1.1 --- a/org/touch.org	Sun Feb 12 14:29:09 2012 -0700
     1.2 +++ b/org/touch.org	Sun Feb 12 14:33:52 2012 -0700
     1.3 @@ -42,14 +42,12 @@
     1.4  
     1.5  * Defining Touch Meta-Data in Blender
     1.6  
     1.7 -Each geometry can have a single UV map which describes the position
     1.8 -and length of the "hairs" which will constitute its sense of
     1.9 -touch. This image path is stored under the "touch" key.  The image
    1.10 -itself is grayscale, with black meaning a hair length of 0 (no hair is
    1.11 -present) and white meaning a hair length of =scale=, which is a float
    1.12 -stored under the key "scale". If the pixel is gray then the resultant
    1.13 -hair length is linearly interpolated between 0 and =scale=. I call
    1.14 -these "hairs" /feelers/.
    1.15 +Each geometry can have a single UV map which describes the position of
    1.16 +the "hairs" which will constitute its sense of touch. This image path
    1.17 +is stored under the "touch" key.  The image itself is black and white,
    1.18 +with black meaning a hair length of 0 (no hair is present) and white
    1.19 +meaning a hair length of =scale=, which is a float stored under the
    1.20 +key "scale". I call these "hairs" /feelers/.
    1.21  
    1.22  #+name: meta-data
    1.23  #+begin_src clojure
    1.24 @@ -75,8 +73,6 @@
    1.25  
    1.26  
    1.27  * Skin Creation
    1.28 -* TODO get the actual lengths for each feeler
    1.29 -
    1.30  
    1.31  =(touch-kernel)= generates the functions which implement the sense of
    1.32  touch for a creature. These functions must do 6 things to obtain touch
    1.33 @@ -86,10 +82,6 @@
    1.34      the layout of feelers along the object's surface.
    1.35      =(tactile-sensor-profile)=, =(tactile-scale)=
    1.36  
    1.37 -  - Get the lengths of each feeler by analyzing the color of the
    1.38 -    pixels in the tactile profile image.
    1.39 -    NOT IMPLEMENTED YET
    1.40 -
    1.41    - Find the triangles which make up the mesh in pixel-space and in
    1.42      world-space.
    1.43      =(triangles)= =(pixel-triangles)=
    1.44 @@ -114,8 +106,6 @@
    1.45  #+begin_src clojure
    1.46  (in-ns 'cortex.touch)
    1.47  
    1.48 -(declare touch-topology feelers set-ray)
    1.49 -
    1.50  (defn set-ray [#^Ray ray #^Matrix4f transform
    1.51                 #^Vector3f origin #^Vector3f tip]
    1.52    ;; Doing everything locally recduces garbage collection by enough to
    1.53 @@ -171,9 +161,6 @@
    1.54                  (node-seq creature)))))
    1.55  #+end_src
    1.56  
    1.57 -#+results: kernel
    1.58 -: #'cortex.touch/touch!
    1.59 -
    1.60  * Sensor Related Functions
    1.61  
    1.62  These functions analyze the touch-sensor-profile image convert the
    1.63 @@ -223,7 +210,6 @@
    1.64      (mapcat (fn [origins normal]
    1.65                (map #(.add % normal) origins))
    1.66              world-coords normals)))
    1.67 -    
    1.68  
    1.69  (defn touch-topology [#^Geometry geo image]
    1.70    (collapse (reduce concat (feeler-pixel-coords geo image))))
    1.71 @@ -235,17 +221,12 @@
    1.72  (in-ns 'cortex.touch)
    1.73  
    1.74  (defn touch->gray
    1.75 -  "Convert a pair of [distance, max-distance] into a grayscale pixel" 
    1.76 +  "Convert a pair of [distance, max-distance] into a grayscale pixel." 
    1.77    [distance max-distance]
    1.78 -  (gray 
    1.79 -   (- 255
    1.80 -      (rem 
    1.81 -       (int
    1.82 -        (* 255 (/ distance max-distance)))
    1.83 -       256))))
    1.84 +  (gray (- 255 (rem (int (* 255 (/ distance max-distance))) 256))))
    1.85  
    1.86  (defn view-touch 
    1.87 -  "Creates a function which accepts a list of  touch sensor-data and
    1.88 +  "Creates a function which accepts a list of touch sensor-data and
    1.89     displays each element to the screen."
    1.90    []
    1.91    (view-sense
    1.92 @@ -295,8 +276,7 @@
    1.93    (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))
    1.94  
    1.95  (defn triangle
    1.96 -  "Get the triangle specified by triangle-index from the mesh within
    1.97 -  bounds."
    1.98 +  "Get the triangle specified by triangle-index from the mesh."
    1.99    [#^Geometry geo triangle-index]
   1.100    (triangle-seq
   1.101     (let [scratch (Triangle.)]
   1.102 @@ -370,8 +350,7 @@
   1.103       (for [row (range 4) col (range 3)]
   1.104         (do
   1.105           (.set mat col row (.get (vertices row)col))
   1.106 -         (.set mat 3 row 1))))
   1.107 -    mat))
   1.108 +         (.set mat 3 row 1)))) mat))
   1.109  
   1.110  (defn triangles->affine-transform
   1.111    "Returns the affine transformation that converts each vertex in the