1.1 --- a/org/test-creature.org	Wed Dec 28 23:12:32 2011 -0700
     1.2 +++ b/org/test-creature.org	Wed Jan 04 08:36:42 2012 -0700
     1.3 @@ -66,8 +66,6 @@
     1.4      (.findValue data key)
     1.5      nil))
     1.6  
     1.7 -(defn hand2 []
     1.8 -  (load-blender-model "Models/creature1/try-again.blend"))
     1.9  
    1.10  (defn hand []
    1.11    (load-blender-model "Models/creature1/one.blend"))
    1.12 @@ -100,55 +98,450 @@
    1.13    (map #(.getWorldTranslation %)
    1.14         (filter #(re-matches #"joint\.\d\d\d" (.getName %))
    1.15                 (node-seq (hand)))))
    1.16 +(defn worm []
    1.17 +  (load-blender-model "Models/creature1/try-again.blend"))
    1.18 +
    1.19  
    1.20  (defn worm-pieces []
    1.21    (filter
    1.22     (comp #{"worm-2" "worm-1"}
    1.23           #(apply str (drop-last (.getName %))))
    1.24 -   (node-seq (hand2))))
    1.25 +   (node-seq (worm))))
    1.26  
    1.27  (defn worm-joints []
    1.28 -  [Vector3f/ZERO])
    1.29 +  (filter #(re-matches #"joint\.\d\d\d" (.getName %))
    1.30 +          (node-seq (worm))))
    1.31  
    1.32 +(defn bullet-trans []
    1.33 +  (let [obj-a (sphere 0.5 :color ColorRGBA/Red
    1.34 +                      :position (Vector3f. -10 5 0))
    1.35 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
    1.36 +                      :position (Vector3f. -10 -5 0)
    1.37 +                      :mass 0)
    1.38 +        control-a (.getControl obj-a RigidBodyControl)
    1.39 +        control-b (.getControl obj-b RigidBodyControl)
    1.40 +        swivel
    1.41 +        (.toRotationMatrix
    1.42 +         (doto (Quaternion.)
    1.43 +           (.fromAngleAxis (/ Math/PI 2)
    1.44 +                           Vector3f/UNIT_X)))]
    1.45 +    (doto 
    1.46 +        (ConeJoint.
    1.47 +         control-a control-b
    1.48 +         (Vector3f. 0 5 0)
    1.49 +         (Vector3f. 0 -5 0)
    1.50 +         swivel swivel)
    1.51 +      (.setLimit (* 0.6 (/ Math/PI 4))
    1.52 +                 (/ Math/PI 4)
    1.53 +                 (* Math/PI 0.8)))
    1.54 +    (world (nodify
    1.55 +            [obj-a obj-b])
    1.56 +            standard-debug-controls
    1.57 +            enable-debug
    1.58 +            no-op)))
    1.59  
    1.60  
    1.61 -(defn find-joint
    1.62 -  [#^Node parts #^Vector3f joint-position]
    1.63 +(defn bullet-trans* []
    1.64 +  (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
    1.65 +                   :position (Vector3f. 5 0 0)
    1.66 +                   :mass 90)
    1.67 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
    1.68 +                      :position (Vector3f. -5 0 0)
    1.69 +                      :mass 0)
    1.70 +        control-a (.getControl obj-a RigidBodyControl)
    1.71 +        control-b (.getControl obj-b RigidBodyControl)
    1.72 +        move-up? (atom nil)
    1.73 +        move-down? (atom nil)
    1.74 +        move-left? (atom nil)
    1.75 +        move-right? (atom nil)
    1.76 +        roll-left? (atom nil)
    1.77 +        roll-right? (atom nil)
    1.78 +        force 100
    1.79 +        swivel
    1.80 +        (.toRotationMatrix
    1.81 +         (doto (Quaternion.)
    1.82 +           (.fromAngleAxis (/ Math/PI 2)
    1.83 +                           Vector3f/UNIT_X)))
    1.84 +        x-move
    1.85 +        (doto (Matrix3f.)
