354 pieces)
rlm@74 355
rlm@116 356 (declare blender-creature)
rlm@74 357
rlm@78 358 (def hand "Models/creature1/one.blend")
rlm@74 359
rlm@78 360 (def worm "Models/creature1/try-again.blend")
rlm@78 361
rlm@90 362 (def touch "Models/creature1/touch.blend")
rlm@90 363
rlm@90 364 (defn worm-model [] (load-blender-model worm))
rlm@90 365
rlm@80 366 (defn x-ray [#^ColorRGBA color]
rlm@80 367 (doto (Material. (asset-manager)
rlm@80 368 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 369 (.setColor "Color" color)
rlm@80 370 (-> (.getAdditionalRenderState)
rlm@80 371 (.setDepthTest false))))
rlm@80 372
rlm@91 373 (defn colorful []
rlm@91 374 (.getChild (worm-model) "worm-21"))
rlm@90 375
rlm@90 376 (import jme3tools.converters.ImageToAwt)
rlm@90 377
rlm@90 378 (import ij.ImagePlus)
rlm@90 379
rlm@108 380 ;; Every Mesh has many triangles, each with its own index.
rlm@108 381 ;; Every vertex has its own index as well.
rlm@90 382
rlm@108 383 (defn tactile-sensor-image
rlm@110 384 "Return the touch-sensor distribution image in BufferedImage format,
rlm@110 385 or nil if it does not exist."
rlm@91 386 [#^Geometry obj]
rlm@110 387 (if-let [image-path (meta-data obj "touch")]
rlm@110 388 (ImageToAwt/convert
rlm@110 389 (.getImage
rlm@110 390 (.loadTexture
rlm@110 391 (asset-manager)
rlm@110 392 image-path))
rlm@110 393 false false 0)))
rlm@110 394
rlm@91 395 (import ij.process.ImageProcessor)
rlm@91 396 (import java.awt.image.BufferedImage)
rlm@91 397
rlm@92 398 (def white -1)
rlm@94 399
rlm@91 400 (defn filter-pixels
rlm@108 401 "List the coordinates of all pixels matching pred, within the bounds
rlm@108 402 provided. Bounds -> [x0 y0 width height]"
rlm@92 403 {:author "Dylan Holmes"}
rlm@108 404 ([pred #^BufferedImage image]
rlm@108 405 (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
rlm@108 406 ([pred #^BufferedImage image [x0 y0 width height]]
rlm@108 407 ((fn accumulate [x y matches]
rlm@108 408 (cond
rlm@108 409 (>= y (+ height y0)) matches
rlm@108 410 (>= x (+ width x0)) (recur 0 (inc y) matches)
rlm@108 411 (pred (.getRGB image x y))
rlm@108 412 (recur (inc x) y (conj matches [x y]))
rlm@108 413 :else (recur (inc x) y matches)))
rlm@108 414 x0 y0 [])))
rlm@91 415
rlm@91 416 (defn white-coordinates
rlm@108 417 "Coordinates of all the white pixels in a subset of the image."
rlm@112 418 ([#^BufferedImage image bounds]
rlm@112 419 (filter-pixels #(= % white) image bounds))
rlm@112 420 ([#^BufferedImage image]
rlm@112 421 (filter-pixels #(= % white) image)))
rlm@108 422
rlm@108 423 (defn triangle
rlm@112 424 "Get the triangle specified by triangle-index from the mesh within
rlm@112 425 bounds."
rlm@108 426 [#^Mesh mesh triangle-index]
rlm@108 427 (let [scratch (Triangle.)]
rlm@108 428 (.getTriangle mesh triangle-index scratch)
rlm@108 429 scratch))
rlm@108 430
rlm@108 431 (defn triangle-vertex-indices
rlm@108 432 "Get the triangle vertex indices of a given triangle from a given
rlm@108 433 mesh."
rlm@108 434 [#^Mesh mesh triangle-index]
rlm@108 435 (let [indices (int-array 3)]
rlm@108 436 (.getTriangle mesh triangle-index indices)
rlm@108 437 (vec indices)))
rlm@108 438
rlm@108 439 (defn vertex-UV-coord
rlm@108 440 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@108 441 [#^Mesh mesh vertex-index]
rlm@108 442 (let [UV-buffer
rlm@108 443 (.getData
rlm@108 444 (.getBuffer
rlm@108 445 mesh
rlm@108 446 VertexBuffer$Type/TexCoord))]
rlm@108 447 [(.get UV-buffer (* vertex-index 2))
rlm@108 448 (.get UV-buffer (+ 1 (* vertex-index 2)))]))
rlm@108 449
rlm@108 450 (defn triangle-UV-coord
rlm@108 451 "Get the uv-cooridnates of the triangle's verticies."
rlm@108 452 [#^Mesh mesh width height triangle-index]
rlm@108 453 (map (fn [[u v]] (vector (* width u) (* height v)))
rlm@108 454 (map (partial vertex-UV-coord mesh)
rlm@108 455 (triangle-vertex-indices mesh triangle-index))))
rlm@91 456
rlm@102 457 (defn same-side?
rlm@102 458 "Given the points p1 and p2 and the reference point ref, is point p
rlm@102 459 on the same side of the line that goes through p1 and p2 as ref is?"
rlm@102 460 [p1 p2 ref p]
rlm@91 461 (<=
rlm@91 462 0
rlm@91 463 (.dot
rlm@91 464 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 465 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 466
rlm@108 467 (defn triangle-seq [#^Triangle tri]
rlm@108 468 [(.get1 tri) (.get2 tri) (.get3 tri)])
rlm@108 469
rlm@108 470 (defn vector3f-seq [#^Vector3f v]
rlm@108 471 [(.getX v) (.getY v) (.getZ v)])
rlm@108 472
rlm@108 473 (defn inside-triangle?
rlm@108 474 "Is the point inside the triangle?"
rlm@108 475 {:author "Dylan Holmes"}
rlm@108 476 [#^Triangle tri #^Vector3f p]
rlm@108 477 (let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
rlm@108 478 (and
rlm@108 479 (same-side? vert-1 vert-2 vert-3 p)
rlm@108 480 (same-side? vert-2 vert-3 vert-1 p)
rlm@108 481 (same-side? vert-3 vert-1 vert-2 p))))
rlm@108 482
rlm@94 483 (defn triangle->matrix4f
rlm@108 484 "Converts the triangle into a 4x4 matrix: The first three columns
rlm@108 485 contain the vertices of the triangle; the last contains the unit
rlm@108 486 normal of the triangle. The bottom row is filled with 1s."
