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proprioception refrence frame is wrong, trying to fix...
author Robert McIntyre <rlm@mit.edu>
date Wed, 01 Feb 2012 02:44:07 -0700
parents b591da250afc
children aaacf087504c
rev   line source
rlm@29 1 #+title: Clojure Utilities for jMonkeyEngine3
rlm@23 2 #+author: Robert McIntyre
rlm@23 3 #+email: rlm@mit.edu
rlm@29 4 #+description:
rlm@29 5 #+keywords: JME3, clojure, import, utilities
rlm@23 6 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23 7 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@29 8
rlm@34 9 [TABLE-OF-CONTENTS]
rlm@29 10
rlm@29 11 These are a collection of functions to make programming jMonkeyEngine
rlm@29 12 in clojure easier.
rlm@23 13
rlm@34 14 * Imports
rlm@28 15
rlm@66 16 #+name: import
rlm@23 17 #+begin_src clojure :results silent
rlm@23 18 (ns cortex.import
rlm@23 19 (:require swank.util.class-browse))
rlm@23 20
rlm@23 21 (defn permissive-import
rlm@23 22 [classname]
rlm@23 23 (eval `(try (import '~classname)
rlm@23 24 (catch java.lang.Exception e#
rlm@23 25 (println "couldn't import " '~classname))))
rlm@23 26 classname)
rlm@23 27
rlm@23 28 (defn jme-class? [classname]
rlm@23 29 (and
rlm@23 30 (.startsWith classname "com.jme3.")
rlm@23 31 ;; Don't import the Lwjgl stuff since it can throw exceptions
rlm@23 32 ;; upon being loaded.
rlm@23 33 (not (re-matches #".*Lwjgl.*" classname))))
rlm@23 34
rlm@23 35 (defn jme-classes
rlm@23 36 "returns a list of all jme3 classes"
rlm@23 37 []
rlm@23 38 (filter
rlm@23 39 jme-class?
rlm@23 40 (map :name
rlm@23 41 swank.util.class-browse/available-classes)))
rlm@23 42
rlm@23 43 (defn mega-import-jme3
rlm@23 44 "Import ALL the jme classes. For REPL use."
rlm@23 45 []
rlm@23 46 (doall
rlm@23 47 (map (comp permissive-import symbol) (jme-classes))))
rlm@23 48 #+end_src
rlm@23 49
rlm@29 50 jMonkeyEngine3 has a plethora of classes which can be overwhelming to
rlm@29 51 manage. This code uses reflection to import all of them. Once I'm
rlm@29 52 happy with the general structure of a namespace I can deal with
rlm@29 53 importing only the classes it actually needs.
rlm@29 54
rlm@23 55 The =mega-import-jme3= is quite usefull for debugging purposes since
rlm@34 56 it allows completion for almost all of JME's classes from the REPL.
rlm@23 57
rlm@23 58 Out of curiousity, let's see just how many classes =mega-import-jme3=
rlm@23 59 imports:
rlm@23 60
rlm@29 61 #+begin_src clojure :exports both :results output
rlm@29 62 (println (clojure.core/count (cortex.import/jme-classes)) "classes")
rlm@23 63 #+end_src
rlm@23 64
rlm@23 65 #+results:
rlm@29 66 : 955 classes
rlm@23 67
rlm@25 68
rlm@34 69 * Utilities
rlm@23 70
rlm@29 71 The utilities here come in three main groups:
rlm@29 72 - Changing settings in a running =Application=
rlm@29 73 - Creating objects
rlm@50 74 - Debug Actions
rlm@29 75 - Visualizing objects
rlm@23 76
rlm@29 77 *** Changing Settings
rlm@24 78
rlm@66 79 #+name: util
rlm@25 80 #+begin_src clojure
rlm@29 81 (ns cortex.util
rlm@34 82 "Utility functions for making jMonkeyEngine3 easier to program from
rlm@34 83 clojure."
