cortex: org/test-creature.org comparison

comparison org/test-creature.org @ 87:af1bb43661f9

working on multimethod joint creation

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 07 Jan 2012 05:06:58 -0700
parents	00ab1f10266f
children	3e929630a25f

comparison

equal deleted inserted replaced

-:35f485a0c93f
+:af1bb43661f9
 (cortex.import/mega-import-jme3)
 (use '(cortex world util body hearing touch vision))
 (rlm.rlm-commands/help)
-(declare joint-create get-subjective-position)
+(declare joint-create)
 (defn load-bullet []
 (let [sim (world (Node.) {} no-op no-op)]
 (.enqueue
 sim
 (.dot (Vector3f. 1 1 1)
 v))
 (take 2 targets))
 (recur (float (* radius 2))))))))
+(defn world-to-local
+"Convert the world coordinates into coordinates relative to the
+object (i.e. local coordinates), taking into account the rotation
+of object."
+[#^Spatial object world-coordinate]
+(let [out (Vector3f.)]
+(.worldToLocal  object world-coordinate out) out))
+(defmulti zz
+(fn [a b _ _ _ _ _]
+(:type a)))
+(defmethod zz :p [a b] (println "hi"))
+(defmulti joint-dispatch
+"Translate blender pseudo-joints into real JME joints."
+(fn [constraints _ _ _ _ _]
+(:type constraints)))
+(defmethod joint-dispatch :point
+[constraints control-a control-b pivot-a pivot-b rotation]
+(println-repl "creating POINT2POINT joint")
+(Point2PointJoint.
+control-a
+control-b
+pivot-a
+pivot-b))
+(defmethod joint-dispatch :hinge
+[constraints control-a control-b pivot-a pivot-b rotation]
+(println-repl "creating HINGE joint")
+(let [axis
+(if-let
+[axis (:axis constraints)]
+axis
+Vector3f/UNIT_X)
+[limit-1 limit-2] (:limit constraints)
+hinge-axis
+(.mult
+rotation
+(blender-to-jme axis))]
+(doto
+(HingeJoint.
+control-a
+control-b
+pivot-a
+pivot-b
+hinge-axis
+hinge-axis)
+(.setLimit limit-1 limit-2))))
+(defmethod joint-dispatch :cone
+[constraints control-a control-b pivot-a pivot-b rotation]
+(let [limit-xz (:limit-xz constraints)
+limit-xy (:limit-xy constraints)
+twist    (:twist constraints)]
+(println-repl "creating CONE joint")
+(println-repl rotation)
+(println-repl
+"UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
+(println-repl
+"UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
+(println-repl
+"UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
+(doto
+(ConeJoint.
+control-a
+control-b
+pivot-a
+pivot-b
+rotation
+rotation)
+(.setLimit (float limit-xz)
+(float limit-xy)
+(float twist)))))
+(defn connect*
+"here are some examples:
+{:type :point}
+{:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
+(:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
+{:type :cone   :limit-xz 0]
+:limit-xy 0]
+:twist 0]}   (use XZY rotation mode in blender!)"
+[#^Node obj-a #^Node obj-b #^Node joint]
+(let [control-a (.getControl obj-a RigidBodyControl)
+control-b (.getControl obj-b RigidBodyControl)
+joint-center (.getWorldTranslation joint)
+joint-rotation (.toRotationMatrix (.getWorldRotation joint))
+pivot-a (world-to-local obj-a joint-center)
+pivot-b (world-to-local obj-b joint-center)]
+;; A side-effect of creating a joint registers
+;; it with both physics objects which in turn
+;; will register the joint with the physics system
+;; when the simulation is started.
+(if-let [constraints
+(map-vals
+eval
+(read-string
+(meta-data joint "joint")))]
+(do
+(println-repl "creating joint between"
+(.getName obj-a) "and" (.getName obj-b))
+(joint-dispatch constraints
+control-a control-b
+pivot-a pivot-b
+joint-rotation))
+(println-repl "could not find joint meta-data!"))))
 (defn connect
 "here are some examples:
 {:type :point}
 {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
 {:type :cone   :limit-xz 0]
 :limit-xy 0]
 :twist 0]}   (use XZY rotation mode in blender!)"
 [#^Node obj-a #^Node obj-b #^Node joint]
-(let [center-a (.getWorldTranslation obj-a)
+(let [control-a (.getControl obj-a RigidBodyControl)
-center-b (.getWorldTranslation obj-b)
+control-b (.getControl obj-b RigidBodyControl)
 joint-center (.getWorldTranslation joint)
-pivot-a (.subtract joint-center center-a)
+joint-rotation (.toRotationMatrix (.getWorldRotation joint))
-pivot-b (.subtract joint-center center-b)
+pivot-a (world-to-local obj-a joint-center)
-control-a (.getControl obj-a RigidBodyControl)
+pivot-b (world-to-local obj-b joint-center)]
-control-b (.getControl obj-b RigidBodyControl)]
 ;; A side-effect of creating a joint registers
