Mercurial > cortex

annotate org/body.org @ 53:bb24106cbd6a

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
many problems solved by tightening up the vertex groups in the blender model
author Robert McIntyre <rlm@mit.edu>
date Tue, 15 Nov 2011 00:24:46 -0700
parents 00d0e1639d4b
children 7bc3b22c507b
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@53 8 * COMMENT 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@52 61 (defn skel [node]
rlm@52 62 (doto
rlm@52 63 (.getSkeleton
rlm@52 64 (.getControl node SkeletonControl))
rlm@52 65 ;; this is necessary to force the skeleton to have accurate world
rlm@52 66 ;; transforms before it is rendered to the screen.
rlm@52 67 (.resetAndUpdate)))
rlm@52 68
rlm@50 69 (defprotocol Textual
rlm@50 70 (text [something]
rlm@50 71 "Display a detailed textual analysis of the given object."))
rlm@50 72
rlm@50 73 (extend-type com.jme3.scene.Node
rlm@50 74 Textual
rlm@50 75 (text [node]
rlm@50 76 (println "Total Vertexes: " (.getVertexCount node))
rlm@50 77 (println "Total Triangles: " (.getTriangleCount node))
rlm@50 78 (println "Controls :")
rlm@50 79 (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@50 80 (println "Has " (.getQuantity node) " Children:")
rlm@50 81 (doall (map text (.getChildren node)))))
rlm@50 82
rlm@50 83 (extend-type com.jme3.animation.AnimControl
rlm@50 84 Textual
rlm@50 85 (text [control]
rlm@50 86 (let [animations (.getAnimationNames control)]
rlm@52 87 (println "Animation Control with " (count animations) " animation(s):")
rlm@50 88 (dorun (map println animations)))))
rlm@50 89
rlm@50 90 (extend-type com.jme3.animation.SkeletonControl
rlm@50 91 Textual
rlm@50 92 (text [control]
rlm@50 93 (println "Skeleton Control with the following skeleton:")
rlm@50 94 (println (.getSkeleton control))))
rlm@50 95
rlm@52 96 (extend-type com.jme3.bullet.control.KinematicRagdollControl
rlm@52 97 Textual
rlm@52 98 (text [control]
rlm@52 99 (println "Ragdoll Control")))
rlm@52 100
rlm@52 101
rlm@50 102 (extend-type com.jme3.scene.Geometry
rlm@50 103 Textual
rlm@50 104 (text [control]
rlm@50 105 (println "...geo...")))
rlm@50 106
rlm@50 107
rlm@50 108
rlm@50 109
rlm@50 110 (defn body
rlm@52 111 "given a node with a SkeletonControl, will produce a body sutiable
rlm@52 112 for AI control with movement and proprioception."
rlm@50 113 [node]
rlm@50 114 (let [skeleton-control (.getControl node SkeletonControl)
rlm@53 115 krc (KinematicRagdollControl.)]
rlm@53 116 (comment
rlm@50 117 (dorun
rlm@50 118 (map #(.addBoneName krc %)
rlm@53 119 ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
rlm@53 120 ;;"mid2" "mid3" "tail" "head"]
rlm@53 121 )))
rlm@52 122
rlm@52 123
rlm@52 124
rlm@50 125 (.addControl node krc)
rlm@52 126 (.setRagdollMode krc)
rlm@52 127 )
rlm@50 128 node
rlm@50 129 )
rlm@50 130
rlm@52 131 (defn green-x-ray []
rlm@51 132 (doto (Material. (asset-manager)
rlm@51 133 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@51 134 (.setColor "Color" ColorRGBA/Green)
rlm@52 135 (-> (.getAdditionalRenderState)
rlm@52 136 (.setDepthTest false))))
rlm@51 137
rlm@53 138 (defn show-skeleton [node]
