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made BufferedImage visulation more general
author Robert McIntyre <rlm@mit.edu>
date Sat, 14 Jan 2012 01:07:18 -0700
parents 5b23961433e3
children 940074adc1d5
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@99 97
rlm@99 98 (defn visualize [points]
rlm@99 99
rlm@99 100
rlm@99 101
rlm@99 102 (defn collapse
rlm@99 103 "Take a set of pairs of integers and collapse them into a
rlm@99 104 contigous bitmap."
rlm@99 105 [points]
rlm@99 106 (let [center [0 0]]
rlm@99 107
rlm@99 108 )
rlm@99 109
rlm@99 110
rlm@99 111
rlm@99 112
rlm@99 113
rlm@99 114
rlm@99 115
rlm@99 116
rlm@99 117
rlm@83 118
rlm@83 119 (defn load-bullet []
rlm@84 120 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 121 (.enqueue
rlm@84 122 sim
rlm@84 123 (fn []
rlm@84 124 (.stop sim)))
rlm@84 125 (.start sim)))
rlm@83 126
rlm@73 127 (defn load-blender-model
rlm@73 128 "Load a .blend file using an asset folder relative path."
rlm@73 129 [^String model]
rlm@73 130 (.loadModel
rlm@73 131 (doto (asset-manager)
rlm@73 132 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 133 model))
rlm@73 134
rlm@74 135 (defn meta-data [blender-node key]
rlm@74 136 (if-let [data (.getUserData blender-node "properties")]
rlm@74 137 (.findValue data key)
rlm@74 138 nil))
rlm@73 139
rlm@78 140 (defn blender-to-jme
rlm@78 141 "Convert from Blender coordinates to JME coordinates"
rlm@78 142 [#^Vector3f in]
rlm@78 143 (Vector3f. (.getX in)
rlm@78 144 (.getZ in)
rlm@78 145 (- (.getY in))))
rlm@74 146
rlm@79 147 (defn jme-to-blender
rlm@79 148 "Convert from JME coordinates to Blender coordinates"
rlm@79 149 [#^Vector3f in]
rlm@79 150 (Vector3f. (.getX in)
rlm@79 151 (- (.getZ in))
rlm@79 152 (.getY in)))
rlm@79 153
rlm@78 154 (defn joint-targets
rlm@78 155 "Return the two closest two objects to the joint object, ordered
rlm@78 156 from bottom to top according to the joint's rotation."
rlm@78 157 [#^Node parts #^Node joint]
rlm@78 158 ;;(println (meta-data joint "joint"))
rlm@78 159 (.getWorldRotation joint)
rlm@78 160 (loop [radius (float 0.01)]
rlm@78 161 (let [results (CollisionResults.)]
rlm@78 162 (.collideWith
rlm@78 163 parts
rlm@78 164 (BoundingBox. (.getWorldTranslation joint)
rlm@78 165 radius radius radius)
rlm@78 166 results)
rlm@78 167 (let [targets
rlm@78 168 (distinct
rlm@78 169 (map #(.getGeometry %) results))]
rlm@78 170 (if (>= (count targets) 2)
rlm@78 171 (sort-by
rlm@79 172 #(let [v
rlm@79 173 (jme-to-blender
rlm@79 174 (.mult
rlm@79 175 (.inverse (.getWorldRotation joint))
rlm@79 176 (.subtract (.getWorldTranslation %)
rlm@79 177 (.getWorldTranslation joint))))]
rlm@79 178 (println-repl (.getName %) ":" v)
rlm@79 179 (.dot (Vector3f. 1 1 1)
rlm@79 180 v))
rlm@78 181 (take 2 targets))
rlm@78 182 (recur (float (* radius 2))))))))
rlm@74 183
rlm@87 184 (defn world-to-local
rlm@87 185 "Convert the world coordinates into coordinates relative to the
rlm@87 186 object (i.e. local coordinates), taking into account the rotation
rlm@87 187 of object."
rlm@87 188 [#^Spatial object world-coordinate]
rlm@87 189 (let [out (Vector3f.)]
rlm@88 190 (.worldToLocal object world-coordinate out) out))
rlm@87 191
rlm@96 192 (defn local-to-world
rlm@96 193 "Convert the local coordinates into coordinates into world relative
rlm@96 194 coordinates"
rlm@96 195 [#^Spatial object local-coordinate]
rlm@96 196 (let [world-coordinate (Vector3f.)]
rlm@96 197 (.localToWorld object local-coordinate world-coordinate)
rlm@96 198 world-coordinate))
rlm@96 199
rlm@96 200
rlm@87 201 (defmulti joint-dispatch
rlm@87 202 "Translate blender pseudo-joints into real JME joints."
rlm@88 203 (fn [constraints & _]
rlm@87 204 (:type constraints)))
rlm@87 205
rlm@87 206 (defmethod joint-dispatch :point
rlm@87 207 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 208 (println-repl "creating POINT2POINT joint")
rlm@87 209 (Point2PointJoint.
rlm@87 210 control-a
rlm@87 211 control-b
rlm@87 212 pivot-a
rlm@87 213 pivot-b))
rlm@87 214
rlm@87 215 (defmethod joint-dispatch :hinge
rlm@87 216 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 217 (println-repl "creating HINGE joint")
rlm@87 218 (let [axis
rlm@87 219 (if-let
rlm@87 220 [axis (:axis constraints)]
rlm@87 221 axis
rlm@87 222 Vector3f/UNIT_X)
rlm@87 223 [limit-1 limit-2] (:limit constraints)
rlm@87 224 hinge-axis
rlm@87 225 (.mult
rlm@87 226 rotation
rlm@87 227 (blender-to-jme axis))]
rlm@87 228 (doto
rlm@87 229 (HingeJoint.
