1.1 --- a/org/touch.org	Sat Feb 11 19:48:32 2012 -0700
     1.2 +++ b/org/touch.org	Sun Feb 12 06:21:30 2012 -0700
     1.3 @@ -60,12 +60,106 @@
     1.4    [#^Geometry obj]
     1.5    (if-let [image-path (meta-data obj "touch")]
     1.6      (load-image image-path)))
     1.7 +
     1.8 +(defn tactile-scale
     1.9 +  "Return the maximum length of a hair.  All hairs are scalled between
    1.10 +   0.0 and this length, depending on their color. Black is 0, and
    1.11 +   white is maximum length, and everything in between is scalled
    1.12 +   linearlly. Default scale is 0.01 jMonkeyEngine units."
    1.13 +  [#^Geometry obj]
    1.14 +  (if-let [scale (meta-data obj "scale")]
    1.15 +    scale 0.1))
    1.16  #+end_src
    1.17  
    1.18 -
    1.19  ** TODO add image showing example touch-uv map
    1.20  ** TODO add metadata display for worm
    1.21  
    1.22 +* Skin Creation
    1.23 +#+name: kernel
    1.24 +#+begin_src clojure
    1.25 +(in-ns 'cortex.touch)
    1.26 +
    1.27 +(defn touch-kernel
    1.28 +  "Returns a function which returns tactile sensory data when called
    1.29 +   inside a running simulation."
    1.30 +  [#^Geometry geo]
    1.31 +  (let [feeler-coords (feeler-coordinates geo)
    1.32 +        tris (triangles geo)
    1.33 +        limit (tactile-scale geo)]
    1.34 +    (if (empty? (touch-topology geo))
    1.35 +      nil
    1.36 +      (fn [node]
    1.37 +        (let [sensor-origins 
    1.38 +              (map
    1.39 +               #(map (partial local-to-world geo) %)
    1.40 +               feeler-coords)
    1.41 +              triangle-normals 
    1.42 +              (map (partial get-ray-direction geo)
    1.43 +                   tris)
    1.44 +              rays
    1.45 +              (flatten
    1.46 +               (map (fn [origins norm]
    1.47 +                      (map #(doto (Ray. % norm)
    1.48 +                              (.setLimit limit)) origins))
    1.49 +                    sensor-origins triangle-normals))]
    1.50 +          (vector
    1.51 +           (touch-topology geo)
    1.52 +           (vec
    1.53 +            (for [ray rays]
    1.54 +              (do
    1.55 +                (let [results (CollisionResults.)]
    1.56 +                  (.collideWith node ray results)
    1.57 +                  (let [touch-objects
    1.58 +                        (filter #(not (= geo (.getGeometry %)))
    1.59 +                                results)]
    1.60 +                    [(if (empty? touch-objects)
    1.61 +                       limit (.getDistance (first touch-objects)))
    1.62 +                     limit])))))))))))
    1.63 +
    1.64 +(defn touch! 
    1.65 +  "Endow the creature with the sense of touch. Returns a sequence of
    1.66 +   functions, one for each body part with a tactile-sensor-proile,
    1.67 +   each of which when called returns sensory data for that body part."
    1.68 +  [#^Node creature]
    1.69 +  (filter
    1.70 +   (comp not nil?)
    1.71 +   (map touch-kernel
    1.72 +        (filter #(isa? (class %) Geometry)
    1.73 +                (node-seq creature)))))
    1.74 +#+end_src
    1.75 +
    1.76 +* Visualizing Touch
    1.77 +#+name: visualization
    1.78 +#+begin_src clojure
    1.79 +(in-ns 'cortex.touch)
    1.80 +
    1.81 +(defn touch->gray
    1.82 +  "Convert a pair of [distance, max-distance] into a grayscale pixel" 
    1.83 +  [distance max-distance]
    1.84 +  (gray 
    1.85 +   (- 255
    1.86 +      (rem 
    1.87 +       (int
    1.88 +        (* 255 (/ distance max-distance)))
    1.89 +       256))))
    1.90 +
    1.91 +(defn view-touch 
    1.92 +  "Creates a function which accepts a list of  touch sensor-data and
    1.93 +   displays each element to the screen."
