cortex: org/touch.org comparison

comparison org/touch.org @ 266:bee5145ce463

Merged Robert's proprioception with Dylan's vision.

author	Dylan Holmes <ocsenave@gmail.com>
date	Mon, 13 Feb 2012 21:53:54 -0600
parents	e6e0bb3057b2
children	c39b8b29a79e

comparison

equal deleted inserted replaced

-:e57d8c52f12f
+:bee5145ce463
 (defn ->triangle [points]
 (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))
 #+end_src
 It is convienent to treat a =Triangle= as a vector of vectors, and a
-=Vector2f= and =Vector3f= as vectors of floats. (->vector3f) and
+=Vector2f= or =Vector3f= as vectors of floats. (->vector3f) and
 (->triangle) undo the operations of =(vector3f-seq)= and
 =(triangle-seq)=. If these classes implemented =Iterable= then =(seq)=
 would work on them automitacally.
 ** Decomposing a 3D shape into Triangles
 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.
+#+name: test-touch-0
 #+begin_src clojure
 (in-ns 'cortex.test.touch)
 (defn touch-cube []
 (load-blender-model "Models/test-touch/touch-cube.blend"))
 #+end_src
-#+begin_html
+** The Touch Cube
-<br>
-#+end_html
 #+begin_html
 <div class="figure">
 <center>
 <video controls="controls" width="500">
 <source src="../video/touch-cube.ogg" type="video/ogg"
 #+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]]
+#+name: test-touch-1
 #+begin_src clojure
 (in-ns 'cortex.test.touch)
-(import com.aurellem.capture.Capture)
-(import java.io.File)
 (defn test-basic-touch
 ([] (test-basic-touch false))
 ([record?]
 (let [the-cube (doto (touch-cube) (body!))
 <p>The simple creature responds to touch.</p>
 </div>
 #+end_html
 ** Generating the Basic Touch Video
+#+name: magick4
 #+begin_src clojure
 (ns cortex.video.magick4
 (:import java.io.File)
 (:use clojure.contrib.shell-out))
 target))
 (fn [& args] (map #(.getCanonicalPath %) args)))
 background main-view touch targets))))
 #+end_src
+#+begin_src sh :results silent
+cd /home/r/proj/cortex/render/touch-cube/
+ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora basic-touch.ogg
+#+end_src
 * Adding Touch to the Worm
-#+name: test-touch
+#+name: test-touch-2
 #+begin_src clojure
-(ns cortex.test.touch
+(in-ns 'cortex.test.touch)
-(:use (cortex world util sense body touch))
-(:use cortex.test.body))
+(defn test-touch
+([] (test-touch false))
-(cortex.import/mega-import-jme3)
+([record?]
+(let [the-worm (doto (worm) (body!))
-(defn test-touch []
+touch (touch! the-worm)
-(let [the-worm (doto (worm) (body!))
+touch-display (view-touch)]
-touch (touch! the-worm)
+(world
-touch-display (view-touch)]
+(nodify [the-worm (floor)])
-(world (nodify [the-worm (floor)])
+standard-debug-controls
-standard-debug-controls
+(fn [world]
-(fn [world]
+(if record?
-(speed-up world)
+(Capture/captureVideo
-(light-up-everything world))
+world
+(File. "/home/r/proj/cortex/render/worm-touch/main-view/")))
-(fn [world tpf]
+(speed-up world)
-(touch-display
+(light-up-everything world))
-(map #(% (.getRootNode world)) touch))))))
+(fn [world tpf]
+(touch-display
+(map #(% (.getRootNode world)) touch)
+(if record?
+(File. "/home/r/proj/cortex/render/worm-touch/touch/"))))))))
+#+end_src
+** Worm Touch Demonstration
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="550">
+<source src="../video/worm-touch.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>The worm responds to touch.</p>
+</div>
+#+end_html
+** Generating the Worm Touch Video
+#+name: magick5
+#+begin_src clojure
+(ns cortex.video.magick5
+(:import java.io.File)
+(:use clojure.contrib.shell-out))
+(defn images [path]
+(sort (rest (file-seq (File. path)))))
+(def base "/home/r/proj/cortex/render/worm-touch/")
+(defn pics [file]
+(images (str base file)))
+(defn combine-images []
+(let [main-view (pics "main-view")
+touch (pics "touch/0")
+targets (map
+#(File. (str base "out/" (format "%07d.png" %)))
+(range 0 (count main-view)))]
+(dorun
+(pmap
+(comp
+(fn [[ main-view touch target]]
+(println target)
+(sh "convert"
+main-view
+touch     "-geometry" "+0+0" "-composite"
+target))
+(fn [& args] (map #(.getCanonicalPath %) args)))
+main-view touch targets))))
 #+end_src
 * Headers
 #+name: touch-header
 (:import com.jme3.collision.CollisionResults)
 (:import com.jme3.scene.VertexBuffer$Type)
 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
 #+end_src
+#+name: test-touch-header
+#+begin_src clojure
+(ns cortex.test.touch
+(:use (cortex world util sense body touch))
+(:use cortex.test.body)
+(:import com.aurellem.capture.Capture)
+(:import java.io.File)
+(:import (com.jme3.math Vector3f ColorRGBA)))
+#+end_src
 * Source Listing
+- [[../src/cortex/touch.clj][cortex.touch]]
+- [[../src/cortex/test/touch.clj][cortex.test.touch]]
+- [[../src/cortex/video/magick4.clj][cortex.video.magick4]]
+- [[../src/cortex/video/magick5.clj][cortex.video.magick5]]
+#+html: <ul> <li> <a href="../org/touch.org">This org file</a> </li> </ul>
+- [[http://hg.bortreb.com ][source-repository]]
 * Next
+So far I've implemented simulated Vision, Hearing, and Touch, the most
+obvious and promiment senses that humans have.  Smell and Taste shall
+remain unimplemented for now. This accounts for the "five senses" that
+feature so prominently in our lives. But humans have far more than the
+five main senses. There are internal chemical senses, pain (which is
+*not* the same as touch), heat sensitivity, and our sense of balance,
+among others. One extra sense is so important that I must implement it
+to have a hope of making creatures that can gracefully control their
+own bodies.  It is Proprioception, which is the sense of the location
+of each body part in relation to the other body parts.
+Close your eyes, and touch your nose with your right index finger. How
+did you do it? You could not see your hand, and neither your hand nor
+your nose could use the sense of touch to guide the path of your hand.
+There are no sound cues, and Taste and Smell certainly don't provide
+any help. You know where your hand is without your other senses
+because of Proprioception.
+Onward to [[./proprioception.org][proprioception]]!
 * COMMENT Code Generation
 #+begin_src clojure :tangle ../src/cortex/touch.clj
 <<touch-header>>
 <<meta-data>>
 <<sensors>>
 <<kernel>>
 <<visualization>>
 #+end_src
 #+begin_src clojure :tangle ../src/cortex/test/touch.clj
-<<test-touch>>
+<<test-touch-header>>
-#+end_src
+<<test-touch-0>>
+<<test-touch-1>>
+<<test-touch-2>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/video/magick4.clj
+<<magick4>>
+#+end_src
+#+begin_src clojure :tangle ../src/cortex/video/magick5.clj
+<<magick5>>
+#+end_src

Mercurial > cortex

comparison org/touch.org @ 266:bee5145ce463