1.1 --- a/org/integration.org	Thu Feb 16 09:59:44 2012 -0700
     1.2 +++ b/org/integration.org	Thu Feb 16 11:04:22 2012 -0700
     1.3 @@ -31,10 +31,77 @@
     1.4  
     1.5  (def output-base (File. "/home/r/proj/cortex/render/hand"))
     1.6  
     1.7 +(defn motor-control-program
     1.8 +  "Create a function which will execute the motor script"
     1.9 +  [muscle-positions
    1.10 +   script]
    1.11 +  (let [current-frame (atom -1)
    1.12 +        keyed-script (group-by first script)
    1.13 +        current-forces (atom {}) ]
    1.14 +    (fn [effectors]
    1.15 +      (let [indexed-effectors (vec effectors)]
    1.16 +        (dorun 
    1.17 +         (for [[_ part force] (keyed-script (swap! current-frame inc))]
    1.18 +           (swap! current-forces (fn [m] (assoc m part force)))))
    1.19 +        (doall (map (fn [effector power]
    1.20 +                      (effector (int power)))
    1.21 +                    effectors
    1.22 +                    (map #(@current-forces % 0) muscle-positions)))))))
    1.23 +
    1.24 +(def muscle-positions
    1.25 +  [:pointer-2-e
    1.26 +   :pointer-2-f
    1.27 +   :thumb-1
    1.28 +   :thumb-1
    1.29 +   :pointer-1-e
    1.30 +   :pointer-1-f
    1.31 +   :thumb-2-e
    1.32 +   :thumb-2-f
    1.33 +   :middle-1-e
    1.34 +   :middle-1-f
    1.35 +   :pointer-3-f
    1.36 +   :pointer-3-e
    1.37 +   :middle-2-e
    1.38 +   :middle-2-f
    1.39 +   :middle-3-f
    1.40 +   :middle-3-e
    1.41 +   :pinky-2-e
    1.42 +   :pinky-2-f
    1.43 +   :pinky-3-f
    1.44 +   :pinky-3-e
    1.45 +   :ring-3-e
    1.46 +   :ring-3-f
    1.47 +   :ring-2-f
    1.48 +   :ring-2-e
    1.49 +   :ring-1-e
    1.50 +   :ring-1-f
    1.51 +   :thumb-1-e
    1.52 +   :thumb-1-f
    1.53 +   :pinky-1-f
    1.54 +   :pinky-1-e])
    1.55 +
    1.56 +(def full 9001)
    1.57 +;; the systax here is [keyframe body-part force]
    1.58 +(def wiggle-each-finger-tip
    1.59 +  [[200 :pointer-3-f full]
    1.60 +   [200 :pointer-3-f 40]
    1.61 +
    1.62 +   [400 :middle-3-f full]
    1.63 +   [401 :middle-3-f 40]
    1.64 +
    1.65 +   [600 :ring-3-f full]
    1.66 +   [601 :ring-3-f 40]
    1.67 +
    1.68 +   [800 :pinky-3-f full]
    1.69 +   [801 :pinky-3-f 40]])
    1.70 +
    1.71 +
    1.72 +
    1.73 +
    1.74  (def control-list
    1.75   [
    1.76    0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.77 -  1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.78 +  0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.79    0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
    1.80    0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
    1.81    0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.82 @@ -43,7 +110,7 @@
    1.83    0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
    1.84    0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.85    0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.86 -  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.87 +  1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.88    0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.89    0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.90    0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.91 @@ -51,7 +118,8 @@
    1.92    0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.93    0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.94    0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.95 -  0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.96 +  0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>
    1.97 +  0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>
    1.98    0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.99    0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.100    0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.101 @@ -87,7 +155,8 @@
   1.102          prop (proprioception! creature)
   1.103          prop-display (view-proprioception)
   1.104  
   1.105 -        muscle-exertion (atom 0)
   1.106 +        control-script (motor-control-program
   1.107 +                        muscle-positions wiggle-each-finger-tip)
   1.108          muscles (movement! creature)
   1.109          muscle-display (view-movement)
   1.110          ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.111 @@ -102,15 +171,8 @@
   1.112              {"key-return"
   1.113               (fn [_ value]
   1.114                 (if value
   1.115 -                   (.play bell)))
   1.116 -             "key-h"
   1.117 -             (fn [_ value]
   1.118 -               (if value
   1.119 -                 (swap!  muscle-exertion (partial + 20))))
   1.120 -             "key-n"
   1.121 -             (fn [_ value]
   1.122 -               (if value
   1.123 -                 (swap! muscle-exertion (fn [v] (- v 20)))))})
   1.124 +                   (.play bell)))})
   1.125 +
   1.126       (fn [world]
   1.127         (.setTimer world (RatchetTimer. 60))
   1.128         (light-up-everything world)
   1.129 @@ -127,11 +189,9 @@
   1.130         ;;(vision-display (map #(% world) vision))
   1.131         ;;(hearing-display (map #(% world) hearing))
   1.132  
   1.133 -       (muscle-display
   1.134 -        (map (fn [effector control]
   1.135 -               (effector (int (* @muscle-exertion control))))
   1.136 -             muscles
   1.137 -             control-list))
   1.138 +       ;;(muscle-display
   1.139 +       (control-script muscles)
   1.140 +       ;;)
   1.141               
   1.142         (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.143         (fix-display world))))))