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comparison org/touch.org @ 246:63da037ce1c5

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added image
author Robert McIntyre <rlm@mit.edu>
date Sun, 12 Feb 2012 14:40:58 -0700
parents 102ac596cc3f
children 4e220c8fb1ed
comparison
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245:102ac596cc3f 246:63da037ce1c5
37 Touch, I use jMonkeyEngine's physics system to execute many small 37 Touch, I use jMonkeyEngine's physics system to execute many small
38 collision detections, one for each "hair". The placement of the 38 collision detections, one for each "hair". The placement of the
39 "hairs" is determined by a UV-mapped image which shows where each hair 39 "hairs" is determined by a UV-mapped image which shows where each hair
40 should be on the 3D surface of the body. 40 should be on the 3D surface of the body.
41 41
42
43 * Defining Touch Meta-Data in Blender 42 * Defining Touch Meta-Data in Blender
44 43
45 Each geometry can have a single UV map which describes the position of 44 Each geometry can have a single UV map which describes the position of
46 the "hairs" which will constitute its sense of touch. This image path 45 the "hairs" which will constitute its sense of touch. This image path
47 is stored under the "touch" key. The image itself is black and white, 46 is stored under the "touch" key. The image itself is black and white,
66 [#^Geometry obj] 65 [#^Geometry obj]
67 (if-let [scale (meta-data obj "scale")] 66 (if-let [scale (meta-data obj "scale")]
68 scale 0.1)) 67 scale 0.1))
69 #+end_src 68 #+end_src
70 69
71 ** TODO add image showing example touch-uv map 70 Here is an example of a UV-map which specifies the position of touch
72 ** TODO add metadata display for worm 71 sensors along the surface of the worm.
73 72
73 #+attr_html: width=755
74 #+caption: This is the tactile-sensor-profile for the upper segment of the worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).
75 [[../images/finger-UV.png]]
74 76
75 * Skin Creation 77 * Skin Creation
76 78
77 =(touch-kernel)= generates the functions which implement the sense of 79 =(touch-kernel)= generates the functions which implement the sense of
78 touch for a creature. These functions must do 6 things to obtain touch 80 touch for a creature. These functions must do 6 things to obtain touch
228 (defn view-touch 230 (defn view-touch
229 "Creates a function which accepts a list of touch sensor-data and 231 "Creates a function which accepts a list of touch sensor-data and
230 displays each element to the screen." 232 displays each element to the screen."
231 [] 233 []
232 (view-sense 234 (view-sense
233 (fn 235 (fn [[coords sensor-data]]
234 [[coords sensor-data]]
235 (let [image (points->image coords)] 236 (let [image (points->image coords)]
236 (dorun 237 (dorun
237 (for [i (range (count coords))] 238 (for [i (range (count coords))]
238 (.setRGB image ((coords i) 0) ((coords i) 1) 239 (.setRGB image ((coords i) 0) ((coords i) 1)
239 (apply touch->gray (sensor-data i))))) 240 (apply touch->gray (sensor-data i))))) image))))
240 image))))
241 #+end_src 241 #+end_src
242 242
243 243
244 244
245 * Triangle Manipulation Functions 245 * Triangle Manipulation Functions
368 It is convienent to treat a =Triangle= as a sequence of verticies, and 368 It is convienent to treat a =Triangle= as a sequence of verticies, and
369 a =Vector2f= and =Vector3f= as a sequence of floats. These conversion 369 a =Vector2f= and =Vector3f= as a sequence of floats. These conversion
370 functions make this easy. If these classes implemented =Iterable= then 370 functions make this easy. If these classes implemented =Iterable= then
371 this code would not be necessary. Hopefully they will in the future. 371 this code would not be necessary. Hopefully they will in the future.
372 372
373
374 * Triangle Boundaries 373 * Triangle Boundaries
375 374
376 For efficiency's sake I will divide the UV-image into small squares 375 For efficiency's sake I will divide the UV-image into small squares
377 which inscribe each UV-triangle, then extract the points which lie 376 which inscribe each UV-triangle, then extract the points which lie
378 inside the triangle and map them to 3D-space using 377 inside the triangle and map them to 3D-space using
459 (fn [world] 458 (fn [world]
460 (speed-up world) 459 (speed-up world)
461 (light-up-everything world)) 460 (light-up-everything world))
462 461
463 (fn [world tpf] 462 (fn [world tpf]
464 (touch-display (map #(% (.getRootNode world)) touch)) 463 (touch-display
465 )))) 464 (map #(% (.getRootNode world)) touch))))))
466 #+end_src 465 #+end_src
467 * Source Listing 466 * Source Listing
468 * Next 467 * Next
469 468
470 469