cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 77:1f84f425e05d

first draft of automatic constraints from blender

author	Robert McIntyre <rlm@mit.edu>
date	Wed, 04 Jan 2012 08:36:42 -0700
parents	f4c77512808e
children	77b506ac64f3

comparison

equal deleted inserted replaced

-:5e75b616ca60
+:1f84f425e05d
 (defn meta-data [blender-node key]
 (if-let [data (.getUserData blender-node "properties")]
 (.findValue data key)
 nil))
-(defn hand2 []
-(load-blender-model "Models/creature1/try-again.blend"))
 (defn hand []
 (load-blender-model "Models/creature1/one.blend"))
 (defn hand-joints []
 (map #(.getWorldTranslation %)
 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
 (node-seq (hand)))))
+(defn worm []
+(load-blender-model "Models/creature1/try-again.blend"))
 (defn worm-pieces []
 (filter
 (comp #{"worm-2" "worm-1"}
 #(apply str (drop-last (.getName %))))
-(node-seq (hand2))))
+(node-seq (worm))))
 (defn worm-joints []
-[Vector3f/ZERO])
+(filter #(re-matches #"joint\.\d\d\d" (.getName %))
+(node-seq (worm))))
+(defn bullet-trans []
-(defn find-joint
+(let [obj-a (sphere 0.5 :color ColorRGBA/Red
-[#^Node parts #^Vector3f joint-position]
+:position (Vector3f. -10 5 0))
+obj-b (sphere 0.5 :color ColorRGBA/Blue
+:position (Vector3f. -10 -5 0)
+:mass 0)
+control-a (.getControl obj-a RigidBodyControl)
+control-b (.getControl obj-b RigidBodyControl)
+swivel
+(.toRotationMatrix
+(doto (Quaternion.)
+(.fromAngleAxis (/ Math/PI 2)
+Vector3f/UNIT_X)))]
+(doto
+(ConeJoint.
+control-a control-b
+(Vector3f. 0 5 0)
+(Vector3f. 0 -5 0)
+swivel swivel)
+(.setLimit (* 0.6 (/ Math/PI 4))
+(/ Math/PI 4)
+(* Math/PI 0.8)))
+(world (nodify
+[obj-a obj-b])
+standard-debug-controls
+enable-debug
+no-op)))
+(defn bullet-trans* []
+(let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
+:position (Vector3f. 5 0 0)
+:mass 90)
+obj-b (sphere 0.5 :color ColorRGBA/Blue
+:position (Vector3f. -5 0 0)
+:mass 0)
+control-a (.getControl obj-a RigidBodyControl)
+control-b (.getControl obj-b RigidBodyControl)
+move-up? (atom nil)
+move-down? (atom nil)
+move-left? (atom nil)
+move-right? (atom nil)
+roll-left? (atom nil)
+roll-right? (atom nil)
+force 100
+swivel
+(.toRotationMatrix
+(doto (Quaternion.)
+(.fromAngleAxis (/ Math/PI 2)
+Vector3f/UNIT_X)))
+x-move
+(doto (Matrix3f.)
+(.fromStartEndVectors Vector3f/UNIT_X
+(.normalize (Vector3f. 1 1 0))))
+timer (atom 0)]
+(doto
+(ConeJoint.
+control-a control-b
+(Vector3f. -8 0 0)
+(Vector3f. 2 0 0)
+;;swivel swivel
+;;Matrix3f/IDENTITY Matrix3f/IDENTITY
+x-move Matrix3f/IDENTITY
+)
+(.setCollisionBetweenLinkedBodys false)
+(.setLimit (* 1 (/ Math/PI 4))    ;; twist
+(* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
+(* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
+(world (nodify
+[obj-a obj-b])
+(merge standard-debug-controls
+{"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
+"key-t" (fn [_ pressed?] (reset! move-down? pressed?))
+"key-f" (fn [_ pressed?] (reset! move-left? pressed?))
+"key-g" (fn [_ pressed?] (reset! move-right? pressed?))
