Mercurial > cortex
diff org/test-creature.org @ 78:77b506ac64f3
trying to make offset cone joints
| author | Robert McIntyre <rlm@mit.edu> |
|---|---|
| date | Wed, 04 Jan 2012 20:34:00 -0700 |
| parents | 1f84f425e05d |
| children | 01dbdb0d5500 |
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1.1 --- a/org/test-creature.org Wed Jan 04 08:36:42 2012 -0700 1.2 +++ b/org/test-creature.org Wed Jan 04 20:34:00 2012 -0700 1.3 @@ -48,9 +48,6 @@ 1.4 (cortex.import/mega-import-jme3) 1.5 (use '(cortex world util body hearing touch vision)) 1.6 1.7 -(use '[clojure.contrib [seq :only [find-first]]]) 1.8 - 1.9 - 1.10 (rlm.rlm-commands/help) 1.11 1.12 (defn load-blender-model 1.13 @@ -66,52 +63,351 @@ 1.14 (.findValue data key) 1.15 nil)) 1.16 1.17 +(defn blender-to-jme 1.18 + "Convert from Blender coordinates to JME coordinates" 1.19 + [#^Vector3f in] 1.20 + (Vector3f. (.getX in) 1.21 + (.getZ in) 1.22 + (- (.getY in)))) 1.23 1.24 -(defn hand [] 1.25 - (load-blender-model "Models/creature1/one.blend")) 1.26 +(defn joint-targets 1.27 + "Return the two closest two objects to the joint object, ordered 1.28 + from bottom to top according to the joint's rotation." 1.29 + [#^Node parts #^Node joint] 1.30 + ;;(println (meta-data joint "joint")) 1.31 + (.getWorldRotation joint) 1.32 + (loop [radius (float 0.01)] 1.33 + (let [results (CollisionResults.)] 1.34 + (.collideWith 1.35 + parts 1.36 + (BoundingBox. (.getWorldTranslation joint) 1.37 + radius radius radius) 1.38 + results) 1.39 + (let [targets 1.40 + (distinct 1.41 + (map #(.getGeometry %) results))] 1.42 + (if (>= (count targets) 2) 1.43 + (sort-by 1.44 + #(.getY 1.45 + (.mult 1.46 + (.inverse (.getWorldRotation joint)) 1.47 + (.subtract (.getWorldTranslation %) 1.48 + (.getWorldTranslation joint)))) 1.49 + (take 2 targets)) 1.50 + (recur (float (* radius 2)))))))) 1.51 1.52 +(defn connect 1.53 + "here are some examples: 1.54 + {:type :point} 1.55 + {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)} 1.56 + (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints) 1.57 1.58 - 1.59 -(def hand-names 1.60 - #{ 1.61 - "middle-1" 1.62 - "middle-2" 1.63 - "middle-3" 1.64 - "palm" 1.65 - "pinky-1" 1.66 - "pinky-2" 1.67 - "pinky-3" 1.68 - "pointer-1" 1.69 - "pointer-2" 1.70 - "pointer-3" 1.71 - "ring-1" 1.72 - "ring-2" 1.73 - "ring-3" 1.74 - "thumb-1" 1.75 - "thumb-2"}) 1.76 + {:type :cone :limit-xz 0] 1.77 + :limit-yz 0] 1.78 + :twist 0]}" 1.79 + ([#^Node obj-a #^Node obj-b #^Node joint] 1.80 + (let [center-a (.getWorldTranslation obj-a) 1.81 + center-b (.getWorldTranslation obj-b) 1.82 + joint-center (.getWorldTranslation joint) 1.83 + pivot-a (.subtract joint-center center-a) 1.84 + pivot-b (.subtract joint-center center-b) 1.85 + control-a (.getControl obj-a RigidBodyControl) 1.86 + control-b (.getControl obj-b RigidBodyControl)] 1.87 + ;; A side-effect of creating a joint registers 1.88 + ;; it with both physics objects which in turn 1.89 + ;; will register the joint with the physics system 1.90 + ;; when the simulation is started. 