1.1 --- a/org/body.org	Wed Nov 16 02:42:50 2011 -0700
     1.2 +++ b/org/body.org	Sat Nov 19 23:42:21 2011 -0700
     1.3 @@ -5,7 +5,7 @@
     1.4  #+SETUPFILE: ../../aurellem/org/setup.org
     1.5  #+INCLUDE: ../../aurellem/org/level-0.org
     1.6  
     1.7 -* COMMENT Body  
     1.8 +* Body  
     1.9  
    1.10  #+srcname: body-main
    1.11  #+begin_src clojure 
    1.12 @@ -233,6 +233,91 @@
    1.13       
    1.14       )))
    1.15      
    1.16 +       
    1.17 +
    1.18 +
    1.19 +
    1.20 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
    1.21 +;;; here is the ragdoll stuff
    1.22 +
    1.23 +(def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
    1.24 +(def mesh worm-mesh)
    1.25 +
    1.26 +(.getFloatBuffer mesh VertexBuffer$Type/Position)
    1.27 +(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
    1.28 +(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
    1.29 +
    1.30 +
    1.31 +(defn position [index]
    1.32 +  (.get
    1.33 +   (.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
    1.34 +     index))
    1.35 +
    1.36 +(defn bones [index]
    1.37 +  (.get
    1.38 +   (.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
    1.39 +   index))
    1.40 +
    1.41 +(defn bone-weights [index]
    1.42 +  (.get
    1.43 +   (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
    1.44 +   index))
    1.45 +
    1.46 +
    1.47 +
    1.48 +(defn vertex-bones [vertex]
    1.49 +  (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
    1.50 +
    1.51 +(defn vertex-weights [vertex]
    1.52 +  (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
    1.53 +
    1.54 +(defn vertex-position [index]
    1.55 +  (let [offset (* index 3)]
    1.56 +    (Vector3f. (position offset)
    1.57 +               (position (inc offset))
    1.58 +               (position (inc(inc offset))))))
    1.59 +
    1.60 +(def vertex-info (juxt vertex-position vertex-bones vertex-weights))
    1.61 +
    1.62 +(defn bone-control-color [index]
    1.63 +  (get {[1 0 0 0] ColorRGBA/Red
    1.64 +        [1 2 0 0] ColorRGBA/Magenta
    1.65 +        [2 0 0 0] ColorRGBA/Blue}
    1.66 +       (vertex-bones index)
    1.67 +       ColorRGBA/White))
    1.68 +
    1.69 +(defn influence-color [index bone-num]
    1.70 +  (get
    1.71 +   {(float 0)   ColorRGBA/Blue
    1.72 +    (float 0.5) ColorRGBA/Green
    1.73 +    (float 1)   ColorRGBA/Red}
    1.74 +     ;; find the weight of the desired bone
    1.75 +   ((zipmap (vertex-bones index)(vertex-weights index))
    1.76 +    bone-num)
    1.77 +   ColorRGBA/Blue))
    1.78 +         
    1.79 +(def worm-vertices (set (map vertex-info (range 60))))
    1.80 +
    1.81 +
    1.82 +(defn test-info []
    1.83 +  (let [points (Node.)]
    1.84 +    (dorun
    1.85 +     (map #(.attachChild points %)
    1.86 +          (map #(sphere 0.01
    1.87 +                        :position (vertex-position %)
    1.88 +                        :color (influence-color % 1)
    1.89 +                        :physical? false)
    1.90 +               (range 60))))
    1.91 +    (view points)))
    1.92 +  
    1.93 +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
    1.94 +
    1.95 +
    1.96 +
    1.97 +
    1.98 +
    1.99 +
   1.100 +;;;;;;;;;;;;  eve-style bodies  ;;;;;;;;
   1.101  (defn joint-control
   1.102    [joint]
   1.103    (let [physics-space (ref nil)]
   1.104 @@ -271,94 +356,80 @@
   1.105  
   1.106  (defn test-joint []
   1.107    (view (hinge-world)))
   1.108 -       
   1.109  
   1.110  
   1.111 +(defn worm [segment-length num-segments interstitial-space radius]
   1.112 +  (letfn [(nth-segment
   1.113 +            [n]
   1.114 +            (box segment-length radius radius :mass 0.1
   1.115 +                 :position
   1.116 +                 (Vector3f.
   1.117 +                  (* 2 n (+ interstitial-space segment-length)) 0 0)
   1.118 +                 :name (str "worm-segment" n)
   1.119 +                 :color (ColorRGBA/randomColor)))]
   1.120 +    (map nth-segment (range num-segments))))
   1.121 +
   1.122 +(defn nodify
   1.123 +  "take a sequence of things that can be attached to a node and return
   1.124 +  a node with all of the attached"
   1.125 +  ([name children]
   1.126 +     (let [node (Node. name)]
   1.127 +       (dorun (map #(.attachChild node %) children))
   1.128 +       node))
   1.129 +  ([children] (nodify "" children)))
   1.130 +
   1.131 +
   1.132 +(defn connect-at-midpoint
   1.133 +  [segmentA segmentB]
   1.134 +  (let [centerA (.getWorldTranslation segmentA)
   1.135 +        centerB (.getWorldTranslation segmentB)
   1.136 +        midpoint (.mult (.add centerA centerB) (float 0.5))
   1.137 +        pivotA (.subtract midpoint centerA)
   1.138 +        pivotB (.subtract midpoint centerB)
   1.139 +
   1.140 +        joint (Point2PointJoint.
