1.1 --- a/org/integration.org	Sat Feb 18 02:06:06 2012 -0600
     1.2 +++ b/org/integration.org	Sat Feb 18 02:07:40 2012 -0600
     1.3 @@ -1,4 +1,4 @@
     1.4 -#+title: First attempt at a creature!
     1.5 +#+title: 
     1.6  #+author: Robert McIntyre
     1.7  #+email: rlm@mit.edu
     1.8  #+description: 
     1.9 @@ -6,72 +6,235 @@
    1.10  #+SETUPFILE: ../../aurellem/org/setup.org
    1.11  #+INCLUDE: ../../aurellem/org/level-0.org
    1.12  
    1.13 +* Integration 
    1.14  
    1.15 +This is the ultimate test which features all of the senses that I've
    1.16 +made so far. The blender file for the creature serves as an example of
    1.17 +a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].
    1.18  
    1.19  
    1.20 -* Intro 
    1.21 -So far, I've made the following senses -- 
    1.22 - - Vision
    1.23 - - Hearing
    1.24 - - Touch
    1.25 - - Proprioception
    1.26 +#+begin_html
    1.27 +<div class="figure">
    1.28 +<video controls="controls" width="755">
    1.29 +  <source src="../video/hand.ogg" type="video/ogg"
    1.30 +	  preload="none" poster="../images/aurellem-1280x480.png" />
    1.31 +</video>
    1.32 +<p>Simulated Senses in a Virtual Environment</p>
    1.33 +</div>
    1.34 +#+end_html
    1.35  
    1.36 -And one effector: 
    1.37 - - Movement
    1.38 -
    1.39 -However, the code so far has only enabled these senses, but has not
    1.40 -actually implemented them.  For example, there is still a lot of work
    1.41 -to be done for vision. I need to be able to create an /eyeball/ in
    1.42 -simulation that can be moved around and see the world from different
    1.43 -angles. I also need to determine weather to use log-polar or cartesian
    1.44 -for the visual input, and I need to determine how/wether to
    1.45 -disceritise the visual input.
    1.46 -
    1.47 -I also want to be able to visualize both the sensors and the
    1.48 -effectors in pretty pictures. This semi-retarted creature will be my
    1.49 -first attempt at bringing everything together.
    1.50 -
    1.51 -* The creature's body
    1.52 -
    1.53 -Still going to do an eve-like body in blender, but due to problems
    1.54 -importing the joints, etc into jMonkeyEngine3, I'm going to do all
    1.55 -the connecting here in clojure code, using the names of the individual
    1.56 -components and trial and error. Later, I'll maybe make some sort of
    1.57 -creature-building modifications to blender that support whatever
    1.58 -discritized senses I'm going to make.
    1.59 +* Generating the Video
    1.60  
    1.61  #+name: integration
    1.62  #+begin_src clojure 
    1.63 -(ns cortex.integration
    1.64 +(ns cortex.test.integration
    1.65    "let's play!"
    1.66    {:author "Robert McIntyre"}
    1.67 -  (:use (cortex world util body
    1.68 -                hearing touch vision sense proprioception movement))
    1.69 +  (:use (cortex world util body sense
    1.70 +                hearing touch vision proprioception movement))
    1.71    (:import (com.jme3.math ColorRGBA Vector3f))
    1.72 +  (:import java.io.File)
    1.73    (:import com.jme3.audio.AudioNode)
    1.74    (:import com.aurellem.capture.RatchetTimer))
    1.75  
    1.76 -(def hand "Models/creature1/one.blend")
    1.77 +(dorun (cortex.import/mega-import-jme3))
    1.78 +(rlm.rlm-commands/help)
    1.79  
    1.80 -(def worm "Models/creature1/try-again.blend")
    1.81 +(def hand "Models/test-creature/hand.blend")
    1.82  
    1.83 -(defn test-creature [thing]
    1.84 -  (let [x-axis
    1.85 -        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
    1.86 -        y-axis
    1.87 -        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
    1.88 -        z-axis
    1.89 -        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
    1.90 +(def output-base (File. "/home/r/proj/cortex/render/hand"))
    1.91 +#+end_src
    1.92  
    1.93 -        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.94 -        bell (AudioNode. (asset-manager)
    1.95 -                         "Sounds/pure.wav" false)
    1.96 +For this demonstration I have to manually drive the muscles of the
    1.97 +hand. I do this by creating a little mini-language to describe
    1.98 +simulated muscle contraction.
