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1 #+title: First attempt at a creature!
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2 #+author: Robert McIntyre
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3 #+email: rlm@mit.edu
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4 #+description:
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5 #+keywords: simulation, jMonkeyEngine3, clojure
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6 #+SETUPFILE: ../../aurellem/org/setup.org
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7 #+INCLUDE: ../../aurellem/org/level-0.org
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8
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9
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10
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11
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12 * Intro
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13 So far, I've made the following senses --
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14 - Vision
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15 - Hearing
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16 - Touch
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17 - Proprioception
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18
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19 And one effector:
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20 - Movement
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21
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22 However, the code so far has only enabled these senses, but has not
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23 actually implemented them. For example, there is still a lot of work
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24 to be done for vision. I need to be able to create an /eyeball/ in
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25 simulation that can be moved around and see the world from different
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26 angles. I also need to determine weather to use log-polar or cartesian
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27 for the visual input, and I need to determine how/wether to
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28 disceritise the visual input.
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29
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30 I also want to be able to visualize both the sensors and the
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31 effectors in pretty pictures. This semi-retarted creature will be my
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32 first attempt at bringing everything together.
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33
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34 * The creature's body
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35
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36 Still going to do an eve-like body in blender, but due to problems
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37 importing the joints, etc into jMonkeyEngine3, I'm going to do all
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38 the connecting here in clojure code, using the names of the individual
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39 components and trial and error. Later, I'll maybe make some sort of
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40 creature-building modifications to blender that support whatever
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41 discritized senses I'm going to make.
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42
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43 #+name: body-1
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44 #+begin_src clojure
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45 (ns cortex.silly
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46 "let's play!"
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47 {:author "Robert McIntyre"})
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48
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49 ;; TODO remove this!
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50 (require 'cortex.import)
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51 (cortex.import/mega-import-jme3)
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52 (use '(cortex world util body hearing touch vision sense
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53 proprioception movement))
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54
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55 (rlm.rlm-commands/help)
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56 (import java.awt.image.BufferedImage)
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57 (import javax.swing.JPanel)
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58 (import javax.swing.SwingUtilities)
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59 (import java.awt.Dimension)
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60 (import javax.swing.JFrame)
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61 (import java.awt.Dimension)
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62 (import com.aurellem.capture.RatchetTimer)
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63
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64 (use 'clojure.contrib.def)
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65
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66 (defn load-blender-model
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67 "Load a .blend file using an asset folder relative path."
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68 [^String model]
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69 (.loadModel
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70 (doto (asset-manager)
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71 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
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72 model))
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73
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74 (def hand "Models/creature1/one.blend")
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75
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76 (def worm "Models/creature1/try-again.blend")
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77
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78 (defn worm-model [] (load-blender-model worm))
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79
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80 (defn x-ray [#^ColorRGBA color]
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81 (doto (Material. (asset-manager)
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82 "Common/MatDefs/Misc/Unshaded.j3md")
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83 (.setColor "Color" color)
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84 (-> (.getAdditionalRenderState)
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85 (.setDepthTest false))))
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86
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87 (defn colorful []
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88 (.getChild (worm-model) "worm-21"))
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89
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90 (import jme3tools.converters.ImageToAwt)
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91
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92 (import ij.ImagePlus)
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93
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94
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95
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96 (defn test-eye []
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97 (.getChild
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98 (.getChild (worm-model) "eyes")
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99 "eye"))
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100
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101
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102
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103 ;; lower level --- nodes
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104 ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
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105
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106 ;; higher level -- organs
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107 ;;
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108
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109 ;; higher level --- sense/effector
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110 ;; these are the functions that provide world i/o, chinese-room style
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111
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112 (defn debug-hearing-window
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113 "view audio data"
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114 [height]
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115 (let [vi (view-image)]
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116 (fn [[coords sensor-data]]
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117 (let [image (BufferedImage. (count coords) height
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118 BufferedImage/TYPE_INT_RGB)]
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119 (dorun
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120 (for [x (range (count coords))]
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121 (dorun
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122 (for [y (range height)]
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123 (let [raw-sensor (sensor-data x)]
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124 (.setRGB image x y (gray raw-sensor)))))))
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125
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126 (vi image)))))
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127
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128 (defn test-creature [thing]
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129 (let [x-axis
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130 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
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131 y-axis
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132 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
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133 z-axis
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134 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
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135
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136 creature (doto (load-blender-model thing) (body!))
