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trying to make offset cone joints
author Robert McIntyre <rlm@mit.edu>
date Wed, 04 Jan 2012 20:34:00 -0700
parents 1f84f425e05d
children 01dbdb0d5500
comparison
equal deleted inserted replaced
77:1f84f425e05d 78:77b506ac64f3
46 ;; TODO remove this! 46 ;; TODO remove this!
47 (require 'cortex.import) 47 (require 'cortex.import)
48 (cortex.import/mega-import-jme3) 48 (cortex.import/mega-import-jme3)
49 (use '(cortex world util body hearing touch vision)) 49 (use '(cortex world util body hearing touch vision))
50 50
51 (use '[clojure.contrib [seq :only [find-first]]])
52
53
54 (rlm.rlm-commands/help) 51 (rlm.rlm-commands/help)
55 52
56 (defn load-blender-model 53 (defn load-blender-model
57 "Load a .blend file using an asset folder relative path." 54 "Load a .blend file using an asset folder relative path."
58 [^String model] 55 [^String model]
64 (defn meta-data [blender-node key] 61 (defn meta-data [blender-node key]
65 (if-let [data (.getUserData blender-node "properties")] 62 (if-let [data (.getUserData blender-node "properties")]
66 (.findValue data key) 63 (.findValue data key)
67 nil)) 64 nil))
68 65
69
70 (defn hand []
71 (load-blender-model "Models/creature1/one.blend"))
72
73
74
75 (def hand-names
76 #{
77 "middle-1"
78 "middle-2"
79 "middle-3"
80 "palm"
81 "pinky-1"
82 "pinky-2"
83 "pinky-3"
84 "pointer-1"
85 "pointer-2"
86 "pointer-3"
87 "ring-1"
88 "ring-2"
89 "ring-3"
90 "thumb-1"
91 "thumb-2"})
92
93 (defn hand-pieces []
94 (filter
95 (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
96
97 (defn hand-joints []
98 (map #(.getWorldTranslation %)
99 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
100 (node-seq (hand)))))
101 (defn worm []
102 (load-blender-model "Models/creature1/try-again.blend"))
103
104
105 (defn worm-pieces []
106 (filter
107 (comp #{"worm-2" "worm-1"}
108 #(apply str (drop-last (.getName %))))
109 (node-seq (worm))))
110
111 (defn worm-joints []
112 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
113 (node-seq (worm))))
114
115 (defn bullet-trans []
116 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
117 :position (Vector3f. -10 5 0))
118 obj-b (sphere 0.5 :color ColorRGBA/Blue
119 :position (Vector3f. -10 -5 0)
120 :mass 0)
121 control-a (.getControl obj-a RigidBodyControl)
122 control-b (.getControl obj-b RigidBodyControl)
123 swivel
124 (.toRotationMatrix
125 (doto (Quaternion.)
126 (.fromAngleAxis (/ Math/PI 2)
127 Vector3f/UNIT_X)))]
128 (doto
129 (ConeJoint.
130 control-a control-b
131 (Vector3f. 0 5 0)
132 (Vector3f. 0 -5 0)
133 swivel swivel)
134 (.setLimit (* 0.6 (/ Math/PI 4))
135 (/ Math/PI 4)
136 (* Math/PI 0.8)))
137 (world (nodify
138 [obj-a obj-b])
139 standard-debug-controls
140 enable-debug
141 no-op)))
142
143
144 (defn bullet-trans* []
145 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
146 :position (Vector3f. 5 0 0)
147 :mass 90)
148 obj-b (sphere 0.5 :color ColorRGBA/Blue
149 :position (Vector3f. -5 0 0)
150 :mass 0)
151 control-a (.getControl obj-a RigidBodyControl)
152 control-b (.getControl obj-b RigidBodyControl)
153 move-up? (atom nil)
154 move-down? (atom nil)
155 move-left? (atom nil)
156 move-right? (atom nil)
157 roll-left? (atom nil)
158 roll-right? (atom nil)
159 force 100
160 swivel
161 (.toRotationMatrix
162 (doto (Quaternion.)
163 (.fromAngleAxis (/ Math/PI 2)
164 Vector3f/UNIT_X)))
165 x-move
166 (doto (Matrix3f.)
167 (.fromStartEndVectors Vector3f/UNIT_X
168 (.normalize (Vector3f. 1 1 0))))
169
170 timer (atom 0)]
171 (doto
172 (ConeJoint.
