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trying to resolve problem with skeleton debugging
author Robert McIntyre <rlm@mit.edu>
date Mon, 14 Nov 2011 18:46:34 -0700
parents 96a41b384100
children 2a6ede6d8ad8
rev   line source
rlm@0 1 #+title: The BODY!!!
rlm@0 2 #+author: Robert McIntyre
rlm@0 3 #+email: rlm@mit.edu
rlm@4 4 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
rlm@4 5 #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4 6 #+INCLUDE: ../../aurellem/org/level-0.org
rlm@4 7
rlm@45 8 * Body
rlm@0 9
rlm@0 10 #+srcname: body-main
rlm@0 11 #+begin_src clojure
rlm@44 12 (ns cortex.body
rlm@44 13 (use (cortex world util import)))
rlm@44 14
rlm@0 15 (use 'clojure.contrib.def)
rlm@0 16 (cortex.import/mega-import-jme3)
rlm@0 17 (rlm.rlm-commands/help)
rlm@0 18
rlm@44 19 ;;(.loadModel
rlm@44 20 ;; (doto (asset-manager)
rlm@44 21 ;; (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44 22 ;; "Models/person/person.blend")
rlm@44 23
rlm@44 24 (defn view-model [^String model]
rlm@44 25 (view
rlm@44 26 (.loadModel
rlm@44 27 (doto (asset-manager)
rlm@44 28 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44 29 model)))
rlm@49 30
rlm@49 31 (defn load-blender-scene [^String model]
rlm@49 32 (.loadModel
rlm@49 33 (doto (asset-manager)
rlm@49 34 (.registerLoader BlenderLoader (into-array String ["blend"])))
rlm@49 35 model))
rlm@49 36
rlm@49 37 (defn load-blender-model
rlm@49 38 [^String model]
rlm@49 39 (.loadModel
rlm@49 40 (doto (asset-manager)
rlm@49 41 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@49 42 model))
rlm@49 43
rlm@49 44 (defn worm
rlm@49 45 []
rlm@50 46 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))
rlm@49 47
rlm@50 48 (defn oto
rlm@49 49 []
rlm@49 50 (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))
rlm@49 51
rlm@50 52 (defn sinbad
rlm@50 53 []
rlm@50 54 (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))
rlm@50 55
rlm@50 56 (defn worm-blender
rlm@50 57 []
rlm@50 58 (first (seq (.getChildren (load-blender-model
rlm@50 59 "Models/anim2/worm3.blend")))))
rlm@50 60
rlm@50 61
rlm@50 62 (defprotocol Textual
rlm@50 63 (text [something]
rlm@50 64 "Display a detailed textual analysis of the given object."))
rlm@50 65
rlm@50 66 (extend-type com.jme3.scene.Node
rlm@50 67 Textual
rlm@50 68 (text [node]
rlm@50 69 (println "Total Vertexes: " (.getVertexCount node))
rlm@50 70 (println "Total Triangles: " (.getTriangleCount node))
rlm@50 71 (println "Controls :")
rlm@50 72 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@50 73 (println "Has " (.getQuantity node) " Children:")
rlm@50 74 (doall (map text (.getChildren node)))))
rlm@50 75
rlm@50 76 (extend-type com.jme3.animation.AnimControl
rlm@50 77 Textual
rlm@50 78 (text [control]
rlm@50 79 (let [animations (.getAnimationNames control)]
rlm@50 80 (println "Animation Control with " (count animations) " animations:")
rlm@50 81 (dorun (map println animations)))))
rlm@50 82
rlm@50 83 (extend-type com.jme3.animation.SkeletonControl
rlm@50 84 Textual
rlm@50 85 (text [control]
rlm@50 86 (println "Skeleton Control with the following skeleton:")
rlm@50 87 (println (.getSkeleton control))))
rlm@50 88
rlm@50 89 (extend-type com.jme3.scene.Geometry
rlm@50 90 Textual
rlm@50 91 (text [control]
rlm@50 92 (println "...geo...")))
rlm@50 93
rlm@50 94
rlm@50 95
rlm@50 96
rlm@50 97 (defn body
rlm@50 98 "given a node with a skeleton, will produce a body sutiable for AI
rlm@50 99 control with movement and proprioception."