1.91 + (if-let [constraints 1.92 + (map-vals 1.93 + eval 1.94 + (read-string 1.95 + (meta-data joint "joint")))] 1.96 1.97 -(defn hand-pieces [] 1.98 - (filter 1.99 - (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand)))) 1.100 + (let [joint-type (:type constraints)] 1.101 + (println-repl "creating joint between" 1.102 + (.getName obj-a) "and" (.getName obj-b)) 1.103 + (cond (= :point joint-type) 1.104 + (do 1.105 + (println-repl "creating POINT joint") 1.106 + (Point2PointJoint. 1.107 + control-a 1.108 + control-b 1.109 + pivot-a 1.110 + pivot-b)) 1.111 + (= :hinge joint-type) 1.112 + (do 1.113 + (println-repl "creating HINGE joint") 1.114 + (let [axis (if-let 1.115 + [axis (:axis constraints)] 1.116 + axis 1.117 + Vector3f/UNIT_X) 1.118 + [limit-1 limit-2] (:limit constraints) 1.119 + hinge-axis 1.120 + (.mult 1.121 + (.getWorldRotation joint) 1.122 + (blender-to-jme axis))] 1.123 + (doto 1.124 + (HingeJoint. 1.125 + control-a 1.126 + control-b 1.127 + pivot-a 1.128 + pivot-b 1.129 + hinge-axis 1.130 + hinge-axis) 1.131 + (.setLimit limit-1 limit-2)))) 1.132 + (= :cone joint-type) 1.133 + (do 1.134 + (let [limit-xy (:limit-xz constraints) 1.135 + limit-yz (:limit-yz constraints) 1.136 + twist (:twist constraints)] 1.137 + 1.138 + (println-repl "creating CONE joint") 1.139 + (doto 1.140 + (ConeJoint. 1.141 + control-a 1.142 + control-b 1.143 + pivot-a 1.144 + pivot-b 1.145 + (doto (Matrix3f.) 1.146 + (.fromStartEndVectors 1.147 + Vector3f/UNIT_X 1.148 + (.normalize 1.149 + (.subtract (.getWorldTranslation joint) 1.150 + (.getWorldTranslation obj-a))))) 1.151 + (doto (Matrix3f.) 1.152 + (.fromStartEndVectors 1.153 + Vector3f/UNIT_X 1.154 + (.normalize 1.155 + (.subtract 1.156 + (.getWorldTranslation obj-b) 1.157 + (.getWorldTranslation joint)))))) 1.158 + (.setLimit (float limit-xy) 1.159 + (float limit-yz) 1.160 + (float twist))))) 1.161 + true 1.162 + (println-repl 1.163 + "joint-type" joint-type "not recognized"))) 1.164 + 1.165 + (println-repl "could not find joint meta-data!"))))) 1.166 1.167 -(defn hand-joints [] 1.168 - (map #(.getWorldTranslation %) 1.169 - (filter #(re-matches #"joint\.\d\d\d" (.getName %)) 1.170 - (node-seq (hand))))) 1.171 -(defn worm [] 1.172 - (load-blender-model "Models/creature1/try-again.blend")) 1.173 +(defn assemble-creature [#^Node pieces joints] 1.174 + (dorun 1.175 + (map 1.176 + (fn [geom] 1.177 + (let [physics-control 1.178 + (RigidBodyControl. 1.179 + (HullCollisionShape. 