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starting automatic touch for blender models
author Robert McIntyre <rlm@mit.edu>
date Sat, 07 Jan 2012 10:49:49 -0700
parents 3e929630a25f
children 6d7c17c847a3
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@73 9 * Intro
rlm@73 10 So far, I've made the following senses --
rlm@73 11 - Vision
rlm@73 12 - Hearing
rlm@73 13 - Touch
rlm@73 14 - Proprioception
rlm@73 15
rlm@73 16 And one effector:
rlm@73 17 - Movement
rlm@73 18
rlm@73 19 However, the code so far has only enabled these senses, but has not
rlm@73 20 actually implemented them. For example, there is still a lot of work
rlm@73 21 to be done for vision. I need to be able to create an /eyeball/ in
rlm@73 22 simulation that can be moved around and see the world from different
rlm@73 23 angles. I also need to determine weather to use log-polar or cartesian
rlm@73 24 for the visual input, and I need to determine how/wether to
rlm@73 25 disceritise the visual input.
rlm@73 26
rlm@73 27 I also want to be able to visualize both the sensors and the
rlm@73 28 effectors in pretty pictures. This semi-retarted creature will by my
rlm@73 29 first attempt at bringing everything together.
rlm@73 30
rlm@73 31 * The creature's body
rlm@73 32
rlm@73 33 Still going to do an eve-like body in blender, but due to problems
rlm@73 34 importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73 35 the connecting here in clojure code, using the names of the individual
rlm@73 36 components and trial and error. Later, I'll maybe make some sort of
rlm@73 37 creature-building modifications to blender that support whatever
rlm@73 38 discreitized senses I'm going to make.
rlm@73 39
rlm@73 40 #+name: body-1
rlm@73 41 #+begin_src clojure
rlm@73 42 (ns cortex.silly
rlm@73 43 "let's play!"
rlm@73 44 {:author "Robert McIntyre"})
rlm@73 45
rlm@73 46 ;; TODO remove this!
rlm@73 47 (require 'cortex.import)
rlm@73 48 (cortex.import/mega-import-jme3)
rlm@73 49 (use '(cortex world util body hearing touch vision))
rlm@73 50
rlm@73 51 (rlm.rlm-commands/help)
rlm@73 52
rlm@87 53 (declare joint-create)
rlm@83 54
rlm@83 55 (defn load-bullet []
rlm@84 56 (let [sim (world (Node.) {} no-op no-op)]
rlm@84 57 (.enqueue
rlm@84 58 sim
rlm@84 59 (fn []
rlm@84 60 (.stop sim)))
rlm@84 61 (.start sim)))
rlm@83 62
rlm@73 63 (defn load-blender-model
rlm@73 64 "Load a .blend file using an asset folder relative path."
rlm@73 65 [^String model]
rlm@73 66 (.loadModel
rlm@73 67 (doto (asset-manager)
rlm@73 68 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73 69 model))
rlm@73 70
rlm@74 71 (defn meta-data [blender-node key]
rlm@74 72 (if-let [data (.getUserData blender-node "properties")]
rlm@74 73 (.findValue data key)
rlm@74 74 nil))
rlm@73 75
rlm@78 76 (defn blender-to-jme
rlm@78 77 "Convert from Blender coordinates to JME coordinates"
rlm@78 78 [#^Vector3f in]
rlm@78 79 (Vector3f. (.getX in)
rlm@78 80 (.getZ in)
rlm@78 81 (- (.getY in))))
rlm@74 82
rlm@79 83 (defn jme-to-blender
rlm@79 84 "Convert from JME coordinates to Blender coordinates"
rlm@79 85 [#^Vector3f in]
rlm@79 86 (Vector3f. (.getX in)
rlm@79 87 (- (.getZ in))
rlm@79 88 (.getY in)))
rlm@79 89
rlm@78 90 (defn joint-targets
rlm@78 91 "Return the two closest two objects to the joint object, ordered
rlm@78 92 from bottom to top according to the joint's rotation."
