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comparison org/test-creature.org @ 104:ee302b65213b

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removed outdated code
author Robert McIntyre <rlm@mit.edu>
date Sat, 14 Jan 2012 23:05:52 -0700
parents 85ee8bb80edf
children 3334bf15854b
comparison
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103:85ee8bb80edf 104:ee302b65213b
4 #+description: 4 #+description:
5 #+keywords: simulation, jMonkeyEngine3, clojure 5 #+keywords: simulation, jMonkeyEngine3, clojure
6 #+SETUPFILE: ../../aurellem/org/setup.org 6 #+SETUPFILE: ../../aurellem/org/setup.org
7 #+INCLUDE: ../../aurellem/org/level-0.org 7 #+INCLUDE: ../../aurellem/org/level-0.org
8 8
9
10 * objectives 9 * objectives
11 - [X] get an overall bitmap-like image for touch 10 - [X] get an overall bitmap-like image for touch
12 - [X] write code to visuliaze this bitmap 11 - [X] write code to visuliaze this bitmap
13 - [ ] directly change the UV-pixels to show touch sensor activation 12 - [ ] directly change the UV-pixels to show touch sensor activation
14 - [ ] write an explination for why b&w bitmaps for senses is appropiate 13 - [ ] write an explination for why b&w bitmaps for senses is appropiate
32 angles. I also need to determine weather to use log-polar or cartesian 31 angles. I also need to determine weather to use log-polar or cartesian
33 for the visual input, and I need to determine how/wether to 32 for the visual input, and I need to determine how/wether to
34 disceritise the visual input. 33 disceritise the visual input.
35 34
36 I also want to be able to visualize both the sensors and the 35 I also want to be able to visualize both the sensors and the
37 effectors in pretty pictures. This semi-retarted creature will by my 36 effectors in pretty pictures. This semi-retarted creature will be my
38 first attempt at bringing everything together. 37 first attempt at bringing everything together.
39 38
40 * The creature's body 39 * The creature's body
41 40
42 Still going to do an eve-like body in blender, but due to problems 41 Still going to do an eve-like body in blender, but due to problems
43 importing the joints, etc into jMonkeyEngine3, I',m going to do all 42 importing the joints, etc into jMonkeyEngine3, I'm going to do all
44 the connecting here in clojure code, using the names of the individual 43 the connecting here in clojure code, using the names of the individual
45 components and trial and error. Later, I'll maybe make some sort of 44 components and trial and error. Later, I'll maybe make some sort of
46 creature-building modifications to blender that support whatever 45 creature-building modifications to blender that support whatever
47 discreitized senses I'm going to make. 46 discreitized senses I'm going to make.
48 47
163 (map vector 162 (map vector
164 (collapse-1d (first center) 163 (collapse-1d (first center)
165 (map first row)) 164 (map first row))
166 (map second row))) 165 (map second row)))
167 (partition-by second (sort-by second flattened)))) 166 (partition-by second (sort-by second flattened))))
168 ;;vi (view-image)
169 relocate 167 relocate
170 (let [min-x (apply min (map first squeezed)) 168 (let [min-x (apply min (map first squeezed))
171 min-y (apply min (map second squeezed))] 169 min-y (apply min (map second squeezed))]
172 (map (fn [[x y]] 170 (map (fn [[x y]]
173 [(- x min-x) 171 [(- x min-x)
174 (- y min-y)]) 172 (- y min-y)])
175 squeezed)) 173 squeezed))]
176 ]
177 ;;(vi (points->image points))
178 ;;(Thread/sleep 1000)
179 ;;(vi (points->image flattened))
180 ;;(Thread/sleep 1000)
181 ;;(vi (points->image squeezed))
182 relocate 174 relocate
183 )) 175 ))
184 176
185 (defn load-bullet [] 177 (defn load-bullet []
186 (let [sim (world (Node.) {} no-op no-op)] 178 (let [sim (world (Node.) {} no-op no-op)]
903 (.applyTorque control 895 (.applyTorque control
904 (.mult (.getPhysicsRotation control) 896 (.mult (.getPhysicsRotation control)
905 (Vector3f. 1 0 0)))))))) 897 (Vector3f. 1 0 0))))))))
906 898
907 899
908 (defn locate-feelers*
909 "Search the geometry's tactile UV image for touch sensors, returning
910 their positions in geometry-relative coordinates."
