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can visualize a collection of points now.
author Robert McIntyre <rlm@mit.edu>
date Sat, 14 Jan 2012 01:19:18 -0700
parents b7a3ba5e879b
children 65332841b7d9
rev   line source
rlm@73 1 #+title: First attempt at a creature!
rlm@73 2 #+author: Robert McIntyre
rlm@73 3 #+email: rlm@mit.edu
rlm@73 4 #+description:
rlm@73 5 #+keywords: simulation, jMonkeyEngine3, clojure
rlm@73 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@73 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@73 8
rlm@99 9
rlm@99 10 * objectives
rlm@99 11 - [ ] get an overall bitmap-like image for touch
rlm@99 12 - [ ] write code to visuliaze this bitmap
rlm@99 13 - [ ] directly change the UV-pixels to show touch sensor activation
rlm@99 14 - [ ] write an explination for why b&w bitmaps for senses is appropiate
rlm@99 15 - [ ] clean up touch code and write visulazation test
rlm@99 16 - [ ] do the same for eyes
rlm@99 17
rlm@73 18 * Intro
rlm@73 19 So far, I've made the following senses --
rlm@73 20 - Vision
rlm@73 21 - Hearing
rlm@73 22 - Touch
rlm@73 23 - Proprioception
rlm@73 24
rlm@73 25 And one effector:
rlm@73 26 - Movement
rlm@73 27
rlm@73 28 However, the code so far has only enabled these senses, but has not
rlm@73 29 actually implemented them. For example, there is still a lot of work
rlm@73 30 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 31 simulation that can be moved around and see the world from different
rlm@73 32 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 33 for the visual input, and I need to determine how/wether to
rlm@73 34 disceritise the visual input.
rlm@73 35
rlm@73 36 I also want to be able to visualize both the sensors and the
rlm@73 37 effectors in pretty pictures. This semi-retarted creature will by my
rlm@73 38 first attempt at bringing everything together.
rlm@73 39
rlm@73 40 * The creature's body
rlm@73 41
rlm@73 42 Still going to do an eve-like body in blender, but due to problems
rlm@73 43 importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73 44 the connecting here in clojure code, using the names of the individual
rlm@73 45 components and trial and error. Later, I'll maybe make some sort of
rlm@73 46 creature-building modifications to blender that support whatever
rlm@73 47 discreitized senses I'm going to make.
rlm@73 48
rlm@73 49 #+name: body-1
rlm@73 50 #+begin_src clojure
rlm@73 51 (ns cortex.silly
rlm@73 52 "let's play!"
rlm@73 53 {:author "Robert McIntyre"})
rlm@73 54
rlm@73 55 ;; TODO remove this!
rlm@73 56 (require 'cortex.import)
rlm@73 57 (cortex.import/mega-import-jme3)
rlm@73 58 (use '(cortex world util body hearing touch vision))
rlm@73 59
rlm@73 60 (rlm.rlm-commands/help)
rlm@99 61 (import java.awt.image.BufferedImage)
rlm@99 62 (import javax.swing.JPanel)
rlm@99 63 (import javax.swing.SwingUtilities)
rlm@99 64 (import java.awt.Dimension)
rlm@99 65 (import javax.swing.JFrame)
rlm@99 66 (import java.awt.Dimension)
rlm@99 67 (declare joint-create)
rlm@73 68
rlm@99 69 (defn view-image
rlm@99 70 "Initailizes a JPanel on which you may draw a BufferedImage.
rlm@99 71 Returns a function that accepts a BufferedImage and draws it to the
rlm@99 72 JPanel."
rlm@99 73 []
rlm@99 74 (let [image
rlm@99 75 (atom
rlm@99 76 (BufferedImage. 1 1 BufferedImage/TYPE_4BYTE_ABGR))
rlm@99 77 panel
rlm@99 78 (proxy [JPanel] []
rlm@99 79 (paint
rlm@99 80 [graphics]
rlm@99 81 (proxy-super paintComponent graphics)
rlm@99 82 (.drawImage graphics @image 0 0 nil)))
rlm@99 83 frame (JFrame. "Display Image")]
rlm@99 84 (SwingUtilities/invokeLater
rlm@99 85 (fn []
rlm@99 86 (doto frame
rlm@99 87 (-> (.getContentPane) (.add panel))
rlm@99 88 (.pack)
rlm@99 89 (.setLocationRelativeTo nil)
rlm@99 90 (.setResizable true)
rlm@99 91 (.setVisible true))))
rlm@99 92 (fn [#^BufferedImage i]
rlm@99 93 (reset! image i)
rlm@99 94 (.setSize frame (+ 8 (.getWidth i)) (+ 28 (.getHeight i)))
rlm@99 95 (.repaint panel 0 0 (.getWidth i) (.getHeight i)))))
rlm@99 96
rlm@100 97 (defn points->image
rlm@100 98 "Take a sparse collection of points and visuliaze it as a
rlm@100 99 BufferedImage."
rlm@100 100 [points]
rlm@100 101 (let [xs (map first points)
rlm@100 102 ys (map second points)
rlm@100 103 width (- (apply max xs) (apply min xs))
rlm@100 104 height (- (apply max ys) (apply min ys))
rlm@100 105 image (BufferedImage. width height
rlm@100 106 BufferedImage/TYPE_BYTE_BINARY)
rlm@100 107
rlm@99 108
rlm@100 109
rlm@100 110 ))
rlm@100 111
rlm@100 112
rlm@100 113
rlm@100 114
rlm@100 115 ;;(defn visualize [points]
rlm@99 116
rlm@99 117
rlm@99 118
rlm@99 119 (defn collapse
rlm@99 120 "Take a set of pairs of integers and collapse them into a
rlm@99 121 contigous bitmap."
rlm@99 122 [points]
rlm@99 123 (let [center [0 0]]
rlm@99 124
rlm@99 125 )
rlm@99 126
rlm@99 127
rlm@99 128
rlm@99 129
rlm@99 130
rlm@99 131
rlm@99 132
rlm@99 133
rlm@99 134
rlm@83 135
rlm@83 136 (defn load-bullet []
rlm@84 137 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 138 (.enqueue
rlm@84 139 sim
rlm@84 140 (fn []
rlm@84 141 (.stop sim)))
rlm@84 142 (.start sim)))
rlm@83 143
rlm@73 144 (defn load-blender-model
rlm@73 145 "Load a .blend file using an asset folder relative path."
