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author Robert McIntyre <rlm@mit.edu>
date Mon, 09 Jan 2012 06:05:29 -0700
parents 2bcc7636cfea
children 7b739503836a
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@90 267 (def touch "Models/creature1/touch.blend")
rlm@90 268
rlm@90 269 (defn worm-model [] (load-blender-model worm))
rlm@90 270
rlm@80 271 (defn x-ray [#^ColorRGBA color]
rlm@80 272 (doto (Material. (asset-manager)
rlm@80 273 "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80 274 (.setColor "Color" color)
rlm@80 275 (-> (.getAdditionalRenderState)
rlm@80 276 (.setDepthTest false))))
rlm@80 277
rlm@78 278 (defn test-creature [thing]
rlm@80 279 (let [x-axis
rlm@80 280 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80 281 y-axis
rlm@80 282 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80 283 z-axis
rlm@80 284 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78 285 (world
rlm@78 286 (nodify [(blender-creature thing)
rlm@81 287 (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80 288 :color ColorRGBA/Gray :mass 0)
rlm@80 289 x-axis y-axis z-axis
rlm@80 290 ])
rlm@78 291 standard-debug-controls
rlm@90 292 (fn [world]
rlm@90 293 (light-up-everything world)
rlm@90 294 (enable-debug world)
rlm@90 295 ;;(com.aurellem.capture.Capture/captureVideo
rlm@90 296 ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90 297 (.setTimer world (NanoTimer.))
rlm@90 298 ;;(set-gravity world (Vector3f. 0 0 0))
rlm@90 299 (speed-up world)
rlm@90 300 )
rlm@90 301 no-op
rlm@90 302 ;;(let [timer (atom 0)]
rlm@90 303 ;; (fn [_ _]
rlm@90 304 ;; (swap! timer inc)
rlm@90 305 ;; (if (= (rem @timer 60) 0)
rlm@90 306 ;; (println-repl (float (/ @timer 60))))))
rlm@90 307 )))
rlm@90 308
rlm@90 309
rlm@91 310 (defn colorful []
rlm@91 311 (.getChild (worm-model) "worm-21"))
rlm@90 312
rlm@90 313 (import jme3tools.converters.ImageToAwt)
rlm@90 314
rlm@90 315 (import ij.ImagePlus)
rlm@90 316
rlm@90 317 (defn triangle-indices
rlm@90 318 "Get the triangle vertex indices of a given triangle from a given
rlm@90 319 mesh."
rlm@90 320 [#^Mesh mesh triangle-index]
rlm@90 321 (let [indices (int-array 3)]
rlm@90 322 (.getTriangle mesh triangle-index indices)
rlm@90 323 (vec indices)))
rlm@90 324
rlm@90 325 (defn uv-coord
rlm@90 326 "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90 327 [#^Mesh mesh vertex-index]
rlm@90 328 (let [UV-buffer
rlm@90 329 (.getData
rlm@90 330 (.getBuffer
rlm@90 331 mesh
rlm@90 332 VertexBuffer$Type/TexCoord))]
rlm@91 333 (Vector2f.
rlm@91 334 (.get UV-buffer (* vertex-index 2))
rlm@91 335 (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90 336
rlm@91 337 (defn touch-receptor-image
rlm@91 338 "Return the touch-sensor distribution image in ImagePlus format."
rlm@91 339 [#^Geometry obj]
rlm@90 340 (let
rlm@91 341 [mat (.getMaterial obj)
rlm@90 342 texture
rlm@90 343 (.getTextureValue
rlm@90 344 (.getTextureParam
rlm@90 345 mat
rlm@90 346 MaterialHelper/TEXTURE_TYPE_DIFFUSE))
rlm@90 347 im (.getImage texture)]
rlm@90 348 (ImagePlus.