rlm@87 230 control-a
rlm@87 231 control-b
rlm@87 232 pivot-a
rlm@87 233 pivot-b
rlm@87 234 hinge-axis
rlm@87 235 hinge-axis)
rlm@87 236 (.setLimit limit-1 limit-2))))
rlm@87 237
rlm@87 238 (defmethod joint-dispatch :cone
rlm@87 239 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 240 (let [limit-xz (:limit-xz constraints)
rlm@87 241 limit-xy (:limit-xy constraints)
rlm@87 242 twist (:twist constraints)]
rlm@87 243
rlm@87 244 (println-repl "creating CONE joint")
rlm@87 245 (println-repl rotation)
rlm@87 246 (println-repl
rlm@87 247 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 248 (println-repl
rlm@87 249 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 250 (println-repl
rlm@87 251 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 252 (doto
rlm@87 253 (ConeJoint.
rlm@87 254 control-a
rlm@87 255 control-b
rlm@87 256 pivot-a
rlm@87 257 pivot-b
rlm@87 258 rotation
rlm@87 259 rotation)
rlm@87 260 (.setLimit (float limit-xz)
rlm@87 261 (float limit-xy)
rlm@87 262 (float twist)))))
rlm@87 263
rlm@88 264 (defn connect
rlm@87 265 "here are some examples:
rlm@87 266 {:type :point}
rlm@87 267 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 268 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 269
rlm@89 270 {:type :cone :limit-xz 0]
rlm@89 271 :limit-xy 0]
rlm@89 272 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 273 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 274 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 275 control-b (.getControl obj-b RigidBodyControl)
rlm@87 276 joint-center (.getWorldTranslation joint)
rlm@87 277 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 278 pivot-a (world-to-local obj-a joint-center)
rlm@87 279 pivot-b (world-to-local obj-b joint-center)]
rlm@89 280
rlm@87 281 (if-let [constraints
rlm@87 282 (map-vals
rlm@87 283 eval
rlm@87 284 (read-string
rlm@87 285 (meta-data joint "joint")))]
rlm@89 286 ;; A side-effect of creating a joint registers
rlm@89 287 ;; it with both physics objects which in turn
rlm@89 288 ;; will register the joint with the physics system
rlm@89 289 ;; when the simulation is started.
rlm@87 290 (do
rlm@87 291 (println-repl "creating joint between"
rlm@87 292 (.getName obj-a) "and" (.getName obj-b))
rlm@87 293 (joint-dispatch constraints
rlm@87 294 control-a control-b
rlm@87 295 pivot-a pivot-b
rlm@87 296 joint-rotation))
rlm@87 297 (println-repl "could not find joint meta-data!"))))
rlm@87 298
rlm@78 299 (defn assemble-creature [#^Node pieces joints]
rlm@78 300 (dorun
rlm@78 301 (map
rlm@78 302 (fn [geom]
rlm@78 303 (let [physics-control
rlm@78 304 (RigidBodyControl.
rlm@78 305 (HullCollisionShape.
rlm@78 306 (.getMesh geom))
rlm@78 307 (if-let [mass (meta-data geom "mass")]
rlm@78 308 (do
rlm@78 309 (println-repl
rlm@78 310 "setting" (.getName geom) "mass to" (float mass))
rlm@78 311 (float mass))
rlm@78 312 (float 1)))]
rlm@78 313
rlm@78 314 (.addControl geom physics-control)))
rlm@78 315 (filter #(isa? (class %) Geometry )
rlm@78 316 (node-seq pieces))))
rlm@78 317 (dorun
rlm@78 318 (map
rlm@78 319 (fn [joint]
rlm@78 320 (let [[obj-a obj-b]
rlm@78 321 (joint-targets pieces joint)]
rlm@88 322 (connect obj-a obj-b joint)))
rlm@78 323 joints))
rlm@78 324 pieces)
rlm@74 325
rlm@78 326 (defn blender-creature [blender-path]
rlm@78 327 (let [model (load-blender-model blender-path)
rlm@78 328 joints
rlm@78 329 (if-let [joint-node (.getChild model "joints")]
rlm@78 330 (seq (.getChildren joint-node))
rlm@78 331 (do (println-repl "could not find joints node")
rlm@78 332 []))]
rlm@78 333 (assemble-creature model joints)))
rlm@74 334
rlm@78 335 (def hand "Models/creature1/one.blend")
rlm@74 336
rlm@78 337 (def worm "Models/creature1/try-again.blend")
rlm@78 338
rlm@90 339 (def touch "Models/creature1/touch.blend")
rlm@90 340
rlm@90 341 (defn worm-model [] (load-blender-model worm))
rlm@90 342
rlm@80 343 (defn x-ray [#^ColorRGBA color]
rlm@80 344 (doto (Material. (asset-manager)
rlm@80 345 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 346 (.setColor "Color" color)
rlm@80 347 (-> (.getAdditionalRenderState)
rlm@80 348 (.setDepthTest false))))
rlm@80 349
rlm@78 350 (defn test-creature [thing]
rlm@80 351 (let [x-axis
rlm@80 352 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 353 y-axis
rlm@80 354 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 355 z-axis
rlm@80 356 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 357 (world
rlm@78 358 (nodify [(blender-creature thing)
rlm@81 359 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 360 :color ColorRGBA/Gray :mass 0)
rlm@80 361 x-axis y-axis z-axis
rlm@80 362 ])
rlm@78 363 standard-debug-controls
rlm@90 364 (fn [world]
rlm@90 365 (light-up-everything world)
rlm@90 366 (enable-debug world)
rlm@90 367 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 368 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 369 (.setTimer world (NanoTimer.))
