1.1 --- a/org/integration.org	Thu Feb 16 12:48:51 2012 -0700
     1.2 +++ b/org/integration.org	Thu Feb 16 20:05:54 2012 -0700
     1.3 @@ -96,53 +96,106 @@
     1.4  (def full 9001)
     1.5  ;; the systax here is [keyframe body-part force]
     1.6  (def wiggle-each-finger-tip
     1.7 -  [[300 :pointer-3-f 50]
     1.8 +  [[300 :pinky-3-f 50]
     1.9 +   [320 :pinky-2-f 80]
    1.10 +   [340 :pinky-1-f 100]
    1.11  
    1.12 +   [310 :ring-3-f 100]
    1.13 +   [330 :ring-2-f 120]
    1.14 +   [350 :ring-1-f 140]
    1.15  
    1.16 -   [400 :middle-3-f full]
    1.17 -   [401 :middle-3-f 50]
    1.18 +   [330 :middle-3-f 120]
    1.19 +   [340 :middle-2-f 120]
    1.20 +   [360 :middle-1-f 30]
    1.21  
    1.22 -   [600 :ring-3-f full]
    1.23 -   [601 :ring-3-f 40]
    1.24 +   [350 :pointer-3-f 120]
    1.25 +   [360 :pointer-2-f 120]
    1.26 +   [380 :pointer-1-f 30]
    1.27  
    1.28 -   [800 :pinky-3-f full]
    1.29 -   [801 :pinky-3-f 50]
    1.30 +   [800 :pinky-3-f 0]
    1.31 +   [800 :pinky-2-f 0]
    1.32 +   [800 :pinky-1-f  0]
    1.33  
    1.34 -   [1300 :pointer-1-f full]
    1.35 -   [1300 :pointer-2-f full]
    1.36 -   [1300 :pointer-3-f 0]
    1.37 +   [800 :ring-3-f  0]
    1.38 +   [800 :ring-2-f  0]
    1.39 +   [800 :ring-1-f  0]
    1.40  
    1.41 -   [1289 :middle-1-f full]
    1.42 -   [1289 :middle-2-f full]
    1.43 -   [1289 :middle-3-f 0]
    1.44 -   
    1.45 -   [1310 :pointer-1-f 0]
    1.46 -   [1310 :pointer-2-f 0]
    1.47 -   [1310 :pointer-3-f 0]
    1.48 +   [800 :middle-3-f  0]
    1.49 +   [800 :middle-2-f  0]
    1.50 +   [800 :middle-1-f 0]
    1.51  
    1.52 -   [1310 :middle-1-f 0]
    1.53 -   [1310 :middle-2-f 0]
    1.54 -   [1310 :middle-3-f 0]
    1.55 +   [800 :pointer-3-f  0]
    1.56 +   [800 :pointer-2-f  0]
    1.57 +   [800 :pointer-1-f 0]
    1.58  
    1.59     
    1.60 +   [800 :pinky-3-e 50]
    1.61 +   [800 :pinky-2-e 80]
    1.62 +   [800 :pinky-1-e 100]
    1.63  
    1.64 +   [800 :ring-3-e 100]
    1.65 +   [800 :ring-2-e 120]
    1.66 +   [800 :ring-1-e 140]
    1.67 +
    1.68 +   [800 :middle-3-e 120]
    1.69 +   [800 :middle-2-e 120]
    1.70 +   [800 :middle-1-e 30]
    1.71 +
    1.72 +   [800 :pointer-3-e 120]
    1.73 +   [800 :pointer-2-e 120]
    1.74 +   [800 :pointer-1-e 30]
    1.75 +
    1.76 +   [870 :pinky-3-e 0]
    1.77 +   [870 :pinky-2-e 0]
    1.78 +   [870 :pinky-1-e  0]
    1.79 +
    1.80 +   [870 :ring-3-e  0]
    1.81 +   [870 :ring-2-e  0]
    1.82 +   [870 :ring-1-e  0]
    1.83 +
    1.84 +   [870 :middle-3-e  0]
    1.85 +   [870 :middle-2-e  0]
    1.86 +   [870 :middle-1-e 0]
    1.87 +
    1.88 +   [870 :pointer-3-e  0]
    1.89 +   [870 :pointer-2-e  0]
    1.90 +   [870 :pointer-1-e 0]
    1.91 +
    1.92 +   [1500 :pointer-1-f full]
    1.93 +   [1500 :pointer-2-f full]
    1.94 +   [1500 :pointer-3-f full]
    1.95 +   
    1.96 +   [1500 :middle-1-f full]
    1.97 +   [1500 :middle-2-f full]