rlm@50 139 (let [sd
rlm@51 140
rlm@50 141 (doto
rlm@51 142 (SkeletonDebugger. "aurellem-skel-debug"
rlm@51 143 (skel node))
rlm@51 144 (.setMaterial (green-x-ray)))]
rlm@53 145 (.attachChild node sd)
rlm@53 146 node))
rlm@50 147
rlm@51 148
rlm@50 149
rlm@50 150 (defn init-debug-skel-node
rlm@50 151 [f debug-node skeleton]
rlm@50 152 (let [bones
rlm@50 153 (map #(.getBone skeleton %)
rlm@50 154 (range (.getBoneCount skeleton)))]
rlm@50 155 (dorun (map #(.setUserControl % true) bones))
rlm@50 156 (dorun (map (fn [b]
rlm@50 157 (println (.getName b)
rlm@50 158 " -- " (f b)))
rlm@50 159 bones))
rlm@51 160
rlm@50 161 (dorun
rlm@50 162 (map #(.attachChild
rlm@50 163 debug-node
rlm@51 164 (doto
rlm@51 165 (sphere 0.1
rlm@51 166 :position (f %)
rlm@51 167 :physical? false)
rlm@51 168 (.setMaterial (green-x-ray))))
rlm@50 169 bones)))
rlm@50 170 debug-node)
rlm@50 171
rlm@52 172 (import jme3test.bullet.PhysicsTestHelper)
rlm@50 173
rlm@53 174
rlm@53 175 (defn test-zzz [the-worm world value]
rlm@53 176 (if (not value)
rlm@53 177 (let [skeleton (skel the-worm)]
rlm@53 178 (println-repl "enabling bones")
rlm@53 179 (dorun
rlm@53 180 (map
rlm@53 181 #(.setUserControl (.getBone skeleton %) true)
rlm@53 182 (range (.getBoneCount skeleton))))
rlm@53 183
rlm@53 184
rlm@53 185 (let [b (.getBone skeleton 6)]
rlm@53 186 (println-repl "moving " (.getName b))
rlm@53 187 (println-repl (.getLocalPosition b))
rlm@53 188 (.setUserTransforms b
rlm@53 189 (.add (.getLocalPosition b) Vector3f/UNIT_X)
rlm@53 190 Quaternion/IDENTITY
rlm@53 191 (Vector3f. 1 1 1))
rlm@53 192
rlm@53 193 )
rlm@53 194
rlm@53 195
rlm@53 196
rlm@53 197 (println-repl "hi! <3"))))
rlm@53 198
rlm@53 199
rlm@50 200 (defn test-ragdoll []
rlm@50 201
rlm@50 202 (let [the-worm
rlm@53 203
rlm@52 204 ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
rlm@53 205 (doto (show-skeleton (worm-blender))
rlm@53 206 (.setLocalTranslation (Vector3f. 0 10 0))
rlm@53 207 ;;(worm)
rlm@52 208 ;;(oto)
rlm@52 209 ;;(sinbad)
rlm@50 210 )
rlm@50 211 ]
rlm@50 212
rlm@50 213
rlm@50 214 (.start
rlm@50 215 (world
rlm@50 216 (doto (Node.)
rlm@50 217 (.attachChild the-worm))
rlm@53 218 {"key-return" (fire-cannon-ball)
rlm@53 219 "key-space" (partial test-zzz the-worm)
rlm@53 220 }
rlm@50 221 (fn [world]
rlm@50 222 (light-up-everything world)
rlm@52 223 (PhysicsTestHelper/createPhysicsTestWorld
rlm@52 224 (.getRootNode world)
rlm@52 225 (asset-manager)
rlm@52 226 (.getPhysicsSpace
rlm@52 227 (.getState (.getStateManager world) BulletAppState)))
rlm@53 228 (set-gravity world Vector3f/ZERO)
rlm@50 229 ;;(.setTimer world (NanoTimer.))
rlm@50 230 ;;(org.lwjgl.input.Mouse/setGrabbed false)
rlm@50 231 )
rlm@50 232 no-op
rlm@50 233 )
rlm@50 234
rlm@50 235
rlm@50 236 )))
rlm@50 237
rlm@50 238
rlm@50 239
rlm@49 240
rlm@50 241
rlm@50 242
rlm@50 243
rlm@49 244
rlm@49 245
rlm@49 246
rlm@0 247 #+end_src
rlm@0 248
rlm@0 249
rlm@0 250
rlm@0 251
rlm@0 252
rlm@0 253
rlm@0 254
rlm@0 255
rlm@0 256 * COMMENT generate Source.
rlm@44 257 #+begin_src clojure :tangle ../src/cortex/body.clj
rlm@0 258 <<body-main>>
rlm@0 259 #+end_src
rlm@0 260