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First stab at blender muscles. (gee that sounds a little violent...)
author Robert McIntyre <rlm@mit.edu>
date Fri, 03 Feb 2012 00:48:34 -0700
parents 68226790d1fa
children 511112c44b16
comparison
equal deleted inserted replaced
146:68226790d1fa 147:72801a20b8e5
78 appropiate -- 1/2 day 78 appropiate -- 1/2 day
79 - [ ] muscle control -- day 79 - [ ] muscle control -- day
80 - [X] proprioception sensor map in the style of the other senses -- day 80 - [X] proprioception sensor map in the style of the other senses -- day
81 - [ ] refactor integration code to distribute to each of the senses 81 - [ ] refactor integration code to distribute to each of the senses
82 -- day 82 -- day
83 - [ ] create video showing all the senses for Winston -- 2 days 83 - [ ] create video showing all the senses for Winston -- 2 days
84 - [ ] send package to friends for critiques -- 2 days
84 - [ ] write summary of project for Winston \ 85 - [ ] write summary of project for Winston \
85 - [ ] project proposals for Winston \ 86 - [ ] project proposals for Winston \
86 - [ ] additional senses to be implemented for Winston | -- 2 days 87 - [ ] additional senses to be implemented for Winston | -- 2 days
87 - [ ] send Winston package / 88 - [ ] send Winston package /
88 89
1075 ;; I don't know how to encode proprioception, so for now, just return 1076 ;; I don't know how to encode proprioception, so for now, just return
1076 ;; a function for each joint that returns a triplet of floats which 1077 ;; a function for each joint that returns a triplet of floats which
1077 ;; represent relative roll, pitch, and yaw. Write display code for 1078 ;; represent relative roll, pitch, and yaw. Write display code for
1078 ;; this though. 1079 ;; this though.
1079 1080
1080 (defn muscle-fibre-values 1081 (defn muscle-fiber-values
1081 "Take the first row of the image and return the low-order bytes." 1082 "get motor pool strengths"
1082 [#^BufferedImage image] 1083 [#^BufferedImage image]
1083 (let [width (.getWidth image)] 1084 (vec
1084 (for [x (range width)] 1085 (let [width (.getWidth image)]
1085 (bit-and 1086 (for [x (range width)]
1086 0xFF 1087 (- 255
1087 (.getRGB image x 0))))) 1088 (bit-and
1089 0x0000FF
1090 (.getRGB image x 0)))))))
1091
1092
1093 (defn creature-muscles
1094 "Return the children of the creature's \"muscles\" node."
1095 [#^Node creature]
1096 (if-let [muscle-node (.getChild creature "muscles")]
1097 (seq (.getChildren muscle-node))
1098 (do (println-repl "could not find muscles node") [])))
1099
1100 (defn single-muscle [#^Node parts #^Node muscle]
1101 (let [target (closest-node parts muscle)
1102 axis
1103 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
1104 strength (meta-data muscle "strength")
1105 image-name (read-string (meta-data muscle "muscle"))
1106 image
1107 (ImageToAwt/convert
1108 (.getImage (.loadTexture (asset-manager) image-name))
1109 false false 0)
1110 fibers (muscle-fiber-values image)
1111 fiber-integral (reductions + fibers)
1112 force-index (vec
1113 (map
1114 #(float (* strength (/ % (last
1115 fiber-integral))))
1116 fiber-integral))
1117 control (.getControl target RigidBodyControl)]
1118 (fn [n]
1119 (let [pool-index (min n (count fibers))]
1120 (.applyTorque control (force-index n))))))
1121
1122
1123 (defn enable-muscles
1124 "Must be called on a creature after RigidBodyControls have been
1125 created."
1126 [#^Node creature]
1127 (let [muscles (creature-muscles creature)]
1128 (for [muscle muscles]
1129 (single-muscle creature muscle))))
1088 1130
1089 (defn test-creature [thing] 1131 (defn test-creature [thing]
1090 (let [x-axis 1132 (let [x-axis
1091 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red) 1133 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
1092 y-axis 1134 y-axis