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initial import: I've made hearing and vision, and am working on touch.
author Robert McIntyre <rlm@mit.edu>
date Sun, 16 Oct 2011 05:12:19 -0700
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children 4588025678b0
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-1:000000000000 0:92f8d83b5d0b
1 #+title: SKIN!
2 #+author: Robert McIntyre
3 #+email: rlm@mit.edu
4 #+MATHJAX: align:"left" mathml:t path:"../aurellem/src/MathJax/MathJax.js"
5 #+STYLE: <link rel="stylesheet" type="text/css" href="../aurellem/src/css/aurellem.css"/>
6 #+BABEL: :exports both :noweb yes :cache no :mkdirp yes
7 #+INCLUDE: ../aurellem/src/templates/level-0.org
8 #+description: Simulating touch in JMonkeyEngine
9
10
11
12
13 * skin!
14
15 #+srcname: skin-main
16 #+begin_src clojure
17 (ns body.skin)
18 (use 'cortex.world)
19 (use 'cortex.import)
20 (use 'clojure.contrib.def)
21 (cortex.import/mega-import-jme3)
22 (rlm.rlm-commands/help)
23
24 (import java.util.logging.Level)
25 (import java.util.logging.Logger)
26
27
28
29 ;; looks like we can use GhostControls for implementing touch.
30 ;; for example:
31 (def rc (GhostControl. (BoxCollisionShape. (Vector3f. 2 2 2))))
32 (def shifted-sphere
33 (doto (CompoundCollisionShape.)
34 (.addChildShape (SphereCollisionShape. 3) (Vector3f. 1 0 0))))
35
36 (def gc (GhostControl. shifted-sphere))
37 (def b (box 1 1 1 :mass 1))
38 (.addControl b rc)
39 (.addControl b gc)
40
41
42 (defn looksies! []
43 (view b))
44
45 ;; overlapping objects can be gotten via =.getOverlappingCount= and
46 ;; =.getOverlappingObjects=
47
48 ;; looks like I might be able to place a small "touch-sphere" whther
49 ;; on every triangle in the object's mesh, or at the verticies, using
50 ;; .getTriangleCount() on the mesh gotten by .getMesh()
51
52 ;; this way, I can create a mesh and just divide up it's faces using
53 ;; blender, and this will create the touch sensor distribution.
54
55
56 (defn make-touch-sphere [#^Geometry geom]
57 (let [tri (Triangle.)
58 mesh (.getMesh geom)
59 controls! (transient [])]
60 (dorun
61 (for [n (range (.getTriangleCount mesh))]
62 (do
63 (.getTriangle mesh n tri)
64 (.calculateCenter tri)
65 (let [control
66 (doto
67 (GhostControl.
68 (doto (CompoundCollisionShape.)
69 (.addChildShape
70 (SphereCollisionShape. (float 0.1))
71 (.mult (.getCenter tri) (float 1)))
72 (.setMargin -0.1)))
73 (.setApplyPhysicsLocal true))]
74
75 (.addControl geom control)
76 (conj! controls! control)))))
77 (persistent! controls!)))
78
79
80 (defn make-touch [#^Geometry geom]
81 (let [tri (Triangle.)
82 mesh (.getMesh geom)
83 controls! (transient [])]
84 (dorun
85 (for [n (range (.getTriangleCount mesh))]
86 (do
87 (.getTriangle mesh n tri)
88 (.calculateCenter tri)
89 (.calculateNormal tri)
90 (println-repl tri)
91 (println-repl (.get1 tri))
92 (println-repl (.get2 tri))
93 (println-repl (.get3 tri))
94 (println-repl (.getCenter tri))
95 (println-repl (.getNormal tri))
96 (let [control
97 (doto
98 (GhostControl.
99
100 (doto (CompoundCollisionShape.)
101 (.addChildShape
102 (SimplexCollisionShape. Vector3f/ZERO)
103 (.mult (.getCenter tri) (float 1)))
104 (.setMargin 0)
105 ))
106 (.setApplyPhysicsLocal true))]
107
108 (.addControl geom control)
109 (conj! controls! control)))))
110 (persistent! controls!)))
111
112 (defn make-fucked-touch [#^Geometry geom]
113 (let [tri (Triangle.)
114 mesh (.getMesh geom)
115 controls! (transient [])]
116 (dorun
117 (for [n (range (.getTriangleCount mesh))]
118 (do
119 (.getTriangle mesh n tri)
120 (.calculateCenter tri)
121 (.calculateNormal tri)
122 (println-repl tri)
123 (println-repl (.get1 tri))
124 (println-repl (.get2 tri))
125 (println-repl (.get3 tri))
126 (println-repl (.getCenter tri))
127 (println-repl (.getNormal tri))
128 (let [control1
129 (doto
130 (GhostControl.
131 (doto (CompoundCollisionShape.)
132 (.addChildShape
133 (SimplexCollisionShape. Vector3f/ZERO)
134 (.get1 tri))))
135 (.setApplyPhysicsLocal true))]
136
137 (.addControl geom control1)
138 (conj! controls! control1)
139 )
140
141 ;; (let [control1
142 ;; (doto
143 ;; (GhostControl.
144 ;; (doto (CompoundCollisionShape.)
145 ;; (.addChildShape
146 ;; (SimplexCollisionShape. Vector3f/ZERO)
147 ;; (.get2 tri))))
148 ;; (.setApplyPhysicsLocal true))]
149
150 ;; (.addControl geom control1)
151 ;; (conj! controls! control1)
152 ;; )
153
154 ;; (let [control1
155 ;; (doto
156 ;; (GhostControl.
