#+title: The BODY!!!

 #+author: Robert McIntyre

 #+email: rlm@mit.edu

 #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.

 #+SETUPFILE: ../../aurellem/org/setup.org

 #+INCLUDE: ../../aurellem/org/level-0.org

 

 * Body  

 

 #+srcname: body-main

 #+begin_src clojure 

 (ns cortex.body

   (use (cortex world util import)))

 

 (use 'clojure.contrib.def)

 (cortex.import/mega-import-jme3)

 (rlm.rlm-commands/help)

 

 ;;(.loadModel 

 ;; (doto (asset-manager)

 ;;   (.registerLoader BlenderModelLoader (into-array String ["blend"])))

 ;;   "Models/person/person.blend")

 

 (defn view-model [^String model]

   (view 

    (.loadModel 

     (doto (asset-manager)

       (.registerLoader BlenderModelLoader (into-array String ["blend"])))

     model)))

 

 (defn load-blender-scene [^String model]

   (.loadModel

    (doto (asset-manager)

      (.registerLoader BlenderLoader (into-array String ["blend"])))

     model))

 

 (defn load-blender-model 

   [^String model]

   (.loadModel

    (doto (asset-manager)

      (.registerLoader BlenderModelLoader (into-array String ["blend"])))

    model))

 

 (defn worm

   []

   (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))

 

 (defn oto

   []

   (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))

 

 (defn sinbad

   []

   (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))

 

 (defn worm-blender

   []

   (first (seq (.getChildren (load-blender-model

                              "Models/anim2/worm3.blend")))))

 

 (defn skel [node]

   (doto

       (.getSkeleton

        (.getControl node SkeletonControl))

     ;; this is necessary to force the skeleton to have accurate world

     ;; transforms before it is rendered to the screen. 

     (.resetAndUpdate)))

 

 (defprotocol Textual

   (text [something]

     "Display a detailed textual analysis of the given object."))

 

 (extend-type com.jme3.scene.Node

   Textual

   (text [node]

     (println "Total Vertexes: " (.getVertexCount node))

     (println "Total Triangles: " (.getTriangleCount node))

     (println "Controls :")

     (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))

     (println "Has " (.getQuantity node) " Children:")

     (doall (map text (.getChildren node)))))

 

 (extend-type com.jme3.animation.AnimControl

   Textual

   (text [control]

     (let [animations (.getAnimationNames control)]

       (println "Animation Control with " (count animations) " animation(s):")

       (dorun (map println animations)))))

 

 (extend-type com.jme3.animation.SkeletonControl

   Textual

   (text [control]

     (println "Skeleton Control with the following skeleton:")

     (println (.getSkeleton control))))

 

 (extend-type com.jme3.bullet.control.KinematicRagdollControl

   Textual

   (text [control]

     (println "Ragdoll Control")))

                  

 

 (extend-type com.jme3.scene.Geometry

   Textual

   (text [control]

     (println "...geo...")))

 

 

 

 

 (defn body

   "given a node with a SkeletonControl, will produce a body sutiable

   for AI control with movement and proprioception."

   [node]

   (let [skeleton-control (.getControl node SkeletonControl)

         krc (KinematicRagdollControl. (float 0.5))]

     (dorun

      (map #(.addBoneName krc %)

           ["mid1" "mid2" "mid3" "tail" "head"]

         ;; ["Ulna.L"

         ;;  "Ulna.R"

         ;;  "Chest"

         ;;  "Foot.L"

         ;;  "Foot.R"

         ;;  "Hand.R"

         ;;  "Hand.L"

         ;;  "Neck"

         ;;  "Root"

         ;;  "Stomach"

         ;;  "Waist"

         ;;  "Humerus.L"

         ;;  "Humerus.R"

         ;;  "Thigh.L"

         ;;  "Thigh.R"

         ;;  "Calf.L"

         ;;  "Calf.R"

         ;;  "Clavicle.L"

         ;;  "Clavicle.R"]

         ))

 

 

     

     (.addControl node krc)

     (.setRagdollMode krc)

     )

   node

   )

 

 (defn green-x-ray []

   (doto (Material. (asset-manager)

                    "Common/MatDefs/Misc/Unshaded.j3md")

     (.setColor "Color" ColorRGBA/Green)

     (-> (.getAdditionalRenderState)

         (.setDepthTest false))))

 

 (defn view-skeleton [node]

   (let [sd

 

         (doto

             (SkeletonDebugger. "aurellem-skel-debug"

                                (skel node))

           (.setMaterial (green-x-ray)))]

     (view (doto (Node. "view node")

             (.attachChild sd)

 

              

              

              

              ;;(.attachChild node)

              ))))

   

 

 (defn init-debug-skel-node

   [f debug-node skeleton]

   (let [bones 

         (map #(.getBone skeleton %)

              (range (.getBoneCount skeleton)))]

   (dorun (map #(.setUserControl % true) bones)) 

   (dorun (map (fn [b]

                 (println (.getName b)

                          " -- " (f b)))

               bones))

 

   (dorun

    (map #(.attachChild

           debug-node 

           (doto 

               (sphere 0.1

                       :position (f %)

                       :physical? false)

           (.setMaterial (green-x-ray))))

         bones)))

     debug-node)

 

 (import jme3test.bullet.PhysicsTestHelper)

 

 (defn test-ragdoll []

   

   (let [the-worm

         (body

          ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")

          ;;(worm-blender)

          (worm)

          ;;(oto)

          ;;(sinbad)

         )

     ]

 

 

     (.start 

      (world

       (doto (Node.)

         (.attachChild the-worm))

       {"mouse-left" (fire-cannon-ball)}

       (fn [world]

         (light-up-everything world)

         (PhysicsTestHelper/createPhysicsTestWorld

          (.getRootNode world)

          (asset-manager)

          (.getPhysicsSpace

           (.getState (.getStateManager world) BulletAppState)))

         ;;(.setTimer world (NanoTimer.))

         ;;(org.lwjgl.input.Mouse/setGrabbed false)

         )

       no-op

       )

   

      

      )))

     

 

 

     

 

 

 

 

 

 

 #+end_src

 

 

 

 

 

 

 

 

 * COMMENT generate Source.

 #+begin_src clojure :tangle ../src/cortex/body.clj

 <<body-main>>

 #+end_src