rlm@93 370 (set-gravity world (Vector3f. 0 0 0))
rlm@90 371 (speed-up world)
rlm@90 372 )
rlm@90 373 no-op
rlm@90 374 ;;(let [timer (atom 0)]
rlm@90 375 ;; (fn [_ _]
rlm@90 376 ;; (swap! timer inc)
rlm@90 377 ;; (if (= (rem @timer 60) 0)
rlm@90 378 ;; (println-repl (float (/ @timer 60))))))
rlm@90 379 )))
rlm@90 380
rlm@91 381 (defn colorful []
rlm@91 382 (.getChild (worm-model) "worm-21"))
rlm@90 383
rlm@90 384 (import jme3tools.converters.ImageToAwt)
rlm@90 385
rlm@90 386 (import ij.ImagePlus)
rlm@90 387
rlm@90 388 (defn triangle-indices
rlm@90 389 "Get the triangle vertex indices of a given triangle from a given
rlm@90 390 mesh."
rlm@90 391 [#^Mesh mesh triangle-index]
rlm@90 392 (let [indices (int-array 3)]
rlm@90 393 (.getTriangle mesh triangle-index indices)
rlm@90 394 (vec indices)))
rlm@90 395
rlm@90 396 (defn uv-coord
rlm@90 397 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 398 [#^Mesh mesh vertex-index]
rlm@90 399 (let [UV-buffer
rlm@90 400 (.getData
rlm@90 401 (.getBuffer
rlm@90 402 mesh
rlm@90 403 VertexBuffer$Type/TexCoord))]
rlm@91 404 (Vector2f.
rlm@91 405 (.get UV-buffer (* vertex-index 2))
rlm@91 406 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 407
rlm@93 408 (defn tri-uv-coord
rlm@93 409 "Get the uv-cooridnates of the triangle's verticies."
rlm@93 410 [#^Mesh mesh #^Triangle triangle]
rlm@93 411 (map (partial uv-coord mesh)
rlm@93 412 (triangle-indices mesh (.getIndex triangle))))
rlm@93 413
rlm@91 414 (defn touch-receptor-image
rlm@97 415 "Return the touch-sensor distribution image in ImagePlus format, or
rlm@97 416 nil if it does not exist."
rlm@91 417 [#^Geometry obj]
rlm@97 418 (let [mat (.getMaterial obj)]
rlm@97 419 (if-let [texture-param
rlm@97 420 (.getTextureParam
rlm@97 421 mat
rlm@97 422 MaterialHelper/TEXTURE_TYPE_DIFFUSE)]
rlm@97 423 (let
rlm@97 424 [texture
rlm@97 425 (.getTextureValue texture-param)
rlm@97 426 im (.getImage texture)]
rlm@97 427 (ImagePlus.
rlm@97 428 "UV-map"
rlm@97 429 (ImageToAwt/convert im false false 0))))))
rlm@91 430
rlm@91 431 (import ij.process.ImageProcessor)
rlm@91 432 (import java.awt.image.BufferedImage)
rlm@91 433
rlm@91 434 (defprotocol Frame
rlm@91 435 (frame [this]))
rlm@91 436
rlm@91 437 (extend-type BufferedImage
rlm@91 438 Frame
rlm@91 439 (frame [image]
rlm@91 440 (merge
rlm@91 441 (apply
rlm@91 442 hash-map
rlm@91 443 (interleave
rlm@91 444 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 445 (vector x y)))
rlm@91 446 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 447 (let [data (.getRGB image x y)]
rlm@91 448 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 449 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 450 :b (bit-and 0x0000ff data)))))))
rlm@91 451 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 452
rlm@91 453
rlm@91 454 (extend-type ImagePlus
rlm@91 455 Frame
rlm@91 456 (frame [image+]
rlm@91 457 (frame (.getBufferedImage image+))))
rlm@91 458
rlm@94 459
rlm@92 460 (def white -1)
rlm@94 461
rlm@91 462 (defn filter-pixels
rlm@91 463 "List the coordinates of all pixels matching pred."
rlm@92 464 {:author "Dylan Holmes"}
rlm@91 465 [pred #^ImageProcessor ip]
rlm@91 466 (let
rlm@91 467 [width (.getWidth ip)
rlm@91 468 height (.getHeight ip)]
rlm@91 469 ((fn accumulate [x y matches]
rlm@91 470 (cond
rlm@91 471 (>= y height) matches
rlm@91 472 (>= x width) (recur 0 (inc y) matches)
rlm@91 473 (pred (.getPixel ip x y))
rlm@91 474 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 475 :else (recur (inc x) y matches)))
rlm@91 476 0 0 [])))
rlm@91 477
rlm@91 478 (defn white-coordinates
rlm@91 479 "List the coordinates of all the white pixels in an image."
rlm@91 480 [#^ImageProcessor ip]
rlm@92 481 (filter-pixels #(= % white) ip))
rlm@91 482
rlm@91 483 (defn same-side? [p1 p2 ref p]
rlm@91 484 (<=
rlm@91 485 0
rlm@91 486 (.dot
rlm@91 487 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 488 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 489
rlm@94 490
rlm@94 491 (defn triangle->matrix4f
rlm@94 492 "Converts the triangle into a 4x4 matrix of vertices: The first
rlm@94 493 three columns contain the vertices of the triangle; the last
rlm@94 494 contains the unit normal of the triangle. The bottom row is filled
rlm@94 495 with 1s."
rlm@94 496 [#^Triangle t]
rlm@94 497 (let [mat (Matrix4f.)
