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1
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2
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3 * A joint
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4
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5 The point of this joint is that it uses exploratory motor movements to
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6 learn how to move to any particular position.
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7
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8 visual-information -- list of functions which must each be called with
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9 the world the argument, each of which returns [topology data]. Each
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10 element of data is a number between 0 and 255 representing the
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11 intensity of the light recieved at that sensor.
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12
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13 proprioception -- list of nullary functions, one for each joint, which
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14 return [heding pitch roll].
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15
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16 movement -- list of functions, one for each muscle, which must be
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17 called with an integer between 0 and the total number of muscle fibers
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18 in the muscle. Each function returns a float which is (current-force/
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19 total-possible-force).
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20
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21 touch -- list of functions which must each be called with a Node
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22 (normally the root node of the simulation) the argument, each of which
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23 returns [topology data]. Each element of data is a posive float
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24 between 0.0 and the max length of the "hairs" of which the touch sense
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25 is composed.
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26
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27 #+name: load-creature
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28 #+begin_src clojure
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29 (in-ns 'cortex.joint)
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30
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31 (def joint "Models/joint/joint.blend")
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32
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33 (defn load-creature []
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34 (load-blender-model joint))
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35
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36 (defn test-creature []
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37 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
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38 creature (doto (load-creature) (body!))
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39
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40 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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41 touch (touch! creature)
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42 touch-display (view-touch)
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43
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44 vision (vision! creature)
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45 vision-display (view-vision)
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46
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47 ;;hearing (hearing! creature)
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48 ;;hearing-display (view-hearing)
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49
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50 prop (proprioception! creature)
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51 prop-display (view-proprioception)
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52
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53 muscles (movement! creature)
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54 muscle-display (view-movement)
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55 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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56
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57 fix-display (gen-fix-display)
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58
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59 floor (box 10 2 10 :position (Vector3f. 0 -9 0)
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60 :color ColorRGBA/Gray :mass 0)]
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61 (world
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62 (nodify [floor me creature])
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63 standard-debug-controls
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64 (fn [world]
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65 (let [timer (RatchetTimer. 60)]
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66 (.setTimer world timer)
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67 (display-dilated-time world timer)))
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68 (fn [world tpf]
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69 (.setLocalTranslation me (.getLocation (.getCamera world)))
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70 (fix-display world)))))
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71 #+end_src
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72
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73 * Headers
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74 #+name: joint-header
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75 #+begin_src clojure
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76 (ns cortex.joint
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77 (:require cortex.import)
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78 (:use (cortex world util import body sense
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79 hearing touch vision proprioception movement))
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80 (:import java.io.File)
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81 (:import (com.aurellem.capture RatchetTimer IsoTimer)))
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82
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83 (cortex.import/mega-import-jme3)
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84 (rlm.rlm-commands/help)
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85 #+end_src
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86
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87
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88 * COMMENT Generate Source
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89
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90 #+begin_src clojure :tangle ../src/cortex/joint.clj
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91 <<joint-header>>
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92 <<load-creature>>
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93 #+end_src
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94
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