rlm@29 84 {:author "Robert McIntyre"}
rlm@29 85 (:use cortex.world)
rlm@29 86 (:use clojure.contrib.def)
rlm@29 87 (:import com.jme3.math.Vector3f)
rlm@29 88 (:import com.jme3.math.Quaternion)
rlm@29 89 (:import com.jme3.asset.TextureKey)
rlm@29 90 (:import com.jme3.bullet.control.RigidBodyControl)
rlm@29 91 (:import com.jme3.bullet.collision.shapes.GImpactCollisionShape)
rlm@29 92 (:import com.jme3.scene.shape.Box)
rlm@29 93 (:import com.jme3.scene.Node)
rlm@29 94 (:import com.jme3.scene.shape.Sphere)
rlm@47 95 (:import com.jme3.light.AmbientLight)
rlm@29 96 (:import com.jme3.light.DirectionalLight)
rlm@114 97 (:import (com.jme3.math Triangle ColorRGBA))
rlm@29 98 (:import com.jme3.bullet.BulletAppState)
rlm@29 99 (:import com.jme3.material.Material)
rlm@40 100 (:import com.jme3.scene.Geometry)
rlm@114 101 (:import java.awt.image.BufferedImage)
rlm@114 102 (:import javax.swing.JPanel)
rlm@114 103 (:import javax.swing.JFrame)
rlm@114 104 (:import javax.swing.SwingUtilities)
rlm@114 105
rlm@40 106 (:import (java.util.logging Level Logger)))
rlm@40 107
rlm@29 108 (defvar println-repl
rlm@29 109 (bound-fn [& args] (apply println args))
rlm@29 110 "println called from the LWJGL thread will not go to the REPL, but
rlm@114 111 instead to whatever terminal started the JVM process. This function
rlm@114 112 will always output to the REPL")
rlm@25 113
rlm@29 114 (defn position-camera
rlm@34 115 "Change the position of the in-world camera."
rlm@34 116 ([world position direction up]
rlm@34 117 (doto (.getCamera world)
rlm@29 118 (.setLocation )
rlm@29 119 (.lookAt direction up)))
rlm@34 120 ([world position direction]
rlm@29 121 (position-camera
rlm@34 122 world position direction Vector3f/UNIT_Y)))
rlm@25 123
rlm@29 124 (defn enable-debug
rlm@34 125 "Turn on debug wireframes for every object in this simulation."
rlm@29 126 [world]
rlm@29 127 (.enableDebug
rlm@29 128 (.getPhysicsSpace
rlm@29 129 (.getState
rlm@29 130 (.getStateManager world)
rlm@29 131 BulletAppState))
rlm@29 132 (asset-manager)))
rlm@29 133
rlm@78 134 (defn speed-up
rlm@78 135 "Increase the dismally slow speed of the world's camera."
rlm@78 136 [world]
rlm@78 137 (.setMoveSpeed (.getFlyByCamera world)
rlm@122 138 (float 60))
rlm@78 139 (.setRotationSpeed (.getFlyByCamera world)
rlm@122 140 (float 3))
rlm@78 141 world)
rlm@78 142
rlm@78 143
rlm@40 144 (defn no-logging
rlm@40 145 "Disable all of jMonkeyEngine's logging."
rlm@40 146 []
rlm@40 147 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@40 148
rlm@40 149 (defn set-accuracy
rlm@40 150 "Change the accuracy at which the World's Physics is calculated."
rlm@40 151 [world new-accuracy]
rlm@40 152 (let [physics-manager
rlm@40 153 (.getState
rlm@40 154 (.getStateManager world) BulletAppState)]
rlm@40 155 (.setAccuracy
rlm@40 156 (.getPhysicsSpace physics-manager)
rlm@40 157 (float new-accuracy))))
rlm@40 158
rlm@40 159
rlm@34 160 (defn set-gravity
rlm@29 161 "In order to change the gravity of a scene, it is not only necessary
rlm@29 162 to set the gravity variable, but to \"tap\" every physics object in
rlm@29 163 the scene to reactivate physics calculations."
rlm@34 164 [world gravity]
rlm@25 165 (traverse
rlm@25 166 (fn [geom]
rlm@25 167 (if-let
rlm@29 168 ;; only set gravity for physical objects.