    1.99  
   1.100 -        fix-display
   1.101 -        (runonce (fn [world]
   1.102 -                   (add-camera! world (.getCamera world) no-op)))
   1.103 -        creature (doto (load-blender-model thing) (body!))
   1.104 +#+name: integration-2
   1.105 +#+begin_src clojure
   1.106 +(defn motor-control-program
   1.107 +  "Create a function which will execute the motor script"
   1.108 +  [muscle-positions
   1.109 +   script]
   1.110 +  (let [current-frame (atom -1)
   1.111 +        keyed-script (group-by first script)
   1.112 +        current-forces (atom {}) ]
   1.113 +    (fn [effectors]
   1.114 +      (let [indexed-effectors (vec effectors)]
   1.115 +        (dorun 
   1.116 +         (for [[_ part force] (keyed-script (swap! current-frame inc))]
   1.117 +           (swap! current-forces (fn [m] (assoc m part force)))))
   1.118 +        (doall (map (fn [effector power]
   1.119 +                      (effector (int power)))
   1.120 +                    effectors
   1.121 +                    (map #(@current-forces % 0) muscle-positions)))))))
   1.122  
   1.123 +(def muscle-positions
   1.124 +  [:pointer-2-e
   1.125 +   :pointer-2-f
   1.126 +   :thumb-1
   1.127 +   :thumb-1
   1.128 +   :pointer-1-e
   1.129 +   :pointer-1-f
   1.130 +   :thumb-2-e
   1.131 +   :thumb-2-f
   1.132 +   :middle-1-e
   1.133 +   :middle-1-f
   1.134 +   :pointer-3-f
   1.135 +   :pointer-3-e
   1.136 +   :middle-2-e
   1.137 +   :middle-2-f
   1.138 +   :middle-3-f
   1.139 +   :middle-3-e
   1.140 +   :pinky-2-e
   1.141 +   :pinky-2-f
   1.142 +   :pinky-3-f
   1.143 +   :pinky-3-e
   1.144 +   :ring-3-e
   1.145 +   :ring-3-f
   1.146 +   :ring-2-f
   1.147 +   :ring-2-e
   1.148 +   :ring-1-e
   1.149 +   :ring-1-f
   1.150 +   :thumb-1-e
   1.151 +   :thumb-1-f
   1.152 +   :pinky-1-f
   1.153 +   :pinky-1-e])
   1.154 +
   1.155 +(def full 9001)
   1.156 +
   1.157 +
   1.158 +;; Coreography:
   1.159 +
   1.160 +;; Let the hand fall palm-up
   1.161 +
   1.162 +;; it curls its phalanges, starting with the pinky.
   1.163 +
   1.164 +;; it lets its phalanges fall back down.
   1.165 +
   1.166 +;; block falls down onto the hand, accompanied by a sound. The block
   1.167 +;; can be seen by the hand's eye.
   1.168 +
   1.169 +;; hand FORCEFULLY catapults the  block so that it hits the camera.
   1.170 +
   1.171 +
   1.172 +;; the systax here is [keyframe body-part force]
   1.173 +(def move-fingers
   1.174 +  [[300 :pinky-3-f 50]
   1.175 +   [320 :pinky-2-f 80]
   1.176 +   [340 :pinky-1-f 100]
   1.177 +
   1.178 +   [310 :ring-3-f 100]
   1.179 +   [330 :ring-2-f 120]
   1.180 +   [350 :ring-1-f 140]
   1.181 +
   1.182 +   [330 :middle-3-f 120]
   1.183 +   [340 :middle-2-f 120]
   1.184 +   [360 :middle-1-f 30]
   1.185 +
   1.186 +   [350 :pointer-3-f 120]
   1.187 +   [360 :pointer-2-f 120]
   1.188 +   [380 :pointer-1-f 30]
   1.189 +
   1.190 +   [800 :pinky-3-f 0]
   1.191 +   [800 :pinky-2-f 0]
   1.192 +   [800 :pinky-1-f  0]
   1.193 +
   1.194 +   [800 :ring-3-f  0]
