1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/org/integration.org	Sat Feb 04 11:29:45 2012 -0700
     1.3 @@ -0,0 +1,347 @@
     1.4 +#+title: First attempt at a creature!
     1.5 +#+author: Robert McIntyre
     1.6 +#+email: rlm@mit.edu
     1.7 +#+description: 
     1.8 +#+keywords: simulation, jMonkeyEngine3, clojure
     1.9 +#+SETUPFILE: ../../aurellem/org/setup.org
    1.10 +#+INCLUDE: ../../aurellem/org/level-0.org
    1.11 +
    1.12 +
    1.13 +
    1.14 +
    1.15 +* Intro 
    1.16 +So far, I've made the following senses -- 
    1.17 + - Vision
    1.18 + - Hearing
    1.19 + - Touch
    1.20 + - Proprioception
    1.21 +
    1.22 +And one effector: 
    1.23 + - Movement
    1.24 +
    1.25 +However, the code so far has only enabled these senses, but has not
    1.26 +actually implemented them.  For example, there is still a lot of work
    1.27 +to be done for vision. I need to be able to create an /eyeball/ in
    1.28 +simulation that can be moved around and see the world from different
    1.29 +angles. I also need to determine weather to use log-polar or cartesian
    1.30 +for the visual input, and I need to determine how/wether to
    1.31 +disceritise the visual input.
    1.32 +
    1.33 +I also want to be able to visualize both the sensors and the
    1.34 +effectors in pretty pictures. This semi-retarted creature will be my
    1.35 +first attempt at bringing everything together.
    1.36 +
    1.37 +* The creature's body
    1.38 +
    1.39 +Still going to do an eve-like body in blender, but due to problems
    1.40 +importing the joints, etc into jMonkeyEngine3, I'm going to do all
    1.41 +the connecting here in clojure code, using the names of the individual
    1.42 +components and trial and error. Later, I'll maybe make some sort of
    1.43 +creature-building modifications to blender that support whatever
    1.44 +discritized senses I'm going to make.
    1.45 +
    1.46 +#+name: integration
    1.47 +#+begin_src clojure 
    1.48 +(ns cortex.integration
    1.49 +  "let's play!"
    1.50 +  {:author "Robert McIntyre"}
    1.51 +  (:use (cortex world util body
    1.52 +                hearing touch vision sense proprioception movement))
    1.53 +  (:import (com.jme3.math ColorRGBA Vector3f))
    1.54 +  (:import com.jme3.audio.AudioNode)
    1.55 +  (:import com.aurellem.capture.RatchetTimer))
    1.56 +
    1.57 +(def hand "Models/creature1/one.blend")
    1.58 +
    1.59 +(def worm "Models/creature1/try-again.blend")
    1.60 +
    1.61 +(defn test-creature [thing]
    1.62 +  (let [x-axis
    1.63 +        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
    1.64 +        y-axis
    1.65 +        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
    1.66 +        z-axis
    1.67 +        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
    1.68 +
    1.69 +        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.70 +        bell (AudioNode. (asset-manager)
    1.71 +                         "Sounds/pure.wav" false)
    1.72 +
    1.73 +        fix-display
    1.74 +        (runonce (fn [world]
    1.75 +                   (add-camera! world (.getCamera world) no-op)))
    1.76 +        creature (doto (load-blender-model thing) (body!))
    1.77 +
    1.78 +        ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
    1.79 +        touch (touch! creature)
    1.80 +        touch-display (view-touch)
    1.81 +
    1.82 +        vision (vision! creature)
    1.83 +        vision-display (view-vision)
    1.84 +
    1.85 +        hearing (hearing! creature)
    1.86 +        hearing-display (view-hearing)
    1.87 +
    1.88 +        prop (proprioception! creature)
    1.89 +        prop-display (view-proprioception)
    1.90 +
    1.91 +        muscle-exertion (atom 0)
    1.92 +        muscles (movement! creature)
    1.93 +        muscle-display (view-movement)]
    1.94 +
    1.95 +    (apply
    1.96 +     world
    1.97 +     (with-movement
    1.98 +       (.getChild creature "worm-21")
    1.99 +       ["key-r" "key-t"
   1.100 +        "key-f" "key-g"
   1.101 +        "key-v" "key-b"]
   1.102 +       [10 10 10 10 1 1]
   1.103 +       [(nodify [creature
   1.104 +                 (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.105 +                      :color ColorRGBA/Gray :mass 0)
   1.106 +                 x-axis y-axis z-axis
   1.107 +                 me])
   1.108 +        (merge standard-debug-controls
   1.109 +               {"key-return"
   1.110 +                (fn [_ value]
   1.111 +                  (if value
   1.112 +                    (do
   1.113 +                      (println-repl "play-sound")
   1.114 +                      (.play bell))))
   1.115 +                "key-h"
   1.116 +                (fn [_ value]
   1.117 +                  (if value
   1.118 +                    (swap!  muscle-exertion (partial + 20))))
   1.119 +                "key-n"
   1.120 +                (fn [_ value]
   1.121 +                  (if value
   1.122 +                    (swap! muscle-exertion (fn [v] (- v 20)))))})
   1.123 +        (fn [world]
   1.124 +          (light-up-everything world)
   1.125 +          (enable-debug world)
   1.126 +          (add-camera! world
   1.127 +                       (add-eye! creature
   1.128 +                                 (.getChild 
   1.129 +                                  (.getChild creature "eyes") "eye"))
   1.130 +                   (comp (view-image) BufferedImage!))