+"key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
+"key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
+(fn [world]
+(enable-debug world)
+(set-gravity world Vector3f/ZERO)
+)
+(fn [world _]
+(if @move-up?
+(.applyForce control-a
+(Vector3f. force 0 0)
+(Vector3f. 0 0 0)))
+(if @move-down?
+(.applyForce control-a
+(Vector3f. (- force) 0 0)
+(Vector3f. 0 0 0)))
+(if @move-left?
+(.applyForce control-a
+(Vector3f. 0 force 0)
+(Vector3f. 0 0 0)))
+(if @move-right?
+(.applyForce control-a
+(Vector3f. 0 (- force) 0)
+(Vector3f. 0 0 0)))
+(if @roll-left?
+(.applyForce control-a
+(Vector3f. 0 0 force)
+(Vector3f. 0 0 0)))
+(if @roll-right?
+(.applyForce control-a
+(Vector3f. 0 0 (- force))
+(Vector3f. 0 0 0)))
+(if (zero? (rem (swap! timer inc) 100))
+(.attachChild
+(.getRootNode world)
+(sphere 0.05 :color ColorRGBA/Yellow
+:physical? false :position
+(.getWorldTranslation obj-a)))))
+)
+))
+(defn world-setup [joint]
+(let [top (doto
+(sphere 0.1 :physical? false :color ColorRGBA/Yellow
+:position (Vector3f. 0 7 0))
+(.addControl
+(RigidBodyControl.
+(CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
+bottom (doto
+(sphere 0.1 :physical? false :color ColorRGBA/DarkGray
+:position (Vector3f. 0 -1 0))
+(.addControl
+(RigidBodyControl.
+(CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
+table (box 10 2 10 :position (Vector3f. 0 -6 0)
+:color ColorRGBA/Gray :mass 0)
+a (.getControl top RigidBodyControl)
+b (.getControl bottom RigidBodyControl)]
+(cond
+(= joint :point)
+(doto
+(Point2PointJoint. a b
+(Vector3f. 0 -2 0)
+(Vector3f. 0  2 0))
+(.setCollisionBetweenLinkedBodys false))
+(= joint :hinge)
+(doto
+(HingeJoint.
+a b
+(Vector3f. 0 -2 0)
+(Vector3f. 0 2 0)
+(Vector3f. 0 0 1)
+(Vector3f. 0 0 1)
+)
+(.setCollisionBetweenLinkedBodys false)
+;;(.setLimit (- Math/PI) Math/PI)
+)
+(= joint :cone)
+;; note to self -- jbullet does NOT implement cone joints
+;; correctly. You must use plain ol' bullet for this to work.
+;; It's faster anyway, so whatever.
+(doto (ConeJoint.
+a b
+(Vector3f. 0 -5 0)
+(Vector3f. 0 2 0)
+(doto (Matrix3f.)
+(.fromStartEndVectors Vector3f/UNIT_X
+Vector3f/UNIT_Y))
+(doto (Matrix3f.)
+(.fromStartEndVectors Vector3f/UNIT_X
+Vector3f/UNIT_Y))
+)
+;;(.setAngularOnly true)
+(.setCollisionBetweenLinkedBodys false)
+(.setLimit (* 1 (/ Math/PI 4))
+(* 1 (/ Math/PI 4))
+(* 0 (/ Math/PI 4)))
+)
+(= joint :six)
+(doto
+(SixDofJoint.
+a b
+(Vector3f. 0 -2 0)
+(Vector3f. 0 2 0)
+;;(doto (Matrix3f.)
+;;    (.fromStartEndVectors Vector3f/UNIT_X
+;;                          Vector3f/UNIT_Y))
+;;(doto (Matrix3f.)
