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author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 23:45:25 -0700
parents 22548d48cc85
children 16cbce075a0b
rev   line source
rlm@151 1 #+title: General sense/effector utilities
rlm@151 2 #+author: Robert McIntyre
rlm@151 3 #+email: rlm@mit.edu
rlm@151 4 #+description: sensory utilities
rlm@151 5 #+keywords: simulation, jMonkeyEngine3, clojure, simulated senses
rlm@151 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@151 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@151 8
rlm@183 9 #+name: sense
rlm@151 10 #+begin_src clojure
rlm@182 11 (ns cortex.sense
rlm@183 12 "Here are functions useful in the construction of two or more
rlm@183 13 sensors/effectors."
rlm@182 14 {:author "Robert McInytre"}
rlm@182 15 (:use (cortex world util))
rlm@182 16 (:import ij.process.ImageProcessor)
rlm@182 17 (:import jme3tools.converters.ImageToAwt)
rlm@182 18 (:import java.awt.image.BufferedImage)
rlm@182 19 (:import com.jme3.collision.CollisionResults)
rlm@182 20 (:import com.jme3.bounding.BoundingBox)
rlm@182 21 (:import (com.jme3.scene Node Spatial))
rlm@182 22 (:import com.jme3.scene.control.AbstractControl)
rlm@182 23 (:import (com.jme3.math Quaternion Vector3f)))
rlm@151 24
rlm@181 25 (defn meta-data
rlm@181 26 "Get the meta-data for a node created with blender."
rlm@181 27 [blender-node key]
rlm@151 28 (if-let [data (.getUserData blender-node "properties")]
rlm@151 29 (.findValue data key)
rlm@151 30 nil))
rlm@151 31
rlm@151 32 (defn closest-node
rlm@182 33 "Return the node in creature which is closest to the given node."
rlm@151 34 [#^Node creature #^Node eye]
rlm@151 35 (loop [radius (float 0.01)]
rlm@151 36 (let [results (CollisionResults.)]
rlm@151 37 (.collideWith
rlm@151 38 creature
rlm@151 39 (BoundingBox. (.getWorldTranslation eye)
rlm@151 40 radius radius radius)
rlm@151 41 results)
rlm@151 42 (if-let [target (first results)]
rlm@151 43 (.getGeometry target)
rlm@151 44 (recur (float (* 2 radius)))))))
rlm@151 45
rlm@151 46 (defn bind-sense
rlm@151 47 "Bind the sense to the Spatial such that it will maintain its
rlm@151 48 current position relative to the Spatial no matter how the spatial
rlm@151 49 moves. 'sense can be either a Camera or Listener object."
rlm@151 50 [#^Spatial obj sense]
rlm@151 51 (let [sense-offset (.subtract (.getLocation sense)
rlm@151 52 (.getWorldTranslation obj))
rlm@151 53 initial-sense-rotation (Quaternion. (.getRotation sense))
rlm@151 54 base-anti-rotation (.inverse (.getWorldRotation obj))]
rlm@151 55 (.addControl
rlm@151 56 obj
rlm@151 57 (proxy [AbstractControl] []
rlm@151 58 (controlUpdate [tpf]
rlm@151 59 (let [total-rotation
rlm@151 60 (.mult base-anti-rotation (.getWorldRotation obj))]
rlm@181 61 (.setLocation
rlm@181 62 sense
rlm@181 63 (.add
rlm@181 64 (.mult total-rotation sense-offset)
rlm@181 65 (.getWorldTranslation obj)))
rlm@181 66 (.setRotation
rlm@181 67 sense
rlm@181 68 (.mult total-rotation initial-sense-rotation))))
rlm@151 69 (controlRender [_ _])))))
rlm@151 70
rlm@181 71 (def white 0xFFFFFF)
rlm@181 72
rlm@181 73 (defn white? [rgb]
rlm@181 74 (= (bit-and white rgb) white))
rlm@181 75
rlm@151 76 (defn filter-pixels
rlm@151 77 "List the coordinates of all pixels matching pred, within the bounds
rlm@182 78 provided.
