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added muscle exertion debug view.
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 11:02:19 -0700
parents 0f1c7921d967
children 959127e21f81
comparison
equal deleted inserted replaced
190:2902aca33c6e 191:66fbab414d45
56 (sense-nodes "muscles") 56 (sense-nodes "muscles")
57 "Return the children of the creature's \"muscles\" node.") 57 "Return the children of the creature's \"muscles\" node.")
58 58
59 (defn movement-fn 59 (defn movement-fn
60 "Returns a function which when called with a integer value inside a 60 "Returns a function which when called with a integer value inside a
61 running simulation, will cause movement in the creature according 61 running simulation will cause movement in the creature according
62 to the muscle's position and strength profile" 62 to the muscle's position and strength profile. Each function
63 returns the amount of force applied / max force."
63 [#^Node parts #^Node muscle] 64 [#^Node parts #^Node muscle]
64 (let [target (closest-node parts muscle) 65 (let [target (closest-node parts muscle)
65 axis 66 axis
66 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y) 67 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
67 strength (meta-data muscle "strength") 68 strength (meta-data muscle "strength")
68 image-name (read-string (meta-data muscle "muscle")) 69 image-name (read-string (meta-data muscle "muscle"))
69 image (load-image image-name) 70 image (load-image image-name)
70 fibers (muscle-profile image) 71 fibers (muscle-profile image)
71 fiber-integral (reductions + fibers) 72 fiber-integral (reductions + fibers)
72 force-index (vec 73 force-index
73 (map 74 (vec (map #(float (* strength (/ % (last fiber-integral))))
74 #(float (* strength (/ % (last 75 fiber-integral))
75 fiber-integral))))
76 fiber-integral))
77 control (.getControl target RigidBodyControl)] 76 control (.getControl target RigidBodyControl)]
78 (fn [n] 77 (fn [n]
79 (let [pool-index (min n (count fibers))] 78 (let [pool-index (max 0 (min n (dec (count fibers))))
80 (.applyTorque control (.mult axis (force-index n))))))) 79 force (force-index pool-index)]
80 (.applyTorque control (.mult axis force))
81 (float (/ force strength))))))
82
81 83
82 (defn movement! 84 (defn movement!
83 "Endow the creature with the power of movement. Returns a sequence 85 "Endow the creature with the power of movement. Returns a sequence
84 of functions, each of which accept an integer value and will 86 of functions, each of which accept an integer value and will
85 activate their corresponding muscle." 87 activate their corresponding muscle."
86 [#^Node creature] 88 [#^Node creature]
87 (for [muscle (muscles creature)] 89 (for [muscle (muscles creature)]
88 (movement-fn creature muscle))) 90 (movement-fn creature muscle)))
91
92 (defn movement-display-kernel
93 "Display muscle exertion data as a bar filling up with red."
94 [exertion]
95 (let [height 20
96 width 300
97 image (BufferedImage. width height
98 BufferedImage/TYPE_INT_RGB)
99 fill (min (int (* width exertion)) width)]
100 (dorun
101 (for [x (range fill)
102 y (range height)]
103 (.setRGB image x y 0xFF0000)))
104 image))
105
106 (defn view-movement
107 "Creates a function which accepts a list of muscle-exertion data and
108 displays each element of the list to the screen."
109 []
110 (view-sense movement-display-kernel))
89 111
90 #+end_src 112 #+end_src
91 113
92 114
93 115