rlm@94 487 [#^Triangle t]
rlm@94 488 (let [mat (Matrix4f.)
rlm@94 489 [vert-1 vert-2 vert-3]
rlm@94 490 ((comp vec map) #(.get t %) (range 3))
rlm@94 491 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@94 492 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@94 493 (dorun
rlm@94 494 (for [row (range 4) col (range 3)]
rlm@94 495 (do
rlm@94 496 (.set mat col row (.get (vertices row)col))
rlm@94 497 (.set mat 3 row 1))))
rlm@94 498 mat))
rlm@94 499
rlm@94 500 (defn triangle-transformation
rlm@94 501 "Returns the affine transformation that converts each vertex in the
rlm@94 502 first triangle into the corresponding vertex in the second
rlm@94 503 triangle."
rlm@94 504 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 505 (.mult
rlm@94 506 (triangle->matrix4f tri-2)
rlm@94 507 (.invert (triangle->matrix4f tri-1))))
rlm@94 508
rlm@108 509 (defn point->vector2f [[u v]]
rlm@108 510 (Vector2f. u v))
rlm@94 511
rlm@94 512 (defn vector2f->vector3f [v]
rlm@94 513 (Vector3f. (.getX v) (.getY v) 0))
rlm@94 514
rlm@94 515 (defn map-triangle [f #^Triangle tri]
rlm@94 516 (Triangle.
rlm@94 517 (f 0 (.get1 tri))
rlm@94 518 (f 1 (.get2 tri))
rlm@94 519 (f 2 (.get3 tri))))
rlm@94 520
rlm@108 521 (defn points->triangle
rlm@108 522 "Convert a list of points into a triangle."
rlm@108 523 [points]
rlm@108 524 (apply #(Triangle. %1 %2 %3)
rlm@108 525 (map (fn [point]
rlm@108 526 (let [point (vec point)]
rlm@108 527 (Vector3f. (get point 0 0)
rlm@108 528 (get point 1 0)
rlm@108 529 (get point 2 0))))
rlm@108 530 (take 3 points))))
rlm@94 531
rlm@108 532 (defn convex-bounds
rlm@108 533 "Dimensions of the smallest integer bounding square of the list of
rlm@108 534 2D verticies in the form: [x y width height]."
rlm@108 535 [uv-verts]
rlm@108 536 (let [xs (map first uv-verts)
rlm@108 537 ys (map second uv-verts)
rlm@108 538 x0 (Math/floor (apply min xs))
rlm@108 539 y0 (Math/floor (apply min ys))
rlm@108 540 x1 (Math/ceil (apply max xs))
rlm@108 541 y1 (Math/ceil (apply max ys))]
rlm@108 542 [x0 y0 (- x1 x0) (- y1 y0)]))
rlm@93 543
rlm@106 544 (defn sensors-in-triangle
rlm@107 545 "Find the locations of the touch sensors within a triangle in both
rlm@107 546 UV and gemoetry relative coordinates."
rlm@107 547 [image mesh tri-index]
rlm@107 548 (let [width (.getWidth image)
rlm@108 549 height (.getHeight image)
rlm@108 550 UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
rlm@108 551 bounds (convex-bounds UV-vertex-coords)
rlm@108 552
rlm@108 553 cutout-triangle (points->triangle UV-vertex-coords)
rlm@108 554 UV-sensor-coords
rlm@108 555 (filter (comp (partial inside-triangle? cutout-triangle)
rlm@108 556 (fn [[u v]] (Vector3f. u v 0)))
rlm@108 557 (white-coordinates image bounds))
rlm@108 558 UV->geometry (triangle-transformation
rlm@108 559 cutout-triangle
rlm@108 560 (triangle mesh tri-index))
rlm@108 561 geometry-sensor-coords
rlm@108 562 (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
rlm@108 563 UV-sensor-coords)]
rlm@108 564 {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
rlm@107 565
rlm@108 566 (defn-memo locate-feelers
rlm@94 567 "Search the geometry's tactile UV image for touch sensors, returning
rlm@94 568 their positions in geometry-relative coordinates."
rlm@94 569 [#^Geometry geo]
rlm@108 570 (let [mesh (.getMesh geo)
rlm@108 571 num-triangles (.getTriangleCount mesh)]
rlm@108 572 (if-let [image (tactile-sensor-image geo)]
rlm@108 573 (map
rlm@108 574 (partial sensors-in-triangle image mesh)
rlm@108 575 (range num-triangles))
rlm@108 576 (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
rlm@102 577
rlm@102 578 (use 'clojure.contrib.def)
rlm@102 579
rlm@102 580 (defn-memo touch-topology [#^Gemoetry geo]
rlm@108 581 (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
rlm@108 582
rlm@108 583 (defn-memo feeler-coordinates [#^Geometry geo]
rlm@108 584 (vec (map :geometry (locate-feelers geo))))
rlm@102 585
rlm@97 586 (defn enable-touch [#^Geometry geo]
rlm@108 587 (let [feeler-coords (feeler-coordinates geo)
rlm@96 588 tris (triangles geo)
rlm@109 589 limit 0.1
rlm@109 590 ;;results (CollisionResults.)
rlm@109 591 ]
rlm@111 592 (if (empty? (touch-topology geo))
rlm@111 593 nil
rlm@111 594 (fn [node]
rlm@111 595 (let [sensor-origins
rlm@111 596 (map
rlm@111 597 #(map (partial local-to-world geo) %)
rlm@111 598 feeler-coords)
rlm@111 599 triangle-normals
rlm@111 600 (map (partial get-ray-direction geo)
rlm@111 601 tris)
rlm@111 602 rays
rlm@111 603 (flatten
rlm@111 604 (map (fn [origins norm]
rlm@111 605 (map #(doto (Ray. % norm)
rlm@97 606 (.setLimit limit)) origins))
rlm@111 607 sensor-origins triangle-normals))]
rlm@111 608 (vector
rlm@111 609 (touch-topology geo)
rlm@111 610 (vec
rlm@111 611 (for [ray rays]
rlm@111 612 (do
rlm@111 613 (let [results (CollisionResults.)]
rlm@111 614 (.collideWith node ray results)
rlm@111 615 (let [touch-objects
rlm@111 616 (set
rlm@111 617 (filter #(not (= geo %))
rlm@111 618 (map #(.getGeometry %) results)))]
rlm@111 619 (if (> (count touch-objects) 0)
rlm@111 620 1 0))))))))))))
rlm@111 621
rlm@111 622 (defn touch [#^Node pieces]
rlm@111 623 (filter (comp not nil?)