rlm@94 498 [vert-1 vert-2 vert-3]
rlm@94 499 ((comp vec map) #(.get t %) (range 3))
rlm@94 500 unit-normal (do (.calculateNormal t)(.getNormal t))
rlm@94 501 vertices [vert-1 vert-2 vert-3 unit-normal]]
rlm@94 502
rlm@94 503 (dorun
rlm@94 504 (for [row (range 4) col (range 3)]
rlm@94 505 (do
rlm@94 506 (.set mat col row (.get (vertices row)col))
rlm@94 507 (.set mat 3 row 1))))
rlm@94 508 mat))
rlm@94 509
rlm@94 510 (defn triangle-transformation
rlm@94 511 "Returns the affine transformation that converts each vertex in the
rlm@94 512 first triangle into the corresponding vertex in the second
rlm@94 513 triangle."
rlm@94 514 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 515 (.mult
rlm@94 516 (triangle->matrix4f tri-2)
rlm@94 517 (.invert (triangle->matrix4f tri-1))))
rlm@94 518
rlm@94 519 (def death (Triangle.
rlm@94 520 (Vector3f. 1 1 1)
rlm@94 521 (Vector3f. 1 2 3)
rlm@94 522 (Vector3f. 5 6 7)))
rlm@94 523
rlm@94 524 (def death-2 (Triangle.
rlm@94 525 (Vector3f. 2 2 2)
rlm@94 526 (Vector3f. 1 1 1)
rlm@94 527 (Vector3f. 0 1 0)))
rlm@94 528
rlm@94 529 (defn vector2f->vector3f [v]
rlm@94 530 (Vector3f. (.getX v) (.getY v) 0))
rlm@94 531
rlm@94 532
rlm@94 533 (extend-type Triangle
rlm@94 534 Textual
rlm@94 535 (text [t]
rlm@94 536 (println "Triangle: " \newline (.get1 t) \newline
rlm@94 537 (.get2 t) \newline (.get3 t))))
rlm@94 538
rlm@94 539
rlm@94 540 (defn map-triangle [f #^Triangle tri]
rlm@94 541 (Triangle.
rlm@94 542 (f 0 (.get1 tri))
rlm@94 543 (f 1 (.get2 tri))
rlm@94 544 (f 2 (.get3 tri))))
rlm@94 545
rlm@94 546 (defn triangle-seq [#^Triangle tri]
rlm@94 547 [(.get1 tri) (.get2 tri) (.get3 tri)])
rlm@94 548
rlm@94 549 (defn vector3f-seq [#^Vector3f v]
rlm@94 550 [(.getX v) (.getY v) (.getZ v)])
rlm@94 551
rlm@91 552 (defn inside-triangle?
rlm@94 553 "Is the point inside the triangle? Now what do we do?
rlm@94 554 You might want to hold on there"
rlm@95 555 {:author "Dylan Holmes"}
rlm@94 556 [tri p]
rlm@94 557 (let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
rlm@94 558 (and
rlm@94 559 (same-side? vert-1 vert-2 vert-3 p)
rlm@94 560 (same-side? vert-2 vert-3 vert-1 p)
rlm@94 561 (same-side? vert-3 vert-1 vert-2 p))))
rlm@91 562
rlm@94 563 (defn uv-triangle
rlm@94 564 "Convert the mesh triangle into the cooresponding triangle in
rlm@94 565 UV-space. Z-component of these triangles is always zero."
rlm@94 566 [#^Mesh mesh #^Triangle tri]
rlm@94 567 (apply #(Triangle. %1 %2 %3)
rlm@94 568 (map vector2f->vector3f
rlm@94 569 (tri-uv-coord mesh tri))))
rlm@91 570
rlm@94 571 (defn pixel-triangle
rlm@94 572 "Convert the mesh triange into the corresponding triangle in
rlm@94 573 UV-pixel-space. Z compenent will be zero."
rlm@94 574 [#^Mesh mesh #^Triangle tri width height]
rlm@94 575 (map-triangle (fn [_ v]
rlm@94 576 (Vector3f. (* width (.getX v))
rlm@94 577 (* height (.getY v))
rlm@94 578 0))
rlm@94 579 (uv-triangle mesh tri)))
rlm@93 580
rlm@96 581 (def rasterize pixel-triangle)
rlm@96 582
rlm@96 583
rlm@94 584 (defn triangle-bounds
rlm@94 585 "Dimensions of the bounding square of the triangle in the form
rlm@94 586 [x y width height].
rlm@94 587 Assumes that the triangle lies in the XY plane."
rlm@94 588 [#^Triangle tri]
rlm@94 589 (let [verts (map vector3f-seq (triangle-seq tri))
rlm@94 590 x (apply min (map first verts))
rlm@94 591 y (apply min (map second verts))]
rlm@93 592
rlm@94 593 [x y
rlm@94 594 (- (apply max (map first verts)) x)
rlm@94 595 (- (apply max (map second verts)) y)
rlm@94 596 ]))
rlm@93 597
rlm@93 598
rlm@97 599 (defn locate-feelers
rlm@94 600 "Search the geometry's tactile UV image for touch sensors, returning
rlm@94 601 their positions in geometry-relative coordinates."