1.180 + (.getMesh geom)) 1.181 + (if-let [mass (meta-data geom "mass")] 1.182 + (do 1.183 + (println-repl 1.184 + "setting" (.getName geom) "mass to" (float mass)) 1.185 + (float mass)) 1.186 + (float 1)))] 1.187 + 1.188 + (.addControl geom physics-control))) 1.189 + (filter #(isa? (class %) Geometry ) 1.190 + (node-seq pieces)))) 1.191 1.192 + (dorun 1.193 + (map 1.194 + (fn [joint] 1.195 + (let [[obj-a obj-b] 1.196 + (joint-targets pieces joint)] 1.197 + (connect obj-a obj-b joint))) 1.198 + joints)) 1.199 + pieces) 1.200 1.201 -(defn worm-pieces [] 1.202 - (filter 1.203 - (comp #{"worm-2" "worm-1"} 1.204 - #(apply str (drop-last (.getName %)))) 1.205 - (node-seq (worm)))) 1.206 +(defn blender-creature [blender-path] 1.207 + (let [model (load-blender-model blender-path) 1.208 + joints 1.209 + (if-let [joint-node (.getChild model "joints")] 1.210 + (seq (.getChildren joint-node)) 1.211 + (do (println-repl "could not find joints node") 1.212 + []))] 1.213 + (assemble-creature model joints))) 1.214 1.215 -(defn worm-joints [] 1.216 - (filter #(re-matches #"joint\.\d\d\d" (.getName %)) 1.217 - (node-seq (worm)))) 1.218 +(def hand "Models/creature1/one.blend") 1.219 1.220 +(def worm "Models/creature1/try-again.blend") 1.221 + 1.222 +(defn test-creature [thing] 1.223 + (world 1.224 + (nodify [(blender-creature thing) 1.225 + (box 10 2 10 :position (Vector3f. 0 -5.5 0) 1.226 + :color ColorRGBA/Gray :mass 0)]) 1.227 + standard-debug-controls 1.228 + (comp light-up-everything enable-debug 1.229 + (fn [world] 1.230 + (.setTimer world (NanoTimer.)) 1.231 + ;;(set-gravity world (Vector3f. 0 0 0)) 1.232 + (speed-up world) 1.233 + world 1.234 + )) 1.235 + no-op)) 1.236 + 1.237 +(defn world-setup [joint] 1.238 + (let [top (doto 1.239 + (sphere 0.1 :physical? false :color ColorRGBA/Yellow 1.240 + :position (Vector3f. 0 7 0)) 1.241 + (.addControl 1.242 + (RigidBodyControl. 1.243 + (CapsuleCollisionShape. 0.5 1.5 1) (float 15)))) 1.244 + bottom (doto 1.245 + (sphere 0.1 :physical? false :color ColorRGBA/DarkGray 1.246 + :position (Vector3f. 0 -1 0)) 1.247 + (.addControl 1.248 + (RigidBodyControl. 1.249 + (CapsuleCollisionShape. 0.5 1.5 1) (float 0)))) 1.250 + table (box 10 2 10 :position (Vector3f. 0 -6 0) 1.251 + :color ColorRGBA/Gray :mass 0) 1.252 + a (.getControl top RigidBodyControl) 1.253 + b (.getControl bottom RigidBodyControl)] 1.254 + (cond 1.255 + (= joint :point) 1.256 + (doto 1.257 + (Point2PointJoint. a b 1.258 + (Vector3f. 0 -2 0) 1.259 + (Vector3f. 0 2 0)) 1.260 + (.setCollisionBetweenLinkedBodys false)) 1.261 + (= joint :hinge) 1.262 + (doto 1.263 + (HingeJoint. 1.264 + a b 1.265 + (Vector3f. 0 -2 0) 1.266 + (Vector3f. 0 2 0) 1.267 + (Vector3f. 0 0 1) 1.268 + (Vector3f. 0 0 1) 1.269 + 1.270 + ) 1.271 + (.setCollisionBetweenLinkedBodys false) 1.272 + ;;(.setLimit (- Math/PI) Math/PI) 1.273 + ) 1.274 + (= joint :cone) 1.275 + ;; note to self -- jbullet does NOT implement cone joints 1.276 + ;; correctly. You must use plain ol' bullet for this to work. 1.277 + ;; It's faster anyway, so whatever. 