cortex: org/body.org comparison

comparison org/body.org @ 130:b26017d1fe9a

added workaround for problem with point2point joints in native bullet; added basic muscle description image.

author	Robert McIntyre <rlm@mit.edu>
date	Mon, 30 Jan 2012 05:47:51 -0700
parents	fb810a2c50c2
children	e98850b83c2c

comparison

equal deleted inserted replaced

-:bab47091534e
+:b26017d1fe9a
 (.mult
 (.getLocalRotation object-b)
 (doto (Quaternion.)
 (.fromRotationMatrix rotate-a)))
 arm-b)]
+;;(println-repl (.getName object-a) (.getName object-b))
 [pitch yaw roll]))
 (defn proprioception
 "Create a function that provides proprioceptive information about an
 entire body."
 (swap! time inc)
 (Thread/sleep 20)
 (dorun (worm-motor-map
 (worm-pattern @time)))))))
+(require 'cortex.silly)
+(defn join-at-point [obj-a obj-b world-pivot]
+(cortex.silly/joint-dispatch
+{:type :point}
+(.getControl obj-a RigidBodyControl)
+(.getControl obj-b RigidBodyControl)
+(cortex.silly/world-to-local obj-a world-pivot)
+(cortex.silly/world-to-local obj-b world-pivot)
+nil
+))
+(defn blab-* []
+(let [hand   (box 0.5 0.2 0.2 :position (Vector3f. 0 0 0)
+:mass 0 :color ColorRGBA/Green)
+finger (box 0.5 0.2 0.2 :position (Vector3f. 2.4 0 0)
+:mass 1 :color ColorRGBA/Red)
+connection-point (Vector3f. 1.2 0 0)
+root (nodify [hand finger])]
+(join-at-point hand finger (Vector3f. 1.2 0 0))
+(.setCollisionGroup
+(.getControl hand RigidBodyControl)
+PhysicsCollisionObject/COLLISION_GROUP_NONE)
+(world
+root
+standard-debug-controls
+(fn [world]
+(enable-debug world)
+(.setTimer world (com.aurellem.capture.RatchetTimer. 60))
+(set-gravity world Vector3f/ZERO)
+)
+no-op)))
+(defn proprioception-debug-window
+[]
+(let [vi (view-image)]
+(fn [prop-data]
+(dorun
+(map
+(comp
+println-repl
+(fn [[p y r]]
+(format
+"pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n"
+p y r)))
+prop-data)))))
 (defn test-proprioception
 "Testing proprioception:
 You should see two foating bars, and a printout of pitch, yaw, and
 roll. Pressing key-r/key-t should move the blue bar up and down and
 change only the value of pitch. key-f/key-g moves it side to side
 and counterclockwise, and only affect roll."
 []
 (let [hand    (box 1 0.2 0.2 :position (Vector3f. 0 2 0)
 :mass 0 :color ColorRGBA/Green)
 finger (box 1 0.2 0.2 :position (Vector3f. 2.4 2 0)
-:mass 1 :color (ColorRGBA. 0.20 0.40 0.99 1.0))
+:mass 1 :color ColorRGBA/Red)
 floor   (box 10 0.5 10 :position (Vector3f. 0 -5 0)
 :mass 0 :color ColorRGBA/Gray)
 move-up? (atom false)
 move-down? (atom false)
 move-left? (atom false)
 move-right? (atom false)
 roll-left? (atom false)
 roll-right? (atom false)
 control (.getControl finger RigidBodyControl)
-joint
+time (atom 0)
-(doto
+joint (join-at-point hand finger (Vector3f. 1.2 2 0 ))
-(Point2PointJoint.
+creature (nodify [hand finger])
-(.getControl hand RigidBodyControl)
+prop (proprioception creature)
-control
-(Vector3f. 1.2 0 0)
+prop-view (proprioception-debug-window)
-(Vector3f. -1.2 0 0 ))
-(.setCollisionBetweenLinkedBodys false))
-time (atom 0)]
+]
+(.setCollisionGroup
+(.getControl hand RigidBodyControl)
+PhysicsCollisionObject/COLLISION_GROUP_NONE)
 (world
 (nodify [hand finger floor])
 (merge standard-debug-controls
 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
 (fn [world]
-(.setTimer world (NanoTimer.))
+(.setTimer world (com.aurellem.capture.RatchetTimer. 60))
 (set-gravity world (Vector3f. 0 0 0))
-(.setMoveSpeed (.getFlyByCamera world) 50)
-(.setRotationSpeed (.getFlyByCamera world) 50)
 (light-up-everything world))
 (fn [_ _]
 (if @move-up?
 (.applyTorque control
 (.mult (.getPhysicsRotation control)
 (if @roll-right?
 (.applyTorque control
 (.mult (.getPhysicsRotation control)
 (Vector3f. 1 0 0))))
-(if (= 0 (rem (swap! time inc) 2000))
+(if (= 0 (rem (swap! time inc) 20))
-(do
+(prop-view
-(apply
+(joint-proprioception joint)))))))
-(comp
-println-repl
-#(format "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n" %1 %2 %3))
-(joint-proprioception joint))))))))
 #+end_src
+#+results: test-body
+: #'cortex.test.body/test-proprioception
 * COMMENT code-limbo
 #+begin_src clojure
 ;;(.loadModel

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comparison org/body.org @ 130:b26017d1fe9a