    1.98 +   [1500 :middle-3-f full]
    1.99 +   
   1.100 +   [1510 :pointer-1-f 0]
   1.101 +   [1510 :pointer-2-f 0]
   1.102 +   [1510 :pointer-3-f 0]
   1.103 +   
   1.104 +   [1510 :middle-1-f 0]
   1.105 +   [1510 :middle-2-f 0]
   1.106 +   [1510 :middle-3-f 0]
   1.107     ])
   1.108  
   1.109 -(defn gen-summon-ball []
   1.110 -  (let [wait (atom 20)]
   1.111 +(defn gen-summon-ball [debug?]
   1.112 +  (let [wait (atom 1100)]
   1.113      (fn [world]
   1.114        (if (= 0 (swap! wait dec))
   1.115          (let [brick
   1.116                (box 0.8 0.8 0.8 :mass 0.05
   1.117 -                                :position (Vector3f. 0 0 0.5)
   1.118 -                                :color (ColorRGBA/Red))]
   1.119 -
   1.120 -          (.addControl
   1.121 -           brick
   1.122 -           (proxy [AbstractControl] []
   1.123 -             (controlUpdate [tpf]
   1.124 -               (println-repl (.getWorldTranslation brick)))
   1.125 -             (controlRender [_ _])))
   1.126 +                                :position (Vector3f. -0.5 0 0.5)
   1.127 +                                :color (ColorRGBA/Red))
   1.128 +              bell (AudioNode. (asset-manager)
   1.129 +                               "Sounds/pure.wav" false)]
   1.130 +          (.play bell)
   1.131 +          (if debug?
   1.132 +            (.addControl
   1.133 +             brick
   1.134 +             (proxy [AbstractControl] []
   1.135 +               (controlUpdate [tpf]
   1.136 +                 (println-repl (.getWorldTranslation brick)))
   1.137 +               (controlRender [_ _]))))
   1.138            (add-element world brick))))))
   1.139            
   1.140  
   1.141 @@ -158,7 +211,7 @@
   1.142    0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
   1.143    0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
   1.144    0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.145 -  1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.146 +  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.147    0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
   1.148    0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
   1.149    0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
   1.150 @@ -180,26 +233,29 @@
   1.151    0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
   1.152    ])
   1.153  
   1.154 +(import com.aurellem.capture.Capture)
   1.155 +
   1.156  (defn test-everything! 
   1.157    ([] (test-everything! false))
   1.158    ([record?]
   1.159    (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
   1.160  
   1.161 -        bell (AudioNode. (asset-manager)
   1.162 -                         "Sounds/pure.wav" false)
   1.163 +        base (File. "/home/r/proj/cortex/render/hand")
   1.164 +        
   1.165 +        
   1.166          creature (doto (load-blender-model hand) 
   1.167                     (body!))