rlm@50 100 [node]
rlm@50 101 (let [skeleton-control (.getControl node SkeletonControl)
rlm@50 102 krc (KinematicRagdollControl. (float 0.5))]
rlm@50 103 (dorun
rlm@50 104 (map #(.addBoneName krc %)
rlm@50 105 ["mid1" "mid2" "mid3" "tail" "head"]))
rlm@50 106 (.addControl node krc)
rlm@50 107 (.setRagdollMode krc))
rlm@50 108 node
rlm@50 109 )
rlm@50 110
rlm@50 111 (defn view-skeleton [node]
rlm@50 112 (let [sd
rlm@50 113 (doto
rlm@50 114 (SkeletonDebugger. "aurellem-skel-debug" (skel node))
rlm@50 115 (.setMaterial
rlm@50 116 (doto (Material. (asset-manager)
rlm@50 117 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@50 118 (-> (.getAdditionalRenderState) (.setDepthTest
rlm@50 119 false)))))]
rlm@50 120
rlm@50 121 (.attachChild debug-node sd)))
rlm@50 122
rlm@50 123
rlm@50 124 (defn init-debug-skel-node
rlm@50 125 [f debug-node skeleton]
rlm@50 126 (let [bones
rlm@50 127 (map #(.getBone skeleton %)
rlm@50 128 (range (.getBoneCount skeleton)))]
rlm@50 129 (dorun (map #(.setUserControl % true) bones))
rlm@50 130 (dorun (map (fn [b]
rlm@50 131 (println (.getName b)
rlm@50 132 " -- " (f b)))
rlm@50 133 bones))
rlm@50 134
rlm@50 135 (dorun
rlm@50 136 (map #(.attachChild
rlm@50 137 debug-node
rlm@50 138 (sphere 0.1
rlm@50 139 :position (f %)
rlm@50 140 :rotation (.getWorldBindRotation %)
rlm@50 141 :physical? false))
rlm@50 142 bones)))
rlm@50 143 debug-node)
rlm@50 144
rlm@50 145 (defn skel [node]
rlm@50 146 (.getSkeleton (.getControl node SkeletonControl)))
rlm@50 147
rlm@50 148
rlm@50 149
rlm@50 150
rlm@50 151 (view
rlm@50 152 (init-debug-skel-node
rlm@50 153 (fn [b] (.getWorldBindPosition b))
rlm@50 154 (Node. "skel-debug") (skel (worm))))
rlm@50 155
rlm@50 156
rlm@50 157
rlm@50 158
rlm@50 159
rlm@50 160 (defn test-ragdoll []
rlm@50 161
rlm@50 162 (let [the-worm
rlm@50 163 (body
rlm@50 164 (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
rlm@50 165 ;;(worm-blender)
rlm@50 166 )
rlm@50 167 ]
rlm@50 168
rlm@50 169
rlm@50 170 (.start
rlm@50 171 (world
rlm@50 172 (doto (Node.)
rlm@50 173 (.attachChild the-worm))
rlm@50 174 {"mouse-left" (fire-cannon-ball)}
rlm@50 175 (fn [world]
rlm@50 176 (light-up-everything world)
rlm@50 177 ;;(.setTimer world (NanoTimer.))
rlm@50 178 ;;(org.lwjgl.input.Mouse/setGrabbed false)
rlm@50 179 )
rlm@50 180 no-op
rlm@50 181 )
rlm@50 182
rlm@50 183
rlm@50 184 )))
rlm@50 185
rlm@50 186
rlm@50 187
rlm@50 188
rlm@50 189
rlm@50 190
rlm@50 191
rlm@50 192
rlm@50 193
rlm@50 194
rlm@50 195
rlm@50 196
rlm@50 197
rlm@50 198
rlm@50 199
rlm@50 200
rlm@49 201
rlm@49 202
rlm@49 203 (defn test-worm-anim []
rlm@49 204
rlm@50 205 (let [the-worm
rlm@50 206 ;; (oto)
rlm@50 207 (worm-blender)
rlm@50 208 anim-control (.getControl the-worm AnimControl)
rlm@49 209 channel (doto (.createChannel anim-control)
rlm@50 210 ;; (.setAnim "Walk")
rlm@50 211 (.setAnim "moveHead")
rlm@50 212 )
rlm@49 213
rlm@49 214 play-anim
rlm@50 215 no-op
rlm@50 216 ;; (fn [world pressed]
rlm@50 217 ;; (if (not pressed)
rlm@50 218 ;; (do
rlm@50 219 ;; (println-repl "space")
rlm@50 220 ;; ;; (.setAnim channel "moveHead")
rlm@50 221 ;; (.setAnim channel "Walk" (float 0.5))
rlm@50 222 ;; )))
rlm@49 223
rlm@49 224 ]
rlm@49 225
rlm@49 226 (.start
rlm@49 227 (world
rlm@49 228 (doto (Node.)
rlm@49 229 (.attachChild the-worm))
rlm@50 230 {"key-space" play-anim
rlm@50 231 "mouse-left" (fire-cannon-ball)}
rlm@50 232 (fn [world]
rlm@50 233 (light-up-everything world)
rlm@50 234 ;;(.setTimer world (NanoTimer.))
rlm@50 235 (org.lwjgl.input.Mouse/setGrabbed false)
rlm@50 236 )
rlm@49 237 no-op
rlm@49 238 )
rlm@49 239
rlm@49 240
rlm@49 241 )))
rlm@49 242
rlm@50 243
rlm@50 244
rlm@50 245
rlm@49 246
rlm@49 247
rlm@49 248
rlm@0 249 #+end_src
rlm@0 250
rlm@0 251
rlm@0 252
rlm@0 253
rlm@0 254
rlm@0 255
rlm@0 256
rlm@0 257
rlm@0 258 * COMMENT generate Source.
rlm@44 259 #+begin_src clojure :tangle ../src/cortex/body.clj
rlm@0 260 <<body-main>>
rlm@0 261 #+end_src
rlm@0 262