rlm@111 624 (map enable-touch
rlm@111 625 (filter #(isa? (class %) Geometry)
rlm@111 626 (node-seq pieces)))))
rlm@94 627
rlm@109 628
rlm@111 629 ;; human eye transmits 62kb/s to brain Bandwidth is 8.75 Mb/s
rlm@111 630 ;; http://en.wikipedia.org/wiki/Retina
rlm@109 631
rlm@111 632 (defn test-eye []
rlm@117 633 (.getChild
rlm@117 634 (.getChild (worm-model) "eyes")
rlm@117 635 "eye"))
rlm@111 636
rlm@111 637
rlm@111 638 (defn retina-sensor-image
rlm@111 639 "Return a map of pixel selection functions to BufferedImages
rlm@111 640 describing the distribution of light-sensitive components on this
rlm@111 641 geometry's surface. Each function creates an integer from the rgb
rlm@111 642 values found in the pixel. :red, :green, :blue, :gray are already
rlm@111 643 defined as extracting the red green blue and average components
rlm@111 644 respectively."
rlm@117 645 [#^Spatial eye]
rlm@111 646 (if-let [eye-map (meta-data eye "eye")]
rlm@111 647 (map-vals
rlm@111 648 #(ImageToAwt/convert
rlm@111 649 (.getImage (.loadTexture (asset-manager) %))
rlm@111 650 false false 0)
rlm@120 651 (eval (read-string eye-map)))))
rlm@111 652
rlm@117 653 (defn eye-dimensions
rlm@117 654 "returns the width and height specified in the metadata of the eye"
rlm@117 655 [#^Spatial eye]
rlm@117 656 (let [dimensions
rlm@117 657 (map #(vector (.getWidth %) (.getHeight %))
rlm@117 658 (vals (retina-sensor-image eye)))]
rlm@117 659 [(apply max (map first dimensions))
rlm@117 660 (apply max (map second dimensions))]))
rlm@117 661
rlm@116 662 (defn creature-eyes
rlm@116 663 "The eye nodes which are children of the \"eyes\" node in the
rlm@116 664 creature."
rlm@116 665 [#^Node creature]
rlm@116 666 (if-let [eye-node (.getChild creature "eyes")]
rlm@116 667 (seq (.getChildren eye-node))
rlm@116 668 (do (println-repl "could not find eyes node") [])))
rlm@111 669
rlm@123 670 ;; Here's how vision will work.
rlm@112 671
rlm@123 672 ;; Make the continuation in scene-processor take FrameBuffer,
rlm@123 673 ;; byte-buffer, BufferedImage already sized to the correct
rlm@123 674 ;; dimensions. the continuation will decide wether to "mix" them
rlm@123 675 ;; into the BufferedImage, lazily ignore them, or mix them halfway
rlm@123 676 ;; and call c/graphics card routines.
rlm@112 677
rlm@123 678 ;; (vision creature) will take an optional :skip argument which will
rlm@123 679 ;; inform the continuations in scene processor to skip the given
rlm@123 680 ;; number of cycles; 0 means that no cycles will be skipped.
rlm@112 681
rlm@123 682 ;; (vision creature) will return [init-functions sensor-functions].
rlm@123 683 ;; The init-functions are each single-arg functions that take the
rlm@123 684 ;; world and register the cameras and must each be called before the
rlm@123 685 ;; corresponding sensor-functions. Each init-function returns the
rlm@123 686 ;; viewport for that eye which can be manipulated, saved, etc. Each
rlm@123 687 ;; sensor-function is a thunk and will return data in the same
rlm@123 688 ;; format as the tactile-sensor functions; the structure is
rlm@123 689 ;; [topology, sensor-data]. Internally, these sensor-functions
rlm@123 690 ;; maintain a reference to sensor-data which is periodically updated
rlm@123 691 ;; by the continuation function established by its init-function.
rlm@123 692 ;; They can be queried every cycle, but their information may not
rlm@123 693 ;; necessairly be different every cycle.
rlm@112 694
rlm@123 695 ;; Each eye in the creature in blender will work the same way as
rlm@123 696 ;; joints -- a zero dimensional object with no geometry whose local
rlm@123 697 ;; coordinate system determines the orientation of the resulting
rlm@123 698 ;; eye. All eyes will have a parent named "eyes" just as all joints
rlm@123 699 ;; have a parent named "joints". The resulting camera will be a
rlm@123 700 ;; ChaseCamera or a CameraNode bound to the geo that is closest to
rlm@123 701 ;; the eye marker. The eye marker will contain the metadata for the
rlm@123 702 ;; eye, and will be moved by it's bound geometry. The dimensions of
rlm@123 703 ;; the eye's camera are equal to the dimensions of the eye's "UV"
rlm@123 704 ;; map.
rlm@116 705
rlm@123 706
rlm@123 707 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@123 708
rlm@123 709 ;; Ears work the same way as vision.
rlm@123 710
rlm@123 711 ;; (hearing creature) will return [init-functions
rlm@123 712 ;; sensor-functions]. The init functions each take the world and
rlm@123 713 ;; register a SoundProcessor that does foureier transforms on the
rlm@123 714 ;; incommong sound data, making it available to each sensor function.
rlm@123 715
rlm@123 716 (defn creature-ears
rlm@123 717 "The ear nodes which are children of the \"ears\" node in the
rlm@123 718 creature."
rlm@123 719 [#^Node creature]
rlm@123 720 (if-let [ear-node (.getChild creature "ears")]
rlm@123 721 (seq (.getChildren ear-node))
rlm@123 722 (do (println-repl "could not find ears node") [])))
rlm@123 723
rlm@123 724 (defn closest-node
rlm@123 725 "The closest object in creature to the given node."
rlm@116 726 [#^Node creature #^Node eye]
rlm@116 727 (loop [radius (float 0.01)]
rlm@116 728 (let [results (CollisionResults.)]
rlm@116 729 (.collideWith
rlm@116 730 creature
rlm@116 731 (BoundingBox. (.getWorldTranslation eye)
rlm@116 732 radius radius radius)
rlm@116 733 results)
rlm@116 734 (if-let [target (first results)]
rlm@116 735 (.getGeometry target)
rlm@116 736 (recur (float (* 2 radius)))))))
rlm@116 737
rlm@123 738 (defn bind-sense
rlm@123 739 "Bind the sense to the Spatial such that it will maintain its
rlm@117 740 current position relative to the Spatial no matter how the spatial
rlm@123 741 moves. 'sense can be either a Camera or Listener object."
