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comparison org/test-creature.org @ 74:fb810a2c50c2

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trying to get the hand to work
author Robert McIntyre <rlm@mit.edu>
date Wed, 28 Dec 2011 06:44:36 -0700
parents 257a86328adb
children f4c77512808e
comparison
equal deleted inserted replaced
73:257a86328adb 74:fb810a2c50c2
59 (.loadModel 59 (.loadModel
60 (doto (asset-manager) 60 (doto (asset-manager)
61 (.registerLoader BlenderModelLoader (into-array String ["blend"]))) 61 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
62 model)) 62 model))
63 63
64 64 (defn meta-data [blender-node key]
65 (defn apply-skeleton 65 (if-let [data (.getUserData blender-node "properties")]
66 "Given an imported blender model, apply the armature using the 66 (.findValue data key)
67 following pattern: if two bones are connected and have the same 67 nil))
68 names as two shapes, connect the shapes with a joint constraint." 68
69 [armature-name creature] 69 (defn hand2 []
70 (load-blender-model "Models/creature1/try-again.blend"))
71
72 (defn hand []
73 (load-blender-model "Models/creature1/one.blend"))
74
75
70 76
77 (def hand-names
78 #{
79 "middle-1"
80 "middle-2"
81 "middle-3"
82 "palm"
83 "pinky-1"
84 "pinky-2"
85 "pinky-3"
86 "pointer-1"
87 "pointer-2"
88 "pointer-3"
89 "ring-1"
90 "ring-2"
91 "ring-3"
92 "thumb-1"
93 "thumb-2"})
94
95 (defn hand-pieces []
96 (filter
97 (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
98
99 (defn hand-joints []
100 (map #(.getWorldTranslation %)
101 (filter #(re-matches #"joint\.\d\d\d" (.getName %))
102 (node-seq (hand)))))
103
104 (defn worm-pieces []
105 (filter
106 (comp #{"worm-2" "worm-1"}
107 #(apply str (drop-last (.getName %))))
108 (node-seq (hand2))))
109
110 (defn worm-joints []
111 [Vector3f/ZERO])
112
113
114
115 (defn find-joint
116 [#^Node parts #^Vector3f joint-position]
117 (loop [radius (float 0.01)]
118 (let [results (CollisionResults.)]
119 (.collideWith
120 parts
121 (BoundingBox. joint-position radius radius radius)
122 results)
123 (let [targets
124 (distinct
125 (map #(.getGeometry %) results))]
126 (if (>= (count targets) 2)
127 (take 2 targets)
128 (recur (float (* radius 2))))))))
129
130
131
132 (defn connect-at-point
133 [obj-a obj-b point]
134 (let [center-a (.getWorldTranslation obj-a)
135 center-b (.getWorldTranslation obj-b)
136 pivot-a (.subtract point center-a)
137 pivot-b (.subtract point center-b)
138 ;; A side-effect of creating a joint registers
139 ;; it with both physics objects which in turn
140 ;; will register the joint with the physics system
141 ;; when the simulation is started.
142 joint (Point2PointJoint.
143 (.getControl obj-a RigidBodyControl)
144 (.getControl obj-b RigidBodyControl)
145 pivot-a
146 pivot-b)]
147 obj-a))
148
149
150 (defn physical-hand [#^Node pieces joints]
151 ;; Make each piece a physical entity in the simulation.
152 (dorun
153 (map
154 (fn [geom]
155 (let [physics-control
156 (RigidBodyControl.
157 (HullCollisionShape.
158 (.getMesh geom))
159 ;; TODO: fix this.
160 (float 1.0))]
161 (.addControl geom physics-control)))
162 (filter #(isa? (class %) Geometry )
163 (node-seq pieces))))
164 (dorun
165 (map
166 (fn [joint-position]
167 (let [[geom-a geom-b] (find-joint pieces joint-position)]
168 (connect-at-point geom-a geom-b joint-position)))
169 joints))
170 pieces)
171
172
173 (defn the-hand! [] (physical-hand (hand) (hand-joints)))
174
175
176 (defn test-hand []
177 (world
178 (nodify [(the-hand!)
179 (box 10 0.1 10 :position (Vector3f. 0 -10 0)
180 :color ColorRGBA/Gray
181 :mass 0)])
182 standard-debug-controls
183 enable-debug
184 no-op))
185
186
187
188
189
71 190
72 191
73 #+end_src 192 #+end_src
74 193
75 194