cortex: org/worm_learn.clj comparison

comparison org/worm_learn.clj @ 449:09b7c8dd4365

first chapter done, half of last chapter done.

author	Robert McIntyre <rlm@mit.edu>
date	Wed, 26 Mar 2014 02:42:01 -0400
parents	47cfbe84f00e
children	0a4362d1f138

comparison

equal deleted inserted replaced

-:af13fc73e851
+:09b7c8dd4365
 (def hand "Models/test-creature/hand.blend")
 (defn worm-model []
 (load-blender-model "Models/worm/worm.blend"))
+(defn worm []
+(let [model (load-blender-model "Models/worm/worm.blend")]
+{:body (doto model (body!))
+:touch (touch! model)
+:proprioception (proprioception! model)
+:muscles (movement! model)}))
 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/curl"))
 (defn motor-control-program
 head-touch (worm-touch 4)]
 (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
 (< 0.55 (contact worm-segment-top-tip    head-touch))))))
-(declare phi-space phi-scan)
+(declare phi-space phi-scan debug-experience)
-(defn debug-experience
-[experiences text]
-(cond
-(grand-circle? experiences) (.setText text "Grand Circle")
-(curled? experiences)       (.setText text "Curled")
-(wiggling? experiences)     (.setText text "Wiggling")
-(resting? experiences)      (.setText text "Resting")))
 (def standard-world-view
 [(Vector3f. 4.207176, -3.7366982, 3.0816958)
 (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
 (.setShadowIntensity (float 0.6))
 (.setCompareMode PssmShadowRenderer$CompareMode/Software)
 (.setFilterMode  PssmShadowRenderer$FilterMode/Bilinear))]
 (.addProcessor (.getViewPort world) pssm)))
+(defn debug-experience
-(defn display-text [[x y :as location]]
+[experiences text]
-(let []
+(cond
-(.setLocalTranslation text 300 (.getLineHeight text) 0)
+(grand-circle? experiences) (.setText text "Grand Circle")
-(fn [world]
+(curled? experiences)       (.setText text "Curled")
+(wiggling? experiences)     (.setText text "Wiggling")
+(resting? experiences)      (.setText text "Resting")))
-(fn [new-text]
 (defn worm-world
 [& {:keys [record motor-control keybindings view experiences
 worm-model end-frame experience-watch] :as settings}]
 (let [{:keys [record motor-control keybindings view experiences
 worm-model end-frame experience-watch]}
 (merge (worm-world-defaults) settings)
-worm (doto (worm-model) (body!))
-touch   (touch! worm)
-prop    (proprioception! worm)
-muscles (movement! worm)
 touch-display  (view-touch)
 prop-display   (view-proprioception)
 muscle-display (view-movement)
+{:keys [proprioception touch muscles body]} (worm)
 floor
 (box 5 1 5 :position (Vector3f. 0 -10 0)
 :mass 0
 :texture "Textures/aurellem.png"
 worm-action (doto (BitmapText. font false)
 (.setSize 35)
 (.setColor (ColorRGBA/Black)))]
 (world
-(nodify [worm floor])
+(nodify [body floor])
 (merge standard-debug-controls keybindings)
 (fn [world]
 (.setLocalTranslation
 worm-action 20 470 0)
 (.attachChild (.getGuiNode world) worm-action)
 (enable-good-shadows world)
-(.setShadowMode worm RenderQueue$ShadowMode/CastAndReceive)
+(.setShadowMode body RenderQueue$ShadowMode/CastAndReceive)
 (.setShadowMode floor RenderQueue$ShadowMode/Receive)
 (.setBackgroundColor (.getViewPort world) (ColorRGBA/White))
 (.setDisplayStatView world false)
 (.setDisplayFps world false)
 (position-camera world view)
 (.setTimer world timer)
-(display-dilated-time world timer)
+;;(display-dilated-time world timer)
 (when record
 (dir! record)
 (Capture/captureVideo
 world
 (dir! (File. record "main-view"))))
 )
 (fn [world tpf]
 (if (and end-frame (> (.getTime timer) end-frame))
 (.stop world))
 (let [muscle-data (vec (motor-control muscles))
-proprioception-data (prop)
+proprioception-data (proprioception)
 touch-data (mapv #(% (.getRootNode world)) touch)]
 (when experiences
 (record-experience!
 experiences {:touch touch-data
 :proprioception proprioception-data

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comparison org/worm_learn.clj @ 449:09b7c8dd4365