rlm@25 169 [control (.getControl geom RigidBodyControl)]
rlm@25 170 (do
rlm@25 171 (.setGravity control gravity)
rlm@29 172 ;; tappsies!
rlm@29 173 (.applyImpulse control Vector3f/ZERO Vector3f/ZERO))))
rlm@34 174 (.getRootNode world)))
rlm@29 175
rlm@29 176 (defn add-element
rlm@34 177 "Add the Spatial to the world's environment"
rlm@34 178 ([world element node]
rlm@29 179 (.addAll
rlm@29 180 (.getPhysicsSpace
rlm@29 181 (.getState
rlm@34 182 (.getStateManager world)
rlm@29 183 BulletAppState))
rlm@29 184 element)
rlm@29 185 (.attachChild node element))
rlm@34 186 ([world element]
rlm@34 187 (add-element world element (.getRootNode world))))
rlm@29 188
rlm@29 189 (defn apply-map
rlm@29 190 "Like apply, but works for maps and functions that expect an
rlm@29 191 implicit map and nothing else as in (fn [& {}]).
rlm@29 192 ------- Example -------
rlm@29 193 (defn demo [& {:keys [www] :or {www \"oh yeah\"} :as env}]
rlm@29 194 (println www))
rlm@29 195 (apply-map demo {:www \"hello!\"})
rlm@29 196 -->\"hello\""
rlm@29 197 [fn m]
rlm@29 198 (apply fn (reduce #(into %1 %2) [] m)))
rlm@29 199
rlm@25 200 #+end_src
rlm@25 201
rlm@47 202 #+results: util
rlm@47 203 : #'cortex.util/apply-map
rlm@73 204
rlm@25 205
rlm@29 206 *** Creating Basic Shapes
rlm@29 207
rlm@66 208 #+name: shapes
rlm@25 209 #+begin_src clojure :results silent
rlm@25 210 (in-ns 'cortex.util)
rlm@29 211
rlm@25 212 (defrecord shape-description
rlm@25 213 [name
rlm@25 214 color
rlm@25 215 mass
rlm@25 216 friction
rlm@25 217 texture
rlm@25 218 material
rlm@25 219 position
rlm@25 220 rotation
rlm@25 221 shape
rlm@29 222 physical?
rlm@29 223 GImpact?
rlm@29 224 ])
rlm@25 225
rlm@34 226 (defvar base-shape
rlm@25 227 (shape-description.
rlm@25 228 "default-shape"
rlm@25 229 false
rlm@25 230 ;;ColorRGBA/Blue
rlm@25 231 1.0 ;; mass
rlm@25 232 1.0 ;; friction
rlm@25 233 ;; texture
rlm@25 234 "Textures/Terrain/BrickWall/BrickWall.jpg"
rlm@25 235 ;; material
rlm@25 236 "Common/MatDefs/Misc/Unshaded.j3md"
rlm@25 237 Vector3f/ZERO
rlm@25 238 Quaternion/IDENTITY
rlm@25 239 (Box. Vector3f/ZERO 0.5 0.5 0.5)
rlm@29 240 true
rlm@34 241 false)
rlm@34 242 "Basic settings for shapes.")
rlm@25 243
rlm@25 244 (defn make-shape
rlm@25 245 [#^shape-description d]
rlm@29 246 (let [asset-manager (asset-manager)
rlm@25 247 mat (Material. asset-manager (:material d))
rlm@25 248 geom (Geometry. (:name d) (:shape d))]
rlm@25 249 (if (:texture d)
rlm@25 250 (let [key (TextureKey. (:texture d))]
rlm@34 251 ;;(.setGenerateMips key true)
rlm@34 252 ;;(.setTexture mat "ColorMap" (.loadTexture asset-manager key))
rlm@34 253 ))
rlm@25 254 (if (:color d) (.setColor mat "Color" (:color d)))
rlm@25 255 (.setMaterial geom mat)
rlm@25 256 (if-let [rotation (:rotation d)] (.rotate geom rotation))
rlm@25 257 (.setLocalTranslation geom (:position d))
rlm@25 258 (if (:physical? d)
rlm@29 259 (let [physics-control
rlm@29 260 (if (:GImpact d)
rlm@29 261 ;; Create an accurate mesh collision shape if desired.