    1.94 +  []
    1.95 +  (view-sense
    1.96 +   (fn 
    1.97 +     [[coords sensor-data]]
    1.98 +     (let [image (points->image coords)]
    1.99 +       (dorun
   1.100 +        (for [i (range (count coords))]
   1.101 +          (.setRGB image ((coords i) 0) ((coords i) 1)
   1.102 +                   (apply touch->gray (sensor-data i)))))
   1.103 +       image))))
   1.104 +#+end_src
   1.105 +
   1.106 +
   1.107 +
   1.108  * Triangle Manipulation Functions
   1.109  
   1.110  The rigid bodies which make up a creature have an underlying
   1.111 @@ -341,81 +435,6 @@
   1.112  #+end_src
   1.113  
   1.114  
   1.115 -* Skin Creation
   1.116 -#+name: kernel
   1.117 -#+begin_src clojure
   1.118 -(defn touch-fn
   1.119 -  "Returns a function which returns tactile sensory data when called
   1.120 -   inside a running simulation."
   1.121 -  [#^Geometry geo]
   1.122 -  (let [feeler-coords (feeler-coordinates geo)
   1.123 -        tris (triangles geo)
   1.124 -        limit 0.1
   1.125 -        ;;results (CollisionResults.)
   1.126 -        ]
   1.127 -    (if (empty? (touch-topology geo))
   1.128 -      nil
   1.129 -      (fn [node]
   1.130 -        (let [sensor-origins 
   1.131 -              (map
   1.132 -               #(map (partial local-to-world geo) %)
   1.133 -               feeler-coords)
   1.134 -              triangle-normals 
   1.135 -              (map (partial get-ray-direction geo)
   1.136 -                   tris)
   1.137 -              rays
   1.138 -              (flatten
   1.139 -               (map (fn [origins norm]
   1.140 -                      (map #(doto (Ray. % norm)
   1.141 -                              (.setLimit limit)) origins))
   1.142 -                    sensor-origins triangle-normals))]
   1.143 -          (vector
   1.144 -           (touch-topology geo)
   1.145 -           (vec
   1.146 -            (for [ray rays]
   1.147 -              (do
   1.148 -                (let [results (CollisionResults.)]
   1.149 -                  (.collideWith node ray results)
   1.150 -                  (let [touch-objects
   1.151 -                        (filter #(not (= geo (.getGeometry %)))
   1.152 -                                results)]
   1.153 -                    (- 255
   1.154 -                       (if (empty? touch-objects) 255
   1.155 -                           (rem 
   1.156 -                            (int
   1.157 -                             (* 255 (/ (.getDistance
   1.158 -                                        (first touch-objects)) limit)))
   1.159 -                            256))))))))))))))
   1.160 -  
   1.161 -(defn touch! 
   1.162 -  "Endow the creature with the sense of touch. Returns a sequence of
   1.163 -   functions, one for each body part with a tactile-sensor-proile,
   1.164 -   each of which when called returns sensory data for that body part."
   1.165 -  [#^Node creature]
   1.166 -  (filter
   1.167 -   (comp not nil?)
   1.168 -   (map touch-fn
   1.169 -        (filter #(isa? (class %) Geometry)
   1.170 -                (node-seq creature)))))
   1.171 -#+end_src
   1.172 -
   1.173 -* Visualizing Touch
   1.174 -#+name: visualization
   1.175 -#+begin_src clojure
   1.176 -(defn view-touch 
   1.177 -  "Creates a function which accepts a list of  touch sensor-data and
   1.178 -   displays each element to the screen."
   1.179 -  []
   1.180 -  (view-sense
   1.181 -   (fn 
   1.182 -     [[coords sensor-data]]
   1.183 -     (let [image (points->image coords)]
   1.184 -       (dorun
   1.185 -        (for [i (range (count coords))]
   1.186 -          (.setRGB image ((coords i) 0) ((coords i) 1)
   1.187 -                   (gray (sensor-data i)))))
   1.188 -       image))))
   1.189 -#+end_src
   1.190  
   1.191  * Headers 
   1.192  
   1.193 @@ -458,7 +477,6 @@
   1.194  
   1.195             (fn [world tpf]
   1.196               (touch-display (map #(% (.getRootNode world)) touch))))))
   1.197 -           
   1.198  #+end_src
   1.199  
   1.200  * Source Listing