    1.86 +          (.fromStartEndVectors Vector3f/UNIT_X
    1.87 +                                (.normalize (Vector3f. 1 1 0))))
    1.88 +        
    1.89 +        timer (atom 0)]
    1.90 +    (doto 
    1.91 +        (ConeJoint.
    1.92 +         control-a control-b
    1.93 +         (Vector3f. -8 0 0)
    1.94 +         (Vector3f. 2 0 0)
    1.95 +         ;;swivel swivel
    1.96 +         ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
    1.97 +         x-move Matrix3f/IDENTITY 
    1.98 +         )
    1.99 +      (.setCollisionBetweenLinkedBodys false)
   1.100 +      (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
   1.101 +                 (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
   1.102 +                 (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
   1.103 +    (world (nodify
   1.104 +            [obj-a obj-b])
   1.105 +           (merge standard-debug-controls
   1.106 +                  {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.107 +                   "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.108 +                   "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.109 +                   "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.110 +                   "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.111 +                   "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.112 +           
   1.113 +           (fn [world]
   1.114 +             (enable-debug world)
   1.115 +             (set-gravity world Vector3f/ZERO)
   1.116 +             )
   1.117 +                           
   1.118 +           (fn [world _]
   1.119 +
   1.120 +             (if @move-up?
   1.121 +               (.applyForce control-a
   1.122 +                              (Vector3f. force 0 0)
   1.123 +                              (Vector3f. 0 0 0)))
   1.124 +             (if @move-down?
   1.125 +               (.applyForce control-a
   1.126 +                             (Vector3f. (- force) 0 0)
   1.127 +                             (Vector3f. 0 0 0)))
   1.128 +             (if @move-left?
   1.129 +               (.applyForce control-a
   1.130 +                             (Vector3f. 0 force 0)
   1.131 +                             (Vector3f. 0 0 0)))
   1.132 +             (if @move-right?
   1.133 +               (.applyForce control-a
   1.134 +                             (Vector3f. 0 (- force) 0)
   1.135 +                             (Vector3f. 0 0 0)))
   1.136 +
   1.137 +             (if @roll-left?
   1.138 +               (.applyForce control-a
   1.139 +                             (Vector3f. 0 0 force)
   1.140 +                             (Vector3f. 0 0 0)))
   1.141 +             (if @roll-right?
   1.142 +               (.applyForce control-a
   1.143 +                             (Vector3f. 0 0 (- force))
   1.144 +                             (Vector3f. 0 0 0)))
   1.145 +
   1.146 +             (if (zero? (rem (swap! timer inc) 100))
   1.147 +               (.attachChild
   1.148 +                (.getRootNode world)
   1.149 +                (sphere 0.05 :color ColorRGBA/Yellow
   1.150 +                        :physical? false :position
   1.151 +                        (.getWorldTranslation obj-a)))))
   1.152 +           )
   1.153 +    ))
   1.154 +
   1.155 +        
   1.156 +                          
   1.157 +    
   1.158 +        
   1.159 +    
   1.160 +
   1.161 +
   1.162 +
   1.163 +
   1.164 +
   1.165 +(defn world-setup [joint]
   1.166 +  (let [top (doto
   1.167 +                (sphere 0.1 :physical? false :color ColorRGBA/Yellow
   1.168 +                        :position (Vector3f. 0 7 0))
   1.169 +              (.addControl
   1.170 +               (RigidBodyControl.
   1.171 +                (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
   1.172 +        bottom (doto
   1.173 +                   (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
   1.174 +                           :position (Vector3f. 0 -1 0))
   1.175 +              (.addControl
   1.176 +               (RigidBodyControl.
   1.177 +                (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
   1.178 +        table (box 10 2 10 :position (Vector3f. 0 -6 0)
   1.179 +                   :color ColorRGBA/Gray :mass 0)
   1.180 +        a (.getControl top RigidBodyControl)
   1.181 +        b (.getControl bottom RigidBodyControl)]
   1.182 +    (cond
   1.183 +     (= joint :point)
   1.184 +     (doto
   1.185 +         (Point2PointJoint. a b
   1.186 +                            (Vector3f. 0 -2 0)
   1.187 +                            (Vector3f. 0  2 0))
   1.188 +       (.setCollisionBetweenLinkedBodys false))
   1.189 +     (= joint :hinge)
   1.190 +     (doto
   1.191 +         (HingeJoint.
