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comparison org/sense.org @ 201:1c915cc1118b

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minor edits for sense.org
author Robert McIntyre <rlm@mit.edu>
date Tue, 07 Feb 2012 07:13:45 -0700
parents 7eb966144dad
children d5c597a7aed4
comparison
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200:7eb966144dad 201:1c915cc1118b
73 73
74 ** UV-maps 74 ** UV-maps
75 75
76 Blender and jMonkeyEngine already have support for exactly this sort 76 Blender and jMonkeyEngine already have support for exactly this sort
77 of data structure because it is used to "skin" models for games. It is 77 of data structure because it is used to "skin" models for games. It is
78 called [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Textures/Mapping/UV][UV-mapping]]. The three-dimensional surface is cut and smooshed 78 called [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Textures/Mapping/UV][UV-mapping]]. The three-dimensional surface of a model is cut
79 until it fits on a two-dimensional image. You paint whatever you want 79 and smooshed until it fits on a two-dimensional image. You paint
80 on that image, and when the three-dimensional shape is rendered in a 80 whatever you want on that image, and when the three-dimensional shape
81 game that image the smooshing and cutting us reversed and the image 81 is rendered in a game the smooshing and cutting us reversed and the
82 appears on the three-dimensional object. 82 image appears on the three-dimensional object.
83 83
84 To make a sense, interpret the UV-image as describing the distribution 84 To make a sense, interpret the UV-image as describing the distribution
85 of that senses sensors. To get different types of sensors, you can 85 of that senses sensors. To get different types of sensors, you can
86 either use a different color for each type of sensor, or use multiple 86 either use a different color for each type of sensor, or use multiple
87 UV-maps, each labeled with that sensor type. I generally use a white 87 UV-maps, each labeled with that sensor type. I generally use a white
109 109
110 The following code loads images and gets the locations of the white 110 The following code loads images and gets the locations of the white
111 pixels so that they can be used to create senses. =(load-image)= finds 111 pixels so that they can be used to create senses. =(load-image)= finds
112 images using jMonkeyEngine's asset-manager, so the image path is 112 images using jMonkeyEngine's asset-manager, so the image path is
113 expected to be relative to the =assets= directory. Thanks to Dylan 113 expected to be relative to the =assets= directory. Thanks to Dylan
114 for the beautiful version of filter-pixels. 114 for the beautiful version of =(filter-pixels)=.
115 115
116 #+name: topology-1 116 #+name: topology-1
117 #+begin_src clojure 117 #+begin_src clojure
118 (defn load-image 118 (defn load-image
119 "Load an image as a BufferedImage using the asset-manager system." 119 "Load an image as a BufferedImage using the asset-manager system."
350 (if-let [sense-node (.getChild creature parent-name)] 350 (if-let [sense-node (.getChild creature parent-name)]
351 (seq (.getChildren sense-node)) 351 (seq (.getChildren sense-node))
352 (do (println-repl "could not find" parent-name "node") [])))) 352 (do (println-repl "could not find" parent-name "node") []))))
353 353
354 (defn closest-node 354 (defn closest-node
355 "Return the node in creature which is closest to the given node." 355 "Return the physical node in creature which is closest to the given
356 node."
356 [#^Node creature #^Node empty] 357 [#^Node creature #^Node empty]
357 (loop [radius (float 0.01)] 358 (loop [radius (float 0.01)]
358 (let [results (CollisionResults.)] 359 (let [results (CollisionResults.)]
359 (.collideWith 360 (.collideWith
360 creature 361 creature
423 java.io.File 424 java.io.File
424 (com.jme3.math Vector3f ColorRGBA) 425 (com.jme3.math Vector3f ColorRGBA)
425 (com.aurellem.capture RatchetTimer Capture))) 426 (com.aurellem.capture RatchetTimer Capture)))
426 427
427 (defn test-bind-sense 428 (defn test-bind-sense
428 "Show a camera that stays in the same relative position to a blue cube." 429 "Show a camera that stays in the same relative position to a blue
430 cube."
429 [] 431 []
430 (let [camera-pos (Vector3f. 0 30 0) 432 (let [eye-pos (Vector3f. 0 30 0)
431 rock (box 1 1 1 :color ColorRGBA/Blue 433 rock (box 1 1 1 :color ColorRGBA/Blue
432 :position (Vector3f. 0 10 0) 434 :position (Vector3f. 0 10 0)
433 :mass 30) 435 :mass 30)
434 rot (.getWorldRotation rock)
435 table (box 3 1 10 :color ColorRGBA/Gray :mass 0 436 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
436 :position (Vector3f. 0 -3 0))] 437 :position (Vector3f. 0 -3 0))]
437 (world 438 (world
438 (nodify [rock table]) 439 (nodify [rock table])
439 standard-debug-controls 440 standard-debug-controls
440 (fn [world] 441 (fn init [world]
441 (let 442 (let [cam (doto (.clone (.getCamera world))
442 [cam (doto (.clone (.getCamera world)) 443 (.setLocation eye-pos)
443 (.setLocation camera-pos) 444 (.lookAt Vector3f/ZERO
444 (.lookAt Vector3f/ZERO 445 Vector3f/UNIT_X))]
445 Vector3f/UNIT_X))]
446 (bind-sense rock cam) 446 (bind-sense rock cam)
447 (.setTimer world (RatchetTimer. 60)) 447 (.setTimer world (RatchetTimer. 60))
448 (Capture/captureVideo 448 (Capture/captureVideo
449 world (File. "/home/r/proj/cortex/render/bind-sense0")) 449 world (File. "/home/r/proj/cortex/render/bind-sense0"))
450 (add-camera! 450 (add-camera!