   1.195 +   [800 :ring-2-f  0]
   1.196 +   [800 :ring-1-f  0]
   1.197 +
   1.198 +   [800 :middle-3-f  0]
   1.199 +   [800 :middle-2-f  0]
   1.200 +   [800 :middle-1-f 0]
   1.201 +
   1.202 +   [800 :pointer-3-f  0]
   1.203 +   [800 :pointer-2-f  0]
   1.204 +   [800 :pointer-1-f 0]
   1.205 +
   1.206 +   
   1.207 +   [800 :pinky-3-e 50]
   1.208 +   [800 :pinky-2-e 80]
   1.209 +   [800 :pinky-1-e 100]
   1.210 +
   1.211 +   [800 :ring-3-e 100]
   1.212 +   [800 :ring-2-e 120]
   1.213 +   [800 :ring-1-e 140]
   1.214 +
   1.215 +   [800 :middle-3-e 120]
   1.216 +   [800 :middle-2-e 120]
   1.217 +   [800 :middle-1-e 30]
   1.218 +
   1.219 +   [800 :pointer-3-e 120]
   1.220 +   [800 :pointer-2-e 120]
   1.221 +   [800 :pointer-1-e 30]
   1.222 +
   1.223 +   [870 :pinky-3-e 0]
   1.224 +   [870 :pinky-2-e 0]
   1.225 +   [870 :pinky-1-e  0]
   1.226 +
   1.227 +   [870 :ring-3-e  0]
   1.228 +   [870 :ring-2-e  0]
   1.229 +   [870 :ring-1-e  0]
   1.230 +
   1.231 +   [870 :middle-3-e  0]
   1.232 +   [870 :middle-2-e  0]
   1.233 +   [870 :middle-1-e 0]
   1.234 +
   1.235 +   [870 :pointer-3-e  0]
   1.236 +   [870 :pointer-2-e  0]
   1.237 +   [870 :pointer-1-e 0]
   1.238 +
   1.239 +   [1500 :pointer-1-f full]
   1.240 +   [1500 :pointer-2-f full]
   1.241 +   [1500 :pointer-3-f full]
   1.242 +   
   1.243 +   [1500 :middle-1-f full]
   1.244 +   [1500 :middle-2-f full]
   1.245 +   [1500 :middle-3-f full]
   1.246 +   
   1.247 +   [1510 :pointer-1-f 0]
   1.248 +   [1510 :pointer-2-f 0]
   1.249 +   [1510 :pointer-3-f 0]
   1.250 +   
   1.251 +   [1510 :middle-1-f 0]
   1.252 +   [1510 :middle-2-f 0]
   1.253 +   [1510 :middle-3-f 0]
   1.254 +   ])
   1.255 +
   1.256 +(defn gen-summon-ball [debug?]
   1.257 +  (let [wait (atom 1100)]
   1.258 +    (fn [world]
   1.259 +      (if (= 0 (swap! wait dec))
   1.260 +        (let [brick
   1.261 +              (box 0.8 0.8 0.8 :mass 0.05
   1.262 +                                :position (Vector3f. -0.5 0 0.5)
   1.263 +                                :color (ColorRGBA/Red))
   1.264 +              bell (AudioNode. (asset-manager)
   1.265 +                               "Sounds/pure.wav" false)]
   1.266 +          (.play bell)
   1.267 +          (if debug?
   1.268 +            (.addControl
   1.269 +             brick
   1.270 +             (proxy [AbstractControl] []
   1.271 +               (controlUpdate [tpf]
   1.272 +                 (println-repl (.getWorldTranslation brick)))
   1.273 +               (controlRender [_ _]))))
   1.274 +          (add-element world brick))))))
   1.275 +
   1.276 +(import com.aurellem.capture.Capture)
   1.277 +
   1.278 +(defn test-everything! 
   1.279 +  ([] (test-everything! false))
   1.280 +  ([record?]
   1.281 +  (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
   1.282 +
   1.283 +        base (File. "/home/r/proj/cortex/render/hand")
   1.284 +        
   1.285 +        
   1.286 +        creature (doto (load-blender-model hand) 
   1.287 +                   (body!))