rlm@90 349 "UV-map"
rlm@90 350 (ImageToAwt/convert im false false 0))))
rlm@90 351
rlm@91 352
rlm@91 353 (import ij.process.ImageProcessor)
rlm@91 354 (import java.awt.image.BufferedImage)
rlm@91 355
rlm@91 356 (defprotocol Frame
rlm@91 357 (frame [this]))
rlm@91 358
rlm@91 359 (extend-type BufferedImage
rlm@91 360 Frame
rlm@91 361 (frame [image]
rlm@91 362 (merge
rlm@91 363 (apply
rlm@91 364 hash-map
rlm@91 365 (interleave
rlm@91 366 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 367 (vector x y)))
rlm@91 368 (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91 369 (let [data (.getRGB image x y)]
rlm@91 370 (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91 371 :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91 372 :b (bit-and 0x0000ff data)))))))
rlm@91 373 {:width (.getWidth image) :height (.getHeight image)})))
rlm@91 374
rlm@91 375
rlm@91 376 (extend-type ImagePlus
rlm@91 377 Frame
rlm@91 378 (frame [image+]
rlm@91 379 (frame (.getBufferedImage image+))))
rlm@91 380
rlm@92 381 (def white -1)
rlm@91 382
rlm@91 383 (defn filter-pixels
rlm@91 384 "List the coordinates of all pixels matching pred."
rlm@92 385 {:author "Dylan Holmes"}
rlm@91 386 [pred #^ImageProcessor ip]
rlm@91 387 (let
rlm@91 388 [width (.getWidth ip)
rlm@91 389 height (.getHeight ip)]
rlm@91 390 ((fn accumulate [x y matches]
rlm@91 391 (cond
rlm@91 392 (>= y height) matches
rlm@91 393 (>= x width) (recur 0 (inc y) matches)
rlm@91 394 (pred (.getPixel ip x y))
rlm@91 395 (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91 396 :else (recur (inc x) y matches)))
rlm@91 397 0 0 [])))
rlm@91 398
rlm@91 399 (defn white-coordinates
rlm@91 400 "List the coordinates of all the white pixels in an image."
rlm@91 401 [#^ImageProcessor ip]
rlm@92 402 (filter-pixels #(= % white) ip))
rlm@91 403
rlm@91 404 (defn same-side? [p1 p2 ref p]
rlm@91 405 (<=
rlm@91 406 0
rlm@91 407 (.dot
rlm@91 408 (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91 409 (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91 410
rlm@91 411 (defn inside-triangle?
rlm@91 412 [vert-1 vert-2 vert-3 p]
rlm@91 413 (and
rlm@91 414 (same-side? vert-1 vert-2 vert-3 p)
rlm@91 415 (same-side? vert-2 vert-3 vert-1 p)
rlm@91 416 (same-side? vert-3 vert-1 vert-2 p)))
rlm@91 417
rlm@91 418
rlm@91 419 (defn white? [color]
rlm@91 420 (and
rlm@91 421 (= (:r color) 255)
rlm@91 422 (= (:b color) 255)
rlm@91 423 (= (:g color) 255)))
rlm@91 424
rlm@91 425
rlm@90 426 ;; for each triangle in the mesh,
rlm@90 427 ;; get the normal to the triangle,
rlm@90 428 ;; look at the UV touch map, restricted to that triangle,
rlm@90 429 ;; get the positions of those touch sensors in geometry-relative
rlm@90 430 ;; coordinates.
rlm@91 431 (defn tactile-coords [#^Geometry obj]
rlm@91 432 (let [mesh (.getMesh obj)
rlm@91 433 num-triangles (.getTriangleCount mesh)
rlm@91 434 num-verticies (.getVertexCount mesh)
rlm@91 435 uv-coord (partial uv-coord mesh)
rlm@91 436 triangle-indices (partial triangle-indices mesh)
rlm@91 437 receptors (touch-receptor-image obj)
rlm@91 438 ]
rlm@91 439 (map
rlm@91 440 (fn [[tri-1 tri-2 tri-3]]
rlm@91 441 (let [width (.getWidth receptors)
rlm@91 442 height (.getHeight receptors)
rlm@91 443 uv-1 (uv-coord tri-1)
rlm@91 444 uv-2 (uv-coord tri-2)
rlm@91 445 uv-3 (uv-coord tri-3)
rlm@91 446 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@91 447 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@91 448 max-x (Math/ceil (* width (apply max x-coords)))
rlm@91 449 min-x (Math/floor (* width (apply min x-coords)))
rlm@91 450 max-y (Math/ceil (* height (apply max y-coords)))
rlm@91 451 min-y (Math/floor (* height (apply min y-coords)))
rlm@91 452
rlm@91 453 image-1 (Vector2f. (* width (.getX uv-1))
rlm@91 454 (* height (.getY uv-1)))
rlm@91 455 image-2 (Vector2f. (* width (.getX uv-2))
rlm@91 456 (* height (.getY uv-2)))
rlm@91 457 image-3 (Vector2f. (* width (.getX uv-3))
rlm@91 458 (* height (.getY uv-3)))
rlm@91 459 left-corner
rlm@91 460 (Vector2f. min-x min-y)
rlm@91 461
rlm@91 462 ]
rlm@91 463
rlm@91 464 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@91 465 (let [processor (.crop (.getProcessor receptors))
rlm@91 466 image (frame (.getBufferedImage processor))]
rlm@91 467 (with-meta
rlm@91 468 (filter-keys
rlm@91 469 (fn [[x y]]
rlm@91 470 (inside-triangle?
