1.1 --- a/org/test-creature.org	Fri Feb 03 06:21:39 2012 -0700
     1.2 +++ b/org/test-creature.org	Fri Feb 03 06:33:37 2012 -0700
     1.3 @@ -38,7 +38,7 @@
     1.4  the connecting here in clojure code, using the names of the individual
     1.5  components and trial and error. Later, I'll maybe make some sort of
     1.6  creature-building modifications to blender that support whatever
     1.7 -discreitized senses I'm going to make.
     1.8 +discritized senses I'm going to make.
     1.9  
    1.10  #+name: body-1
    1.11  #+begin_src clojure 
    1.12 @@ -49,7 +49,8 @@
    1.13  ;; TODO remove this!
    1.14  (require 'cortex.import)
    1.15  (cortex.import/mega-import-jme3)
    1.16 -(use '(cortex world util body hearing touch vision sense proprioception))
    1.17 +(use '(cortex world util body hearing touch vision sense
    1.18 +proprioception movement))
    1.19  
    1.20  (rlm.rlm-commands/help)
    1.21  (import java.awt.image.BufferedImage)
    1.22 @@ -421,72 +422,6 @@
    1.23  
    1.24  
    1.25  
    1.26 -;; here's how motor-control/ proprioception will work: Each muscle is
    1.27 -;; defined by a 1-D array of numbers (the "motor pool") each of which
    1.28 -;; represent muscle fibers. A muscle also has a scalar :strength
    1.29 -;; factor which determines how strong the muscle as a whole is.
    1.30 -;; The effector function for a muscle takes a number < (count
    1.31 -;; motor-pool) and that number is said to "activate" all the muscle
    1.32 -;; fibers whose index is lower than the number.  Each fiber will apply
    1.33 -;; force in proportion to its value in the array.  Lower values cause
    1.34 -;; less force.  The lower values can be put at the "beginning" of the
    1.35 -;; 1-D array to simulate the layout of actual human muscles, which are
    1.36 -;; capable of more percise movements when exerting less force.
    1.37 -
    1.38 -;; I don't know how to encode proprioception, so for now, just return
    1.39 -;; a function for each joint that returns a triplet of floats which
    1.40 -;; represent relative roll, pitch, and yaw.  Write display code for
    1.41 -;; this though.
    1.42 -
    1.43 -(defn muscle-fiber-values
    1.44 -  "get motor pool strengths"
    1.45 -  [#^BufferedImage image]
    1.46 -  (vec
    1.47 -   (let [width (.getWidth image)]
    1.48 -     (for [x (range width)]
    1.49 -       (- 255
    1.50 -          (bit-and
    1.51 -           0x0000FF
    1.52 -           (.getRGB image x 0)))))))
    1.53 -
    1.54 -
    1.55 -(defn creature-muscles 
    1.56 - "Return the children of the creature's \"muscles\" node."
    1.57 - [#^Node creature]
    1.58 - (if-let [muscle-node (.getChild creature "muscles")]
    1.59 -   (seq (.getChildren muscle-node))
    1.60 -   (do (println-repl "could not find muscles node") [])))
    1.61 -
    1.62 -(defn single-muscle [#^Node parts #^Node muscle]
    1.63 -  (let [target (closest-node parts muscle)
    1.64 -        axis
    1.65 -        (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
    1.66 -        strength (meta-data muscle "strength")
    1.67 -        image-name (read-string (meta-data muscle "muscle"))
    1.68 -        image 
    1.69 -        (ImageToAwt/convert
    1.70 -          (.getImage (.loadTexture (asset-manager) image-name))
    1.71 -          false false 0)
    1.72 -        fibers (muscle-fiber-values image)
    1.73 -        fiber-integral (reductions + fibers)
    1.74 -        force-index (vec
    1.75 -                     (map
    1.76 -                      #(float (* strength (/ % (last
    1.77 -                                                fiber-integral))))
    1.78 -                      fiber-integral))
    1.79 -        control (.getControl target RigidBodyControl)]
    1.80 -    (fn [n]
    1.81 -      (let [pool-index (min n (count fibers))]
    1.82 -        (.applyTorque control (.mult axis (force-index n)))))))
    1.83 -
    1.84 -
    1.85 -(defn enable-muscles
    1.86 -  "Must be called on a creature after RigidBodyControls have been
    1.87 -   created." 
    1.88 -  [#^Node creature]
    1.89 -  (let [muscles (creature-muscles creature)]
    1.90 -    (for [muscle muscles]
    1.91 -      (single-muscle creature muscle))))
    1.92  
    1.93  (defn test-creature [thing]
    1.94    (let [x-axis