rlm@123 742 [#^Spatial obj sense]
rlm@123 743 (let [sense-offset (.subtract (.getLocation sense)
rlm@123 744 (.getWorldTranslation obj))
rlm@123 745 initial-sense-rotation (Quaternion. (.getRotation sense))
rlm@117 746 base-anti-rotation (.inverse (.getWorldRotation obj))]
rlm@117 747 (.addControl
rlm@117 748 obj
rlm@117 749 (proxy [AbstractControl] []
rlm@117 750 (controlUpdate [tpf]
rlm@117 751 (let [total-rotation
rlm@117 752 (.mult base-anti-rotation (.getWorldRotation obj))]
rlm@123 753 (.setLocation sense
rlm@117 754 (.add
rlm@123 755 (.mult total-rotation sense-offset)
rlm@117 756 (.getWorldTranslation obj)))
rlm@123 757 (.setRotation sense
rlm@123 758 (.mult total-rotation initial-sense-rotation))))
rlm@117 759 (controlRender [_ _])))))
rlm@117 760
rlm@117 761
rlm@123 762 (defn update-listener-velocity
rlm@123 763 "Update the listener's velocity every update loop."
rlm@123 764 [#^Spatial obj #^Listener lis]
rlm@123 765 (let [old-position (atom (.getLocation lis))]
rlm@123 766 (.addControl
rlm@123 767 obj
rlm@123 768 (proxy [AbstractControl] []
rlm@123 769 (controlUpdate [tpf]
rlm@123 770 (let [new-position (.getLocation lis)]
rlm@123 771 (.setVelocity
rlm@123 772 lis
rlm@123 773 (.mult (.subtract new-position @old-position)
rlm@123 774 (float (/ tpf))))
rlm@123 775 (reset! old-position new-position)))
rlm@123 776 (controlRender [_ _])))))
rlm@123 777
rlm@123 778 (import com.aurellem.capture.audio.AudioSendRenderer)
rlm@123 779
rlm@123 780 (defn attach-ear
rlm@123 781 [#^Application world #^Node creature #^Spatial ear continuation]
rlm@123 782 (let [target (closest-node creature ear)
rlm@123 783 lis (Listener.)
rlm@123 784 audio-renderer (.getAudioRenderer world)
rlm@123 785 sp (sound-processor continuation)]
rlm@123 786 (.setLocation lis (.getWorldTranslation ear))
rlm@123 787 (.setRotation lis (.getWorldRotation ear))
rlm@123 788 (bind-sense target lis)
rlm@123 789 (update-listener-velocity target lis)
rlm@123 790 (.addListener audio-renderer lis)
rlm@123 791 (.registerSoundProcessor audio-renderer lis sp)))
rlm@123 792
rlm@123 793 (defn enable-hearing
rlm@123 794 [#^Node creature #^Spatial ear]
rlm@123 795 (let [hearing-data (atom [])]
rlm@123 796 [(fn [world]
rlm@123 797 (attach-ear world creature ear
rlm@123 798 (fn [data]
rlm@123 799 (reset! hearing-data (vec data)))))
rlm@123 800 [(fn []
rlm@123 801 (let [data @hearing-data
rlm@123 802 topology
rlm@123 803 (vec (map #(vector % 0) (range 0 (count data))))
rlm@123 804 scaled-data
rlm@123 805 (vec
rlm@123 806 (map
rlm@123 807 #(rem (int (* 255 (/ (+ 1 %) 2))) 256)
rlm@123 808 data))]
rlm@123 809 [topology scaled-data]))
rlm@123 810 ]]))
rlm@123 811
rlm@123 812 (defn hearing
rlm@123 813 [#^Node creature]
rlm@123 814 (reduce
rlm@123 815 (fn [[init-a senses-a]
rlm@123 816 [init-b senses-b]]
rlm@123 817 [(conj init-a init-b)
rlm@123 818 (into senses-a senses-b)])
rlm@123 819 [[][]]
rlm@123 820 (for [ear (creature-ears creature)]
rlm@123 821 (enable-hearing creature ear))))
rlm@123 822
rlm@118 823 (defn attach-eye
rlm@118 824 "Attach a Camera to the appropiate area and return the Camera."
rlm@118 825 [#^Node creature #^Spatial eye]
rlm@123 826 (let [target (closest-node creature eye)
rlm@118 827 [cam-width cam-height] (eye-dimensions eye)
rlm@118 828 cam (Camera. cam-width cam-height)]
rlm@118 829 (.setLocation cam (.getWorldTranslation eye))
rlm@118 830 (.setRotation cam (.getWorldRotation eye))
rlm@119 831 (.setFrustumPerspective
rlm@119 832 cam 45 (/ (.getWidth cam) (.getHeight cam))
rlm@119 833 1 1000)
rlm@123 834 (bind-sense target cam)
rlm@118 835 cam))
rlm@118 836
rlm@118 837 (def presets
rlm@121 838 {:all 0xFFFFFF
rlm@119 839 :red 0xFF0000
rlm@119 840 :blue 0x0000FF
rlm@119 841 :green 0x00FF00})
rlm@119 842
rlm@118 843 (defn enable-vision
rlm@118 844 "return [init-function sensor-functions] for a particular eye"
rlm@118 845 [#^Node creature #^Spatial eye & {skip :skip :or {skip 0}}]
rlm@118 846 (let [retinal-map (retina-sensor-image eye)
rlm@123 847 camera (attach-eye creature eye)
rlm@123 848 vision-image
rlm@123 849 (atom
rlm@123 850 (BufferedImage. (.getWidth camera)
rlm@123 851 (.getHeight camera)
rlm@123 852 BufferedImage/TYPE_BYTE_BINARY))]
rlm@123 853 [(fn [world]
rlm@123 854 (add-eye
rlm@123 855 world camera
rlm@123 856 (let [counter (atom 0)]
rlm@123 857 (fn [r fb bb bi]
rlm@123 858 (if (zero? (rem (swap! counter inc) (inc skip)))
rlm@123 859 (reset! vision-image (BufferedImage! r fb bb bi)))))))
rlm@123 860 (vec
rlm@123 861 (map
rlm@123 862 (fn [[key image]]
rlm@123 863 (let [whites (white-coordinates image)
rlm@123 864 topology (vec (collapse whites))
rlm@123 865 mask (presets key)]
rlm@123 866 (fn []
rlm@123 867 (vector
rlm@123 868 topology
rlm@123 869 (vec
rlm@123 870 (for [[x y] whites]
rlm@123 871 (bit-and
rlm@123 872 mask (.getRGB @vision-image x y))))))))
rlm@123 873 retinal-map))]))
rlm@118 874
rlm@116 875 (defn vision
rlm@121 876 [#^Node creature & {skip :skip :or {skip 0}}]
rlm@121 877 (reduce
rlm@121 878 (fn [[init-a senses-a]
rlm@121 879 [init-b senses-b]]
rlm@121 880 [(conj init-a init-b)
rlm@121 881 (into senses-a senses-b)])
rlm@121 882 [[][]]
rlm@121 883 (for [eye (creature-eyes creature)]
rlm@121 884 (enable-vision creature eye))))
rlm@121 885
rlm@116 886
rlm@116 887 (defn blender-creature
rlm@116 888 "Return a creature with all joints in place."