   1.192 +          a b
   1.193 +          (Vector3f. 0 -2 0)
   1.194 +          (Vector3f. 0 2 0)
   1.195 +          (Vector3f. 0 0 1)
   1.196 +          (Vector3f. 0 0 1)
   1.197 +
   1.198 +          )
   1.199 +       (.setCollisionBetweenLinkedBodys false)
   1.200 +       ;;(.setLimit (- Math/PI) Math/PI)
   1.201 +       )
   1.202 +     (= joint :cone)
   1.203 +     ;; note to self -- jbullet does NOT implement cone joints
   1.204 +     ;; correctly. You must use plain ol' bullet for this to work.
   1.205 +     ;; It's faster anyway, so whatever.
   1.206 +     
   1.207 +     (doto (ConeJoint.
   1.208 +            a b
   1.209 +            (Vector3f. 0 -5 0)
   1.210 +            (Vector3f. 0 2 0)
   1.211 +
   1.212 +            (doto (Matrix3f.)
   1.213 +              (.fromStartEndVectors Vector3f/UNIT_X
   1.214 +                                    Vector3f/UNIT_Y))
   1.215 +            (doto (Matrix3f.)
   1.216 +              (.fromStartEndVectors Vector3f/UNIT_X
   1.217 +                                    Vector3f/UNIT_Y))
   1.218 +            )
   1.219 +       ;;(.setAngularOnly true)
   1.220 +       
   1.221 +       (.setCollisionBetweenLinkedBodys false)
   1.222 +       (.setLimit (* 1 (/ Math/PI 4))
   1.223 +                  (* 1 (/ Math/PI 4))
   1.224 +                  (* 0 (/ Math/PI 4)))
   1.225 +        
   1.226 +       )
   1.227 +     (= joint :six)
   1.228 +     (doto
   1.229 +         (SixDofJoint.
   1.230 +          a b
   1.231 +          (Vector3f. 0 -2 0)
   1.232 +          (Vector3f. 0 2 0)
   1.233 +          ;;(doto (Matrix3f.)
   1.234 +          ;;    (.fromStartEndVectors Vector3f/UNIT_X
   1.235 +          ;;                          Vector3f/UNIT_Y))
   1.236 +          ;;(doto (Matrix3f.)
   1.237 +          ;;  (.fromStartEndVectors Vector3f/UNIT_X
   1.238 +          ;;                        Vector3f/UNIT_Y))
   1.239 +          true)
   1.240 +       (.setCollisionBetweenLinkedBodys false)
   1.241 +       (.setAngularLowerLimit (Vector3f. 0
   1.242 +                                         (- (/ Math/PI 2))
   1.243 +                                         0))
   1.244 +                                         
   1.245 +       (.setAngularUpperLimit (Vector3f. 0
   1.246 +                                         (/ Math/PI 2)
   1.247 +                                         0))
   1.248 +       (.setLinearLowerLimit  (Vector3f. 0 0 0))
   1.249 +       (.setLinearUpperLimit  (Vector3f. 0 0 0))
   1.250 +
   1.251 +       )
   1.252 +          
   1.253 +            
   1.254 +            
   1.255 +          
   1.256 +     
   1.257 +    )
   1.258 +      
   1.259 +    [top bottom table]))
   1.260 +
   1.261 +(defn speed-up [world]
   1.262 +  (.setMoveSpeed (.getFlyByCamera world)
   1.263 +                 (float 100))
   1.264 +  (.setRotationSpeed (.getFlyByCamera world)
   1.265 +                     (float 20))
   1.266 +  world)
   1.267 +
   1.268 +
   1.269 +(defn test-joint [joint]
   1.270 +  (let [[top bottom floor] (world-setup joint)
   1.271 +        control (.getControl top RigidBodyControl)
   1.272 +        move-up? (atom false)
   1.273 +        move-down? (atom false)
   1.274 +        move-left? (atom false)
   1.275 +        move-right? (atom false)
   1.276 +        roll-left? (atom false)
   1.277 +        roll-right? (atom false)
   1.278 +        timer (atom 0)]
   1.279 +
   1.280 +    (world
   1.281 +     (nodify [top bottom floor])
   1.282 +     (merge standard-debug-controls
   1.283 +            {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.284 +             "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.285 +             "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.286 +             "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.287 +             "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.288 +             "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.289 +     
   1.290 +     (fn [world]
   1.291 +       (light-up-everything world)
   1.292 +       (enable-debug world)
   1.293 +       (set-gravity world (Vector3f. 0 0 0))
   1.294 +       )
   1.295 +     
   1.296 +     (fn [world _]
   1.297 +       (if (zero? (rem (swap! timer inc) 100))
   1.298 +         (do
   1.299 +         ;;  (println-repl @timer)
   1.300 +           (.attachChild (.getRootNode world)
   1.301 +                       (sphere 0.05 :color ColorRGBA/Yellow
   1.302 +                               :position (.getWorldTranslation top)
   1.303 +                               :physical? false))))
   1.304 +       (if @move-up?