 ;; it with both physics objects which in turn
 ;; will register the joint with the physics system
 ;; when the simulation is started.
 (if-let [constraints
 (.setLimit limit-1 limit-2))))
 (= :cone joint-type)
 (do
 (let [limit-xz (:limit-xz constraints)
 limit-xy (:limit-xy constraints)
-twist    (:twist constraints)
+twist    (:twist constraints)]
-rotation (.toRotationMatrix (.getWorldRotation joint))]
 (println-repl "creating CONE joint")
-(println-repl rotation)
+(println-repl joint-rotation)
 (println-repl
-"UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
+"UNIT_X --> " (.mult joint-rotation (Vector3f. 1 0 0)))
 (println-repl
-"UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
+"UNIT_Y --> " (.mult joint-rotation (Vector3f. 0 1 0)))
 (println-repl
-"UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
+"UNIT_Z --> " (.mult joint-rotation (Vector3f. 0 0 1)))
 (doto
 (ConeJoint.
 control-a
 control-b
 pivot-a
 pivot-b
-rotation
+joint-rotation
-rotation
+joint-rotation
 )
 (.setLimit (float limit-xz)
 (float limit-xy)
 (float twist)))))
 true
 (dorun
 (map
 (fn [joint]
 (let [[obj-a obj-b]
 (joint-targets pieces joint)]
-(connect obj-a obj-b joint)))
+(connect* obj-a obj-b joint)))
 joints))
 pieces)
 (defn blender-creature [blender-path]
 (let [model (load-blender-model blender-path)
 ])
 standard-debug-controls
 (comp light-up-everything enable-debug
 (fn [world]
 (.setTimer world (NanoTimer.))
-(set-gravity world (Vector3f. 0 0 0))
+;;(set-gravity world (Vector3f. 0 0 0))
 (speed-up world)
 world
 ))
 no-op)))
 (cond
 (= joint :cone)
 (doto (ConeJoint.
 a b
-(get-subjective-position joint-position top)
+(world-to-local top joint-position)
-(get-subjective-position joint-position bottom)
+(world-to-local bottom joint-position)
 joint-rotation
 joint-rotation
 )
 (.mult (.getPhysicsRotation control)
 (Vector3f. 1 0 0))))))))
-;; please validate these.
-(defn get-subjective-position
-"Convert the world coordinates into coordinates relative to
-object (i.e. local coordinates), taking into account the rotation
-of object."
-[#^Vector3f world-coordinates object]
-;; I don't know if it's important to take into account the rotation
-;; of the object. If it isn't, then remove the multiplication-by-inverse.
-(.mult (.inverse (.getWorldRotation object))
-(.subtract world-coordinates (.getWorldTranslation object))))
-(defn get-subjective-rotation
-"cf get-subjective-position. Converts a rotation specified relative
-to the world's axes into a rotation specified in terms of the object's
-coordinate system."
-[#^Quaternion world-rotation object]
-(.mult (.inverse (.getWorldRotation object)) world-rotation))
-(defn joint-create "Connect objects 1 and 2 using a joint constraint. If
-only position is specified, creates a point-to-point joint at the
-given location
-in world coordinates. etc. etc. for other joints.
-To ensure consistency, I may alter this function
-so that it moves obj-1 to be at the apex of the cone.
-NOTE:
-In the usual construction method, you create a joint and, if your
-contraints are consistent, all the objects snap into position and
-orientation around it, otherwise the systen explodes.
-This construction method assumes that you have in mind a position and
-rotation for the joint, and that you have already put your objects
-at the required distances from that joint so that no snapping needs
-to occur. The radial distances ('pivot lengths') are therefore just set to be
-the pre-existing distances between the objects and the joint."
-[#^Node obj-1
-#^Node obj-2
-#^Vector3f joint-position
-#^Quaternion joint-rotation
-span-1
-span-2
-twist
-]
-(let
-[body-1 (.getControl obj-1 RigidBodyControl)
-body-2 (.getControl obj-2 RigidBodyControl)
-]
-(doto (ConeJoint.
-body-1
-body-2
-(get-subjective-position joint-position body-1)
-(get-subjective-position joint-position body-2)
-;; ALIGN X-AXIS OF OBJECT-1 WITH THE CENTRAL AXIS OF THE CONE TO
-;;LOWER THE RISK OF INCONSISTENCY
-;;(Matrix3f/IDENTITY)
-(.toRotationMatrix (get-subjective-rotation joint-rotation body-1))
-(.toRotationMatrix (get-subjective-rotation joint-rotation body-2))
-)
-(.setLimit
-span-1
-span-2
-twist))))
 #+end_src
+#+results: body-1
+: #'cortex.silly/test-joint
 * COMMENT purgatory
 #+begin_src clojure
 (defn bullet-trans []

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comparison org/test-creature.org @ 87:af1bb43661f9