   1.168  
   1.169 -        summon-ball (gen-summon-ball)
   1.170 +        summon-ball (gen-summon-ball false)
   1.171          ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   1.172 -        ;;touch (touch! creature)
   1.173 -        ;;touch-display (view-touch)
   1.174 +        touch (touch! creature)
   1.175 +        touch-display (view-touch)
   1.176  
   1.177 -        ;;vision (vision! creature)
   1.178 -        ;;vision-display (view-vision)
   1.179 +        vision (vision! creature)
   1.180 +        vision-display (view-vision)
   1.181  
   1.182 -        ;;hearing (hearing! creature)
   1.183 -        ;;hearing-display (view-hearing)
   1.184 +        hearing (hearing! creature)
   1.185 +        hearing-display (view-hearing)
   1.186  
   1.187          prop (proprioception! creature)
   1.188          prop-display (view-proprioception)
   1.189 @@ -216,17 +272,14 @@
   1.190                (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.191                     :color ColorRGBA/Gray :mass 0)
   1.192                me])
   1.193 -     (merge standard-debug-controls
   1.194 -            {"key-return"
   1.195 -             (fn [_ value]
   1.196 -               (if value
   1.197 -                   (.play bell)))})
   1.198 -
   1.199 +     standard-debug-controls
   1.200 +    
   1.201       (fn [world]
   1.202         (.setTimer world (RatchetTimer. 60))
   1.203         (position-camera
   1.204 -        world (Vector3f. 7.7101235, 6.3628435, -14.15047)
   1.205 -        (Quaternion. 0.3644328, -0.2558489, 0.104854375, 0.8892332))
   1.206 +        world (Vector3f. -0.13217318, 5.816415, -5.3089414)
   1.207 +        (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
   1.208 +
   1.209         (light-up-everything world)
   1.210         (enable-debug world)
   1.211         (add-camera! world
   1.212 @@ -234,20 +287,337 @@
   1.213                                (.getChild 
   1.214                                 (.getChild creature "eyes") "eye"))
   1.215                      (comp (view-image) BufferedImage!))
   1.216 -       (speed-up world)
   1.217 -       )
   1.218 +
   1.219 +       (if record?
   1.220 +         (Capture/captureVideo
   1.221 +          world (File. base "main")))
   1.222 +       (if record?
   1.223 +         (Capture/captureAudio
   1.224 +          world (File. base "main.wav"))))
   1.225       (fn [world tpf]
   1.226 -       ;;(prop-display (prop))
   1.227 -       ;;(touch-display (map #(% (.getRootNode world)) touch))
   1.228 -       ;;(vision-display (map #(% world) vision))
   1.229 -       ;;(hearing-display (map #(% world) hearing))
   1.230 +       (prop-display
   1.231 +        (prop)
   1.232 +        (if record? (File. base "proprio")))             
   1.233 +       (touch-display
   1.234 +        (map #(% (.getRootNode world)) touch)
   1.235 +        (if record? (File. base "touch")))
   1.236 +       (vision-display
   1.237 +        (map #(% world) vision)
   1.238 +        (if record? (File. base "vision")))
   1.239 +       (hearing-display
   1.240 +        (map #(% world) hearing)
   1.241 +        (if record? (File. base "hearing")))
   1.242 +       (muscle-display
   1.243 +        (control-script muscles)
   1.244 +        (if record? (File. base "muscle")))
   1.245 +         
   1.246         (summon-ball world)
   1.247 -       ;;(muscle-display
