Mercurial > cortex
view org/touch.org @ 536:0b0fef5e817b
more clarification.
author | Robert McIntyre <rlm@mit.edu> |
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date | Sun, 27 Apr 2014 20:39:33 -0400 |
parents | 763d13f77e03 |
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1 #+title: Simulated Sense of Touch2 #+author: Robert McIntyre3 #+email: rlm@mit.edu4 #+description: Simulated touch for AI research using JMonkeyEngine and clojure.5 #+keywords: simulation, tactile sense, jMonkeyEngine3, clojure6 #+SETUPFILE: ../../aurellem/org/setup.org7 #+INCLUDE: ../../aurellem/org/level-0.org9 * Touch11 Touch is critical to navigation and spatial reasoning and as such I12 need a simulated version of it to give to my AI creatures.14 Human skin has a wide array of touch sensors, each of which specialize15 in detecting different vibrational modes and pressures. These sensors16 can integrate a vast expanse of skin (i.e. your entire palm), or a17 tiny patch of skin at the tip of your finger. The hairs of the skin18 help detect objects before they even come into contact with the skin19 proper.21 However, touch in my simulated world can not exactly correspond to22 human touch because my creatures are made out of completely rigid23 segments that don't deform like human skin.25 Instead of measuring deformation or vibration, I surround each rigid26 part with a plenitude of hair-like objects (/feelers/) which do not27 interact with the physical world. Physical objects can pass through28 them with no effect. The feelers are able to tell when other objects29 pass through them, and they constantly report how much of their extent30 is covered. So even though the creature's body parts do not deform,31 the feelers create a margin around those body parts which achieves a32 sense of touch which is a hybrid between a human's sense of33 deformation and sense from hairs.35 Implementing touch in jMonkeyEngine follows a different technical route36 than vision and hearing. Those two senses piggybacked off37 jMonkeyEngine's 3D audio and video rendering subsystems. To simulate38 touch, I use jMonkeyEngine's physics system to execute many small39 collision detections, one for each feeler. The placement of the40 feelers is determined by a UV-mapped image which shows where each41 feeler should be on the 3D surface of the body.43 * Defining Touch Meta-Data in Blender45 Each geometry can have a single UV map which describes the position of46 the feelers which will constitute its sense of touch. This image path47 is stored under the "touch" key. The image itself is black and white,48 with black meaning a feeler length of 0 (no feeler is present) and49 white meaning a feeler length of =scale=, which is a float stored50 under the key "scale".52 #+name: meta-data53 #+begin_src clojure54 (defn tactile-sensor-profile55 "Return the touch-sensor distribution image in BufferedImage format,56 or nil if it does not exist."57 [#^Geometry obj]58 (if-let [image-path (meta-data obj "touch")]59 (load-image image-path)))61 (defn tactile-scale62 "Return the length of each feeler. Default scale is 0.0163 jMonkeyEngine units."64 [#^Geometry obj]65 (if-let [scale (meta-data obj "scale")]66 scale 0.1))67 #+end_src69 Here is an example of a UV-map which specifies the position of touch70 sensors along the surface of the upper segment of the worm.72 #+attr_html: width=75573 #+caption: This is the tactile-sensor-profile for the upper segment of the worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).74 [[../images/finger-UV.png]]76 * Implementation Summary78 To simulate touch there are three conceptual steps. For each solid79 object in the creature, you first have to get UV image and scale80 parameter which define the position and length of the feelers. Then,81 you use the triangles which comprise the mesh and the UV data stored in82 the mesh to determine