rlm@91 471 (.subtract image-1 left-corner)
rlm@91 472 (.subtract image-2 left-corner)
rlm@91 473 (.subtract image-3 left-corner)
rlm@91 474 (Vector2f. x y)))
rlm@91 475
rlm@91 476
rlm@91 477 (filter-vals white? image))
rlm@91 478 {:image
rlm@91 479 (comment
rlm@91 480 (.getBufferedImage
rlm@91 481 (doto processor
rlm@91 482 (.flipVertical))))
rlm@91 483 }
rlm@91 484 ))
rlm@91 485 )) (map triangle-indices (range num-triangles)))))
rlm@91 486
rlm@91 487
rlm@91 488
rlm@91 489
rlm@91 490
rlm@91 491
rlm@91 492
rlm@91 493 (defn all-names []
rlm@91 494 (concat
rlm@91 495 (re-split #"\n" (slurp (file-str
rlm@91 496 "/home/r/proj/names/dist.female.first")))
rlm@91 497 (re-split #"\n" (slurp (file-str
rlm@91 498 "/home/r/proj/names/dist.male.first")))
rlm@91 499 (re-split #"\n" (slurp (file-str
rlm@91 500 "/home/r/proj/names/dist.all.last")))))
rlm@90 501
rlm@90 502
rlm@90 503
rlm@90 504
rlm@90 505
rlm@90 506
rlm@90 507
rlm@90 508
rlm@90 509
rlm@90 510 (defrecord LulzLoader [])
rlm@90 511 (defprotocol Lulzable (load-lulz [this]))
rlm@90 512 (extend-type LulzLoader
rlm@90 513 Lulzable
rlm@90 514 (load-lulz [this] (println "the lulz have arrived!")))
rlm@90 515
rlm@78 516
rlm@78 517 (defn world-setup [joint]
rlm@90 518 (let [joint-position (Vector3f. 0 0 0)
rlm@83 519 joint-rotation
rlm@83 520 (.toRotationMatrix
rlm@83 521 (.mult
rlm@83 522 (doto (Quaternion.)
rlm@83 523 (.fromAngleAxis
rlm@83 524 (* 1 (/ Math/PI 4))
rlm@85 525 (Vector3f. -1 0 0)))
rlm@85 526 (doto (Quaternion.)
rlm@85 527 (.fromAngleAxis
rlm@85 528 (* 1 (/ Math/PI 2))
rlm@85 529 (Vector3f. 0 0 1)))))
rlm@84 530 top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83 531
rlm@83 532 origin (doto
rlm@83 533 (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84 534 :position top-position))
rlm@83 535 top (doto
rlm@78 536 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84 537 :position top-position)
rlm@83 538
rlm@78 539 (.addControl
rlm@78 540 (RigidBodyControl.
rlm@83 541 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78 542 bottom (doto
rlm@78 543 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83 544 :position (Vector3f. 0 0 0))
rlm@83 545 (.addControl
rlm@78 546 (RigidBodyControl.
rlm@78 547 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83 548 table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78 549 :color ColorRGBA/Gray :mass 0)
rlm@78 550 a (.getControl top RigidBodyControl)
rlm@78 551 b (.getControl bottom RigidBodyControl)]
rlm@83 552
rlm@78 553 (cond
rlm@83 554 (= joint :cone)
rlm@83 555
rlm@83 556 (doto (ConeJoint.