rlm@29 262 (RigidBodyControl.
rlm@29 263 (doto (GImpactCollisionShape.
rlm@29 264 (.getMesh geom))
rlm@29 265 (.createJmeMesh)
rlm@73 266 ;;(.setMargin 0)
rlm@73 267 )
rlm@29 268 (float (:mass d)))
rlm@29 269 ;; otherwise use jme3's default
rlm@29 270 (RigidBodyControl. (float (:mass d))))]
rlm@25 271 (.addControl geom physics-control)
rlm@25 272 ;;(.setSleepingThresholds physics-control (float 0) (float 0))
rlm@25 273 (.setFriction physics-control (:friction d))))
rlm@25 274 geom))
rlm@25 275
rlm@25 276 (defn box
rlm@25 277 ([l w h & {:as options}]
rlm@25 278 (let [options (merge base-shape options)]
rlm@25 279 (make-shape (assoc options
rlm@25 280 :shape (Box. l w h)))))
rlm@25 281 ([] (box 0.5 0.5 0.5)))
rlm@25 282
rlm@25 283 (defn sphere
rlm@25 284 ([r & {:as options}]
rlm@25 285 (let [options (merge base-shape options)]
rlm@25 286 (make-shape (assoc options
rlm@25 287 :shape (Sphere. 32 32 (float r))))))
rlm@25 288 ([] (sphere 0.5)))
rlm@62 289
rlm@74 290 (defn green-x-ray
rlm@74 291 "A usefull material for debuging -- it can be seen no matter what
rlm@74 292 object occuldes it."
rlm@74 293 []
rlm@74 294 (doto (Material. (asset-manager)
rlm@74 295 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@74 296 (.setColor "Color" ColorRGBA/Green)
rlm@74 297 (-> (.getAdditionalRenderState)
rlm@74 298 (.setDepthTest false))))
rlm@74 299
rlm@62 300 (defn node-seq
rlm@62 301 "Take a node and return a seq of all its children
rlm@62 302 recursively. There will be no nodes left in the resulting
rlm@62 303 structure"
rlm@62 304 [#^Node node]
rlm@62 305 (tree-seq #(isa? (class %) Node) #(.getChildren %) node))
rlm@62 306
rlm@62 307 (defn nodify
rlm@62 308 "Take a sequence of things that can be attached to a node and return
rlm@62 309 a node with all of them attached"
rlm@62 310 ([name children]
rlm@62 311 (let [node (Node. name)]
rlm@62 312 (dorun (map #(.attachChild node %) children))
rlm@62 313 node))
rlm@62 314 ([children] (nodify "" children)))
rlm@62 315
rlm@62 316
rlm@29 317 #+end_src
rlm@25 318
rlm@25 319
rlm@50 320 *** Debug Actions
rlm@66 321 #+name: debug-actions
rlm@29 322 #+begin_src clojure :results silent
rlm@60 323 (in-ns 'cortex.util)
rlm@60 324
rlm@47 325 (defn basic-light-setup
rlm@47 326 "returns a sequence of lights appropiate for fully lighting a scene"
rlm@47 327 []
rlm@47 328 (conj
rlm@47 329 (doall
rlm@47 330 (map
rlm@47 331 (fn [direction]
rlm@47 332 (doto (DirectionalLight.)
rlm@47 333 (.setDirection direction)
rlm@47 334 (.setColor ColorRGBA/White)))
rlm@47 335 [;; six faces of a cube
rlm@47 336 Vector3f/UNIT_X
rlm@47 337 Vector3f/UNIT_Y
rlm@47 338 Vector3f/UNIT_Z
rlm@47 339 (.mult Vector3f/UNIT_X (float -1))
rlm@47 340 (.mult Vector3f/UNIT_Y (float -1))
rlm@47 341 (.mult Vector3f/UNIT_Z (float -1))]))
rlm@47 342 (doto (AmbientLight.)