rlm@116 889 [blender-path]
rlm@116 890 (let [model (load-blender-model blender-path)
rlm@116 891 joints
rlm@116 892 (if-let [joint-node (.getChild model "joints")]
rlm@116 893 (seq (.getChildren joint-node))
rlm@116 894 (do (println-repl "could not find joints node") []))]
rlm@116 895 (assemble-creature model joints)))
rlm@116 896
rlm@103 897 (defn debug-window
rlm@103 898 "creates function that offers a debug view of sensor data"
rlm@103 899 []
rlm@103 900 (let [vi (view-image)]
rlm@103 901 (fn
rlm@103 902 [[coords sensor-data]]
rlm@103 903 (let [image (points->image coords)]
rlm@103 904 (dorun
rlm@103 905 (for [i (range (count coords))]
rlm@103 906 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@123 907 ({0 0x000000
rlm@123 908 1 0xFFFFFF} (sensor-data i)))))
rlm@103 909 (vi image)))))
rlm@103 910
rlm@118 911 (defn debug-vision-window
rlm@118 912 "creates function that offers a debug view of sensor data"
rlm@118 913 []
rlm@118 914 (let [vi (view-image)]
rlm@118 915 (fn
rlm@118 916 [[coords sensor-data]]
rlm@118 917 (let [image (points->image coords)]
rlm@118 918 (dorun
rlm@118 919 (for [i (range (count coords))]
rlm@118 920 (.setRGB image ((coords i) 0) ((coords i) 1)
rlm@118 921 (sensor-data i))))
rlm@118 922 (vi image)))))
rlm@118 923
rlm@123 924 (defn debug-hearing-window
rlm@123 925 "view audio data"
rlm@123 926 [height]
rlm@123 927 (let [vi (view-image)]
rlm@123 928 (fn [[coords sensor-data]]
rlm@123 929 (let [image (BufferedImage. (count coords) height
rlm@123 930 BufferedImage/TYPE_INT_RGB)]
rlm@123 931 (dorun
rlm@123 932 (for [x (range (count coords))]
rlm@123 933 (dorun
rlm@123 934 (for [y (range height)]
rlm@123 935 (let [raw-sensor (sensor-data x)]
rlm@123 936 (.setRGB image x y
rlm@123 937 (+ raw-sensor
rlm@123 938 (bit-shift-left raw-sensor 8)
rlm@123 939 (bit-shift-left raw-sensor 16))))))))
rlm@123 940 (vi image)))))
rlm@123 941
rlm@123 942
rlm@123 943
rlm@106 944 ;;(defn test-touch [world creature]
rlm@83 945
rlm@78 946
rlm@123 947
rlm@123 948
rlm@123 949
rlm@123 950
rlm@106 951 (defn test-creature [thing]
rlm@106 952 (let [x-axis
rlm@106 953 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@106 954 y-axis
rlm@106 955 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@106 956 z-axis
rlm@106 957 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
rlm@106 958 creature (blender-creature thing)
rlm@106 959 touch-nerves (touch creature)
rlm@106 960 touch-debug-windows (map (fn [_] (debug-window)) touch-nerves)
rlm@121 961 [init-vision-fns vision-data] (vision creature)
rlm@121 962 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
rlm@118 963 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@123 964 [init-hearing-fns hearing-senses] (hearing creature)
rlm@123 965 hearing-windows (map (fn [_] (debug-hearing-window 50))
rlm@123 966 hearing-senses)
rlm@124 967 bell (AudioNode. (asset-manager)
rlm@124 968 "Sounds/ear-and-eye.wav" false)
rlm@123 969 ;; dream
rlm@123 970
rlm@106 971 ]
rlm@106 972 (world
rlm@106 973 (nodify [creature
rlm@106 974 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@106 975 :color ColorRGBA/Gray :mass 0)
rlm@106 976 x-axis y-axis z-axis
rlm@118 977 me
rlm@106 978 ])
rlm@123 979 (merge standard-debug-controls
rlm@123 980 {"key-return"
rlm@123 981 (fn [_ value]
rlm@123 982 (if value
rlm@123 983 (do
rlm@123 984 (println-repl "play-sound")
rlm@124 985 (.play bell))))})
rlm@106 986 (fn [world]
rlm@106 987 (light-up-everything world)
rlm@106 988 (enable-debug world)
rlm@122 989 (dorun (map #(% world) init-vision-fns))
rlm@123 990 (dorun (map #(% world) init-hearing-fns))
rlm@118 991
rlm@118 992 (add-eye world
rlm@118 993 (attach-eye creature (test-eye))
rlm@118 994 (comp (view-image) BufferedImage!))
rlm@118 995
rlm@118 996 (add-eye world (.getCamera world) no-op)
rlm@118 997
rlm@106 998 ;;(com.aurellem.capture.Capture/captureVideo
rlm@106 999 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@110 1000 ;;(.setTimer world (RatchetTimer. 60))
rlm@119 1001 (speed-up world)
rlm@106 1002 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@106 1003 )
rlm@106 1004 (fn [world tpf]
rlm@109 1005 ;;(dorun
rlm@109 1006 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
rlm@123 1007
rlm@123 1008
rlm@123 1009
rlm@106 1010 (dorun
rlm@109 1011 (map #(%1 (%2 (.getRootNode world)))
rlm@121 1012 touch-debug-windows touch-nerves))
rlm@123 1013
rlm@121 1014 (dorun
rlm@121 1015 (map #(%1 (%2))
rlm@121 1016 vision-debug vision-data))
rlm@123 1017 (dorun
rlm@123 1018 (map #(%1 (%2)) hearing-windows hearing-senses))
rlm@123 1019
rlm@123 1020
rlm@118 1021 ;;(println-repl (vision-data))
rlm@118 1022 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@118 1023
rlm@121 1024
rlm@106 1025 )
rlm@106 1026 ;;(let [timer (atom 0)]
rlm@106 1027 ;; (fn [_ _]
rlm@106 1028 ;; (swap! timer inc)
rlm@106 1029 ;; (if (= (rem @timer 60) 0)
rlm@106 1030 ;; (println-repl (float (/ @timer 60))))))
rlm@106 1031 )))
rlm@83 1032
rlm@109 1033
rlm@109 1034
rlm@109 1035
rlm@109 1036
rlm@109 1037
rlm@109 1038
rlm@109 1039
rlm@109 1040
rlm@109 1041 ;;; experiments in collisions
rlm@109 1042
rlm@109 1043
rlm@109 1044
rlm@109 1045 (defn collision-test []
rlm@110 1046 (let [b-radius 1
rlm@110 1047 b-position (Vector3f. 0 0 0)
rlm@109 1048 obj-b (box 1 1 1 :color ColorRGBA/Blue
rlm@109 1049 :position b-position
rlm@110 1050 :mass 0)
rlm@110 1051 node (nodify [obj-b])
rlm@110 1052 bounds-b
rlm@110 1053 (doto (Picture.)
