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author Robert McIntyre <rlm@mit.edu>
date Sat, 29 Mar 2014 22:02:39 -0400
parents ee977613c244
children
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rlm@306 1 #+title: Integration
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@302 9 * Integration
rlm@129 10
rlm@281 11 This is the ultimate test which features all of the senses that I've
rlm@281 12 made so far. The blender file for the creature serves as an example of
rlm@281 13 a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].
rlm@73 14
rlm@300 15
rlm@300 16 #+begin_html
rlm@300 17 <div class="figure">
rlm@300 18 <video controls="controls" width="755">
rlm@300 19 <source src="../video/hand.ogg" type="video/ogg"
rlm@300 20 preload="none" poster="../images/aurellem-1280x480.png" />
rlm@300 21 </video>
rlm@309 22 <br> <a href="http://youtu.be/ZgkWFIoHNuU"> YouTube </a>
rlm@300 23 <p>Simulated Senses in a Virtual Environment</p>
rlm@300 24 </div>
rlm@300 25 #+end_html
rlm@300 26
rlm@302 27 * Generating the Video
rlm@300 28
rlm@192 29 #+name: integration
rlm@73 30 #+begin_src clojure
rlm@300 31 (ns cortex.test.integration
rlm@73 32 "let's play!"
rlm@192 33 {:author "Robert McIntyre"}
rlm@314 34 (:use (cortex world util import body sense
rlm@281 35 hearing touch vision proprioception movement))
rlm@192 36 (:import (com.jme3.math ColorRGBA Vector3f))
rlm@281 37 (:import java.io.File)
rlm@192 38 (:import com.jme3.audio.AudioNode)
rlm@192 39 (:import com.aurellem.capture.RatchetTimer))
rlm@73 40
rlm@281 41 (dorun (cortex.import/mega-import-jme3))
rlm@314 42 ;;(rlm.rlm-commands/help)
rlm@74 43
rlm@281 44 (def hand "Models/test-creature/hand.blend")
rlm@78 45
rlm@281 46 (def output-base (File. "/home/r/proj/cortex/render/hand"))
rlm@300 47 #+end_src
rlm@189 48
rlm@300 49 For this demonstration I have to manually drive the muscles of the
rlm@300 50 hand. I do this by creating a little mini-language to describe
rlm@388 51 simulated muscle contraction.
rlm@316 52
rlm@300 53 #+name: integration-2
rlm@300 54 #+begin_src clojure
rlm@296 55 (defn motor-control-program
rlm@296 56 "Create a function which will execute the motor script"
rlm@296 57 [muscle-positions
rlm@296 58 script]
rlm@296 59 (let [current-frame (atom -1)
rlm@296 60 keyed-script (group-by first script)
rlm@296 61 current-forces (atom {}) ]
rlm@296 62 (fn [effectors]
rlm@296 63 (let [indexed-effectors (vec effectors)]
rlm@296 64 (dorun
rlm@296 65 (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@296 66 (swap! current-forces (fn [m] (assoc m part force)))))
rlm@296 67 (doall (map (fn [effector power]
rlm@296 68 (effector (int power)))
rlm@296 69 effectors
rlm@296 70 (map #(@current-forces % 0) muscle-positions)))))))
rlm@296 71
rlm@296 72 (def muscle-positions
rlm@296 73 [:pointer-2-e
rlm@296 74 :pointer-2-f
rlm@296 75 :thumb-1
rlm@296 76 :thumb-1
rlm@296 77 :pointer-1-e
rlm@296 78 :pointer-1-f
rlm@296 79 :thumb-2-e
rlm@296 80 :thumb-2-f
rlm@296 81 :middle-1-e
rlm@296 82 :middle-1-f
rlm@296 83 :pointer-3-f
rlm@296 84 :pointer-3-e
rlm@296 85 :middle-2-e
rlm@296 86 :middle-2-f
rlm@296 87 :middle-3-f
rlm@296 88 :middle-3-e
rlm@296 89 :pinky-2-e
rlm@296 90 :pinky-2-f
rlm@296 91 :pinky-3-f
rlm@296 92 :pinky-3-e
rlm@296 93 :ring-3-e
rlm@296 94 :ring-3-f
rlm@296 95 :ring-2-f
rlm@296 96 :ring-2-e
rlm@296 97 :ring-1-e
rlm@296 98 :ring-1-f
rlm@296 99 :thumb-1-e
rlm@296 100 :thumb-1-f
rlm@296 101 :pinky-1-f
rlm@296 102 :pinky-1-e])
rlm@296 103
rlm@296 104 (def full 9001)
rlm@300 105
rlm@300 106
rlm@306 107 ;; Choreography:
rlm@300 108
rlm@300 109 ;; Let the hand fall palm-up
rlm@300 110
rlm@300 111 ;; it curls its phalanges, starting with the pinky.
rlm@300 112
rlm@300 113 ;; it lets its phalanges fall back down.
