Mercurial > cortex
diff org/body.org @ 206:df46a609fed9
removed dead code
| author | Robert McIntyre <rlm@mit.edu> |
|---|---|
| date | Thu, 09 Feb 2012 04:21:12 -0700 |
| parents | d3a2abfac405 |
| children | bb3b75bf1664 |
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1.1 --- a/org/body.org Thu Feb 09 04:15:09 2012 -0700 1.2 +++ b/org/body.org Thu Feb 09 04:21:12 2012 -0700 1.3 @@ -568,727 +568,8 @@ 1.4 - cortex.test.body 1.5 - blender files 1.6 1.7 -* COMMENT Examples 1.8 1.9 -#+name: test-body 1.10 -#+begin_src clojure 1.11 - 1.12 -(defn worm-segments 1.13 - "Create multiple evenly spaced box segments. They're fabulous!" 1.14 - [segment-length num-segments interstitial-space radius] 1.15 - (letfn [(nth-segment 1.16 - [n] 1.17 - (box segment-length radius radius :mass 0.1 1.18 - :position 1.19 - (Vector3f. 1.20 - (* 2 n (+ interstitial-space segment-length)) 0 0) 1.21 - :name (str "worm-segment" n) 1.22 - :color (ColorRGBA/randomColor)))] 1.23 - (map nth-segment (range num-segments)))) 1.24 - 1.25 -(defn connect-at-midpoint 1.26 - "Connect two physics objects with a Point2Point joint constraint at 1.27 - the point equidistant from both objects' centers." 1.28 - [segmentA segmentB] 1.29 - (let [centerA (.getWorldTranslation segmentA) 1.30 - centerB (.getWorldTranslation segmentB) 1.31 - midpoint (.mult (.add centerA centerB) (float 0.5)) 1.32 - pivotA (.subtract midpoint centerA) 1.33 - pivotB (.subtract midpoint centerB) 1.34 - 1.35 - ;; A side-effect of creating a joint registers 1.36 - ;; it with both physics objects which in turn 1.37 - ;; will register the joint with the physics system 1.38 - ;; when the simulation is started. 1.39 - joint (Point2PointJoint. 1.40 - (.getControl segmentA RigidBodyControl) 1.41 - (.getControl segmentB RigidBodyControl) 1.42 - pivotA 1.43 - pivotB)] 1.44 - segmentB)) 1.45 - 1.46 -(defn eve-worm 1.47 - "Create a worm-like body bound by invisible joint constraints." 1.48 - [] 1.49 - (let [segments (worm-segments 0.2 5 0.1 0.1)] 1.50 - (dorun (map (partial apply connect-at-midpoint) 1.51 - (partition 2 1 segments))) 1.52 - (nodify "worm" segments))) 1.53 - 1.54 -(defn worm-pattern 1.55 - "This is a simple, mindless motor control pattern that drives the 1.56 - second segment of the worm's body at an offset angle with 1.57 - sinusoidally varying strength." 1.58 - [time] 1.59 - (let [angle (* Math/PI (/ 9 20)) 1.60 - direction (Vector3f. 0 (Math/sin angle) (Math/cos angle))] 1.61 - [Vector3f/ZERO 1.62 - (.mult 1.63 - direction 1.64 - (float (* 2 (Math/sin (* Math/PI 2 (/ (rem time 300 ) 300)))))) 1.65 - Vector3f/ZERO 1.66 - Vector3f/ZERO 1.67 - Vector3f/ZERO])) 1.68 - 1.69 -(defn test-motor-control 1.70 - "Testing motor-control: 1.71 - You should see a multi-segmented worm-like object fall onto the 1.72 - table and begin writhing and moving." 