rlm@78 93 [#^Node parts #^Node joint]
rlm@78 94 ;;(println (meta-data joint "joint"))
rlm@78 95 (.getWorldRotation joint)
rlm@78 96 (loop [radius (float 0.01)]
rlm@78 97 (let [results (CollisionResults.)]
rlm@78 98 (.collideWith
rlm@78 99 parts
rlm@78 100 (BoundingBox. (.getWorldTranslation joint)
rlm@78 101 radius radius radius)
rlm@78 102 results)
rlm@78 103 (let [targets
rlm@78 104 (distinct
rlm@78 105 (map #(.getGeometry %) results))]
rlm@78 106 (if (>= (count targets) 2)
rlm@78 107 (sort-by
rlm@79 108 #(let [v
rlm@79 109 (jme-to-blender
rlm@79 110 (.mult
rlm@79 111 (.inverse (.getWorldRotation joint))
rlm@79 112 (.subtract (.getWorldTranslation %)
rlm@79 113 (.getWorldTranslation joint))))]
rlm@79 114 (println-repl (.getName %) ":" v)
rlm@79 115 (.dot (Vector3f. 1 1 1)
rlm@79 116 v))
rlm@78 117 (take 2 targets))
rlm@78 118 (recur (float (* radius 2))))))))
rlm@74 119
rlm@87 120 (defn world-to-local
rlm@87 121 "Convert the world coordinates into coordinates relative to the
rlm@87 122 object (i.e. local coordinates), taking into account the rotation
rlm@87 123 of object."
rlm@87 124 [#^Spatial object world-coordinate]
rlm@87 125 (let [out (Vector3f.)]
rlm@88 126 (.worldToLocal object world-coordinate out) out))
rlm@87 127
rlm@87 128 (defmulti joint-dispatch
rlm@87 129 "Translate blender pseudo-joints into real JME joints."
rlm@88 130 (fn [constraints & _]
rlm@87 131 (:type constraints)))
rlm@87 132
rlm@87 133 (defmethod joint-dispatch :point
rlm@87 134 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 135 (println-repl "creating POINT2POINT joint")
rlm@87 136 (Point2PointJoint.
rlm@87 137 control-a
rlm@87 138 control-b
rlm@87 139 pivot-a
rlm@87 140 pivot-b))
rlm@87 141
rlm@87 142 (defmethod joint-dispatch :hinge
rlm@87 143 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 144 (println-repl "creating HINGE joint")
rlm@87 145 (let [axis
rlm@87 146 (if-let
rlm@87 147 [axis (:axis constraints)]
rlm@87 148 axis
rlm@87 149 Vector3f/UNIT_X)
rlm@87 150 [limit-1 limit-2] (:limit constraints)
rlm@87 151 hinge-axis
rlm@87 152 (.mult
rlm@87 153 rotation
rlm@87 154 (blender-to-jme axis))]
rlm@87 155 (doto
rlm@87 156 (HingeJoint.
rlm@87 157 control-a
rlm@87 158 control-b
rlm@87 159 pivot-a
rlm@87 160 pivot-b
rlm@87 161 hinge-axis
rlm@87 162 hinge-axis)
rlm@87 163 (.setLimit limit-1 limit-2))))
rlm@87 164
rlm@87 165 (defmethod joint-dispatch :cone
rlm@87 166 [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87 167 (let [limit-xz (:limit-xz constraints)
rlm@87 168 limit-xy (:limit-xy constraints)
rlm@87 169 twist (:twist constraints)]
rlm@87 170
rlm@87 171 (println-repl "creating CONE joint")
rlm@87 172 (println-repl rotation)
rlm@87 173 (println-repl
rlm@87 174 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87 175 (println-repl
rlm@87 176 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87 177 (println-repl
rlm@87 178 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87 179 (doto
rlm@87 180 (ConeJoint.