rlm@300 114
rlm@300 115 ;; block falls down onto the hand, accompanied by a sound. The block
rlm@300 116 ;; can be seen by the hand's eye.
rlm@300 117
rlm@300 118 ;; hand FORCEFULLY catapults the block so that it hits the camera.
rlm@300 119
rlm@300 120
rlm@306 121 ;; the syntax here is [keyframe body-part force]
rlm@300 122 (def move-fingers
rlm@298 123 [[300 :pinky-3-f 50]
rlm@298 124 [320 :pinky-2-f 80]
rlm@298 125 [340 :pinky-1-f 100]
rlm@297 126
rlm@298 127 [310 :ring-3-f 100]
rlm@298 128 [330 :ring-2-f 120]
rlm@298 129 [350 :ring-1-f 140]
rlm@296 130
rlm@298 131 [330 :middle-3-f 120]
rlm@298 132 [340 :middle-2-f 120]
rlm@298 133 [360 :middle-1-f 30]
rlm@296 134
rlm@298 135 [350 :pointer-3-f 120]
rlm@298 136 [360 :pointer-2-f 120]
rlm@298 137 [380 :pointer-1-f 30]
rlm@296 138
rlm@298 139 [800 :pinky-3-f 0]
rlm@298 140 [800 :pinky-2-f 0]
rlm@298 141 [800 :pinky-1-f 0]
rlm@296 142
rlm@298 143 [800 :ring-3-f 0]
rlm@298 144 [800 :ring-2-f 0]
rlm@298 145 [800 :ring-1-f 0]
rlm@296 146
rlm@298 147 [800 :middle-3-f 0]
rlm@298 148 [800 :middle-2-f 0]
rlm@298 149 [800 :middle-1-f 0]
rlm@296 150
rlm@298 151 [800 :pointer-3-f 0]
rlm@298 152 [800 :pointer-2-f 0]
rlm@298 153 [800 :pointer-1-f 0]
rlm@297 154
rlm@297 155
rlm@298 156 [800 :pinky-3-e 50]
rlm@298 157 [800 :pinky-2-e 80]
rlm@298 158 [800 :pinky-1-e 100]
rlm@297 159
rlm@298 160 [800 :ring-3-e 100]
rlm@298 161 [800 :ring-2-e 120]
rlm@298 162 [800 :ring-1-e 140]
rlm@298 163
rlm@298 164 [800 :middle-3-e 120]
rlm@298 165 [800 :middle-2-e 120]
rlm@298 166 [800 :middle-1-e 30]
rlm@298 167
rlm@298 168 [800 :pointer-3-e 120]
rlm@298 169 [800 :pointer-2-e 120]
rlm@298 170 [800 :pointer-1-e 30]
rlm@298 171
rlm@298 172 [870 :pinky-3-e 0]
rlm@298 173 [870 :pinky-2-e 0]
rlm@298 174 [870 :pinky-1-e 0]
rlm@298 175
rlm@298 176 [870 :ring-3-e 0]
rlm@298 177 [870 :ring-2-e 0]
rlm@298 178 [870 :ring-1-e 0]
rlm@298 179
rlm@298 180 [870 :middle-3-e 0]
rlm@298 181 [870 :middle-2-e 0]
rlm@298 182 [870 :middle-1-e 0]
rlm@298 183
rlm@298 184 [870 :pointer-3-e 0]
rlm@298 185 [870 :pointer-2-e 0]
rlm@298 186 [870 :pointer-1-e 0]
rlm@298 187
rlm@298 188 [1500 :pointer-1-f full]
rlm@298 189 [1500 :pointer-2-f full]
rlm@298 190 [1500 :pointer-3-f full]
rlm@298 191
rlm@298 192 [1500 :middle-1-f full]
rlm@298 193 [1500 :middle-2-f full]
rlm@298 194 [1500 :middle-3-f full]
rlm@298 195
rlm@298 196 [1510 :pointer-1-f 0]
rlm@298 197 [1510 :pointer-2-f 0]
rlm@298 198 [1510 :pointer-3-f 0]
rlm@298 199
rlm@298 200 [1510 :middle-1-f 0]
rlm@298 201 [1510 :middle-2-f 0]
rlm@298 202 [1510 :middle-3-f 0]
rlm@297 203 ])
rlm@297 204
rlm@298 205 (defn gen-summon-ball [debug?]
rlm@298 206 (let [wait (atom 1100)]
rlm@297 207 (fn [world]
rlm@297 208 (if (= 0 (swap! wait dec))
rlm@297 209 (let [brick
rlm@297 210 (box 0.8 0.8 0.8 :mass 0.05
rlm@298 211 :position (Vector3f. -0.5 0 0.5)
rlm@298 212 :color (ColorRGBA/Red))
rlm@298 213 bell (AudioNode. (asset-manager)
rlm@298 214 "Sounds/pure.wav" false)]
rlm@298 215 (.play bell)
rlm@298 216 (if debug?