1.73 - [] 1.74 - (let [worm (eve-worm) 1.75 - time (atom 0) 1.76 - worm-motor-map (vector-motor-control worm)] 1.77 - (world 1.78 - (nodify [worm 1.79 - (box 10 0.5 10 :position (Vector3f. 0 -5 0) :mass 0 1.80 - :color ColorRGBA/Gray)]) 1.81 - standard-debug-controls 1.82 - (fn [world] 1.83 - (enable-debug world) 1.84 - (light-up-everything world) 1.85 - (comment 1.86 - (com.aurellem.capture.Capture/captureVideo 1.87 - world 1.88 - (file-str "/home/r/proj/cortex/tmp/moving-worm"))) 1.89 - ) 1.90 - 1.91 - (fn [_ _] 1.92 - (swap! time inc) 1.93 - (Thread/sleep 20) 1.94 - (dorun (worm-motor-map 1.95 - (worm-pattern @time))))))) 1.96 - 1.97 - 1.98 - 1.99 -(defn join-at-point [obj-a obj-b world-pivot] 1.100 - (cortex.silly/joint-dispatch 1.101 - {:type :point} 1.102 - (.getControl obj-a RigidBodyControl) 1.103 - (.getControl obj-b RigidBodyControl) 1.104 - (cortex.silly/world-to-local obj-a world-pivot) 1.105 - (cortex.silly/world-to-local obj-b world-pivot) 1.106 - nil 1.107 - )) 1.108 - 1.109 -(import com.jme3.bullet.collision.PhysicsCollisionObject) 1.110 - 1.111 -(defn blab-* [] 1.112 - (let [hand (box 0.5 0.2 0.2 :position (Vector3f. 0 0 0) 1.113 - :mass 0 :color ColorRGBA/Green) 1.114 - finger (box 0.5 0.2 0.2 :position (Vector3f. 2.4 0 0) 1.115 - :mass 1 :color ColorRGBA/Red) 1.116 - connection-point (Vector3f. 1.2 0 0) 1.117 - root (nodify [hand finger])] 1.118 - 1.119 - (join-at-point hand finger (Vector3f. 1.2 0 0)) 1.120 - 1.121 - (.setCollisionGroup 1.122 - (.getControl hand RigidBodyControl) 1.123 - PhysicsCollisionObject/COLLISION_GROUP_NONE) 1.124 - (world 1.125 - root 1.126 - standard-debug-controls 1.127 - (fn [world] 1.128 - (enable-debug world) 1.129 - (.setTimer world (com.aurellem.capture.RatchetTimer. 60)) 1.130 - (set-gravity world Vector3f/ZERO) 1.131 - ) 1.132 - no-op))) 1.133 -(comment 1.134 - 1.135 -(defn proprioception-debug-window 1.136 - [] 1.137 - (let [time (atom 0)] 1.138 - (fn [prop-data] 1.139 - (if (= 0 (rem (swap! time inc) 40)) 1.140 - (println-repl prop-data))))) 1.141 -) 1.142 - 1.143 -(comment 1.144 - (dorun 1.145 - (map 1.146 - (comp 1.147 - println-repl 1.148 - (fn [[p y r]] 1.149 - (format 1.150 - "pitch: %1.2f\nyaw: %1.2f\nroll: %1.2f\n" 1.151 - p y r))) 1.152 - prop-data))) 1.153 - 1.154 - 1.155 - 1.156 - 1.157 -(defn test-proprioception 1.158 - "Testing proprioception: 1.159 - You should see two foating bars, and a printout of pitch, yaw, and 1.160 - roll. Pressing key-r/key-t should move the blue bar up and down and 1.161 - change only the value of pitch. key-f/key-g moves it side to side 1.162 - and changes yaw. key-v/key-b will spin the blue segment clockwise 1.163 - and counterclockwise, and only affect roll." 1.164 - [] 1.165 - (let [hand (box 0.2 1 0.2 :position (Vector3f. 0 0 0) 1.166 - :mass 0 :color ColorRGBA/Green :name "hand") 1.167 - finger (box 0.2 1 0.2 :position (Vector3f. 0 2.4 0) 1.168 - :mass 1 :color ColorRGBA/Red :name "finger") 1.169 - joint-node (box 0.1 0.05 0.05 :color ColorRGBA/Yellow 1.170 - :position (Vector3f. 0 1.2 0) 1.171 - :rotation (doto (Quaternion.) 1.172 - (.fromAngleAxis 1.173 - (/ Math/PI 2) 1.174 - (Vector3f. 0 0 1))) 1.175 - :physical? false) 1.176 - joint (join-at-point hand finger (Vector3f. 0 1.2 0 )) 1.177 - creature (nodify [hand finger joint-node]) 1.178 - finger-control (.getControl finger RigidBodyControl) 1.179 - hand-control (.getControl hand RigidBodyControl)] 1.180 - 1.181 - 1.182 - (let 1.183 - ;; ******************************************* 1.184 - 1.185 - [floor (box 10 10 10 :position (Vector3f. 0 -15 0) 1.186 - :mass 0 :color ColorRGBA/Gray) 1.187 - 1.188 - root (nodify [creature floor]) 1.189 - prop (joint-proprioception creature joint-node) 1.190 - prop-view (proprioception-debug-window) 1.191 - 1.192 - controls 1.193 - (merge standard-debug-controls 1.194 - {"key-o" 1.195 - (fn [_ _] (.setEnabled finger-control true)) 1.196 - "key-p" 1.197 - (fn [_ _] (.setEnabled finger-control false)) 1.198 - "key-k" 1.199 - (fn [_ _] (.setEnabled hand-control true)) 1.200 - "key-l" 1.201 - (fn [_ _] (.setEnabled hand-control false)) 1.202 - "key-i" 1.203 - (fn [world _] (set-gravity world (Vector3f. 0 0 0))) 1.204 - "key-period" 1.205 - (fn [world _] 1.206 - (.setEnabled finger-control false) 1.207 - (.setEnabled hand-control false) 1.208 - (.rotate creature (doto (Quaternion.) 1.209 - (.fromAngleAxis 1.210 - (float (/ Math/PI 15)) 1.211 - (Vector3f. 0 0 -1)))) 1.212 - 1.213 - (.setEnabled finger-control true) 1.214 - (.setEnabled hand-control true) 1.215 - (set-gravity world (Vector3f. 0 0 0)) 1.216 - ) 1.217 - 1.218 - 1.219 - } 1.220 - ) 1.221 - 1.222 - ] 1.223 - (comment 1.224 - (.setCollisionGroup 1.225 - (.getControl hand RigidBodyControl) 1.226 - PhysicsCollisionObject/COLLISION_GROUP_NONE) 1.227 - ) 1.228 - (apply 1.229 - world 1.230 - (with-movement 1.231 - hand 1.232 - ["key-y" "key-u" "key-h" "key-j" "key-n" "key-m"] 1.233 - [10 10 10 10 1 1] 1.234 - (with-movement 1.235 - finger 1.236 - ["key-r" "key-t" "key-f" "key-g" "key-v" "key-b"] 1.237 - [1 1 10 10 10 10] 1.238 - [root 1.239 - controls 1.240 - (fn [world] 1.241 - (.setTimer world (com.aurellem.capture.RatchetTimer. 60)) 1.242 - (set-gravity world (Vector3f. 0 0 0)) 1.243 - (light-up-everything world)) 1.244 - (fn [_ _] (prop-view (list (prop))))])))))) 1.245 - 1.246 -#+end_src 1.247 - 1.248 -#+results: test-body 1.249 -: #'cortex.test.body/test-proprioception 1.250 - 1.251 - 1.252 -* COMMENT code-limbo 1.253 -#+begin_src clojure 1.254 -;;(.loadModel 1.255 -;; (doto (asset-manager) 1.256 -;; (.registerLoader BlenderModelLoader (into-array String ["blend"]))) 1.257 -;; "Models/person/person.blend") 1.258 - 1.259 - 1.260 -(defn load-blender-model 1.261 - "Load a .blend file using an asset folder relative path." 1.262 - [^String model] 1.263 - (.loadModel 1.264 - (doto (asset-manager) 1.265 - (.registerLoader BlenderModelLoader (into-array String ["blend"]))) 1.266 - model)) 1.267 - 1.268 - 1.269 -(defn view-model [^String model] 1.270 - (view 1.271 - (.loadModel 1.272 - (doto (asset-manager) 1.273 - (.registerLoader BlenderModelLoader (into-array String ["blend"]))) 1.274 - model))) 1.275 - 1.276 -(defn load-blender-scene [^String model] 1.277 - (.loadModel 1.278 - (doto (asset-manager) 1.279 - (.registerLoader BlenderLoader (into-array String ["blend"]))) 1.280 - model)) 1.281 - 1.282 -(defn worm 1.283 - [] 1.284 - (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")) 1.285 - 1.286 -(defn oto 1.287 - [] 1.288 - (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml")) 1.289 - 1.290 -(defn sinbad 1.291 - [] 1.292 - (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml")) 1.293 - 1.294 -(defn worm-blender 1.295 - [] 1.296 - (first (seq (.getChildren (load-blender-model 1.297 - "Models/anim2/simple-worm.blend"))))) 1.298 - 1.299 -(defn body 1.300 - "given a node with a SkeletonControl, will produce a body sutiable 1.301 - for AI control with movement and proprioception." 