1.278 + 1.279 + (doto (ConeJoint. 1.280 + a b 1.281 + (Vector3f. 0 -5 0) 1.282 + (Vector3f. 0 2 0) 1.283 + 1.284 + (doto (Matrix3f.) 1.285 + (.fromStartEndVectors Vector3f/UNIT_X 1.286 + Vector3f/UNIT_Y)) 1.287 + (doto (Matrix3f.) 1.288 + (.fromStartEndVectors Vector3f/UNIT_X 1.289 + (.normalize 1.290 + (Vector3f. 5 5 0)))) 1.291 + ) 1.292 + ;;(.setAngularOnly true) 1.293 + 1.294 + (.setCollisionBetweenLinkedBodys false) 1.295 + (.setLimit (* 1 (/ Math/PI 4)) 1.296 + (* 1 (/ Math/PI 2)) 1.297 + (* 0 (/ Math/PI 4))) 1.298 + 1.299 + ) 1.300 + (= joint :six) 1.301 + (doto 1.302 + (SixDofJoint. 1.303 + a b 1.304 + (Vector3f. 0 -2 0) 1.305 + (Vector3f. 0 2 0) 1.306 + ;;(doto (Matrix3f.) 1.307 + ;; (.fromStartEndVectors Vector3f/UNIT_X 1.308 + ;; Vector3f/UNIT_Y)) 1.309 + ;;(doto (Matrix3f.) 1.310 + ;; (.fromStartEndVectors Vector3f/UNIT_X 1.311 + ;; Vector3f/UNIT_Y)) 1.312 + true) 1.313 + (.setCollisionBetweenLinkedBodys false) 1.314 + (.setAngularLowerLimit (Vector3f. 0 1.315 + (- (/ Math/PI 2)) 1.316 + 0)) 1.317 + 1.318 + (.setAngularUpperLimit (Vector3f. 0 1.319 + (/ Math/PI 2) 1.320 + 0)) 1.321 + (.setLinearLowerLimit (Vector3f. 0 0 0)) 1.322 + (.setLinearUpperLimit (Vector3f. 0 0 0)) 1.323 + 1.324 + ) 1.325 + 1.326 + 1.327 + 1.328 + 1.329 + 1.330 + ) 1.331 + 1.332 + [top bottom table])) 1.333 + 1.334 + 1.335 +(defn test-joint [joint] 1.336 + (let [[top bottom floor] (world-setup joint) 1.337 + control (.getControl top RigidBodyControl) 1.338 + move-up? (atom false) 1.339 + move-down? (atom false) 1.340 + move-left? (atom false) 1.341 + move-right? (atom false) 1.342 + roll-left? (atom false) 1.343 + roll-right? (atom false) 1.344 + timer (atom 0)] 1.345 + 1.346 + (world 1.347 + (nodify [top bottom floor]) 1.348 + (merge standard-debug-controls 1.349 + {"key-r" (fn [_ pressed?] (reset! move-up? pressed?)) 1.350 + "key-t" (fn [_ pressed?] (reset! move-down? pressed?)) 1.351 + "key-f" (fn [_ pressed?] (reset! move-left? pressed?)) 1.352 + "key-g" (fn [_ pressed?] (reset! move-right? pressed?)) 1.353 + "key-v" (fn [_ pressed?] (reset! roll-left? pressed?)) 1.354 + "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))}) 1.355 + 1.356 + (fn [world] 1.357 + (light-up-everything world) 1.358 + (enable-debug world) 1.359 + (set-gravity world (Vector3f. 0 0 0)) 1.360 + ) 1.361 + 1.362 + (fn [world _] 1.363 + (if (zero? (rem (swap! timer inc) 100)) 1.364 + (do 1.365 + ;; (println-repl @timer) 1.366 + (.attachChild (.getRootNode world) 1.367 + (sphere 0.05 :color ColorRGBA/Yellow 1.368 + :position (.getWorldTranslation top) 1.369 + :physical? false)))) 1.370 + (if @move-up? 1.371 + (.applyTorque control 1.372 + (.mult (.getPhysicsRotation control) 1.373 + (Vector3f. 0 0 10)))) 1.374 + (if @move-down? 1.375 + (.applyTorque control 1.376 + (.mult (.getPhysicsRotation control) 1.377 + (Vector3f. 0 0 -10)))) 1.378 + (if @move-left? 1.379 + (.applyTorque control 1.380 + (.mult (.getPhysicsRotation control) 1.381 + (Vector3f. 0 10 0)))) 1.382 + (if @move-right? 