   1.288 +
   1.289 +        summon-ball (gen-summon-ball false)
   1.290          ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.291          touch (touch! creature)
   1.292          touch-display (view-touch)
   1.293 @@ -85,69 +248,466 @@
   1.294          prop (proprioception! creature)
   1.295          prop-display (view-proprioception)
   1.296  
   1.297 -        muscle-exertion (atom 0)
   1.298 +        control-script (motor-control-program
   1.299 +                        muscle-positions move-fingers)
   1.300          muscles (movement! creature)
   1.301 -        muscle-display (view-movement)]
   1.302 +        muscle-display (view-movement)
   1.303 +        ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.304  
   1.305 -    (apply
   1.306 -     world
   1.307 -     (with-movement
   1.308 -       (.getChild creature "worm-21")
   1.309 -       ["key-r" "key-t"
   1.310 -        "key-f" "key-g"
   1.311 -        "key-v" "key-b"]
   1.312 -       [10 10 10 10 1 1]
   1.313 -       [(nodify [creature
   1.314 -                 (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.315 -                      :color ColorRGBA/Gray :mass 0)
   1.316 -                 x-axis y-axis z-axis
   1.317 -                 me])
   1.318 -        (merge standard-debug-controls
   1.319 -               {"key-return"
   1.320 -                (fn [_ value]
   1.321 -                  (if value
   1.322 -                    (do
   1.323 -                      (println-repl "play-sound")
   1.324 -                      (.play bell))))
   1.325 -                "key-h"
   1.326 -                (fn [_ value]
   1.327 -                  (if value
   1.328 -                    (swap!  muscle-exertion (partial + 20))))
   1.329 -                "key-n"
   1.330 -                (fn [_ value]
   1.331 -                  (if value
   1.332 -                    (swap! muscle-exertion (fn [v] (- v 20)))))})
   1.333 -        (fn [world]
   1.334 -          (light-up-everything world)
   1.335 -          (enable-debug world)
   1.336 -          (add-camera! world
   1.337 -                       (add-eye! creature
   1.338 -                                 (.getChild 
   1.339 -                                  (.getChild creature "eyes") "eye"))
   1.340 -                   (comp (view-image) BufferedImage!))
   1.341 -          (.setTimer world (RatchetTimer. 60))
   1.342 -          (speed-up world)
   1.343 -          (set-gravity world (Vector3f. 0 0 0))
   1.344 -          (comment 
   1.345 -            (com.aurellem.capture.Capture/captureVideo
   1.346 -             world (file-str "/home/r/proj/ai-videos/hand"))))
   1.347 -        (fn [world tpf]
   1.348 -          (prop-display (prop))
   1.349 -          (touch-display (map #(% (.getRootNode world)) touch))
   1.350 -          (vision-display (map #(% world) vision))
   1.351 -          (hearing-display (map #(% world) hearing))
   1.352 -          (muscle-display (map #(% @muscle-exertion) muscles))
   1.353 -          (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.354 -          (fix-display world))]))))
   1.355 +        fix-display (gen-fix-display)]
   1.356 +    (world
   1.357 +     (nodify [creature
   1.358 +              (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.359 +                   :color ColorRGBA/Gray :mass 0)
   1.360 +              me])
   1.361 +     standard-debug-controls
   1.362 +    
   1.363 +     (fn [world]
   1.364 +       (.setTimer world (RatchetTimer. 60))
   1.365 +       (position-camera
   1.366 +        world (Vector3f. -0.13217318, 5.816415, -5.3089414)
   1.367 +        (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
   1.368 +
   1.369 +       (light-up-everything world)
   1.370 +       (enable-debug world)
   1.371 +       (add-camera! world
   1.372 +                    (add-eye! creature
   1.373 +                              (.getChild 
   1.374 +                               (.getChild creature "eyes") "eye"))
   1.375 +                    (comp (view-image) BufferedImage!))
   1.376 +
   1.377 +       (if record?
   1.378 +         (Capture/captureVideo
   1.379 +          world (File. base "main")))
   1.380 +       (if record?
   1.381 +         (Capture/captureAudio
   1.382 +          world (File. base "main.wav"))))
   1.383 +     (fn [world tpf]
   1.384 +       (prop-display
   1.385 +        (prop)
   1.386 +        (if record? (File. base "proprio")))             
   1.387 +       (touch-display
   1.388 +        (map #(% (.getRootNode world)) touch)
   1.389 +        (if record? (File. base "touch")))
   1.390 +       (vision-display
   1.391 +        (map #(% world) vision)
   1.392 +        (if record? (File. base "vision")))
   1.393 +       (hearing-display
   1.394 +        (map #(% world) hearing)
   1.395 +        (if record? (File. base "hearing")))
   1.396 +       (muscle-display
   1.397 +        (control-script muscles)
   1.398 +        (if record? (File. base "muscle")))
   1.399 +         
   1.400 +       (summon-ball world)
   1.401 +       
   1.402 +       (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.403 +       (fix-display world))))))
   1.404  #+end_src
   1.405  
   1.406 -#+results: body-1
   1.407 -: #'cortex.silly/follow-test
   1.408 +** ImageMagick / ffmpeg
   1.409 +
   1.410 +Just a bunch of calls to imagemagick to arrange the data that
   1.411 +=test-everything!= produces.