rlm@87 181 control-a
rlm@87 182 control-b
rlm@87 183 pivot-a
rlm@87 184 pivot-b
rlm@87 185 rotation
rlm@87 186 rotation)
rlm@87 187 (.setLimit (float limit-xz)
rlm@87 188 (float limit-xy)
rlm@87 189 (float twist)))))
rlm@87 190
rlm@88 191 (defn connect
rlm@87 192 "here are some examples:
rlm@87 193 {:type :point}
rlm@87 194 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87 195 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87 196
rlm@89 197 {:type :cone :limit-xz 0]
rlm@89 198 :limit-xy 0]
rlm@89 199 :twist 0]} (use XZY rotation mode in blender!)"
rlm@87 200 [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87 201 (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87 202 control-b (.getControl obj-b RigidBodyControl)
rlm@87 203 joint-center (.getWorldTranslation joint)
rlm@87 204 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87 205 pivot-a (world-to-local obj-a joint-center)
rlm@87 206 pivot-b (world-to-local obj-b joint-center)]
rlm@89 207
rlm@87 208 (if-let [constraints
rlm@87 209 (map-vals
rlm@87 210 eval
rlm@87 211 (read-string
rlm@87 212 (meta-data joint "joint")))]
rlm@89 213 ;; A side-effect of creating a joint registers
rlm@89 214 ;; it with both physics objects which in turn
rlm@89 215 ;; will register the joint with the physics system
rlm@89 216 ;; when the simulation is started.
rlm@87 217 (do
rlm@87 218 (println-repl "creating joint between"
rlm@87 219 (.getName obj-a) "and" (.getName obj-b))
rlm@87 220 (joint-dispatch constraints
rlm@87 221 control-a control-b
rlm@87 222 pivot-a pivot-b
rlm@87 223 joint-rotation))
rlm@87 224 (println-repl "could not find joint meta-data!"))))
rlm@87 225
rlm@78 226 (defn assemble-creature [#^Node pieces joints]
rlm@78 227 (dorun
rlm@78 228 (map
rlm@78 229 (fn [geom]
rlm@78 230 (let [physics-control
rlm@78 231 (RigidBodyControl.
rlm@78 232 (HullCollisionShape.
rlm@78 233 (.getMesh geom))
rlm@78 234 (if-let [mass (meta-data geom "mass")]
rlm@78 235 (do
rlm@78 236 (println-repl
rlm@78 237 "setting" (.getName geom) "mass to" (float mass))
rlm@78 238 (float mass))
rlm@78 239 (float 1)))]
rlm@78 240
rlm@78 241 (.addControl geom physics-control)))
rlm@78 242 (filter #(isa? (class %) Geometry )
rlm@78 243 (node-seq pieces))))
rlm@77 244
rlm@78 245 (dorun
rlm@78 246 (map
rlm@78 247 (fn [joint]
rlm@78 248 (let [[obj-a obj-b]
rlm@78 249 (joint-targets pieces joint)]
rlm@88 250 (connect obj-a obj-b joint)))
rlm@78 251 joints))
rlm@78 252 pieces)
rlm@74 253
rlm@78 254 (defn blender-creature [blender-path]
rlm@78 255 (let [model (load-blender-model blender-path)
rlm@78 256 joints
rlm@78 257 (if-let [joint-node (.getChild model "joints")]
rlm@78 258 (seq (.getChildren joint-node))
rlm@78 259 (do (println-repl "could not find joints node")
rlm@78 260 []))]
rlm@78 261 (assemble-creature model joints)))
rlm@74 262
rlm@78 263 (def hand "Models/creature1/one.blend")
rlm@74 264
rlm@78 265 (def worm "Models/creature1/try-again.blend")
rlm@78 266
rlm@80 267 (defn x-ray [#^ColorRGBA color]
rlm@80 268 (doto (Material. (asset-manager)
rlm@80 269 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 270 (.setColor "Color" color)
rlm@80 271 (-> (.getAdditionalRenderState)
rlm@80 272 (.setDepthTest false))))
rlm@80 273
rlm@78 274 (defn test-creature [thing]
rlm@80 275 (let [x-axis
rlm@80 276 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 277 y-axis
rlm@80 278 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 279 z-axis
rlm@80 280 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 281 (world
rlm@78 282 (nodify [(blender-creature thing)
rlm@81 283 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 284 :color ColorRGBA/Gray :mass 0)
rlm@80 285 x-axis y-axis z-axis
rlm@80 286 ])
rlm@78 287 standard-debug-controls
rlm@78 288 (comp light-up-everything enable-debug
rlm@78 289 (fn [world]
rlm@78 290 (.setTimer world (NanoTimer.))