   1.305 +         (.applyTorque control
   1.306 +                       (.mult (.getPhysicsRotation control)
   1.307 +                              (Vector3f. 0 0 10))))
   1.308 +       (if @move-down?
   1.309 +         (.applyTorque control
   1.310 +                       (.mult (.getPhysicsRotation control)
   1.311 +                              (Vector3f. 0 0 -10))))
   1.312 +       (if @move-left?
   1.313 +         (.applyTorque control
   1.314 +                       (.mult (.getPhysicsRotation control)
   1.315 +                              (Vector3f. 0 10 0))))
   1.316 +       (if @move-right?
   1.317 +         (.applyTorque control
   1.318 +                       (.mult (.getPhysicsRotation control)
   1.319 +                              (Vector3f. 0 -10 0))))
   1.320 +       (if @roll-left?
   1.321 +         (.applyTorque control
   1.322 +                       (.mult (.getPhysicsRotation control)
   1.323 +                              (Vector3f. -1 0 0))))
   1.324 +       (if @roll-right?
   1.325 +         (.applyTorque control
   1.326 +                       (.mult (.getPhysicsRotation control)
   1.327 +                              (Vector3f. 1 0 0))))))))
   1.328 +
   1.329 +                  
   1.330 +
   1.331 +(defn run [joint] (.start (test-joint joint)))
   1.332 +(defn look [joint] (view (nodify (world-setup joint))))
   1.333 +
   1.334 +(defn blender-to-jme
   1.335 +  "Convert from Blender coordinates to JME coordinates"
   1.336 +  [#^Vector3f in]
   1.337 +  (Vector3f. (.getX in)
   1.338 +             (.getZ in)
   1.339 +             (- (.getY in))))
   1.340 +
   1.341 +
   1.342 +(defn joint-targets
   1.343 +  "Return the two closest two objects to the joint object, ordered
   1.344 +  from bottom to top according to the joint's rotation."
   1.345 +  [#^Node parts #^Node joint]
   1.346 +  ;;(println (meta-data joint "joint"))
   1.347 +  (.getWorldRotation joint)
   1.348    (loop [radius (float 0.01)]
   1.349      (let [results (CollisionResults.)]