1.383 + (.applyTorque control 1.384 + (.mult (.getPhysicsRotation control) 1.385 + (Vector3f. 0 -10 0)))) 1.386 + (if @roll-left? 1.387 + (.applyTorque control 1.388 + (.mult (.getPhysicsRotation control) 1.389 + (Vector3f. -1 0 0)))) 1.390 + (if @roll-right? 1.391 + (.applyTorque control 1.392 + (.mult (.getPhysicsRotation control) 1.393 + (Vector3f. 1 0 0)))))))) 1.394 +#+end_src 1.395 + 1.396 + 1.397 +* COMMENT purgatory 1.398 +#+begin_src clojure 1.399 (defn bullet-trans [] 1.400 (let [obj-a (sphere 0.5 :color ColorRGBA/Red 1.401 :position (Vector3f. -10 5 0)) 1.402 @@ -233,366 +529,10 @@ 1.403 ) 1.404 )) 1.405 1.406 - 1.407 - 1.408 - 1.409 - 1.410 - 1.411 1.412 1.413 - 1.414 - 1.415 - 1.416 -(defn world-setup [joint] 1.417 - (let [top (doto 1.418 - (sphere 0.1 :physical? false :color ColorRGBA/Yellow 1.419 - :position (Vector3f. 0 7 0)) 1.420 - (.addControl 1.421 - (RigidBodyControl. 1.422 - (CapsuleCollisionShape. 0.5 1.5 1) (float 15)))) 1.423 - bottom (doto 1.424 - (sphere 0.1 :physical? false :color ColorRGBA/DarkGray 1.425 - :position (Vector3f. 0 -1 0)) 1.426 - (.addControl 1.427 - (RigidBodyControl. 1.428 - (CapsuleCollisionShape. 0.5 1.5 1) (float 0)))) 1.429 - table (box 10 2 10 :position (Vector3f. 0 -6 0) 1.430 - :color ColorRGBA/Gray :mass 0) 1.431 - a (.getControl top RigidBodyControl) 1.432 - b (.getControl bottom RigidBodyControl)] 1.433 - (cond 1.434 - (= joint :point) 1.435 - (doto 1.436 - (Point2PointJoint. a b 1.437 - (Vector3f. 0 -2 0) 1.438 - (Vector3f. 0 2 0)) 1.439 - (.setCollisionBetweenLinkedBodys false)) 1.440 - (= joint :hinge) 1.441 - (doto 1.442 - (HingeJoint. 1.443 - a b 1.444 - (Vector3f. 0 -2 0) 1.445 - (Vector3f. 0 2 0) 1.446 - (Vector3f. 0 0 1) 1.447 - (Vector3f. 0 0 1) 1.448 - 1.449 - ) 1.450 - (.setCollisionBetweenLinkedBodys false) 1.451 - ;;(.setLimit (- Math/PI) Math/PI) 1.452 - ) 1.453 - (= joint :cone) 1.454 - ;; note to self -- jbullet does NOT implement cone joints 1.455 - ;; correctly. You must use plain ol' bullet for this to work. 1.456 - ;; It's faster anyway, so whatever. 1.457 - 1.458 - (doto (ConeJoint. 1.459 - a b 1.460 - (Vector3f. 0 -5 0) 1.461 - (Vector3f. 0 2 0) 1.462 - 1.463 - (doto (Matrix3f.) 1.464 - (.fromStartEndVectors Vector3f/UNIT_X 1.465 - Vector3f/UNIT_Y)) 1.466 - (doto (Matrix3f.) 1.467 - (.fromStartEndVectors Vector3f/UNIT_X 1.468 - Vector3f/UNIT_Y)) 1.469 - ) 1.470 - ;;(.setAngularOnly true) 1.471 - 1.472 - (.setCollisionBetweenLinkedBodys false) 1.473 - (.setLimit (* 1 (/ Math/PI 4)) 1.474 - (* 1 (/ Math/PI 4)) 1.475 - (* 0 (/ Math/PI 4))) 1.476 - 1.477 - ) 1.478 - (= joint :six) 1.479 - (doto 1.480 - (SixDofJoint. 