cortex: org/skin.org comparison

comparison org/skin.org @ 6:e3c6d1c1cb00

fixing ray casting problem

author	Robert McIntyre <rlm@mit.edu>
date	Sun, 23 Oct 2011 00:17:54 -0700
parents	93ff2b4e7e6a
children	9ccfbcbed90a

comparison

equal deleted inserted replaced

-:93ff2b4e7e6a
+:e3c6d1c1cb00
 #+author: Robert McIntyre
 #+email: rlm@mit.edu
 #+description: Simulating touch in JMonkeyEngine
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
+#+babel: :mkdirp yes :noweb yes
 let's see what checkboxes look like:
 * test [1/2]
 - [ ] item 1
 - [X] item 2
 * skin!
 #+srcname: skin-main
 #+begin_src clojure
 (ns body.skin)
 (use 'cortex.world)
 		 (.setApplyPhysicsLocal true))]
 	   (.addControl geom control)
 	   (conj! controls! control)))))
 (persistent! controls!)))
+(defn triangles [#^Geometry geom]
+(let
+[mesh (.getMesh geom)
+triangles (transient [])]
+(dorun
+(for [n (range (.getTriangleCount mesh))]
+(let [tri (Triangle.)]
+(.getTriangle mesh n tri)
+(.calculateNormal tri)
+(.calculateCenter tri)
+(conj! triangles tri))))
+(persistent! triangles)))
+(defn new-touch [#^Geometry geom]
+(dorun (map
+(comp no-op #(.getCenter %))
+(triangles geom))))
+(defn normal-arrows
+"returns a node containing arrows which point
+in the normal direction of each face of the
+given Geometry"
+[#^Geometry geom]
+(let [node (Node.)]
+(dorun
+(map #(.attachChild node %)
+(map
+(fn [tri]
+(make-shape
+(assoc base-shape
+:shape (Sphere. 5 5 0.05)
+:name "arrow"
+:color ColorRGBA/Orange
+:texture false
+:asset-manager (asset-manager)
+:physical? false
+;;:rotation
+;;(.mult
+;; (doto (Quaternion.)
+;;   (.lookAt (.getNormal tri)
+;;            Vector3f/UNIT_Y))
+;; (.getLocalRotation geom))
+:position
+(.add
+(.getCenter tri)
+(.getLocalTranslation geom)))))
+(triangles geom))))
+node))
+(defn get-ray-origin
+[geom tri]
+(.add
+(.getCenter tri)
+(.getLocalTranslation geom)))
+(defn get-ray-direction
+[geom tri]
+(.mult (.getLocalRotation geom)
+(.getNormal tri)))
+(defn ray-debug [ray]
+(make-shape
+(assoc
+base-shape
+:name "debug-ray"
+:physical? false
+:shape (com.jme3.scene.shape.Line.
+(.getOrigin ray)
+(.add
+(.getOrigin ray)
+(.mult (.getDirection ray)
+(float (.getLimit ray))))))))
+(defn normal-rays
+"returns rays"
+[limit #^Geometry geom]
+(vec
+(map
+(fn [tri]
+(doto
+(Ray. (get-ray-origin geom tri)
+(get-ray-direction geom tri))
+(.setLimit limit)))
+(triangles geom))))
+(defn collision-debug [node result]
+(println-repl "contact point: " (.getContactPoint result))
+)
+(defn touch-percieve [limit geom node debug-node]
+(let [normals  (normal-rays limit geom)]
+(.detachAllChildren debug-node)
+(.attachChild debug-node (normal-arrows geom))
+(println-repl "---------")
+(doall
+(for [ray normals]
+(do
+(let [results (CollisionResults.)]
+(.attachChild debug-node (ray-debug ray))
+(.collideWith geom ray results)
+;;(println-repl (.size results) "results for " ray)
+;;(doall (map (partial collision-debug node) results))
+(.size results)
+))))))
+(defn arrow-view [obj]
+(view (doto (Node.)
+(.attachChild (normal-arrows obj))
+(.attachChild obj))))
 (defn make-touch [#^Geometry geom]
 (let [tri (Triangle.)
 	mesh (.getMesh geom)
 	controls! (transient [])]
 (-> (.getMaterial)
 	(.getAdditionalRenderState)
 	(.setBlendMode RenderState$BlendMode/Alpha))
 (.setQueueBucket RenderQueue$Bucket/Transparent)))
+(defn transparent-floor []
+(doto
+(box 5 0.2 5  :mass 0 :position (Vector3f. 0 -2 0)
+:material "Common/MatDefs/Misc/Unshaded.j3md"
+:texture "Textures/redWisp.png")
+(-> (.getMaterial)
+(.getAdditionalRenderState)
+(.setBlendMode RenderState$BlendMode/Alpha))
+(.setQueueBucket RenderQueue$Bucket/Transparent)))
 (defn no-logging []
 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
 (defn set-accuracy [world new-accuracy]
 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
 (defn test-skin []
 (let [b
-	;;(transparent-box)
+	;;(transparent-sphere)
-	(transparent-sphere)
+	(transparent-box)
+	f (transparent-floor)
-	controls
+	;;controls
 	;;(make-touch-sphere b)
-	(make-touch b)
+	;;(make-touch b)
+debug-node (Node.)
+node      (doto (Node.) (.attachChild b) (.attachChild f)
+(.attachChild debug-node))
 	]
 (world
-(doto (Node.) (.attachChild b)
-	   (.attachChild
-	    (doto
-		(box 5 0.2 5  :mass 0 :position (Vector3f. 0 -2 0)
-		     :material "Common/MatDefs/Misc/Unshaded.j3md"
-		     :texture "Textures/redWisp.png")
-	      (-> (.getMaterial)
-		  (.getAdditionalRenderState)
-		  (.setBlendMode RenderState$BlendMode/Alpha))
-	      (.setQueueBucket RenderQueue$Bucket/Transparent))))
+node
 {"key-return" (fire-cannon-ball)
 "key-space"  (fn [game value]
-		     (touch-print controls))}
+		    (println-repl (touch-percieve 1 b node debug-node)))
+}
+;;no-op
 (fn [world]
-(Capture/SimpleCaptureVideo
+;;  (Capture/SimpleCaptureVideo
-world
+;;   world
-(file-str "/home/r/proj/cortex/tmp/blob.avi"))
+;;   (file-str "/home/r/proj/cortex/tmp/blob.avi"))
-(no-logging)
+;;  (no-logging)
 (enable-debug world)
-(set-accuracy world (/ 1 60))
+;;  (set-accuracy world (/ 1 60))
 )
 (fn [& _]
+(Thread/sleep 10)
 ;;(touch-print controls)
-(color-touch controls)
+;;(color-touch controls)
 ))))
 #+end_src
 #+results: skin-main
 : #'body.skin/test-skin
 * COMMENT code generation
-#+begin_src clojure :tangle ../src/body/skin.clj
+#+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
 <<skin-main>>
 #+end_src

Mercurial > cortex

comparison org/skin.org @ 6:e3c6d1c1cb00