1.302 - [node] 1.303 - (let [skeleton-control (.getControl node SkeletonControl) 1.304 - krc (KinematicRagdollControl.)] 1.305 - (comment 1.306 - (dorun 1.307 - (map #(.addBoneName krc %) 1.308 - ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""] 1.309 - ;;"mid2" "mid3" "tail" "head"] 1.310 - ))) 1.311 - (.addControl node krc) 1.312 - (.setRagdollMode krc) 1.313 - ) 1.314 - node 1.315 - ) 1.316 -(defn show-skeleton [node] 1.317 - (let [sd 1.318 - 1.319 - (doto 1.320 - (SkeletonDebugger. "aurellem-skel-debug" 1.321 - (skel node)) 1.322 - (.setMaterial (green-x-ray)))] 1.323 - (.attachChild node sd) 1.324 - node)) 1.325 - 1.326 - 1.327 - 1.328 -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 1.329 - 1.330 -;; this could be a good way to give objects special properties like 1.331 -;; being eyes and the like 1.332 - 1.333 -(.getUserData 1.334 - (.getChild 1.335 - (load-blender-model "Models/property/test.blend") 0) 1.336 - "properties") 1.337 - 1.338 -;; the properties are saved along with the blender file. 1.339 -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 1.340 - 1.341 - 1.342 - 1.343 - 1.344 -(defn init-debug-skel-node 1.345 - [f debug-node skeleton] 1.346 - (let [bones 1.347 - (map #(.getBone skeleton %) 1.348 - (range (.getBoneCount skeleton)))] 1.349 - (dorun (map #(.setUserControl % true) bones)) 1.350 - (dorun (map (fn [b] 1.351 - (println (.getName b) 1.352 - " -- " (f b))) 1.353 - bones)) 1.354 - (dorun 1.355 - (map #(.attachChild 1.356 - debug-node 1.357 - (doto 1.358 - (sphere 0.1 1.359 - :position (f %) 1.360 - :physical? false) 1.361 - (.setMaterial (green-x-ray)))) 1.362 - bones))) 1.363 - debug-node) 1.364 - 1.365 -(import jme3test.bullet.PhysicsTestHelper) 1.366 - 1.367 - 1.368 -(defn test-zzz [the-worm world value] 1.369 - (if (not value) 1.370 - (let [skeleton (skel the-worm)] 1.371 - (println-repl "enabling bones") 1.372 - (dorun 1.373 - (map 1.374 - #(.setUserControl (.getBone skeleton %) true) 1.375 - (range (.getBoneCount skeleton)))) 1.376 - 1.377 - 1.378 - (let [b (.getBone skeleton 2)] 1.379 - (println-repl "moving " (.getName b)) 1.380 - (println-repl (.getLocalPosition b)) 1.381 - (.setUserTransforms b 1.382 - Vector3f/UNIT_X 1.383 - Quaternion/IDENTITY 1.384 - ;;(doto (Quaternion.) 1.385 - ;; (.fromAngles (/ Math/PI 2) 1.386 - ;; 0 1.387 - ;; 0 1.388 - 1.389 - (Vector3f. 1 1 1)) 1.390 - ) 1.391 - 1.392 - (println-repl "hi! <3")))) 1.393 - 1.394 - 1.395 -(defn test-ragdoll [] 1.396 - 1.397 - (let [the-worm 1.398 - 1.399 - ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml") 1.400 - (doto (show-skeleton (worm-blender)) 1.401 - (.setLocalTranslation (Vector3f. 0 10 0)) 1.402 - ;;(worm) 1.403 - ;;(oto) 1.404 - ;;(sinbad) 1.405 - ) 1.406 - ] 1.407 - 1.408 - 1.409 - (.start 1.410 - (world 1.411 - (doto (Node.) 1.412 - (.attachChild the-worm)) 1.413 - {"key-return" (fire-cannon-ball) 1.414 - "key-space" (partial test-zzz the-worm) 1.415 - } 1.416 - (fn [world] 1.417 - (light-up-everything world) 1.418 - (PhysicsTestHelper/createPhysicsTestWorld 1.419 - (.getRootNode world) 1.420 - (asset-manager) 1.421 - (.getPhysicsSpace 1.422 - (.getState (.getStateManager world) BulletAppState))) 1.423 - (set-gravity world Vector3f/ZERO) 1.424 - ;;(.setTimer world (NanoTimer.)) 