the world-space position and orientation of each83 feeler. Then once every frame, update these positions and orientations84 to match the current position and orientation of the object, and use85 physics collision detection to gather tactile data.87 Extracting the meta-data has already been described. The third step,88 physics collision detection, is handled in =touch-kernel=.89 Translating the positions and orientations of the feelers from the90 UV-map to world-space is itself a three-step process.92 - Find the triangles which make up the mesh in pixel-space and in93 world-space. =triangles= =pixel-triangles=.95 - Find the coordinates of each feeler in world-space. These are the96 origins of the feelers. =feeler-origins=.98 - Calculate the normals of the triangles in world space, and add99 them to each of the origins of the feelers. These are the100 normalized coordinates of the tips of the feelers. =feeler-tips=.102 * Triangle Math103 ** Shrapnel Conversion Functions105 #+name: triangles-1106 #+begin_src clojure107 (defn vector3f-seq [#^Vector3f v]108 [(.getX v) (.getY v) (.getZ v)])110 (defn triangle-seq [#^Triangle tri]111 [(vector3f-seq (.get1 tri))112 (vector3f-seq (.get2 tri))113 (vector3f-seq (.get3 tri))])115 (defn ->vector3f116 ([coords] (Vector3f. (nth coords 0 0)117 (nth coords 1 0)118 (nth coords 2 0))))120 (defn ->triangle [points]121 (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))122 #+end_src124 It is convenient to treat a =Triangle= as a vector of vectors, and a125 =Vector2f= or =Vector3f= as vectors of floats. (->vector3f) and126 (->triangle) undo the operations of =vector3f-seq= and127 =triangle-seq=. If these classes implemented =Iterable= then =seq=128 would work on them automatically.130 ** Decomposing a 3D shape into Triangles132 The rigid objects which make up a creature have an underlying133 =Geometry=, which is a =Mesh= plus a =Material= and other important134 data involved with displaying the object.136 A =Mesh= is composed of =Triangles=, and each =Triangle= has three137 vertices which have coordinates in world space and UV space.139 Here, =triangles= gets all the world-space triangles which comprise a140 mesh, while =pixel-triangles= gets those same triangles expressed in141 pixel coordinates (which are UV coordinates scaled to fit the height142 and width of the UV image).144 #+name: triangles-2145 #+begin_src clojure146 (in-ns 'cortex.touch)147 (defn triangle148 "Get the triangle specified by triangle-index from the mesh."149 [#^Geometry geo triangle-index]150 (triangle-seq151 (let [scratch (Triangle.)]152 (.getTriangle (.getMesh geo) triangle-index scratch) scratch)))154 (defn triangles155 "Return a sequence of all the Triangles which comprise a given156 Geometry."157 [#^Geometry geo]158 (map (partial triangle geo) (range (.getTriangleCount (.getMesh geo)))))160 (defn triangle-vertex-indices161 "Get the triangle vertex indices of a given triangle from a given162 mesh."163 [#^Mesh mesh triangle-index]164 (let [indices (int-array 3)]165 (.getTriangle mesh triangle-index indices)166 (vec indices)))168 (defn vertex-UV-coord169 "Get the UV-coordinates of the vertex named by vertex-index"170 [#^Mesh mesh vertex-index]171 (let [UV-buffer172 (.getData173 (.getBuffer174 mesh175 VertexBuffer$Type/TexCoord))]176 [(.get UV-buffer (* vertex-index 2))177 (.get UV-buffer (+ 1 (* vertex-index 2)))]))179 (defn pixel-triangle [#^Geometry geo image index]180 (let [mesh (.getMesh geo)181 width (.getWidth image)182 height (.getHeight image)]183 (vec (map (fn [[u v]] (vector (* width u) (* height v)))184 (map (partial vertex-UV-coord mesh)185 (triangle-vertex-indices mesh index))))))187 (defn pixel-triangles188 "The pixel-space triangles of the Geometry, in the same order as189 (triangles geo)"190 [#^Geometry geo image]191 (let [height (.getHeight image)192 width (.getWidth image)]193 (map (partial pixel-triangle geo image)194 (range (.getTriangleCount (.getMesh geo))))))195 #+end_src196 ** The Affine Transform from one Triangle to Another198 =pixel-triangles= gives us the mesh triangles expressed in pixel199 coordinates and =triangles= gives us the mesh triangles expressed in200 world coordinates. The tactile-sensor-profile gives the position of201 each feeler in pixel-space. In order to convert pixel-space202 coordinates into world-space coordinates we need something that takes203 coordinates on the surface of one triangle and gives the corresponding204 coordinates on the surface of another triangle.206 Triangles are [[http://mathworld.wolfram.com/AffineTransformation.html ][affine]], which means any triangle can be transformed into207 any other by a combination of translation, scaling, and208 rotation. The affine transformation from one triangle to another209 is readily computable if the triangle is expressed in terms of a $4x4$210 matrix.212 \begin{bmatrix}213 x_1 & x_2 & x_3 & n_x \\214 y_1 & y_2 & y_3 & n_y \\215 z_1 & z_2 & z_3 & n_z \\216 1 & 1 & 1 & 1217 \end{bmatrix}219 Here, the first three columns of the matrix are the vertices of the220 triangle. The last column is the right-handed unit normal of the221 triangle.223 With two triangles $T_{1}$ and $T_{2}$ each expressed as a matrix like224 above, the affine transform from $T_{1}$ to $T_{2}$ is226 $T_{2}T_{1}^{-1}$228 The clojure code below recapitulates the formulas above, using229 jMonkeyEngine's =Matrix4f= objects, which can describe any affine230 transformation.232 #+name: triangles-3233 #+begin_src clojure234 (in-ns 'cortex.touch)236 (defn triangle->matrix4f237 "Converts the triangle into a 4x4 matrix: The first three columns238 contain the vertices of the triangle; the last contains the unit239 normal of the triangle. The bottom row is filled with 1s."240 [#^Triangle t]241 (let [mat (Matrix4f.)242 [vert-1 vert-2 vert-3]243 (mapv #(.get t %) (range 3))244 unit-normal (do (.calculateNormal t)(.getNormal t))245 vertices [vert-1 vert-2 vert-3 unit-normal]]246 (dorun247 (for [row (range 4) col (range 3)]248 (do249 (.set mat col row (.get (vertices row) col))250 (.set mat 3 row 1)))) mat))252 (defn triangles->affine-transform253 "Returns the affine transformation that converts each vertex in the254 first triangle into the corresponding vertex in the second255 triangle."256 [#^Triangle tri-1 #^Triangle tri-2]257 (.mult258 (triangle->matrix4f tri-2)259 (.invert (triangle->matrix4f tri-1))))260 #+end_src261 ** Triangle Boundaries263 For efficiency's sake I will divide the tactile-profile image into264 small squares which inscribe each pixel-triangle, then extract the265 points which lie inside the triangle and map them to 3D-space using266 =triangle-transform= above. To do this I need a function,267 =convex-bounds= which finds the smallest box which inscribes a 2D268 triangle.270 =inside-triangle?= determines whether a point is inside a triangle271 in 2D pixel-space.273 #+name: triangles-4274 #+begin_src clojure275 (defn convex-bounds276 "Returns the smallest square containing the given vertices, as a277 vector of integers [left top width height]."278 [verts]279 (let [xs (map first verts)280 ys (map second verts)281 x0 (Math/floor (apply min xs))282 y0 (Math/floor (apply min ys))283 x1 (Math/ceil (apply max xs))284 y1 (Math/ceil (apply max ys))]285 [x0 y0 (- x1 x0) (- y1 y0)]))287 (defn same-side?288 "Given the points p1 and p2 and the reference point ref, is point p289 on the same side of the line that goes through p1 and p2 as ref is?"290 [p1 p2 ref p]291 (<=292 0293 (.dot294 (.cross (.subtract p2 p1) (.subtract p p1))295 (.cross (.subtract p2 p1) (.subtract ref p1)))))297 (defn inside-triangle?298 "Is the point inside the triangle?"299 {:author "Dylan Holmes"}300 [#^Triangle tri #^Vector3f p]301 (let [[vert-1 vert-2 vert-3] [(.get1 