rlm@298 217 (.addControl
rlm@298 218 brick
rlm@298 219 (proxy [AbstractControl] []
rlm@298 220 (controlUpdate [tpf]
rlm@298 221 (println-repl (.getWorldTranslation brick)))
rlm@298 222 (controlRender [_ _]))))
rlm@297 223 (add-element world brick))))))
rlm@295 224
rlm@298 225 (import com.aurellem.capture.Capture)
rlm@298 226
rlm@388 227 (defn test-integration
rlm@457 228 "Testing Everything!
rlm@457 229
rlm@457 230 You will see an articulated hand fall onto the table. It has all
rlm@457 231 senses including:
rlm@457 232 - Vision, 4 channels
rlm@457 233 - Hearing
rlm@457 234 - Touch
rlm@457 235 - Proprioceptoin
rlm@457 236 - Muscle Tension
rlm@457 237
rlm@457 238 Keys:
rlm@457 239 <space> : fire ball"
rlm@388 240 ([] (test-integration false))
rlm@281 241 ([record?]
rlm@281 242 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@281 243
rlm@298 244 base (File. "/home/r/proj/cortex/render/hand")
rlm@298 245
rlm@298 246
rlm@281 247 creature (doto (load-blender-model hand)
rlm@281 248 (body!))
rlm@297 249
rlm@298 250 summon-ball (gen-summon-ball false)
rlm@192 251 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@298 252 touch (touch! creature)
rlm@298 253 touch-display (view-touch)
rlm@189 254
rlm@298 255 vision (vision! creature)
rlm@298 256 vision-display (view-vision)
rlm@189 257
rlm@298 258 hearing (hearing! creature)
rlm@298 259 hearing-display (view-hearing)
rlm@189 260
rlm@173 261 prop (proprioception! creature)
rlm@190 262 prop-display (view-proprioception)
rlm@148 263
rlm@296 264 control-script (motor-control-program
rlm@300 265 muscle-positions move-fingers)
rlm@191 266 muscles (movement! creature)
rlm@281 267 muscle-display (view-movement)
rlm@281 268 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@189 269
rlm@281 270 fix-display (gen-fix-display)]
rlm@285 271 (world
rlm@285 272 (nodify [creature
rlm@285 273 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@285 274 :color ColorRGBA/Gray :mass 0)
rlm@285 275 me])
rlm@298 276 standard-debug-controls
rlm@298 277
rlm@285 278 (fn [world]
rlm@285 279 (.setTimer world (RatchetTimer. 60))
rlm@297 280 (position-camera
rlm@298 281 world (Vector3f. -0.13217318, 5.816415, -5.3089414)
rlm@298 282 (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
rlm@298 283
rlm@285 284 (light-up-everything world)
rlm@285 285 (enable-debug world)
rlm@285 286 (add-camera! world
rlm@285 287 (add-eye! creature
rlm@285 288 (.getChild
rlm@285 289 (.getChild creature "eyes") "eye"))
rlm@285 290 (comp (view-image) BufferedImage!))
rlm@298 291
rlm@298 292 (if record?
rlm@298 293 (Capture/captureVideo
rlm@298 294 world (File. base "main")))
rlm@298 295 (if record?
rlm@298 296 (Capture/captureAudio
rlm@298 297 world (File. base "main.wav"))))
rlm@285 298 (fn [world tpf]
rlm@298 299 (prop-display
rlm@298 300 (prop)
rlm@298 301 (if record? (File. base "proprio")))
rlm@298 302 (touch-display
rlm@298 303 (map #(% (.getRootNode world)) touch)
rlm@298 304 (if record? (File. base "touch")))
rlm@298 305 (vision-display
rlm@298 306 (map #(% world) vision)
rlm@298 307 (if record? (File. base "vision")))
rlm@298 308 (hearing-display
rlm@298 309 (map #(% world) hearing)
rlm@298 310 (if record? (File. base "hearing")))
rlm@298 311 (muscle-display
rlm@298 312 (control-script muscles)
rlm@298 313 (if record? (File. base "muscle")))
rlm@298 314
rlm@297 315 (summon-ball world)
rlm@298 316
rlm@285 317 (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@285 318 (fix-display world))))))
rlm@300 319 #+end_src
rlm@298 320
rlm@302 321 ** ImageMagick / ffmpeg
rlm@300 322
rlm@300 323 Just a bunch of calls to imagemagick to arrange the data that
rlm@300 324 =test-everything!= produces.