   1.412 +
   1.413 +#+name: magick-8
   1.414 +#+begin_src clojure
   1.415 +(ns cortex.video.magick8
   1.416 +  (:import java.io.File)
   1.417 +  (:use clojure.contrib.shell-out))
   1.418 +
   1.419 +(comment
   1.420 +;; list of touch targets
   1.421 +0  middle-11 
   1.422 +1  middle-21 
   1.423 +2  middle-31
   1.424 +3  pinky-11
   1.425 +4  pinky-21
   1.426 +5  pinky-31
   1.427 +6  pointer-11
   1.428 +7  pointer-21
   1.429 +8  pointer-31
   1.430 +9  ring-11
   1.431 +10 ring-21
   1.432 +11 ring-31
   1.433 +12 thumb-11
   1.434 +13 thumb-2.0011 
   1.435 +
   1.436 +
   1.437 +;; list of vision targets
   1.438 +0  :all
   1.439 +1  :green
   1.440 +2  :blue
   1.441 +3  :red 
   1.442 +
   1.443 +;; list of proprio targets
   1.444 +0  middle-11 -> middle-21
   1.445 +1  middle-21 -> middle-31
   1.446 +2  thumb-11 -> thumb-2.0011
   1.447 +3  pointer-11 -> pointer-21
   1.448 +4  pointer-21 -> pointer-31
   1.449 +5  ring-21 -> ring-31
   1.450 +6  ring-11 -> ring-21
   1.451 +7  pinky-21 -> pinky-31
   1.452 +8  pinky-11 -> pinky-21
   1.453 +9  middle-11 -> palm1
   1.454 +10 pinky-11 -> palm1
   1.455 +11 palm1 -> pointer-11
   1.456 +12 palm1 -> ring-11
   1.457 +13 palm1 -> thumb-11
   1.458 +
   1.459 +
   1.460 +;; list of muscle targets
   1.461 +0  :pointer-2-e
   1.462 +1  :pointer-2-f
   1.463 +2  :thumb-1
   1.464 +3  :thumb-1
   1.465 +4  :pointer-1-e
   1.466 +5  :pointer-1-f
   1.467 +6  :thumb-2-e
   1.468 +7  :thumb-2-f
   1.469 +8  :middle-1-e
   1.470 +9  :middle-1-f
   1.471 +10 :pointer-3-f
   1.472 +11 :pointer-3-e
   1.473 +12 :middle-2-e
   1.474 +13 :middle-2-f
   1.475 +14 :middle-3-f
   1.476 +15 :middle-3-e
   1.477 +16 :pinky-2-e
   1.478 +17 :pinky-2-f
   1.479 +18 :pinky-3-f
   1.480 +19 :pinky-3-e
   1.481 +20 :ring-3-e
   1.482 +21 :ring-3-f
   1.483 +22 :ring-2-f
   1.484 +23 :ring-2-e
   1.485 +24 :ring-1-e
   1.486 +25 :ring-1-f
   1.487 +26 :thumb-1-e
   1.488 +27 :thumb-1-f
   1.489 +28 :pinky-1-f
   1.490 +29 :pinky-1-e
   1.491 +)
   1.492 +
   1.493 +(def base (File. "/home/r/proj/cortex/render/hand"))
   1.494 +
   1.495 +(defn prepare-muscle [muscle]
   1.496 +  ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
   1.497 +
   1.498 +(defn prepare-touch [touch]
   1.499 +  ["(" touch "-rotate" "180" ")"])
   1.500 +
   1.501 +(defn generate-top-finger [tip-flexor tip-extensor tip
   1.502 +                           joint-2-3
   1.503 +                           mid-flexor mid-extensor mid
   1.504 +                           joint-1-2]
   1.505 +  ["("
   1.506 +   "-size" "113x357" "xc:transparent"
   1.507 +   (prepare-muscle tip-flexor)   "-geometry" "+0+7"    "-composite"
   1.508 +   (prepare-muscle tip-extensor) "-geometry" "+98+7"   "-composite"
   1.509 +   (prepare-touch tip)           "-geometry" "+18+0"   "-composite"
   1.510 +
   1.511 +   joint-2-3                     "-geometry" "+32+79" "-composite"
   1.512 +
   1.513 +   (prepare-muscle mid-flexor)   "-geometry" "+19+131"    "-composite"
   1.514 +   (prepare-muscle mid-extensor) "-geometry" "+80+131"   "-composite"
   1.515 +   (prepare-touch mid)           "-geometry" "+39+133"   "-composite"
   1.516 +   
   1.517 +   joint-1-2                     "-geometry" "+32+193" "-composite"
   1.518 +   ")"])
   1.519 +
   1.520 +(defn file-names [#^File dir]
