Mercurial > cortex

diff org/integration.org @ 295:67a4e92d4628

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made the hand 10x stronger
author Robert McIntyre <rlm@mit.edu>
date Thu, 16 Feb 2012 09:59:44 -0700
parents 76a5edd6507d
children 1eed471e2ebf
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line diff
     1.1 --- a/org/integration.org	Thu Feb 16 07:43:13 2012 -0700
     1.2 +++ b/org/integration.org	Thu Feb 16 09:59:44 2012 -0700
     1.3 @@ -31,6 +31,39 @@
     1.4  
     1.5  (def output-base (File. "/home/r/proj/cortex/render/hand"))
     1.6  
     1.7 +(def control-list
     1.8 + [
     1.9 +  0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.10 +  1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.11 +  0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
    1.12 +  0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
    1.13 +  0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.14 +  0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.15 +  0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>
    1.16 +  0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
    1.17 +  0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.18 +  0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.19 +  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.20 +  0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.21 +  0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.22 +  0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.23 +  0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.24 +  0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.25 +  0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.26 +  0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.27 +  0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.28 +  0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.29 +  0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.30 +  0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.31 +  0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.32 +  0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.33 +  0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.34 +  0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>
    1.35 +  0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>
    1.36 +  0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
    1.37 +  0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
    1.38 +  ])
    1.39 +
    1.40  (defn test-everything! 
    1.41    ([] (test-everything! false))
    1.42    ([record?]
    1.43 @@ -93,7 +126,13 @@
    1.44         ;;(touch-display (map #(% (.getRootNode world)) touch))
    1.45         ;;(vision-display (map #(% world) vision))
    1.46         ;;(hearing-display (map #(% world) hearing))
    1.47 -       (muscle-display (map #(% @muscle-exertion) muscles))
    1.48 +
    1.49 +       (muscle-display
    1.50 +        (map (fn [effector control]
    1.51 +               (effector (int (* @muscle-exertion control))))
    1.52 +             muscles
    1.53 +             control-list))
    1.54 +             
    1.55         (.setLocalTranslation me (.getLocation (.getCamera world)))
    1.56         (fix-display world))))))
    1.57  #+end_src