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working movement debug framework
author Robert McIntyre <rlm@mit.edu>
date Thu, 02 Feb 2012 00:05:17 -0700
parents 39c89ae5c7d0
children ffbab4199c0d
comparison
equal deleted inserted replaced
137:39c89ae5c7d0 138:16bdf9e80daf
356 world-loop]] 356 world-loop]]
357 (let [add-keypress 357 (let [add-keypress
358 (fn [state keymap key] 358 (fn [state keymap key]
359 `(merge ~keymap 359 `(merge ~keymap
360 {~key 360 {~key
361 (fn [_ pressed?#] 361 (fn [_# pressed?#]
362 (reset! ~state pressed?#))})) 362 (reset! ~state pressed?#))}))
363 move-left? (gensym "move-left?") 363 move-left? (gensym "move-left?")
364 move-right? (gensym "move-right?") 364 move-right? (gensym "move-right?")
365 move-up? (gensym "move-up?") 365 move-up? (gensym "move-up?")
366 move-down? (gensym "move-down?") 366 move-down? (gensym "move-down?")
367 roll-left? (gensym "roll-left?") 367 roll-left? (gensym "roll-left?")
368 roll-right? (gensym "roll-right?") 368 roll-right? (gensym "roll-right?")
369 directions 369 directions [[0 1 0][0 -1 0][0 0 1][0 0 -1][-1 0 0][1 0 0]]
370 [(Vector3f. 0 1 0)
371 (Vector3f. 0 -1 0)
372 (Vector3f. 0 0 1)
373 (Vector3f. 0 0 -1)
374 (Vector3f. -1 0 0)
375 (Vector3f. 1 0 0)]
376 symbols [move-left? move-right? move-up? move-down? 370 symbols [move-left? move-right? move-up? move-down?
377 roll-left? roll-right?] 371 roll-left? roll-right?]
378 372
379 keymap* (vec (map #(add-keypress %1 keymap %2) 373 keymap* (vec (map #(add-keypress %1 keymap %2)
380 symbols 374 symbols
381 keyboard)) 375 keyboard))
382 376
383 splice-loop (map (fn [sym force direction] 377 splice-loop (map (fn [sym direction force]
384 `(if (deref ~sym) 378 `(if (deref ~sym)
385 (tap ~object ~direction ~force))) 379 (tap ~object
380 (Vector3f. ~@direction)
381 ~force)))
386 symbols directions forces) 382 symbols directions forces)
387 383
388 world-loop* `(fn [world# tpf#] 384 world-loop* `(fn [world# tpf#]
389 (~world-loop world# tpf#) 385 (~world-loop world# tpf#)
390 ~@splice-loop)] 386 ~@splice-loop)]
397 ~roll-right? (atom false)] 393 ~roll-right? (atom false)]
398 (~world-invocation 394 (~world-invocation
399 ~root-node 395 ~root-node
400 (reduce merge ~keymap*) 396 (reduce merge ~keymap*)
401 ~intilization 397 ~intilization
402 ~world-loop*) 398 ~world-loop*))))
403 )))
404 399
405 400
406 (defn test-proprioception 401 (defn test-proprioception
407 "Testing proprioception: 402 "Testing proprioception:
408 You should see two foating bars, and a printout of pitch, yaw, and 403 You should see two foating bars, and a printout of pitch, yaw, and
423 ;; ******************************************* 418 ;; *******************************************
424 419
425 floor (box 10 10 10 :position (Vector3f. 0 -15 0) 420 floor (box 10 10 10 :position (Vector3f. 0 -15 0)
426 :mass 0 :color ColorRGBA/Gray) 421 :mass 0 :color ColorRGBA/Gray)
427 422
428 move-up? (atom false)
429 move-down? (atom false)
430 move-left? (atom false)
431 move-right? (atom false)
432 roll-left? (atom false)
433 roll-right? (atom false)
434
435
436 root (nodify [creature floor]) 423 root (nodify [creature floor])
437 prop (joint-proprioception creature joint-node) 424 prop (joint-proprioception creature joint-node)
438 prop-view (proprioception-debug-window)] 425 prop-view (proprioception-debug-window)]
439
440
441 426
442 (.setCollisionGroup 427 (.setCollisionGroup
443 (.getControl hand RigidBodyControl) 428 (.getControl hand RigidBodyControl)
444 PhysicsCollisionObject/COLLISION_GROUP_NONE) 429 PhysicsCollisionObject/COLLISION_GROUP_NONE)
445 430
447 finger 432 finger
448 ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"] 433 ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
449 [10 10 10 10 1 1] 434 [10 10 10 10 1 1]
450 (world 435 (world
451 root 436 root
452 (merge standard-debug-controls 437 standard-debug-controls
453 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
454 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
455 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
456 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
457 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
458 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
459 (fn [world] 438 (fn [world]
460 (.setTimer world (com.aurellem.capture.RatchetTimer. 60)) 439 (.setTimer world (com.aurellem.capture.RatchetTimer. 60))
461 (set-gravity world (Vector3f. 0 0 0)) 440 (set-gravity world (Vector3f. 0 0 0))
462 (light-up-everything world)) 441 (light-up-everything world))
463 (fn [_ _] 442 (fn [_ _] (prop-view (list (prop))))))))
464 (let [force 10 443
465 left (Vector3f. 0 1 0) 444
466 right (Vector3f. 0 -1 0) 445
467 up (Vector3f. 0 0 1)
468 down (Vector3f. 0 0 -1)
469 roll-left (Vector3f. -1 0 0)
470 roll-right (Vector3f. 1 0 0)]
471 (if @move-up? (tap finger up force))
472
473 (if @move-down? (tap finger down force))
474
475 (if @move-left? (tap finger left force))
476
477 (if @move-right? (tap finger right force))
478
479 (if @roll-left? (tap finger roll-left (/ force 10)))
480
481 (if @roll-right? (tap finger roll-right (/ force 10))))
482
483 (prop-view (list (prop))))))))
484 446
485 #+end_src 447 #+end_src
486 448
487 #+results: test-body 449 #+results: test-body
488 : #'cortex.test.body/test-proprioception 450 : #'cortex.test.body/test-proprioception