rlm@83 557 a b
rlm@87 558 (world-to-local top joint-position)
rlm@87 559 (world-to-local bottom joint-position)
rlm@83 560 joint-rotation
rlm@83 561 joint-rotation
rlm@83 562 )
rlm@78 563
rlm@83 564
rlm@83 565 (.setLimit (* (/ 10) Math/PI)
rlm@83 566 (* (/ 4) Math/PI)
rlm@83 567 0)))
rlm@83 568 [origin top bottom table]))
rlm@78 569
rlm@78 570 (defn test-joint [joint]
rlm@83 571 (let [[origin top bottom floor] (world-setup joint)
rlm@78 572 control (.getControl top RigidBodyControl)
rlm@78 573 move-up? (atom false)
rlm@78 574 move-down? (atom false)
rlm@78 575 move-left? (atom false)
rlm@78 576 move-right? (atom false)
rlm@78 577 roll-left? (atom false)
rlm@78 578 roll-right? (atom false)
rlm@78 579 timer (atom 0)]
rlm@78 580
rlm@78 581 (world
rlm@83 582 (nodify [top bottom floor origin])
rlm@78 583 (merge standard-debug-controls
rlm@78 584 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78 585 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78 586 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78 587 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78 588 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78 589 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@78 590
rlm@78 591 (fn [world]
rlm@78 592 (light-up-everything world)
rlm@78 593 (enable-debug world)
rlm@78 594 (set-gravity world (Vector3f. 0 0 0))
rlm@78 595 )
rlm@78 596
rlm@78 597 (fn [world _]
rlm@78 598 (if (zero? (rem (swap! timer inc) 100))
rlm@78 599 (do
rlm@78 600 ;; (println-repl @timer)
rlm@78 601 (.attachChild (.getRootNode world)
rlm@78 602 (sphere 0.05 :color ColorRGBA/Yellow
rlm@78 603 :position (.getWorldTranslation top)
rlm@83 604 :physical? false))
rlm@83 605 (.attachChild (.getRootNode world)
rlm@83 606 (sphere 0.05 :color ColorRGBA/LightGray
rlm@83 607 :position (.getWorldTranslation bottom)
rlm@83 608 :physical? false))))
rlm@83 609
rlm@78 610 (if @move-up?
rlm@78 611 (.applyTorque control
rlm@78 612 (.mult (.getPhysicsRotation control)
rlm@78 613 (Vector3f. 0 0 10))))
rlm@78 614 (if @move-down?
rlm@78 615 (.applyTorque control
rlm@78 616 (.mult (.getPhysicsRotation control)
rlm@78 617 (Vector3f. 0 0 -10))))
rlm@78 618 (if @move-left?
rlm@78 619 (.applyTorque control
rlm@78 620 (.mult (.getPhysicsRotation control)
rlm@78 621 (Vector3f. 0 10 0))))
rlm@78 622 (if @move-right?
rlm@78 623 (.applyTorque control
rlm@78 624 (.mult (.getPhysicsRotation control)
rlm@78 625 (Vector3f. 0 -10 0))))
rlm@78 626 (if @roll-left?
rlm@78 627 (.applyTorque control
rlm@78 628 (.mult (.getPhysicsRotation control)
rlm@78 629 (Vector3f. -1 0 0))))
rlm@78 630 (if @roll-right?
rlm@78 631 (.applyTorque control
rlm@78 632 (.mult (.getPhysicsRotation control)
rlm@78 633 (Vector3f. 1 0 0))))))))
rlm@83 634
rlm@83 635
rlm@83 636
rlm@87 637 #+end_src
rlm@83 638
rlm@87 639 #+results: body-1
rlm@87 640 : #'cortex.silly/test-joint
rlm@78 641
rlm@78 642
rlm@78 643 * COMMENT purgatory
rlm@78 644 #+begin_src clojure
rlm@77 645 (defn bullet-trans []
rlm@77 646 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77 647 :position (Vector3f. -10 5 0))
rlm@77 648 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 649 :position (Vector3f. -10 -5 0)
rlm@77 650 :mass 0)
rlm@77 651 control-a (.getControl obj-a RigidBodyControl)
rlm@77 652 control-b (.getControl obj-b RigidBodyControl)
rlm@77 653 swivel
rlm@77 654 (.toRotationMatrix
rlm@77 655 (doto (Quaternion.)
rlm@77 656 (.fromAngleAxis (/ Math/PI 2)
rlm@77 657 Vector3f/UNIT_X)))]
rlm@77 658 (doto
rlm@77 659 (ConeJoint.
