1.1 --- a/org/sense-util.org	Sat Feb 04 07:31:08 2012 -0700
     1.2 +++ b/org/sense-util.org	Sat Feb 04 07:44:48 2012 -0700
     1.3 @@ -6,16 +6,21 @@
     1.4  #+SETUPFILE: ../../aurellem/org/setup.org
     1.5  #+INCLUDE: ../../aurellem/org/level-0.org
     1.6  
     1.7 -
     1.8  #+name: sense-util
     1.9  #+begin_src clojure 
    1.10 -(ns cortex.sense)
    1.11 -(cortex.import/mega-import-jme3)
    1.12 -(import ij.process.ImageProcessor)
    1.13 -(import java.awt.image.BufferedImage)
    1.14 -(use 'cortex.util)
    1.15 -(use 'cortex.world)
    1.16 -(import jme3tools.converters.ImageToAwt)
    1.17 +(ns cortex.sense
    1.18 +  "Here are functions usefull in the construction of two or more
    1.19 +  senses/effectors."
    1.20 +  {:author "Robert McInytre"}
    1.21 +  (:use (cortex world util))
    1.22 +  (:import ij.process.ImageProcessor)
    1.23 +  (:import jme3tools.converters.ImageToAwt)
    1.24 +  (:import java.awt.image.BufferedImage)
    1.25 +  (:import com.jme3.collision.CollisionResults)
    1.26 +  (:import com.jme3.bounding.BoundingBox)
    1.27 +  (:import (com.jme3.scene Node Spatial))
    1.28 +  (:import com.jme3.scene.control.AbstractControl)
    1.29 +  (:import (com.jme3.math Quaternion Vector3f)))
    1.30  
    1.31  (defn meta-data
    1.32    "Get the meta-data for a node created with blender."
    1.33 @@ -25,8 +30,7 @@
    1.34      nil))
    1.35  
    1.36  (defn closest-node
    1.37 -  "Return the object in creature which is closest to the given node."
    1.38 -  ;;dylan"The closest object in creature to the given node."
    1.39 +  "Return the node in creature which is closest to the given node."
    1.40    [#^Node creature #^Node eye]
    1.41    (loop [radius (float 0.01)]
    1.42      (let [results (CollisionResults.)]
    1.43 @@ -71,7 +75,8 @@
    1.44  
    1.45  (defn filter-pixels
    1.46    "List the coordinates of all pixels matching pred, within the bounds
    1.47 -   provided. Bounds -> [x0 y0 width height]"
    1.48 +   provided.
    1.49 +   bounds -> [x0 y0 width height]"
    1.50    {:author "Dylan Holmes"}
    1.51    ([pred #^BufferedImage image]
    1.52       (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
    1.53 @@ -119,7 +124,7 @@
    1.54    (/ (reduce + coll) (count coll)))
    1.55  
    1.56  (defn collapse-1d
    1.57 -  "One dimensional analogue of collapse"
    1.58 +  "One dimensional analogue of collapse."
    1.59    [center line]
    1.60    (let [length (count line)
    1.61          num-above (count (filter (partial < center) line))
    1.62 @@ -129,7 +134,7 @@
    1.63  
    1.64  (defn collapse
    1.65    "Take a set of pairs of integers and collapse them into a
    1.66 -   contigous bitmap."
    1.67 +   contigous bitmap with no \"holes\"."
    1.68    [points]
    1.69    (if (empty? points) []
    1.70        (let
    1.71 @@ -157,30 +162,33 @@
    1.72                                   (map first row))
    1.73                      (map second row)))
    1.74               (partition-by second (sort-by second flattened))))
    1.75 -           relocate
    1.76 +           relocated
    1.77             (let [min-x (apply min (map first squeezed))
    1.78                   min-y (apply min (map second squeezed))]
    1.79               (map (fn [[x y]]
    1.80                      [(- x min-x)
    1.81                       (- y min-y)])
    1.82                    squeezed))]
    1.83 -        relocate)))
    1.84 +        relocated)))
    1.85  
    1.86  (defn world-to-local
    1.87 -   "Convert the world coordinates into coordinates relative to the 
    1.88 +  "Convert the world coordinates into coordinates relative to the 
    1.89     object (i.e. local coordinates), taking into account the rotation
    1.90     of object."
    1.91 -   [#^Spatial object world-coordinate]
    1.92 -   (.worldToLocal object world-coordinate nil))
    1.93 +  [#^Spatial object world-coordinate]
    1.94 +  (.worldToLocal object world-coordinate nil))
    1.95  
    1.96  (defn local-to-world
    1.97 -   "Convert the local coordinates into coordinates into world relative
    1.98 -    coordinates" 
    1.99 -   [#^Spatial object local-coordinate]
   1.100 -   (.localToWorld object local-coordinate nil))
   1.101 +  "Convert the local coordinates into world relative coordinates"
   1.102 +  [#^Spatial object local-coordinate]
   1.103 +  (.localToWorld object local-coordinate nil))
   1.104  
   1.105 -
   1.106 -(defn sense-nodes [parent-name]
   1.107 +(defn sense-nodes
   1.108 +  "For each sense there is a special blender node whose children are
   1.109 +   considered markers for an instance of a that sense. This function
   1.110 +   generates functions to find those children, given the name of the
   1.111 +   special parent node."
   1.112 +  [parent-name]
   1.113    (fn [#^Node creature]
   1.114      (if-let [sense-node (.getChild creature parent-name)]
   1.115        (seq (.getChildren sense-node))