rlm@300 325
rlm@300 326 #+name: magick-8
rlm@300 327 #+begin_src clojure
rlm@300 328 (ns cortex.video.magick8
rlm@300 329 (:import java.io.File)
rlm@316 330 (:use clojure.java.shell))
rlm@298 331
rlm@298 332 (comment
rlm@298 333 ;; list of touch targets
rlm@298 334 0 middle-11
rlm@298 335 1 middle-21
rlm@298 336 2 middle-31
rlm@298 337 3 pinky-11
rlm@298 338 4 pinky-21
rlm@298 339 5 pinky-31
rlm@298 340 6 pointer-11
rlm@298 341 7 pointer-21
rlm@298 342 8 pointer-31
rlm@298 343 9 ring-11
rlm@298 344 10 ring-21
rlm@298 345 11 ring-31
rlm@298 346 12 thumb-11
rlm@298 347 13 thumb-2.0011
rlm@298 348
rlm@298 349
rlm@298 350 ;; list of vision targets
rlm@298 351 0 :all
rlm@298 352 1 :green
rlm@298 353 2 :blue
rlm@298 354 3 :red
rlm@298 355
rlm@298 356 ;; list of proprio targets
rlm@298 357 0 middle-11 -> middle-21
rlm@298 358 1 middle-21 -> middle-31
rlm@298 359 2 thumb-11 -> thumb-2.0011
rlm@298 360 3 pointer-11 -> pointer-21
rlm@298 361 4 pointer-21 -> pointer-31
rlm@298 362 5 ring-21 -> ring-31
rlm@298 363 6 ring-11 -> ring-21
rlm@298 364 7 pinky-21 -> pinky-31
rlm@298 365 8 pinky-11 -> pinky-21
rlm@298 366 9 middle-11 -> palm1
rlm@298 367 10 pinky-11 -> palm1
rlm@298 368 11 palm1 -> pointer-11
rlm@298 369 12 palm1 -> ring-11
rlm@298 370 13 palm1 -> thumb-11
rlm@298 371
rlm@298 372
rlm@298 373 ;; list of muscle targets
rlm@298 374 0 :pointer-2-e
rlm@298 375 1 :pointer-2-f
rlm@298 376 2 :thumb-1
rlm@298 377 3 :thumb-1
rlm@298 378 4 :pointer-1-e
rlm@298 379 5 :pointer-1-f
rlm@298 380 6 :thumb-2-e
rlm@298 381 7 :thumb-2-f
rlm@298 382 8 :middle-1-e
rlm@298 383 9 :middle-1-f
rlm@298 384 10 :pointer-3-f
rlm@298 385 11 :pointer-3-e
rlm@298 386 12 :middle-2-e
rlm@298 387 13 :middle-2-f
rlm@298 388 14 :middle-3-f
rlm@298 389 15 :middle-3-e
rlm@298 390 16 :pinky-2-e
rlm@298 391 17 :pinky-2-f
rlm@298 392 18 :pinky-3-f
rlm@298 393 19 :pinky-3-e
rlm@298 394 20 :ring-3-e
rlm@298 395 21 :ring-3-f
rlm@298 396 22 :ring-2-f
rlm@298 397 23 :ring-2-e
rlm@298 398 24 :ring-1-e
rlm@298 399 25 :ring-1-f
rlm@298 400 26 :thumb-1-e
rlm@298 401 27 :thumb-1-f
rlm@298 402 28 :pinky-1-f
rlm@298 403 29 :pinky-1-e
rlm@298 404 )
rlm@298 405
rlm@298 406 (def base (File. "/home/r/proj/cortex/render/hand"))
rlm@298 407
rlm@298 408 (defn prepare-muscle [muscle]
rlm@298 409 ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
rlm@298 410
rlm@298 411 (defn prepare-touch [touch]
rlm@298 412 ["(" touch "-rotate" "180" ")"])
rlm@298 413
rlm@298 414 (defn generate-top-finger [tip-flexor tip-extensor tip
rlm@298 415 joint-2-3
rlm@298 416 mid-flexor mid-extensor mid
rlm@298 417 joint-1-2]
rlm@298 418 ["("
rlm@298 419 "-size" "113x357" "xc:transparent"
rlm@298 420 (prepare-muscle tip-flexor) "-geometry" "+0+7" "-composite"
rlm@298 421 (prepare-muscle tip-extensor) "-geometry" "+98+7" "-composite"
rlm@298 422 (prepare-touch tip) "-geometry" "+18+0" "-composite"
rlm@298 423
rlm@298 424 joint-2-3 "-geometry" "+32+79" "-composite"
rlm@298 425
rlm@298 426 (prepare-muscle mid-flexor) "-geometry" "+19+131" "-composite"
rlm@298 427 (prepare-muscle mid-extensor) "-geometry" "+80+131" "-composite"
rlm@298 428 (prepare-touch mid) "-geometry" "+39+133" "-composite"
rlm@298 429
rlm@298 430 joint-1-2 "-geometry" "+32+193" "-composite"
rlm@298 431 ")"])
rlm@298 432
rlm@299 433 (defn file-names [#^File dir]
rlm@299 434 (map #(.getCanonicalPath %) (next (sort (file-seq dir)))))
rlm@299 435
rlm@299 436 (defn file-groups [& paths]
rlm@299 437 (apply (partial map list )
rlm@299 438 (map (comp file-names #(File. base %))
rlm@299 439 paths)))
rlm@299 440
rlm@299 441 (defn pinky []
rlm@299 442 (file-groups
rlm@299 443 "muscle/18"
rlm@299 444 "muscle/19"