+;;  (.fromStartEndVectors Vector3f/UNIT_X
+;;                        Vector3f/UNIT_Y))
+true)
+(.setCollisionBetweenLinkedBodys false)
+(.setAngularLowerLimit (Vector3f. 0
+(- (/ Math/PI 2))
+0))
+(.setAngularUpperLimit (Vector3f. 0
+(/ Math/PI 2)
+0))
+(.setLinearLowerLimit  (Vector3f. 0 0 0))
+(.setLinearUpperLimit  (Vector3f. 0 0 0))
+)
+)
+[top bottom table]))
+(defn speed-up [world]
+(.setMoveSpeed (.getFlyByCamera world)
+(float 100))
+(.setRotationSpeed (.getFlyByCamera world)
+(float 20))
+world)
+(defn test-joint [joint]
+(let [[top bottom floor] (world-setup joint)
+control (.getControl top RigidBodyControl)
+move-up? (atom false)
+move-down? (atom false)
+move-left? (atom false)
+move-right? (atom false)
+roll-left? (atom false)
+roll-right? (atom false)
+timer (atom 0)]
+(world
+(nodify [top bottom floor])
+(merge standard-debug-controls
+{"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
+"key-t" (fn [_ pressed?] (reset! move-down? pressed?))
+"key-f" (fn [_ pressed?] (reset! move-left? pressed?))
+"key-g" (fn [_ pressed?] (reset! move-right? pressed?))
+"key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
+"key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
+(fn [world]
+(light-up-everything world)
+(enable-debug world)
+(set-gravity world (Vector3f. 0 0 0))
+)
+(fn [world _]
+(if (zero? (rem (swap! timer inc) 100))
+(do
+;;  (println-repl @timer)
+(.attachChild (.getRootNode world)
+(sphere 0.05 :color ColorRGBA/Yellow
+:position (.getWorldTranslation top)
+:physical? false))))
+(if @move-up?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. 0 0 10))))
+(if @move-down?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. 0 0 -10))))
+(if @move-left?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. 0 10 0))))
+(if @move-right?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. 0 -10 0))))
+(if @roll-left?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. -1 0 0))))
+(if @roll-right?
+(.applyTorque control
+(.mult (.getPhysicsRotation control)
+(Vector3f. 1 0 0))))))))
+(defn run [joint] (.start (test-joint joint)))
+(defn look [joint] (view (nodify (world-setup joint))))
+(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]
+;;(println (meta-data joint "joint"))
+(.getWorldRotation joint)
 (loop [radius (float 0.01)]
 (let [results (CollisionResults.)]
 (.collideWith
 parts
-(BoundingBox. joint-position radius radius radius)
+(BoundingBox. (.getWorldTranslation joint)
+radius radius radius)
 results)
 (let [targets
 (distinct
 (map  #(.getGeometry %) results))]
 (if (>= (count targets) 2)
-(take 2 targets)
+(sort-by
+#(.getY
+(.mult
+(.inverse (.getWorldRotation joint))
+(.subtract (.getWorldTranslation %)
+(.getWorldTranslation joint))))
+(take 2 targets))
 (recur (float (* radius 2))))))))
+(defn connect
+"here are some examples:
-(defn connect-at-point
+{:type :point}
-[obj-a obj-b point]
+{:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
-(let [center-a (.getWorldTranslation obj-a)
+(:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
-center-b (.getWorldTranslation obj-b)
-pivot-a (.subtract point center-a)
+{:type :cone   :limit-xz 0]
-pivot-b (.subtract point center-b)
+:limit-yz 0]
-;; A side-effect of creating a joint registers
+:twist 0]}
-;; it with both physics objects which in turn
+"
-;; will register the joint with the physics system
+([#^Node obj-a #^Node obj-b #^Node joint]
-;; when the simulation is started.
+(let [center-a (.getWorldTranslation obj-a)
-joint (Point2PointJoint.
+center-b (.getWorldTranslation obj-b)
-(.getControl obj-a RigidBodyControl)
+joint-center (.getWorldTranslation joint)
-(.getControl obj-b RigidBodyControl)
+pivot-a (.subtract joint-center center-a)
-pivot-a
+pivot-b (.subtract joint-center center-b)
-pivot-b)]
+control-a (.getControl obj-a RigidBodyControl)
-obj-a))
+control-b (.getControl obj-b RigidBodyControl)]
+;; A side-effect of creating a joint registers
+;; it with both physics objects which in turn
-(defn physical-hand [#^Node pieces joints]
+;; will register the joint with the physics system
-;; Make each piece a physical entity in the simulation.