rlm@87 291 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@78 292 (speed-up world)
rlm@78 293 world
rlm@78 294 ))
rlm@80 295 no-op)))
rlm@78 296
rlm@78 297 (defn world-setup [joint]
rlm@83 298 (let [
rlm@83 299
rlm@84 300 joint-position (Vector3f. 0 0 0)
rlm@83 301 joint-rotation
rlm@83 302 (.toRotationMatrix
rlm@83 303 (.mult
rlm@83 304 (doto (Quaternion.)
rlm@83 305 (.fromAngleAxis
rlm@83 306 (* 1 (/ Math/PI 4))
rlm@85 307 (Vector3f. -1 0 0)))
rlm@85 308 (doto (Quaternion.)
rlm@85 309 (.fromAngleAxis
rlm@85 310 (* 1 (/ Math/PI 2))
rlm@85 311 (Vector3f. 0 0 1)))))
rlm@84 312 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 313
rlm@83 314 origin (doto
rlm@83 315 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 316 :position top-position))
rlm@83 317 top (doto
rlm@78 318 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 319 :position top-position)
rlm@83 320
rlm@78 321 (.addControl
rlm@78 322 (RigidBodyControl.
rlm@83 323 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 324 bottom (doto
rlm@78 325 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 326 :position (Vector3f. 0 0 0))
rlm@83 327 (.addControl
rlm@78 328 (RigidBodyControl.
rlm@78 329 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 330 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 331 :color ColorRGBA/Gray :mass 0)
rlm@78 332 a (.getControl top RigidBodyControl)
rlm@78 333 b (.getControl bottom RigidBodyControl)]
rlm@83 334
rlm@78 335 (cond
rlm@83 336 (= joint :cone)
rlm@83 337
rlm@83 338 (doto (ConeJoint.
rlm@83 339 a b
rlm@87 340 (world-to-local top joint-position)
rlm@87 341 (world-to-local bottom joint-position)
rlm@83 342 joint-rotation
rlm@83 343 joint-rotation
rlm@83 344 )
rlm@78 345
rlm@83 346
rlm@83 347 (.setLimit (* (/ 10) Math/PI)
rlm@83 348 (* (/ 4) Math/PI)
rlm@83 349 0)))
rlm@83 350 [origin top bottom table]))
rlm@78 351
rlm@78 352 (defn test-joint [joint]
rlm@83 353 (let [[origin top bottom floor] (world-setup joint)
rlm@78 354 control (.getControl top RigidBodyControl)
rlm@78 355 move-up? (atom false)
rlm@78 356 move-down? (atom false)
rlm@78 357 move-left? (atom false)
rlm@78 358 move-right? (atom false)
rlm@78 359 roll-left? (atom false)
rlm@78 360 roll-right? (atom false)
rlm@78 361 timer (atom 0)]
rlm@78 362
rlm@78 363 (world
rlm@83 364 (nodify [top bottom floor origin])
rlm@78 365 (merge standard-debug-controls
rlm@78 366 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 367 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 368 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 369 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 370 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 371 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 372
rlm@78 373 (fn [world]
rlm@78 374 (light-up-everything world)
rlm@78 375 (enable-debug world)
rlm@78 376 (set-gravity world (Vector3f. 0 0 0))
rlm@78 377 )
rlm@78 378
rlm@78 379 (fn [world _]
rlm@78 380 (if (zero? (rem (swap! timer inc) 100))
rlm@78 381 (do
rlm@78 382 ;; (println-repl @timer)
rlm@78 383 (.attachChild (.getRootNode world)
rlm@78 384 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 385 :position (.getWorldTranslation top)
rlm@83 386 :physical? false))
rlm@83 387 (.attachChild (.getRootNode world)
rlm@83 388 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 389 :position (.getWorldTranslation bottom)
rlm@83 390 :physical? false))))
rlm@83 391
rlm@78 392 (if @move-up?