173 control-a control-b
174 (Vector3f. -8 0 0)
175 (Vector3f. 2 0 0)
176 ;;swivel swivel
177 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
178 x-move Matrix3f/IDENTITY
179 )
180 (.setCollisionBetweenLinkedBodys false)
181 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
182 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
183 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
184 (world (nodify
185 [obj-a obj-b])
186 (merge standard-debug-controls
187 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
188 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
189 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
190 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
191 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
192 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
193
194 (fn [world]
195 (enable-debug world)
196 (set-gravity world Vector3f/ZERO)
197 )
198
199 (fn [world _]
200
201 (if @move-up?
202 (.applyForce control-a
203 (Vector3f. force 0 0)
204 (Vector3f. 0 0 0)))
205 (if @move-down?
206 (.applyForce control-a
207 (Vector3f. (- force) 0 0)
208 (Vector3f. 0 0 0)))
209 (if @move-left?
210 (.applyForce control-a
211 (Vector3f. 0 force 0)
212 (Vector3f. 0 0 0)))
213 (if @move-right?
214 (.applyForce control-a
215 (Vector3f. 0 (- force) 0)
216 (Vector3f. 0 0 0)))
217
218 (if @roll-left?
219 (.applyForce control-a
220 (Vector3f. 0 0 force)
221 (Vector3f. 0 0 0)))
222 (if @roll-right?
223 (.applyForce control-a
224 (Vector3f. 0 0 (- force))
225 (Vector3f. 0 0 0)))
226
227 (if (zero? (rem (swap! timer inc) 100))
228 (.attachChild
229 (.getRootNode world)
230 (sphere 0.05 :color ColorRGBA/Yellow
231 :physical? false :position
232 (.getWorldTranslation obj-a)))))
233 )
234 ))
235
236
237
238
239
240
241
242
243
244
245
246 (defn world-setup [joint]
247 (let [top (doto
248 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
249 :position (Vector3f. 0 7 0))
250 (.addControl
251 (RigidBodyControl.
252 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
253 bottom (doto
254 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
255 :position (Vector3f. 0 -1 0))
256 (.addControl
257 (RigidBodyControl.
258 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
259 table (box 10 2 10 :position (Vector3f. 0 -6 0)
260 :color ColorRGBA/Gray :mass 0)
261 a (.getControl top RigidBodyControl)
262 b (.getControl bottom RigidBodyControl)]
263 (cond
264 (= joint :point)
265 (doto
266 (Point2PointJoint. a b
267 (Vector3f. 0 -2 0)
268 (Vector3f. 0 2 0))
269 (.setCollisionBetweenLinkedBodys false))
270 (= joint :hinge)
271 (doto
272 (HingeJoint.
273 a b
274 (Vector3f. 0 -2 0)
275 (Vector3f. 0 2 0)
276 (Vector3f. 0 0 1)
277 (Vector3f. 0 0 1)
278
279 )
280 (.setCollisionBetweenLinkedBodys false)
281 ;;(.setLimit (- Math/PI) Math/PI)
282 )
283 (= joint :cone)
284 ;; note to self -- jbullet does NOT implement cone joints
285 ;; correctly. You must use plain ol' bullet for this to work.
286 ;; It's faster anyway, so whatever.
287
288 (doto (ConeJoint.
289 a b
290 (Vector3f. 0 -5 0)
291 (Vector3f. 0 2 0)
292
293 (doto (Matrix3f.)
294 (.fromStartEndVectors Vector3f/UNIT_X
295 Vector3f/UNIT_Y))
296 (doto (Matrix3f.)
297 (.fromStartEndVectors Vector3f/UNIT_X
298 Vector3f/UNIT_Y))
299 )
300 ;;(.setAngularOnly true)
301
302 (.setCollisionBetweenLinkedBodys false)
303 (.setLimit (* 1 (/ Math/PI 4))
304 (* 1 (/ Math/PI 4))
305 (* 0 (/ Math/PI 4)))
306
307 )
308 (= joint :six)
309 (doto
310 (SixDofJoint.
311 a b
312 (Vector3f. 0 -2 0)
313 (Vector3f. 0 2 0)
314 ;;(doto (Matrix3f.)
315 ;; (.fromStartEndVectors Vector3f/UNIT_X
316 ;; Vector3f/UNIT_Y))
317 ;;(doto (Matrix3f.)
