1.1 --- a/org/integration.org	Wed Feb 15 10:31:51 2012 -0700
     1.2 +++ b/org/integration.org	Wed Feb 15 11:13:12 2012 -0700
     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 +6,44 @@
    1.10  #+SETUPFILE: ../../aurellem/org/setup.org
    1.11  #+INCLUDE: ../../aurellem/org/level-0.org
    1.12  
    1.13 +* Intro 
    1.14  
    1.15 -
    1.16 -
    1.17 -* Intro 
    1.18 -So far, I've made the following senses -- 
    1.19 - - Vision
    1.20 - - Hearing
    1.21 - - Touch
    1.22 - - Proprioception
    1.23 -
    1.24 -And one effector: 
    1.25 - - Movement
    1.26 -
    1.27 -However, the code so far has only enabled these senses, but has not
    1.28 -actually implemented them.  For example, there is still a lot of work
    1.29 -to be done for vision. I need to be able to create an /eyeball/ in
    1.30 -simulation that can be moved around and see the world from different
    1.31 -angles. I also need to determine weather to use log-polar or cartesian
    1.32 -for the visual input, and I need to determine how/wether to
    1.33 -disceritise the visual input.
    1.34 -
    1.35 -I also want to be able to visualize both the sensors and the
    1.36 -effectors in pretty pictures. This semi-retarted creature will be my
    1.37 -first attempt at bringing everything together.
    1.38 -
    1.39 -* The creature's body
    1.40 -
    1.41 -Still going to do an eve-like body in blender, but due to problems
    1.42 -importing the joints, etc into jMonkeyEngine3, I'm going to do all
    1.43 -the connecting here in clojure code, using the names of the individual
    1.44 -components and trial and error. Later, I'll maybe make some sort of
    1.45 -creature-building modifications to blender that support whatever
    1.46 -discritized senses I'm going to make.
    1.47 +This is the ultimate test which features all of the senses that I've
    1.48 +made so far. The blender file for the creature serves as an example of
    1.49 +a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].
    1.50  
    1.51  #+name: integration
    1.52  #+begin_src clojure 
    1.53  (ns cortex.integration
    1.54    "let's play!"
    1.55    {:author "Robert McIntyre"}
    1.56 -  (:use (cortex world util body
    1.57 -                hearing touch vision sense proprioception movement))
    1.58 +  (:use (cortex world util body sense
    1.59 +                hearing touch vision proprioception movement))
    1.60    (:import (com.jme3.math ColorRGBA Vector3f))
    1.61 +  (:import java.io.File)
    1.62    (:import com.jme3.audio.AudioNode)
    1.63    (:import com.aurellem.capture.RatchetTimer))
    1.64  
    1.65 -(def hand "Models/creature1/one.blend")
    1.66 +(dorun (cortex.import/mega-import-jme3))
    1.67 +(rlm.rlm-commands/help)
    1.68  
    1.69 -(def worm "Models/creature1/try-again.blend")
    1.70 +(def hand "Models/test-creature/hand.blend")
    1.71  
    1.72 -(defn test-creature [thing]
    1.73 -  (let [x-axis
    1.74 -        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
    1.75 -        y-axis
    1.76 -        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
    1.77 -        z-axis
    1.78 -        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
    1.79 +(def output-base (File. "/home/r/proj/cortex/render/hand"))
    1.80  
    1.81 -        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.82 +(defn test-everything! 
    1.83 +  ([] (test-everything! false))
    1.84 +  ([record?]
    1.85 +  (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.86 +
    1.87          bell (AudioNode. (asset-manager)
    1.88                           "Sounds/pure.wav" false)
    1.89  
    1.90 -        fix-display
    1.91 -        (runonce (fn [world]
    1.92 -                   (add-camera! world (.getCamera world) no-op)))
    1.93 -        creature (doto (load-blender-model thing) (body!))
    1.94  
    1.95 +
    1.96 +        creature (doto (load-blender-model hand) 
    1.97 +                   (body!))
    1.98 +        
    1.99          ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.100          touch (touch! creature)
   1.101          touch-display (view-touch)
   1.102 @@ -87,12 +59,14 @@
   1.103  
   1.104          muscle-exertion (atom 0)
   1.105          muscles (movement! creature)
   1.106 -        muscle-display (view-movement)]
   1.107 +        muscle-display (view-movement)
   1.108 +        ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.109  
   1.110 +        fix-display (gen-fix-display)]
   1.111      (apply
   1.112       world
   1.113       (with-movement
   1.114 -       (.getChild creature "worm-21")
   1.115 +       (.getChild creature "palm")
   1.116         ["key-r" "key-t"
   1.117          "key-f" "key-g"
   1.118          "key-v" "key-b"]
   1.119 @@ -100,7 +74,6 @@
   1.120         [(nodify [creature
   1.121                   (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.122                        :color ColorRGBA/Gray :mass 0)
   1.123 -                 x-axis y-axis z-axis
   1.124                   me])
   1.125          (merge standard-debug-controls
   1.126                 {"key-return"
   1.127 @@ -118,6 +91,7 @@
   1.128                    (if value
   1.129                      (swap! muscle-exertion (fn [v] (- v 20)))))})
   1.130          (fn [world]
   1.131 +          (.setTimer world (RatchetTimer. 60))
   1.132            (light-up-everything world)
   1.133            (enable-debug world)
   1.134            (add-camera! world
   1.135 @@ -125,12 +99,7 @@
   1.136                                   (.getChild 
   1.137                                    (.getChild creature "eyes") "eye"))
   1.138                     (comp (view-image) BufferedImage!))
   1.139 -          (.setTimer world (RatchetTimer. 60))
   1.140 -          (speed-up world)
   1.141 -          (set-gravity world (Vector3f. 0 0 0))
   1.142 -          (comment 
   1.143 -            (com.aurellem.capture.Capture/captureVideo
   1.144 -             world (file-str "/home/r/proj/ai-videos/hand"))))
   1.145 +          (speed-up world))
   1.146          (fn [world tpf]
   1.147            (prop-display (prop))
   1.148            (touch-display (map #(% (.getRootNode world)) touch))
   1.149 @@ -138,16 +107,11 @@
   1.150            (hearing-display (map #(% world) hearing))
   1.151            (muscle-display (map #(% @muscle-exertion) muscles))
   1.152            (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.153 -          (fix-display world))]))))
   1.154 +          (fix-display world))])))))
   1.155  #+end_src
   1.156  
   1.157 -#+results: body-1
   1.158 -: #'cortex.silly/follow-test
   1.159 -
   1.160 -
   1.161  * COMMENT purgatory
   1.162  #+begin_src clojure
   1.163 -
   1.164  (defn bullet-trans* []
   1.165    (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
   1.166                     :position (Vector3f. 5 0 0)