1.425 - ;;(org.lwjgl.input.Mouse/setGrabbed false) 1.426 - ) 1.427 - no-op 1.428 - ) 1.429 - 1.430 - 1.431 - ))) 1.432 - 1.433 - 1.434 -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 1.435 -;;; here is the ragdoll stuff 1.436 - 1.437 -(def worm-mesh (.getMesh (.getChild (worm-blender) 0))) 1.438 -(def mesh worm-mesh) 1.439 - 1.440 -(.getFloatBuffer mesh VertexBuffer$Type/Position) 1.441 -(.getFloatBuffer mesh VertexBuffer$Type/BoneWeight) 1.442 -(.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex)) 1.443 - 1.444 - 1.445 -(defn position [index] 1.446 - (.get 1.447 - (.getFloatBuffer worm-mesh VertexBuffer$Type/Position) 1.448 - index)) 1.449 - 1.450 -(defn bones [index] 1.451 - (.get 1.452 - (.getData (.getBuffer mesh VertexBuffer$Type/BoneIndex)) 1.453 - index)) 1.454 - 1.455 -(defn bone-weights [index] 1.456 - (.get 1.457 - (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight) 1.458 - index)) 1.459 - 1.460 - 1.461 - 1.462 -(defn vertex-bones [vertex] 1.463 - (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4))))) 1.464 - 1.465 -(defn vertex-weights [vertex] 1.466 - (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4))))) 1.467 - 1.468 -(defn vertex-position [index] 1.469 - (let [offset (* index 3)] 1.470 - (Vector3f. (position offset) 1.471 - (position (inc offset)) 1.472 - (position (inc(inc offset)))))) 1.473 - 1.474 -(def vertex-info (juxt vertex-position vertex-bones vertex-weights)) 1.475 - 1.476 -(defn bone-control-color [index] 1.477 - (get {[1 0 0 0] ColorRGBA/Red 1.478 - [1 2 0 0] ColorRGBA/Magenta 1.479 - [2 0 0 0] ColorRGBA/Blue} 1.480 - (vertex-bones index) 1.481 - ColorRGBA/White)) 1.482 - 1.483 -(defn influence-color [index bone-num] 1.484 - (get 1.485 - {(float 0) ColorRGBA/Blue 1.486 - (float 0.5) ColorRGBA/Green 1.487 - (float 1) ColorRGBA/Red} 1.488 - ;; find the weight of the desired bone 1.489 - ((zipmap (vertex-bones index)(vertex-weights index)) 1.490 - bone-num) 1.491 - ColorRGBA/Blue)) 1.492 - 1.493 -(def worm-vertices (set (map vertex-info (range 60)))) 1.494 - 1.495 - 1.496 -(defn test-info [] 1.497 - (let [points (Node.)] 1.498 - (dorun 1.499 - (map #(.attachChild points %) 1.500 - (map #(sphere 0.01 1.501 - :position (vertex-position %) 1.502 - :color (influence-color % 1) 1.503 - :physical? false) 1.504 - (range 60)))) 1.505 - (view points))) 1.506 - 1.507 - 1.508 -(defrecord JointControl [joint physics-space] 1.509 - PhysicsControl 1.510 - (setPhysicsSpace [this space] 1.511 - (dosync 1.512 - (ref-set (:physics-space this) space)) 1.513 - (.addJoint space (:joint this))) 1.514 - (update [this tpf]) 1.515 - (setSpatial [this spatial]) 1.516 - (render [this rm vp]) 1.517 - (getPhysicsSpace [this] (deref (:physics-space this))) 1.518 - (isEnabled [this] true) 1.519 - (setEnabled [this state])) 1.520 - 1.521 -(defn add-joint 1.522 - "Add a joint to a particular object. When the object is added to the 1.523 - PhysicsSpace of a simulation, the joint will also be added" 1.524 - [object joint] 1.525 - (let [control (JointControl. joint (ref nil))] 1.526 - (.addControl object control)) 1.527 - object) 1.528 - 1.529 - 1.530 -(defn hinge-world 1.531 - [] 1.532 - (let [sphere1 (sphere) 1.533 - sphere2 (sphere 1 :position (Vector3f. 3 3 3)) 1.534 - joint (Point2PointJoint. 