cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 102:7eeb940bcbc8

data format for touch implemented

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 14 Jan 2012 20:44:13 -0700
parents	65332841b7d9
children	85ee8bb80edf

comparison

equal deleted inserted replaced

-:65332841b7d9
+:7eeb940bcbc8
 (.repaint panel 0 0 (.getWidth i) (.getHeight i)))))
 (defn points->image
 "Take a sparse collection of points and visuliaze it as a
 BufferedImage."
+;; TODO maybe parallelize this since it's easy
 [points]
 (let [xs (vec (map first points))
 ys (vec (map second points))
 x0 (apply min xs)
 y0 (apply min ys)
 (for [index (range (count points))]
 (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
 image))
-;;(defn visualize [points]
 (defn test-data
 []
 (vec
-(for [a (range 0 100 2)
+(for [a (range 0 1000 2)
-b (range 0 100 2)]
+b (range 0 1000 2)]
 (vector a b))
 ))
 (defn average [coll]
 (/ (reduce + coll) (count coll)))
 contigous bitmap."
 [points]
 (let
 [num-points (count points)
 center (vector
-(average (map first points))
+(int (average (map first points)))
-(average (map first points)))
+(int (average (map first points))))
 flattened
 (reduce
 concat
 (map
 (fn [column]
 (fn [row]
 (map vector
 (collapse-1d (first center)
 (map first row))
 (map second row)))
-(partition-by second (sort-by second flattened))))]
+(partition-by second (sort-by second flattened))))
-squeezed
+;;vi (view-image)
+relocate
+(let [min-x (apply min (map first squeezed))
+min-y (apply min (map second squeezed))]
+(map (fn [[x y]]
+[(- x min-x)
+(- y min-y)])
+squeezed))
+]
+;;(vi (points->image points))
+;;(Thread/sleep 1000)
+;;(vi (points->image flattened))
+;;(Thread/sleep 1000)
+;;(vi (points->image squeezed))
+relocate
 ))
 (defn load-bullet []
 (let [sim (world (Node.) {} no-op no-op)]
-(.enqueue
+(doto sim
-sim
+(.enqueue
 (fn []
 (.stop sim)))
-(.start sim)))
+(.start))))
 (defn load-blender-model
 "Load a .blend file using an asset folder relative path."
 [^String model]
 (.loadModel
 (defn white-coordinates
 "List the coordinates of all the white pixels in an image."
 [#^ImageProcessor ip]
 (filter-pixels #(= % white) ip))
-(defn same-side? [p1 p2 ref p]
+(defn same-side?
+"Given the points p1 and p2 and the reference point ref, is point p
+on the same side of the line that goes through p1 and p2 as ref is?"
+[p1 p2 ref p]
 (<=
 0
 (.dot
 (.cross (.subtract p2 p1) (.subtract p p1))
 (.cross (.subtract p2 p1) (.subtract ref p1)))))
 (defn triangle->matrix4f
 "Converts the triangle into a 4x4 matrix of vertices: The first
 three columns contain the vertices of the triangle; the last
 contains the unit normal of the triangle. The bottom row is filled
 (let [mat (Matrix4f.)
 [vert-1 vert-2 vert-3]
 ((comp vec map) #(.get t %) (range 3))
 unit-normal (do (.calculateNormal t)(.getNormal t))
 vertices [vert-1 vert-2 vert-3 unit-normal]]
 (dorun
 (for [row (range 4) col (range 3)]
 (do
 (.set mat col row (.get (vertices row)col))
 (.set mat 3 row 1))))
 (Vector3f. 0 1 0)))
 (defn vector2f->vector3f [v]
 (Vector3f. (.getX v) (.getY v) 0))
 (extend-type Triangle
 Textual
 (text [t]
 (println "Triangle: " \newline (.get1 t) \newline
 (.get2 t) \newline (.get3 t))))
 (defn map-triangle [f #^Triangle tri]
 (Triangle.
 (f 0 (.get1 tri))
 (f 1 (.get2 tri))
 (apply #(Triangle. %1 %2 %3)
 (map vector2f->vector3f
 (tri-uv-coord mesh tri))))
 (defn pixel-triangle
-"Convert the mesh triange into the corresponding triangle in
+"Convert the mesh triangle into the corresponding triangle in
 UV-pixel-space. Z compenent will be zero."
 [#^Mesh mesh #^Triangle tri width height]
 (map-triangle (fn [_ v]
 (Vector3f. (* width (.getX v))
 (* height (.getY v))
 Assumes that the triangle lies in the XY plane."
 [#^Triangle tri]
 (let [verts (map vector3f-seq (triangle-seq tri))
 x (apply min (map first verts))
 y (apply min (map second verts))]
 [x y
 (- (apply max (map first verts)) x)
 (- (apply max (map second verts)) y)
 ]))
 their positions in geometry-relative coordinates."
 [#^Geometry geo]
 (if-let [image (touch-receptor-image geo)]
 (let [mesh (.getMesh geo)
 tris (triangles geo)
 width (.getWidth image)
 height (.getHeight image)
 ;; for each triangle
 sensor-coords
 ;; translate pixel coordinates to world-space
 transform (triangle-transformation cutout-tri tri)]
 (map #(.mult transform %) whites))))]
 (vec (map sensor-coords tris)))
 (repeat (count (triangles geo)) [])))
+(use 'clojure.contrib.def)
+(defn-memo touch-topology [#^Gemoetry geo]
+(let [feeler-coords
+(map
+#(vector (int (.getX %)) (int (.getY %)))
+(white-coordinates
+(.getProcessor (touch-receptor-image (colorful)))))]
+(vec (collapse feeler-coords))))
 (defn enable-touch [#^Geometry geo]
 (let [feeler-coords (locate-feelers geo)
 tris (triangles geo)
 limit 0.1]
 (fn [node]
 (flatten
 (map (fn [origins norm]
 (map #(doto (Ray. % norm)
 (.setLimit limit)) origins))
 sensor-origins triangle-normals))]
-(for [ray rays]
+(vector
-(do
+(touch-topology geo)
-(let [results (CollisionResults.)]
+(vec
-(.collideWith node ray results)
+(for [ray rays]
-(let [touch-objects
+(do
-(set
+(let [results (CollisionResults.)]
-(filter #(not (= geo %))
+(.collideWith node ray results)
-(map #(.getGeometry %) results)))]
+(let [touch-objects
-(if (> (count touch-objects) 0)
+(set
-1 0)))))))))
+(filter #(not (= geo %))
+(map #(.getGeometry %) results)))]
+(if (> (count touch-objects) 0)
+1 0)))))))))))
 (defn touch [#^Node pieces]
-(let [touch-components
+(map enable-touch
-(map enable-touch
+(filter #(isa? (class %) Geometry)
-(filter #(isa? (class %) Geometry)
+(node-seq pieces))))
-(node-seq pieces)))]
-(fn [node]
-(reduce into [] (map #(% node) touch-components)))))
 (defn all-names []
 (concat
 (re-split #"\n" (slurp (file-str
 "/home/r/proj/names/dist.female.first")))
 (map vector2f->vector3f
 (white-coordinates cutout)))
 ;; translate pixel coordinates to world-space
 transform (triangle-transformation cutout-tri tri)]
 (map #(.mult transform %) whites))))]
 (for [mesh-tri mesh-tris]
 (let [uv-tri (rasterize mesh mesh-tri width height)
 bounding-box (vec (triangle-bounds uv-tri))]
 (apply (partial (memfn setRoi) uv-image) bounding-box)

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comparison org/test-creature.org @ 102:7eeb940bcbc8