rlm@73 146 [^String model]
rlm@73 147 (.loadModel
rlm@73 148 (doto (asset-manager)
rlm@73 149 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 150 model))
rlm@73 151
rlm@74 152 (defn meta-data [blender-node key]
rlm@74 153 (if-let [data (.getUserData blender-node "properties")]
rlm@74 154 (.findValue data key)
rlm@74 155 nil))
rlm@73 156
rlm@78 157 (defn blender-to-jme
rlm@78 158 "Convert from Blender coordinates to JME coordinates"
rlm@78 159 [#^Vector3f in]
rlm@78 160 (Vector3f. (.getX in)
rlm@78 161 (.getZ in)
rlm@78 162 (- (.getY in))))
rlm@74 163
rlm@79 164 (defn jme-to-blender
rlm@79 165 "Convert from JME coordinates to Blender coordinates"
rlm@79 166 [#^Vector3f in]
rlm@79 167 (Vector3f. (.getX in)
rlm@79 168 (- (.getZ in))
rlm@79 169 (.getY in)))
rlm@79 170
rlm@78 171 (defn joint-targets
rlm@78 172 "Return the two closest two objects to the joint object, ordered
rlm@78 173 from bottom to top according to the joint's rotation."
rlm@78 174 [#^Node parts #^Node joint]
rlm@78 175 ;;(println (meta-data joint "joint"))
rlm@78 176 (.getWorldRotation joint)
rlm@78 177 (loop [radius (float 0.01)]
rlm@78 178 (let [results (CollisionResults.)]
rlm@78 179 (.collideWith
rlm@78 180 parts
rlm@78 181 (BoundingBox. (.getWorldTranslation joint)
rlm@78 182 radius radius radius)
rlm@78 183 results)
rlm@78 184 (let [targets
rlm@78 185 (distinct
rlm@78 186 (map #(.getGeometry %) results))]
rlm@78 187 (if (>= (count targets) 2)
rlm@78 188 (sort-by
rlm@79 189 #(let [v
rlm@79 190 (jme-to-blender
rlm@79 191 (.mult
rlm@79 192 (.inverse (.getWorldRotation joint))
rlm@79 193 (.subtract (.getWorldTranslation %)
rlm@79 194 (.getWorldTranslation joint))))]
rlm@79 195 (println-repl (.getName %) ":" v)
rlm@79 196 (.dot (Vector3f. 1 1 1)
rlm@79 197 v))
rlm@78 198 (take 2 targets))
rlm@78 199 (recur (float (* radius 2))))))))
rlm@74 200
rlm@87 201 (defn world-to-local
rlm@87 202 "Convert the world coordinates into coordinates relative to the
rlm@87 203 object (i.e. local coordinates), taking into account the rotation
rlm@87 204 of object."
rlm@87 205 [#^Spatial object world-coordinate]
rlm@87 206 (let [out (Vector3f.)]
rlm@88 207 (.worldToLocal object world-coordinate out) out))
rlm@87 208
rlm@96 209 (defn local-to-world
rlm@96 210 "Convert the local coordinates into coordinates into world relative
rlm@96 211 coordinates"
rlm@96 212 [#^Spatial object local-coordinate]
rlm@96 213 (let [world-coordinate (Vector3f.)]
rlm@96 214 (.localToWorld object local-coordinate world-coordinate)
rlm@96 215 world-coordinate))
rlm@96 216
rlm@96 217
rlm@87 218 (defmulti joint-dispatch
rlm@87 219 "Translate blender pseudo-joints into real JME joints."
rlm@88 220 (fn [constraints & _]
rlm@87 221 (:type constraints)))
rlm@87 222
rlm@87 223 (defmethod joint-dispatch :point
rlm@87 224 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 225 (println-repl "creating POINT2POINT joint")
rlm@87 226 (Point2PointJoint.
rlm@87 227 control-a
rlm@87 228 control-b
rlm@87 229 pivot-a
rlm@87 230 pivot-b))
rlm@87 231
rlm@87 232 (defmethod joint-dispatch :hinge
rlm@87 233 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 234 (println-repl "creating HINGE joint")
rlm@87 235 (let [axis
rlm@87 236 (if-let
rlm@87 237 [axis (:axis constraints)]
rlm@87 238 axis
rlm@87 239 Vector3f/UNIT_X)
rlm@87 240 [limit-1 limit-2] (:limit constraints)
rlm@87 241 hinge-axis
rlm@87 242 (.mult
rlm@87 243 rotation
rlm@87 244 (blender-to-jme axis))]
rlm@87 245 (doto
rlm@87 246 (HingeJoint.
rlm@87 247 control-a
rlm@87 248 control-b
rlm@87 249 pivot-a
rlm@87 250 pivot-b
rlm@87 251 hinge-axis
rlm@87 252 hinge-axis)
rlm@87 253 (.setLimit limit-1 limit-2))))
rlm@87 254
rlm@87 255 (defmethod joint-dispatch :cone
rlm@87 256 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 257 (let [limit-xz (:limit-xz constraints)
rlm@87 258 limit-xy (:limit-xy constraints)
rlm@87 259 twist (:twist constraints)]
rlm@87 260
rlm@87 261 (println-repl "creating CONE joint")
rlm@87 262 (println-repl rotation)
rlm@87 263 (println-repl
rlm@87 264 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 265 (println-repl
rlm@87 266 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 267 (println-repl
rlm@87 268 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 269 (doto
rlm@87 270 (ConeJoint.
