cortex: org/touch.org comparison

comparison org/touch.org @ 178:6fba17a74a57

refactored touch

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 04 Feb 2012 07:05:54 -0700
parents	5af4ebe72b97
children	11bd5f0625ad

comparison

equal deleted inserted replaced

-:5af4ebe72b97
+:6fba17a74a57
 #+email: rlm@mit.edu
 #+description: Simulated touch for AI research using JMonkeyEngine and clojure.
 #+keywords: simulation, tactile sense, jMonkeyEngine3, clojure
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 * Touch
 My creatures need to be able to feel their environments. The idea here
 is to create thousands of small /touch receptors/ along the geometries
 to be outfitted with touch sensors with density proportional to the
 density of triangles along the surface of the Geometry. Enables a
 Geometry to know what parts of itself are touching nearby objects."
 {:author "Robert McIntyre"}
 (:use (cortex world util sense))
+(:use clojure.contrib.def)
 (:import com.jme3.scene.Geometry)
 (:import com.jme3.collision.CollisionResults)
 (:import jme3tools.converters.ImageToAwt)
 (:import (com.jme3.math Triangle Vector3f Ray)))
-(use 'clojure.contrib.def)
 (cortex.import/mega-import-jme3)
 (defn triangles
 "Return a sequence of all the Triangles which compose a given
 Geometry."
 (.subtract n+c (get-ray-origin geom tri))))
 ;; Every Mesh has many triangles, each with its own index.
 ;; Every vertex has its own index as well.
-(defn tactile-sensor-image
+(defn tactile-sensor-profile
 "Return the touch-sensor distribution image in BufferedImage format,
 or nil if it does not exist."
 [#^Geometry obj]
 (if-let [image-path (meta-data obj "touch")]
-(ImageToAwt/convert
+(load-image image-path)))
-(.getImage
-(.loadTexture
-(asset-manager)
-image-path))
-false false 0)))
 (defn triangle
 "Get the triangle specified by triangle-index from the mesh within
 bounds."
 [#^Mesh mesh triangle-index]
 (get point 1 0)
 (get point 2 0))))
 (take 3 points))))
 (defn convex-bounds
-;;dylan
+"Returns the smallest square containing the given vertices, as a
-"Returns the smallest square containing the given
+vector of integers [left top width height]."
-vertices, as a vector of integers [left top width height]."
-;; "Dimensions of the smallest integer bounding square of the list of
-;;  2D verticies in the form: [x y width height]."
 [uv-verts]
 (let [xs (map first uv-verts)
 ys (map second uv-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 sensors-in-triangle
-;;dylan
+"Locate the touch sensors in the triangle, returning a map of their
-"Locate the touch sensors in the triangle, returning a map of their UV and geometry-relative coordinates."
+UV and geometry-relative coordinates."
-;;"Find the locations of the touch sensors within a triangle in both
-;; UV and gemoetry relative coordinates."
 [image mesh tri-index]
 (let [width (.getWidth image)
 height (.getHeight image)
 UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
 bounds (convex-bounds UV-vertex-coords)
 (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
 UV-sensor-coords)]
 {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
 (defn-memo locate-feelers
-"Search the geometry's tactile UV image for touch sensors, returning
+"Search the geometry's tactile UV profile for touch sensors,
-their positions in geometry-relative coordinates."
+returning their positions in geometry-relative coordinates."
 [#^Geometry geo]
 (let [mesh (.getMesh geo)
 num-triangles (.getTriangleCount mesh)]
-(if-let [image (tactile-sensor-image geo)]
+(if-let [image (tactile-sensor-profile geo)]
 (map
 (partial sensors-in-triangle image mesh)
 (range num-triangles))
 (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
-(defn-memo touch-topology [#^Gemoetry geo]
+(defn-memo touch-topology
+"Return a sequence of vectors of the form [x y] describing the
+\"topology\" of the tactile sensors. Points that are close together
+in the touch-topology are generally close together in the simulation."
+[#^Gemoetry geo]
 (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
-(defn-memo feeler-coordinates [#^Geometry geo]
+(defn-memo feeler-coordinates
+"The location of the touch sensors in world-space coordinates."
+[#^Geometry geo]
 (vec (map :geometry (locate-feelers geo))))
-(defn enable-touch [#^Geometry geo]
+(defn touch-fn
+"Returns a function which returns tactile sensory data when called
+inside a running simulation."
+[#^Geometry geo]
 (let [feeler-coords (feeler-coordinates geo)
 tris (triangles geo)
 limit 0.1
 ;;results (CollisionResults.)
 ]
 (rem
 (int
 (* 255 (/ (.getDistance
 (first touch-objects)) limit)))
 256))))))))))))))
-(defn touch [#^Node pieces]
+(defn touch!
-(filter (comp not nil?)
+"Endow the creature with the sense of touch. Returns a sequence of
-(map enable-touch
+functions, one for each body part with a tactile-sensor-proile,
-(filter #(isa? (class %) Geometry)
+each of which when called returns sensory data for that body part."
-(node-seq pieces)))))
+[#^Node creature]
+(filter
+(comp not nil?)
+(map touch-fn
+(filter #(isa? (class %) Geometry)
+(node-seq creature)))))
 #+end_src

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comparison org/touch.org @ 178:6fba17a74a57