+;; when the simulation is started.
+(if-let [constraints
+(map-vals
+eval
+(read-string
+(meta-data (first (worm-joints)) "joint")))]
+(let [joint-type (:type constraints)]
+(cond (= :point joint-type)
+(do
+(println-repl "creating POINT joint")
+(Point2PointJoint.
+control-a
+control-b
+pivot-a
+pivot-b))
+(= :hinge joint-type)
+(do
+(println-repl "creating HINGE joint")
+(let [axis (if-let
+[axis (:axis constraints)]
+axis
+Vector3f/UNIT_X)
+[limit-1 limit-2] (:limit constraints)
+hinge-axis
+(.mult
+(.getWorldRotation joint)
+(blender-to-jme axis))]
+(doto
+(HingeJoint.
+control-a
+control-b
+pivot-a
+pivot-b
+hinge-axis
+hinge-axis)
+(.setLimit limit-1 limit-2))))
+(= :cone joint-type)
+(do
+(let [limit-xy (:limit-xz constraints)
+limit-yz (:limit-yz constraints)
+twist    (:twist constraints)]
+(println-repl "creating CONE joint")
+(doto
+(ConeJoint.
+control-a
+control-b
+pivot-a
+pivot-b
+(doto (Matrix3f.)
+(.fromStartEndVectors
+Vector3f/UNIT_X
+(.normalize
+(.subtract (.getWorldTranslation joint)
+(.getWorldTranslation obj-a)))))
+(doto (Matrix3f.)
+(.fromStartEndVectors
+Vector3f/UNIT_X
+(.normalize
+(.subtract
+(.getWorldTranslation obj-b)
+(.getWorldTranslation joint))))))
+(.setLimit (float limit-xy)
+(float limit-yz)
+(float twist)))))
+true
+(println-repl
+"joint-type " joint-type " not recognized")))
+(println-repl "could not find joint meta-data!")))))
+(defn physical-worm [#^Node pieces joints]
 (dorun
 (map
 (fn [geom]
 (let [physics-control
 (RigidBodyControl.
 (HullCollisionShape.
 (.getMesh geom))
-;; TODO: fix this.
+(if-let [mass (meta-data geom "mass")]
-(float 1.0))]
+(do
+(println-repl
+"setting mass to " (float mass))
+(float mass))
+(float 1)))]
 (.addControl geom physics-control)))
 (filter #(isa? (class %) Geometry )
 (node-seq pieces))))
 (dorun
 (map
-(fn [joint-position]
+(fn [joint]
-(let [[geom-a geom-b] (find-joint pieces joint-position)]
+(let [[obj-a obj-b]
-(connect-at-point geom-a geom-b joint-position)))
+(joint-targets pieces joint)]
-joints))
+(connect obj-a obj-b joint)))
-pieces)
+joints))
+pieces)
-(defn the-hand! [] (physical-hand  (hand) (hand-joints)))
+(defn the-worm []
+(physical-worm (worm) (worm-joints)))
-(defn test-hand []
+(defn test-worm []
 (world
-(nodify [(the-hand!)
+(nodify [(the-worm)
-(box 10 1 10 :position (Vector3f. 0 -10 0)
+(box 10 2 10 :position (Vector3f. 0 -5 0)
-:color ColorRGBA/Gray
+:color ColorRGBA/Gray :mass 0)])
-:mass 0)])
 standard-debug-controls
-enable-debug
+(comp light-up-everything enable-debug
-(fn [_ _]
+(fn [world]
-(Thread/sleep 100))))
+(.setTimer world (NanoTimer.))
+(speed-up world)
+;;(set-gravity world (Vector3f. 0 0 0))
+world
+))
+no-op))
 #+end_src
 #+results: body-1
-: #'cortex.silly/test-hand
+: #'cortex.silly/test-try-again
 * COMMENT generate source
 #+begin_src clojure :tangle ../src/cortex/silly.clj

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comparison org/test-creature.org @ 77:1f84f425e05d