   1.248 -       (control-script muscles)
   1.249 -       ;;)
   1.250 -             
   1.251 +       
   1.252         (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.253         (fix-display world))))))
   1.254 +
   1.255 +
   1.256 +(comment
   1.257 +;; list of touch targets
   1.258 +0  middle-11 
   1.259 +1  middle-21 
   1.260 +2  middle-31
   1.261 +3  pinky-11
   1.262 +4  pinky-21
   1.263 +5  pinky-31
   1.264 +6  pointer-11
   1.265 +7  pointer-21
   1.266 +8  pointer-31
   1.267 +9  ring-11
   1.268 +10 ring-21
   1.269 +11 ring-31
   1.270 +12 thumb-11
   1.271 +13 thumb-2.0011 
   1.272 +
   1.273 +
   1.274 +;; list of vision targets
   1.275 +0  :all
   1.276 +1  :green
   1.277 +2  :blue
   1.278 +3  :red 
   1.279 +
   1.280 +;; list of proprio targets
   1.281 +0  middle-11 -> middle-21
   1.282 +1  middle-21 -> middle-31
   1.283 +2  thumb-11 -> thumb-2.0011
   1.284 +3  pointer-11 -> pointer-21
   1.285 +4  pointer-21 -> pointer-31
   1.286 +5  ring-21 -> ring-31
   1.287 +6  ring-11 -> ring-21
   1.288 +7  pinky-21 -> pinky-31
   1.289 +8  pinky-11 -> pinky-21
   1.290 +9  middle-11 -> palm1
   1.291 +10 pinky-11 -> palm1
   1.292 +11 palm1 -> pointer-11
   1.293 +12 palm1 -> ring-11
   1.294 +13 palm1 -> thumb-11
   1.295 +
   1.296 +
   1.297 +;; list of muscle targets
   1.298 +0  :pointer-2-e
   1.299 +1  :pointer-2-f
   1.300 +2  :thumb-1
   1.301 +3  :thumb-1
   1.302 +4  :pointer-1-e
   1.303 +5  :pointer-1-f
   1.304 +6  :thumb-2-e
   1.305 +7  :thumb-2-f
   1.306 +8  :middle-1-e
   1.307 +9  :middle-1-f
   1.308 +10 :pointer-3-f
   1.309 +11 :pointer-3-e
   1.310 +12 :middle-2-e
   1.311 +13 :middle-2-f
   1.312 +14 :middle-3-f
   1.313 +15 :middle-3-e
   1.314 +16 :pinky-2-e
   1.315 +17 :pinky-2-f
   1.316 +18 :pinky-3-f
   1.317 +19 :pinky-3-e
   1.318 +20 :ring-3-e
   1.319 +21 :ring-3-f
   1.320 +22 :ring-2-f
   1.321 +23 :ring-2-e
   1.322 +24 :ring-1-e
   1.323 +25 :ring-1-f
   1.324 +26 :thumb-1-e
   1.325 +27 :thumb-1-f
   1.326 +28 :pinky-1-f
   1.327 +29 :pinky-1-e
   1.328 +)
   1.329 +
   1.330 +
   1.331 +
   1.332 +;; rotate touch 180
   1.333 +
   1.334 +;; rotate mucles 90 counter-clockwise
   1.335 +;; scale muscles to 15x60
   1.336 +
   1.337 +finger width : 113
   1.338 +finger height : 357
   1.339 +
   1.340 +thumb width : 113
   1.341 +
   1.342 +pinky  --- 0,195
   1.343 +ring   --- 111,100
   1.344 +middle --- 228,0
   1.345 +pointer -- 436,96
   1.346 +thumb ---  486,420
   1.347 +
   1.348 +
   1.349 +
   1.350 +within a finger (coordinates of top left corner (x,y)):
   1.351 +
   1.352 +tip-flexor     : 0,7
   1.353 +tip-extensor   : 98,7
   1.354 +tip            : 18,0
   1.355 +
   1.356 +joint-2-3      : 32,79
   1.357 +
   1.358 +mid-flexor     : 19,131
   1.359 +mid-extensor   : 80,131
   1.360 +mid            : 30,133
   1.361 +
   1.362 +joint-1-2      : 32,193
   1.363 +
   1.364 +base-flexor    : 19,245
   1.365 +base-extensor  : 80,245
   1.366 +base           : 39,247
   1.367 +
   1.368 +joint-palm-1   : 32,307
   1.369 +
   1.370 +
   1.371 +Thumb is the same as finger, except it has two more pieces
   1.372 +
   1.373 +extra-flexor-1 : 2,131
   1.374 +extra-flexor-2 : 100,131
   1.375 +
   1.376 +;; rotate entire thumb 45 degrees clockwise
   1.377 +
   1.378 +within vision
   1.379 +gray -- 165,577
   1.380 +green -- 278,577
   1.381 +blue  -- 165,682
   1.382 +red   -- 278,682
   1.383 +
