cortex: org/body.org comparison

comparison org/body.org @ 175:0b9ae09eaec3

renamed functions in body

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 04 Feb 2012 06:47:07 -0700
parents	33278bf028e7
children	026f69582022

comparison

equal deleted inserted replaced

-:136349ac6972
+:0b9ae09eaec3
 #+email: rlm@mit.edu
 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
-* Proprioception
+* Making a solid, connected body.
-#+name: proprioception
+#+name: joints
 #+begin_src clojure
 (ns cortex.body
 (:use (cortex world util sense))
 (:import
 com.jme3.math.Vector3f
 com.jme3.bullet.control.RigidBodyControl
 com.jme3.collision.CollisionResults
 com.jme3.bounding.BoundingBox
 com.jme3.scene.Node))
+(use 'clojure.contrib.def)
 (cortex.import/mega-import-jme3)
-(defn jme-to-blender
-"Convert from JME coordinates to Blender coordinates"
-[#^Vector3f in]
-(Vector3f. (.getX in)
-(- (.getZ in))
-(.getY in)))
-(defn blender-to-jme
-"Convert from Blender coordinates to JME coordinates"
-[#^Vector3f in]
-(Vector3f. (.getX in)
-(.getZ in)
-(- (.getY in))))
 (defn joint-targets
 "Return the two closest two objects to the joint object, ordered
 from bottom to top according to the joint's rotation."
 [#^Node parts #^Node joint]
 (.dot (Vector3f. 1 1 1)
 v))
 (take 2 targets))
 (recur (float (* radius 2))))))))
-(defn creature-joints
-"Return the children of the creature's \"joints\" node."
-[#^Node creature]
-(if-let [joint-node (.getChild creature "joints")]
-(seq (.getChildren joint-node))
-(do (println-repl "could not find JOINTS node") [])))
 (defmulti joint-dispatch
 "Translate blender pseudo-joints into real JME joints."
 (fn [constraints & _]
 (:type constraints)))
 (.setLimit (float limit-xz)
 (float limit-xy)
 (float twist)))))
 (defn connect
-"here are some examples:
+"Create a joint between 'obj-a and 'obj-b at the location of
+'joint. The type of joint is determined by the metadata on 'joint.
+Here are some examples:
 {:type :point}
 {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
 {:type :cone :limit-xz 0]
 control-a control-b
 pivot-a pivot-b
 joint-rotation))
 (println-repl "could not find joint meta-data!"))))
+(defvar
+^{:arglists '([creature])}
+joints
-(defn assemble-creature [#^Node pieces joints]
+(sense-nodes "joints")
+"Return the children of the creature's \"joints\" node.")
+(defn physical!
+"Iterate through the nodes in creature and make them real physical
+objects in the simulation."
+[#^Node creature]
 (dorun
 (map
 (fn [geom]
 (let [physics-control
 (RigidBodyControl.
 (float mass))
 (float 1)))]
 (.addControl geom physics-control)))
 (filter #(isa? (class %) Geometry )
-(node-seq pieces))))
+(node-seq creature)))))
+(defn joints!
+"Connect the solid parts of the creature with physical joints. The
+joints are taken from the \"joints\" node in the creature."
+[#^Node creature]
 (dorun
 (map
 (fn [joint]
-(let [[obj-a obj-b] (joint-targets pieces joint)]
+(let [[obj-a obj-b] (joint-targets creature joint)]
 (connect obj-a obj-b joint)))
-joints))
+(joints creature))))
-pieces)
+(defn body!
+"Endow the creature with a physical body connected with joints.  The
-;; TODO implement a function that adds joints in the style of the
+particulars of the joints and the masses of each pody part are
-;; other sense functions
+determined in blender."
+[#^Node creature]
+(physical! creature)
+(joints! creature))
-(import java.awt.image.BufferedImage)
-(defn draw-sprite [image sprite x y color ]
-(dorun
-(for [[u v] sprite]
-(.setRGB image (+ u x) (+ v y) color))))
-(defn view-angle
-"create a debug view of an angle"
-[color]
-(let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
-previous (atom [25 25])
-sprite [[0 0] [0 1]
-[0 -1] [-1 0] [1 0]]]
-(fn [angle]
-(let [angle (float angle)]
-(let [position
-[(+ 25 (int (* 20 (Math/cos angle))))
-(+ 25 (int (* -20 (Math/sin angle))))]]
-(draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
-(draw-sprite image sprite (position 0) (position 1) color)
-(reset! previous position))
-image))))
-(defn proprioception-debug-window
-[]
-(let [heading (view-angle 0xFF0000)
-pitch (view-angle 0x00FF00)
-roll (view-angle 0xFFFFFF)
-v-heading (view-image)
-v-pitch (view-image)
-v-roll (view-image)
-]
-(fn [prop-data]
-(dorun
-(map
-(fn [[h p r]]
-(v-heading (heading h))
-(v-pitch (pitch p))
-(v-roll (roll r)))
-prop-data)))))
 #+end_src
+#+results: joints
+: #'cortex.body/body!
 #+results: proprioception
 : #'cortex.body/proprioception-debug-window
-* Motor Control
-#+name: motor-control
-#+begin_src clojure
-(in-ns 'cortex.body)
-;; surprisingly enough, terristerial creatures only move by using
-;; torque applied about their joints.  There's not a single straight
-;; line of force in the human body at all!  (A straight line of force
-;; would correspond to some sort of jet or rocket propulseion.)
-(defn vector-motor-control
-"Create a function that accepts a sequence of Vector3f objects that
-describe the torque to be applied to each part of the body."
-[body]
-(let [nodes (node-seq body)
-controls (keep #(.getControl % RigidBodyControl) nodes)]
-(fn [torques]
-(map #(.applyTorque %1 %2)
-controls torques))))
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-#+end_src
-## note -- might want to add a lower dimensional, discrete version of
-## this if it proves useful from a x-modal clustering perspective.
 * Examples
 #+name: test-body
 #+begin_src clojure
 * COMMENT generate Source
 #+begin_src clojure :tangle ../src/cortex/body.clj
-<<proprioception>>
+<<joints>>
-<<motor-control>>
 #+end_src
 #+begin_src clojure :tangle ../src/cortex/test/body.clj
 <<test-body>>
 #+end_src

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comparison org/body.org @ 175:0b9ae09eaec3