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137
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138 touch (touch! creature)
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139 touch-display (view-touch)
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140
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141 vision (vision! creature)
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142 vision-display (view-vision)
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143
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144 hearing (hearing! creature)
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145 hearing-display (view-hearing)
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146
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147 prop (proprioception! creature)
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148 prop-debug (proprioception-debug-window)
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149
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150 muscle-fns (movement! creature)
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151
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152
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153 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
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154 bell (AudioNode. (asset-manager)
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155 "Sounds/pure.wav" false)
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156
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157 fix-display (runonce
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158 (fn [world] (add-camera! world (.getCamera world) no-op)))
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159 ]
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160
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161
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162 (apply
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163 world
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164 (with-movement
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165 (.getChild creature "worm-21")
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166 ["key-r" "key-t"
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167 "key-f" "key-g"
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168 "key-v" "key-b"]
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169 [10 10 10 10 1 1]
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170 [(nodify [creature
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171 (box 10 2 10 :position (Vector3f. 0 -9 0)
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172 :color ColorRGBA/Gray :mass 0)
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173 x-axis y-axis z-axis
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174 me
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175 ])
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176 (merge standard-debug-controls
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177 {"key-return"
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178 (fn [_ value]
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179 (if value
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180 (do
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181 (println-repl "play-sound")
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182 (.play bell))))
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183 "key-h"
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184 (fn [_ value]
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185 (if value
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186 (do
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187 (println-repl "muscle activating!")
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188 ((first muscle-fns) 199))))
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189
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190 })
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191 (fn [world]
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192 (light-up-everything world)
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193 (enable-debug world)
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194 ;;(dorun (map #(% world) init-vision-fns))
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195 ;;(dorun (map #(% world) init-hearing-fns))
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196
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197 (add-camera! world
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198 (add-eye! creature (test-eye))
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199 (comp (view-image) BufferedImage!))
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200
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201
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202 ;;(set-gravity world (Vector3f. 0 0 0))
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203 ;;(com.aurellem.capture.Capture/captureVideo
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204 ;; world (file-str "/home/r/proj/ai-videos/hand"))
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205 ;;(.setTimer world (RatchetTimer. 60))
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206 (speed-up world)
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207 (set-gravity world (Vector3f. 0 0 0))
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208 )
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209 (fn [world tpf]
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210 ;;(dorun
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211 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
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212
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213 (prop-debug (prop))
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214
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215 (touch-display (map #(% (.getRootNode world)) touch))
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216
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217 (vision-display (map #(% world) vision))
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218
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219 (hearing-display (map #(% world) hearing))
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220
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221 ;;(println-repl (vision-data))
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222 (.setLocalTranslation me (.getLocation (.getCamera world)))
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223 (fix-display world)
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224
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225 )]
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226 ;;(let [timer (atom 0)]
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227 ;; (fn [_ _]
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228 ;; (swap! timer inc)
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229 ;; (if (= (rem @timer 60) 0)
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230 ;; (println-repl (float (/ @timer 60))))))
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231 ))))
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232
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233
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234
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235 ;; the camera will stay in its initial position/rotation with relation
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236 ;; to the spatial.
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237
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238
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239 ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
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240 ;;anchor-qualia, augment-organ, with-organ
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241
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242 (defn follow-test
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243 "show a camera that stays in the same relative position to a blue cube."