   1.350        (.collideWith
   1.351         parts
   1.352 -       (BoundingBox. joint-position radius radius radius)
   1.353 +       (BoundingBox. (.getWorldTranslation joint)
   1.354 +                     radius radius radius)
   1.355         results)
   1.356        (let [targets
   1.357              (distinct
   1.358               (map  #(.getGeometry %) results))]
   1.359          (if (>= (count targets) 2)
   1.360 -          (take 2 targets)
   1.361 +          (sort-by
   1.362 +           #(.getY
   1.363 +             (.mult
   1.364 +              (.inverse (.getWorldRotation joint))
   1.365 +              (.subtract (.getWorldTranslation %)
   1.366 +                         (.getWorldTranslation joint))))
   1.367 +           (take 2 targets))
   1.368            (recur (float (* radius 2))))))))
   1.369  
   1.370 +(defn connect
   1.371 +  "here are some examples:
   1.372 +   {:type :point}
   1.373 +   {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
   1.374 +   (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
   1.375  
   1.376 +   {:type :cone   :limit-xz 0]
   1.377 +                  :limit-yz 0]
   1.378 +                  :twist 0]}
   1.379 +"
   1.380 +  ([#^Node obj-a #^Node obj-b #^Node joint]
   1.381 +     (let [center-a (.getWorldTranslation obj-a)
   1.382 +           center-b (.getWorldTranslation obj-b)
   1.383 +           joint-center (.getWorldTranslation joint)
   1.384 +           pivot-a (.subtract joint-center center-a)
   1.385 +           pivot-b (.subtract joint-center center-b)
   1.386 +           control-a (.getControl obj-a RigidBodyControl)
   1.387 +           control-b (.getControl obj-b RigidBodyControl)]
   1.388 +           ;; A side-effect of creating a joint registers
   1.389 +           ;; it with both physics objects which in turn
   1.390 +           ;; will register the joint with the physics system
   1.391 +           ;; when the simulation is started.
   1.392 +       (if-let [constraints
   1.393 +                (map-vals
   1.394 +                 eval
   1.395 +                 (read-string
   1.396 +                  (meta-data (first (worm-joints)) "joint")))]
   1.397  
   1.398 -(defn connect-at-point
   1.399 -  [obj-a obj-b point]
   1.400 -  (let [center-a (.getWorldTranslation obj-a)
   1.401 -        center-b (.getWorldTranslation obj-b)
   1.402 -        pivot-a (.subtract point center-a)
   1.403 -        pivot-b (.subtract point center-b)
   1.404 -        ;; A side-effect of creating a joint registers
   1.405 -        ;; it with both physics objects which in turn
   1.406 -        ;; will register the joint with the physics system
   1.407 -        ;; when the simulation is started.
   1.408 -        joint (Point2PointJoint.
   1.409 -               (.getControl obj-a RigidBodyControl)
   1.410 -               (.getControl obj-b RigidBodyControl)
   1.411 -               pivot-a
   1.412 -               pivot-b)]
   1.413 -    obj-a))
   1.414 +         (let [joint-type (:type constraints)]
   1.415 +           (cond (= :point joint-type)
   1.416 +                 (do
   1.417 +                   (println-repl "creating POINT joint")
   1.418 +                   (Point2PointJoint.
   1.419 +                    control-a
   1.420 +                    control-b
   1.421 +                    pivot-a
   1.422 +                    pivot-b))
   1.423 +                 (= :hinge joint-type)
   1.424 +                 (do
   1.425 +                   (println-repl "creating HINGE joint")
   1.426 +                   (let [axis (if-let
   1.427 +                                  [axis (:axis constraints)]
   1.428 +                                axis
   1.429 +                                Vector3f/UNIT_X)
   1.430 +                         [limit-1 limit-2] (:limit constraints)
   1.431 +                         hinge-axis
   1.432 +                         (.mult
   1.433 +                          (.getWorldRotation joint)
   1.434 +                          (blender-to-jme axis))]
   1.435 +                     (doto
   1.436 +                         (HingeJoint.
   1.437 +                          control-a
   1.438 +                          control-b
   1.439 +                          pivot-a
   1.440 +                          pivot-b
   1.441 +                          hinge-axis
   1.442 +                          hinge-axis)
   1.443 +                       (.setLimit limit-1 limit-2))))
   1.444 +                 (= :cone joint-type)
   1.445 +                 (do
   1.446 +                   (let [limit-xy (:limit-xz constraints)
   1.447 +                         limit-yz (:limit-yz constraints)
   1.448 +                         twist    (:twist constraints)]
   1.449 +                     
   1.450 +                     (println-repl "creating CONE joint")
   1.451 +                     (doto
   1.452 +                         (ConeJoint.
   1.453 +                          control-a
   1.454 +                          control-b
   1.455 +                          pivot-a
   1.456 +                          pivot-b
   1.457 +                          (doto (Matrix3f.)