tri) (.get2 tri) (.get3 tri)]]302 (and303 (same-side? vert-1 vert-2 vert-3 p)304 (same-side? vert-2 vert-3 vert-1 p)305 (same-side? vert-3 vert-1 vert-2 p))))306 #+end_src308 * Feeler Coordinates310 The triangle-related functions above make short work of calculating311 the positions and orientations of each feeler in world-space.313 #+name: sensors314 #+begin_src clojure315 (in-ns 'cortex.touch)317 (defn feeler-pixel-coords318 "Returns the coordinates of the feelers in pixel space in lists, one319 list for each triangle, ordered in the same way as (triangles) and320 (pixel-triangles)."321 [#^Geometry geo image]322 (map323 (fn [pixel-triangle]324 (filter325 (fn [coord]326 (inside-triangle? (->triangle pixel-triangle)327 (->vector3f coord)))328 (white-coordinates image (convex-bounds pixel-triangle))))329 (pixel-triangles geo image)))331 (defn feeler-world-coords332 "Returns the coordinates of the feelers in world space in lists, one333 list for each triangle, ordered in the same way as (triangles) and334 (pixel-triangles)."335 [#^Geometry geo image]336 (let [transforms337 (map #(triangles->affine-transform338 (->triangle %1) (->triangle %2))339 (pixel-triangles geo image)340 (triangles geo))]341 (map (fn [transform coords]342 (map #(.mult transform (->vector3f %)) coords))343 transforms (feeler-pixel-coords geo image))))345 (defn feeler-origins346 "The world space coordinates of the root of each feeler."347 [#^Geometry geo image]348 (reduce concat (feeler-world-coords geo image)))350 (defn feeler-tips351 "The world space coordinates of the tip of each feeler."352 [#^Geometry geo image]353 (let [world-coords (feeler-world-coords geo image)354 normals355 (map356 (fn [triangle]357 (.calculateNormal triangle)358 (.clone (.getNormal triangle)))359 (map ->triangle (triangles geo)))]361 (mapcat (fn [origins normal]362 (map #(.add % normal) origins))363 world-coords normals)))365 (defn touch-topology366 "touch-topology? is not a function."367 [#^Geometry geo image]368 (collapse (reduce concat (feeler-pixel-coords geo image))))369 #+end_src370 * Simulated Touch372 =touch-kernel= generates functions to be called from within a373 simulation that perform the necessary physics collisions to collect374 tactile data, and =touch!= recursively applies it to every node in375 the creature.377 #+name: kernel378 #+begin_src clojure379 (in-ns 'cortex.touch)381 (defn set-ray [#^Ray ray #^Matrix4f transform382 #^Vector3f origin #^Vector3f tip]383 ;; Doing everything locally reduces garbage collection by enough to384 ;; be worth it.385 (.mult transform origin (.getOrigin ray))386 (.mult transform tip (.getDirection ray))387 (.subtractLocal (.getDirection ray) (.getOrigin ray))388 (.normalizeLocal (.getDirection ray)))390 (import com.jme3.math.FastMath)392 (defn touch-kernel393 "Constructs a function which will return tactile sensory data from394 'geo when called from inside a running simulation"395 [#^Geometry geo]396 (if-let397 [profile (tactile-sensor-profile geo)]398 (let [ray-reference-origins (feeler-origins geo profile)399 ray-reference-tips (feeler-tips geo profile)400 ray-length (tactile-scale geo)401 current-rays (map (fn [_] (Ray.)) ray-reference-origins)402 topology (touch-topology geo profile)403 correction (float (* ray-length -0.2))]405 ;; slight tolerance for very close collisions.406 (dorun407 (map (fn [origin tip]408 (.addLocal origin (.mult (.subtract tip origin)409 correction)))410 ray-reference-origins ray-reference-tips))411 (dorun (map #(.setLimit % ray-length) current-rays))412 (fn [node]413 (let [transform (.getWorldMatrix geo)]414 (dorun415 (map (fn [ray ref-origin ref-tip]416 (set-ray ray transform ref-origin ref-tip))417 current-rays ray-reference-origins418 ray-reference-tips))419 (vector420 topology421 (vec422 (for [ray current-rays]423 (do424 (let [results (CollisionResults.)]425 (.collideWith