   1.384 +entire hand          : 809, 22
   1.385 +main view            :  78,202
   1.386 +hearing              : 784,819
   1.387 +
   1.388 +hand-size: 688x769
   1.389 +
   1.390 +
   1.391 +total image size:
   1.392 +1600x894
   1.393 +
   1.394 +(def base (File. "/home/r/proj/cortex/render/hand"))
   1.395 +
   1.396 +
   1.397 +
   1.398 +(defn prepare-muscle [muscle]
   1.399 +  ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
   1.400 +
   1.401 +(defn prepare-touch [touch]
   1.402 +  ["(" touch "-rotate" "180" ")"])
   1.403 +
   1.404 +(defn generate-top-finger [tip-flexor tip-extensor tip
   1.405 +                           joint-2-3
   1.406 +                           mid-flexor mid-extensor mid
   1.407 +                           joint-1-2]
   1.408 +  ["("
   1.409 +   "-size" "113x357" "xc:transparent"
   1.410 +   (prepare-muscle tip-flexor)   "-geometry" "+0+7"    "-composite"
   1.411 +   (prepare-muscle tip-extensor) "-geometry" "+98+7"   "-composite"
   1.412 +   (prepare-touch tip)           "-geometry" "+18+0"   "-composite"
   1.413 +
   1.414 +   joint-2-3                     "-geometry" "+32+79" "-composite"
   1.415 +
   1.416 +   (prepare-muscle mid-flexor)   "-geometry" "+19+131"    "-composite"
   1.417 +   (prepare-muscle mid-extensor) "-geometry" "+80+131"   "-composite"
   1.418 +   (prepare-touch mid)           "-geometry" "+39+133"   "-composite"
   1.419 +   
   1.420 +   joint-1-2                     "-geometry" "+32+193" "-composite"
   1.421 +   ")"])
   1.422 +
   1.423 +(defn generate-finger
   1.424 +  [tip-flexor tip-extensor tip
   1.425 +   joint-2-3
   1.426 +   mid-flexor mid-extensor mid
   1.427 +   joint-1-2
   1.428 +   base-flexor base-extensor base
   1.429 +   joint-palm-1]
   1.430 +  ["("
   1.431 +   "-size" "113x357" "xc:transparent"
   1.432 +   (generate-top-finger
   1.433 +    tip-flexor  tip-extensor tip
   1.434 +    joint-2-3
   1.435 +    mid-flexor mid-extensor mid
   1.436 +    joint-1-2)                    "-geometry" "+0+0"      "-composite"
   1.437 +   (prepare-muscle base-flexor)   "-geometry" "+19+245"   "-composite"
   1.438 +   (prepare-muscle base-extensor) "-geometry" "+80+245"   "-composite"
   1.439 +   (prepare-touch base)           "-geometry" "+39+247"   "-composite"
   1.440 +   joint-palm-1                   "-geometry" "+32+307"   "-composite"
   1.441 +   ")"])
   1.442 +
   1.443 +(defn generate-thumb
   1.444 +  [tip-flexor tip-extensor tip
   1.445 +   joint-1-2
   1.446 +   mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
   1.447 +   joint-palm-1]
   1.448 +  ["("
   1.449 +   "-size" "113x357" "xc:transparent"
   1.450 +   (generate-top-finger
   1.451 +    tip-flexor  tip-extensor tip
   1.452 +    joint-1-2
   1.453 +    mid-flexor mid-extensor mid
   1.454 +    joint-palm-1)                   "-geometry" "+0+0"     "-composite"
   1.455 +   (prepare-muscle mid-flexor-2)    "-geometry" "+2+131"   "-composite"
   1.456 +   (prepare-muscle mid-extensor-2)  "-geometry" "+100+131" "-composite"
   1.457 +   ")"])
   1.458 +
   1.459 +pinky  --- 0,195
   1.460 +ring   --- 111,100
   1.461 +middle --- 228,0
   1.462 +pointer -- 436,96
   1.463 +thumb ---  486,420
   1.464 +
   1.465 +
   1.466 +(defn generate-hand
   1.467 +  [pinky-pieces
   1.468 +   ring-pieces
   1.469 +   middle-pieces
   1.470 +   pointer-pieces
   1.471 +   thumb-pieces]
   1.472 +  ["("
