1.1 --- a/org/test-creature.org	Mon Jan 09 06:05:29 2012 -0700
     1.2 +++ b/org/test-creature.org	Mon Jan 09 19:14:47 2012 -0700
     1.3 @@ -295,7 +295,7 @@
     1.4       ;;(com.aurellem.capture.Capture/captureVideo
     1.5       ;; world (file-str "/home/r/proj/ai-videos/hand"))
     1.6       (.setTimer world (NanoTimer.))
     1.7 -     ;;(set-gravity world (Vector3f. 0 0 0))
     1.8 +     (set-gravity world (Vector3f. 0 0 0))
     1.9       (speed-up world)
    1.10       )
    1.11     no-op
    1.12 @@ -334,6 +334,12 @@
    1.13       (.get UV-buffer (* vertex-index 2))
    1.14       (.get UV-buffer (+ 1 (* vertex-index 2))))))
    1.15  
    1.16 +(defn tri-uv-coord
    1.17 +  "Get the uv-cooridnates of the triangle's verticies."
    1.18 +  [#^Mesh mesh #^Triangle triangle]
    1.19 +  (map (partial uv-coord mesh)
    1.20 +       (triangle-indices mesh (.getIndex triangle))))
    1.21 +
    1.22  (defn touch-receptor-image
    1.23    "Return the touch-sensor distribution image in ImagePlus format."
    1.24    [#^Geometry obj]
    1.25 @@ -416,12 +422,32 @@
    1.26      (same-side? vert-3 vert-1 vert-2 p)))
    1.27  
    1.28  
    1.29 -(defn white? [color]
    1.30 -  (and 
    1.31 -   (= (:r color) 255)
    1.32 -   (= (:b color) 255)
    1.33 -   (= (:g color) 255)))
    1.34 -                        
    1.35 +(defn analyze-triangle [#^Geometry obj #^Triangle tri]
    1.36 +  ;; first, calculate the transformation matrix that will take us
    1.37 +  ;; from uv-coordinates to the real world coordinates
    1.38 +  (let [mesh (.getMesh obj)
    1.39 +        world [(.get1 tri) (.get2 tri) (.get3 tri)]
    1.40 +        uv    (tri-uv-coord mesh tri)
    1.41 +
    1.42 +    
    1.43 +
    1.44 +    
    1.45 +   (println-repl world uv)))
    1.46 +  
    1.47 +  
    1.48 +  
    1.49 +
    1.50 +
    1.51 +(defn tactile-coords* 
    1.52 +  [#^Geometry obj]
    1.53 +  (let
    1.54 +      [tris (triangles obj)
    1.55 +       mesh (.getMesh obj)
    1.56 +       
    1.57 +    
    1.58 +  )
    1.59 +
    1.60 +
    1.61  
    1.62  ;; for each triangle in the mesh,
    1.63  ;; get the normal to the triangle,
    1.64 @@ -435,6 +461,7 @@
    1.65          uv-coord (partial uv-coord mesh)
    1.66          triangle-indices (partial triangle-indices mesh)
    1.67          receptors (touch-receptor-image obj)
    1.68 +        tris (triangles obj)
    1.69          ]
    1.70      (map
    1.71       (fn [[tri-1 tri-2 tri-3]]
    1.72 @@ -462,28 +489,19 @@
    1.73               ]
    1.74  
    1.75           (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
    1.76 -         (let [processor  (.crop (.getProcessor receptors))
    1.77 -               image (frame (.getBufferedImage processor))]
    1.78 -           (with-meta
    1.79 -             (filter-keys
    1.80 -              (fn [[x y]]
    1.81 -                (inside-triangle?
    1.82 -                 (.subtract image-1 left-corner)
    1.83 -                 (.subtract image-2 left-corner)
    1.84 -                 (.subtract image-3 left-corner)
    1.85 -                 (Vector2f. x y)))
    1.86 -              
    1.87 -              
    1.88 -              (filter-vals white? image))
    1.89 -             {:image
    1.90 -              (comment
    1.91 -                (.getBufferedImage
    1.92 -                 (doto processor
    1.93 -                   (.flipVertical))))
    1.94 -               }
    1.95 -           ))
    1.96 +         (let [processor  (.crop (.getProcessor receptors))]
    1.97 +           (map
    1.98 +            #(.add left-corner %)
    1.99 +            
   1.100 +            (filter 
   1.101 +             (partial
   1.102 +              inside-triangle?
   1.103 +              (.subtract image-1 left-corner)
   1.104 +              (.subtract image-2 left-corner)
   1.105 +              (.subtract image-3 left-corner))
   1.106 +             (white-coordinates processor))))
   1.107           )) (map triangle-indices (range num-triangles)))))
   1.108 -    
   1.109 +
   1.110  
   1.111  
   1.112