rlm@94 602 [#^Geometry geo]
rlm@97 603 (if-let [image (touch-receptor-image geo)]
rlm@97 604 (let [mesh (.getMesh geo)
rlm@97 605 tris (triangles geo)
rlm@97 606
rlm@97 607
rlm@97 608 width (.getWidth image)
rlm@97 609 height (.getHeight image)
rlm@97 610
rlm@97 611 ;; for each triangle
rlm@97 612 sensor-coords
rlm@97 613 (fn [tri]
rlm@97 614 ;; translate triangle to uv-pixel-space
rlm@97 615 (let [uv-tri
rlm@97 616 (pixel-triangle mesh tri width height)
rlm@97 617 bounds (vec (triangle-bounds uv-tri))]
rlm@97 618
rlm@97 619 ;; get that part of the picture
rlm@97 620
rlm@97 621 (apply #(.setRoi image %1 %2 %3 %4) bounds)
rlm@97 622 (let [cutout (.crop (.getProcessor image))
rlm@97 623 ;; extract white pixels inside triangle
rlm@97 624 cutout-tri
rlm@97 625 (map-triangle
rlm@97 626 (fn [_ v]
rlm@97 627 (.subtract
rlm@97 628 v
rlm@97 629 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 630 uv-tri)
rlm@97 631 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 632 (map vector2f->vector3f
rlm@97 633 (white-coordinates cutout)))
rlm@97 634 ;; translate pixel coordinates to world-space
rlm@97 635 transform (triangle-transformation cutout-tri tri)]
rlm@97 636 (map #(.mult transform %) whites))))]
rlm@97 637 (vec (map sensor-coords tris)))
rlm@97 638 (repeat (count (triangles geo)) [])))
rlm@97 639
rlm@97 640 (defn enable-touch [#^Geometry geo]
rlm@97 641 (let [feeler-coords (locate-feelers geo)
rlm@96 642 tris (triangles geo)
rlm@97 643 limit 0.1]
rlm@97 644 (fn [node]
rlm@97 645 (let [sensor-origins
rlm@97 646 (map
rlm@97 647 #(map (partial local-to-world geo) %)
rlm@97 648 feeler-coords)
rlm@97 649 triangle-normals
rlm@97 650 (map (partial get-ray-direction geo)
rlm@97 651 tris)
rlm@97 652 rays
rlm@97 653 (flatten
rlm@97 654 (map (fn [origins norm]
rlm@97 655 (map #(doto (Ray. % norm)
rlm@97 656 (.setLimit limit)) origins))
rlm@97 657 sensor-origins triangle-normals))]
rlm@97 658 (for [ray rays]
rlm@97 659 (do
rlm@97 660 (let [results (CollisionResults.)]
rlm@97 661 (.collideWith node ray results)
rlm@97 662 (let [touch-objects
rlm@97 663 (set
rlm@97 664 (filter #(not (= geo %))
rlm@97 665 (map #(.getGeometry %) results)))]
rlm@99 666 (if (> (count touch-objects) 0)
rlm@99 667 1 0)))))))))
rlm@94 668
rlm@97 669 (defn touch [#^Node pieces]
rlm@97 670 (let [touch-components
rlm@97 671 (map enable-touch
rlm@97 672 (filter #(isa? (class %) Geometry)
rlm@97 673 (node-seq pieces)))]
rlm@97 674 (fn [node]
rlm@97 675 (reduce into [] (map #(% node) touch-components)))))
rlm@96 676
rlm@91 677 (defn all-names []
rlm@91 678 (concat
rlm@91 679 (re-split #"\n" (slurp (file-str
rlm@91 680 "/home/r/proj/names/dist.female.first")))
rlm@91 681 (re-split #"\n" (slurp (file-str
rlm@91 682 "/home/r/proj/names/dist.male.first")))
rlm@91 683 (re-split #"\n" (slurp (file-str
rlm@91 684 "/home/r/proj/names/dist.all.last")))))
rlm@90 685
rlm@90 686
rlm@90 687
rlm@90 688
rlm@90 689
rlm@90 690
rlm@90 691
rlm@90 692
rlm@90 693
rlm@90 694 (defrecord LulzLoader [])
rlm@90 695 (defprotocol Lulzable (load-lulz [this]))
rlm@90 696 (extend-type LulzLoader
rlm@90 697 Lulzable
rlm@90 698 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 699
rlm@78 700
rlm@78 701 (defn world-setup [joint]
rlm@90 702 (let [joint-position (Vector3f. 0 0 0)
rlm@83 703 joint-rotation
rlm@83 704 (.toRotationMatrix
rlm@83 705 (.mult
rlm@83 706 (doto (Quaternion.)
rlm@83 707 (.fromAngleAxis
rlm@83 708 (* 1 (/ Math/PI 4))
rlm@85 709 (Vector3f. -1 0 0)))
rlm@85 710 (doto (Quaternion.)
rlm@85 711 (.fromAngleAxis
rlm@85 712 (* 1 (/ Math/PI 2))
rlm@85 713 (Vector3f. 0 0 1)))))
rlm@84 714 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 715
rlm@83 716 origin (doto
rlm@83 717 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 718 :position top-position))
rlm@83 719 top (doto
rlm@78 720 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 721 :position top-position)
rlm@83 722
rlm@78 723 (.addControl
rlm@78 724 (RigidBodyControl.
rlm@83 725 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 726 bottom (doto
rlm@78 727 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 728 :position (Vector3f. 0 0 0))
rlm@83 729 (.addControl
rlm@78 730 (RigidBodyControl.
rlm@78 731 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 732 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 733 :color ColorRGBA/Gray :mass 0)
rlm@78 734 a (.getControl top RigidBodyControl)
rlm@78 735 b (.getControl bottom RigidBodyControl)]
rlm@83 736
rlm@78 737 (cond
rlm@83 738 (= joint :cone)
rlm@83 739
rlm@83 740 (doto (ConeJoint.