318 ;; (.fromStartEndVectors Vector3f/UNIT_X
319 ;; Vector3f/UNIT_Y))
320 true)
321 (.setCollisionBetweenLinkedBodys false)
322 (.setAngularLowerLimit (Vector3f. 0
323 (- (/ Math/PI 2))
324 0))
325
326 (.setAngularUpperLimit (Vector3f. 0
327 (/ Math/PI 2)
328 0))
329 (.setLinearLowerLimit (Vector3f. 0 0 0))
330 (.setLinearUpperLimit (Vector3f. 0 0 0))
331
332 )
333
334
335
336
337
338 )
339
340 [top bottom table]))
341
342 (defn speed-up [world]
343 (.setMoveSpeed (.getFlyByCamera world)
344 (float 100))
345 (.setRotationSpeed (.getFlyByCamera world)
346 (float 20))
347 world)
348
349
350 (defn test-joint [joint]
351 (let [[top bottom floor] (world-setup joint)
352 control (.getControl top RigidBodyControl)
353 move-up? (atom false)
354 move-down? (atom false)
355 move-left? (atom false)
356 move-right? (atom false)
357 roll-left? (atom false)
358 roll-right? (atom false)
359 timer (atom 0)]
360
361 (world
362 (nodify [top bottom floor])
363 (merge standard-debug-controls
364 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
365 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
366 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
367 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
368 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
369 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
370
371 (fn [world]
372 (light-up-everything world)
373 (enable-debug world)
374 (set-gravity world (Vector3f. 0 0 0))
375 )
376
377 (fn [world _]
378 (if (zero? (rem (swap! timer inc) 100))
379 (do
380 ;; (println-repl @timer)
381 (.attachChild (.getRootNode world)
382 (sphere 0.05 :color ColorRGBA/Yellow
383 :position (.getWorldTranslation top)
384 :physical? false))))
385 (if @move-up?
386 (.applyTorque control
387 (.mult (.getPhysicsRotation control)
388 (Vector3f. 0 0 10))))
389 (if @move-down?
390 (.applyTorque control
391 (.mult (.getPhysicsRotation control)
392 (Vector3f. 0 0 -10))))
393 (if @move-left?
394 (.applyTorque control
395 (.mult (.getPhysicsRotation control)
396 (Vector3f. 0 10 0))))
397 (if @move-right?
398 (.applyTorque control
399 (.mult (.getPhysicsRotation control)
400 (Vector3f. 0 -10 0))))
401 (if @roll-left?
402 (.applyTorque control
403 (.mult (.getPhysicsRotation control)
404 (Vector3f. -1 0 0))))
405 (if @roll-right?
406 (.applyTorque control
407 (.mult (.getPhysicsRotation control)
408 (Vector3f. 1 0 0))))))))
409
410
411
412 (defn run [joint] (.start (test-joint joint)))
413 (defn look [joint] (view (nodify (world-setup joint))))
414
415 (defn blender-to-jme 66 (defn blender-to-jme
416 "Convert from Blender coordinates to JME coordinates" 67 "Convert from Blender coordinates to JME coordinates"
417 [#^Vector3f in] 68 [#^Vector3f in]
418 (Vector3f. (.getX in) 69 (Vector3f. (.getX in)
419 (.getZ in) 70 (.getZ in)
420 (- (.getY in)))) 71 (- (.getY in))))
421
422 72
423 (defn joint-targets 73 (defn joint-targets
424 "Return the two closest two objects to the joint object, ordered 74 "Return the two closest two objects to the joint object, ordered
425 from bottom to top according to the joint's rotation." 75 from bottom to top according to the joint's rotation."
426 [#^Node parts #^Node joint] 76 [#^Node parts #^Node joint]
452 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)} 102 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
453 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints) 103 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
454 104
455 {:type :cone :limit-xz 0] 105 {:type :cone :limit-xz 0]
456 :limit-yz 0] 106 :limit-yz 0]
457 :twist 0]} 107 :twist 0]}"
458 "
459 ([#^Node obj-a #^Node obj-b #^Node joint] 108 ([#^Node obj-a #^Node obj-b #^Node joint]
460 (let [center-a (.getWorldTranslation obj-a) 109 (let [center-a (.getWorldTranslation obj-a)
461 center-b (.getWorldTranslation obj-b) 110 center-b (.getWorldTranslation obj-b)
462 joint-center (.getWorldTranslation joint) 111 joint-center (.getWorldTranslation joint)
463 pivot-a (.subtract joint-center center-a) 112 pivot-a (.subtract joint-center center-a)
470 ;; when the simulation is started. 119 ;; when the simulation is started.