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244 []
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245 (let [camera-pos (Vector3f. 0 30 0)
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246 rock (box 1 1 1 :color ColorRGBA/Blue
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247 :position (Vector3f. 0 10 0)
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248 :mass 30
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249 )
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250 rot (.getWorldRotation rock)
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251
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252 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
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253 :position (Vector3f. 0 -3 0))]
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254
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255 (world
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256 (nodify [rock table])
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257 standard-debug-controls
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258 (fn [world]
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259 (let
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260 [cam (doto (.clone (.getCamera world))
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261 (.setLocation camera-pos)
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262 (.lookAt Vector3f/ZERO
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263 Vector3f/UNIT_X))]
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264 (bind-sense rock cam)
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265
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266 (.setTimer world (RatchetTimer. 60))
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267 (add-camera! world cam (comp (view-image) BufferedImage!))
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268 (add-camera! world (.getCamera world) no-op))
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269 )
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270 (fn [_ _] (println-repl rot)))))
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271
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272
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273
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274 #+end_src
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275
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276 #+results: body-1
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277 : #'cortex.silly/follow-test
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278
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279
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280 * COMMENT purgatory
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281 #+begin_src clojure
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282
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283 (defn bullet-trans* []
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284 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
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285 :position (Vector3f. 5 0 0)
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286 :mass 90)
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287 obj-b (sphere 0.5 :color ColorRGBA/Blue
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288 :position (Vector3f. -5 0 0)
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289 :mass 0)
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290 control-a (.getControl obj-a RigidBodyControl)
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291 control-b (.getControl obj-b RigidBodyControl)
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292 move-up? (atom nil)
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293 move-down? (atom nil)
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294 move-left? (atom nil)
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295 move-right? (atom nil)
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296 roll-left? (atom nil)
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297 roll-right? (atom nil)
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298 force 100
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299 swivel
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300 (.toRotationMatrix
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301 (doto (Quaternion.)
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302 (.fromAngleAxis (/ Math/PI 2)
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303 Vector3f/UNIT_X)))
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304 x-move
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305 (doto (Matrix3f.)
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306 (.fromStartEndVectors Vector3f/UNIT_X
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307 (.normalize (Vector3f. 1 1 0))))
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308
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309 timer (atom 0)]
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310 (doto
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311 (ConeJoint.
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312 control-a control-b
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313 (Vector3f. -8 0 0)
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314 (Vector3f. 2 0 0)
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315 ;;swivel swivel
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316 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
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317 x-move Matrix3f/IDENTITY
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318 )
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319 (.setCollisionBetweenLinkedBodys false)
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320 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
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321 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
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322 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
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323 (world (nodify
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324 [obj-a obj-b])
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325 (merge standard-debug-controls
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326 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
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327 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
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328 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
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329 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
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330 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
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331 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
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332
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333 (fn [world]
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334 (enable-debug world)
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335 (set-gravity world Vector3f/ZERO)
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336 )
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337
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338 (fn [world _]
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339
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340 (if @move-up?
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341 (.applyForce control-a
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342 (Vector3f. force 0 0)
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343 (Vector3f. 0 0 0)))
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344 (if @move-down?
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345 (.applyForce control-a
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346 (Vector3f. (- force) 0 0)
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347 (Vector3f. 0 0 0)))
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348 (if @move-left?
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349 (.applyForce control-a
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350 (Vector3f. 0 force 0)
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351 (Vector3f. 0 0 0)))
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352 (if @move-right?
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353 (.applyForce control-a
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354 (Vector3f. 0 (- force) 0)
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355 (Vector3f. 0 0 0)))
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356
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rlm@77
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357 (if @roll-left?
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358 (.applyForce control-a
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359 (Vector3f. 0 0 force)
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360 (Vector3f. 0 0 0)))
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361 (if @roll-right?
