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updated test-suite
author Robert McIntyre <rlm@mit.edu>
date Fri, 09 Dec 2011 23:11:28 -0600
parents 1381a6ebd08b
children a1e421d9c485
comparison
equal deleted inserted replaced
68:6cd5a034d855 69:39e4e1542e4a
129 ## note -- might want to add a lower dimensional, discrete version of 129 ## note -- might want to add a lower dimensional, discrete version of
130 ## this if it proves useful from a x-modal clustering perspective. 130 ## this if it proves useful from a x-modal clustering perspective.
131 131
132 * Examples 132 * Examples
133 133
134 #+srcname: test-body 134 #+name: test-body
135 #+begin_src clojure 135 #+begin_src clojure
136 (ns test.body 136 (ns cortex.test.body
137 (:use (cortex world util body)) 137 (:use (cortex world util body))
138 (:import 138 (:import
139 com.jme3.math.Vector3f 139 com.jme3.math.Vector3f
140 com.jme3.math.ColorRGBA 140 com.jme3.math.ColorRGBA
141 com.jme3.bullet.joints.Point2PointJoint 141 com.jme3.bullet.joints.Point2PointJoint
198 Vector3f/ZERO 198 Vector3f/ZERO
199 Vector3f/ZERO 199 Vector3f/ZERO
200 Vector3f/ZERO])) 200 Vector3f/ZERO]))
201 201
202 (defn test-motor-control 202 (defn test-motor-control
203 "You should see a multi-segmented worm-like object fall onto the 203 "Testing motor-control:
204 You should see a multi-segmented worm-like object fall onto the
204 table and begin writhing and moving." 205 table and begin writhing and moving."
205 [] 206 []
206 (let [worm (eve-worm) 207 (let [worm (eve-worm)
207 time (atom 0) 208 time (atom 0)
208 worm-motor-map (vector-motor-control worm)] 209 worm-motor-map (vector-motor-control worm)]
225 (Thread/sleep 20) 226 (Thread/sleep 20)
226 (dorun (worm-motor-map 227 (dorun (worm-motor-map
227 (worm-pattern @time))))))) 228 (worm-pattern @time)))))))
228 229
229 (defn test-proprioception 230 (defn test-proprioception
230 "You should see two foating bars, and a printout of pitch, yaw, and 231 "Testing proprioception:
232 You should see two foating bars, and a printout of pitch, yaw, and
231 roll. Pressing key-r/key-t should move the blue bar up and down and 233 roll. Pressing key-r/key-t should move the blue bar up and down and
232 change only the value of pitch. key-f/key-g moves it side to side 234 change only the value of pitch. key-f/key-g moves it side to side
233 and changes yaw. key-v/key-b will spin the blue segment clockwise 235 and changes yaw. key-v/key-b will spin the blue segment clockwise
234 and counterclockwise, and only affect roll." 236 and counterclockwise, and only affect roll."
235 [] 237 []
267 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))}) 269 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
268 (fn [world] 270 (fn [world]
269 (set-gravity world (Vector3f. 0 0 0)) 271 (set-gravity world (Vector3f. 0 0 0))
270 (.setMoveSpeed (.getFlyByCamera world) 50) 272 (.setMoveSpeed (.getFlyByCamera world) 50)
271 (.setRotationSpeed (.getFlyByCamera world) 50) 273 (.setRotationSpeed (.getFlyByCamera world) 50)
272 (light-up-everything world) 274 (light-up-everything world))
273 (.setTimer world (NanoTimer.))
274 )
275 (fn [_ _] 275 (fn [_ _]
276 (if @move-up? 276 (if @move-up?
277 (.applyTorque control 277 (.applyTorque control
278 (.mult (.getPhysicsRotation control) 278 (.mult (.getPhysicsRotation control)
279 (Vector3f. 0 0 10)))) 279 (Vector3f. 0 0 10))))
298 (.mult (.getPhysicsRotation control) 298 (.mult (.getPhysicsRotation control)
299 (Vector3f. 1 0 0)))) 299 (Vector3f. 1 0 0))))
300 300
301 (if (= 0 (rem (swap! time inc) 2000)) 301 (if (= 0 (rem (swap! time inc) 2000))
302 (do 302 (do
303
304 (apply 303 (apply
305 (comp 304 (comp
306 println-repl 305 println-repl
307 #(format "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n" %1 %2 %3)) 306 #(format "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n" %1 %2 %3))
308 (joint-proprioception joint)))))))) 307 (joint-proprioception joint))))))))
750 #+begin_src clojure :tangle ../src/cortex/body.clj 749 #+begin_src clojure :tangle ../src/cortex/body.clj
751 <<proprioception>> 750 <<proprioception>>
752 <<motor-control>> 751 <<motor-control>>
753 #+end_src 752 #+end_src
754 753
755 #+begin_src clojure :tangle ../src/test/body.clj 754 #+begin_src clojure :tangle ../src/cortex/test/body.clj
756 <<test-body>> 755 <<test-body>>
757 #+end_src 756 #+end_src
758 757
759 758
760 759