1.481 - a b 1.482 - (Vector3f. 0 -2 0) 1.483 - (Vector3f. 0 2 0) 1.484 - ;;(doto (Matrix3f.) 1.485 - ;; (.fromStartEndVectors Vector3f/UNIT_X 1.486 - ;; Vector3f/UNIT_Y)) 1.487 - ;;(doto (Matrix3f.) 1.488 - ;; (.fromStartEndVectors Vector3f/UNIT_X 1.489 - ;; Vector3f/UNIT_Y)) 1.490 - true) 1.491 - (.setCollisionBetweenLinkedBodys false) 1.492 - (.setAngularLowerLimit (Vector3f. 0 1.493 - (- (/ Math/PI 2)) 1.494 - 0)) 1.495 - 1.496 - (.setAngularUpperLimit (Vector3f. 0 1.497 - (/ Math/PI 2) 1.498 - 0)) 1.499 - (.setLinearLowerLimit (Vector3f. 0 0 0)) 1.500 - (.setLinearUpperLimit (Vector3f. 0 0 0)) 1.501 - 1.502 - ) 1.503 - 1.504 - 1.505 - 1.506 - 1.507 - 1.508 - ) 1.509 - 1.510 - [top bottom table])) 1.511 - 1.512 -(defn speed-up [world] 1.513 - (.setMoveSpeed (.getFlyByCamera world) 1.514 - (float 100)) 1.515 - (.setRotationSpeed (.getFlyByCamera world) 1.516 - (float 20)) 1.517 - world) 1.518 - 1.519 - 1.520 -(defn test-joint [joint] 1.521 - (let [[top bottom floor] (world-setup joint) 1.522 - control (.getControl top RigidBodyControl) 1.523 - move-up? (atom false) 1.524 - move-down? (atom false) 1.525 - move-left? (atom false) 1.526 - move-right? (atom false) 1.527 - roll-left? (atom false) 1.528 - roll-right? (atom false) 1.529 - timer (atom 0)] 1.530 - 1.531 - (world 1.532 - (nodify [top bottom floor]) 1.533 - (merge standard-debug-controls 1.534 - {"key-r" (fn [_ pressed?] (reset! move-up? pressed?)) 1.535 - "key-t" (fn [_ pressed?] (reset! move-down? pressed?)) 1.536 - "key-f" (fn [_ pressed?] (reset! move-left? pressed?)) 1.537 - "key-g" (fn [_ pressed?] (reset! move-right? pressed?)) 1.538 - "key-v" (fn [_ pressed?] (reset! roll-left? pressed?)) 1.539 - "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))}) 1.540 - 1.541 - (fn [world] 1.542 - (light-up-everything world) 1.543 - (enable-debug world) 1.544 - (set-gravity world (Vector3f. 0 0 0)) 1.545 - ) 1.546 - 1.547 - (fn [world _] 1.548 - (if (zero? (rem (swap! timer inc) 100)) 1.549 - (do 1.550 - ;; (println-repl @timer) 1.551 - (.attachChild (.getRootNode world) 1.552 - (sphere 0.05 :color ColorRGBA/Yellow 1.553 - :position (.getWorldTranslation top) 1.554 - :physical? false)))) 1.555 - (if @move-up? 1.556 - (.applyTorque control 1.557 - (.mult (.getPhysicsRotation control) 1.558 - (Vector3f. 0 0 10)))) 1.559 - (if @move-down? 1.560 - (.applyTorque control 1.561 - (.mult (.getPhysicsRotation control) 1.562 - (Vector3f. 0 0 -10)))) 1.563 - (if @move-left? 1.564 - (.applyTorque control 1.565 - (.mult (.getPhysicsRotation control) 1.566 - (Vector3f. 0 10 0)))) 1.567 - (if @move-right? 1.568 - (.applyTorque control 1.569 - (.mult (.getPhysicsRotation control) 1.570 - (Vector3f. 0 -10 0)))) 1.571 - (if @roll-left? 1.572 - (.applyTorque control 1.573 - (.mult (.getPhysicsRotation control) 1.574 - (Vector3f. -1 0 0)))) 1.575 - (if @roll-right? 