rlm@47 343 (.setColor ColorRGBA/White))))
rlm@47 344
rlm@47 345 (defn light-up-everything
rlm@47 346 "Add lights to a world appropiate for quickly seeing everything
rlm@47 347 in the scene. Adds six DirectionalLights facing in orthogonal
rlm@47 348 directions, and one AmbientLight to provide overall lighting
rlm@47 349 coverage."
rlm@47 350 [world]
rlm@47 351 (dorun
rlm@47 352 (map
rlm@47 353 #(.addLight (.getRootNode world) %)
rlm@47 354 (basic-light-setup))))
rlm@50 355
rlm@50 356 (defn fire-cannon-ball
rlm@50 357 "Creates a function that fires a cannon-ball from the current game's
rlm@50 358 camera. The cannon-ball will be attached to the node if provided, or
rlm@50 359 to the game's RootNode if no node is provided."
rlm@50 360 ([node]
rlm@50 361 (fn [game value]
rlm@50 362 (if (not value)
rlm@50 363 (let [camera (.getCamera game)
rlm@50 364 cannon-ball
rlm@50 365 (sphere 0.7
rlm@50 366 :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@50 367 :texture "Textures/PokeCopper.jpg"
rlm@50 368 :position
rlm@50 369 (.add (.getLocation camera)
rlm@50 370 (.mult (.getDirection camera) (float 1)))
rlm@50 371 :mass 3)] ;200 0.05
rlm@50 372 (.setLinearVelocity
rlm@50 373 (.getControl cannon-ball RigidBodyControl)
rlm@50 374 (.mult (.getDirection camera) (float 50))) ;50
rlm@50 375 (add-element game cannon-ball (if node node (.getRootNode game)))))))
rlm@50 376 ([]
rlm@50 377 (fire-cannon-ball false)))
rlm@60 378
rlm@60 379 (def standard-debug-controls
rlm@60 380 {"key-space" (fire-cannon-ball)})
rlm@60 381
rlm@60 382
rlm@60 383
rlm@60 384
rlm@50 385 #+end_src
rlm@50 386
rlm@50 387
rlm@50 388 *** Viewing Objects
rlm@50 389
rlm@66 390 #+name: world-view
rlm@50 391 #+begin_src clojure :results silent
rlm@50 392 (in-ns 'cortex.util)
rlm@50 393
rlm@114 394 (defn view-image
rlm@114 395 "Initailizes a JPanel on which you may draw a BufferedImage.
rlm@114 396 Returns a function that accepts a BufferedImage and draws it to the
rlm@114 397 JPanel."
rlm@114 398 []
rlm@114 399 (let [image
rlm@114 400 (atom
rlm@114 401 (BufferedImage. 1 1 BufferedImage/TYPE_4BYTE_ABGR))
rlm@114 402 panel
rlm@114 403 (proxy [JPanel] []
rlm@114 404 (paint
rlm@114 405 [graphics]
rlm@114 406 (proxy-super paintComponent graphics)
rlm@114 407 (.drawImage graphics @image 0 0 nil)))
rlm@114 408 frame (JFrame. "Display Image")]
rlm@114 409 (SwingUtilities/invokeLater
rlm@114 410 (fn []
rlm@114 411 (doto frame
rlm@114 412 (-> (.getContentPane) (.add panel))
rlm@114 413 (.pack)
rlm@114 414 (.setLocationRelativeTo nil)
rlm@114 415 (.setResizable true)
rlm@114 416 (.setVisible true))))
rlm@114 417 (fn [#^BufferedImage i]
rlm@114 418 (reset! image i)
rlm@114 419 (.setSize frame (+ 8 (.getWidth i)) (+ 28 (.getHeight i)))
rlm@114 420 (.repaint panel 0 0 (.getWidth i) (.getHeight i)))))
rlm@114 421
rlm@50 422 (defprotocol Viewable
rlm@50 423 (view [something]))
rlm@50 424
rlm@50 425 (extend-type com.jme3.scene.Geometry
rlm@50 426 Viewable
rlm@50 427 (view [geo]
rlm@50 428 (view (doto (Node.)(.attachChild geo)))))
rlm@47 429
rlm@29 430 (extend-type com.jme3.scene.Node
rlm@29 431 Viewable
rlm@29 432 (view
rlm@29 433 [node]
rlm@29 434 (.start
rlm@29 435 (world
rlm@29 436 node
rlm@29 437 {}
rlm@29 438 (fn [world]
rlm@29 439 (enable-debug world)
rlm@29 440 (set-gravity world Vector3f/ZERO)
rlm@47 441 (light-up-everything world))
rlm@29 442 no-op))))
rlm@62 443
rlm@62 444 (extend-type com.jme3.math.ColorRGBA
rlm@62 445 Viewable
rlm@62 446 (view
rlm@62 447 [color]
rlm@62 448 (view (doto (Node.)
