Mercurial > cortex

comparison org/proprioception.org @ 206:df46a609fed9

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
removed dead code
author Robert McIntyre <rlm@mit.edu>
date Thu, 09 Feb 2012 04:21:12 -0700
parents 2902aca33c6e
children 5d7961d7fded
comparison
equal deleted inserted replaced
205:d3a2abfac405 206:df46a609fed9
146 146
147 147
148 148
149 #+end_src 149 #+end_src
150 150
151 #+name: test-body
152 #+begin_src clojure
153
154
155 (defn test-proprioception
156 "Testing proprioception:
157 You should see two foating bars, and a printout of pitch, yaw, and
158 roll. Pressing key-r/key-t should move the blue bar up and down and
159 change only the value of pitch. key-f/key-g moves it side to side
160 and changes yaw. key-v/key-b will spin the blue segment clockwise
161 and counterclockwise, and only affect roll."
162 []
163 (let [hand (box 0.2 1 0.2 :position (Vector3f. 0 0 0)
164 :mass 0 :color ColorRGBA/Green :name "hand")
165 finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0)
166 :mass 1 :color ColorRGBA/Red :name "finger")
167 joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow
168 :position (Vector3f. 0 1.2 0)
169 :rotation (doto (Quaternion.)
170 (.fromAngleAxis
171 (/ Math/PI 2)
172 (Vector3f. 0 0 1)))
173 :physical? false)
174 joint (join-at-point hand finger (Vector3f. 0 1.2 0 ))
175 creature (nodify [hand finger joint-node])
176 finger-control (.getControl finger RigidBodyControl)
177 hand-control (.getControl hand RigidBodyControl)]
178
179
180 (let
181 ;; *******************************************
182
183 [floor (box 10 10 10 :position (Vector3f. 0 -15 0)
184 :mass 0 :color ColorRGBA/Gray)
185
186 root (nodify [creature floor])
187 prop (joint-proprioception creature joint-node)
188 prop-view (proprioception-debug-window)
189
190 controls
191 (merge standard-debug-controls
192 {"key-o"
193 (fn [_ _] (.setEnabled finger-control true))
194 "key-p"
195 (fn [_ _] (.setEnabled finger-control false))
196 "key-k"
197 (fn [_ _] (.setEnabled hand-control true))
198 "key-l"
199 (fn [_ _] (.setEnabled hand-control false))
200 "key-i"
201 (fn [world _] (set-gravity world (Vector3f. 0 0 0)))
202 "key-period"
203 (fn [world _]
204 (.setEnabled finger-control false)
205 (.setEnabled hand-control false)
206 (.rotate creature (doto (Quaternion.)
207 (.fromAngleAxis
208 (float (/ Math/PI 15))
209 (Vector3f. 0 0 -1))))
210
211 (.setEnabled finger-control true)
212 (.setEnabled hand-control true)
213 (set-gravity world (Vector3f. 0 0 0))
214 )
215
216
217 }
218 )
219
220 ]
221 (comment
222 (.setCollisionGroup
223 (.getControl hand RigidBodyControl)
224 PhysicsCollisionObject/COLLISION_GROUP_NONE)
225 )
226 (apply
227 world
228 (with-movement
229 hand
230 ["key-y" "key-u" "key-h" "key-j" "key-n" "key-m"]
231 [10 10 10 10 1 1]
232 (with-movement
233 finger
234 ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"]
235 [1 1 10 10 10 10]
236 [root
237 controls
238 (fn [world]
239 (.setTimer world (com.aurellem.capture.RatchetTimer. 60))
240 (set-gravity world (Vector3f. 0 0 0))
241 (light-up-everything world))
242 (fn [_ _] (prop-view (list (prop))))]))))))
243
244 #+end_src
245
246
151 * COMMENT generate source 247 * COMMENT generate source
152 #+begin_src clojure :tangle ../src/cortex/proprioception.clj 248 #+begin_src clojure :tangle ../src/cortex/proprioception.clj
153 <<proprioception>> 249 <<proprioception>>
154 #+end_src 250 #+end_src