rlm@83 741 a b
rlm@87 742 (world-to-local top joint-position)
rlm@87 743 (world-to-local bottom joint-position)
rlm@83 744 joint-rotation
rlm@83 745 joint-rotation
rlm@83 746 )
rlm@78 747
rlm@83 748
rlm@83 749 (.setLimit (* (/ 10) Math/PI)
rlm@83 750 (* (/ 4) Math/PI)
rlm@83 751 0)))
rlm@83 752 [origin top bottom table]))
rlm@78 753
rlm@78 754 (defn test-joint [joint]
rlm@83 755 (let [[origin top bottom floor] (world-setup joint)
rlm@78 756 control (.getControl top RigidBodyControl)
rlm@78 757 move-up? (atom false)
rlm@78 758 move-down? (atom false)
rlm@78 759 move-left? (atom false)
rlm@78 760 move-right? (atom false)
rlm@78 761 roll-left? (atom false)
rlm@78 762 roll-right? (atom false)
rlm@78 763 timer (atom 0)]
rlm@78 764
rlm@78 765 (world
rlm@83 766 (nodify [top bottom floor origin])
rlm@78 767 (merge standard-debug-controls
rlm@78 768 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 769 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 770 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 771 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 772 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 773 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 774
rlm@78 775 (fn [world]
rlm@78 776 (light-up-everything world)
rlm@78 777 (enable-debug world)
rlm@78 778 (set-gravity world (Vector3f. 0 0 0))
rlm@78 779 )
rlm@78 780
rlm@78 781 (fn [world _]
rlm@78 782 (if (zero? (rem (swap! timer inc) 100))
rlm@78 783 (do
rlm@78 784 ;; (println-repl @timer)
rlm@78 785 (.attachChild (.getRootNode world)
rlm@78 786 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 787 :position (.getWorldTranslation top)
rlm@83 788 :physical? false))
rlm@83 789 (.attachChild (.getRootNode world)
rlm@83 790 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 791 :position (.getWorldTranslation bottom)
rlm@83 792 :physical? false))))
rlm@83 793
rlm@78 794 (if @move-up?
rlm@78 795 (.applyTorque control
rlm@78 796 (.mult (.getPhysicsRotation control)
rlm@78 797 (Vector3f. 0 0 10))))
rlm@78 798 (if @move-down?
rlm@78 799 (.applyTorque control
rlm@78 800 (.mult (.getPhysicsRotation control)
rlm@78 801 (Vector3f. 0 0 -10))))
rlm@78 802 (if @move-left?
rlm@78 803 (.applyTorque control
rlm@78 804 (.mult (.getPhysicsRotation control)
rlm@78 805 (Vector3f. 0 10 0))))
rlm@78 806 (if @move-right?
rlm@78 807 (.applyTorque control
rlm@78 808 (.mult (.getPhysicsRotation control)
rlm@78 809 (Vector3f. 0 -10 0))))
rlm@78 810 (if @roll-left?
rlm@78 811 (.applyTorque control
rlm@78 812 (.mult (.getPhysicsRotation control)
rlm@78 813 (Vector3f. -1 0 0))))
rlm@78 814 (if @roll-right?
rlm@78 815 (.applyTorque control
rlm@78 816 (.mult (.getPhysicsRotation control)
rlm@78 817 (Vector3f. 1 0 0))))))))
rlm@83 818
rlm@83 819
rlm@97 820 (defn locate-feelers*
rlm@97 821 "Search the geometry's tactile UV image for touch sensors, returning
rlm@97 822 their positions in geometry-relative coordinates."
rlm@97 823 [#^Geometry geo]
rlm@97 824 (let [uv-image (touch-receptor-image geo)
rlm@97 825 width (.getWidth uv-image)
rlm@97 826 height (.getHeight uv-image)
rlm@97 827
rlm@97 828 mesh (.getMesh geo)
rlm@97 829 mesh-tris (triangles geo)
rlm@97 830
rlm@97 831 ;; for each triangle
rlm@97 832 sensor-coords
rlm@97 833 (fn [tri]
rlm@97 834 ;; translate triangle to uv-pixel-space
rlm@97 835 (let [uv-tri
rlm@97 836 (rasterize mesh tri width height)
rlm@97 837 bounds (vec (triangle-bounds uv-tri))]
rlm@97 838
rlm@97 839 ;; get that part of the picture
rlm@97 840
rlm@97 841 (apply (partial (memfn setRoi) uv-image) bounds)
rlm@97 842 (let [cutout (.crop (.getProcessor uv-image))
rlm@97 843 ;; extract white pixels inside triangle
rlm@97 844 cutout-tri
rlm@97 845 (map-triangle
rlm@97 846 (fn [_ v]
rlm@97 847 (.subtract
rlm@97 848 v
rlm@97 849 (Vector3f. (bounds 0) (bounds 1) (float 0))))
rlm@97 850 uv-tri)
rlm@97 851 whites (filter (partial inside-triangle? cutout-tri)
rlm@97 852 (map vector2f->vector3f
rlm@97 853 (white-coordinates cutout)))
rlm@97 854 ;; translate pixel coordinates to world-space
rlm@97 855 transform (triangle-transformation cutout-tri tri)]
rlm@97 856 (map #(.mult transform %) whites))))]
rlm@97 857
rlm@97 858
rlm@97 859
rlm@97 860 (for [mesh-tri mesh-tris]
rlm@97 861
