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refactored joints
author Robert McIntyre <rlm@mit.edu>
date Fri, 03 Feb 2012 06:47:05 -0700
parents 75b6c2ebbf8e
children e401dafa5966
comparison
equal deleted inserted replaced
159:75b6c2ebbf8e 160:33278bf028e7
69 (.loadModel 69 (.loadModel
70 (doto (asset-manager) 70 (doto (asset-manager)
71 (.registerLoader BlenderModelLoader (into-array String ["blend"]))) 71 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
72 model)) 72 model))
73 73
74 (defn blender-to-jme
75 "Convert from Blender coordinates to JME coordinates"
76 [#^Vector3f in]
77 (Vector3f. (.getX in)
78 (.getZ in)
79 (- (.getY in))))
80
81
82 (defmulti joint-dispatch
83 "Translate blender pseudo-joints into real JME joints."
84 (fn [constraints & _]
85 (:type constraints)))
86
87 (defmethod joint-dispatch :point
88 [constraints control-a control-b pivot-a pivot-b rotation]
89 (println-repl "creating POINT2POINT joint")
90 ;; bullet's point2point joints are BROKEN, so we must use the
91 ;; generic 6DOF joint instead of an actual Point2Point joint!
92
93 ;; should be able to do this:
94 (comment
95 (Point2PointJoint.
96 control-a
97 control-b
98 pivot-a
99 pivot-b))
100
101 ;; but instead we must do this:
102 (println-repl "substuting 6DOF joint for POINT2POINT joint!")
103 (doto
104 (SixDofJoint.
105 control-a
106 control-b
107 pivot-a
108 pivot-b
109 false)
110 (.setLinearLowerLimit Vector3f/ZERO)
111 (.setLinearUpperLimit Vector3f/ZERO)
112 ;;(.setAngularLowerLimit (Vector3f. 1 1 1))
113 ;;(.setAngularUpperLimit (Vector3f. 0 0 0))
114
115 ))
116
117
118 (defmethod joint-dispatch :hinge
119 [constraints control-a control-b pivot-a pivot-b rotation]
120 (println-repl "creating HINGE joint")
121 (let [axis
122 (if-let
123 [axis (:axis constraints)]
124 axis
125 Vector3f/UNIT_X)
126 [limit-1 limit-2] (:limit constraints)
127 hinge-axis
128 (.mult
129 rotation
130 (blender-to-jme axis))]
131 (doto
132 (HingeJoint.
133 control-a
134 control-b
135 pivot-a
136 pivot-b
137 hinge-axis
138 hinge-axis)
139 (.setLimit limit-1 limit-2))))
140
141 (defmethod joint-dispatch :cone
142 [constraints control-a control-b pivot-a pivot-b rotation]
143 (let [limit-xz (:limit-xz constraints)
144 limit-xy (:limit-xy constraints)
145 twist (:twist constraints)]
146
147 (println-repl "creating CONE joint")
148 (println-repl rotation)
149 (println-repl
150 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
151 (println-repl
152 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
153 (println-repl
154 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
155 (doto
156 (ConeJoint.
157 control-a
158 control-b
159 pivot-a
160 pivot-b
161 rotation
162 rotation)
163 (.setLimit (float limit-xz)
164 (float limit-xy)
165 (float twist)))))
166
167 (defn connect
168 "here are some examples:
169 {:type :point}
170 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
171 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
172
173 {:type :cone :limit-xz 0]
174 :limit-xy 0]
175 :twist 0]} (use XZY rotation mode in blender!)"
176 [#^Node obj-a #^Node obj-b #^Node joint]
177 (let [control-a (.getControl obj-a RigidBodyControl)
178 control-b (.getControl obj-b RigidBodyControl)
179 joint-center (.getWorldTranslation joint)
180 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
181 pivot-a (world-to-local obj-a joint-center)
182 pivot-b (world-to-local obj-b joint-center)]
183
184 (if-let [constraints
185 (map-vals
186 eval
187 (read-string
188 (meta-data joint "joint")))]
189 ;; A side-effect of creating a joint registers
190 ;; it with both physics objects which in turn
191 ;; will register the joint with the physics system
192 ;; when the simulation is started.
193 (do
194 (println-repl "creating joint between"
195 (.getName obj-a) "and" (.getName obj-b))
196 (joint-dispatch constraints
197 control-a control-b
198 pivot-a pivot-b
199 joint-rotation))
200 (println-repl "could not find joint meta-data!"))))
201
202
203
204
205 (defn assemble-creature [#^Node pieces joints]
206 (dorun
207 (map
208 (fn [geom]
209 (let [physics-control
210 (RigidBodyControl.
211 (HullCollisionShape.
212 (.getMesh geom))
213 (if-let [mass (meta-data geom "mass")]
214 (do
215 (println-repl
216 "setting" (.getName geom) "mass to" (float mass))
217 (float mass))
218 (float 1)))]
219
220 (.addControl geom physics-control)))
221 (filter #(isa? (class %) Geometry )
222 (node-seq pieces))))
223 (dorun
224 (map
225 (fn [joint]
226 (let [[obj-a obj-b] (joint-targets pieces joint)]
227 (connect obj-a obj-b joint)))
228 joints))
229 pieces)
230
231 (declare blender-creature) 74 (declare blender-creature)
75
76 (defn blender-creature
77 "Return a creature with all joints in place."
78 [blender-path]
79 (let [model (load-blender-model blender-path)
80 joints (creature-joints model)]
81 (assemble-creature model joints)))
232 82
233 (def hand "Models/creature1/one.blend") 83 (def hand "Models/creature1/one.blend")
234 84
235 (def worm "Models/creature1/try-again.blend") 85 (def worm "Models/creature1/try-again.blend")
236 86
269 ;; these are the functions that provide world i/o, chinese-room style 119 ;; these are the functions that provide world i/o, chinese-room style
270 120
271 121
272 122
273 123
274 (defn blender-creature
275 "Return a creature with all joints in place."
276 [blender-path]
277 (let [model (load-blender-model blender-path)
278 joints (creature-joints model)]
279 (assemble-creature model joints)))
280 124
281 (defn gray-scale [num] 125 (defn gray-scale [num]
282 (+ num 126 (+ num
283 (bit-shift-left num 8) 127 (bit-shift-left num 8)
284 (bit-shift-left num 16))) 128 (bit-shift-left num 16)))