157 ;; (doto (CompoundCollisionShape.)
158 ;; (.addChildShape
159 ;; (SimplexCollisionShape. Vector3f/ZERO)
160 ;; (.get3 tri))))
161 ;; (.setApplyPhysicsLocal true))]
162
163 ;; (.addControl geom control1)
164 ;; (conj! controls! control1)
165
166 )))
167 (persistent! controls!)))
168
169
170
171 (use 'hello.brick-wall)
172
173 (defn touch-reception [controls]
174 (let [control
175 (first
176 (filter
177 #(< 2 (.getOverlappingCount %)) controls))]
178 (if (not (nil? control))
179 (println
180 (seq
181 (.getOverlappingObjects control))))))
182
183 (defn touch-print [controls]
184 (println
185 (map #(count (.getNonGhostOverlappingObjects %)) controls)))
186
187 (defn set-debug-color [#^ColorRGBA color #^GhostControl gc]
188 (.setColor (.getMaterial (.getChild (.getDebugShape gc) 0)) "Color" color))
189
190 (defn html-color [html-str]
191 ((fn [[r g b]] (ColorRGBA. r g b (float 1)))
192 (map #(float (/ (Integer/parseInt % 16) 255))
193 (map (partial apply str) (partition 2 html-str)))))
194
195
196 (defn color-touch [controls]
197 (no-exceptions
198 (dorun
199 (map
200 (fn [control]
201 (case (count (.getNonGhostOverlappingObjects control))
202 0 (set-debug-color ColorRGBA/Gray control)
203 1 (set-debug-color ColorRGBA/Blue control)
204 2 (set-debug-color ColorRGBA/Green control)
205 3 (set-debug-color ColorRGBA/Yellow control)
206 4 (set-debug-color ColorRGBA/Orange control)
207 5 (set-debug-color ColorRGBA/Red control)
208 6 (set-debug-color ColorRGBA/Magenta control)
209 7 (set-debug-color ColorRGBA/Pink control)
210 8 (set-debug-color ColorRGBA/White control)))
211 controls))))
212
213 (defn enable-debug [world]
214 (.enableDebug
215 (.getPhysicsSpace
216 (.getState
217 (.getStateManager world)
218 BulletAppState))
219 (asset-manager)))
220
221 (def with-debug
222 '(1 1 1 1 0 1 2 0 2 0 1 1 1 1 0 2 0 2 2 1 0 0 0 1 0 0 0 0 1 0))
223 (def no-debug
224 '(1 1 1 1 0 1 2 0 2 0 1 1 1 1 0 2 0 2 2 1 0 0 0 1 0 0 0 0 1 0))
225
226
227
228 (defn transparent-sphere []
229 (doto
230 (make-shape
231 (merge base-shape
232 {:position (Vector3f. 0 2 0)
233 :name "the blob."
234 :material "Common/MatDefs/Misc/Unshaded.j3md"
235 :texture "Textures/purpleWisp.png"
236 :physical? true
237 :mass 70
238 :color ColorRGBA/Blue
239 :shape (Sphere. 10 10 1)}))
240 (-> (.getMaterial)
241 (.getAdditionalRenderState)
242 (.setBlendMode RenderState$BlendMode/Alpha))
243 (.setQueueBucket RenderQueue$Bucket/Transparent)))
244
245 (defn transparent-box []
246 (doto
247 (make-shape
248 (merge base-shape
249 {:position (Vector3f. 0 2 0)
250 :name "the blob."
251 :material "Common/MatDefs/Misc/Unshaded.j3md"
252 :texture "Textures/purpleWisp.png"
253 :physical? true
254 :mass 70
255 :color ColorRGBA/Blue
256 :shape (Box. 1 1 1)}))
257 (-> (.getMaterial)
258 (.getAdditionalRenderState)
259 (.setBlendMode RenderState$BlendMode/Alpha))
260 (.setQueueBucket RenderQueue$Bucket/Transparent)))
261
262
263
264 (defn no-logging []
265 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
266
267 (defn set-accuracy [world new-accuracy]
268 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
269 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
270
271 (defn test-skin []
272 (let [b
273 ;;(transparent-box)
274 (transparent-sphere)
275
276 controls
277 ;;(make-touch-sphere b)
278 (make-touch b)
279 ]
280
281 (world
282 (doto (Node.) (.attachChild b)
283 (.attachChild
284 (doto
285 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)
286 :material "Common/MatDefs/Misc/Unshaded.j3md"
287 :texture "Textures/redWisp.png")
288 (-> (.getMaterial)
289 (.getAdditionalRenderState)
290 (.setBlendMode RenderState$BlendMode/Alpha))
291 (.setQueueBucket RenderQueue$Bucket/Transparent))))
292
293 {"key-return" (fire-cannon-ball)
294 "key-space" (fn [game value]
295 (touch-print controls))}
296 (fn [world]
297 (Capture/SimpleCaptureVideo world (file-str "~/out-temp/blob.avi"))
298 (no-logging)
299 (enable-debug world)
300 (set-accuracy world (/ 1 60))
301 )
302
303 (fn [& _]
304 (touch-print controls)
305 (color-touch controls)
306 ))))
307
308 #+end_src
309
310
311
312
313
314
315 * COMMENT code generation
316 #+begin_src clojure :tangle ../src/body/skin.clj
317 <<skin-main>>
318 #+end_src
319
320
321
322