1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/org/movement.org	Fri Feb 03 06:33:37 2012 -0700
     1.3 @@ -0,0 +1,98 @@
     1.4 +#+title: Movement!
     1.5 +#+author: Robert McIntyre
     1.6 +#+email: rlm@mit.edu
     1.7 +#+description: muscles for a simulated creature
     1.8 +#+keywords: simulation, jMonkeyEngine3, clojure
     1.9 +#+SETUPFILE: ../../aurellem/org/setup.org
    1.10 +#+INCLUDE: ../../aurellem/org/level-0.org
    1.11 +
    1.12 +#+name: movement
    1.13 +#+begin_src clojure 
    1.14 +(ns cortex.movement
    1.15 +  (:use (cortex world util sense body))
    1.16 +  (:import jme3tools.converters.ImageToAwt)
    1.17 +  (:import java.awt.image.BufferedImage))
    1.18 +
    1.19 +(cortex.import/mega-import-jme3)
    1.20 +
    1.21 +
    1.22 +
    1.23 +
    1.24 +;; here's how motor-control/ proprioception will work: Each muscle is
    1.25 +;; defined by a 1-D array of numbers (the "motor pool") each of which
    1.26 +;; represent muscle fibers. A muscle also has a scalar :strength
    1.27 +;; factor which determines how strong the muscle as a whole is.
    1.28 +;; The effector function for a muscle takes a number < (count
    1.29 +;; motor-pool) and that number is said to "activate" all the muscle
    1.30 +;; fibers whose index is lower than the number.  Each fiber will apply
    1.31 +;; force in proportion to its value in the array.  Lower values cause
    1.32 +;; less force.  The lower values can be put at the "beginning" of the
    1.33 +;; 1-D array to simulate the layout of actual human muscles, which are
    1.34 +;; capable of more percise movements when exerting less force.
    1.35 +
    1.36 +;; I don't know how to encode proprioception, so for now, just return
    1.37 +;; a function for each joint that returns a triplet of floats which
    1.38 +;; represent relative roll, pitch, and yaw.  Write display code for
    1.39 +;; this though.
    1.40 +
    1.41 +(defn muscle-fiber-values
    1.42 +  "get motor pool strengths"
    1.43 +  [#^BufferedImage image]
    1.44 +  (vec
    1.45 +   (let [width (.getWidth image)]
    1.46 +     (for [x (range width)]
    1.47 +       (- 255
    1.48 +          (bit-and
    1.49 +           0x0000FF
    1.50 +           (.getRGB image x 0)))))))
    1.51 +
    1.52 +
    1.53 +(defn creature-muscles 
    1.54 + "Return the children of the creature's \"muscles\" node."
    1.55 + [#^Node creature]
    1.56 + (if-let [muscle-node (.getChild creature "muscles")]
    1.57 +   (seq (.getChildren muscle-node))
    1.58 +   (do (println-repl "could not find muscles node") [])))
    1.59 +
    1.60 +(defn single-muscle [#^Node parts #^Node muscle]
    1.61 +  (let [target (closest-node parts muscle)
    1.62 +        axis
    1.63 +        (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
    1.64 +        strength (meta-data muscle "strength")
    1.65 +        image-name (read-string (meta-data muscle "muscle"))
    1.66 +        image 
    1.67 +        (ImageToAwt/convert
    1.68 +          (.getImage (.loadTexture (asset-manager) image-name))
    1.69 +          false false 0)
    1.70 +        fibers (muscle-fiber-values image)
    1.71 +        fiber-integral (reductions + fibers)
    1.72 +        force-index (vec
    1.73 +                     (map
    1.74 +                      #(float (* strength (/ % (last
    1.75 +                                                fiber-integral))))
    1.76 +                      fiber-integral))
    1.77 +        control (.getControl target RigidBodyControl)]
    1.78 +    (fn [n]
    1.79 +      (let [pool-index (min n (count fibers))]
    1.80 +        (.applyTorque control (.mult axis (force-index n)))))))
    1.81 +
    1.82 +
    1.83 +(defn enable-muscles
    1.84 +  "Must be called on a creature after RigidBodyControls have been
    1.85 +   created." 
    1.86 +  [#^Node creature]
    1.87 +  (let [muscles (creature-muscles creature)]
    1.88 +    (for [muscle muscles]
    1.89 +      (single-muscle creature muscle))))
    1.90 +
    1.91 +
    1.92 +#+end_src
    1.93 +
    1.94 +
    1.95 +
    1.96 +
    1.97 +
    1.98 +* COMMENT code generation
    1.99 +#+begin_src clojure :tangle ../src/cortex/movement.clj
   1.100 +<<movement>>
   1.101 +#+end_src