cortex: org/body.org comparison

comparison org/body.org @ 58:25142dad240a

created test suite

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 19 Nov 2011 23:42:21 -0700
parents	37a3256e1ed3
children	e5e627f50a3a

comparison

equal deleted inserted replaced

-:37a3256e1ed3
+:25142dad240a
 #+email: rlm@mit.edu
 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
-* COMMENT Body
+* Body
 #+srcname: body-main
 #+begin_src clojure
 (ns cortex.body
 (use (cortex world util import)))
 )
 )))
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; here is the ragdoll stuff
+(def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
+(def mesh worm-mesh)
+(.getFloatBuffer mesh VertexBuffer$Type/Position)
+(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
+(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
+(defn position [index]
+(.get
+(.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
+index))
+(defn bones [index]
+(.get
+(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
+index))
+(defn bone-weights [index]
+(.get
+(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
+index))
+(defn vertex-bones [vertex]
+(vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
+(defn vertex-weights [vertex]
+(vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
+(defn vertex-position [index]
+(let [offset (* index 3)]
+(Vector3f. (position offset)
+(position (inc offset))
+(position (inc(inc offset))))))
+(def vertex-info (juxt vertex-position vertex-bones vertex-weights))
+(defn bone-control-color [index]
+(get {[1 0 0 0] ColorRGBA/Red
+[1 2 0 0] ColorRGBA/Magenta
+[2 0 0 0] ColorRGBA/Blue}
+(vertex-bones index)
+ColorRGBA/White))
+(defn influence-color [index bone-num]
+(get
+{(float 0)   ColorRGBA/Blue
+(float 0.5) ColorRGBA/Green
+(float 1)   ColorRGBA/Red}
+;; find the weight of the desired bone
+((zipmap (vertex-bones index)(vertex-weights index))
+bone-num)
+ColorRGBA/Blue))
+(def worm-vertices (set (map vertex-info (range 60))))
+(defn test-info []
+(let [points (Node.)]
+(dorun
+(map #(.attachChild points %)
+(map #(sphere 0.01
+:position (vertex-position %)
+:color (influence-color % 1)
+:physical? false)
+(range 60))))
+(view points)))
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;;;;;;;;;;;  eve-style bodies  ;;;;;;;;
 (defn joint-control
 [joint]
 (let [physics-space (ref nil)]
 (reify PhysicsControl
 (setPhysicsSpace [this space]
 (.attachChild sphere1)
 (.attachChild sphere2))))
 (defn test-joint []
 (view (hinge-world)))
+(defn worm [segment-length num-segments interstitial-space radius]
+(letfn [(nth-segment
+[n]
+(box segment-length radius radius :mass 0.1
+:position
+(Vector3f.
+(* 2 n (+ interstitial-space segment-length)) 0 0)
+:name (str "worm-segment" n)
+:color (ColorRGBA/randomColor)))]
+(map nth-segment (range num-segments))))
+(defn nodify
+"take a sequence of things that can be attached to a node and return
+a node with all of the attached"
+([name children]
+(let [node (Node. name)]
+(dorun (map #(.attachChild node %) children))
+node))
+([children] (nodify "" children)))
+(defn connect-at-midpoint
+[segmentA segmentB]
+(let [centerA (.getWorldTranslation segmentA)
+centerB (.getWorldTranslation segmentB)
+midpoint (.mult (.add centerA centerB) (float 0.5))
+pivotA (.subtract midpoint centerA)
+pivotB (.subtract midpoint centerB)
+joint (Point2PointJoint.
+(.getControl segmentA RigidBodyControl)
+(.getControl segmentB RigidBodyControl)
+pivotA
+pivotB)]
+(add-joint segmentA joint)
+segmentB))
+(defn point-worm []
+(let [segments (worm 0.2 5 0.1 0.1)]
+(dorun (map (partial apply connect-at-midpoint)
+(partition 2 1 segments)))
+(nodify "worm"  segments)))
+(defn test-worm []
+(.start
+(world
+(doto (Node.)
+;;(.attachChild (point-worm))
+(.attachChild (load-blender-model
+"Models/anim2/joint-worm.blend"))
+(.attachChild (box 10 1 10
+:position (Vector3f. 0 -2 0) :mass 0
+:color (ColorRGBA/Gray))))
+{
+"key-space" (fire-cannon-ball)
+}
+(fn [world]
+(enable-debug world)
+(light-up-everything world)
+;;(.setTimer world (NanoTimer.))
+)
+no-op)))
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-;;; here is the ragdoll stuff
-(def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
-(def mesh worm-mesh)
-(.getFloatBuffer mesh VertexBuffer$Type/Position)
-(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
-(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
-(defn position [index]
-(.get
-(.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
-index))
-(defn bones [index]
-(.get
-(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
-index))
-(defn bone-weights [index]
-(.get
-(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
-index))
-(defn vertex-bones [vertex]
-(vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
-(defn vertex-weights [vertex]
-(vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
-(defn vertex-position [index]
-(let [offset (* index 3)]
-(Vector3f. (position offset)
-(position (inc offset))
-(position (inc(inc offset))))))
-(def vertex-info (juxt vertex-position vertex-bones vertex-weights))
-(defn bone-control-color [index]
-(get {[1 0 0 0] ColorRGBA/Red
-[1 2 0 0] ColorRGBA/Magenta
-[2 0 0 0] ColorRGBA/Blue}
-(vertex-bones index)
-ColorRGBA/White))
-(defn influence-color [index bone-num]
-(get
-{(float 0)   ColorRGBA/Blue
-(float 0.5) ColorRGBA/Green
-(float 1)   ColorRGBA/Red}
-;; find the weight of the desired bone
-((zipmap (vertex-bones index)(vertex-weights index))
-bone-num)
-ColorRGBA/Blue))
-(def worm-vertices (set (map vertex-info (range 60))))
-(defn test-info []
-(let [points (Node.)]
-(dorun
-(map #(.attachChild points %)
-(map #(sphere 0.01
-:position (vertex-position %)
-:color (influence-color % 1)
-:physical? false)
-(range 60))))
-(view points)))
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

Mercurial > cortex

comparison org/body.org @ 58:25142dad240a