cortex: org/touch.org comparison

comparison org/touch.org @ 249:95a9f6f1cb82

added touch-cube and fixed some problems with touch which it flushed out

author	Robert McIntyre <rlm@mit.edu>
date	Mon, 13 Feb 2012 06:06:02 -0700
parents	267add63b168
children	e9bce4f722b1

comparison

equal deleted inserted replaced

-:267add63b168
+:95a9f6f1cb82
 (defn set-ray [#^Ray ray #^Matrix4f transform
 #^Vector3f origin #^Vector3f tip]
 ;; Doing everything locally recduces garbage collection by enough to
 ;; be worth it.
 (.mult transform origin (.getOrigin ray))
 (.mult transform tip (.getDirection ray))
-(.subtractLocal (.getDirection ray) (.getOrigin ray)))
+(.subtractLocal (.getDirection ray) (.getOrigin ray))
+(.normalizeLocal (.getDirection ray)))
+(import com.jme3.math.FastMath)
 (defn touch-kernel
 "Constructs a function which will return tactile sensory data from
 'geo when called from inside a running simulation"
 [#^Geometry geo]
 (if-let
 [profile (tactile-sensor-profile geo)]
 (let [ray-reference-origins (feeler-origins geo profile)
 ray-reference-tips (feeler-tips geo profile)
 ray-length (tactile-scale geo)
 current-rays (map (fn [_] (Ray.)) ray-reference-origins)
-topology (touch-topology geo profile)]
+topology (touch-topology geo profile)
+correction (float (* ray-length -0.2))]
+;; slight tolerance for very close collisions.
+(dorun
+(map (fn [origin tip]
+(.addLocal origin (.mult (.subtract tip origin)
+correction)))
+ray-reference-origins ray-reference-tips))
 (dorun (map #(.setLimit % ray-length) current-rays))
 (fn [node]
 (let [transform (.getWorldMatrix geo)]
 (dorun
 (map (fn [ray ref-origin ref-tip]
 (do
 (let [results (CollisionResults.)]
 (.collideWith node ray results)
 (let [touch-objects
 (filter #(not (= geo (.getGeometry %)))
-results)]
+results)
+limit (.getLimit ray)]
 [(if (empty? touch-objects)
-(.getLimit ray)
+limit
-(.getDistance (first touch-objects)))
+(let [response
-(.getLimit ray)])))))))))))
+(apply min (map #(.getDistance %)
+touch-objects))]
+(FastMath/clamp
+(float
+(if (> response limit) 0.0
+(+ response correction)))
+(float 0.0)
+limit)))
+limit])))))))))))
 (defn touch!
 "Endow the creature with the sense of touch. Returns a sequence of
 functions, one for each body part with a tactile-sensor-proile,
 each of which when called returns sensory data for that body part."
 (map touch-kernel
 (filter #(isa? (class %) Geometry)
 (node-seq creature)))))
 #+end_src
+#+results: kernel
+: #'cortex.touch/touch!
 * Visualizing Touch
+Each feeler is represented in the image as a single pixel. The
+grayscale value of each pixel represents how deep the feeler
+represented by that pixel is inside another object.  Black means that
+nothing is touching the feeler, while white means that the feeler is
+completely inside another object, which is presumably flush with the
+surface of the triangle from which the feeler originates.
 #+name: visualization
 #+begin_src clojure
 (in-ns 'cortex.touch)
 (view-sense
 (fn [[coords sensor-data]]
 (let [image (points->image coords)]
 (dorun
 (for [i (range (count coords))]
-(.setRGB image ((coords i) 0) ((coords i) 1)
+(do
-(apply touch->gray (sensor-data i))))) image))))
+(if (= i 500) (println-repl (sensor-data i)))
-#+end_src
+(comment
+(.setRGB image ((coords i) 0) ((coords i) 1)
+(apply touch->gray (sensor-data i)))))))
+image))))
+#+end_src
+#+results: visualization
+: #'cortex.touch/view-touch
+* COMMENT Basic Test of Touch
+The worm's sense of touch is a bit complicated, so for this basic test
+I'll use a new creature --- a simple cube which has touch sensors
+evenly distributed along each of its sides.
+#+begin_src clojure
+(in-ns 'cortex.test.touch)
+(defn touch-cube []
+(load-blender-model "Models/test-touch/touch-cube.blend"))
+#+end_src
+#+begin_html
+<br>
+#+end_html
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="500">
+<source src="../video/touch-cube.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>A simple creature with evenly distributed touch sensors.</p>
+</div>
+#+end_html
+The tactile-sensor-profile image for this simple creature looks like
+this:
+#+attr_html: width=500
+#+caption: The distribution of feelers along the touch-cube. The colors of the faces are irrelevant; only the white pixels specify feelers.
+[[../images/touch-profile.png]]
+#+begin_src clojure
+(in-ns 'cortex.test.touch)
+(defn test-basic-touch
+([] (test-basic-touch false))
+([record?]
+(let [the-cube (doto (touch-cube) (body!))
+touch (touch! the-cube)
+touch-display (view-touch)]
+(world (nodify [the-cube
+(box 10 1 10 :position (Vector3f. 0 -10 0)
+:color ColorRGBA/Gray :mass 0)])
+standard-debug-controls
+(fn [world]
+(speed-up world)
+(light-up-everything world))
+(fn [world tpf]
+(touch-display
+(map #(% (.getRootNode world)) touch)))))))
+#+end_src
 * Adding Touch to the Worm
 #+name: test-touch
 #+begin_src clojure
 (ns cortex.test.touch

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comparison org/touch.org @ 249:95a9f6f1cb82