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comparison org/test-creature.org @ 110:f89f0b9ed2fe

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changed touch image retrieval code to use meta-data in preparation for multiple sensor maps per object
author Robert McIntyre <rlm@mit.edu>
date Thu, 19 Jan 2012 07:22:40 -0700
parents c05d8d222166
children 61d9c0e8d188
comparison
equal deleted inserted replaced
109:c05d8d222166 110:f89f0b9ed2fe
421 421
422 ;; Every Mesh has many triangles, each with its own index. 422 ;; Every Mesh has many triangles, each with its own index.
423 ;; Every vertex has its own index as well. 423 ;; Every vertex has its own index as well.
424 424
425 (defn tactile-sensor-image 425 (defn tactile-sensor-image
426 "Return the touch-sensor distribution image in ImagePlus format, or 426 "Return the touch-sensor distribution image in BufferedImage format,
427 nil if it does not exist." 427 or nil if it does not exist."
428 [#^Geometry obj] 428 [#^Geometry obj]
429 (let [mat (.getMaterial obj)] 429 (if-let [image-path (meta-data obj "touch")]
430 (if-let [texture-param 430 (ImageToAwt/convert
431 (.getTextureParam 431 (.getImage
432 mat 432 (.loadTexture
433 MaterialHelper/TEXTURE_TYPE_DIFFUSE)] 433 (asset-manager)
434 (let 434 image-path))
435 [texture 435 false false 0)))
436 (.getTextureValue texture-param) 436
437 im (.getImage texture)]
438 (ImageToAwt/convert im false false 0)))))
439
440 (import ij.process.ImageProcessor) 437 (import ij.process.ImageProcessor)
441 (import java.awt.image.BufferedImage) 438 (import java.awt.image.BufferedImage)
442 439
443 (def white -1) 440 (def white -1)
444 441
705 (fn [world] 702 (fn [world]
706 (light-up-everything world) 703 (light-up-everything world)
707 (enable-debug world) 704 (enable-debug world)
708 ;;(com.aurellem.capture.Capture/captureVideo 705 ;;(com.aurellem.capture.Capture/captureVideo
709 ;; world (file-str "/home/r/proj/ai-videos/hand")) 706 ;; world (file-str "/home/r/proj/ai-videos/hand"))
710 (.setTimer world (RatchetTimer. 60)) 707 ;;(.setTimer world (RatchetTimer. 60))
711 (speed-up world) 708 ;;(speed-up world)
712 ;;(set-gravity world (Vector3f. 0 0 0)) 709 ;;(set-gravity world (Vector3f. 0 0 0))
713 ) 710 )
714 (fn [world tpf] 711 (fn [world tpf]
715 ;;(dorun 712 ;;(dorun
716 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world)))) 713 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
717 714
718 (dorun 715 (dorun
719 (map #(%1 (%2 (.getRootNode world))) 716 (map #(%1 (%2 (.getRootNode world)))
720 touch-debug-windows touch-nerves)) 717 touch-debug-windows touch-nerves)
721 718 )
722 719
723 ) 720 )
724 ;;(let [timer (atom 0)] 721 ;;(let [timer (atom 0)]
725 ;; (fn [_ _] 722 ;; (fn [_ _]
726 ;; (swap! timer inc) 723 ;; (swap! timer inc)
739 ;;; experiments in collisions 736 ;;; experiments in collisions
740 737
741 738
742 739
743 (defn collision-test [] 740 (defn collision-test []
744 (let [a-radius 1 741 (let [b-radius 1
745 a-position (Vector3f. -0.25 3 0) 742 b-position (Vector3f. 0 0 0)
746 b-radius 1
747 b-position (Vector3f. 0.25 3 0)
748
749
750 obj-a (box 1 1 1 :color ColorRGBA/Red
751 :position a-position
752 :physical? false)
753 obj-b (box 1 1 1 :color ColorRGBA/Blue 743 obj-b (box 1 1 1 :color ColorRGBA/Blue
754 :position b-position 744 :position b-position
755 :physical? false) 745 :mass 0)
756 node (nodify [obj-a obj-b]) 746 node (nodify [obj-b])
757 bounds-a (BoundingBox. a-position 1 1 1) 747 bounds-b
758 bounds-b (BoundingBox. b-position 1 1 1) 748 (doto (Picture.)
749 (.setHeight 50)
750 (.setWidth 50)
751 (.setImage (asset-manager)
752 "Models/creature1/hand.png"
753 false
754 ))
755
756 ;;(Ray. (Vector3f. 0 -5 0) (.normalize (Vector3f. 0 1 0)))
757
758 collisions
759 (let [cr (CollisionResults.)]
760 (.collideWith node bounds-b cr)
761 (println (map #(.getContactPoint %) cr))
762 cr)
763
764 ;;collision-points
765 ;;(map #(sphere 0.1 :position (.getContactPoint %))
766 ;; collisions)
767
768 ;;node (nodify (conj collision-points obj-b))
769
759 sim 770 sim
760 (world node 771 (world node
761 {} 772 {"key-space"
773 (fn [_ value]
774 (if value
775 (let [cr (CollisionResults.)]
776 (.collideWith node bounds-b cr)
777 (println-repl (map #(.getContactPoint %) cr))
778 cr)))}
762 no-op 779 no-op
763 no-op) 780 no-op)
764 781
765 ] 782 ]
766 (.setBound (.getMesh obj-a) bounds-a) 783 sim
767 (.updateBound (.getMesh obj-a))
768
769
770 (.setBound (.getMesh obj-b) bounds-b)
771 (.updateBound (.getMesh obj-b))
772
773
774
775 (let [cr (CollisionResults.)]
776 (.collideWith node bounds-a cr)
777 [cr sim])
778 784
779 )) 785 ))
780 786
781 787
782 788