rlm@78 393 (.applyTorque control
rlm@78 394 (.mult (.getPhysicsRotation control)
rlm@78 395 (Vector3f. 0 0 10))))
rlm@78 396 (if @move-down?
rlm@78 397 (.applyTorque control
rlm@78 398 (.mult (.getPhysicsRotation control)
rlm@78 399 (Vector3f. 0 0 -10))))
rlm@78 400 (if @move-left?
rlm@78 401 (.applyTorque control
rlm@78 402 (.mult (.getPhysicsRotation control)
rlm@78 403 (Vector3f. 0 10 0))))
rlm@78 404 (if @move-right?
rlm@78 405 (.applyTorque control
rlm@78 406 (.mult (.getPhysicsRotation control)
rlm@78 407 (Vector3f. 0 -10 0))))
rlm@78 408 (if @roll-left?
rlm@78 409 (.applyTorque control
rlm@78 410 (.mult (.getPhysicsRotation control)
rlm@78 411 (Vector3f. -1 0 0))))
rlm@78 412 (if @roll-right?
rlm@78 413 (.applyTorque control
rlm@78 414 (.mult (.getPhysicsRotation control)
rlm@78 415 (Vector3f. 1 0 0))))))))
rlm@83 416
rlm@83 417
rlm@83 418
rlm@87 419 #+end_src
rlm@83 420
rlm@87 421 #+results: body-1
rlm@87 422 : #'cortex.silly/test-joint
rlm@78 423
rlm@78 424
rlm@78 425 * COMMENT purgatory
rlm@78 426 #+begin_src clojure
rlm@77 427 (defn bullet-trans []
rlm@77 428 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 429 :position (Vector3f. -10 5 0))
rlm@77 430 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 431 :position (Vector3f. -10 -5 0)
rlm@77 432 :mass 0)
rlm@77 433 control-a (.getControl obj-a RigidBodyControl)
rlm@77 434 control-b (.getControl obj-b RigidBodyControl)
rlm@77 435 swivel
rlm@77 436 (.toRotationMatrix
rlm@77 437 (doto (Quaternion.)
rlm@77 438 (.fromAngleAxis (/ Math/PI 2)
rlm@77 439 Vector3f/UNIT_X)))]
rlm@77 440 (doto
rlm@77 441 (ConeJoint.
rlm@77 442 control-a control-b
rlm@77 443 (Vector3f. 0 5 0)
rlm@77 444 (Vector3f. 0 -5 0)
rlm@77 445 swivel swivel)
rlm@77 446 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 447 (/ Math/PI 4)
rlm@77 448 (* Math/PI 0.8)))
rlm@77 449 (world (nodify
rlm@77 450 [obj-a obj-b])
rlm@77 451 standard-debug-controls
rlm@77 452 enable-debug
rlm@77 453 no-op)))
rlm@74 454
rlm@74 455
rlm@77 456 (defn bullet-trans* []
rlm@77 457 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 458 :position (Vector3f. 5 0 0)
rlm@77 459 :mass 90)
rlm@77 460 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 461 :position (Vector3f. -5 0 0)
rlm@77 462 :mass 0)
rlm@77 463 control-a (.getControl obj-a RigidBodyControl)
rlm@77 464 control-b (.getControl obj-b RigidBodyControl)
rlm@77 465 move-up? (atom nil)
rlm@77 466 move-down? (atom nil)
rlm@77 467 move-left? (atom nil)
rlm@77 468 move-right? (atom nil)
rlm@77 469 roll-left? (atom nil)
rlm@77 470 roll-right? (atom nil)
rlm@77 471 force 100
rlm@77 472 swivel
rlm@77 473 (.toRotationMatrix
rlm@77 474 (doto (Quaternion.)
