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1
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2
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3 * A self learning joint
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4
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5 #+name: load-creature
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6 #+begin_src clojure
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7 (in-ns 'cortex.joint)
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8
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9 (def joint "Models/joint/joint.blend")
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10
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11 (defn load-creature []
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12 (load-blender-model joint))
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13
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14
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15 (defn test-creature []
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16
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17 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
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18 creature (doto (load-creature) (body!))
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19
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20 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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21 touch (touch! creature)
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22 touch-display (view-touch)
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23
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24 ;;vision (vision! creature)
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25 ;;vision-display (view-vision)
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26
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27 ;;hearing (hearing! creature)
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28 ;;hearing-display (view-hearing)
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29
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30 prop (proprioception! creature)
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31 prop-display (view-proprioception)
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32
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33 muscles (movement! creature)
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34 muscle-display (view-movement)
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35 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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36
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37 fix-display (gen-fix-display)
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38
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39 floor (box 10 2 10 :position (Vector3f. 0 -9 0)
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40 :color ColorRGBA/Gray :mass 0)
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41
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42 timer (RatchetTimer. 60)
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43 ]
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44
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45
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46 (world
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47 (nodify [floor me creature])
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48 standard-debug-controls
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49 (fn [world]
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50 (.setTimer world timer)
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51 )
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52 (fn [world tpf]
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53 (fix-display world)))))
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54
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55
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56
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57
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58 #+end_src
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59
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60
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61
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62
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63
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64
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65 * Headers
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66 #+name: joint-header
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67 #+begin_src clojure
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68 (ns cortex.joint
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69 (:require cortex.import)
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70 (:use (cortex world util import body sense
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71 hearing touch vision proprioception movement))
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72 (:import java.io.File)
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73 (:import (com.aurellem.capture RatchetTimer IsoTimer)))
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74
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75
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76 (cortex.import/mega-import-jme3)
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77 (rlm.rlm-commands/help)
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78 #+end_src
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79
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80
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81 * COMMENT Generate Source
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82
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83 #+begin_src clojure :tangle ../src/cortex/joint.clj
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84 <<joint-header>>
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85 <<load-creature>>
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86 #+end_src
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87
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