rlm@110 1054 (.setHeight 50)
rlm@110 1055 (.setWidth 50)
rlm@110 1056 (.setImage (asset-manager)
rlm@110 1057 "Models/creature1/hand.png"
rlm@110 1058 false
rlm@110 1059 ))
rlm@110 1060
rlm@110 1061 ;;(Ray. (Vector3f. 0 -5 0) (.normalize (Vector3f. 0 1 0)))
rlm@110 1062
rlm@110 1063 collisions
rlm@110 1064 (let [cr (CollisionResults.)]
rlm@110 1065 (.collideWith node bounds-b cr)
rlm@110 1066 (println (map #(.getContactPoint %) cr))
rlm@110 1067 cr)
rlm@110 1068
rlm@110 1069 ;;collision-points
rlm@110 1070 ;;(map #(sphere 0.1 :position (.getContactPoint %))
rlm@110 1071 ;; collisions)
rlm@110 1072
rlm@110 1073 ;;node (nodify (conj collision-points obj-b))
rlm@110 1074
rlm@109 1075 sim
rlm@109 1076 (world node
rlm@110 1077 {"key-space"
rlm@110 1078 (fn [_ value]
rlm@110 1079 (if value
rlm@110 1080 (let [cr (CollisionResults.)]
rlm@110 1081 (.collideWith node bounds-b cr)
rlm@110 1082 (println-repl (map #(.getContactPoint %) cr))
rlm@110 1083 cr)))}
rlm@109 1084 no-op
rlm@109 1085 no-op)
rlm@109 1086
rlm@109 1087 ]
rlm@110 1088 sim
rlm@109 1089
rlm@109 1090 ))
rlm@109 1091
rlm@116 1092
rlm@116 1093 ;; the camera will stay in its initial position/rotation with relation
rlm@116 1094 ;; to the spatial.
rlm@116 1095
rlm@116 1096
rlm@117 1097 (defn follow-test
rlm@117 1098 "show a camera that stays in the same relative position to a blue cube."
rlm@117 1099 []
rlm@116 1100 (let [camera-pos (Vector3f. 0 30 0)
rlm@116 1101 rock (box 1 1 1 :color ColorRGBA/Blue
rlm@116 1102 :position (Vector3f. 0 10 0)
rlm@116 1103 :mass 30
rlm@116 1104 )
rlm@118 1105 rot (.getWorldRotation rock)
rlm@116 1106
rlm@116 1107 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
rlm@116 1108 :position (Vector3f. 0 -3 0))]
rlm@116 1109
rlm@116 1110 (world
rlm@116 1111 (nodify [rock table])
rlm@116 1112 standard-debug-controls
rlm@116 1113 (fn [world]
rlm@116 1114 (let
rlm@116 1115 [cam (doto (.clone (.getCamera world))
rlm@116 1116 (.setLocation camera-pos)
rlm@116 1117 (.lookAt Vector3f/ZERO
rlm@116 1118 Vector3f/UNIT_X))]
rlm@123 1119 (bind-sense rock cam)
rlm@116 1120
rlm@116 1121 (.setTimer world (RatchetTimer. 60))
rlm@116 1122 (add-eye world cam (comp (view-image) BufferedImage!))
rlm@116 1123 (add-eye world (.getCamera world) no-op))
rlm@116 1124 )
rlm@118 1125 (fn [_ _] (println-repl rot)))))
rlm@116 1126
rlm@118 1127
rlm@123 1128
rlm@87 1129 #+end_src
rlm@83 1130
rlm@87 1131 #+results: body-1
rlm@109 1132 : #'cortex.silly/test-creature
rlm@78 1133
rlm@78 1134
rlm@78 1135 * COMMENT purgatory
rlm@78 1136 #+begin_src clojure
rlm@77 1137 (defn bullet-trans []
rlm@77 1138 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 1139 :position (Vector3f. -10 5 0))
rlm@77 1140 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 1141 :position (Vector3f. -10 -5 0)
rlm@77 1142 :mass 0)
rlm@77 1143 control-a (.getControl obj-a RigidBodyControl)
rlm@77 1144 control-b (.getControl obj-b RigidBodyControl)
rlm@77 1145 swivel
rlm@77 1146 (.toRotationMatrix
rlm@77 1147 (doto (Quaternion.)
rlm@77 1148 (.fromAngleAxis (/ Math/PI 2)
rlm@77 1149 Vector3f/UNIT_X)))]
rlm@77 1150 (doto
rlm@77 1151 (ConeJoint.
rlm@77 1152 control-a control-b
rlm@77 1153 (Vector3f. 0 5 0)
rlm@77 1154 (Vector3f. 0 -5 0)
rlm@77 1155 swivel swivel)
rlm@77 1156 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 1157 (/ Math/PI 4)
rlm@77 1158 (* Math/PI 0.8)))
rlm@77 1159 (world (nodify
rlm@77 1160 [obj-a obj-b])
rlm@77 1161 standard-debug-controls
rlm@77 1162 enable-debug
rlm@77 1163 no-op)))
rlm@74 1164
rlm@74 1165
rlm@77 1166 (defn bullet-trans* []
rlm@77 1167 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 1168 :position (Vector3f. 5 0 0)
rlm@77 1169 :mass 90)
rlm@77 1170 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 1171 :position (Vector3f. -5 0 0)
rlm@77 1172 :mass 0)
rlm@77 1173 control-a (.getControl obj-a RigidBodyControl)
rlm@77 1174 control-b (.getControl obj-b RigidBodyControl)
rlm@77 1175 move-up? (atom nil)
rlm@77 1176 move-down? (atom nil)
rlm@77 1177 move-left? (atom nil)
rlm@77 1178 move-right? (atom nil)
rlm@77 1179 roll-left? (atom nil)
rlm@77 1180 roll-right? (atom nil)
rlm@77 1181 force 100
rlm@77 1182 swivel
rlm@77 1183 (.toRotationMatrix
rlm@77 1184 (doto (Quaternion.)