1.576 - (.applyTorque control 1.577 - (.mult (.getPhysicsRotation control) 1.578 - (Vector3f. 1 0 0)))))))) 1.579 - 1.580 - 1.581 - 1.582 -(defn run [joint] (.start (test-joint joint))) 1.583 -(defn look [joint] (view (nodify (world-setup joint)))) 1.584 - 1.585 -(defn blender-to-jme 1.586 - "Convert from Blender coordinates to JME coordinates" 1.587 - [#^Vector3f in] 1.588 - (Vector3f. (.getX in) 1.589 - (.getZ in) 1.590 - (- (.getY in)))) 1.591 - 1.592 - 1.593 -(defn joint-targets 1.594 - "Return the two closest two objects to the joint object, ordered 1.595 - from bottom to top according to the joint's rotation." 1.596 - [#^Node parts #^Node joint] 1.597 - ;;(println (meta-data joint "joint")) 1.598 - (.getWorldRotation joint) 1.599 - (loop [radius (float 0.01)] 1.600 - (let [results (CollisionResults.)] 1.601 - (.collideWith 1.602 - parts 1.603 - (BoundingBox. (.getWorldTranslation joint) 1.604 - radius radius radius) 1.605 - results) 1.606 - (let [targets 1.607 - (distinct 1.608 - (map #(.getGeometry %) results))] 1.609 - (if (>= (count targets) 2) 1.610 - (sort-by 1.611 - #(.getY 1.612 - (.mult 1.613 - (.inverse (.getWorldRotation joint)) 1.614 - (.subtract (.getWorldTranslation %) 1.615 - (.getWorldTranslation joint)))) 1.616 - (take 2 targets)) 1.617 - (recur (float (* radius 2)))))))) 1.618 - 1.619 -(defn connect 1.620 - "here are some examples: 1.621 - {:type :point} 1.622 - {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)} 1.623 - (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints) 1.624 - 1.625 - {:type :cone :limit-xz 0] 1.626 - :limit-yz 0] 1.627 - :twist 0]} 1.628 -" 1.629 - ([#^Node obj-a #^Node obj-b #^Node joint] 1.630 - (let [center-a (.getWorldTranslation obj-a) 1.631 - center-b (.getWorldTranslation obj-b) 1.632 - joint-center (.getWorldTranslation joint) 1.633 - pivot-a (.subtract joint-center center-a) 1.634 - pivot-b (.subtract joint-center center-b) 1.635 - control-a (.getControl obj-a RigidBodyControl) 1.636 - control-b (.getControl obj-b RigidBodyControl)] 1.637 - ;; A side-effect of creating a joint registers 1.638 - ;; it with both physics objects which in turn 1.639 - ;; will register the joint with the physics system 1.640 - ;; when the simulation is started. 1.641 - (if-let [constraints 1.642 - (map-vals 1.643 - eval 1.644 - (read-string 1.645 - (meta-data (first (worm-joints)) "joint")))] 1.646 - 1.647 - (let [joint-type (:type constraints)] 1.648 - (cond (= :point joint-type) 1.649 - (do 1.650 - (println-repl "creating POINT joint") 1.651 - (Point2PointJoint. 