471 (if-let [constraints 120 (if-let [constraints
472 (map-vals 121 (map-vals
473 eval 122 eval
474 (read-string 123 (read-string
475 (meta-data (first (worm-joints)) "joint")))] 124 (meta-data joint "joint")))]
476 125
477 (let [joint-type (:type constraints)] 126 (let [joint-type (:type constraints)]
127 (println-repl "creating joint between"
128 (.getName obj-a) "and" (.getName obj-b))
478 (cond (= :point joint-type) 129 (cond (= :point joint-type)
479 (do 130 (do
480 (println-repl "creating POINT joint") 131 (println-repl "creating POINT joint")
481 (Point2PointJoint. 132 (Point2PointJoint.
482 control-a 133 control-a
533 (.setLimit (float limit-xy) 184 (.setLimit (float limit-xy)
534 (float limit-yz) 185 (float limit-yz)
535 (float twist))))) 186 (float twist)))))
536 true 187 true
537 (println-repl 188 (println-repl
538 "joint-type " joint-type " not recognized"))) 189 "joint-type" joint-type "not recognized")))
539 190
540 (println-repl "could not find joint meta-data!"))))) 191 (println-repl "could not find joint meta-data!")))))
541 192
542 193 (defn assemble-creature [#^Node pieces joints]
543
544 (defn physical-worm [#^Node pieces joints]
545 (dorun 194 (dorun
546 (map 195 (map
547 (fn [geom] 196 (fn [geom]
548 (let [physics-control 197 (let [physics-control
549 (RigidBodyControl. 198 (RigidBodyControl.
550 (HullCollisionShape. 199 (HullCollisionShape.
551 (.getMesh geom)) 200 (.getMesh geom))
552 (if-let [mass (meta-data geom "mass")] 201 (if-let [mass (meta-data geom "mass")]
553 (do 202 (do
554 (println-repl 203 (println-repl
555 "setting mass to " (float mass)) 204 "setting" (.getName geom) "mass to" (float mass))
556 (float mass)) 205 (float mass))
557 (float 1)))] 206 (float 1)))]
558 207
559 (.addControl geom physics-control))) 208 (.addControl geom physics-control)))
560 (filter #(isa? (class %) Geometry ) 209 (filter #(isa? (class %) Geometry )
567 (joint-targets pieces joint)] 216 (joint-targets pieces joint)]
568 (connect obj-a obj-b joint))) 217 (connect obj-a obj-b joint)))
569 joints)) 218 joints))
570 pieces) 219 pieces)
571 220
572 (defn the-worm [] 221 (defn blender-creature [blender-path]
573 (physical-worm (worm) (worm-joints))) 222 (let [model (load-blender-model blender-path)
574 223 joints
575 (defn test-worm [] 224 (if-let [joint-node (.getChild model "joints")]
225 (seq (.getChildren joint-node))
226 (do (println-repl "could not find joints node")
227 []))]
228 (assemble-creature model joints)))
229
230 (def hand "Models/creature1/one.blend")
231
232 (def worm "Models/creature1/try-again.blend")
233
234 (defn test-creature [thing]
576 (world 235 (world
577 (nodify [(the-worm) 236 (nodify [(blender-creature thing)
578 (box 10 2 10 :position (Vector3f. 0 -5 0) 237 (box 10 2 10 :position (Vector3f. 0 -5.5 0)
579 :color ColorRGBA/Gray :mass 0)]) 238 :color ColorRGBA/Gray :mass 0)])
580 standard-debug-controls 239 standard-debug-controls
581 (comp light-up-everything enable-debug 240 (comp light-up-everything enable-debug
582 (fn [world] 241 (fn [world]
583 (.setTimer world (NanoTimer.)) 242 (.setTimer world (NanoTimer.))
243 ;;(set-gravity world (Vector3f. 0 0 0))
584 (speed-up world) 244 (speed-up world)
585 ;;(set-gravity world (Vector3f. 0 0 0))
586 world 245 world
587 )) 246 ))
588 no-op)) 247 no-op))
589 248
249 (defn world-setup [joint]
250 (let [top (doto
251 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
252 :position (Vector3f. 0 7 0))
253 (.addControl
254 (RigidBodyControl.
255 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
256 bottom (doto
257 (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
258 :position (Vector3f. 0 -1 0))
259 (.addControl
260 (RigidBodyControl.