rlm@77 475 (.fromAngleAxis (/ Math/PI 2)
rlm@77 476 Vector3f/UNIT_X)))
rlm@77 477 x-move
rlm@77 478 (doto (Matrix3f.)
rlm@77 479 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 480 (.normalize (Vector3f. 1 1 0))))
rlm@77 481
rlm@77 482 timer (atom 0)]
rlm@77 483 (doto
rlm@77 484 (ConeJoint.
rlm@77 485 control-a control-b
rlm@77 486 (Vector3f. -8 0 0)
rlm@77 487 (Vector3f. 2 0 0)
rlm@77 488 ;;swivel swivel
rlm@77 489 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 490 x-move Matrix3f/IDENTITY
rlm@77 491 )
rlm@77 492 (.setCollisionBetweenLinkedBodys false)
rlm@77 493 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 494 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 495 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 496 (world (nodify
rlm@77 497 [obj-a obj-b])
rlm@77 498 (merge standard-debug-controls
rlm@77 499 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 500 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 501 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 502 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 503 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 504 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 505
rlm@77 506 (fn [world]
rlm@77 507 (enable-debug world)
rlm@77 508 (set-gravity world Vector3f/ZERO)
rlm@77 509 )
rlm@77 510
rlm@77 511 (fn [world _]
rlm@77 512
rlm@77 513 (if @move-up?
rlm@77 514 (.applyForce control-a
rlm@77 515 (Vector3f. force 0 0)
rlm@77 516 (Vector3f. 0 0 0)))
rlm@77 517 (if @move-down?
rlm@77 518 (.applyForce control-a
rlm@77 519 (Vector3f. (- force) 0 0)
rlm@77 520 (Vector3f. 0 0 0)))
rlm@77 521 (if @move-left?
rlm@77 522 (.applyForce control-a
rlm@77 523 (Vector3f. 0 force 0)
rlm@77 524 (Vector3f. 0 0 0)))
rlm@77 525 (if @move-right?
rlm@77 526 (.applyForce control-a
rlm@77 527 (Vector3f. 0 (- force) 0)
rlm@77 528 (Vector3f. 0 0 0)))
rlm@77 529
rlm@77 530 (if @roll-left?
rlm@77 531 (.applyForce control-a
rlm@77 532 (Vector3f. 0 0 force)
rlm@77 533 (Vector3f. 0 0 0)))
rlm@77 534 (if @roll-right?
rlm@77 535 (.applyForce control-a
rlm@77 536 (Vector3f. 0 0 (- force))
rlm@77 537 (Vector3f. 0 0 0)))
rlm@77 538
rlm@77 539 (if (zero? (rem (swap! timer inc) 100))
rlm@77 540 (.attachChild
rlm@77 541 (.getRootNode world)
rlm@77 542 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 543 :physical? false :position
rlm@77 544 (.getWorldTranslation obj-a)))))
rlm@77 545 )
rlm@77 546 ))
rlm@77 547
rlm@77 548
rlm@77 549
rlm@73 550 #+end_src
rlm@73 551
rlm@73 552
rlm@73 553 * COMMENT generate source
rlm@73 554 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 555 <<body-1>>
rlm@73 556 #+end_src
rlm@73 557