cortex: org/touch.org comparison

comparison org/touch.org @ 240:6961377c4554

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author	Robert McIntyre <rlm@mit.edu>
date	Sun, 12 Feb 2012 13:25:42 -0700
parents	78a640e3bc55
children	f2e583be8584

comparison

equal deleted inserted replaced

-:78a640e3bc55
+:6961377c4554
 world-space.
 =(triangles)= =(pixel-triangles)=
 - Find the coordinates of each pixel in pixel space. These
 coordinates are used to make the touch-topology.
-=(sensors-in-triangle)=
+=(feeler-pixel-coords)=
 - Find the coordinates of each pixel in world-space. These
-coordinates are the origins of the feelers.
+coordinates are the origins of the feelers. =(feeler-origins)=
 - Calculate the normals of the triangles in world space, and add
 them to each of the origins of the feelers. These are the
 normalized coordinates of the tips of the feelers.
-For both of these, =(feelers)=
+For both of these, =(feeler-tips)=
 - Generate some sort of topology for the sensors.
 =(touch-topology)=
 #+begin_src clojure
 location of each touch sensor from pixel coordinates to UV-coordinates
 and XYZ-coordinates.
 #+name: sensors
 #+begin_src clojure
-(defn pixel-feelers
+(in-ns 'cortex.touch)
+(defn feeler-pixel-coords
 "Returns the coordinates of the feelers in pixel space in lists, one
 list for each triangle, ordered in the same way as (triangles) and
 (pixel-triangles)."
 [#^Geometry geo image]
+(map
+(fn [pixel-triangle]
+(filter
+(fn [coord]
+(inside-triangle? (->triangle pixel-triangle)
+(->vector3f coord)))
+(white-coordinates image (convex-bounds pixel-triangle))))
+(pixel-triangles geo image)))
+(defn feeler-origins [#^Geometry geo image]
+(let [transforms
+(map #(triangles->affine-transform
+(->triangle %1) (->triangle %2))
+(pixel-triangles geo image)
+(triangles geo))]
+(mapcat (fn [transform coords]
+(map #(.mult transform (->vector3f %)) coords))
+transforms (feeler-pixel-coords geo image))))
+(defn feeler-tips [#^Geometry geo image]
+(let [origins (feeler-origins geo image)]
+(
+)
 (defn sensors-in-triangle
 "Locate the touch sensors in the triangle, returning a map of their
 (defn triangle-seq [#^Triangle tri]
 [(vector3f-seq (.get1 tri))
 (vector3f-seq (.get2 tri))
 (vector3f-seq (.get3 tri))])
-(defn ->vector3f [[x y z]] (Vector3f. x y z))
+(defn ->vector3f
+([coords] (Vector3f. (nth coords 0 0)
+(nth coords 1 0)
+(nth coords 2 0))))
 (defn ->triangle [points]
 (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))
 (defn triangle
 (do
 (.set mat col row (.get (vertices row)col))
 (.set mat 3 row 1))))
 mat))
-(defn triangle-transformation
+(defn triangles->affine-transform
 "Returns the affine transformation that converts each vertex in the
 first triangle into the corresponding vertex in the second
 triangle."
 [#^Triangle tri-1 #^Triangle tri-2]
 (.mult
 #+name: triangles-4
 #+begin_src clojure
 (defn convex-bounds
 "Returns the smallest square containing the given vertices, as a
 vector of integers [left top width height]."
-[uv-verts]
+[verts]
-(let [xs (map first uv-verts)
+(let [xs (map first verts)
-ys (map second uv-verts)
+ys (map second verts)
 x0 (Math/floor (apply min xs))
 y0 (Math/floor (apply min ys))
 x1 (Math/ceil (apply max xs))
 y1 (Math/ceil (apply max ys))]
 [x0 y0 (- x1 x0) (- y1 y0)]))
 (defn inside-triangle?
 "Is the point inside the triangle?"
 {:author "Dylan Holmes"}
 [#^Triangle tri #^Vector3f p]
-(let [[vert-1 vert-2 vert-3] (triangle-seq tri)]
+(let [[vert-1 vert-2 vert-3] [(.get1 tri) (.get2 tri) (.get3 tri)]]
 (and
 (same-side? vert-1 vert-2 vert-3 p)
 (same-side? vert-2 vert-3 vert-1 p)
 (same-side? vert-3 vert-1 vert-2 p))))
 #+end_src
+#+results: triangles-4
+: #'cortex.touch/inside-triangle?
 * Physics Collision Objects
 The "hairs" are actually =Rays= which extend  from a point on a

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comparison org/touch.org @ 240:6961377c4554