rlm@87 271 control-a
rlm@87 272 control-b
rlm@87 273 pivot-a
rlm@87 274 pivot-b
rlm@87 275 rotation
rlm@87 276 rotation)
rlm@87 277 (.setLimit (float limit-xz)
rlm@87 278 (float limit-xy)
rlm@87 279 (float twist)))))
rlm@87 280
rlm@88 281 (defn connect
rlm@87 282 "here are some examples:
rlm@87 283 {:type :point}
rlm@87 284 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 285 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 286
rlm@89 287 {:type :cone :limit-xz 0]
rlm@89 288 :limit-xy 0]
rlm@89 289 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 290 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 291 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 292 control-b (.getControl obj-b RigidBodyControl)
rlm@87 293 joint-center (.getWorldTranslation joint)
rlm@87 294 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 295 pivot-a (world-to-local obj-a joint-center)
rlm@87 296 pivot-b (world-to-local obj-b joint-center)]
rlm@89 297
rlm@87 298 (if-let [constraints
rlm@87 299 (map-vals
rlm@87 300 eval
rlm@87 301 (read-string
rlm@87 302 (meta-data joint "joint")))]
rlm@89 303 ;; A side-effect of creating a joint registers
rlm@89 304 ;; it with both physics objects which in turn
rlm@89 305 ;; will register the joint with the physics system
rlm@89 306 ;; when the simulation is started.
rlm@87 307 (do
rlm@87 308 (println-repl "creating joint between"
rlm@87 309 (.getName obj-a) "and" (.getName obj-b))
rlm@87 310 (joint-dispatch constraints
rlm@87 311 control-a control-b
rlm@87 312 pivot-a pivot-b
rlm@87 313 joint-rotation))
rlm@87 314 (println-repl "could not find joint meta-data!"))))
rlm@87 315
rlm@78 316 (defn assemble-creature [#^Node pieces joints]
rlm@78 317 (dorun
rlm@78 318 (map
rlm@78 319 (fn [geom]
rlm@78 320 (let [physics-control
rlm@78 321 (RigidBodyControl.
rlm@78 322 (HullCollisionShape.
rlm@78 323 (.getMesh geom))
rlm@78 324 (if-let [mass (meta-data geom "mass")]
rlm@78 325 (do
rlm@78 326 (println-repl
rlm@78 327 "setting" (.getName geom) "mass to" (float mass))
rlm@78 328 (float mass))
rlm@78 329 (float 1)))]
rlm@78 330
rlm@78 331 (.addControl geom physics-control)))
rlm@78 332 (filter #(isa? (class %) Geometry )
rlm@78 333 (node-seq pieces))))
rlm@78 334 (dorun
rlm@78 335 (map
rlm@78 336 (fn [joint]
rlm@78 337 (let [[obj-a obj-b]
rlm@78 338 (joint-targets pieces joint)]
rlm@88 339 (connect obj-a obj-b joint)))
rlm@78 340 joints))
rlm@78 341 pieces)
rlm@74 342
rlm@78 343 (defn blender-creature [blender-path]
rlm@78 344 (let [model (load-blender-model blender-path)
rlm@78 345 joints
rlm@78 346 (if-let [joint-node (.getChild model "joints")]
rlm@78 347 (seq (.getChildren joint-node))
rlm@78 348 (do (println-repl "could not find joints node")
rlm@78 349 []))]
rlm@78 350 (assemble-creature model joints)))
rlm@74 351
rlm@78 352 (def hand "Models/creature1/one.blend")
rlm@74 353
rlm@78 354 (def worm "Models/creature1/try-again.blend")
rlm@78 355
rlm@90 356 (def touch "Models/creature1/touch.blend")
rlm@90 357
rlm@90 358 (defn worm-model [] (load-blender-model worm))
rlm@90 359
rlm@80 360 (defn x-ray [#^ColorRGBA color]
rlm@80 361 (doto (Material. (asset-manager)
rlm@80 362 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 363 (.setColor "Color" color)
rlm@80 364 (-> (.getAdditionalRenderState)
rlm@80 365 (.setDepthTest false))))
rlm@80 366
rlm@78 367 (defn test-creature [thing]
rlm@80 368 (let [x-axis
rlm@80 369 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 370 y-axis
rlm@80 371 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 372 z-axis
rlm@80 373 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 374 (world
rlm@78 375 (nodify [(blender-creature thing)
rlm@81 376 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 377 :color ColorRGBA/Gray :mass 0)
rlm@80 378 x-axis y-axis z-axis
rlm@80 379 ])
rlm@78 380 standard-debug-controls
rlm@90 381 (fn [world]
rlm@90 382 (light-up-everything world)
rlm@90 383 (enable-debug world)
rlm@90 384 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 385 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 386 (.setTimer world (NanoTimer.))
rlm@93 387 (set-gravity world (Vector3f. 0 0 0))
rlm@90 388 (speed-up world)
rlm@90 389 )
rlm@90 390 no-op
rlm@90 391 ;;(let [timer (atom 0)]
rlm@90 392 ;; (fn [_ _]
rlm@90 393 ;; (swap! timer inc)
rlm@90 394 ;; (if (= (rem @timer 60) 0)
rlm@90 395 ;; (println-repl (float (/ @timer 60))))))
rlm@90 396 )))
rlm@90 397
rlm@91 398 (defn colorful []
rlm@91 399 (.getChild (worm-model) "worm-21"))
rlm@90 400
rlm@90 401 (import jme3tools.converters.ImageToAwt)
rlm@90 402
rlm@90 403 (import ij.ImagePlus)
rlm@90 404
rlm@90 405 (defn triangle-indices
rlm@90 406 "Get the triangle vertex indices of a given triangle from a given
rlm@90 407 mesh."
rlm@90 408 [#^Mesh mesh triangle-index]
rlm@90 409 (let [indices (int-array 3)]
rlm@90 410 (.getTriangle mesh triangle-index indices)
rlm@90 411 (vec indices)))
rlm@90 412
rlm@90 413 (defn uv-coord
rlm@90 414 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 415 [#^Mesh mesh vertex-index]
rlm@90 416 (let [UV-buffer
rlm@90 417 (.getData
rlm@90 418 (.getBuffer
rlm@90 419 mesh
rlm@90 420 VertexBuffer$Type/TexCoord))]
rlm@91 421 (Vector2f.
rlm@91 422 (.get UV-buffer (* vertex-index 2))
rlm@91 423 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 424
rlm@93 425 (defn tri-uv-coord
rlm@93 426 "Get the uv-cooridnates of the triangle's verticies."
rlm@93 427 [#^Mesh mesh #^Triangle triangle]
rlm@93 428 (map (partial uv-coord mesh)
rlm@93 429 (triangle-indices mesh (.getIndex triangle))))
rlm@93 430
rlm@91 431 (defn touch-receptor-image
rlm@97 432 "Return the touch-sensor distribution image in ImagePlus format, or
rlm@97 433 nil if it does not exist."
