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reorganizing for website
author Robert McIntyre <rlm@mit.edu>
date Sun, 05 Feb 2012 06:55:41 -0700
parents 22548d48cc85
children fc0bf33bded2
comparison
equal deleted inserted replaced
196:a165d4a86e75 197:16cbce075a0b
1 #+title: General sense/effector utilities 1 #+title: General Sense/Effector Utilities
2 #+author: Robert McIntyre 2 #+author: Robert McIntyre
3 #+email: rlm@mit.edu 3 #+email: rlm@mit.edu
4 #+description: sensory utilities 4 #+description: sensory utilities
5 #+keywords: simulation, jMonkeyEngine3, clojure, simulated senses 5 #+keywords: simulation, jMonkeyEngine3, clojure, simulated senses
6 #+SETUPFILE: ../../aurellem/org/setup.org 6 #+SETUPFILE: ../../aurellem/org/setup.org
7 #+INCLUDE: ../../aurellem/org/level-0.org 7 #+INCLUDE: ../../aurellem/org/level-0.org
8 8
9 #+name: sense 9 * Namespace/Imports
10 #+begin_src clojure 10 #+name header
11 #+begin_src clojure
11 (ns cortex.sense 12 (ns cortex.sense
12 "Here are functions useful in the construction of two or more 13 "Here are functions useful in the construction of two or more
13 sensors/effectors." 14 sensors/effectors."
14 {:author "Robert McInytre"} 15 {:author "Robert McInytre"}
15 (:use (cortex world util)) 16 (:use (cortex world util))
19 (:import com.jme3.collision.CollisionResults) 20 (:import com.jme3.collision.CollisionResults)
20 (:import com.jme3.bounding.BoundingBox) 21 (:import com.jme3.bounding.BoundingBox)
21 (:import (com.jme3.scene Node Spatial)) 22 (:import (com.jme3.scene Node Spatial))
22 (:import com.jme3.scene.control.AbstractControl) 23 (:import com.jme3.scene.control.AbstractControl)
23 (:import (com.jme3.math Quaternion Vector3f))) 24 (:import (com.jme3.math Quaternion Vector3f)))
24 25 #+end_src
26
27 * Blender Utilities
28 #+name: blender
29 #+begin_src clojure
25 (defn meta-data 30 (defn meta-data
26 "Get the meta-data for a node created with blender." 31 "Get the meta-data for a node created with blender."
27 [blender-node key] 32 [blender-node key]
28 (if-let [data (.getUserData blender-node "properties")] 33 (if-let [data (.getUserData blender-node "properties")]
29 (.findValue data key) 34 (.findValue data key)
30 nil)) 35 nil))
31 36
32 (defn closest-node 37 (defn jme-to-blender
33 "Return the node in creature which is closest to the given node." 38 "Convert from JME coordinates to Blender coordinates"
34 [#^Node creature #^Node eye] 39 [#^Vector3f in]
35 (loop [radius (float 0.01)] 40 (Vector3f. (.getX in)
36 (let [results (CollisionResults.)] 41 (- (.getZ in))
37 (.collideWith 42 (.getY in)))
38 creature 43
39 (BoundingBox. (.getWorldTranslation eye) 44 (defn blender-to-jme
40 radius radius radius) 45 "Convert from Blender coordinates to JME coordinates"
41 results) 46 [#^Vector3f in]
42 (if-let [target (first results)] 47 (Vector3f. (.getX in)
43 (.getGeometry target) 48 (.getZ in)
44 (recur (float (* 2 radius))))))) 49 (- (.getY in))))
45 50 #+end_src
46 (defn bind-sense 51
47 "Bind the sense to the Spatial such that it will maintain its 52 * Topology Related stuff
48 current position relative to the Spatial no matter how the spatial 53 #+name: topology
49 moves. 'sense can be either a Camera or Listener object." 54 #+begin_src clojure
50 [#^Spatial obj sense] 55 (defn load-image
51 (let [sense-offset (.subtract (.getLocation sense) 56 "Load an image as a BufferedImage using the asset-manager system."
52 (.getWorldTranslation obj)) 57 [asset-relative-path]
53 initial-sense-rotation (Quaternion. (.getRotation sense)) 58 (ImageToAwt/convert
54 base-anti-rotation (.inverse (.getWorldRotation obj))] 59 (.getImage (.loadTexture (asset-manager) asset-relative-path))
55 (.addControl 60 false false 0))
56 obj
57 (proxy [AbstractControl] []
58 (controlUpdate [tpf]
59 (let [total-rotation
60 (.mult base-anti-rotation (.getWorldRotation obj))]
61 (.setLocation
62 sense
63 (.add
64 (.mult total-rotation sense-offset)
65 (.getWorldTranslation obj)))
66 (.setRotation
67 sense
68 (.mult total-rotation initial-sense-rotation))))
69 (controlRender [_ _])))))
70 61
71 (def white 0xFFFFFF) 62 (def white 0xFFFFFF)
72 63
73 (defn white? [rgb] 64 (defn white? [rgb]
74 (= (bit-and white rgb) white)) 65 (= (bit-and white rgb) white))
169 [(- x min-x) 160 [(- x min-x)
170 (- y min-y)]) 161 (- y min-y)])
171 squeezed))] 162 squeezed))]
172 relocated))) 163 relocated)))
173 164
165 #+end_src
166
167 * Node level stuff
168 #+name: node
169 #+begin_src clojure
170 (defn closest-node
171 "Return the node in creature which is closest to the given node."