911 [#^Geometry geo]
912 (let [uv-image (touch-receptor-image geo)
913 width (.getWidth uv-image)
914 height (.getHeight uv-image)
915
916 mesh (.getMesh geo)
917 mesh-tris (triangles geo)
918
919 ;; for each triangle
920 sensor-coords
921 (fn [tri]
922 ;; translate triangle to uv-pixel-space
923 (let [uv-tri
924 (rasterize mesh tri width height)
925 bounds (vec (triangle-bounds uv-tri))]
926
927 ;; get that part of the picture
928
929 (apply (partial (memfn setRoi) uv-image) bounds)
930 (let [cutout (.crop (.getProcessor uv-image))
931 ;; extract white pixels inside triangle
932 cutout-tri
933 (map-triangle
934 (fn [_ v]
935 (.subtract
936 v
937 (Vector3f. (bounds 0) (bounds 1) (float 0))))
938 uv-tri)
939 whites (filter (partial inside-triangle? cutout-tri)
940 (map vector2f->vector3f
941 (white-coordinates cutout)))
942 ;; translate pixel coordinates to world-space
943 transform (triangle-transformation cutout-tri tri)]
944 (map #(.mult transform %) whites))))]
945
946 (for [mesh-tri mesh-tris]
947
948 (let [uv-tri (rasterize mesh mesh-tri width height)
949 bounding-box (vec (triangle-bounds uv-tri))]
950 (apply (partial (memfn setRoi) uv-image) bounding-box)
951 ))
952 (vec (map sensor-coords mesh-tris))))
953
954
955 (defn tactile-coords [#^Geometry obj]
956 (let [mesh (.getMesh obj)
957 num-triangles (.getTriangleCount mesh)
958 num-verticies (.getVertexCount mesh)
959 uv-coord (partial uv-coord mesh)
960 triangle-indices (partial triangle-indices mesh)
961 receptors (touch-receptor-image obj)
962 tris (triangles obj)
963 ]
964 (map
965 (fn [[tri-1 tri-2 tri-3]]
966 (let [width (.getWidth receptors)
967 height (.getHeight receptors)
968 uv-1 (uv-coord tri-1)
969 uv-2 (uv-coord tri-2)
970 uv-3 (uv-coord tri-3)
971 x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
972 y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
973 max-x (Math/ceil (* width (apply max x-coords)))
974 min-x (Math/floor (* width (apply min x-coords)))
975 max-y (Math/ceil (* height (apply max y-coords)))
976 min-y (Math/floor (* height (apply min y-coords)))
977
978 image-1 (Vector2f. (* width (.getX uv-1))
979 (* height (.getY uv-1)))
980 image-2 (Vector2f. (* width (.getX uv-2))
981 (* height (.getY uv-2)))
982 image-3 (Vector2f. (* width (.getX uv-3))
983 (* height (.getY uv-3)))
984 left-corner
985 (Vector2f. min-x min-y)
986 ]
987
988 (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
989 (let [processor (.crop (.getProcessor receptors))]
990 (map
991 #(.add left-corner %)
992
993 (filter
994 (partial
995 inside-triangle?
996 (.subtract image-1 left-corner)
997 (.subtract image-2 left-corner)
998 (.subtract image-3 left-corner))
999 (white-coordinates processor))))
1000 )) (map triangle-indices (range num-triangles)))))
1001
1002 #+end_src 900 #+end_src
1003 901
1004 #+results: body-1 902 #+results: body-1
1005 : #'cortex.silly/test-joint 903 : #'cortex.silly/tactile-coords
1006 904
1007 905
1008 * COMMENT purgatory 906 * COMMENT purgatory
1009 #+begin_src clojure 907 #+begin_src clojure
1010 (defn bullet-trans [] 908 (defn bullet-trans []