rlm@91 434 [#^Geometry obj]
rlm@97 435 (let [mat (.getMaterial obj)]
rlm@97 436 (if-let [texture-param
rlm@97 437 (.getTextureParam
rlm@97 438 mat
rlm@97 439 MaterialHelper/TEXTURE_TYPE_DIFFUSE)]
rlm@97 440 (let
rlm@97 441 [texture
rlm@97 442 (.getTextureValue texture-param)
rlm@97 443 im (.getImage texture)]
rlm@97 444 (ImagePlus.
rlm@97 445 "UV-map"
rlm@97 446 (ImageToAwt/convert im false false 0))))))
rlm@91 447
rlm@91 448 (import ij.process.ImageProcessor)
rlm@91 449 (import java.awt.image.BufferedImage)
rlm@91 450
rlm@91 451 (defprotocol Frame
rlm@91 452 (frame [this]))
rlm@91 453
rlm@91 454 (extend-type BufferedImage
rlm@91 455 Frame
rlm@91 456 (frame [image]
rlm@91 457 (merge
rlm@91 458 (apply
rlm@91 459 hash-map
rlm@91 460 (interleave
rlm@91 461 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 462 (vector x y)))
rlm@91 463 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 464 (let [data (.getRGB image x y)]
rlm@91 465 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 466 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 467 :b (bit-and 0x0000ff data)))))))
rlm@91 468 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 469
rlm@91 470
rlm@91 471 (extend-type ImagePlus
rlm@91 472 Frame
rlm@91 473 (frame [image+]
rlm@91 474 (frame (.getBufferedImage image+))))
rlm@91 475
rlm@94 476
rlm@92 477 (def white -1)
rlm@94 478
rlm@91 479 (defn filter-pixels
rlm@91 480 "List the coordinates of all pixels matching pred."
rlm@92 481 {:author "Dylan Holmes"}
rlm@91 482 [pred #^ImageProcessor ip]
rlm@91 483 (let
rlm@91 484 [width (.getWidth ip)
rlm@91 485 height (.getHeight ip)]
rlm@91 486 ((fn accumulate [x y matches]
rlm@91 487 (cond
rlm@91 488 (>= y height) matches
rlm@91 489 (>= x width) (recur 0 (inc y) matches)
rlm@91 490 (pred (.getPixel ip x y))
rlm@91 491 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 492 :else (recur (inc x) y matches)))
rlm@91 493 0 0 [])))
rlm@91 494
rlm@91 495 (defn white-coordinates
rlm@91 496 "List the coordinates of all the white pixels in an image."
rlm@91 497 [#^ImageProcessor ip]
rlm@92 498 (filter-pixels #(= % white) ip))
rlm@91 499
rlm@91 500 (defn same-side? [p1 p2 ref p]
rlm@91 501 (<=
rlm@91 502 0
rlm@91 503 (.dot
rlm@91 504 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 505 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 506
rlm@94 507
rlm@94 508 (defn triangle->matrix4f
rlm@94 509 "Converts the triangle into a 4x4 matrix of vertices: The first
rlm@94 510 three columns contain the vertices of the triangle; the last
rlm@94 511 contains the unit normal of the triangle. The bottom row is filled
rlm@94 512 with 1s."
rlm@94 513 [#^Triangle t]
rlm@94 514 (let [mat (Matrix4f.)
rlm@94 515 [vert-1 vert-2 vert-3]
rlm@94 516 ((comp vec map) #(.get t %) (range 3))
rlm@94 517 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@94 518 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@94 519
rlm@94 520 (dorun
rlm@94 521 (for [row (range 4) col (range 3)]
rlm@94 522 (do
rlm@94 523 (.set mat col row (.get (vertices row)col))
rlm@94 524 (.set mat 3 row 1))))
rlm@94 525 mat))
rlm@94 526
rlm@94 527 (defn triangle-transformation
rlm@94 528 "Returns the affine transformation that converts each vertex in the
rlm@94 529 first triangle into the corresponding vertex in the second
rlm@94 530 triangle."
rlm@94 531 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 532 (.mult
rlm@94 533 (triangle->matrix4f tri-2)
rlm@94 534 (.invert (triangle->matrix4f tri-1))))
rlm@94 535
rlm@94 536 (def death (Triangle.
rlm@94 537 (Vector3f. 1 1 1)
rlm@94 538 (Vector3f. 1 2 3)
rlm@94 539 (Vector3f. 5 6 7)))
rlm@94 540
rlm@94 541 (def death-2 (Triangle.
rlm@94 542 (Vector3f. 2 2 2)
rlm@94 543 (Vector3f. 1 1 1)
rlm@94 544 (Vector3f. 0 1 0)))
rlm@94 545
rlm@94 546 (defn vector2f->vector3f [v]
rlm@94 547 (Vector3f. (.getX v) (.getY v) 0))
rlm@94 548
rlm@94 549
rlm@94 550 (extend-type Triangle
rlm@94 551 Textual
rlm@94 552 (text [t]
rlm@94 553 (println "Triangle: " \newline (.get1 t) \newline
rlm@94 554 (.get2 t) \newline (.get3 t))))
rlm@94 555
rlm@94 556
rlm@94 557 (defn map-triangle [f #^Triangle tri]
rlm@94 558 (Triangle.
rlm@94 559 (f 0 (.get1 tri))
rlm@94 560 (f 1 (.get2 tri))
rlm@94 561 (f 2 (.get3 tri))))
rlm@94 562
rlm@94 563 (defn triangle-seq [#^Triangle tri]
rlm@94 564 [(.get1 tri) (.get2 tri) (.get3 tri)])
rlm@94 565
rlm@94 566 (defn vector3f-seq [#^Vector3f v]
rlm@94 567 [(.getX v) (.getY v) (.getZ v)])
rlm@94 568
rlm@91 569 (defn inside-triangle?
rlm@94 570 "Is the point inside the triangle? Now what do we do?