rlm@299 445 "touch/5"
rlm@299 446 "proprio/7"
rlm@299 447
rlm@299 448 "muscle/17"
rlm@299 449 "muscle/16"
rlm@299 450 "touch/4"
rlm@299 451 "proprio/8"
rlm@299 452
rlm@299 453 "muscle/28"
rlm@299 454 "muscle/29"
rlm@299 455 "touch/3"
rlm@299 456 "proprio/10"))
rlm@299 457
rlm@299 458 (defn ring []
rlm@299 459 (file-groups
rlm@299 460 "muscle/21"
rlm@299 461 "muscle/20"
rlm@299 462 "touch/11"
rlm@299 463 "proprio/5"
rlm@299 464
rlm@299 465 "muscle/22"
rlm@299 466 "muscle/23"
rlm@299 467 "touch/10"
rlm@299 468 "proprio/6"
rlm@299 469
rlm@299 470 "muscle/25"
rlm@299 471 "muscle/24"
rlm@299 472 "touch/9"
rlm@299 473 "proprio/12"))
rlm@299 474
rlm@299 475 (defn middle []
rlm@299 476 (file-groups
rlm@299 477 "muscle/14"
rlm@299 478 "muscle/15"
rlm@299 479 "touch/2"
rlm@299 480 "proprio/1"
rlm@299 481
rlm@300 482 "muscle/13"
rlm@299 483 "muscle/12"
rlm@299 484 "touch/1"
rlm@299 485 "proprio/0"
rlm@299 486
rlm@300 487 "muscle/9"
rlm@299 488 "muscle/8"
rlm@299 489 "touch/0"
rlm@299 490 "proprio/9"))
rlm@299 491
rlm@299 492 (defn pointer []
rlm@299 493 (file-groups
rlm@299 494 "muscle/10"
rlm@299 495 "muscle/11"
rlm@299 496 "touch/8"
rlm@299 497 "proprio/4"
rlm@299 498
rlm@299 499 "muscle/1"
rlm@299 500 "muscle/0"
rlm@299 501 "touch/7"
rlm@299 502 "proprio/3"
rlm@299 503
rlm@299 504 "muscle/5"
rlm@299 505 "muscle/4"
rlm@299 506 "touch/6"
rlm@299 507 "proprio/11"))
rlm@299 508
rlm@299 509 (defn thumb []
rlm@299 510 (file-groups
rlm@299 511 "muscle/7"
rlm@299 512 "muscle/6"
rlm@299 513 "touch/13"
rlm@299 514 "proprio/2"
rlm@299 515
rlm@299 516 "muscle/27"
rlm@299 517 "muscle/26"
rlm@299 518 "muscle/3"
rlm@299 519 "muscle/2"
rlm@299 520 "touch/12"
rlm@299 521 "proprio/13"))
rlm@299 522
rlm@298 523 (defn generate-finger
rlm@298 524 [tip-flexor tip-extensor tip
rlm@298 525 joint-2-3
rlm@298 526 mid-flexor mid-extensor mid
rlm@298 527 joint-1-2
rlm@298 528 base-flexor base-extensor base
rlm@298 529 joint-palm-1]
rlm@298 530 ["("
rlm@298 531 "-size" "113x357" "xc:transparent"
rlm@298 532 (generate-top-finger
rlm@298 533 tip-flexor tip-extensor tip
rlm@298 534 joint-2-3
rlm@298 535 mid-flexor mid-extensor mid
rlm@298 536 joint-1-2) "-geometry" "+0+0" "-composite"
rlm@298 537 (prepare-muscle base-flexor) "-geometry" "+19+245" "-composite"
rlm@298 538 (prepare-muscle base-extensor) "-geometry" "+80+245" "-composite"
rlm@298 539 (prepare-touch base) "-geometry" "+39+247" "-composite"
rlm@298 540 joint-palm-1 "-geometry" "+32+307" "-composite"
rlm@298 541 ")"])
rlm@298 542
rlm@298 543 (defn generate-thumb
rlm@298 544 [tip-flexor tip-extensor tip
rlm@298 545 joint-1-2
rlm@298 546 mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
rlm@298 547 joint-palm-1]
rlm@298 548 ["("
rlm@298 549 "-size" "113x357" "xc:transparent"
rlm@298 550 (generate-top-finger
rlm@298 551 tip-flexor tip-extensor tip
rlm@298 552 joint-1-2
rlm@298 553 mid-flexor mid-extensor mid
rlm@298 554 joint-palm-1) "-geometry" "+0+0" "-composite"
rlm@298 555 (prepare-muscle mid-flexor-2) "-geometry" "+2+131" "-composite"
rlm@298 556 (prepare-muscle mid-extensor-2) "-geometry" "+100+131" "-composite"
rlm@298 557 ")"])
rlm@298 558
rlm@298 559 (defn generate-hand
rlm@298 560 [pinky-pieces
rlm@298 561 ring-pieces
rlm@298 562 middle-pieces
rlm@298 563 pointer-pieces
rlm@298 564 thumb-pieces]
rlm@298 565 ["("
rlm@298 566 "-size" "688x769" "xc:transparent"
rlm@298 567 (apply generate-finger pinky-pieces)
rlm@298 568 "-geometry" "+0+195" "-composite"
rlm@298 569 (apply generate-finger ring-pieces)
rlm@298 570 "-geometry" "+111+100" "-composite"
rlm@298 571 (apply generate-finger middle-pieces)
rlm@298 572 "-geometry" "+228+0" "-composite"