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362 (.applyForce control-a
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363 (Vector3f. 0 0 (- force))
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364 (Vector3f. 0 0 0)))
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365
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366 (if (zero? (rem (swap! timer inc) 100))
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rlm@77
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367 (.attachChild
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rlm@77
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368 (.getRootNode world)
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rlm@77
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369 (sphere 0.05 :color ColorRGBA/Yellow
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rlm@77
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370 :physical? false :position
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rlm@77
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371 (.getWorldTranslation obj-a)))))
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rlm@77
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372 )
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rlm@77
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373 ))
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rlm@77
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374
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rlm@106
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375 (defn test-joint [joint]
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rlm@106
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376 (let [[origin top bottom floor] (world-setup joint)
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rlm@106
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377 control (.getControl top RigidBodyControl)
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rlm@106
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378 move-up? (atom false)
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rlm@106
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379 move-down? (atom false)
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rlm@106
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380 move-left? (atom false)
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rlm@106
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381 move-right? (atom false)
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rlm@106
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382 roll-left? (atom false)
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rlm@106
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383 roll-right? (atom false)
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rlm@106
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384 timer (atom 0)]
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rlm@106
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385
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rlm@106
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386 (world
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rlm@106
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387 (nodify [top bottom floor origin])
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rlm@106
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388 (merge standard-debug-controls
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rlm@106
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389 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
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rlm@106
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390 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
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rlm@106
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391 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
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rlm@106
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392 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
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rlm@106
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393 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
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rlm@106
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394 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
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rlm@106
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395
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rlm@106
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396 (fn [world]
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rlm@106
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397 (light-up-everything world)
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rlm@106
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398 (enable-debug world)
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rlm@106
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399 (set-gravity world (Vector3f. 0 0 0))
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rlm@106
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400 )
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rlm@106
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401
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rlm@106
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402 (fn [world _]
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rlm@106
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403 (if (zero? (rem (swap! timer inc) 100))
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rlm@106
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404 (do
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rlm@106
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405 ;; (println-repl @timer)
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rlm@106
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406 (.attachChild (.getRootNode world)
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rlm@106
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407 (sphere 0.05 :color ColorRGBA/Yellow
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rlm@106
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408 :position (.getWorldTranslation top)
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rlm@106
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409 :physical? false))
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rlm@106
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410 (.attachChild (.getRootNode world)
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rlm@106
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411 (sphere 0.05 :color ColorRGBA/LightGray
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rlm@106
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412 :position (.getWorldTranslation bottom)
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rlm@106
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413 :physical? false))))
|
rlm@106
|
414
|
rlm@106
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415 (if @move-up?
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rlm@106
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416 (.applyTorque control
|
rlm@106
|
417 (.mult (.getPhysicsRotation control)
|
rlm@106
|
418 (Vector3f. 0 0 10))))
|
rlm@106
|
419 (if @move-down?
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rlm@106
|
420 (.applyTorque control
|
rlm@106
|
421 (.mult (.getPhysicsRotation control)
|
rlm@106
|
422 (Vector3f. 0 0 -10))))
|
rlm@106
|
423 (if @move-left?
|
rlm@106
|
424 (.applyTorque control
|
rlm@106
|
425 (.mult (.getPhysicsRotation control)
|
rlm@106
|
426 (Vector3f. 0 10 0))))
|
rlm@106
|
427 (if @move-right?
|
rlm@106
|
428 (.applyTorque control
|
rlm@106
|
429 (.mult (.getPhysicsRotation control)
|
rlm@106
|
430 (Vector3f. 0 -10 0))))
|
rlm@106
|
431 (if @roll-left?
|
rlm@106
|
432 (.applyTorque control
|
rlm@106
|
433 (.mult (.getPhysicsRotation control)
|
rlm@106
|
434 (Vector3f. -1 0 0))))
|
rlm@106
|
435 (if @roll-right?
|
rlm@106
|
436 (.applyTorque control
|
rlm@106
|
437 (.mult (.getPhysicsRotation control)
|
rlm@106
|
438 (Vector3f. 1 0 0))))))))
|
rlm@99
|
439 #+end_src
|
rlm@99
|
440
|
rlm@99
|
441
|
rlm@99
|
442 * COMMENT generate source
|
rlm@99
|
443 #+begin_src clojure :tangle ../src/cortex/silly.clj
|
rlm@99
|
444 <<body-1>>
|
rlm@99
|
445 #+end_src
|
rlm@99
|
446
|
rlm@99
|
447
|
rlm@94
|
448
|
rlm@94
|
449
|