rlm@94 571 You might want to hold on there"
rlm@95 572 {:author "Dylan Holmes"}
rlm@94 573 [tri p]
rlm@94 574 (let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
rlm@94 575 (and
rlm@94 576 (same-side? vert-1 vert-2 vert-3 p)
rlm@94 577 (same-side? vert-2 vert-3 vert-1 p)
rlm@94 578 (same-side? vert-3 vert-1 vert-2 p))))
rlm@91 579
rlm@94 580 (defn uv-triangle
rlm@94 581 "Convert the mesh triangle into the cooresponding triangle in
rlm@94 582 UV-space. Z-component of these triangles is always zero."
rlm@94 583 [#^Mesh mesh #^Triangle tri]
rlm@94 584 (apply #(Triangle. %1 %2 %3)
rlm@94 585 (map vector2f->vector3f
rlm@94 586 (tri-uv-coord mesh tri))))
rlm@91 587
rlm@94 588 (defn pixel-triangle
rlm@94 589 "Convert the mesh triange into the corresponding triangle in
rlm@94 590 UV-pixel-space. Z compenent will be zero."
rlm@94 591 [#^Mesh mesh #^Triangle tri width height]
rlm@94 592 (map-triangle (fn [_ v]
rlm@94 593 (Vector3f. (* width (.getX v))
rlm@94 594 (* height (.getY v))
rlm@94 595 0))
rlm@94 596 (uv-triangle mesh tri)))
rlm@93 597
rlm@96 598 (def rasterize pixel-triangle)
rlm@96 599
rlm@96 600
rlm@94 601 (defn triangle-bounds
rlm@94 602 "Dimensions of the bounding square of the triangle in the form
rlm@94 603 [x y width height].
rlm@94 604 Assumes that the triangle lies in the XY plane."
rlm@94 605 [#^Triangle tri]
rlm@94 606 (let [verts (map vector3f-seq (triangle-seq tri))
rlm@94 607 x (apply min (map first verts))
rlm@94 608 y (apply min (map second verts))]
rlm@93 609
rlm@94 610 [x y
rlm@94 611 (- (apply max (map first verts)) x)
rlm@94 612 (- (apply max (map second verts)) y)
rlm@94 613 ]))
rlm@93 614
rlm@93 615
rlm@97 616 (defn locate-feelers
rlm@94 617 "Search the geometry's tactile UV image for touch sensors, returning
rlm@94 618 their positions in geometry-relative coordinates."
rlm@94 619 [#^Geometry geo]
rlm@97 620 (if-let [image (touch-receptor-image geo)]
rlm@97 621 (let [mesh (.getMesh geo)
rlm@97 622 tris (triangles geo)
rlm@97 623
rlm@97 624
rlm@97 625 width (.getWidth image)
rlm@97 626 height (.getHeight image)
rlm@97 627
rlm@97 628 ;; for each triangle
rlm@97 629 sensor-coords
rlm@97 630 (fn [tri]
rlm@97 631 ;; translate triangle to uv-pixel-space
rlm@97 632 (let [uv-tri
rlm@97 633 (pixel-triangle mesh tri width height)
rlm@97 634 bounds (vec (triangle-bounds uv-tri))]
rlm@97 635
rlm@97 636 ;; get that part of the picture
rlm@97 637
rlm@97 638 (apply #(.setRoi image %1 %2 %3 %4) bounds)
rlm@97 639 (let [cutout (.crop (.getProcessor image))
rlm@97 640 ;; extract white pixels inside triangle
rlm@97 641 cutout-tri
rlm@97 642 (map-triangle
rlm@97 643 (fn [_ v]
rlm@97 644 (.subtract
rlm@97 645 v
rlm@97 646 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 647 uv-tri)
rlm@97 648 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 649 (map vector2f->vector3f
rlm@97 650 (white-coordinates cutout)))
rlm@97 651 ;; translate pixel coordinates to world-space
rlm@97 652 transform (triangle-transformation cutout-tri tri)]
rlm@97 653 (map #(.mult transform %) whites))))]
rlm@97 654 (vec (map sensor-coords tris)))
rlm@97 655 (repeat (count (triangles geo)) [])))
rlm@97 656
rlm@97 657 (defn enable-touch [#^Geometry geo]
rlm@97 658 (let [feeler-coords (locate-feelers geo)
rlm@96 659 tris (triangles geo)
rlm@97 660 limit 0.1]
rlm@97 661 (fn [node]
rlm@97 662 (let [sensor-origins
rlm@97 663 (map
rlm@97 664 #(map (partial local-to-world geo) %)
rlm@97 665 feeler-coords)
rlm@97 666 triangle-normals
rlm@97 667 (map (partial get-ray-direction geo)
rlm@97 668 tris)
rlm@97 669 rays
rlm@97 670 (flatten
rlm@97 671 (map (fn [origins norm]
rlm@97 672 (map #(doto (Ray. % norm)
rlm@97 673 (.setLimit limit)) origins))
rlm@97 674 sensor-origins triangle-normals))]
rlm@97 675 (for [ray rays]
rlm@97 676 (do
rlm@97 677 (let [results (CollisionResults.)]
rlm@97 678 (.collideWith node ray results)
rlm@97 679 (let [touch-objects
rlm@97 680 (set
rlm@97 681 (filter #(not (= geo %))
rlm@97 682 (map #(.getGeometry %) results)))]
rlm@99 683 (if (> (count touch-objects) 0)
rlm@99 684 1 0)))))))))
rlm@94 685
rlm@97 686 (defn touch [#^Node pieces]
rlm@97 687 (let [touch-components
rlm@97 688 (map enable-touch
rlm@97 689 (filter #(isa? (class %) Geometry)
rlm@97 690 (node-seq pieces)))]
rlm@97 691 (fn [node]
rlm@97 692 (reduce into [] (map #(% node) touch-components)))))
rlm@96 693
rlm@91 694 (defn all-names []
rlm@91 695 (concat
rlm@91 696 (re-split #"\n" (slurp (file-str
rlm@91 697 "/home/r/proj/names/dist.female.first")))
rlm@91 698 (re-split #"\n" (slurp (file-str
rlm@91 699 "/home/r/proj/names/dist.male.first")))
rlm@91 700 (re-split #"\n" (slurp (file-str
rlm@91 701 "/home/r/proj/names/dist.all.last")))))
rlm@90 702
rlm@90 703
rlm@90 704
rlm@90 705
rlm@90 706
rlm@90 707
rlm@90 708
rlm@90 709
rlm@90 710
rlm@90 711 (defrecord LulzLoader [])
rlm@90 712 (defprotocol Lulzable (load-lulz [this]))
rlm@90 713 (extend-type LulzLoader
rlm@90 714 Lulzable
rlm@90 715 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 716
rlm@78 717
rlm@78 718 (defn world-setup [joint]
rlm@90 719 (let [joint-position (Vector3f. 0 0 0)
rlm@83 720 joint-rotation
rlm@83 721 (.toRotationMatrix
rlm@83 722 (.mult
rlm@83 723 (doto (Quaternion.)