rlm@298 573 "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
rlm@298 574 "-rotate" "45" ")"
rlm@298 575 "-geometry" "+300+420" "-composite"
rlm@298 576 (apply generate-finger pointer-pieces)
rlm@298 577 "-geometry" "+350+96" "-composite"
rlm@298 578 ")"])
rlm@298 579
rlm@298 580 (defn generate-vision
rlm@298 581 [all green blue red]
rlm@298 582 ["("
rlm@298 583 "-size" "204x192" "xc:transparent"
rlm@298 584 all "-geometry" "+0+0" "-composite"
rlm@298 585 green "-geometry" "+113+0" "-composite"
rlm@298 586 blue "-geometry" "+0+105" "-composite"
rlm@298 587 red "-geometry" "+113+105" "-composite"
rlm@298 588 ")"])
rlm@298 589
rlm@298 590 (def test-muscle (File. base "muscle/0/0000000.png"))
rlm@298 591 (def test-proprio (File. base "proprio/0/0000000.png"))
rlm@298 592 (def test-tip (File. base "touch/2/0000000.png"))
rlm@298 593 (def test-mid (File. base "touch/0/0000000.png"))
rlm@298 594 (def test-vision (File. base "vision/0/0000000.png"))
rlm@298 595 (def test-hearing (File. base "hearing/0/0000000.png"))
rlm@298 596 (def test-main (File. base "main/0000000.png"))
rlm@298 597
rlm@298 598 (def test-target (File. base "output.png"))
rlm@298 599
rlm@298 600 (def background (File. base "background.png"))
rlm@298 601
rlm@316 602 (use 'clojure.java.shell)
rlm@299 603
rlm@299 604 (defn vision []
rlm@299 605 (file-groups
rlm@299 606 "vision/0"
rlm@299 607 "vision/1"
rlm@299 608 "vision/2"
rlm@299 609 "vision/3"))
rlm@299 610
rlm@299 611 (defn hearing []
rlm@299 612 (file-names (File. base "hearing/0")))
rlm@299 613
rlm@299 614 (defn main []
rlm@299 615 (file-names (File. base "main")))
rlm@299 616
rlm@300 617 (defn targets [dest max]
rlm@299 618 (map
rlm@299 619 (comp #(.getCanonicalPath %)
rlm@300 620 #(File. (str base dest (format "%07d.png" %))))
rlm@300 621 (range max)))
rlm@299 622
rlm@299 623
rlm@299 624 (defn final-image [main [all red green blue] hearing
rlm@299 625 pinky ring middle pointer thumb target]
rlm@299 626 (println target)
rlm@299 627 (apply
rlm@298 628 sh
rlm@298 629 (flatten
rlm@298 630 ["convert"
rlm@298 631 (.getCanonicalPath background)
rlm@299 632
rlm@299 633 (generate-hand pinky ring middle pointer thumb)
rlm@298 634 "-geometry" "+809+22" "-composite"
rlm@298 635
rlm@299 636 (generate-vision all red green blue)
rlm@298 637 "-geometry" "+974+599" "-composite"
rlm@298 638
rlm@298 639 hearing
rlm@298 640 "-geometry" "+784+819" "-composite"
rlm@298 641
rlm@298 642 main
rlm@298 643 "-geometry" "+78+202" "-composite"
rlm@298 644
rlm@299 645 target])))
rlm@298 646
rlm@300 647 (defn combine-files []
rlm@299 648 (dorun
rlm@299 649 (pmap final-image
rlm@299 650 (main)
rlm@299 651 (vision)
rlm@299 652 (hearing)
rlm@299 653 (pinky)
rlm@299 654 (ring)
rlm@299 655 (middle)
rlm@299 656 (pointer)
rlm@299 657 (thumb)
rlm@300 658 (targets "/out/" (count (main))))))
rlm@300 659
rlm@300 660 (defn subtitles []
rlm@300 661 (file-names (File. base "subs")))
rlm@300 662
rlm@300 663 (defn outs []
rlm@300 664 (file-names (File. base "out")))
rlm@300 665
rlm@300 666
rlm@300 667 (defn mix-subtitles []
rlm@300 668 (let [subs (subtitles)
rlm@300 669 targets (targets "/out-subs/" (count subs))
rlm@300 670 overlay (.getCanonicalPath (File. base "output.png"))]
rlm@300 671 (dorun
rlm@300 672 (pmap
rlm@300 673 (fn [sub target]
rlm@300 674 (sh
rlm@300 675 "convert"
rlm@300 676 overlay
rlm@300 677 sub "-geometry" "+0+0" "-composite"
rlm@300 678 target))
rlm@300 679 subs targets))))
rlm@300 680
rlm@300 681 (defn out-subtitles []
rlm@300 682 (file-names (File. base "out-subs")))
rlm@300 683
rlm@300 684
rlm@300 685 (defn insert-subtitles []
rlm@300 686 (let [subtitles (out-subtitles)