261 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
262 table (box 10 2 10 :position (Vector3f. 0 -6 0)
263 :color ColorRGBA/Gray :mass 0)
264 a (.getControl top RigidBodyControl)
265 b (.getControl bottom RigidBodyControl)]
266 (cond
267 (= joint :point)
268 (doto
269 (Point2PointJoint. a b
270 (Vector3f. 0 -2 0)
271 (Vector3f. 0 2 0))
272 (.setCollisionBetweenLinkedBodys false))
273 (= joint :hinge)
274 (doto
275 (HingeJoint.
276 a b
277 (Vector3f. 0 -2 0)
278 (Vector3f. 0 2 0)
279 (Vector3f. 0 0 1)
280 (Vector3f. 0 0 1)
281
282 )
283 (.setCollisionBetweenLinkedBodys false)
284 ;;(.setLimit (- Math/PI) Math/PI)
285 )
286 (= joint :cone)
287 ;; note to self -- jbullet does NOT implement cone joints
288 ;; correctly. You must use plain ol' bullet for this to work.
289 ;; It's faster anyway, so whatever.
290
291 (doto (ConeJoint.
292 a b
293 (Vector3f. 0 -5 0)
294 (Vector3f. 0 2 0)
295
296 (doto (Matrix3f.)
297 (.fromStartEndVectors Vector3f/UNIT_X
298 Vector3f/UNIT_Y))
299 (doto (Matrix3f.)
300 (.fromStartEndVectors Vector3f/UNIT_X
301 (.normalize
302 (Vector3f. 5 5 0))))
303 )
304 ;;(.setAngularOnly true)
305
306 (.setCollisionBetweenLinkedBodys false)
307 (.setLimit (* 1 (/ Math/PI 4))
308 (* 1 (/ Math/PI 2))
309 (* 0 (/ Math/PI 4)))
310
311 )
312 (= joint :six)
313 (doto
314 (SixDofJoint.
315 a b
316 (Vector3f. 0 -2 0)
317 (Vector3f. 0 2 0)
318 ;;(doto (Matrix3f.)
319 ;; (.fromStartEndVectors Vector3f/UNIT_X
320 ;; Vector3f/UNIT_Y))
321 ;;(doto (Matrix3f.)
322 ;; (.fromStartEndVectors Vector3f/UNIT_X
323 ;; Vector3f/UNIT_Y))
324 true)
325 (.setCollisionBetweenLinkedBodys false)
326 (.setAngularLowerLimit (Vector3f. 0
327 (- (/ Math/PI 2))
328 0))
329
330 (.setAngularUpperLimit (Vector3f. 0
331 (/ Math/PI 2)
332 0))
333 (.setLinearLowerLimit (Vector3f. 0 0 0))
334 (.setLinearUpperLimit (Vector3f. 0 0 0))
335
336 )
337
338
339
340
341
342 )
343
344 [top bottom table]))
345
346
347 (defn test-joint [joint]
348 (let [[top bottom floor] (world-setup joint)
349 control (.getControl top RigidBodyControl)
350 move-up? (atom false)
351 move-down? (atom false)
352 move-left? (atom false)
353 move-right? (atom false)
354 roll-left? (atom false)
355 roll-right? (atom false)
356 timer (atom 0)]
357
358 (world
359 (nodify [top bottom floor])
360 (merge standard-debug-controls
361 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
362 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
363 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
364 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
365 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
366 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
367
368 (fn [world]
369 (light-up-everything world)
370 (enable-debug world)
371 (set-gravity world (Vector3f. 0 0 0))
372 )
373
374 (fn [world _]
375 (if (zero? (rem (swap! timer inc) 100))
376 (do
377 ;; (println-repl @timer)
378 (.attachChild (.getRootNode world)
379 (sphere 0.05 :color ColorRGBA/Yellow
380 :position (.getWorldTranslation top)
381 :physical? false))))
382 (if @move-up?
383 (.applyTorque control
384 (.mult (.getPhysicsRotation control)
385 (Vector3f. 0 0 10))))
386 (if @move-down?
387 (.applyTorque control
388 (.mult (.getPhysicsRotation control)
389 (Vector3f. 0 0 -10))))
390 (if @move-left?
391 (.applyTorque control
392 (.mult (.getPhysicsRotation control)
393 (Vector3f. 0 10 0))))
394 (if @move-right?
395 (.applyTorque control
396 (.mult (.getPhysicsRotation control)
397 (Vector3f. 0 -10 0))))
398 (if @roll-left?
399 (.applyTorque control
400 (.mult (.getPhysicsRotation control)
401 (Vector3f. -1 0 0))))
402 (if @roll-right?