rlm@83 724 (.fromAngleAxis
rlm@83 725 (* 1 (/ Math/PI 4))
rlm@85 726 (Vector3f. -1 0 0)))
rlm@85 727 (doto (Quaternion.)
rlm@85 728 (.fromAngleAxis
rlm@85 729 (* 1 (/ Math/PI 2))
rlm@85 730 (Vector3f. 0 0 1)))))
rlm@84 731 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 732
rlm@83 733 origin (doto
rlm@83 734 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 735 :position top-position))
rlm@83 736 top (doto
rlm@78 737 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 738 :position top-position)
rlm@83 739
rlm@78 740 (.addControl
rlm@78 741 (RigidBodyControl.
rlm@83 742 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 743 bottom (doto
rlm@78 744 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 745 :position (Vector3f. 0 0 0))
rlm@83 746 (.addControl
rlm@78 747 (RigidBodyControl.
rlm@78 748 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 749 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 750 :color ColorRGBA/Gray :mass 0)
rlm@78 751 a (.getControl top RigidBodyControl)
rlm@78 752 b (.getControl bottom RigidBodyControl)]
rlm@83 753
rlm@78 754 (cond
rlm@83 755 (= joint :cone)
rlm@83 756
rlm@83 757 (doto (ConeJoint.
rlm@83 758 a b
rlm@87 759 (world-to-local top joint-position)
rlm@87 760 (world-to-local bottom joint-position)
rlm@83 761 joint-rotation
rlm@83 762 joint-rotation
rlm@83 763 )
rlm@78 764
rlm@83 765
rlm@83 766 (.setLimit (* (/ 10) Math/PI)
rlm@83 767 (* (/ 4) Math/PI)
rlm@83 768 0)))
rlm@83 769 [origin top bottom table]))
rlm@78 770
rlm@78 771 (defn test-joint [joint]
rlm@83 772 (let [[origin top bottom floor] (world-setup joint)
rlm@78 773 control (.getControl top RigidBodyControl)
rlm@78 774 move-up? (atom false)
rlm@78 775 move-down? (atom false)
rlm@78 776 move-left? (atom false)
rlm@78 777 move-right? (atom false)
rlm@78 778 roll-left? (atom false)
rlm@78 779 roll-right? (atom false)
rlm@78 780 timer (atom 0)]
rlm@78 781
rlm@78 782 (world
rlm@83 783 (nodify [top bottom floor origin])
rlm@78 784 (merge standard-debug-controls
rlm@78 785 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 786 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 787 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 788 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 789 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 790 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 791
rlm@78 792 (fn [world]
rlm@78 793 (light-up-everything world)
rlm@78 794 (enable-debug world)
rlm@78 795 (set-gravity world (Vector3f. 0 0 0))
rlm@78 796 )
rlm@78 797
rlm@78 798 (fn [world _]
rlm@78 799 (if (zero? (rem (swap! timer inc) 100))
rlm@78 800 (do
rlm@78 801 ;; (println-repl @timer)
rlm@78 802 (.attachChild (.getRootNode world)
rlm@78 803 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 804 :position (.getWorldTranslation top)
rlm@83 805 :physical? false))
rlm@83 806 (.attachChild (.getRootNode world)
rlm@83 807 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 808 :position (.getWorldTranslation bottom)
rlm@83 809 :physical? false))))
rlm@83 810
rlm@78 811 (if @move-up?
rlm@78 812 (.applyTorque control
rlm@78 813 (.mult (.getPhysicsRotation control)
rlm@78 814 (Vector3f. 0 0 10))))
rlm@78 815 (if @move-down?
rlm@78 816 (.applyTorque control
rlm@78 817 (.mult (.getPhysicsRotation control)
rlm@78 818 (Vector3f. 0 0 -10))))
rlm@78 819 (if @move-left?
rlm@78 820 (.applyTorque control
rlm@78 821 (.mult (.getPhysicsRotation control)
rlm@78 822 (Vector3f. 0 10 0))))
rlm@78 823 (if @move-right?
rlm@78 824 (.applyTorque control
rlm@78 825 (.mult (.getPhysicsRotation control)
rlm@78 826 (Vector3f. 0 -10 0))))
rlm@78 827 (if @roll-left?
rlm@78 828 (.applyTorque control
rlm@78 829 (.mult (.getPhysicsRotation control)
rlm@78 830 (Vector3f. -1 0 0))))
rlm@78 831 (if @roll-right?
rlm@78 832 (.applyTorque control
rlm@78 833 (.mult (.getPhysicsRotation control)
rlm@78 834 (Vector3f. 1 0 0))))))))
rlm@83 835
rlm@83 836
rlm@97 837 (defn locate-feelers*
rlm@97 838 "Search the geometry's tactile UV image for touch sensors, returning
rlm@97 839 their positions in geometry-relative coordinates."