   1.521 +   (map #(.getCanonicalPath %) (next (sort (file-seq dir)))))
   1.522 +
   1.523 +(defn file-groups [& paths]
   1.524 +  (apply (partial map list )
   1.525 +         (map (comp file-names #(File. base %))
   1.526 +              paths)))
   1.527 +  
   1.528 +(defn pinky []
   1.529 +  (file-groups
   1.530 +   "muscle/18"
   1.531 +   "muscle/19"
   1.532 +   "touch/5"
   1.533 +   "proprio/7"
   1.534 +   
   1.535 +   "muscle/17"
   1.536 +   "muscle/16"
   1.537 +   "touch/4"
   1.538 +   "proprio/8"
   1.539 +   
   1.540 +   "muscle/28"
   1.541 +   "muscle/29"
   1.542 +   "touch/3"
   1.543 +   "proprio/10"))
   1.544 +
   1.545 +(defn ring []
   1.546 +  (file-groups
   1.547 +   "muscle/21"
   1.548 +   "muscle/20"
   1.549 +   "touch/11"
   1.550 +   "proprio/5"
   1.551 +
   1.552 +   "muscle/22"
   1.553 +   "muscle/23"
   1.554 +   "touch/10"
   1.555 +   "proprio/6"
   1.556 +
   1.557 +   "muscle/25"
   1.558 +   "muscle/24"
   1.559 +   "touch/9"
   1.560 +   "proprio/12"))
   1.561 +
   1.562 +(defn middle []
   1.563 +  (file-groups
   1.564 +   "muscle/14"
   1.565 +   "muscle/15"
   1.566 +   "touch/2"
   1.567 +   "proprio/1"
   1.568 +
   1.569 +   "muscle/13"
   1.570 +   "muscle/12"
   1.571 +   "touch/1"
   1.572 +   "proprio/0"
   1.573 +
   1.574 +   "muscle/9"
   1.575 +   "muscle/8"
   1.576 +   "touch/0"
   1.577 +   "proprio/9"))
   1.578 +
   1.579 +(defn pointer []
   1.580 +  (file-groups
   1.581 +   "muscle/10"
   1.582 +   "muscle/11"
   1.583 +   "touch/8"
   1.584 +   "proprio/4"
   1.585 +
   1.586 +   "muscle/1"
   1.587 +   "muscle/0"
   1.588 +   "touch/7"
   1.589 +   "proprio/3"
   1.590 +
   1.591 +   "muscle/5"
   1.592 +   "muscle/4"
   1.593 +   "touch/6"
   1.594 +   "proprio/11"))
   1.595 +
   1.596 +(defn thumb []
   1.597 +  (file-groups
   1.598 +   "muscle/7"
   1.599 +   "muscle/6"
   1.600 +   "touch/13"
   1.601 +   "proprio/2"
   1.602 +
   1.603 +   "muscle/27"
   1.604 +   "muscle/26"
   1.605 +   "muscle/3"
   1.606 +   "muscle/2"
   1.607 +   "touch/12"
   1.608 +   "proprio/13"))
   1.609 +
   1.610 +(defn generate-finger
   1.611 +  [tip-flexor tip-extensor tip
   1.612 +   joint-2-3
   1.613 +   mid-flexor mid-extensor mid
   1.614 +   joint-1-2
   1.615 +   base-flexor base-extensor base
   1.616 +   joint-palm-1]
   1.617 +  ["("
   1.618 +   "-size" "113x357" "xc:transparent"
   1.619 +   (generate-top-finger
   1.620 +    tip-flexor  tip-extensor tip
   1.621 +    joint-2-3
   1.622 +    mid-flexor mid-extensor mid
   1.623 +    joint-1-2)                    "-geometry" "+0+0"      "-composite"
   1.624 +   (prepare-muscle base-flexor)   "-geometry" "+19+245"   "-composite"
   1.625 +   (prepare-muscle base-extensor) "-geometry" "+80+245"   "-composite"
   1.626 +   (prepare-touch base)           "-geometry" "+39+247"   "-composite"
   1.627 +   joint-palm-1                   "-geometry" "+32+307"   "-composite"
   1.628 +   ")"])
   1.629 +
   1.630 +(defn generate-thumb
   1.631 +  [tip-flexor tip-extensor tip
   1.632 +   joint-1-2
   1.633 +   mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
   1.634 +   joint-palm-1]
   1.635 +  ["("
   1.636 +   "-size" "113x357" "xc:transparent"
   1.637 +   (generate-top-finger
   1.638 +    tip-flexor  tip-extensor tip
   1.639 +    joint-1-2