172 [#^Node creature #^Node eye]
173 (loop [radius (float 0.01)]
174 (let [results (CollisionResults.)]
175 (.collideWith
176 creature
177 (BoundingBox. (.getWorldTranslation eye)
178 radius radius radius)
179 results)
180 (if-let [target (first results)]
181 (.getGeometry target)
182 (recur (float (* 2 radius)))))))
183
184 (defn bind-sense
185 "Bind the sense to the Spatial such that it will maintain its
186 current position relative to the Spatial no matter how the spatial
187 moves. 'sense can be either a Camera or Listener object."
188 [#^Spatial obj sense]
189 (let [sense-offset (.subtract (.getLocation sense)
190 (.getWorldTranslation obj))
191 initial-sense-rotation (Quaternion. (.getRotation sense))
192 base-anti-rotation (.inverse (.getWorldRotation obj))]
193 (.addControl
194 obj
195 (proxy [AbstractControl] []
196 (controlUpdate [tpf]
197 (let [total-rotation
198 (.mult base-anti-rotation (.getWorldRotation obj))]
199 (.setLocation
200 sense
201 (.add
202 (.mult total-rotation sense-offset)
203 (.getWorldTranslation obj)))
204 (.setRotation
205 sense
206 (.mult total-rotation initial-sense-rotation))))
207 (controlRender [_ _])))))
208
174 (defn world-to-local 209 (defn world-to-local
175 "Convert the world coordinates into coordinates relative to the 210 "Convert the world coordinates into coordinates relative to the
176 object (i.e. local coordinates), taking into account the rotation 211 object (i.e. local coordinates), taking into account the rotation
177 of object." 212 of object."
178 [#^Spatial object world-coordinate] 213 [#^Spatial object world-coordinate]
191 [parent-name] 226 [parent-name]
192 (fn [#^Node creature] 227 (fn [#^Node creature]
193 (if-let [sense-node (.getChild creature parent-name)] 228 (if-let [sense-node (.getChild creature parent-name)]
194 (seq (.getChildren sense-node)) 229 (seq (.getChildren sense-node))
195 (do (println-repl "could not find" parent-name "node") [])))) 230 (do (println-repl "could not find" parent-name "node") []))))
196 231 #+end_src
197 (defn load-image 232
198 "Load an image as a BufferedImage using the asset-manager system." 233 * Viewing Senses
199 [asset-relative-path] 234 #+name view-senses
200 (ImageToAwt/convert 235 #+begin_src clojure
201 (.getImage (.loadTexture (asset-manager) asset-relative-path))
202 false false 0))
203
204 (defn jme-to-blender
205 "Convert from JME coordinates to Blender coordinates"
206 [#^Vector3f in]
207 (Vector3f. (.getX in)
208 (- (.getZ in))
209 (.getY in)))
210
211 (defn blender-to-jme
212 "Convert from Blender coordinates to JME coordinates"
213 [#^Vector3f in]
214 (Vector3f. (.getX in)
215 (.getZ in)
216 (- (.getY in))))
217
218
219 (defn view-sense 236 (defn view-sense
220 "Take a function that produces a BufferedImage from some sense data 237 "Take a kernel that produces a BufferedImage from some sense data
221 and return a function which takes a list of sense and displays 238 and return a function which takes a list of sense data, uses the
222 those images in multiple JFrames." 239 kernem to convert to images, and displays those images, each in
240 its own JFrame."
223 [sense-display-kernel] 241 [sense-display-kernel]
224 (let 242 (let [windows (atom [])]
225 [windows (atom [])]
226 (fn [data] 243 (fn [data]
227 (if (> (count data) (count @windows)) 244 (if (> (count data) (count @windows))
228 (reset! windows (map (fn [_] (view-image)) 245 (reset!
229 (range (count data))))) 246 windows (map (fn [_] (view-image)) (range (count data)))))
230 (dorun 247 (dorun
231 (map 248 (map
232 (fn [display datum] 249 (fn [display datum]
233 (display (sense-display-kernel datum))) 250 (display (sense-display-kernel datum)))
234 @windows data))))) 251 @windows data)))))
235 252
236 (defn gray 253 (defn gray
237 "Create a gray RGB pixel with R, G, and B set to 'num" 254 "Create a gray RGB pixel with R, G, and B set to num. num must be
255 between 0 and 255."
238 [num] 256 [num]
239 (+ num 257 (+ num
240 (bit-shift-left num 8) 258 (bit-shift-left num 8)
241 (bit-shift-left num 16))) 259 (bit-shift-left num 16)))
242 #+end_src 260 #+end_src
243 261
244 #+results: sense
245 : #'cortex.sense/gray
246
247
248 * COMMENT generate source 262 * COMMENT generate source
249 #+begin_src clojure :tangle ../src/cortex/sense.clj 263 #+begin_src clojure :tangle ../src/cortex/sense.clj
250 <<sense>> 264 <<header>>
251 #+end_src 265 <<blender>>
266 <<topology>>
267 <<node>>
268 <<view-senses>>
269 #+end_src