1.1 --- a/org/integration.org	Thu Feb 16 11:04:22 2012 -0700
     1.2 +++ b/org/integration.org	Thu Feb 16 12:48:51 2012 -0700
     1.3 @@ -31,6 +31,19 @@
     1.4  
     1.5  (def output-base (File. "/home/r/proj/cortex/render/hand"))
     1.6  
     1.7 +
     1.8 +;; Let the hand fall palm-up
     1.9 +
    1.10 +;; it curls its phalanges, starting with the pinky.
    1.11 +
    1.12 +;; it lets these fall back down?
    1.13 +
    1.14 +;; block falls down onto the hand, accompanied by a sound. The block
    1.15 +;; can be seen by the hand's eye.
    1.16 +
    1.17 +;; hand FORCEFULLY catapults the  block so that it hits the camera.
    1.18 +
    1.19 +
    1.20  (defn motor-control-program
    1.21    "Create a function which will execute the motor script"
    1.22    [muscle-positions
    1.23 @@ -83,20 +96,55 @@
    1.24  (def full 9001)
    1.25  ;; the systax here is [keyframe body-part force]
    1.26  (def wiggle-each-finger-tip
    1.27 -  [[200 :pointer-3-f full]
    1.28 -   [200 :pointer-3-f 40]
    1.29 +  [[300 :pointer-3-f 50]
    1.30 +
    1.31  
    1.32     [400 :middle-3-f full]
    1.33 -   [401 :middle-3-f 40]
    1.34 +   [401 :middle-3-f 50]
    1.35  
    1.36     [600 :ring-3-f full]
    1.37     [601 :ring-3-f 40]
    1.38  
    1.39     [800 :pinky-3-f full]
    1.40 -   [801 :pinky-3-f 40]])
    1.41 +   [801 :pinky-3-f 50]
    1.42  
    1.43 +   [1300 :pointer-1-f full]
    1.44 +   [1300 :pointer-2-f full]
    1.45 +   [1300 :pointer-3-f 0]
    1.46  
    1.47 +   [1289 :middle-1-f full]
    1.48 +   [1289 :middle-2-f full]
    1.49 +   [1289 :middle-3-f 0]
    1.50 +   
    1.51 +   [1310 :pointer-1-f 0]
    1.52 +   [1310 :pointer-2-f 0]
    1.53 +   [1310 :pointer-3-f 0]
    1.54  
    1.55 +   [1310 :middle-1-f 0]
    1.56 +   [1310 :middle-2-f 0]
    1.57 +   [1310 :middle-3-f 0]
    1.58 +
    1.59 +   
    1.60 +
    1.61 +   ])
    1.62 +
    1.63 +(defn gen-summon-ball []
    1.64 +  (let [wait (atom 20)]
    1.65 +    (fn [world]
    1.66 +      (if (= 0 (swap! wait dec))
    1.67 +        (let [brick
    1.68 +              (box 0.8 0.8 0.8 :mass 0.05
    1.69 +                                :position (Vector3f. 0 0 0.5)
    1.70 +                                :color (ColorRGBA/Red))]
    1.71 +
    1.72 +          (.addControl
    1.73 +           brick
    1.74 +           (proxy [AbstractControl] []
    1.75 +             (controlUpdate [tpf]
    1.76 +               (println-repl (.getWorldTranslation brick)))
    1.77 +             (controlRender [_ _])))
    1.78 +          (add-element world brick))))))
    1.79 +          
    1.80  
    1.81  (def control-list
    1.82   [
    1.83 @@ -141,7 +189,8 @@
    1.84                           "Sounds/pure.wav" false)
    1.85          creature (doto (load-blender-model hand) 
    1.86                     (body!))
    1.87 -        
    1.88 +
    1.89 +        summon-ball (gen-summon-ball)
    1.90          ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
    1.91          ;;touch (touch! creature)
    1.92          ;;touch-display (view-touch)
    1.93 @@ -175,6 +224,9 @@
    1.94  
    1.95       (fn [world]
    1.96         (.setTimer world (RatchetTimer. 60))
    1.97 +       (position-camera
    1.98 +        world (Vector3f. 7.7101235, 6.3628435, -14.15047)
    1.99 +        (Quaternion. 0.3644328, -0.2558489, 0.104854375, 0.8892332))
   1.100         (light-up-everything world)
   1.101         (enable-debug world)
   1.102         (add-camera! world
   1.103 @@ -182,13 +234,14 @@
   1.104                                (.getChild 
   1.105                                 (.getChild creature "eyes") "eye"))
   1.106                      (comp (view-image) BufferedImage!))
   1.107 -       (speed-up world))
   1.108 +       (speed-up world)
   1.109 +       )
   1.110       (fn [world tpf]
   1.111         ;;(prop-display (prop))
   1.112         ;;(touch-display (map #(% (.getRootNode world)) touch))
   1.113         ;;(vision-display (map #(% world) vision))
   1.114         ;;(hearing-display (map #(% world) hearing))
   1.115 -
   1.116 +       (summon-ball world)
   1.117         ;;(muscle-display
   1.118         (control-script muscles)
   1.119         ;;)