1.1 --- a/org/touch.org	Sun Feb 12 14:33:52 2012 -0700
     1.2 +++ b/org/touch.org	Sun Feb 12 14:40:58 2012 -0700
     1.3 @@ -39,7 +39,6 @@
     1.4  "hairs" is determined by a UV-mapped image which shows where each hair
     1.5  should be on the 3D surface of the body.
     1.6  
     1.7 -
     1.8  * Defining Touch Meta-Data in Blender
     1.9  
    1.10  Each geometry can have a single UV map which describes the position of
    1.11 @@ -68,9 +67,12 @@
    1.12      scale 0.1))
    1.13  #+end_src
    1.14  
    1.15 -** TODO add image showing example touch-uv map
    1.16 -** TODO add metadata display for worm
    1.17 +Here is an example of a UV-map which specifies the position of touch
    1.18 +sensors along the surface of the worm.
    1.19  
    1.20 +#+attr_html: width=755
    1.21 +#+caption: This is the tactile-sensor-profile for the upper segment of the worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).
    1.22 +[[../images/finger-UV.png]]
    1.23  
    1.24  * Skin Creation
    1.25  
    1.26 @@ -230,14 +232,12 @@
    1.27     displays each element to the screen."
    1.28    []
    1.29    (view-sense
    1.30 -   (fn 
    1.31 -     [[coords sensor-data]]
    1.32 +   (fn [[coords sensor-data]]
    1.33       (let [image (points->image coords)]
    1.34         (dorun
    1.35          (for [i (range (count coords))]
    1.36            (.setRGB image ((coords i) 0) ((coords i) 1)
    1.37 -                   (apply touch->gray (sensor-data i)))))
    1.38 -       image))))
    1.39 +                   (apply touch->gray (sensor-data i))))) image))))
    1.40  #+end_src
    1.41  
    1.42  
    1.43 @@ -370,7 +370,6 @@
    1.44  functions make this easy. If these classes implemented =Iterable= then
    1.45  this code would not be necessary. Hopefully they will in the future.
    1.46  
    1.47 -
    1.48  * Triangle Boundaries
    1.49    
    1.50  For efficiency's sake I will divide the UV-image into small squares
    1.51 @@ -461,8 +460,8 @@
    1.52               (light-up-everything world))
    1.53  
    1.54             (fn [world tpf]
    1.55 -             (touch-display (map #(% (.getRootNode world)) touch))
    1.56 -             ))))
    1.57 +             (touch-display 
    1.58 +              (map #(% (.getRootNode world)) touch))))))
    1.59  #+end_src
    1.60  * Source Listing
    1.61  * Next