rlm@97 862 (let [uv-tri (rasterize mesh mesh-tri width height)
rlm@97 863 bounding-box (vec (triangle-bounds uv-tri))]
rlm@97 864 (apply (partial (memfn setRoi) uv-image) bounding-box)
rlm@97 865 ))
rlm@97 866 (vec (map sensor-coords mesh-tris))))
rlm@97 867
rlm@97 868
rlm@97 869 (defn tactile-coords [#^Geometry obj]
rlm@97 870 (let [mesh (.getMesh obj)
rlm@97 871 num-triangles (.getTriangleCount mesh)
rlm@97 872 num-verticies (.getVertexCount mesh)
rlm@97 873 uv-coord (partial uv-coord mesh)
rlm@97 874 triangle-indices (partial triangle-indices mesh)
rlm@97 875 receptors (touch-receptor-image obj)
rlm@97 876 tris (triangles obj)
rlm@97 877 ]
rlm@97 878 (map
rlm@97 879 (fn [[tri-1 tri-2 tri-3]]
rlm@97 880 (let [width (.getWidth receptors)
rlm@97 881 height (.getHeight receptors)
rlm@97 882 uv-1 (uv-coord tri-1)
rlm@97 883 uv-2 (uv-coord tri-2)
rlm@97 884 uv-3 (uv-coord tri-3)
rlm@97 885 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@97 886 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@97 887 max-x (Math/ceil (* width (apply max x-coords)))
rlm@97 888 min-x (Math/floor (* width (apply min x-coords)))
rlm@97 889 max-y (Math/ceil (* height (apply max y-coords)))
rlm@97 890 min-y (Math/floor (* height (apply min y-coords)))
rlm@97 891
rlm@97 892 image-1 (Vector2f. (* width (.getX uv-1))
rlm@97 893 (* height (.getY uv-1)))
rlm@97 894 image-2 (Vector2f. (* width (.getX uv-2))
rlm@97 895 (* height (.getY uv-2)))
rlm@97 896 image-3 (Vector2f. (* width (.getX uv-3))
rlm@97 897 (* height (.getY uv-3)))
rlm@97 898 left-corner
rlm@97 899 (Vector2f. min-x min-y)
rlm@97 900 ]
rlm@97 901
rlm@97 902 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@97 903 (let [processor (.crop (.getProcessor receptors))]
rlm@97 904 (map
rlm@97 905 #(.add left-corner %)
rlm@97 906
rlm@97 907 (filter
rlm@97 908 (partial
rlm@97 909 inside-triangle?
rlm@97 910 (.subtract image-1 left-corner)
rlm@97 911 (.subtract image-2 left-corner)
rlm@97 912 (.subtract image-3 left-corner))
rlm@97 913 (white-coordinates processor))))
rlm@97 914 )) (map triangle-indices (range num-triangles)))))
rlm@83 915
rlm@87 916 #+end_src
rlm@83 917
rlm@87 918 #+results: body-1
rlm@87 919 : #'cortex.silly/test-joint
rlm@78 920
rlm@78 921
rlm@78 922 * COMMENT purgatory
rlm@78 923 #+begin_src clojure
rlm@77 924 (defn bullet-trans []
rlm@77 925 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 926 :position (Vector3f. -10 5 0))
rlm@77 927 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 928 :position (Vector3f. -10 -5 0)
rlm@77 929 :mass 0)
rlm@77 930 control-a (.getControl obj-a RigidBodyControl)
rlm@77 931 control-b (.getControl obj-b RigidBodyControl)
rlm@77 932 swivel
rlm@77 933 (.toRotationMatrix
rlm@77 934 (doto (Quaternion.)
rlm@77 935 (.fromAngleAxis (/ Math/PI 2)
rlm@77 936 Vector3f/UNIT_X)))]
rlm@77 937 (doto
rlm@77 938 (ConeJoint.
rlm@77 939 control-a control-b
rlm@77 940 (Vector3f. 0 5 0)
rlm@77 941 (Vector3f. 0 -5 0)
rlm@77 942 swivel swivel)
rlm@77 943 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 944 (/ Math/PI 4)
rlm@77 945 (* Math/PI 0.8)))
rlm@77 946 (world (nodify
rlm@77 947 [obj-a obj-b])
rlm@77 948 standard-debug-controls
rlm@77 949 enable-debug
rlm@77 950 no-op)))
rlm@74 951
rlm@74 952
rlm@77 953 (defn bullet-trans* []
rlm@77 954 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 955 :position (Vector3f. 5 0 0)
rlm@77 956 :mass 90)
rlm@77 957 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 958 :position (Vector3f. -5 0 0)
rlm@77 959 :mass 0)
rlm@77 960 control-a (.getControl obj-a RigidBodyControl)
rlm@77 961 control-b (.getControl obj-b RigidBodyControl)
rlm@77 962 move-up? (atom nil)
rlm@77 963 move-down? (atom nil)
rlm@77 964 move-left? (atom nil)
rlm@77 965 move-right? (atom nil)
rlm@77 966 roll-left? (atom nil)
rlm@77 967 roll-right? (atom nil)
rlm@77 968 force 100
rlm@77 969 swivel
rlm@77 970 (.toRotationMatrix
rlm@77 971 (doto (Quaternion.)
rlm@77 972 (.fromAngleAxis (/ Math/PI 2)
rlm@77 973 Vector3f/UNIT_X)))
rlm@77 974 x-move
rlm@77 975 (doto (Matrix3f.)
rlm@77 976 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 977 (.normalize (Vector3f. 1 1 0))))
rlm@77 978
rlm@77 979 timer (atom 0)]
rlm@77 980 (doto
rlm@77 981 (ConeJoint.