   1.458 +                            (.fromStartEndVectors
   1.459 +                             Vector3f/UNIT_X
   1.460 +                             (.normalize
   1.461 +                              (.subtract (.getWorldTranslation joint)
   1.462 +                                         (.getWorldTranslation obj-a)))))
   1.463 +                          (doto (Matrix3f.)
   1.464 +                            (.fromStartEndVectors
   1.465 +                             Vector3f/UNIT_X
   1.466 +                             (.normalize
   1.467 +                              (.subtract
   1.468 +                               (.getWorldTranslation obj-b)
   1.469 +                               (.getWorldTranslation joint))))))
   1.470 +                       (.setLimit (float limit-xy)
   1.471 +                                  (float limit-yz)
   1.472 +                                  (float twist)))))
   1.473 +                 true
   1.474 +                 (println-repl
   1.475 +                  "joint-type " joint-type " not recognized")))
   1.476 +                 
   1.477 +           (println-repl "could not find joint meta-data!")))))
   1.478 +           
   1.479  
   1.480  
   1.481 -(defn physical-hand [#^Node pieces joints]
   1.482 -  ;; Make each piece a physical entity in the simulation.
   1.483 +(defn physical-worm [#^Node pieces joints]
   1.484    (dorun
   1.485     (map
   1.486      (fn [geom]
   1.487 @@ -156,44 +549,48 @@
   1.488              (RigidBodyControl.
   1.489               (HullCollisionShape.
   1.490                (.getMesh geom))
   1.491 -             ;; TODO: fix this.
   1.492 -             (float 1.0))]
   1.493 +             (if-let [mass (meta-data geom "mass")]
   1.494 +               (do
   1.495 +                 (println-repl
   1.496 +                  "setting mass to " (float mass))
   1.497 +                 (float mass))
   1.498 +               (float 1)))]
   1.499 +               
   1.500          (.addControl geom physics-control)))
   1.501      (filter #(isa? (class %) Geometry )
   1.502              (node-seq pieces))))
   1.503 +
   1.504    (dorun
   1.505     (map
   1.506 -    (fn [joint-position]
   1.507 -      (let [[geom-a geom-b] (find-joint pieces joint-position)]
   1.508 -        (connect-at-point geom-a geom-b joint-position)))
   1.509 -      joints))
   1.510 -   pieces)
   1.511 +    (fn [joint]
   1.512 +      (let [[obj-a obj-b]
   1.513 +            (joint-targets pieces joint)]
   1.514 +        (connect obj-a obj-b joint)))
   1.515 +    joints))
   1.516 +  pieces)
   1.517  
   1.518 +(defn the-worm []
   1.519 +  (physical-worm (worm) (worm-joints)))
   1.520  
   1.521 -(defn the-hand! [] (physical-hand  (hand) (hand-joints)))
   1.522 -
   1.523 -
   1.524 -(defn test-hand []
   1.525 +(defn test-worm []
   1.526    (world
   1.527 -   (nodify [(the-hand!)
   1.528 -            (box 10 1 10 :position (Vector3f. 0 -10 0)
   1.529 -                 :color ColorRGBA/Gray
   1.530 -                 :mass 0)])
   1.531 +   (nodify [(the-worm)
   1.532 +            (box 10 2 10 :position (Vector3f. 0 -5 0)
   1.533 +                 :color ColorRGBA/Gray :mass 0)])
   1.534     standard-debug-controls
   1.535 -   enable-debug 
   1.536 -   (fn [_ _] 
   1.537 -     (Thread/sleep 100))))
   1.538 -
   1.539 -
   1.540 -
   1.541 -
   1.542 -
   1.543 -
   1.544 +   (comp light-up-everything enable-debug
   1.545 +         (fn [world]
   1.546 +           (.setTimer world (NanoTimer.))
   1.547 +           (speed-up world)
   1.548 +           ;;(set-gravity world (Vector3f. 0 0 0))
   1.549 +           world
   1.550 +           ))
   1.551 +   no-op))
   1.552  
   1.553  #+end_src
   1.554  
   1.555  #+results: body-1
   1.556 -: #'cortex.silly/test-hand
   1.557 +: #'cortex.silly/test-try-again
   1.558  
   1.559  
   1.560