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comparison org/joint.org @ 350:d2806d5c5f74

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change distribution of muscles for joint creature
author Robert McIntyre <rlm@mit.edu>
date Mon, 23 Jul 2012 07:41:12 -0500
parents 5405f369f4a0
children 0596613e5a41
comparison
equal deleted inserted replaced
349:61513c80bc0e 350:d2806d5c5f74
3 * A joint 3 * A joint
4 4
5 The point of this joint is that it uses exploratory motor movements to 5 The point of this joint is that it uses exploratory motor movements to
6 learn how to move to any particular position. 6 learn how to move to any particular position.
7 7
8 visual-information -- list of functions which must each be called with the 8 visual-information -- list of functions which must each be called with
9 world the argument, each of which returns [topology data]. Each element 9 the world the argument, each of which returns [topology data]. Each
10 of data is a number between 0 and 255 representing the intensity of 10 element of data is a number between 0 and 255 representing the
11 the light recieved at that sensor. 11 intensity of the light recieved at that sensor.
12 12
13 proprioception -- list of nullary functions, one for each joint, which 13 proprioception -- list of nullary functions, one for each joint, which
14 return [heding pitch roll]. 14 return [heding pitch roll].
15
16 movement -- list of functions, one for each muscle, which must be
17 called with an integer between 0 and the total number of muscle fibers
18 in the muscle. Each function returns a float which is (current-force/
19 total-possible-force).
15 20
16 touch -- list of functions which must each be called with a Node 21 touch -- list of functions which must each be called with a Node
17 (normally the root node of the simulation) the argument, each of which 22 (normally the root node of the simulation) the argument, each of which
18 returns [topology data]. Each element of data is a posive float 23 returns [topology data]. Each element of data is a posive float
19 between 0.0 and the max length of the "hairs" of which the touch sense 24 between 0.0 and the max length of the "hairs" of which the touch sense
20 is composed. 25 is composed.
21
22 movement -- list of functions, one for each muscle, which must be
23 called with an integer between 0 and the total number of muscle fibers
24 in the muscle. Each function returns a float which is (current-force/
25 total-possible-force).
26
27 26
28 #+name: load-creature 27 #+name: load-creature
29 #+begin_src clojure 28 #+begin_src clojure
30 (in-ns 'cortex.joint) 29 (in-ns 'cortex.joint)
31 30
32 (def joint "Models/joint/joint.blend") 31 (def joint "Models/joint/joint.blend")
33 32
34 (defn load-creature [] 33 (defn load-creature []
35 (load-blender-model joint)) 34 (load-blender-model joint))
36
37
38
39
40 35
41 (defn test-creature [] 36 (defn test-creature []
42 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false) 37 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
43 creature (doto (load-creature) (body!)) 38 creature (doto (load-creature) (body!))
44 39
71 (.setTimer world timer) 66 (.setTimer world timer)
72 (display-dilated-time world timer))) 67 (display-dilated-time world timer)))
73 (fn [world tpf] 68 (fn [world tpf]
74 (.setLocalTranslation me (.getLocation (.getCamera world))) 69 (.setLocalTranslation me (.getLocation (.getCamera world)))
75 (fix-display world))))) 70 (fix-display world)))))
76
77
78
79
80 #+end_src 71 #+end_src
81
82
83
84
85
86 72
87 * Headers 73 * Headers
88 #+name: joint-header 74 #+name: joint-header
89 #+begin_src clojure 75 #+begin_src clojure
90 (ns cortex.joint 76 (ns cortex.joint
91 (:require cortex.import) 77 (:require cortex.import)
92 (:use (cortex world util import body sense 78 (:use (cortex world util import body sense
93 hearing touch vision proprioception movement)) 79 hearing touch vision proprioception movement))
94 (:import java.io.File) 80 (:import java.io.File)
95 (:import (com.aurellem.capture RatchetTimer IsoTimer))) 81 (:import (com.aurellem.capture RatchetTimer IsoTimer)))
96
97 82
98 (cortex.import/mega-import-jme3) 83 (cortex.import/mega-import-jme3)
99 (rlm.rlm-commands/help) 84 (rlm.rlm-commands/help)
100 #+end_src 85 #+end_src
101 86