rlm@77 982 control-a control-b
rlm@77 983 (Vector3f. -8 0 0)
rlm@77 984 (Vector3f. 2 0 0)
rlm@77 985 ;;swivel swivel
rlm@77 986 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 987 x-move Matrix3f/IDENTITY
rlm@77 988 )
rlm@77 989 (.setCollisionBetweenLinkedBodys false)
rlm@77 990 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 991 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 992 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 993 (world (nodify
rlm@77 994 [obj-a obj-b])
rlm@77 995 (merge standard-debug-controls
rlm@77 996 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 997 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 998 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 999 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 1000 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 1001 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 1002
rlm@77 1003 (fn [world]
rlm@77 1004 (enable-debug world)
rlm@77 1005 (set-gravity world Vector3f/ZERO)
rlm@77 1006 )
rlm@77 1007
rlm@77 1008 (fn [world _]
rlm@77 1009
rlm@77 1010 (if @move-up?
rlm@77 1011 (.applyForce control-a
rlm@77 1012 (Vector3f. force 0 0)
rlm@77 1013 (Vector3f. 0 0 0)))
rlm@77 1014 (if @move-down?
rlm@77 1015 (.applyForce control-a
rlm@77 1016 (Vector3f. (- force) 0 0)
rlm@77 1017 (Vector3f. 0 0 0)))
rlm@77 1018 (if @move-left?
rlm@77 1019 (.applyForce control-a
rlm@77 1020 (Vector3f. 0 force 0)
rlm@77 1021 (Vector3f. 0 0 0)))
rlm@77 1022 (if @move-right?
rlm@77 1023 (.applyForce control-a
rlm@77 1024 (Vector3f. 0 (- force) 0)
rlm@77 1025 (Vector3f. 0 0 0)))
rlm@77 1026
rlm@77 1027 (if @roll-left?
rlm@77 1028 (.applyForce control-a
rlm@77 1029 (Vector3f. 0 0 force)
rlm@77 1030 (Vector3f. 0 0 0)))
rlm@77 1031 (if @roll-right?
rlm@77 1032 (.applyForce control-a
rlm@77 1033 (Vector3f. 0 0 (- force))
rlm@77 1034 (Vector3f. 0 0 0)))
rlm@77 1035
rlm@77 1036 (if (zero? (rem (swap! timer inc) 100))
rlm@77 1037 (.attachChild
rlm@77 1038 (.getRootNode world)
rlm@77 1039 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 1040 :physical? false :position
rlm@77 1041 (.getWorldTranslation obj-a)))))
rlm@77 1042 )
rlm@77 1043 ))
rlm@77 1044
rlm@94 1045 (defn transform-trianglesdsd
rlm@94 1046 "Transform that converts each vertex in the first triangle
rlm@94 1047 into the corresponding vertex in the second triangle."
rlm@94 1048 [#^Triangle tri-1 #^Triangle tri-2]
rlm@94 1049 (let [in [(.get1 tri-1)
rlm@94 1050 (.get2 tri-1)
rlm@94 1051 (.get3 tri-1)]
rlm@94 1052 out [(.get1 tri-2)
rlm@94 1053 (.get2 tri-2)
rlm@94 1054 (.get3 tri-2)]]
rlm@94 1055 (let [translate (doto (Matrix4f.) (.setTranslation (.negate (in 0))))
rlm@94 1056 in* [(.mult translate (in 0))
rlm@94 1057 (.mult translate (in 1))
rlm@94 1058 (.mult translate (in 2))]
rlm@94 1059 final-translation
rlm@94 1060 (doto (Matrix4f.)
rlm@94 1061 (.setTranslation (out 1)))
rlm@94 1062
rlm@94 1063 rotate-1
rlm@94 1064 (doto (Matrix3f.)
rlm@94 1065 (.fromStartEndVectors
rlm@94 1066 (.normalize
rlm@94 1067 (.subtract
rlm@94 1068 (in* 1) (in* 0)))
rlm@94 1069 (.normalize
rlm@94 1070 (.subtract
rlm@94 1071 (out 1) (out 0)))))
rlm@94 1072 in** [(.mult rotate-1 (in* 0))
rlm@94 1073 (.mult rotate-1 (in* 1))
rlm@94 1074 (.mult rotate-1 (in* 2))]
rlm@94 1075 scale-factor-1
rlm@94 1076 (.mult
rlm@94 1077 (.normalize
rlm@94 1078 (.subtract
rlm@94 1079 (out 1)
rlm@94 1080 (out 0)))
rlm@94 1081 (/ (.length
rlm@94 1082 (.subtract (out 1)
rlm@94 1083 (out 0)))
rlm@94 1084 (.length
rlm@94 1085 (.subtract (in** 1)
rlm@94 1086 (in** 0)))))
rlm@94 1087 scale-1 (doto (Matrix4f.) (.setScale scale-factor-1))
rlm@94 1088 in*** [(.mult scale-1 (in** 0))
rlm@94 1089 (.mult scale-1 (in** 1))
rlm@94 1090 (.mult scale-1 (in** 2))]
rlm@94 1091
rlm@94 1092
rlm@94 1093
rlm@94 1094
rlm@94 1095
rlm@94 1096 ]
rlm@94 1097
rlm@94 1098 (dorun (map println in))
rlm@94 1099 (println)
rlm@94 1100 (dorun (map println in*))
rlm@94 1101 (println)
rlm@94 1102 (dorun (map println in**))
rlm@94 1103 (println)
rlm@94 1104 (dorun (map println in***))
rlm@94 1105 (println)
rlm@94 1106
rlm@99 1107 ))))
rlm@94 1108
rlm@94 1109
rlm@99 1110
rlm@99 1111
rlm@99 1112 #+end_src
rlm@99 1113
rlm@99 1114
rlm@99 1115 * COMMENT generate source
rlm@99 1116 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99 1117 <<body-1>>
rlm@99 1118 #+end_src
rlm@99 1119
rlm@99 1120
rlm@94 1121
rlm@94 1122