1.535 - (.getControl sphere1 RigidBodyControl) 1.536 - (.getControl sphere2 RigidBodyControl) 1.537 - Vector3f/ZERO (Vector3f. 3 3 3))] 1.538 - (add-joint sphere1 joint) 1.539 - (doto (Node. "hinge-world") 1.540 - (.attachChild sphere1) 1.541 - (.attachChild sphere2)))) 1.542 - 1.543 - 1.544 -(defn test-joint [] 1.545 - (view (hinge-world))) 1.546 - 1.547 -;; (defn copier-gen [] 1.548 -;; (let [count (atom 0)] 1.549 -;; (fn [in] 1.550 -;; (swap! count inc) 1.551 -;; (clojure.contrib.duck-streams/copy 1.552 -;; in (File. (str "/home/r/tmp/mao-test/clojure-images/" 1.553 -;; ;;/home/r/tmp/mao-test/clojure-images 1.554 -;; (format "%08d.png" @count))))))) 1.555 -;; (defn decrease-framerate [] 1.556 -;; (map 1.557 -;; (copier-gen) 1.558 -;; (sort 1.559 -;; (map first 1.560 -;; (partition 1.561 -;; 4 1.562 -;; (filter #(re-matches #".*.png$" (.getCanonicalPath %)) 1.563 -;; (file-seq 1.564 -;; (file-str 1.565 -;; "/home/r/media/anime/mao-temp/images")))))))) 1.566 - 1.567 - 1.568 - 1.569 -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 1.570 - 1.571 -(defn proprioception 1.572 - "Create a proprioception map that reports the rotations of the 1.573 - various limbs of the creature's body" 1.574 - [creature] 1.575 - [#^Node creature] 1.576 - (let [ 1.577 - nodes (node-seq creature) 1.578 - joints 1.579 - (map 1.580 - :joint 1.581 - (filter 1.582 - #(isa? (class %) JointControl) 1.583 - (reduce 1.584 - concat 1.585 - (map (fn [node] 1.586 - (map (fn [num] (.getControl node num)) 1.587 - (range (.getNumControls node)))) 1.588 - nodes))))] 1.589 - (fn [] 1.590 - (reduce concat (map relative-positions (list (first joints))))))) 1.591 - 1.592 - 1.593 -(defn skel [node] 1.594 - (doto 1.595 - (.getSkeleton 1.596 - (.getControl node SkeletonControl)) 1.597 - ;; this is necessary to force the skeleton to have accurate world 1.598 - ;; transforms before it is rendered to the screen. 1.599 - (.resetAndUpdate))) 1.600 - 1.601 -(defn green-x-ray [] 1.602 - (doto (Material. (asset-manager) 1.603 - "Common/MatDefs/Misc/Unshaded.j3md") 1.604 - (.setColor "Color" ColorRGBA/Green) 1.605 - (-> (.getAdditionalRenderState) 1.606 - (.setDepthTest false)))) 1.607 - 1.608 -(defn test-worm [] 1.609 - (.start 1.610 - (world 1.611 - (doto (Node.) 1.612 - ;;(.attachChild (point-worm)) 1.613 - (.attachChild (load-blender-model 1.614 - "Models/anim2/joint-worm.blend")) 1.615 - 1.616 - (.attachChild (box 10 1 10 1.617 - :position (Vector3f. 0 -2 0) :mass 0 1.618 - :color (ColorRGBA/Gray)))) 1.619 - { 1.620 - "key-space" (fire-cannon-ball) 1.621 - } 1.622 - (fn [world] 1.623 - (enable-debug world) 1.624 - (light-up-everything world) 1.625 - ;;(.setTimer world (NanoTimer.)) 1.626 - ) 1.627 - no-op))) 1.628 - 1.629 - 1.630 - 1.631 -;; defunct movement stuff 1.632 -(defn torque-controls [control] 1.633 - (let [torques 1.634 - (concat 1.635 - (map #(Vector3f. 0 (Math/sin %) (Math/cos %)) 1.636 - (range 0 (* Math/PI 2) (/ (* Math/PI 2) 20))) 1.637 - [Vector3f/UNIT_X])] 1.638 - (map (fn [torque-axis] 1.639 - (fn [torque] 1.640 - (.applyTorque 1.641 - control 1.642 - (.mult (.mult (.getPhysicsRotation control) 1.643 - torque-axis) 1.644 - (float 1.645 - (* (.getMass control) torque)))))) 1.646 - torques))) 1.647 - 1.648 -(defn motor-map 1.649 - "Take a creature and generate a function that will enable fine 1.650 - grained control over all the creature's limbs." 