rlm@77 1185 (.fromAngleAxis (/ Math/PI 2)
rlm@77 1186 Vector3f/UNIT_X)))
rlm@77 1187 x-move
rlm@77 1188 (doto (Matrix3f.)
rlm@77 1189 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 1190 (.normalize (Vector3f. 1 1 0))))
rlm@77 1191
rlm@77 1192 timer (atom 0)]
rlm@77 1193 (doto
rlm@77 1194 (ConeJoint.
rlm@77 1195 control-a control-b
rlm@77 1196 (Vector3f. -8 0 0)
rlm@77 1197 (Vector3f. 2 0 0)
rlm@77 1198 ;;swivel swivel
rlm@77 1199 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 1200 x-move Matrix3f/IDENTITY
rlm@77 1201 )
rlm@77 1202 (.setCollisionBetweenLinkedBodys false)
rlm@77 1203 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 1204 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 1205 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 1206 (world (nodify
rlm@77 1207 [obj-a obj-b])
rlm@77 1208 (merge standard-debug-controls
rlm@77 1209 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 1210 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 1211 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 1212 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 1213 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 1214 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 1215
rlm@77 1216 (fn [world]
rlm@77 1217 (enable-debug world)
rlm@77 1218 (set-gravity world Vector3f/ZERO)
rlm@77 1219 )
rlm@77 1220
rlm@77 1221 (fn [world _]
rlm@77 1222
rlm@77 1223 (if @move-up?
rlm@77 1224 (.applyForce control-a
rlm@77 1225 (Vector3f. force 0 0)
rlm@77 1226 (Vector3f. 0 0 0)))
rlm@77 1227 (if @move-down?
rlm@77 1228 (.applyForce control-a
rlm@77 1229 (Vector3f. (- force) 0 0)
rlm@77 1230 (Vector3f. 0 0 0)))
rlm@77 1231 (if @move-left?
rlm@77 1232 (.applyForce control-a
rlm@77 1233 (Vector3f. 0 force 0)
rlm@77 1234 (Vector3f. 0 0 0)))
rlm@77 1235 (if @move-right?
rlm@77 1236 (.applyForce control-a
rlm@77 1237 (Vector3f. 0 (- force) 0)
rlm@77 1238 (Vector3f. 0 0 0)))
rlm@77 1239
rlm@77 1240 (if @roll-left?
rlm@77 1241 (.applyForce control-a
rlm@77 1242 (Vector3f. 0 0 force)
rlm@77 1243 (Vector3f. 0 0 0)))
rlm@77 1244 (if @roll-right?
rlm@77 1245 (.applyForce control-a
rlm@77 1246 (Vector3f. 0 0 (- force))
rlm@77 1247 (Vector3f. 0 0 0)))
rlm@77 1248
rlm@77 1249 (if (zero? (rem (swap! timer inc) 100))
rlm@77 1250 (.attachChild
rlm@77 1251 (.getRootNode world)
rlm@77 1252 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 1253 :physical? false :position
rlm@77 1254 (.getWorldTranslation obj-a)))))
rlm@77 1255 )
rlm@77 1256 ))
rlm@77 1257
rlm@94 1258 (defn transform-trianglesdsd
rlm@94 1259 "Transform that converts each vertex in the first triangle
rlm@94 1260 into the corresponding vertex in the second triangle."
rlm@94 1261 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 1262 (let [in [(.get1 tri-1)
rlm@94 1263 (.get2 tri-1)
rlm@94 1264 (.get3 tri-1)]
rlm@94 1265 out [(.get1 tri-2)
rlm@94 1266 (.get2 tri-2)
rlm@94 1267 (.get3 tri-2)]]
rlm@94 1268 (let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
rlm@94 1269 in* [(.mult translate (in 0))
rlm@94 1270 (.mult translate (in 1))
rlm@94 1271 (.mult translate (in 2))]
rlm@94 1272 final-translation
rlm@94 1273 (doto (Matrix4f.)
rlm@94 1274 (.setTranslation (out 1)))
rlm@94 1275
rlm@94 1276 rotate-1
rlm@94 1277 (doto (Matrix3f.)
rlm@94 1278 (.fromStartEndVectors
rlm@94 1279 (.normalize
rlm@94 1280 (.subtract
rlm@94 1281 (in* 1) (in* 0)))
rlm@94 1282 (.normalize
rlm@94 1283 (.subtract
rlm@94 1284 (out 1) (out 0)))))
rlm@94 1285 in** [(.mult rotate-1 (in* 0))
rlm@94 1286 (.mult rotate-1 (in* 1))
rlm@94 1287 (.mult rotate-1 (in* 2))]
rlm@94 1288 scale-factor-1
rlm@94 1289 (.mult
rlm@94 1290 (.normalize
rlm@94 1291 (.subtract
rlm@94 1292 (out 1)
rlm@94 1293 (out 0)))
rlm@94 1294 (/ (.length
rlm@94 1295 (.subtract (out 1)
rlm@94 1296 (out 0)))
rlm@94 1297 (.length
rlm@94 1298 (.subtract (in** 1)
rlm@94 1299 (in** 0)))))
rlm@94 1300 scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
rlm@94 1301 in*** [(.mult scale-1 (in** 0))
rlm@94 1302 (.mult scale-1 (in** 1))
rlm@94 1303 (.mult scale-1 (in** 2))]
rlm@94 1304
rlm@94 1305
rlm@94 1306
rlm@94 1307
rlm@94 1308
rlm@94 1309 ]
rlm@94 1310
rlm@94 1311 (dorun (map println in))
rlm@94 1312 (println)
rlm@94 1313 (dorun (map println in*))
rlm@94 1314 (println)
rlm@94 1315 (dorun (map println in**))
rlm@94 1316 (println)
rlm@94 1317 (dorun (map println in***))
rlm@94 1318 (println)
rlm@94 1319
rlm@99 1320 ))))
rlm@94 1321
rlm@94 1322
rlm@106 1323 (defn world-setup [joint]
rlm@106 1324 (let [joint-position (Vector3f. 0 0 0)
rlm@106 1325 joint-rotation
rlm@106 1326 (.toRotationMatrix
rlm@106 1327 (.mult
rlm@106 1328 (doto (Quaternion.)