   1.131 +          (.setTimer world (RatchetTimer. 60))
   1.132 +          (speed-up world)
   1.133 +          (set-gravity world (Vector3f. 0 0 0))
   1.134 +          (comment 
   1.135 +            (com.aurellem.capture.Capture/captureVideo
   1.136 +             world (file-str "/home/r/proj/ai-videos/hand"))))
   1.137 +        (fn [world tpf]
   1.138 +          (prop-display (prop))
   1.139 +          (touch-display (map #(% (.getRootNode world)) touch))
   1.140 +          (vision-display (map #(% world) vision))
   1.141 +          (hearing-display (map #(% world) hearing))
   1.142 +          (muscle-display (map #(% @muscle-exertion) muscles))
   1.143 +          (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.144 +          (fix-display world))]))))
   1.145 +#+end_src
   1.146 +
   1.147 +#+results: body-1
   1.148 +: #'cortex.silly/follow-test
   1.149 +
   1.150 +
   1.151 +* COMMENT purgatory
   1.152 +#+begin_src clojure
   1.153 +
   1.154 +(defn bullet-trans* []
   1.155 +  (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
   1.156 +                   :position (Vector3f. 5 0 0)
   1.157 +                   :mass 90)
   1.158 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
   1.159 +                      :position (Vector3f. -5 0 0)
   1.160 +                      :mass 0)
   1.161 +        control-a (.getControl obj-a RigidBodyControl)
   1.162 +        control-b (.getControl obj-b RigidBodyControl)
   1.163 +        move-up? (atom nil)
   1.164 +        move-down? (atom nil)
   1.165 +        move-left? (atom nil)
   1.166 +        move-right? (atom nil)
   1.167 +        roll-left? (atom nil)
   1.168 +        roll-right? (atom nil)
   1.169 +        force 100
   1.170 +        swivel
   1.171 +        (.toRotationMatrix
   1.172 +         (doto (Quaternion.)
   1.173 +           (.fromAngleAxis (/ Math/PI 2)
   1.174 +                           Vector3f/UNIT_X)))
   1.175 +        x-move
   1.176 +        (doto (Matrix3f.)
   1.177 +          (.fromStartEndVectors Vector3f/UNIT_X
   1.178 +                                (.normalize (Vector3f. 1 1 0))))
   1.179 +        
   1.180 +        timer (atom 0)]
   1.181 +    (doto 
   1.182 +        (ConeJoint.
   1.183 +         control-a control-b
   1.184 +         (Vector3f. -8 0 0)
   1.185 +         (Vector3f. 2 0 0)
   1.186 +         ;;swivel swivel
   1.187 +         ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
   1.188 +         x-move Matrix3f/IDENTITY 
   1.189 +         )
   1.190 +      (.setCollisionBetweenLinkedBodys false)
   1.191 +      (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
   1.192 +                 (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
   1.193 +                 (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
   1.194 +    (world (nodify
   1.195 +            [obj-a obj-b])
   1.196 +           (merge standard-debug-controls
   1.197 +                  {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.198 +                   "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.199 +                   "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.200 +                   "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.201 +                   "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.202 +                   "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.203 +           
   1.204 +           (fn [world]
   1.205 +             (enable-debug world)
   1.206 +             (set-gravity world Vector3f/ZERO)
   1.207 +             )
   1.208 +                           
   1.209 +           (fn [world _]
   1.210 +
   1.211 +             (if @move-up?
   1.212 +               (.applyForce control-a
   1.213 +                              (Vector3f. force 0 0)
   1.214 +                              (Vector3f. 0 0 0)))
   1.215 +             (if @move-down?
   1.216 +               (.applyForce control-a
   1.217 +                             (Vector3f. (- force) 0 0)
   1.218 +                             (Vector3f. 0 0 0)))
   1.219 +             (if @move-left?
   1.220 +               (.applyForce control-a
   1.221 +                             (Vector3f. 0 force 0)
   1.222 +                             (Vector3f. 0 0 0)))
   1.223 +             (if @move-right?
   1.224 +               (.applyForce control-a
   1.225 +                             (Vector3f. 0 (- force) 0)
   1.226 +                             (Vector3f. 0 0 0)))
   1.227 +
   1.228 +             (if @roll-left?
   1.229 +               (.applyForce control-a
   1.230 +                             (Vector3f. 0 0 force)
   1.231 +                             (Vector3f. 0 0 0)))
   1.232 +             (if @roll-right?
