cortex: org/body.org comparison

comparison org/body.org @ 205:d3a2abfac405

fixed tangling in body.org, added dialated time HUD display in cortex.util

author	Robert McIntyre <rlm@mit.edu>
date	Thu, 09 Feb 2012 04:15:09 -0700
parents	162b24a82712
children	df46a609fed9

comparison

equal deleted inserted replaced

-:162b24a82712
+:d3a2abfac405
 #+attr_html: width="755"
 [[../images/hand-screenshot0.png]]
 If we load it directly into jMonkeyEngine, we get this:
-#+name: test-0
+#+name: test-1
 #+begin_src clojure
-(ns cortex.test.body
-(:use (cortex world util body))
-(:import (com.aurellem.capture Capture RatchetTimer)
-(com.jme3.math Quaternion Vector3f)
-java.io.File))
 (def hand-path "Models/test-creature/hand.blend")
 (defn hand [] (load-blender-model hand-path))
 (defn setup [world]
 =(physical!)= iterates through a creature's node structure, creating
 CollisionShapes for each geometry with the mass specified in that
 geometry's meta-data.
-#+name: test-1
+#+name: test-2
 #+begin_src clojure
 (in-ns 'cortex.test.body)
 (def normal-gravity
 {"key-g" (fn [world _]
 #+end_src
 Creating joints is now a matter applying =(connect)= to each joint
 node.
+#+name: joints-5
 #+begin_src clojure
 (defn joints!
 "Connect the solid parts of the creature with physical joints. The
 joints are taken from the \"joints\" node in the creature."
 [#^Node creature]
 ** Round 3
 Now we can test the hand in all its glory.
+#+name: test-3
 #+begin_src clojure
 (in-ns 'cortex.test.body)
 (def debug-control
 {"key-h" (fn [world val]
 (if val (enable-debug world)))
+"key-u" (fn [world _] (set-gravity world Vector3f/ZERO))})
-"key-u" (fn [world _] (set-gravity world Vector3f/ZERO))
-})
 (defn test-three []
 (world (nodify
 [(doto (hand)
 (physical!)
-(joints!) )
+(joints!))
 (floor)])
 (merge standard-debug-controls debug-control
 normal-gravity)
 (comp
 #(Capture/captureVideo
 no-op))
 #+end_src
 =(physical!)= makes the hand solid, then =(joints!)= connects each
 piece together.
 #+begin_html
 <div class="figure">
 <center>
 <video controls="controls" width="640">
 * Wrap-Up!
 It is convienent to combine =(physical!)= and =(joints!)= into one
 function that completely creates the creature's physical body.
-#+name: joints-4
+#+name: joints-6
 #+begin_src clojure
 (defn body!
 "Endow the creature with a physical body connected with joints.  The
 particulars of the joints and the masses of each pody part are
 determined in blender."
 [#^Node creature]
 (physical! creature)
 (joints! creature))
 #+end_src
+* The Worm
+Going forward, I will use a model that is less complicated than the
+hand. It has two segments and one joint, and I call it the worm. All
+of the senses described in the following posts will be applied to this
+worm.
+#+name: test-4
+#+begin_src clojure
+(in-ns 'cortex.test.body)
+(defn worm-1 []
+(let [timer (RatchetTimer. 60)]
+(world
+(nodify
+[(doto
+(load-blender-model
+"Models/test-creature/worm.blend")
+(body!))
+(floor)])
+(merge standard-debug-controls debug-control)
+#(do
+(speed-up %)
+(light-up-everything %)
+(.setTimer % timer)
+(cortex.util/display-dialated-time % timer)
+(Capture/captureVideo
+% (File. "/home/r/proj/cortex/render/body/4")))
+no-op)))
+#+end_src
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="640">
+<source src="../video/worm-1.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>This worm model will be the platform onto which future senses will
+be grafted.</p>
+</div>
+#+end_html
 * Bookkeeping
 Header; here for completeness.
-#+name: body-0
+#+name: body-header
 #+begin_src clojure
 (ns cortex.body
 "Assemble a physical creature using the definitions found in a
 specially prepared blender file. Creates rigid bodies and joints so
 that a creature can have a physical presense in the simulation."
 com.jme3.scene.Node
 com.jme3.scene.Geometry
 com.jme3.bullet.collision.shapes.HullCollisionShape))
 #+end_src
+#+name: test-header
+#+begin_src clojure
+(ns cortex.test.body
+(:use (cortex world util body))
+(:import
+(com.aurellem.capture Capture RatchetTimer)
+(com.jme3.math Quaternion Vector3f ColorRGBA)
+java.io.File))
+#+end_src
 * Source
 Dylan -- I'll fill these in later
 - cortex.body
 - cortex.test.body
 * COMMENT Examples
 #+name: test-body
 #+begin_src clojure
-(ns cortex.test.body
-(:use (cortex world util body))
-(:require cortex.silly)
-(:import
-com.jme3.math.Vector3f
-com.jme3.math.ColorRGBA
-com.jme3.bullet.joints.Point2PointJoint
-com.jme3.bullet.control.RigidBodyControl
-com.jme3.system.NanoTimer
-com.jme3.math.Quaternion))
 (defn worm-segments
 "Create multiple evenly spaced box segments. They're fabulous!"
 [segment-length num-segments interstitial-space radius]
 (letfn [(nth-segment
 * COMMENT generate Source
 #+begin_src clojure :tangle ../src/cortex/body.clj
-<<joints>>
+<<body-header>>
+<<body-1>>
+<<joints-2>>
+<<joints-3>>
+<<joints-4>>
+<<joints-5>>
+<<joints-6>>
 #+end_src
 #+begin_src clojure :tangle ../src/cortex/test/body.clj
-<<test-0>>
+<<test-header>>
+<<test-1>>
+<<test-2>>
+<<test-3>>
+<<test-4>>
 #+end_src

Mercurial > cortex

comparison org/body.org @ 205:d3a2abfac405