node ray results)426 (let [touch-objects427 (filter #(not (= geo (.getGeometry %)))428 results)429 limit (.getLimit ray)]430 [(if (empty? touch-objects)431 limit432 (let [response433 (apply min (map #(.getDistance %)434 touch-objects))]435 (FastMath/clamp436 (float437 (if (> response limit) (float 0.0)438 (+ response correction)))439 (float 0.0)440 limit)))441 limit])))))))))))443 (defn touch!444 "Endow the creature with the sense of touch. Returns a sequence of445 functions, one for each body part with a tactile-sensor-profile,446 each of which when called returns sensory data for that body part."447 [#^Node creature]448 (filter449 (comp not nil?)450 (map touch-kernel451 (filter #(isa? (class %) Geometry)452 (node-seq creature)))))453 #+end_src455 #+results: kernel456 : #'cortex.touch/touch!458 * Visualizing Touch460 Each feeler is represented in the image as a single pixel. The461 greyscale value of each pixel represents how deep the feeler462 represented by that pixel is inside another object. Black means that463 nothing is touching the feeler, while white means that the feeler is464 completely inside another object, which is presumably flush with the465 surface of the triangle from which the feeler originates.467 #+name: visualization468 #+begin_src clojure469 (in-ns 'cortex.touch)471 (defn touch->gray472 "Convert a pair of [distance, max-distance] into a gray-scale pixel."473 [distance max-distance]474 (gray (- 255 (rem (int (* 255 (/ distance max-distance))) 256))))476 (defn view-touch477 "Creates a function which accepts a list of touch sensor-data and478 displays each element to the screen."479 []480 (view-sense481 (fn [[coords sensor-data]]482 (let [image (points->image coords)]483 (dorun484 (for [i (range (count coords))]485 (.setRGB image ((coords i) 0) ((coords i) 1)486 (apply touch->gray (sensor-data i)))))487 image))))488 #+end_src490 #+results: visualization491 : #'cortex.touch/view-touch493 * Basic Test of Touch495 The worm's sense of touch is a bit complicated, so for this basic test496 I'll use a new creature --- a simple cube which has touch sensors497 evenly distributed along each of its sides.499 #+name: test-touch-0500 #+begin_src clojure501 (in-ns 'cortex.test.touch)503 (defn touch-cube []504 (load-blender-model "Models/test-touch/touch-cube.blend"))505 #+end_src507 ** The Touch Cube508 #+begin_html509 <div class="figure">510 <center>511 <video controls="controls" width="500">512 <source src="../video/touch-cube.ogg" type="video/ogg"513 preload="none" poster="../images/aurellem-1280x480.png" />514 </video>515 <br> <a href="http://youtu.be/aEao4m8meAI"> YouTube </a>516 </center>517 <p>A simple creature with evenly distributed touch sensors.</p>518 </div>519 #+end_html521 The tactile-sensor-profile image for this simple creature looks like522 this:524 #+attr_html: width=500525 #+caption: The distribution of feelers along the touch-cube. The colors of the faces are irrelevant; only the white pixels specify feelers.526 [[../images/touch-profile.png]]528 #+name: test-touch-1529 #+begin_src clojure530 (in-ns 'cortex.test.touch)532 (defn test-basic-touch533 "Testing touch:534 You should see a cube fall onto a table. There is a cross-shaped535 display which reports the cube's sensation of touch. This display536 should change when the cube hits the table, and whenever you hit537 the cube with balls.539 Keys:540 <space> : fire ball"541 ([] (test-basic-touch false))542 ([record?]543 (let [the-cube (doto (touch-cube) (body!))544 touch (touch! the-cube)545 touch-display (view-touch)]546 (world547 (nodify [the-cube548 (box 10 1 10 :position (Vector3f. 0 -10 0)549 :color ColorRGBA/Gray :mass 0)])551 standard-debug-controls553 (fn [world]554 (let [timer (IsoTimer. 