rlm@106 1329 (.fromAngleAxis
rlm@106 1330 (* 1 (/ Math/PI 4))
rlm@106 1331 (Vector3f. -1 0 0)))
rlm@106 1332 (doto (Quaternion.)
rlm@106 1333 (.fromAngleAxis
rlm@106 1334 (* 1 (/ Math/PI 2))
rlm@106 1335 (Vector3f. 0 0 1)))))
rlm@106 1336 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@106 1337
rlm@106 1338 origin (doto
rlm@106 1339 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@106 1340 :position top-position))
rlm@106 1341 top (doto
rlm@106 1342 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@106 1343 :position top-position)
rlm@106 1344
rlm@106 1345 (.addControl
rlm@106 1346 (RigidBodyControl.
rlm@106 1347 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@106 1348 bottom (doto
rlm@106 1349 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@106 1350 :position (Vector3f. 0 0 0))
rlm@106 1351 (.addControl
rlm@106 1352 (RigidBodyControl.
rlm@106 1353 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@106 1354 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@106 1355 :color ColorRGBA/Gray :mass 0)
rlm@106 1356 a (.getControl top RigidBodyControl)
rlm@106 1357 b (.getControl bottom RigidBodyControl)]
rlm@106 1358
rlm@106 1359 (cond
rlm@106 1360 (= joint :cone)
rlm@106 1361
rlm@106 1362 (doto (ConeJoint.
rlm@106 1363 a b
rlm@106 1364 (world-to-local top joint-position)
rlm@106 1365 (world-to-local bottom joint-position)
rlm@106 1366 joint-rotation
rlm@106 1367 joint-rotation
rlm@106 1368 )
rlm@106 1369
rlm@106 1370
rlm@106 1371 (.setLimit (* (/ 10) Math/PI)
rlm@106 1372 (* (/ 4) Math/PI)
rlm@106 1373 0)))
rlm@106 1374 [origin top bottom table]))
rlm@106 1375
rlm@106 1376 (defn test-joint [joint]
rlm@106 1377 (let [[origin top bottom floor] (world-setup joint)
rlm@106 1378 control (.getControl top RigidBodyControl)
rlm@106 1379 move-up? (atom false)
rlm@106 1380 move-down? (atom false)
rlm@106 1381 move-left? (atom false)
rlm@106 1382 move-right? (atom false)
rlm@106 1383 roll-left? (atom false)
rlm@106 1384 roll-right? (atom false)
rlm@106 1385 timer (atom 0)]
rlm@106 1386
rlm@106 1387 (world
rlm@106 1388 (nodify [top bottom floor origin])
rlm@106 1389 (merge standard-debug-controls
rlm@106 1390 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106 1391 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106 1392 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106 1393 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106 1394 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106 1395 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@106 1396
rlm@106 1397 (fn [world]
rlm@106 1398 (light-up-everything world)
rlm@106 1399 (enable-debug world)
rlm@106 1400 (set-gravity world (Vector3f. 0 0 0))
rlm@106 1401 )
rlm@106 1402
rlm@106 1403 (fn [world _]
rlm@106 1404 (if (zero? (rem (swap! timer inc) 100))
rlm@106 1405 (do
rlm@106 1406 ;; (println-repl @timer)
rlm@106 1407 (.attachChild (.getRootNode world)
rlm@106 1408 (sphere 0.05 :color ColorRGBA/Yellow
rlm@106 1409 :position (.getWorldTranslation top)
rlm@106 1410 :physical? false))
rlm@106 1411 (.attachChild (.getRootNode world)
rlm@106 1412 (sphere 0.05 :color ColorRGBA/LightGray
rlm@106 1413 :position (.getWorldTranslation bottom)
rlm@106 1414 :physical? false))))
rlm@106 1415
rlm@106 1416 (if @move-up?
rlm@106 1417 (.applyTorque control
rlm@106 1418 (.mult (.getPhysicsRotation control)
rlm@106 1419 (Vector3f. 0 0 10))))
rlm@106 1420 (if @move-down?
rlm@106 1421 (.applyTorque control
rlm@106 1422 (.mult (.getPhysicsRotation control)
rlm@106 1423 (Vector3f. 0 0 -10))))
rlm@106 1424 (if @move-left?
rlm@106 1425 (.applyTorque control
rlm@106 1426 (.mult (.getPhysicsRotation control)
rlm@106 1427 (Vector3f. 0 10 0))))
rlm@106 1428 (if @move-right?
rlm@106 1429 (.applyTorque control
rlm@106 1430 (.mult (.getPhysicsRotation control)
rlm@106 1431 (Vector3f. 0 -10 0))))
rlm@106 1432 (if @roll-left?
rlm@106 1433 (.applyTorque control
rlm@106 1434 (.mult (.getPhysicsRotation control)
rlm@106 1435 (Vector3f. -1 0 0))))
rlm@106 1436 (if @roll-right?
rlm@106 1437 (.applyTorque control
rlm@106 1438 (.mult (.getPhysicsRotation control)
rlm@106 1439 (Vector3f. 1 0 0))))))))
rlm@106 1440
rlm@99 1441
rlm@99 1442
rlm@107 1443 (defprotocol Frame
rlm@107 1444 (frame [this]))
rlm@107 1445
rlm@107 1446 (extend-type BufferedImage
rlm@107 1447 Frame
rlm@107 1448 (frame [image]
rlm@107 1449 (merge
rlm@107 1450 (apply
rlm@107 1451 hash-map
rlm@107 1452 (interleave
rlm@107 1453 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@107 1454 (vector x y)))
rlm@107 1455 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@107 1456 (let [data (.getRGB image x y)]
rlm@107 1457 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@107 1458 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@107 1459 :b (bit-and 0x0000ff data)))))))
rlm@107 1460 {:width (.getWidth image) :height (.getHeight image)})))
rlm@107 1461
rlm@107 1462
rlm@107 1463 (extend-type ImagePlus
rlm@107 1464 Frame
rlm@107 1465 (frame [image+]
rlm@107 1466 (frame (.getBufferedImage image+))))
rlm@107 1467
rlm@107 1468
rlm@99 1469 #+end_src
rlm@99 1470
rlm@99 1471
rlm@99 1472 * COMMENT generate source
rlm@99 1473 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99 1474 <<body-1>>
rlm@99 1475 #+end_src
rlm@99 1476
rlm@99 1477
rlm@94 1478
rlm@94 1479