   1.473 +   "-size" "688x769" "xc:transparent"
   1.474 +   (apply generate-finger pinky-pieces)
   1.475 +   "-geometry" "+0+195" "-composite"
   1.476 +   (apply generate-finger ring-pieces)
   1.477 +   "-geometry" "+111+100" "-composite"
   1.478 +   (apply generate-finger middle-pieces)
   1.479 +   "-geometry" "+228+0"   "-composite"
   1.480 +   "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
   1.481 +   "-rotate" "45" ")"
   1.482 +   "-geometry" "+300+420" "-composite"
   1.483 +   (apply generate-finger pointer-pieces)
   1.484 +   "-geometry" "+350+96"  "-composite"
   1.485 +   ")"])
   1.486 +
   1.487 +(defn generate-vision
   1.488 +  [all green blue red]
   1.489 +  ["("
   1.490 +   "-size" "204x192" "xc:transparent"
   1.491 +   all    "-geometry" "+0+0" "-composite"
   1.492 +   green  "-geometry" "+113+0" "-composite"
   1.493 +   blue   "-geometry" "+0+105" "-composite"
   1.494 +   red    "-geometry" "+113+105" "-composite"
   1.495 +   ")"])
   1.496 +  
   1.497 +
   1.498 +
   1.499 +(def test-muscle (File. base "muscle/0/0000000.png"))
   1.500 +(def test-proprio (File. base "proprio/0/0000000.png"))
   1.501 +(def test-tip (File. base "touch/2/0000000.png"))
   1.502 +(def test-mid (File. base "touch/0/0000000.png"))
   1.503 +(def test-vision (File. base "vision/0/0000000.png"))
   1.504 +(def test-hearing (File. base "hearing/0/0000000.png"))
   1.505 +(def test-main (File. base "main/0000000.png"))
   1.506 +
   1.507 +
   1.508 +(def test-target (File. base "output.png"))
   1.509 +
   1.510 +(def background (File. base "background.png"))
   1.511 +
   1.512 +(use 'clojure.contrib.shell-out)
   1.513 +(defn final-image [muscle proprio tip mid vision hearing main]
   1.514 +  (let [[muscle proprio tip mid vision hearing main] (map #(.getCanonicalPath %)
   1.515 +                                      [muscle proprio tip mid vision
   1.516 +                                       hearing main])
   1.517 +        finger-pieces [muscle muscle tip
   1.518 +                       proprio
   1.519 +                       muscle muscle mid
   1.520 +                       proprio
   1.521 +                       muscle muscle mid
   1.522 +                       proprio]
   1.523 +        thumb-pieces  [muscle muscle tip
   1.524 +                       proprio
   1.525 +                       muscle muscle muscle muscle mid
   1.526 +                       proprio]]
   1.527 +    
   1.528 +    
   1.529 +    (apply
   1.530 +     sh
   1.531 +     (flatten
   1.532 +      ["convert"
   1.533 +       (.getCanonicalPath background)
   1.534 +       (generate-hand finger-pieces
   1.535 +                      finger-pieces
   1.536 +                      finger-pieces
   1.537 +                      finger-pieces
   1.538 +                      thumb-pieces)
   1.539 +       "-geometry" "+809+22" "-composite"
   1.540 +       
   1.541 +       (generate-vision vision vision vision vision)
   1.542 +       "-geometry" "+974+599" "-composite"
   1.543 +
   1.544 +       hearing
   1.545 +       "-geometry" "+784+819" "-composite"
   1.546 +
   1.547 +       main
   1.548 +       "-geometry" "+78+202" "-composite"
   1.549 +              
   1.550 +       (.getCanonicalPath test-target)]))))
   1.551 +  
   1.552 +
   1.553 +
   1.554 +   
   1.555 +
   1.556 +                       
   1.557  #+end_src
   1.558  
   1.559  #+results: integration