403 (.applyTorque control
404 (.mult (.getPhysicsRotation control)
405 (Vector3f. 1 0 0))))))))
590 #+end_src 406 #+end_src
591 407
592 #+results: body-1 408
593 : #'cortex.silly/test-try-again 409 * COMMENT purgatory
594 410 #+begin_src clojure
411 (defn bullet-trans []
412 (let [obj-a (sphere 0.5 :color ColorRGBA/Red
413 :position (Vector3f. -10 5 0))
414 obj-b (sphere 0.5 :color ColorRGBA/Blue
415 :position (Vector3f. -10 -5 0)
416 :mass 0)
417 control-a (.getControl obj-a RigidBodyControl)
418 control-b (.getControl obj-b RigidBodyControl)
419 swivel
420 (.toRotationMatrix
421 (doto (Quaternion.)
422 (.fromAngleAxis (/ Math/PI 2)
423 Vector3f/UNIT_X)))]
424 (doto
425 (ConeJoint.
426 control-a control-b
427 (Vector3f. 0 5 0)
428 (Vector3f. 0 -5 0)
429 swivel swivel)
430 (.setLimit (* 0.6 (/ Math/PI 4))
431 (/ Math/PI 4)
432 (* Math/PI 0.8)))
433 (world (nodify
434 [obj-a obj-b])
435 standard-debug-controls
436 enable-debug
437 no-op)))
438
439
440 (defn bullet-trans* []
441 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
442 :position (Vector3f. 5 0 0)
443 :mass 90)
444 obj-b (sphere 0.5 :color ColorRGBA/Blue
445 :position (Vector3f. -5 0 0)
446 :mass 0)
447 control-a (.getControl obj-a RigidBodyControl)
448 control-b (.getControl obj-b RigidBodyControl)
449 move-up? (atom nil)
450 move-down? (atom nil)
451 move-left? (atom nil)
452 move-right? (atom nil)
453 roll-left? (atom nil)
454 roll-right? (atom nil)
455 force 100
456 swivel
457 (.toRotationMatrix
458 (doto (Quaternion.)
459 (.fromAngleAxis (/ Math/PI 2)
460 Vector3f/UNIT_X)))
461 x-move
462 (doto (Matrix3f.)
463 (.fromStartEndVectors Vector3f/UNIT_X
464 (.normalize (Vector3f. 1 1 0))))
465
466 timer (atom 0)]
467 (doto
468 (ConeJoint.
469 control-a control-b
470 (Vector3f. -8 0 0)
471 (Vector3f. 2 0 0)
472 ;;swivel swivel
473 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
474 x-move Matrix3f/IDENTITY
475 )
476 (.setCollisionBetweenLinkedBodys false)
477 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
478 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
479 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
480 (world (nodify
481 [obj-a obj-b])
482 (merge standard-debug-controls
483 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
484 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
485 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
486 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
487 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
488 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
489
490 (fn [world]
491 (enable-debug world)
492 (set-gravity world Vector3f/ZERO)
493 )
494
495 (fn [world _]
496
497 (if @move-up?
498 (.applyForce control-a
499 (Vector3f. force 0 0)
500 (Vector3f. 0 0 0)))
501 (if @move-down?
502 (.applyForce control-a
503 (Vector3f. (- force) 0 0)
504 (Vector3f. 0 0 0)))
505 (if @move-left?
506 (.applyForce control-a
507 (Vector3f. 0 force 0)
508 (Vector3f. 0 0 0)))
509 (if @move-right?
510 (.applyForce control-a
511 (Vector3f. 0 (- force) 0)
512 (Vector3f. 0 0 0)))
513
514 (if @roll-left?
515 (.applyForce control-a
516 (Vector3f. 0 0 force)
517 (Vector3f. 0 0 0)))
518 (if @roll-right?
519 (.applyForce control-a
520 (Vector3f. 0 0 (- force))
521 (Vector3f. 0 0 0)))
522
523 (if (zero? (rem (swap! timer inc) 100))
524 (.attachChild
525 (.getRootNode world)
526 (sphere 0.05 :color ColorRGBA/Yellow
527 :physical? false :position
528 (.getWorldTranslation obj-a)))))
529 )
530 ))
531
532
533
534 #+end_src
595 535
596 536
597 * COMMENT generate source 537 * COMMENT generate source
598 #+begin_src clojure :tangle ../src/cortex/silly.clj 538 #+begin_src clojure :tangle ../src/cortex/silly.clj
599 <<body-1>> 539 <<body-1>>