   1.640 +    mid-flexor mid-extensor mid
   1.641 +    joint-palm-1)                   "-geometry" "+0+0"     "-composite"
   1.642 +   (prepare-muscle mid-flexor-2)    "-geometry" "+2+131"   "-composite"
   1.643 +   (prepare-muscle mid-extensor-2)  "-geometry" "+100+131" "-composite"
   1.644 +   ")"])
   1.645 +
   1.646 +(defn generate-hand
   1.647 +  [pinky-pieces
   1.648 +   ring-pieces
   1.649 +   middle-pieces
   1.650 +   pointer-pieces
   1.651 +   thumb-pieces]
   1.652 +  ["("
   1.653 +   "-size" "688x769" "xc:transparent"
   1.654 +   (apply generate-finger pinky-pieces)
   1.655 +   "-geometry" "+0+195" "-composite"
   1.656 +   (apply generate-finger ring-pieces)
   1.657 +   "-geometry" "+111+100" "-composite"
   1.658 +   (apply generate-finger middle-pieces)
   1.659 +   "-geometry" "+228+0"   "-composite"
   1.660 +   "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
   1.661 +   "-rotate" "45" ")"
   1.662 +   "-geometry" "+300+420" "-composite"
   1.663 +   (apply generate-finger pointer-pieces)
   1.664 +   "-geometry" "+350+96"  "-composite"
   1.665 +   ")"])
   1.666 +
   1.667 +(defn generate-vision
   1.668 +  [all green blue red]
   1.669 +  ["("
   1.670 +   "-size" "204x192" "xc:transparent"
   1.671 +   all    "-geometry" "+0+0" "-composite"
   1.672 +   green  "-geometry" "+113+0" "-composite"
   1.673 +   blue   "-geometry" "+0+105" "-composite"
   1.674 +   red    "-geometry" "+113+105" "-composite"
   1.675 +   ")"])
   1.676 +  
   1.677 +(def test-muscle (File. base "muscle/0/0000000.png"))
   1.678 +(def test-proprio (File. base "proprio/0/0000000.png"))
   1.679 +(def test-tip (File. base "touch/2/0000000.png"))
   1.680 +(def test-mid (File. base "touch/0/0000000.png"))
   1.681 +(def test-vision (File. base "vision/0/0000000.png"))
   1.682 +(def test-hearing (File. base "hearing/0/0000000.png"))
   1.683 +(def test-main (File. base "main/0000000.png"))
   1.684 +
   1.685 +(def test-target (File. base "output.png"))
   1.686 +
   1.687 +(def background (File. base "background.png"))
   1.688 +
   1.689 +(use 'clojure.contrib.shell-out)
   1.690 +
   1.691 +(defn vision []
   1.692 +  (file-groups
   1.693 +   "vision/0"
   1.694 +   "vision/1"
   1.695 +   "vision/2"
   1.696 +   "vision/3"))
   1.697 +
   1.698 +(defn hearing []
   1.699 +  (file-names (File. base "hearing/0")))
   1.700 +
   1.701 +(defn main []
   1.702 +  (file-names (File. base "main")))
   1.703 +
   1.704 +(defn targets [dest max]
   1.705 +  (map
   1.706 +   (comp #(.getCanonicalPath %)
   1.707 +         #(File. (str base dest (format "%07d.png" %))))
   1.708 +   (range max)))
   1.709 +
   1.710 +
   1.711 +(defn final-image [main [all red green blue] hearing
   1.712 +                   pinky ring middle pointer thumb target]
   1.713 +  (println target)
   1.714 +  (apply
   1.715 +     sh
   1.716 +     (flatten
   1.717 +      ["convert"
   1.718 +       (.getCanonicalPath background)
   1.719 +       
   1.720 +       (generate-hand pinky ring middle pointer thumb)
   1.721 +       "-geometry" "+809+22" "-composite"
   1.722 +       
   1.723 +       (generate-vision all red green blue)
   1.724 +       "-geometry" "+974+599" "-composite"
   1.725 +
   1.726 +       hearing
   1.727 +       "-geometry" "+784+819" "-composite"
   1.728 +
   1.729 +       main