rlm@97 840 [#^Geometry geo]
rlm@97 841 (let [uv-image (touch-receptor-image geo)
rlm@97 842 width (.getWidth uv-image)
rlm@97 843 height (.getHeight uv-image)
rlm@97 844
rlm@97 845 mesh (.getMesh geo)
rlm@97 846 mesh-tris (triangles geo)
rlm@97 847
rlm@97 848 ;; for each triangle
rlm@97 849 sensor-coords
rlm@97 850 (fn [tri]
rlm@97 851 ;; translate triangle to uv-pixel-space
rlm@97 852 (let [uv-tri
rlm@97 853 (rasterize mesh tri width height)
rlm@97 854 bounds (vec (triangle-bounds uv-tri))]
rlm@97 855
rlm@97 856 ;; get that part of the picture
rlm@97 857
rlm@97 858 (apply (partial (memfn setRoi) uv-image) bounds)
rlm@97 859 (let [cutout (.crop (.getProcessor uv-image))
rlm@97 860 ;; extract white pixels inside triangle
rlm@97 861 cutout-tri
rlm@97 862 (map-triangle
rlm@97 863 (fn [_ v]
rlm@97 864 (.subtract
rlm@97 865 v
rlm@97 866 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 867 uv-tri)
rlm@97 868 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 869 (map vector2f->vector3f
rlm@97 870 (white-coordinates cutout)))
rlm@97 871 ;; translate pixel coordinates to world-space
rlm@97 872 transform (triangle-transformation cutout-tri tri)]
rlm@97 873 (map #(.mult transform %) whites))))]
rlm@97 874
rlm@97 875
rlm@97 876
rlm@97 877 (for [mesh-tri mesh-tris]
rlm@97 878
rlm@97 879 (let [uv-tri (rasterize mesh mesh-tri width height)
rlm@97 880 bounding-box (vec (triangle-bounds uv-tri))]
rlm@97 881 (apply (partial (memfn setRoi) uv-image) bounding-box)
rlm@97 882 ))
rlm@97 883 (vec (map sensor-coords mesh-tris))))
rlm@97 884
rlm@97 885
rlm@97 886 (defn tactile-coords [#^Geometry obj]
rlm@97 887 (let [mesh (.getMesh obj)
rlm@97 888 num-triangles (.getTriangleCount mesh)
rlm@97 889 num-verticies (.getVertexCount mesh)
rlm@97 890 uv-coord (partial uv-coord mesh)
rlm@97 891 triangle-indices (partial triangle-indices mesh)
rlm@97 892 receptors (touch-receptor-image obj)
rlm@97 893 tris (triangles obj)
rlm@97 894 ]
rlm@97 895 (map
rlm@97 896 (fn [[tri-1 tri-2 tri-3]]
rlm@97 897 (let [width (.getWidth receptors)
rlm@97 898 height (.getHeight receptors)
rlm@97 899 uv-1 (uv-coord tri-1)
rlm@97 900 uv-2 (uv-coord tri-2)
rlm@97 901 uv-3 (uv-coord tri-3)
rlm@97 902 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@97 903 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@97 904 max-x (Math/ceil (* width (apply max x-coords)))
rlm@97 905 min-x (Math/floor (* width (apply min x-coords)))
rlm@97 906 max-y (Math/ceil (* height (apply max y-coords)))
rlm@97 907 min-y (Math/floor (* height (apply min y-coords)))
rlm@97 908
rlm@97 909 image-1 (Vector2f. (* width (.getX uv-1))
rlm@97 910 (* height (.getY uv-1)))
rlm@97 911 image-2 (Vector2f. (* width (.getX uv-2))
rlm@97 912 (* height (.getY uv-2)))
rlm@97 913 image-3 (Vector2f. (* width (.getX uv-3))
rlm@97 914 (* height (.getY uv-3)))
rlm@97 915 left-corner
rlm@97 916 (Vector2f. min-x min-y)
rlm@97 917 ]
rlm@97 918
rlm@97 919 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@97 920 (let [processor (.crop (.getProcessor receptors))]
rlm@97 921 (map
rlm@97 922 #(.add left-corner %)
rlm@97 923
rlm@97 924 (filter
rlm@97 925 (partial
rlm@97 926 inside-triangle?
rlm@97 927 (.subtract image-1 left-corner)
rlm@97 928 (.subtract image-2 left-corner)
rlm@97 929 (.subtract image-3 left-corner))
rlm@97 930 (white-coordinates processor))))
rlm@97 931 )) (map triangle-indices (range num-triangles)))))
rlm@83 932
rlm@87 933 #+end_src
rlm@83 934
rlm@87 935 #+results: body-1
rlm@87 936 : #'cortex.silly/test-joint
rlm@78 937
rlm@78 938
rlm@78 939 * COMMENT purgatory
rlm@78 940 #+begin_src clojure
rlm@77 941 (defn bullet-trans []
rlm@77 942 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 943 :position (Vector3f. -10 5 0))
rlm@77 944 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 945 :position (Vector3f. -10 -5 0)
rlm@77 946 :mass 0)
rlm@77 947 control-a (.getControl obj-a RigidBodyControl)
rlm@77 948 control-b (.getControl obj-b RigidBodyControl)
rlm@77 949 swivel
rlm@77 950 (.toRotationMatrix
rlm@77 951 (doto (Quaternion.)
rlm@77 952 (.fromAngleAxis (/ Math/PI 2)
rlm@77 953 Vector3f/UNIT_X)))]
rlm@77 954 (doto
rlm@77 955 (ConeJoint.
rlm@77 956 control-a control-b
rlm@77 957 (Vector3f. 0 5 0)
rlm@77 958 (Vector3f. 0 -5 0)
rlm@77 959 swivel swivel)
rlm@77 960 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 961 (/ Math/PI 4)
rlm@77 962 (* Math/PI 0.8)))
rlm@77 963 (world (nodify
rlm@77 964 [obj-a obj-b])
rlm@77 965 standard-debug-controls
rlm@77 966 enable-debug
rlm@77 967 no-op)))
rlm@74 968
rlm@74 969
rlm@77 970 (defn bullet-trans* []
rlm@77 971 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 972 :position (Vector3f. 5 0 0)
rlm@77 973 :mass 90)
rlm@77 974 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 975 :position (Vector3f. -5 0 0)
rlm@77 976 :mass 0)
rlm@77 977 control-a (.getControl obj-a RigidBodyControl)
rlm@77 978 control-b (.getControl obj-b RigidBodyControl)
rlm@77 979 move-up? (atom nil)
rlm@77 980 move-down? (atom nil)
rlm@77 981 move-left? (atom nil)
rlm@77 982 move-right? (atom nil)
rlm@77 983 roll-left? (atom nil)
rlm@77 984 roll-right? (atom nil)
rlm@77 985 force 100
rlm@77 986 swivel
rlm@77 987 (.toRotationMatrix
rlm@77 988 (doto (Quaternion.)
