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comparison org/proprioception.org @ 175:0b9ae09eaec3

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renamed functions in body
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 06:47:07 -0700
parents 136349ac6972
children 2902aca33c6e
comparison
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174:136349ac6972 175:0b9ae09eaec3
15 automatically generate proprioceptive senses." 15 automatically generate proprioceptive senses."
16 (:use (cortex world util sense body)) 16 (:use (cortex world util sense body))
17 (:use clojure.contrib.def) 17 (:use clojure.contrib.def)
18 (:import com.jme3.scene.Node) 18 (:import com.jme3.scene.Node)
19 (:import (com.jme3.math Vector3f Quaternion))) 19 (:import (com.jme3.math Vector3f Quaternion)))
20
21 (defvar
22 ^{:arglists '([creature])}
23 joints
24 (sense-nodes "joints")
25 "Return the children of the creature's \"joints\" node.")
26 20
27 (defn right-handed? 21 (defn right-handed?
28 "true iff the three vectors form a right handed coordinate 22 "true iff the three vectors form a right handed coordinate
29 system. The three vectors do not have to be normalized or 23 system. The three vectors do not have to be normalized or
30 orthogonal." 24 orthogonal."
87 ;; extract the body's joints 81 ;; extract the body's joints
88 (let [senses (map (partial proprioception-fn creature) 82 (let [senses (map (partial proprioception-fn creature)
89 (joints creature))] 83 (joints creature))]
90 (fn [] 84 (fn []
91 (map #(%) senses)))) 85 (map #(%) senses))))
86
87
88 (import java.awt.image.BufferedImage)
89
90 (defn draw-sprite [image sprite x y color ]
91 (dorun
92 (for [[u v] sprite]
93 (.setRGB image (+ u x) (+ v y) color))))
94
95 (defn view-angle
96 "create a debug view of an angle"
97 [color]
98 (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
99 previous (atom [25 25])
100 sprite [[0 0] [0 1]
101 [0 -1] [-1 0] [1 0]]]
102 (fn [angle]
103 (let [angle (float angle)]
104 (let [position
105 [(+ 25 (int (* 20 (Math/cos angle))))
106 (+ 25 (int (* -20 (Math/sin angle))))]]
107 (draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
108 (draw-sprite image sprite (position 0) (position 1) color)
109 (reset! previous position))
110 image))))
111
112 (defn proprioception-debug-window
113 []
114 (let [heading (view-angle 0xFF0000)
115 pitch (view-angle 0x00FF00)
116 roll (view-angle 0xFFFFFF)
117 v-heading (view-image)
118 v-pitch (view-image)
119 v-roll (view-image)
120 ]
121 (fn [prop-data]
122 (dorun
123 (map
124 (fn [[h p r]]
125 (v-heading (heading h))
126 (v-pitch (pitch p))
127 (v-roll (roll r)))
128 prop-data)))))
129
92 #+end_src 130 #+end_src
93 131
94 * COMMENT generate source 132 * COMMENT generate source
95 #+begin_src clojure :tangle ../src/cortex/proprioception.clj 133 #+begin_src clojure :tangle ../src/cortex/proprioception.clj
96 <<proprioception>> 134 <<proprioception>>