rlm@182 79 bounds -> [x0 y0 width height]"
rlm@151 80 {:author "Dylan Holmes"}
rlm@151 81 ([pred #^BufferedImage image]
rlm@151 82 (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
rlm@151 83 ([pred #^BufferedImage image [x0 y0 width height]]
rlm@151 84 ((fn accumulate [x y matches]
rlm@151 85 (cond
rlm@151 86 (>= y (+ height y0)) matches
rlm@151 87 (>= x (+ width x0)) (recur 0 (inc y) matches)
rlm@151 88 (pred (.getRGB image x y))
rlm@151 89 (recur (inc x) y (conj matches [x y]))
rlm@151 90 :else (recur (inc x) y matches)))
rlm@151 91 x0 y0 [])))
rlm@151 92
rlm@151 93 (defn white-coordinates
rlm@151 94 "Coordinates of all the white pixels in a subset of the image."
rlm@151 95 ([#^BufferedImage image bounds]
rlm@181 96 (filter-pixels white? image bounds))
rlm@151 97 ([#^BufferedImage image]
rlm@181 98 (filter-pixels white? image)))
rlm@151 99
rlm@151 100 (defn points->image
rlm@151 101 "Take a sparse collection of points and visuliaze it as a
rlm@151 102 BufferedImage."
rlm@151 103 [points]
rlm@151 104 (if (empty? points)
rlm@151 105 (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
rlm@151 106 (let [xs (vec (map first points))
rlm@151 107 ys (vec (map second points))
rlm@151 108 x0 (apply min xs)
rlm@151 109 y0 (apply min ys)
rlm@151 110 width (- (apply max xs) x0)
rlm@151 111 height (- (apply max ys) y0)
rlm@151 112 image (BufferedImage. (inc width) (inc height)
rlm@151 113 BufferedImage/TYPE_INT_RGB)]
rlm@151 114 (dorun
rlm@151 115 (for [x (range (.getWidth image))
rlm@151 116 y (range (.getHeight image))]
rlm@151 117 (.setRGB image x y 0xFF0000)))
rlm@151 118 (dorun
rlm@151 119 (for [index (range (count points))]
rlm@151 120 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
rlm@151 121 image)))
rlm@151 122
rlm@151 123 (defn average [coll]
rlm@151 124 (/ (reduce + coll) (count coll)))
rlm@151 125
rlm@151 126 (defn collapse-1d
rlm@182 127 "One dimensional analogue of collapse."
rlm@151 128 [center line]
rlm@151 129 (let [length (count line)
rlm@151 130 num-above (count (filter (partial < center) line))
rlm@151 131 num-below (- length num-above)]
rlm@151 132 (range (- center num-below)
rlm@151 133 (+ center num-above))))
rlm@151 134
rlm@151 135 (defn collapse
rlm@151 136 "Take a set of pairs of integers and collapse them into a
rlm@182 137 contigous bitmap with no \"holes\"."
rlm@151 138 [points]
rlm@151 139 (if (empty? points) []
rlm@151 140 (let
rlm@151 141 [num-points (count points)
rlm@151 142 center (vector
rlm@151 143 (int (average (map first points)))
rlm@151 144 (int (average (map first points))))
rlm@151 145 flattened
rlm@151 146 (reduce
rlm@151 147 concat
rlm@151 148 (map
rlm@151 149 (fn [column]
rlm@151 150 (map vector
rlm@151 151 (map first column)
rlm@151 152 (collapse-1d (second center)
rlm@151 153 (map second column))))
rlm@151 154 (partition-by first (sort-by first points))))
rlm@151 155 squeezed
rlm@151 156 (reduce
rlm@151 157 concat
rlm@151 158 (map
rlm@151 159 (fn [row]
rlm@151 160 (map vector
rlm@151 161 (collapse-1d (first center)
rlm@151 162 (map first row))
rlm@151 163 (map second row)))
rlm@151 164 (partition-by second (sort-by second flattened))))
rlm@182 165 relocated
rlm@151 166 (let [min-x (apply min (map first squeezed))
rlm@151 167 min-y (apply min (map second squeezed))]
rlm@151 168 (map (fn [[x y]]
rlm@151 169 [(- x min-x)
rlm@151 170 (- y min-y)])
rlm@151 171 squeezed))]
rlm@182 172 relocated)))
rlm@151 173
rlm@156 174 (defn world-to-local
rlm@182 175 "Convert the world coordinates into coordinates relative to the
rlm@156 176 object (i.e. local coordinates), taking into account the rotation
rlm@156 177 of object."
