cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 116:947bef5d6670

working on eye-following camera

author	Robert McIntyre <rlm@mit.edu>
date	Fri, 20 Jan 2012 01:07:46 -0700
parents	247860e25536
children	94c005f7f9dd

comparison

equal deleted inserted replaced

-:247860e25536
+:947bef5d6670
 (defn joint-targets
 "Return the two closest two objects to the joint object, ordered
 from bottom to top according to the joint's rotation."
 [#^Node parts #^Node joint]
-;;(println (meta-data joint "joint"))
-(.getWorldRotation joint)
 (loop [radius (float 0.01)]
 (let [results (CollisionResults.)]
 (.collideWith
 parts
 (BoundingBox. (.getWorldTranslation joint)
 (joint-targets pieces joint)]
 (connect obj-a obj-b joint)))
 joints))
 pieces)
-(defn blender-creature [blender-path]
+(declare blender-creature)
-(let [model (load-blender-model blender-path)
-joints
-(if-let [joint-node (.getChild model "joints")]
-(seq (.getChildren joint-node))
-(do (println-repl "could not find joints node")
-[]))]
-(assemble-creature model joints)))
 (def hand "Models/creature1/one.blend")
 (def worm "Models/creature1/try-again.blend")
 (.getImage (.loadTexture (asset-manager) %))
 false false 0)
 (read-string
 eye-map))))
+(defn creature-eyes
-(defn enable-vision
+"The eye nodes which are children of the \"eyes\" node in the
+creature."
-;; need to create a camera based on uv image,
+[#^Node creature]
-;; update this camera every frame based on the position of this
+(if-let [eye-node (.getChild creature "eyes")]
-;; geometry. (maybe can get cam to follow the object)
+(seq (.getChildren eye-node))
+(do (println-repl "could not find eyes node") [])))
-;; use a stack for the continuation to grab the image.
-[#^Geometry eye]
 ;; Here's how vision will work.
 ;; Make the continuation in scene-processor take FrameBuffer,
 ;; byte-buffer, BufferedImage already sized to the correct
 ;; ChaseCamera or a CameraNode bound to the geo that is closest to
 ;; the eye marker. The eye marker will contain the metadata for the
 ;; eye, and will be moved by it's bound geometry. The dimensions of
 ;; the eye's camera are equal to the dimensions of the eye's "UV"
 ;; map.
+(defn eye-target
+"The closest object in creature to eye."
+[#^Node creature #^Node eye]
+(loop [radius (float 0.01)]
+(let [results (CollisionResults.)]
+(.collideWith
+creature
+(BoundingBox. (.getWorldTranslation eye)
+radius radius radius)
+results)
+(if-let [target (first results)]
+(.getGeometry target)
+(recur (float (* 2 radius)))))))
+(defn attach-eyes
+"For each eye in the creature, attach a CameraNode to the appropiate
+area and return the Camera."
+[#^Node creature]
+(for [eye (creature-eyes creature)]
+(let [target (eye-target creature eye)]
+(CameraNode
+)
+(defn vision
+;; need to create a camera based on uv image,
+;; update this camera every frame based on the position of this
+;; geometry. (maybe can get cam to follow the object)
+;; use a stack for the continuation to grab the image.
+[#^Geometry eye]
 )
+(defn blender-creature
+"Return a creature with all joints in place."
+[blender-path]
+(let [model (load-blender-model blender-path)
+joints
+(if-let [joint-node (.getChild model "joints")]
+(seq (.getChildren joint-node))
+(do (println-repl "could not find joints node") []))]
+(assemble-creature model joints)))
 (defn debug-window
 "creates function that offers a debug view of sensor data"
 []
 (let [vi (view-image)]
 ]
 sim
 ))
+;; the camera will stay in its initial position/rotation with relation
+;; to the spatial.
+(defn bind-camera [#^Spatial obj #^Camera cam]
+(let [cam-offset (.subtract (.getLocation cam)
+(.getWorldTranslation obj))
+initial-cam-rotation (.getRotation cam)
+base-anti-rotation (.inverse (.getWorldRotation obj))]
+(.addControl
+obj
+(proxy [AbstractControl] []
+(controlUpdate [tpf]
+(let [total-rotation
+(.mult base-anti-rotation (.getWorldRotation obj))]
+(.setLocation cam
+(.add
+(.mult total-rotation cam-offset)
+(.getWorldTranslation obj)))
+(.setRotation cam
+initial-cam-rotation)
+;;(.mult total-rotation initial-cam-rotation)
+))
+(controlRender [_ _])))))
+(defn follow-test []
+(let [camera-pos (Vector3f. 0 30 0)
+rock (box 1 1 1 :color ColorRGBA/Blue
+:position (Vector3f. 0 10 0)
+:mass 30
+)
+table (box 3 1 10 :color ColorRGBA/Gray :mass 0
+:position (Vector3f. 0 -3 0))]
+(world
+(nodify [rock table])
+standard-debug-controls
+(fn [world]
+(let
+[cam (doto (.clone (.getCamera world))
+(.setLocation camera-pos)
+(.lookAt Vector3f/ZERO
+Vector3f/UNIT_X))]
+(bind-camera rock cam)
+(.setTimer world (RatchetTimer. 60))
+(add-eye world cam (comp (view-image) BufferedImage!))
+(add-eye world (.getCamera world) no-op))
+)
+no-op)))
 #+end_src
 #+results: body-1
 : #'cortex.silly/test-creature

Mercurial > cortex

comparison org/test-creature.org @ 116:947bef5d6670