   1.141 +               (.getControl segmentA RigidBodyControl)
   1.142 +               (.getControl segmentB RigidBodyControl)
   1.143 +               pivotA
   1.144 +               pivotB)]
   1.145 +    (add-joint segmentA joint)
   1.146 +  segmentB))
   1.147 +
   1.148 +
   1.149 +(defn point-worm []
   1.150 +  (let [segments (worm 0.2 5 0.1 0.1)]
   1.151 +    (dorun (map (partial apply connect-at-midpoint)
   1.152 +                (partition 2 1 segments)))
   1.153 +    (nodify "worm"  segments)))
   1.154 +
   1.155 +
   1.156 +(defn test-worm []
   1.157 +  (.start
   1.158 +   (world
   1.159 +    (doto (Node.)
   1.160 +      ;;(.attachChild (point-worm))
   1.161 +      (.attachChild (load-blender-model
   1.162 +                     "Models/anim2/joint-worm.blend"))
   1.163 +                      
   1.164 +      (.attachChild (box 10 1 10
   1.165 +                         :position (Vector3f. 0 -2 0) :mass 0
   1.166 +                         :color (ColorRGBA/Gray))))
   1.167 +    {
   1.168 +     "key-space" (fire-cannon-ball)
   1.169 +     }
   1.170 +    (fn [world]
   1.171 +      (enable-debug world)
   1.172 +      (light-up-everything world)
   1.173 +      ;;(.setTimer world (NanoTimer.))
   1.174 +      )
   1.175 +    no-op)))
   1.176  
   1.177  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.178 -;;; here is the ragdoll stuff
   1.179  
   1.180 -(def worm-mesh (.getMesh (.getChild (worm-blender) 0)))
   1.181 -(def mesh worm-mesh)
   1.182  
   1.183 -(.getFloatBuffer mesh VertexBuffer$Type/Position)
   1.184 -(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
   1.185 -(.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
   1.186  
   1.187  
   1.188 -(defn position [index]
   1.189 -  (.get
   1.190 -   (.getFloatBuffer worm-mesh VertexBuffer$Type/Position)
   1.191 -     index))
   1.192  
   1.193 -(defn bones [index]
   1.194 -  (.get
   1.195 -   (.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))
   1.196 -   index))
   1.197 -
   1.198 -(defn bone-weights [index]
   1.199 -  (.get
   1.200 -   (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)
   1.201 -   index))
   1.202 -
   1.203 -
   1.204 -
   1.205 -(defn vertex-bones [vertex]
   1.206 -  (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))
   1.207 -
   1.208 -(defn vertex-weights [vertex]
   1.209 -  (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))
   1.210 -
   1.211 -(defn vertex-position [index]
   1.212 -  (let [offset (* index 3)]
   1.213 -    (Vector3f. (position offset)
   1.214 -               (position (inc offset))
   1.215 -               (position (inc(inc offset))))))
   1.216 -
   1.217 -(def vertex-info (juxt vertex-position vertex-bones vertex-weights))
   1.218 -
   1.219 -(defn bone-control-color [index]
   1.220 -  (get {[1 0 0 0] ColorRGBA/Red
   1.221 -        [1 2 0 0] ColorRGBA/Magenta
   1.222 -        [2 0 0 0] ColorRGBA/Blue}
   1.223 -       (vertex-bones index)
   1.224 -       ColorRGBA/White))
   1.225 -
   1.226 -(defn influence-color [index bone-num]
   1.227 -  (get
   1.228 -   {(float 0)   ColorRGBA/Blue
   1.229 -    (float 0.5) ColorRGBA/Green
   1.230 -    (float 1)   ColorRGBA/Red}
   1.231 -     ;; find the weight of the desired bone
   1.232 -   ((zipmap (vertex-bones index)(vertex-weights index))
   1.233 -    bone-num)
   1.234 -   ColorRGBA/Blue))
   1.235 -         
   1.236 -   
   1.237 -   
   1.238 -
   1.239 -(def worm-vertices (set (map vertex-info (range 60))))
   1.240 -
   1.241 -
   1.242 -(defn test-info []
   1.243 -  (let [points (Node.)]
   1.244 -    (dorun
   1.245 -     (map #(.attachChild points %)
   1.246 -          (map #(sphere 0.01
   1.247 -                        :position (vertex-position %)
   1.248 -                        :color (influence-color % 1)
   1.249 -                        :physical? false)
   1.250 -               (range 60))))
   1.251 -    (view points)))
   1.252 -  
   1.253 -
   1.254 -
   1.255 -
   1.256 -
   1.257 -
   1.258 -
   1.259 -
   1.260 -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.261  
   1.262  
   1.263