1.1 --- a/org/body.org	Wed Feb 15 01:36:16 2012 -0700
     1.2 +++ b/org/body.org	Wed Feb 15 06:56:47 2012 -0700
     1.3 @@ -1,6 +1,6 @@
     1.4  #+title: Building a Body
     1.5  #+author: Robert McIntyre
     1.6 -#+email: rlm@mit.edu
     1.7 +#+email: rlm@mit.edu 
     1.8  #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
     1.9  #+SETUPFILE: ../../aurellem/org/setup.org
    1.10  #+INCLUDE: ../../aurellem/org/level-0.org
    1.11 @@ -18,7 +18,7 @@
    1.12  How to create such a body? One option I ultimately rejected is to use
    1.13  blender's [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Rigging/Armatures][armature]] system. The idea would have been to define a mesh
    1.14  which describes the creature's entire body. To this you add an
    1.15 -(skeleton) which deforms this mesh. This technique is used extensively
    1.16 +skeleton which deforms this mesh. This technique is used extensively
    1.17  to model humans and create realistic animations. It is hard to use for
    1.18  my purposes because it is difficult to update the creature's Physics
    1.19  Collision Mesh in tandem with its Geometric Mesh under the influence
    1.20 @@ -140,7 +140,7 @@
    1.21              (node-seq creature)))))
    1.22  #+end_src
    1.23  
    1.24 -=(physical!)= iterates through a creature's node structure, creating
    1.25 +=physical!)= iterates through a creature's node structure, creating
    1.26  CollisionShapes for each geometry with the mass specified in that
    1.27  geometry's meta-data.
    1.28  
    1.29 @@ -220,7 +220,7 @@
    1.30  
    1.31  ** Finding the Joints 
    1.32  
    1.33 -The higher order function =(sense-nodes)= from =cortex.sense= simplifies
    1.34 +The higher order function =sense-nodes= from =cortex.sense= simplifies
    1.35  the first task.
    1.36  
    1.37  #+name: joints-2 
    1.38 @@ -232,17 +232,16 @@
    1.39    "Return the children of the creature's \"joints\" node.")
    1.40  #+end_src
    1.41  
    1.42 -
    1.43  ** Joint Targets and Orientation
    1.44  
    1.45  This technique for finding a joint's targets is very similiar to
    1.46 -=(cortex.sense/closest-node)=.  A small cube, centered around the
    1.47 +=cortex.sense/closest-node=.  A small cube, centered around the
    1.48  empty-node, grows exponentially until it intersects two /physical/
    1.49  objects. The objects are ordered according to the joint's rotation,
    1.50  with the first one being the object that has more negative coordinates
    1.51  in the joint's reference frame. Since the objects must be physical,
    1.52  the empty-node itself escapes detection. Because the objects must be
    1.53 -physical, =(joint-targets)= must be called /after/ =(physical!)= is
    1.54 +physical, =joint-targets= must be called /after/ =physical!= is
    1.55  called.
    1.56  
    1.57  #+name: joints-3
    1.58 @@ -400,7 +399,7 @@
    1.59        (println-repl "could not find joint meta-data!"))))
    1.60  #+end_src
    1.61  
    1.62 -Creating joints is now a matter of applying =(connect)= to each joint
    1.63 +Creating joints is now a matter of applying =connect= to each joint
    1.64  node.
    1.65  
    1.66  #+name: joints-5
    1.67 @@ -417,7 +416,6 @@
    1.68      (joints creature))))
    1.69  #+end_src
    1.70  
    1.71 -
    1.72  ** Round 3
    1.73  
    1.74  Now we can test the hand in all its glory.
    1.75 @@ -446,7 +444,7 @@
    1.76           no-op))
    1.77  #+end_src
    1.78  
    1.79 -=(physical!)= makes the hand solid, then =(joints!)= connects each
    1.80 +=physical!= makes the hand solid, then =joints!= connects each
    1.81  piece together. 
    1.82  
    1.83  #+begin_html
    1.84 @@ -467,7 +465,7 @@
    1.85  
    1.86  * Wrap-Up!
    1.87  
    1.88 -It is convienent to combine =(physical!)= and =(joints!)= into one
    1.89 +It is convienent to combine =physical!= and =joints!= into one
    1.90  function that completely creates the creature's physical body.
    1.91  
    1.92  #+name: joints-6