rlm@62 449 (.attachChild (box 1 1 1 :color color))))))
rlm@62 450
rlm@62 451 (defprotocol Textual
rlm@62 452 (text [something]
rlm@62 453 "Display a detailed textual analysis of the given object."))
rlm@62 454
rlm@62 455 (extend-type com.jme3.scene.Node
rlm@62 456 Textual
rlm@62 457 (text [node]
rlm@62 458 (println "Total Vertexes: " (.getVertexCount node))
rlm@62 459 (println "Total Triangles: " (.getTriangleCount node))
rlm@62 460 (println "Controls :")
rlm@62 461 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@62 462 (println "Has " (.getQuantity node) " Children:")
rlm@62 463 (doall (map text (.getChildren node)))))
rlm@62 464
rlm@62 465 (extend-type com.jme3.animation.AnimControl
rlm@62 466 Textual
rlm@62 467 (text [control]
rlm@62 468 (let [animations (.getAnimationNames control)]
rlm@62 469 (println "Animation Control with " (count animations) " animation(s):")
rlm@62 470 (dorun (map println animations)))))
rlm@62 471
rlm@62 472 (extend-type com.jme3.animation.SkeletonControl
rlm@62 473 Textual
rlm@62 474 (text [control]
rlm@62 475 (println "Skeleton Control with the following skeleton:")
rlm@62 476 (println (.getSkeleton control))))
rlm@62 477
rlm@62 478 (extend-type com.jme3.bullet.control.KinematicRagdollControl
rlm@62 479 Textual
rlm@62 480 (text [control]
rlm@62 481 (println "Ragdoll Control")))
rlm@62 482
rlm@62 483 (extend-type com.jme3.scene.Geometry
rlm@62 484 Textual
rlm@62 485 (text [control]
rlm@62 486 (println "...geo...")))
rlm@108 487
rlm@108 488 (extend-type Triangle
rlm@108 489 Textual
rlm@108 490 (text [t]
rlm@108 491 (println "Triangle: " \newline (.get1 t) \newline
rlm@108 492 (.get2 t) \newline (.get3 t))))
rlm@108 493
rlm@25 494 #+end_src
rlm@25 495
rlm@29 496 Here I make the =Viewable= protocol and extend it to JME's types. Now
rlm@34 497 JME3's =hello-world= can be written as easily as:
rlm@29 498
rlm@29 499 #+begin_src clojure :results silent
rlm@29 500 (cortex.util/view (cortex.util/box))
rlm@29 501 #+end_src
rlm@29 502
rlm@29 503
rlm@24 504 * COMMENT code generation
rlm@24 505 #+begin_src clojure :tangle ../src/cortex/import.clj
rlm@24 506 <<import>>
rlm@24 507 #+end_src
rlm@25 508
rlm@25 509
rlm@29 510 #+begin_src clojure :tangle ../src/cortex/util.clj :noweb yes
rlm@25 511 <<util>>
rlm@25 512 <<shapes>>
rlm@50 513 <<debug-actions>>
rlm@29 514 <<world-view>>
rlm@25 515 #+end_src
rlm@25 516
rlm@29 517
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