   1.233 +               (.applyForce control-a
   1.234 +                             (Vector3f. 0 0 (- force))
   1.235 +                             (Vector3f. 0 0 0)))
   1.236 +
   1.237 +             (if (zero? (rem (swap! timer inc) 100))
   1.238 +               (.attachChild
   1.239 +                (.getRootNode world)
   1.240 +                (sphere 0.05 :color ColorRGBA/Yellow
   1.241 +                        :physical? false :position
   1.242 +                        (.getWorldTranslation obj-a)))))
   1.243 +           )
   1.244 +    ))
   1.245 +
   1.246 +(defn test-joint [joint]
   1.247 +  (let [[origin top bottom floor] (world-setup joint)
   1.248 +        control (.getControl top RigidBodyControl)
   1.249 +        move-up? (atom false)
   1.250 +        move-down? (atom false)
   1.251 +        move-left? (atom false)
   1.252 +        move-right? (atom false)
   1.253 +        roll-left? (atom false)
   1.254 +        roll-right? (atom false)
   1.255 +        timer (atom 0)]
   1.256 +
   1.257 +    (world
   1.258 +     (nodify [top bottom floor origin])
   1.259 +     (merge standard-debug-controls
   1.260 +            {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.261 +             "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.262 +             "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.263 +             "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.264 +             "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.265 +             "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.266 +     
   1.267 +     (fn [world]
   1.268 +       (light-up-everything world)
   1.269 +       (enable-debug world)
   1.270 +       (set-gravity world (Vector3f. 0 0 0))
   1.271 +       )
   1.272 +     
   1.273 +     (fn [world _]
   1.274 +       (if (zero? (rem (swap! timer inc) 100))
   1.275 +         (do
   1.276 +         ;;  (println-repl @timer)
   1.277 +           (.attachChild (.getRootNode world)
   1.278 +                       (sphere 0.05 :color ColorRGBA/Yellow
   1.279 +                               :position (.getWorldTranslation top)
   1.280 +                               :physical? false))
   1.281 +           (.attachChild (.getRootNode world)
   1.282 +                         (sphere 0.05 :color ColorRGBA/LightGray
   1.283 +                                 :position (.getWorldTranslation bottom)
   1.284 +                                 :physical? false))))
   1.285 +
   1.286 +       (if @move-up?
   1.287 +         (.applyTorque control
   1.288 +                       (.mult (.getPhysicsRotation control)
   1.289 +                              (Vector3f. 0 0 10))))
   1.290 +       (if @move-down?
   1.291 +         (.applyTorque control
   1.292 +                       (.mult (.getPhysicsRotation control)
   1.293 +                              (Vector3f. 0 0 -10))))
   1.294 +       (if @move-left?
   1.295 +         (.applyTorque control
   1.296 +                       (.mult (.getPhysicsRotation control)
   1.297 +                              (Vector3f. 0 10 0))))
   1.298 +       (if @move-right?
   1.299 +         (.applyTorque control
   1.300 +                       (.mult (.getPhysicsRotation control)
   1.301 +                              (Vector3f. 0 -10 0))))
   1.302 +       (if @roll-left?
   1.303 +         (.applyTorque control
   1.304 +                       (.mult (.getPhysicsRotation control)
   1.305 +                              (Vector3f. -1 0 0))))
   1.306 +       (if @roll-right?
   1.307 +         (.applyTorque control
   1.308 +                       (.mult (.getPhysicsRotation control)
   1.309 +                              (Vector3f. 1 0 0))))))))
   1.310 +
   1.311 +(defn follow-test
   1.312 +  "Show a camera that stays in the same relative position to a blue cube."
   1.313 +  []
   1.314 +  (let [camera-pos (Vector3f. 0 30 0)
   1.315 +        rock (box 1 1 1 :color ColorRGBA/Blue
   1.316 +                     :position (Vector3f. 0 10 0)
   1.317 +                     :mass 30
   1.318 +                     )
   1.319 +        rot (.getWorldRotation rock)
   1.320 +        
   1.321 +        table (box 3 1 10 :color ColorRGBA/Gray :mass 0
   1.322 +                   :position (Vector3f. 0 -3 0))]
   1.323 +
   1.324 +    (world
   1.325 +     (nodify [rock table])
   1.326 +             standard-debug-controls
   1.327 +             (fn [world]
   1.328 +               (let 
   1.329 +                   [cam (doto (.clone (.getCamera world))
   1.330 +                          (.setLocation camera-pos)
   1.331 +                          (.lookAt Vector3f/ZERO
   1.332 +                                   Vector3f/UNIT_X))]
   1.333 +                 (bind-sense rock cam)
   1.334 +                 
   1.335 +                 (.setTimer world (RatchetTimer. 60))
   1.336 +                 (add-camera! world cam (comp (view-image) BufferedImage!))
   1.337 +                 (add-camera! world (.getCamera world) no-op))
   1.338 +               )
   1.339 +             (fn [_ _] (println-repl rot)))))
   1.340 +#+end_src
   1.341 +  
   1.342 +
   1.343 +* COMMENT generate source
   1.344 +#+begin_src clojure :tangle ../src/cortex/integration.clj
   1.345 +<<integration>>
   1.346 +#+end_src
   1.347 +
   1.348 +
   1.349 +  
   1.350 +