rlm@77 660 control-a control-b
rlm@77 661 (Vector3f. 0 5 0)
rlm@77 662 (Vector3f. 0 -5 0)
rlm@77 663 swivel swivel)
rlm@77 664 (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77 665 (/ Math/PI 4)
rlm@77 666 (* Math/PI 0.8)))
rlm@77 667 (world (nodify
rlm@77 668 [obj-a obj-b])
rlm@77 669 standard-debug-controls
rlm@77 670 enable-debug
rlm@77 671 no-op)))
rlm@74 672
rlm@74 673
rlm@77 674 (defn bullet-trans* []
rlm@77 675 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77 676 :position (Vector3f. 5 0 0)
rlm@77 677 :mass 90)
rlm@77 678 obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77 679 :position (Vector3f. -5 0 0)
rlm@77 680 :mass 0)
rlm@77 681 control-a (.getControl obj-a RigidBodyControl)
rlm@77 682 control-b (.getControl obj-b RigidBodyControl)
rlm@77 683 move-up? (atom nil)
rlm@77 684 move-down? (atom nil)
rlm@77 685 move-left? (atom nil)
rlm@77 686 move-right? (atom nil)
rlm@77 687 roll-left? (atom nil)
rlm@77 688 roll-right? (atom nil)
rlm@77 689 force 100
rlm@77 690 swivel
rlm@77 691 (.toRotationMatrix
rlm@77 692 (doto (Quaternion.)
rlm@77 693 (.fromAngleAxis (/ Math/PI 2)
rlm@77 694 Vector3f/UNIT_X)))
rlm@77 695 x-move
rlm@77 696 (doto (Matrix3f.)
rlm@77 697 (.fromStartEndVectors Vector3f/UNIT_X
rlm@77 698 (.normalize (Vector3f. 1 1 0))))
rlm@77 699
rlm@77 700 timer (atom 0)]
rlm@77 701 (doto
rlm@77 702 (ConeJoint.
rlm@77 703 control-a control-b
rlm@77 704 (Vector3f. -8 0 0)
rlm@77 705 (Vector3f. 2 0 0)
rlm@77 706 ;;swivel swivel
rlm@77 707 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77 708 x-move Matrix3f/IDENTITY
rlm@77 709 )
rlm@77 710 (.setCollisionBetweenLinkedBodys false)
rlm@77 711 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
rlm@77 712 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
rlm@77 713 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
rlm@77 714 (world (nodify
rlm@77 715 [obj-a obj-b])
rlm@77 716 (merge standard-debug-controls
rlm@77 717 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77 718 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77 719 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77 720 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77 721 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77 722 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
rlm@77 723
rlm@77 724 (fn [world]
rlm@77 725 (enable-debug world)
rlm@77 726 (set-gravity world Vector3f/ZERO)
rlm@77 727 )
rlm@77 728
rlm@77 729 (fn [world _]
rlm@77 730
rlm@77 731 (if @move-up?
rlm@77 732 (.applyForce control-a
rlm@77 733 (Vector3f. force 0 0)
rlm@77 734 (Vector3f. 0 0 0)))
rlm@77 735 (if @move-down?
rlm@77 736 (.applyForce control-a
rlm@77 737 (Vector3f. (- force) 0 0)
rlm@77 738 (Vector3f. 0 0 0)))
rlm@77 739 (if @move-left?
rlm@77 740 (.applyForce control-a
rlm@77 741 (Vector3f. 0 force 0)
rlm@77 742 (Vector3f. 0 0 0)))
rlm@77 743 (if @move-right?
rlm@77 744 (.applyForce control-a
rlm@77 745 (Vector3f. 0 (- force) 0)
rlm@77 746 (Vector3f. 0 0 0)))
rlm@77 747
rlm@77 748 (if @roll-left?
rlm@77 749 (.applyForce control-a
rlm@77 750 (Vector3f. 0 0 force)
rlm@77 751 (Vector3f. 0 0 0)))
rlm@77 752 (if @roll-right?
rlm@77 753 (.applyForce control-a
rlm@77 754 (Vector3f. 0 0 (- force))
rlm@77 755 (Vector3f. 0 0 0)))
rlm@77 756
rlm@77 757 (if (zero? (rem (swap! timer inc) 100))
rlm@77 758 (.attachChild
rlm@77 759 (.getRootNode world)
rlm@77 760 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77 761 :physical? false :position
rlm@77 762 (.getWorldTranslation obj-a)))))
rlm@77 763 )
rlm@77 764 ))
rlm@77 765
rlm@77 766
rlm@77 767
rlm@73 768 #+end_src
rlm@73 769
rlm@73 770
rlm@73 771 * COMMENT generate source
rlm@73 772 #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73 773 <<body-1>>
rlm@73 774 #+end_src
rlm@73 775