cortex: org/movement.org comparison

comparison org/movement.org @ 261:2fdcbe8185b1

first draft of movement.org complete

author	Robert McIntyre <rlm@mit.edu>
date	Tue, 14 Feb 2012 04:35:40 -0700
parents	959127e21f81
children	d487348c461c

comparison

equal deleted inserted replaced

-:959127e21f81
+:2fdcbe8185b1
 In blender, each muscle is an empty node whose top level parent is
 named "muscles", just like eyes, ears, and joints.
 These functions define the expected meta-data for a muscle node.
-#+name: movement
+#+name: muscle-meta-data
 #+begin_src clojure
 (in-ns 'cortex.movement)
 (defvar
 ^{:arglists '([creature])}
 image in a way that allows me to use gradients between white and red,
 instead of shades of gray as I've been using for all the other
 senses. This is purely an aesthetic touch.
 * Creating Muscles
-#+begin_src clojure
+#+name: muscle-kernel
+#+begin_src clojure
+(in-ns 'cortex.movement)
 (defn movement-kernel
 "Returns a function which when called with a integer value inside a
 running simulation will cause movement in the creature according
 to the muscle's position and strength profile. Each function
 returns the amount of force applied / max force."
 * Visualizing Muscle Tension
 Muscle exertion is a percent of a total, so the visulazation is just a
 simple percent bar.
+#+name: visualization
 #+begin_src clojure
 (defn movement-display-kernel
 "Display muscle exertion data as a bar filling up with red."
 [exertion]
 (let [height 20
 (view-sense movement-display-kernel))
 #+end_src
 * Adding Touch to the Worm
+#+begin_src clojure
+(defn test-movement
+([] (test-movement false))
+([record?]
+(let [creature (doto (worm) (body!))
+muscle-exertion (atom 0)
+muscles (movement! creature)
+muscle-display (view-movement)]
+(.setMass
+(.getControl (.getChild creature "worm-11") RigidBodyControl)
+(float 0))
+(world
+(nodify [creature (floor)])
+(merge standard-debug-controls
+{"key-h"
+(fn [_ value]
+(if value
+(swap!  muscle-exertion (partial + 20))))
+"key-n"
+(fn [_ value]
+(if value
+(swap! muscle-exertion (fn [v] (- v 20)))))})
+(fn [world]
+(if record?
+(Capture/captureVideo
+world
+(File. "/home/r/proj/cortex/render/worm-muscles/main-view")))
+(light-up-everything world)
+(enable-debug world)
+(.setTimer world (RatchetTimer. 60))
+(set-gravity world (Vector3f. 0 0 0))
+(.setLocation (.getCamera world)
+(Vector3f. -4.912815, 2.004171, 0.15710819))
+(.setRotation (.getCamera world)
+(Quaternion. 0.13828252, 0.65516764,
+-0.12370994, 0.7323449))
+(comment
+(com.aurellem.capture.Capture/captureVideo
+world (file-str "/home/r/proj/ai-videos/hand"))))
+(fn [world tpf]
+(muscle-display
+(map #(% @muscle-exertion) muscles)
+(if record?
+(File. "/home/r/proj/cortex/render/worm-muscles/muscles"))))))))
+#+end_src
+* Video Demonstration
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="550">
+<source src="../video/worm-muscles.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>The worm is now able to move. The bar in the lower right displays
+the power output of the muscle . Each jump causes 20 more motor neurons to
+be recruited.  Notice that the power output increases non-linearly
+with motror neuron recruitement, similiar to a human muscle.</p>
+</div>
+#+end_html
+** Making the Worm Muscles Video
+#+name: magick7
+#+begin_src clojure
+(ns cortex.video.magick7
+(:import java.io.File)
+(:use clojure.contrib.shell-out))
+(defn images [path]
+(sort (rest (file-seq (File. path)))))
+(def base "/home/r/proj/cortex/render/worm-muscles/")
+(defn pics [file]
+(images (str base file)))
+(defn combine-images []
+(let [main-view (pics "main-view")
+muscles (pics "muscles/0")
+targets (map
+#(File. (str base "out/" (format "%07d.png" %)))
+(range 0 (count main-view)))]
+(dorun
+(pmap
+(comp
+(fn [[ main-view muscles target]]
+(println target)
+(sh "convert"
+main-view
+muscles "-geometry" "+320+440" "-composite"
+target))
+(fn [& args] (map #(.getCanonicalPath %) args)))
+main-view muscles targets))))
+#+end_src
+#+begin_src sh :results silent
+cd ~/proj/cortex/render/worm-muscles
+ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora worm-muscles.ogg
+#+end_src
 * Headers
 #+name: muscle-header
 #+begin_src clojure
 (ns cortex.movement
 (:import com.jme3.scene.Node)
 (:import com.jme3.math.Vector3f)
 (:import com.jme3.bullet.control.RigidBodyControl))
 #+end_src
+#+name: test-header
+#+begin_src clojure
+(ns cortex.test.movement
+(:use (cortex world util sense body movement))
+(:use cortex.test.body)
+(:use clojure.contrib.def)
+(:import java.io.File)
+(:import java.awt.image.BufferedImage)
+(:import com.jme3.scene.Node)
+(:import com.jme3.math.Vector3f)
+(:import (com.aurellem.capture Capture RatchetTimer))
+(:import com.jme3.bullet.control.RigidBodyControl))
+(cortex.import/mega-import-jme3)
+#+end_src
+* Source Listing
+- [[../src/cortex/movement.clj][cortex.movement]]
+- [[../src/cortex/test/movement.clj][cortex.test.movement]]
+- [[../src/cortex/video/magick7.clj][cortex.video.magick7]]
+#+html: <ul> <li> <a href="../org/movement.org">This org file</a> </li> </ul>
+- [[http://hg.bortreb.com ][source-repository]]
 * COMMENT code generation
 #+begin_src clojure :tangle ../src/cortex/movement.clj
-<<movement>>
+<<muscle-header>>
-#+end_src
+<<muscle-meta-data>>
+<<muscle-kernel>>
+<<visualization>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/test/movement.clj
+<<test-header>>
+<<test-movement>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/video/magick7.clj
+<<magick7>>
+#+end_src

Mercurial > cortex

comparison org/movement.org @ 261:2fdcbe8185b1