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fix skew in self-organizing-touch, work on thesis.
author Robert McIntyre <rlm@mit.edu>
date Sat, 22 Mar 2014 16:10:34 -0400
parents 4f5a5d5f1613
children 763d13f77e03
comparison
equal deleted inserted replaced
429:b5d0f0adf19f 430:5205535237fb
76 * Implementation Summary 76 * Implementation Summary
77 77
78 To simulate touch there are three conceptual steps. For each solid 78 To simulate touch there are three conceptual steps. For each solid
79 object in the creature, you first have to get UV image and scale 79 object in the creature, you first have to get UV image and scale
80 parameter which define the position and length of the feelers. Then, 80 parameter which define the position and length of the feelers. Then,
81 you use the triangles which compose the mesh and the UV data stored in 81 you use the triangles which comprise the mesh and the UV data stored in
82 the mesh to determine the world-space position and orientation of each 82 the mesh to determine the world-space position and orientation of each
83 feeler. Then once every frame, update these positions and orientations 83 feeler. Then once every frame, update these positions and orientations
84 to match the current position and orientation of the object, and use 84 to match the current position and orientation of the object, and use
85 physics collision detection to gather tactile data. 85 physics collision detection to gather tactile data.
86 86
134 data involved with displaying the object. 134 data involved with displaying the object.
135 135
136 A =Mesh= is composed of =Triangles=, and each =Triangle= has three 136 A =Mesh= is composed of =Triangles=, and each =Triangle= has three
137 vertices which have coordinates in world space and UV space. 137 vertices which have coordinates in world space and UV space.
138 138
139 Here, =triangles= gets all the world-space triangles which compose a 139 Here, =triangles= gets all the world-space triangles which comprise a
140 mesh, while =pixel-triangles= gets those same triangles expressed in 140 mesh, while =pixel-triangles= gets those same triangles expressed in
141 pixel coordinates (which are UV coordinates scaled to fit the height 141 pixel coordinates (which are UV coordinates scaled to fit the height
142 and width of the UV image). 142 and width of the UV image).
143 143
144 #+name: triangles-2 144 #+name: triangles-2
150 (triangle-seq 150 (triangle-seq
151 (let [scratch (Triangle.)] 151 (let [scratch (Triangle.)]
152 (.getTriangle (.getMesh geo) triangle-index scratch) scratch))) 152 (.getTriangle (.getMesh geo) triangle-index scratch) scratch)))
153 153
154 (defn triangles 154 (defn triangles
155 "Return a sequence of all the Triangles which compose a given 155 "Return a sequence of all the Triangles which comprise a given
156 Geometry." 156 Geometry."
157 [#^Geometry geo] 157 [#^Geometry geo]
158 (map (partial triangle geo) (range (.getTriangleCount (.getMesh geo))))) 158 (map (partial triangle geo) (range (.getTriangleCount (.getMesh geo)))))
159 159
160 (defn triangle-vertex-indices 160 (defn triangle-vertex-indices
238 contain the vertices of the triangle; the last contains the unit 238 contain the vertices of the triangle; the last contains the unit
239 normal of the triangle. The bottom row is filled with 1s." 239 normal of the triangle. The bottom row is filled with 1s."
240 [#^Triangle t] 240 [#^Triangle t]
241 (let [mat (Matrix4f.) 241 (let [mat (Matrix4f.)
242 [vert-1 vert-2 vert-3] 242 [vert-1 vert-2 vert-3]
243 ((comp vec map) #(.get t %) (range 3)) 243 (mapv #(.get t %) (range 3))
244 unit-normal (do (.calculateNormal t)(.getNormal t)) 244 unit-normal (do (.calculateNormal t)(.getNormal t))
245 vertices [vert-1 vert-2 vert-3 unit-normal]] 245 vertices [vert-1 vert-2 vert-3 unit-normal]]
246 (dorun 246 (dorun
247 (for [row (range 4) col (range 3)] 247 (for [row (range 4) col (range 3)]
248 (do 248 (do