rlm@77 989 (.fromAngleAxis (/ Math/PI 2)
rlm@77 990 Vector3f/UNIT_X)))
rlm@77 991 x-move
rlm@77 992 (doto (Matrix3f.)
rlm@77 993 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 994 (.normalize (Vector3f. 1 1 0))))
rlm@77 995
rlm@77 996 timer (atom 0)]
rlm@77 997 (doto
rlm@77 998 (ConeJoint.
rlm@77 999 control-a control-b
rlm@77 1000 (Vector3f. -8 0 0)
rlm@77 1001 (Vector3f. 2 0 0)
rlm@77 1002 ;;swivel swivel
rlm@77 1003 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 1004 x-move Matrix3f/IDENTITY
rlm@77 1005 )
rlm@77 1006 (.setCollisionBetweenLinkedBodys false)
rlm@77 1007 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 1008 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 1009 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 1010 (world (nodify
rlm@77 1011 [obj-a obj-b])
rlm@77 1012 (merge standard-debug-controls
rlm@77 1013 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 1014 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 1015 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 1016 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 1017 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 1018 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 1019
rlm@77 1020 (fn [world]
rlm@77 1021 (enable-debug world)
rlm@77 1022 (set-gravity world Vector3f/ZERO)
rlm@77 1023 )
rlm@77 1024
rlm@77 1025 (fn [world _]
rlm@77 1026
rlm@77 1027 (if @move-up?
rlm@77 1028 (.applyForce control-a
rlm@77 1029 (Vector3f. force 0 0)
rlm@77 1030 (Vector3f. 0 0 0)))
rlm@77 1031 (if @move-down?
rlm@77 1032 (.applyForce control-a
rlm@77 1033 (Vector3f. (- force) 0 0)
rlm@77 1034 (Vector3f. 0 0 0)))
rlm@77 1035 (if @move-left?
rlm@77 1036 (.applyForce control-a
rlm@77 1037 (Vector3f. 0 force 0)
rlm@77 1038 (Vector3f. 0 0 0)))
rlm@77 1039 (if @move-right?
rlm@77 1040 (.applyForce control-a
rlm@77 1041 (Vector3f. 0 (- force) 0)
rlm@77 1042 (Vector3f. 0 0 0)))
rlm@77 1043
rlm@77 1044 (if @roll-left?
rlm@77 1045 (.applyForce control-a
rlm@77 1046 (Vector3f. 0 0 force)
rlm@77 1047 (Vector3f. 0 0 0)))
rlm@77 1048 (if @roll-right?
rlm@77 1049 (.applyForce control-a
rlm@77 1050 (Vector3f. 0 0 (- force))
rlm@77 1051 (Vector3f. 0 0 0)))
rlm@77 1052
rlm@77 1053 (if (zero? (rem (swap! timer inc) 100))
rlm@77 1054 (.attachChild
rlm@77 1055 (.getRootNode world)
rlm@77 1056 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 1057 :physical? false :position
rlm@77 1058 (.getWorldTranslation obj-a)))))
rlm@77 1059 )
rlm@77 1060 ))
rlm@77 1061
rlm@94 1062 (defn transform-trianglesdsd
rlm@94 1063 "Transform that converts each vertex in the first triangle
rlm@94 1064 into the corresponding vertex in the second triangle."
rlm@94 1065 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 1066 (let [in [(.get1 tri-1)
rlm@94 1067 (.get2 tri-1)
rlm@94 1068 (.get3 tri-1)]
rlm@94 1069 out [(.get1 tri-2)
rlm@94 1070 (.get2 tri-2)
rlm@94 1071 (.get3 tri-2)]]
rlm@94 1072 (let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
rlm@94 1073 in* [(.mult translate (in 0))
rlm@94 1074 (.mult translate (in 1))
rlm@94 1075 (.mult translate (in 2))]
rlm@94 1076 final-translation
rlm@94 1077 (doto (Matrix4f.)
rlm@94 1078 (.setTranslation (out 1)))
rlm@94 1079
rlm@94 1080 rotate-1
rlm@94 1081 (doto (Matrix3f.)
rlm@94 1082 (.fromStartEndVectors
rlm@94 1083 (.normalize
rlm@94 1084 (.subtract
rlm@94 1085 (in* 1) (in* 0)))
rlm@94 1086 (.normalize
rlm@94 1087 (.subtract
rlm@94 1088 (out 1) (out 0)))))
rlm@94 1089 in** [(.mult rotate-1 (in* 0))
rlm@94 1090 (.mult rotate-1 (in* 1))
rlm@94 1091 (.mult rotate-1 (in* 2))]
rlm@94 1092 scale-factor-1
rlm@94 1093 (.mult
rlm@94 1094 (.normalize
rlm@94 1095 (.subtract
rlm@94 1096 (out 1)
rlm@94 1097 (out 0)))
rlm@94 1098 (/ (.length
rlm@94 1099 (.subtract (out 1)
rlm@94 1100 (out 0)))
rlm@94 1101 (.length
rlm@94 1102 (.subtract (in** 1)
rlm@94 1103 (in** 0)))))
rlm@94 1104 scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
rlm@94 1105 in*** [(.mult scale-1 (in** 0))
rlm@94 1106 (.mult scale-1 (in** 1))
rlm@94 1107 (.mult scale-1 (in** 2))]
rlm@94 1108
rlm@94 1109
rlm@94 1110
rlm@94 1111
rlm@94 1112
rlm@94 1113 ]
rlm@94 1114
rlm@94 1115 (dorun (map println in))
rlm@94 1116 (println)
rlm@94 1117 (dorun (map println in*))
rlm@94 1118 (println)
rlm@94 1119 (dorun (map println in**))
rlm@94 1120 (println)
rlm@94 1121 (dorun (map println in***))
rlm@94 1122 (println)
rlm@94 1123
rlm@99 1124 ))))
rlm@94 1125
rlm@94 1126
rlm@99 1127
rlm@99 1128
rlm@99 1129 #+end_src
rlm@99 1130
rlm@99 1131
rlm@99 1132 * COMMENT generate source
rlm@99 1133 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99 1134 <<body-1>>
rlm@99 1135 #+end_src
rlm@99 1136
rlm@99 1137
rlm@94 1138
rlm@94 1139