1.652 - control-a 1.653 - control-b 1.654 - pivot-a 1.655 - pivot-b)) 1.656 - (= :hinge joint-type) 1.657 - (do 1.658 - (println-repl "creating HINGE joint") 1.659 - (let [axis (if-let 1.660 - [axis (:axis constraints)] 1.661 - axis 1.662 - Vector3f/UNIT_X) 1.663 - [limit-1 limit-2] (:limit constraints) 1.664 - hinge-axis 1.665 - (.mult 1.666 - (.getWorldRotation joint) 1.667 - (blender-to-jme axis))] 1.668 - (doto 1.669 - (HingeJoint. 1.670 - control-a 1.671 - control-b 1.672 - pivot-a 1.673 - pivot-b 1.674 - hinge-axis 1.675 - hinge-axis) 1.676 - (.setLimit limit-1 limit-2)))) 1.677 - (= :cone joint-type) 1.678 - (do 1.679 - (let [limit-xy (:limit-xz constraints) 1.680 - limit-yz (:limit-yz constraints) 1.681 - twist (:twist constraints)] 1.682 - 1.683 - (println-repl "creating CONE joint") 1.684 - (doto 1.685 - (ConeJoint. 1.686 - control-a 1.687 - control-b 1.688 - pivot-a 1.689 - pivot-b 1.690 - (doto (Matrix3f.) 1.691 - (.fromStartEndVectors 1.692 - Vector3f/UNIT_X 1.693 - (.normalize 1.694 - (.subtract (.getWorldTranslation joint) 1.695 - (.getWorldTranslation obj-a))))) 1.696 - (doto (Matrix3f.) 1.697 - (.fromStartEndVectors 1.698 - Vector3f/UNIT_X 1.699 - (.normalize 1.700 - (.subtract 1.701 - (.getWorldTranslation obj-b) 1.702 - (.getWorldTranslation joint)))))) 1.703 - (.setLimit (float limit-xy) 1.704 - (float limit-yz) 1.705 - (float twist))))) 1.706 - true 1.707 - (println-repl 1.708 - "joint-type " joint-type " not recognized"))) 1.709 - 1.710 - (println-repl "could not find joint meta-data!"))))) 1.711 - 1.712 - 1.713 - 1.714 -(defn physical-worm [#^Node pieces joints] 1.715 - (dorun 1.716 - (map 1.717 - (fn [geom] 1.718 - (let [physics-control 1.719 - (RigidBodyControl. 1.720 - (HullCollisionShape. 1.721 - (.getMesh geom)) 1.722 - (if-let [mass (meta-data geom "mass")] 1.723 - (do 1.724 - (println-repl 1.725 - "setting mass to " (float mass)) 1.726 - (float mass)) 1.727 - (float 1)))] 1.728 - 1.729 - (.addControl geom physics-control))) 1.730 - (filter #(isa? (class %) Geometry ) 1.731 - (node-seq pieces)))) 1.732 - 1.733 - (dorun 1.734 - (map 1.735 - (fn [joint] 1.736 - (let [[obj-a obj-b] 1.737 - (joint-targets pieces joint)] 1.738 - (connect obj-a obj-b joint))) 1.739 - joints)) 1.740 - pieces) 1.741 - 1.742 -(defn the-worm [] 1.743 - (physical-worm (worm) (worm-joints))) 1.744 - 1.745 -(defn test-worm [] 1.746 - (world 1.747 - (nodify [(the-worm) 1.748 - (box 10 2 10 :position (Vector3f. 0 -5 0) 1.749 - :color ColorRGBA/Gray :mass 0)]) 1.750 - standard-debug-controls 1.751 - (comp light-up-everything enable-debug 1.752 - (fn [world] 1.753 - (.setTimer world (NanoTimer.)) 1.754 - (speed-up world) 1.755 - ;;(set-gravity world (Vector3f. 0 0 0)) 1.756 - world 1.757 - )) 1.758 - no-op)) 1.759 - 1.760 #+end_src 1.761 1.762 -#+results: body-1 1.763 -: #'cortex.silly/test-try-again 1.764 - 1.765 - 1.766 1.767 * COMMENT generate source 1.768 #+begin_src clojure :tangle ../src/cortex/silly.clj