1.651 - [#^Node creature] 1.652 - (let [controls (keep #(.getControl % RigidBodyControl) 1.653 - (node-seq creature)) 1.654 - limb-controls (reduce concat (map torque-controls controls)) 1.655 - body-control (partial map #(%1 %2) limb-controls)] 1.656 - body-control)) 1.657 - 1.658 -(defn test-motor-map 1.659 - "see how torque works." 1.660 - [] 1.661 - (let [finger (box 3 0.5 0.5 :position (Vector3f. 0 2 0) 1.662 - :mass 1 :color ColorRGBA/Green) 1.663 - motor-map (motor-map finger)] 1.664 - (world 1.665 - (nodify [finger 1.666 - (box 10 0.5 10 :position (Vector3f. 0 -5 0) :mass 0 1.667 - :color ColorRGBA/Gray)]) 1.668 - standard-debug-controls 1.669 - (fn [world] 1.670 - (set-gravity world Vector3f/ZERO) 1.671 - (light-up-everything world) 1.672 - (.setTimer world (NanoTimer.))) 1.673 - (fn [_ _] 1.674 - (dorun (motor-map [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1.675 - 0])))))) 1.676 - 1.677 -(defn joint-proprioception [#^Node parts #^Node joint] 1.678 - (let [[obj-a obj-b] (joint-targets parts joint) 1.679 - joint-rot (.getWorldRotation joint) 1.680 - pre-inv-a (.inverse (.getWorldRotation obj-a)) 1.681 - x (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_X)) 1.682 - y (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Y)) 1.683 - z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z)) 1.684 - 1.685 - x Vector3f/UNIT_Y 1.686 - y Vector3f/UNIT_Z 1.687 - z Vector3f/UNIT_X 1.688 - 1.689 - 1.690 - tmp-rot-a (.getWorldRotation obj-a)] 1.691 - (println-repl "x:" (.mult tmp-rot-a x)) 1.692 - (println-repl "y:" (.mult tmp-rot-a y)) 1.693 - (println-repl "z:" (.mult tmp-rot-a z)) 1.694 - (println-repl "rot-a" (.getWorldRotation obj-a)) 1.695 - (println-repl "rot-b" (.getWorldRotation obj-b)) 1.696 - (println-repl "joint-rot" joint-rot) 1.697 - ;; this function will report proprioceptive information for the 1.698 - ;; joint. 1.699 - (fn [] 1.700 - ;; x is the "twist" axis, y and z are the "bend" axes 1.701 - (let [rot-a (.getWorldRotation obj-a) 1.702 - ;;inv-a (.inverse rot-a) 1.703 - rot-b (.getWorldRotation obj-b) 1.704 - ;;relative (.mult rot-b inv-a) 1.705 - basis (doto (Matrix3f.) 1.706 - (.setColumn 0 (.mult rot-a x)) 1.707 - (.setColumn 1 (.mult rot-a y)) 1.708 - (.setColumn 2 (.mult rot-a z))) 1.709 - rotation-about-joint 1.710 - (doto (Quaternion.) 1.711 - (.fromRotationMatrix 1.712 - (.mult (.invert basis) 1.713 - (.toRotationMatrix rot-b)))) 1.714 - [yaw roll pitch] 1.715 - (seq (.toAngles rotation-about-joint nil))] 1.716 - ;;return euler angles of the quaternion around the new basis 1.717 - [yaw roll pitch])))) 1.718 - 1.719 -#+end_src 1.720 - 1.721 - 1.722 - 1.723 - 1.724 - 1.725 - 1.726 - 1.727 -* COMMENT generate Source 1.728 +* COMMENT Generate Source 1.729 #+begin_src clojure :tangle ../src/cortex/body.clj 1.730 <<body-header>> 1.731 <<body-1>> 1.732 @@ -1309,3 +590,4 @@ 1.733 1.734 1.735 1.736 +