   1.730 +       "-geometry" "+78+202" "-composite"
   1.731 +              
   1.732 +       target])))
   1.733 +  
   1.734 +(defn combine-files []
   1.735 +  (dorun
   1.736 +   (pmap final-image
   1.737 +         (main)
   1.738 +         (vision)
   1.739 +         (hearing)
   1.740 +         (pinky)
   1.741 +         (ring)
   1.742 +         (middle)
   1.743 +         (pointer)
   1.744 +         (thumb)
   1.745 +         (targets "/out/" (count (main))))))
   1.746 +
   1.747 +(defn subtitles [] 
   1.748 +  (file-names (File. base "subs")))
   1.749 +
   1.750 +(defn outs []
   1.751 +  (file-names (File. base "out")))
   1.752 +
   1.753 +
   1.754 +(defn mix-subtitles []
   1.755 +  (let [subs (subtitles)
   1.756 +        targets (targets "/out-subs/" (count subs))
   1.757 +        overlay (.getCanonicalPath (File. base "output.png"))]
   1.758 +    (dorun 
   1.759 +     (pmap
   1.760 +      (fn [sub target]
   1.761 +        (sh
   1.762 +         "convert"
   1.763 +         overlay
   1.764 +         sub "-geometry" "+0+0" "-composite"
   1.765 +         target))
   1.766 +      subs targets))))
   1.767 +
   1.768 +(defn out-subtitles []
   1.769 +  (file-names (File. base "out-subs")))
   1.770 +                    
   1.771 +
   1.772 +(defn insert-subtitles []
   1.773 +  (let [subtitles (out-subtitles)
   1.774 +        outs (outs)
   1.775 +        targets (targets
   1.776 +                 "/final/"
   1.777 +                 (+ (count outs) (count subtitles)))]
   1.778 +    (dorun
   1.779 +     (pmap
   1.780 +      #(sh "cp" %1 %2)
   1.781 +      (concat subtitles outs) targets))))
   1.782 +
   1.783 +(defn generate-final []
   1.784 +  (combine-files)
   1.785 +   (mix-subtitles)
   1.786 +   (insert-subtitles))
   1.787 +#+end_src
   1.788 +
   1.789 +#+begin_src sh :results silent
   1.790 +cd /home/r/proj/cortex/render/hand
   1.791 +
   1.792 +sox --ignore-length main.wav main-delayed.wav delay 24 
   1.793 +
   1.794 +mogrify -resize 755x final/*
   1.795 +
   1.796 +ffmpeg -r 60 -i final/%07d.png -i main-delayed.wav -b:a 128k \
   1.797 +         -b:v 9000k -c:a libvorbis -c:v libtheora hand.ogg 
   1.798 +#+end_src
   1.799 +
   1.800 +
   1.801 +* Source Listing
   1.802 +  - [[../src/cortex/test/integration.clj][cortex.test.integration]]
   1.803 +  - [[../src/cortex/video/magick8.clj][cortex.video.magick8]]
   1.804 +  - [[../assets/Models/subtitles/hand.blend][subtitles/hand.blend]]
   1.805 +#+html: <ul> <li> <a href="../org/integration.org">This org file</a> </li> </ul>
   1.806 +  - [[http://hg.bortreb.com ][source-repository]]
   1.807  
   1.808  
   1.809  * COMMENT purgatory
   1.810  #+begin_src clojure
   1.811 -
   1.812  (defn bullet-trans* []
   1.813    (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
   1.814                     :position (Vector3f. 5 0 0)
   1.815 @@ -308,10 +868,11 @@
   1.816    
   1.817  
   1.818  * COMMENT generate source
   1.819 -#+begin_src clojure :tangle ../src/cortex/integration.clj
   1.820 +#+begin_src clojure :tangle ../src/cortex/test/integration.clj
   1.821  <<integration>>
   1.822 +<<integration-2>>
   1.823  #+end_src
   1.824  
   1.825 -
   1.826 -  
   1.827 -
   1.828 +#+begin_src clojure :tangle ../src/cortex/video/magick8.clj
   1.829 +<<magick-8>>
   1.830 +#+end_src