rlm@300 687 outs (outs)
rlm@300 688 targets (targets
rlm@300 689 "/final/"
rlm@300 690 (+ (count outs) (count subtitles)))]
rlm@300 691 (dorun
rlm@300 692 (pmap
rlm@300 693 #(sh "cp" %1 %2)
rlm@300 694 (concat subtitles outs) targets))))
rlm@300 695
rlm@300 696 (defn generate-final []
rlm@300 697 (combine-files)
rlm@300 698 (mix-subtitles)
rlm@300 699 (insert-subtitles))
rlm@299 700 #+end_src
rlm@298 701
rlm@300 702 #+begin_src sh :results silent
rlm@299 703 cd /home/r/proj/cortex/render/hand
rlm@298 704
rlm@300 705 sox --ignore-length main.wav main-delayed.wav delay 24
rlm@300 706
rlm@300 707 mogrify -resize 755x final/*
rlm@312 708 #+end_src
rlm@312 709
rlm@312 710 #+begin_src sh :results silent
rlm@312 711 cd /home/r/proj/cortex/render/hand
rlm@300 712
rlm@300 713 ffmpeg -r 60 -i final/%07d.png -i main-delayed.wav -b:a 128k \
rlm@299 714 -b:v 9000k -c:a libvorbis -c:v libtheora hand.ogg
rlm@87 715 #+end_src
rlm@83 716
rlm@301 717 * Source Listing
rlm@301 718 - [[../src/cortex/test/integration.clj][cortex.test.integration]]
rlm@302 719 - [[../src/cortex/video/magick8.clj][cortex.video.magick8]]
rlm@301 720 - [[../assets/Models/subtitles/hand.blend][subtitles/hand.blend]]
rlm@301 721 #+html: <ul> <li> <a href="../org/integration.org">This org file</a> </li> </ul>
rlm@301 722 - [[http://hg.bortreb.com ][source-repository]]
rlm@301 723
rlm@301 724
rlm@78 725 * COMMENT purgatory
rlm@78 726 #+begin_src clojure
rlm@77 727 (defn bullet-trans* []
rlm@77 728 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 729 :position (Vector3f. 5 0 0)
rlm@77 730 :mass 90)
rlm@77 731 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 732 :position (Vector3f. -5 0 0)
rlm@77 733 :mass 0)
rlm@77 734 control-a (.getControl obj-a RigidBodyControl)
rlm@77 735 control-b (.getControl obj-b RigidBodyControl)
rlm@77 736 move-up? (atom nil)
rlm@77 737 move-down? (atom nil)
rlm@77 738 move-left? (atom nil)
rlm@77 739 move-right? (atom nil)
rlm@77 740 roll-left? (atom nil)
rlm@77 741 roll-right? (atom nil)
rlm@77 742 force 100
rlm@77 743 swivel
rlm@77 744 (.toRotationMatrix
rlm@77 745 (doto (Quaternion.)
rlm@77 746 (.fromAngleAxis (/ Math/PI 2)
rlm@77 747 Vector3f/UNIT_X)))
rlm@77 748 x-move
rlm@77 749 (doto (Matrix3f.)
rlm@77 750 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 751 (.normalize (Vector3f. 1 1 0))))
rlm@77 752
rlm@77 753 timer (atom 0)]
rlm@77 754 (doto
rlm@77 755 (ConeJoint.
rlm@77 756 control-a control-b
rlm@77 757 (Vector3f. -8 0 0)
rlm@77 758 (Vector3f. 2 0 0)
rlm@77 759 ;;swivel swivel
rlm@77 760 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 761 x-move Matrix3f/IDENTITY
rlm@77 762 )
rlm@77 763 (.setCollisionBetweenLinkedBodys false)
rlm@77 764 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 765 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 766 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 767 (world (nodify
rlm@77 768 [obj-a obj-b])
rlm@77 769 (merge standard-debug-controls
rlm@77 770 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 771 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 772 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 773 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 774 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 775 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 776
rlm@77 777 (fn [world]
rlm@77 778 (enable-debug world)
rlm@77 779 (set-gravity world Vector3f/ZERO)
rlm@77 780 )
rlm@77 781
rlm@77 782 (fn [world _]
rlm@77 783
rlm@77 784 (if @move-up?
rlm@77 785 (.applyForce control-a
rlm@77 786 (Vector3f. force 0 0)
rlm@77 787 (Vector3f. 0 0 0)))
rlm@77 788 (if @move-down?
