cortex: org/skin.org comparison

comparison org/skin.org @ 37:eeba17a4bd54

cleaning up the touch code

author	Robert McIntyre <rlm@mit.edu>
date	Thu, 03 Nov 2011 09:52:34 -0700
parents	97703c7f020e
children	2ce7400825c2

comparison

equal deleted inserted replaced

-:91090f8a4414
+:eeba17a4bd54
-#+title: SKIN!
+#+title: Simulated Sense of Touch
 #+author: Robert McIntyre
 #+email: rlm@mit.edu
-#+description: Simulating touch in JMonkeyEngine
+#+description: Simulated touch for AI research using JMonkeyEngine and clojure.
+#+keywords: simulation, tactile sense, jMonkeyEngine3, clojure
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
-#+babel: :mkdirp yes :noweb yes
+* Touch
-let's see what checkboxes look like:
+My creatures need to be able to feel their environments. The idea here
-* Skin!
+is to thousands of small /touch receptors/ along the geometries 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.
 #+srcname: skin-main
 #+begin_src clojure
-(ns body.skin)
+(ns cortex.touch
-(use 'cortex.world)
+"Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry
-(use 'cortex.import)
+to be outfitted with touch sensors with density proportional to the
-(use 'clojure.contrib.def)
+density of triangles along the surface of the Geometry. Enables a
-(cortex.import/mega-import-jme3)
+Geometry to know what parts of itself are touching nearby objects."
-(rlm.rlm-commands/help)
+{:author "Robert McIntyre"}
+(:use (cortex world util))
-(import java.util.logging.Level)
+(:import com.jme3.scene.Geometry)
-(import java.util.logging.Logger)
+(:import com.jme3.collision.CollisionResult)
-(use 'hello.brick-wall)
+(:import com.jme3.math Triangle Vector3f Ray))
-(defn triangles [#^Geometry geom]
+(defn triangles
+"Return a sequence of all the Triangles which compose a given
+Geometry."
+[#^Geometry geom]
 (let
 [mesh (.getMesh geom)
 triangles (transient [])]
 (dorun
 (for [n (range (.getTriangleCount mesh))]
 (let [tri (Triangle.)]
 (.getTriangle mesh n tri)
-(.calculateNormal tri)
+;; (.calculateNormal tri)
-(.calculateCenter tri)
+;; (.calculateCenter tri)
 (conj! triangles tri))))
 (persistent! triangles)))
 (defn get-ray-origin
+"Return the origin which a Ray would have to have to be in the exact
+center of a particular Triangle in the Geometry in World
+Coordinates."
 [geom tri]
 (let [new (Vector3f.)]
 (.calculateCenter tri)
-(.localToWorld geom (.getCenter tri) new)
+(.localToWorld geom (.getCenter tri) new) new))
-new))
 (defn get-ray-direction
+"Return the direction which a Ray would have to have to be in the
+exact center of a particular Triangle in the Geometry, pointing
+normal to the Triangle, in coordinates relative to the center of the
+Triangle."
 [geom tri]
 (let [n+c (Vector3f.)]
 (.calculateNormal tri)
 (.calculateCenter tri)
-(.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
+(.localToWorld
-(.subtract n+c (get-ray-origin geom tri))
+geom
-))
+(.add (.getCenter tri) (.getNormal tri)) n+c)
+(.subtract n+c (get-ray-origin geom tri))))
+(defn normal-rays
+"For each Triangle which comprises the Geometry, returns a Ray which
+is centered on that Triangle, points outward in a normal direction,
+and extends for =limit= distance."
+[limit #^Geometry geom]
+(vec
+(map
+(fn [tri]
+(doto
+(Ray. (get-ray-origin geom tri)
+(get-ray-direction geom tri))
+(.setLimit limit)))
+(triangles geom))))
+(defn touch-percieve
+"Augment a Geometry with the sense of touch. Returns a sequence of
+non-negative integers, one for each triangle, with the value of the
+integer describing how many objects a ray of length =limit=, normal
+to the triangle and originating from its center, encountered. The
+Geometry itself is not counted among the results."
+[limit geom node]
+(let [normals  (normal-rays limit geom)]
+(doall
+(for [ray normals]
+(do
+(let [results (CollisionResults.)]
+(.collideWith node ray results)
+(let [touch-objects
+(set (filter #(not (= geom %))
+(map #(.getGeometry %) results)))]
+(count touch-objects))))))))
+#+end_src
+* Example
+#+begin_src clojure
 (defn ray-origin-debug
 [ray color]
 (make-shape
 (assoc base-shape
 (defn contact-color [contacts]
 (case contacts
 0 ColorRGBA/Gray
-1  ColorRGBA/Blue
+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 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 update-ray-debug [node ray contacts]
 (let [origin (.getChild node 0)]
 (.setLocalTranslation origin (.getOrigin ray))
 (.setColor (.getMaterial origin) "Color" (contact-color contacts))))
 (dorun
 (for [n (range (count touch-data))]
 (update-ray-debug
 (.getChild debug-node n) (nth rays n) (nth touch-data n))))))
-(defn touch-percieve [limit geom node]
-(let [normals  (normal-rays limit geom)]
-(doall
-(for [ray normals]
-(do
-(let [results (CollisionResults.)]
-(.collideWith node ray results)
-(let [touch-objects (set (filter #(not (= geom %))
-(map #(.getGeometry %) results)))]
-;;(dorun (map #(println-repl (.getName %)) touch-objects))
-(count touch-objects))))))))
 (defn no-logging []
 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
 (defn set-accuracy [world new-accuracy]
 (manage-ray-debug-node debug-node b touch-data sensitivity)
 )
 (Thread/sleep 10)
 ))))
 #+end_src
-#+results: skin-main
-: #'body.skin/test-skin
 * COMMENT code generation
-#+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
+#+begin_src clojure :tangle ../src/cortex/touch.clj :noweb yes
 <<skin-main>>
 #+end_src

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comparison org/skin.org @ 37:eeba17a4bd54