60)]555 (.setTimer world timer)556 (display-dilated-time world timer))557 (if record?558 (Capture/captureVideo559 world560 (File. "/home/r/proj/cortex/render/touch-cube/main-view/")))561 (speed-up world)562 (light-up-everything world))564 (fn [world tpf]565 (touch-display566 (map #(% (.getRootNode world)) touch)567 (if record?568 (File. "/home/r/proj/cortex/render/touch-cube/touch/"))))))))569 #+end_src571 #+results: test-touch-1572 : #'cortex.test.touch/test-basic-touch574 ** Basic Touch Demonstration576 #+begin_html577 <div class="figure">578 <center>579 <video controls="controls" width="755">580 <source src="../video/basic-touch.ogg" type="video/ogg"581 preload="none" poster="../images/aurellem-1280x480.png" />582 </video>583 <br> <a href="http://youtu.be/8xNEtD-a8f0"> YouTube </a>584 </center>585 <p>The simple creature responds to touch.</p>586 </div>587 #+end_html589 ** Generating the Basic Touch Video590 #+name: magick4591 #+begin_src clojure592 (ns cortex.video.magick4593 (:import java.io.File)594 (:use clojure.java.shell))596 (defn images [path]597 (sort (rest (file-seq (File. path)))))599 (def base "/home/r/proj/cortex/render/touch-cube/")601 (defn pics [file]602 (images (str base file)))604 (defn combine-images []605 (let [main-view (pics "main-view")606 touch (pics "touch/0")607 background (repeat 9001 (File. (str base "background.png")))608 targets (map609 #(File. (str base "out/" (format "%07d.png" %)))610 (range 0 (count main-view)))]611 (dorun612 (pmap613 (comp614 (fn [[background main-view touch target]]615 (println target)616 (sh "convert"617 touch618 "-resize" "x300"619 "-rotate" "180"620 background621 "-swap" "0,1"622 "-geometry" "+776+129"623 "-composite"624 main-view "-geometry" "+66+21" "-composite"625 target))626 (fn [& args] (map #(.getCanonicalPath %) args)))627 background main-view touch targets))))628 #+end_src630 #+begin_src sh :results silent631 cd ~/proj/cortex/render/touch-cube/632 ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora basic-touch.ogg633 #+end_src635 #+begin_src sh :results silent636 cd ~/proj/cortex/render/touch-cube/637 ffmpeg -r 30 -i blender-intro/%07d.png -b:v 9000k -c:v libtheora touch-cube.ogg638 #+end_src640 * Adding Touch to the Worm642 #+name: test-touch-2643 #+begin_src clojure644 (in-ns 'cortex.test.touch)646 (defn test-worm-touch647 "Testing touch:648 You will see the worm fall onto a table. There is a display which649 reports the worm's sense of touch. It should change when the worm650 hits the table and when you hit it with balls.652 Keys:653 <space> : fire ball"654 ([] (test-worm-touch false))655 ([record?]656 (let [the-worm (doto (worm) (body!))657 touch (touch! the-worm)658 touch-display (view-touch)]659 (world660 (nodify [the-worm (floor)])661 standard-debug-controls663 (fn [world]664 (let [timer (IsoTimer. 60)]665 (.setTimer world timer)666 (display-dilated-time world timer))667 (if record?668 (Capture/captureVideo669 world670 (File. "/home/r/proj/cortex/render/worm-touch/main-view/")))671 (speed-up world)672 (light-up-everything world))674 (fn [world tpf]675 (touch-display676 (map #(% (.getRootNode world)) touch)677 (if record?678 (File. "/home/r/proj/cortex/render/worm-touch/touch/"))))))))679 #+end_src681 #+results: test-touch-2682 : #'cortex.test.touch/test-worm-touch684 ** Worm Touch Demonstration685 #+begin_html686 <div class="figure">687 <center>688 <video controls="controls" width="550">689 <source src="../video/worm-touch.ogg" type="video/ogg"690 preload="none" poster="../images/aurellem-1280x480.png" />691 </video>692 <br> <a href="http://youtu.be/RHx2wqzNVcU"> YouTube </a>693 </center>694 <p>The worm responds to touch.