rlm@77 789 (.applyForce control-a
rlm@77 790 (Vector3f. (- force) 0 0)
rlm@77 791 (Vector3f. 0 0 0)))
rlm@77 792 (if @move-left?
rlm@77 793 (.applyForce control-a
rlm@77 794 (Vector3f. 0 force 0)
rlm@77 795 (Vector3f. 0 0 0)))
rlm@77 796 (if @move-right?
rlm@77 797 (.applyForce control-a
rlm@77 798 (Vector3f. 0 (- force) 0)
rlm@77 799 (Vector3f. 0 0 0)))
rlm@77 800
rlm@77 801 (if @roll-left?
rlm@77 802 (.applyForce control-a
rlm@77 803 (Vector3f. 0 0 force)
rlm@77 804 (Vector3f. 0 0 0)))
rlm@77 805 (if @roll-right?
rlm@77 806 (.applyForce control-a
rlm@77 807 (Vector3f. 0 0 (- force))
rlm@77 808 (Vector3f. 0 0 0)))
rlm@77 809
rlm@77 810 (if (zero? (rem (swap! timer inc) 100))
rlm@77 811 (.attachChild
rlm@77 812 (.getRootNode world)
rlm@77 813 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 814 :physical? false :position
rlm@77 815 (.getWorldTranslation obj-a)))))
rlm@77 816 )
rlm@77 817 ))
rlm@77 818
rlm@106 819 (defn test-joint [joint]
rlm@106 820 (let [[origin top bottom floor] (world-setup joint)
rlm@106 821 control (.getControl top RigidBodyControl)
rlm@106 822 move-up? (atom false)
rlm@106 823 move-down? (atom false)
rlm@106 824 move-left? (atom false)
rlm@106 825 move-right? (atom false)
rlm@106 826 roll-left? (atom false)
rlm@106 827 roll-right? (atom false)
rlm@106 828 timer (atom 0)]
rlm@106 829
rlm@106 830 (world
rlm@106 831 (nodify [top bottom floor origin])
rlm@106 832 (merge standard-debug-controls
rlm@106 833 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106 834 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106 835 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106 836 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106 837 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106 838 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@106 839
rlm@106 840 (fn [world]
rlm@106 841 (light-up-everything world)
rlm@106 842 (enable-debug world)
rlm@106 843 (set-gravity world (Vector3f. 0 0 0))
rlm@106 844 )
rlm@106 845
rlm@106 846 (fn [world _]
rlm@106 847 (if (zero? (rem (swap! timer inc) 100))
rlm@106 848 (do
rlm@106 849 ;; (println-repl @timer)
rlm@106 850 (.attachChild (.getRootNode world)
rlm@106 851 (sphere 0.05 :color ColorRGBA/Yellow
rlm@106 852 :position (.getWorldTranslation top)
rlm@106 853 :physical? false))
rlm@106 854 (.attachChild (.getRootNode world)
rlm@106 855 (sphere 0.05 :color ColorRGBA/LightGray
rlm@106 856 :position (.getWorldTranslation bottom)
rlm@106 857 :physical? false))))
rlm@106 858
rlm@106 859 (if @move-up?
rlm@106 860 (.applyTorque control
rlm@106 861 (.mult (.getPhysicsRotation control)
rlm@106 862 (Vector3f. 0 0 10))))
rlm@106 863 (if @move-down?
rlm@106 864 (.applyTorque control
rlm@106 865 (.mult (.getPhysicsRotation control)
rlm@106 866 (Vector3f. 0 0 -10))))
rlm@106 867 (if @move-left?
rlm@106 868 (.applyTorque control
rlm@106 869 (.mult (.getPhysicsRotation control)
rlm@106 870 (Vector3f. 0 10 0))))
rlm@106 871 (if @move-right?
rlm@106 872 (.applyTorque control
rlm@106 873 (.mult (.getPhysicsRotation control)
rlm@106 874 (Vector3f. 0 -10 0))))
rlm@106 875 (if @roll-left?
rlm@106 876 (.applyTorque control
rlm@106 877 (.mult (.getPhysicsRotation control)
rlm@106 878 (Vector3f. -1 0 0))))
rlm@106 879 (if @roll-right?
rlm@106 880 (.applyTorque control
rlm@106 881 (.mult (.getPhysicsRotation control)
rlm@106 882 (Vector3f. 1 0 0))))))))
rlm@99 883 #+end_src
rlm@192 884
rlm@99 885
rlm@306 886
rlm@99 887 * COMMENT generate source
rlm@300 888 #+begin_src clojure :tangle ../src/cortex/test/integration.clj
rlm@192 889 <<integration>>
rlm@300 890 <<integration-2>>
rlm@300 891 #+end_src
rlm@300 892
rlm@300 893 #+begin_src clojure :tangle ../src/cortex/video/magick8.clj
rlm@300 894 <<magick-8>>
rlm@99 895 #+end_src