rlm@182 178 [#^Spatial object world-coordinate]
rlm@182 179 (.worldToLocal object world-coordinate nil))
rlm@156 180
rlm@156 181 (defn local-to-world
rlm@182 182 "Convert the local coordinates into world relative coordinates"
rlm@182 183 [#^Spatial object local-coordinate]
rlm@182 184 (.localToWorld object local-coordinate nil))
rlm@156 185
rlm@182 186 (defn sense-nodes
rlm@182 187 "For each sense there is a special blender node whose children are
rlm@182 188 considered markers for an instance of a that sense. This function
rlm@182 189 generates functions to find those children, given the name of the
rlm@182 190 special parent node."
rlm@182 191 [parent-name]
rlm@164 192 (fn [#^Node creature]
rlm@164 193 (if-let [sense-node (.getChild creature parent-name)]
rlm@164 194 (seq (.getChildren sense-node))
rlm@164 195 (do (println-repl "could not find" parent-name "node") []))))
rlm@164 196
rlm@167 197 (defn load-image
rlm@167 198 "Load an image as a BufferedImage using the asset-manager system."
rlm@167 199 [asset-relative-path]
rlm@167 200 (ImageToAwt/convert
rlm@167 201 (.getImage (.loadTexture (asset-manager) asset-relative-path))
rlm@167 202 false false 0))
rlm@164 203
rlm@181 204 (defn jme-to-blender
rlm@181 205 "Convert from JME coordinates to Blender coordinates"
rlm@181 206 [#^Vector3f in]
rlm@181 207 (Vector3f. (.getX in)
rlm@181 208 (- (.getZ in))
rlm@181 209 (.getY in)))
rlm@181 210
rlm@181 211 (defn blender-to-jme
rlm@181 212 "Convert from Blender coordinates to JME coordinates"
rlm@181 213 [#^Vector3f in]
rlm@181 214 (Vector3f. (.getX in)
rlm@181 215 (.getZ in)
rlm@181 216 (- (.getY in))))
rlm@187 217
rlm@187 218
rlm@187 219 (defn view-sense
rlm@187 220 "Take a function that produces a BufferedImage from some sense data
rlm@187 221 and return a function which takes a list of sense and displays
rlm@187 222 those images in multiple JFrames."
rlm@187 223 [sense-display-kernel]
rlm@187 224 (let
rlm@187 225 [windows (atom [])]
rlm@187 226 (fn [data]
rlm@187 227 (if (> (count data) (count @windows))
rlm@187 228 (reset! windows (map (fn [_] (view-image))
rlm@187 229 (range (count data)))))
rlm@187 230 (dorun
rlm@187 231 (map
rlm@188 232 (fn [display datum]
rlm@188 233 (display (sense-display-kernel datum)))
rlm@188 234 @windows data)))))
rlm@187 235
rlm@188 236 (defn gray
rlm@188 237 "Create a gray RGB pixel with R, G, and B set to 'num"
rlm@188 238 [num]
rlm@188 239 (+ num
rlm@188 240 (bit-shift-left num 8)
rlm@188 241 (bit-shift-left num 16)))
rlm@188 242 #+end_src
rlm@187 243
rlm@188 244 #+results: sense
rlm@188 245 : #'cortex.sense/gray
rlm@151 246
rlm@151 247
rlm@151 248 * COMMENT generate source
rlm@151 249 #+begin_src clojure :tangle ../src/cortex/sense.clj
rlm@183 250 <<sense>>
rlm@151 251 #+end_src