cortex: org/test-creature.org comparison

comparison org/test-creature.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	bab47091534e
children	2ed7e60d3821

comparison

equal deleted inserted replaced

-:bab47091534e
+:b26017d1fe9a
 (:type constraints)))
 (defmethod joint-dispatch :point
 [constraints control-a control-b pivot-a pivot-b rotation]
 (println-repl "creating POINT2POINT joint")
-(Point2PointJoint.
+;; bullet's point2point joints are BROKEN, so we must use the
-control-a
+;; generic 6DOF joint instead of an actual Point2Point joint!
-control-b
-pivot-a
+;; should be able to do this:
-pivot-b))
+(comment
+(Point2PointJoint.
+control-a
+control-b
+pivot-a
+pivot-b))
+;; but instead we must do this:
+(println-repl "substuting 6DOF joint for POINT2POINT joint!")
+(doto
+(SixDofJoint.
+control-a
+control-b
+pivot-a
+pivot-b
+false)
+(.setLinearLowerLimit Vector3f/ZERO)
+(.setLinearUpperLimit Vector3f/ZERO)
+;;(.setAngularLowerLimit (Vector3f. 1 1 1))
+;;(.setAngularUpperLimit (Vector3f. 0 0 0))
+))
 (defmethod joint-dispatch :hinge
 [constraints control-a control-b pivot-a pivot-b rotation]
 (println-repl "creating HINGE joint")
 (let [axis
 (joint-dispatch constraints
 control-a control-b
 pivot-a pivot-b
 joint-rotation))
 (println-repl "could not find joint meta-data!"))))
 (defn assemble-creature [#^Node pieces joints]
 (dorun
 (map
 (fn [geom]
 (defn gray-scale [num]
 (+ num
 (bit-shift-left num 8)
 (bit-shift-left num 16)))
-(defn debug-window
+(defn debug-touch-window
 "creates function that offers a debug view of sensor data"
 []
 (let [vi (view-image)]
 (fn
 [[coords sensor-data]]
 ;;(defn test-touch [world creature]
-;; here's how motor-control/ proprioception will work:
+;; here's how motor-control/ proprioception will work: Each muscle is
+;; defined by a 1-D array of numbers (the "motor pool") each of which
+;; represent muscle fibers. A muscle also has a scalar :strength
+;; factor which determines how strong the muscle as a whole is.
+;; The effector function for a muscle takes a number < (count
+;; motor-pool) and that number is said to "activate" all the muscle
+;; fibers whose index is lower than the number.  Each fiber will apply
+;; force in proportion to its value in the array.  Lower values cause
+;; less force.  The lower values can be put at the "beginning" of the
+;; 1-D array to simulate the layout of actual human muscles, which are
+;; capable of more percise movements when exerting less force.
+;; I don't know how to encode proprioception, so for now, just return
+;; a function for each joint that returns a triplet of floats which
+;; represent relative roll, pitch, and yaw.  Write display code for
+;; this though.
+(defn muscle-fibre-values
+"Take the first row of the image and return the low-order bytes."
+[#^BufferedImage image]
+(let [width (.getWidth image)]
+(for [x (range width)]
+(bit-and
+0xFF
+(.getRGB image x 0)))))
+(defn rad->deg [rad]
+(* 180 (/ Math/PI) rad))
+(defn debug-prop-window
+"create a debug view for proprioception"
+[]
+(let [vi (view-image)]
+(fn [sensor-data]
+(println-repl
+(map
+(fn [[yaw pitch roll]]
+[(rad->deg yaw)
+(rad->deg pitch)
+(rad->deg roll)])
+sensor-data)))))
 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
 z-axis
 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
 creature (blender-creature thing)
 touch-nerves (touch creature)
-touch-debug-windows (map (fn [_] (debug-window)) touch-nerves)
+touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
 [init-vision-fns vision-data] (vision creature)
 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
 [init-hearing-fns hearing-senses] (hearing creature)
 hearing-windows (map (fn [_] (debug-hearing-window 50))
 hearing-senses)
 bell (AudioNode. (asset-manager)
 "Sounds/pure.wav" false)
+prop (proprioception creature)
+prop-debug (debug-prop-window)
 ;; dream
 ]
 (world
 (nodify [creature
 )
 (fn [world tpf]
 ;;(dorun
 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
+(prop-debug (prop))
 (dorun
 (map #(%1 (%2 (.getRootNode world)))
 touch-debug-windows touch-nerves))
 ;;node (nodify (conj collision-points obj-b))
 sim
 (world node
 {"key-space"
-vvvvvv                (fn [_ value]
+(fn [_ value]
 (if value
 (let [cr (CollisionResults.)]
 (.collideWith node bounds-b cr)
 (println-repl (map #(.getContactPoint %) cr))
 cr)))}

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comparison org/test-creature.org @ 130:b26017d1fe9a