</p>695 </div>696 #+end_html699 ** Generating the Worm Touch Video700 #+name: magick5701 #+begin_src clojure702 (ns cortex.video.magick5703 (:import java.io.File)704 (:use clojure.java.shell))706 (defn images [path]707 (sort (rest (file-seq (File. path)))))709 (def base "/home/r/proj/cortex/render/worm-touch/")711 (defn pics [file]712 (images (str base file)))714 (defn combine-images []715 (let [main-view (pics "main-view")716 touch (pics "touch/0")717 targets (map718 #(File. (str base "out/" (format "%07d.png" %)))719 (range 0 (count main-view)))]720 (dorun721 (pmap722 (comp723 (fn [[ main-view touch target]]724 (println target)725 (sh "convert"726 main-view727 touch "-geometry" "+0+0" "-composite"728 target))729 (fn [& args] (map #(.getCanonicalPath %) args)))730 main-view touch targets))))731 #+end_src733 #+begin_src sh :results silent734 cd ~/proj/cortex/render/worm-touch735 ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora worm-touch.ogg736 #+end_src738 * Headers740 #+name: touch-header741 #+begin_src clojure742 (ns cortex.touch743 "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry744 to be outfitted with touch sensors with density determined by a UV745 image. In this way a Geometry can know what parts of itself are746 touching nearby objects. Reads specially prepared blender files to747 construct this sense automatically."748 {:author "Robert McIntyre"}749 (:use (cortex world util sense))750 (:import (com.jme3.scene Geometry Node Mesh))751 (:import com.jme3.collision.CollisionResults)752 (:import com.jme3.scene.VertexBuffer$Type)753 (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))754 #+end_src756 #+name: test-touch-header757 #+begin_src clojure758 (ns cortex.test.touch759 (:use (cortex world util sense body touch))760 (:use cortex.test.body)761 (:import (com.aurellem.capture Capture IsoTimer))762 (:import java.io.File)763 (:import (com.jme3.math Vector3f ColorRGBA)))764 #+end_src766 #+results: test-touch-header767 : com.jme3.math.ColorRGBA769 * Source Listing770 - [[../src/cortex/touch.clj][cortex.touch]]771 - [[../src/cortex/test/touch.clj][cortex.test.touch]]772 - [[../src/cortex/video/magick4.clj][cortex.video.magick4]]773 - [[../src/cortex/video/magick5.clj][cortex.video.magick5]]774 - [[../assets/Models/test-touch/touch-cube.blend][touch-cube.blend]]775 #+html: <ul> <li> <a href="../org/touch.org">This org file</a> </li> </ul>776 - [[http://hg.bortreb.com ][source-repository]]778 * Next779 So far I've implemented simulated Vision, Hearing, and780 Touch, the most obvious and prominent senses that humans781 have. Smell and Taste shall remain unimplemented for782 now. This accounts for the "five senses" that feature so783 prominently in our lives. But humans have far more than the784 five main senses. There are internal chemical senses, pain785 (which is *not* the same as touch), heat sensitivity, and786 our sense of balance, among others. One extra sense is so787 important that I must implement it to have a hope of making788 creatures that can gracefully control their own bodies. It789 is Proprioception, which is the sense of the location of790 each body part in relation to the other body parts.792 Close your eyes, and touch your nose with your right index793 finger. How did you do it? You could not see your hand, and794 neither your hand nor your nose could use the sense of touch795 to guide the path of your hand. There are no sound cues,796 and Taste and Smell certainly don't provide any help. You797 know where your hand is without your other senses because of798 Proprioception.800 Onward to [[./proprioception.org][proprioception]]!802 * COMMENT Code Generation803 #+begin_src clojure :tangle ../src/cortex/touch.clj804 <<touch-header>>805 <<meta-data>>806 <<triangles-1>>807 <<triangles-2>>808 <<triangles-3>>809 <<triangles-4>>810 <<sensors>>811 <<kernel>>812 <<visualization>>813 #+end_src815 #+begin_src clojure :tangle ../src/cortex/test/touch.clj816 <<test-touch-header>>817 <<test-touch-0>>818 <<test-touch-1>>819 <<test-touch-2>>820 #+end_src822 #+begin_src clojure :tangle ../src/cortex/video/magick4.clj823 <<magick4>>824 #+end_src826 #+begin_src clojure :tangle ../src/cortex/video/magick5.clj827 <<magick5>>828 #+end_src