cortex: org/touch.org comparison

comparison org/touch.org @ 226:e5db1d2ff9a8

removed outdated test from touch.org

author	Robert McIntyre <rlm@mit.edu>
date	Sat, 11 Feb 2012 12:53:18 -0700
parents	facc2ef3fe5c
children	2a7f57e7efdb

comparison

equal deleted inserted replaced

-:5cea47455b43
+:e5db1d2ff9a8
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 * Touch
-My creatures need to be able to feel their environments. The idea here
+Touch is critical to navigation and spatial reasoning and as such I
-is to create thousands of small /touch receptors/ along the geometries
+need a simulated version of it to give to my AI creatures.
-which make up the creature's body. The number of touch receptors in a
-given area is determined by how complicated that area is, as
-determined by the total number of triangles in that region. This way,
-complicated regions like the hands/face, etc. get more touch receptors
-than simpler areas of the body.
 #+name: skin-main
 #+begin_src clojure
-(ns cortex.touch
+(in-ns 'cortex.touch)
-"Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry
-to be outfitted with touch sensors with density proportional to the
-density of triangles along the surface of the Geometry. Enables a
-Geometry to know what parts of itself are touching nearby objects."
-{:author "Robert McIntyre"}
-(:use (cortex world util sense))
-(:use clojure.contrib.def)
-(:import (com.jme3.scene Geometry Node Mesh))
-(:import com.jme3.collision.CollisionResults)
-(:import com.jme3.scene.VertexBuffer$Type)
-(:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
 (defn triangles
 "Return a sequence of all the Triangles which compose a given
 Geometry."
 [#^Geometry geom]
 (let
 (dorun
 (for [i (range (count coords))]
 (.setRGB image ((coords i) 0) ((coords i) 1)
 (gray (sensor-data i)))))
 image))))
 #+end_src
+* Headers
-* Example
+#+begin_src clojure
+(ns cortex.touch
-#+name: touch-test
+"Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry
-#+begin_src clojure
+to be outfitted with touch sensors with density determined by a UV
-(ns cortex.test.touch
+image. In this way a Geometry can know what parts of itself are
-(:use (cortex world util touch))
+touching nearby objects. Reads specially prepared blender files to
-(:import
+construct this sense automatically."
-com.jme3.scene.shape.Sphere
+{:author "Robert McIntyre"}
-com.jme3.math.ColorRGBA
+(:use (cortex world util sense))
-com.jme3.math.Vector3f
+(:use clojure.contrib.def)
-com.jme3.material.RenderState$BlendMode
+(:import (com.jme3.scene Geometry Node Mesh))
-com.jme3.renderer.queue.RenderQueue$Bucket
+(:import com.jme3.collision.CollisionResults)
-com.jme3.scene.shape.Box
+(:import com.jme3.scene.VertexBuffer$Type)
-com.jme3.scene.Node))
+(:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
+#+end_src
-(defn ray-origin-debug
-[ray color]
+* COMMENT Code Generation
-(make-shape
-(assoc base-shape
-:shape (Sphere. 5 5 0.05)
-:name "arrow"
-:color color
-:texture false
-:physical? false
-:position
-(.getOrigin ray))))
-(defn ray-debug [ray color]
-(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 contact-color [contacts]
-(case contacts
-0 ColorRGBA/Gray
-1  ColorRGBA/Red
-2  ColorRGBA/Green
-3  ColorRGBA/Yellow
-4  ColorRGBA/Orange
-5  ColorRGBA/Red
-6  ColorRGBA/Magenta
-7  ColorRGBA/Pink
-8  ColorRGBA/White))
-(defn update-ray-debug [node ray contacts]
-(let [origin (.getChild node 0)]
-(.setLocalTranslation origin (.getOrigin ray))
-(.setColor (.getMaterial origin) "Color" (contact-color contacts))))
-(defn init-node
-[debug-node rays]
-(.detachAllChildren debug-node)
-(dorun
-(for [ray rays]
-(do
-(.attachChild
-debug-node
-(doto (Node.)
-(.attachChild (ray-origin-debug ray ColorRGBA/Gray))
-(.attachChild (ray-debug ray ColorRGBA/Gray))
-))))))
-(defn manage-ray-debug-node [debug-node geom touch-data limit]
-(let [rays (normal-rays limit geom)]
-(if (not= (count (.getChildren debug-node)) (count touch-data))
-(init-node debug-node rays))
-(dorun
-(for [n (range (count touch-data))]
-(update-ray-debug
-(.getChild debug-node n) (nth rays n) (nth touch-data n))))))
-(defn transparent-sphere []
-(doto
-(make-shape
-(merge base-shape
-	      {:position (Vector3f. 0 2 0)
-	       :name "the blob."
-	       :material "Common/MatDefs/Misc/Unshaded.j3md"
-	       :texture "Textures/purpleWisp.png"
-	       :physical? true
-	       :mass 70
-	       :color ColorRGBA/Blue
-	       :shape (Sphere. 10 10 1)}))
-(-> (.getMaterial)
-	(.getAdditionalRenderState)
-	(.setBlendMode RenderState$BlendMode/Alpha))
-(.setQueueBucket RenderQueue$Bucket/Transparent)))
-(defn transparent-box []
-(doto
-(make-shape
-(merge base-shape
-	      {:position (Vector3f. 0 2 0)
-	       :name "box"
-	       :material "Common/MatDefs/Misc/Unshaded.j3md"
-	       :texture "Textures/purpleWisp.png"
-	       :physical? true
-	       :mass 70
-	       :color ColorRGBA/Blue
-	       :shape (Box. 1 1 1)}))
-(-> (.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"
-:name "floor")
-(-> (.getMaterial)
-(.getAdditionalRenderState)
-(.setBlendMode RenderState$BlendMode/Alpha))
-(.setQueueBucket RenderQueue$Bucket/Transparent)))
-(defn test-skin
-"Testing touch:
-you should see a ball which responds to the table
-and whatever balls hit it."
-[]
-(let [b
-;;(transparent-box)
-(transparent-sphere)
-;;(sphere)
-f (transparent-floor)
-debug-node (Node.)
-node      (doto (Node.) (.attachChild b) (.attachChild f))
-root-node (doto (Node.) (.attachChild node)
-(.attachChild debug-node))
-]
-(world
-root-node
-{"key-return" (fire-cannon-ball node)}
-(fn [world]
-;;  (Capture/SimpleCaptureVideo
-;;   world
-;;   (file-str "/home/r/proj/cortex/tmp/blob.avi"))
-;;  (no-logging)
-;;(enable-debug world)
-;;  (set-accuracy world (/ 1 60))
-)
-(fn [& _]
-(let [sensitivity 0.2
-touch-data (touch-percieve sensitivity b node)]
-(manage-ray-debug-node debug-node b touch-data sensitivity))
-))))
-#+end_src
-* COMMENT code generation
 #+begin_src clojure :tangle ../src/cortex/touch.clj
 <<skin-main>>
 #+end_src
 #+begin_src clojure :tangle ../src/cortex/test/touch.clj
-<<touch-test>>
 #+end_src

Mercurial > cortex

comparison org/touch.org @ 226:e5db1d2ff9a8