1.1 --- a/org/test-creature.org	Mon Jan 30 00:25:11 2012 -0700
     1.2 +++ b/org/test-creature.org	Mon Jan 30 05:47:51 2012 -0700
     1.3 @@ -321,11 +321,33 @@
     1.4  (defmethod joint-dispatch :point
     1.5    [constraints control-a control-b pivot-a pivot-b rotation]
     1.6    (println-repl "creating POINT2POINT joint")
     1.7 -  (Point2PointJoint.
     1.8 -   control-a
     1.9 -   control-b
    1.10 -   pivot-a
    1.11 -   pivot-b))
    1.12 +  ;; bullet's point2point joints are BROKEN, so we must use the
    1.13 +  ;; generic 6DOF joint instead of an actual Point2Point joint!
    1.14 +
    1.15 +  ;; should be able to do this:
    1.16 +  (comment 
    1.17 +    (Point2PointJoint.
    1.18 +     control-a
    1.19 +     control-b
    1.20 +     pivot-a
    1.21 +     pivot-b))
    1.22 +
    1.23 +  ;; but instead we must do this:
    1.24 +  (println-repl "substuting 6DOF joint for POINT2POINT joint!")
    1.25 +  (doto
    1.26 +      (SixDofJoint.
    1.27 +       control-a
    1.28 +       control-b
    1.29 +       pivot-a
    1.30 +       pivot-b
    1.31 +       false)
    1.32 +    (.setLinearLowerLimit Vector3f/ZERO)
    1.33 +    (.setLinearUpperLimit Vector3f/ZERO)
    1.34 +    ;;(.setAngularLowerLimit (Vector3f. 1 1 1))
    1.35 +    ;;(.setAngularUpperLimit (Vector3f. 0 0 0))
    1.36 +
    1.37 +))
    1.38 +
    1.39  
    1.40  (defmethod joint-dispatch :hinge
    1.41    [constraints control-a control-b pivot-a pivot-b rotation]
    1.42 @@ -411,6 +433,9 @@
    1.43                          joint-rotation))
    1.44        (println-repl "could not find joint meta-data!"))))
    1.45  
    1.46 +
    1.47 +
    1.48 +
    1.49  (defn assemble-creature [#^Node pieces joints]
    1.50    (dorun
    1.51     (map
    1.52 @@ -1015,7 +1040,7 @@
    1.53       (bit-shift-left num 8)
    1.54       (bit-shift-left num 16)))
    1.55  
    1.56 -(defn debug-window
    1.57 +(defn debug-touch-window
    1.58    "creates function that offers a debug view of sensor data"
    1.59    []
    1.60    (let [vi (view-image)]
    1.61 @@ -1066,8 +1091,49 @@
    1.62  
    1.63  
    1.64  
    1.65 -;; here's how motor-control/ proprioception will work:
    1.66 +;; here's how motor-control/ proprioception will work: Each muscle is
    1.67 +;; defined by a 1-D array of numbers (the "motor pool") each of which
    1.68 +;; represent muscle fibers. A muscle also has a scalar :strength
    1.69 +;; factor which determines how strong the muscle as a whole is.
    1.70 +;; The effector function for a muscle takes a number < (count
    1.71 +;; motor-pool) and that number is said to "activate" all the muscle
    1.72 +;; fibers whose index is lower than the number.  Each fiber will apply
    1.73 +;; force in proportion to its value in the array.  Lower values cause
    1.74 +;; less force.  The lower values can be put at the "beginning" of the
    1.75 +;; 1-D array to simulate the layout of actual human muscles, which are
    1.76 +;; capable of more percise movements when exerting less force.
    1.77  
    1.78 +;; I don't know how to encode proprioception, so for now, just return
    1.79 +;; a function for each joint that returns a triplet of floats which
    1.80 +;; represent relative roll, pitch, and yaw.  Write display code for
    1.81 +;; this though.
    1.82 +
    1.83 +(defn muscle-fibre-values
    1.84 +  "Take the first row of the image and return the low-order bytes."
    1.85 +  [#^BufferedImage image]
    1.86 +  (let [width (.getWidth image)]
    1.87 +    (for [x (range width)]
    1.88 +      (bit-and
    1.89 +       0xFF
    1.90 +       (.getRGB image x 0)))))
    1.91 +
    1.92 +
    1.93 +(defn rad->deg [rad]
    1.94 +  (* 180 (/ Math/PI) rad))
    1.95 +
    1.96 +
    1.97 +(defn debug-prop-window
    1.98 +  "create a debug view for proprioception"
    1.99 +  []
   1.100 +  (let [vi (view-image)]
   1.101 +    (fn [sensor-data]
   1.102 +      (println-repl
   1.103 +       (map
   1.104 +        (fn [[yaw pitch roll]]
   1.105 +          [(rad->deg yaw)
   1.106 +           (rad->deg pitch)
   1.107 +           (rad->deg roll)])
   1.108 +       sensor-data)))))
   1.109  
   1.110  
   1.111  
   1.112 @@ -1083,7 +1149,7 @@
   1.113          (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
   1.114          creature (blender-creature thing)
   1.115          touch-nerves (touch creature)
   1.116 -        touch-debug-windows (map (fn [_] (debug-window)) touch-nerves)
   1.117 +        touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
   1.118          [init-vision-fns vision-data] (vision creature)
   1.119          vision-debug (map (fn [_] (debug-vision-window)) vision-data)
   1.120          me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
   1.121 @@ -1092,6 +1158,8 @@
   1.122                               hearing-senses)
   1.123          bell (AudioNode. (asset-manager)
   1.124                           "Sounds/pure.wav" false)
   1.125 +        prop (proprioception creature)
   1.126 +        prop-debug (debug-prop-window)
   1.127          ;; dream
   1.128  
   1.129          ]
   1.130 @@ -1131,7 +1199,7 @@
   1.131       ;;(dorun 
   1.132       ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
   1.133       
   1.134 -
   1.135 +     (prop-debug (prop))
   1.136       
   1.137       (dorun
   1.138        (map #(%1 (%2 (.getRootNode world)))
   1.139 @@ -1201,7 +1269,7 @@
   1.140          sim
   1.141          (world node
   1.142                 {"key-space"
   1.143 -vvvvvv                (fn [_ value]
   1.144 +                (fn [_ value]
   1.145                    (if value
   1.146                      (let [cr (CollisionResults.)]
   1.147                        (.collideWith node bounds-b cr)