Mercurial > cortex

     1 #+title: 

     2 #+author: Robert McIntyre

     3 #+email: rlm@mit.edu

     4 #+description: 

     5 #+keywords: simulation, jMonkeyEngine3, clojure

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

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

     8 

     9 * Intro 

    10 

    11 This is the ultimate test which features all of the senses that I've

    12 made so far. The blender file for the creature serves as an example of

    13 a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].

    14 

    15 #+name: integration

    16 #+begin_src clojure 

    17 (ns cortex.integration

    18   "let's play!"

    19   {:author "Robert McIntyre"}

    20   (:use (cortex world util body sense

    21                 hearing touch vision proprioception movement))

    22   (:import (com.jme3.math ColorRGBA Vector3f))

    23   (:import java.io.File)

    24   (:import com.jme3.audio.AudioNode)

    25   (:import com.aurellem.capture.RatchetTimer))

    26 

    27 (dorun (cortex.import/mega-import-jme3))

    28 (rlm.rlm-commands/help)

    29 

    30 (def hand "Models/test-creature/hand.blend")

    31 

    32 (def output-base (File. "/home/r/proj/cortex/render/hand"))

    33 

    34 (defn motor-control-program

    35   "Create a function which will execute the motor script"

    36   [muscle-positions

    37    script]

    38   (let [current-frame (atom -1)

    39         keyed-script (group-by first script)

    40         current-forces (atom {}) ]

    41     (fn [effectors]

    42       (let [indexed-effectors (vec effectors)]

    43         (dorun 

    44          (for [[_ part force] (keyed-script (swap! current-frame inc))]

    45            (swap! current-forces (fn [m] (assoc m part force)))))

    46         (doall (map (fn [effector power]

    47                       (effector (int power)))

    48                     effectors

    49                     (map #(@current-forces % 0) muscle-positions)))))))

    50 

    51 (def muscle-positions

    52   [:pointer-2-e

    53    :pointer-2-f

    54    :thumb-1

    55    :thumb-1

    56    :pointer-1-e

    57    :pointer-1-f

    58    :thumb-2-e

    59    :thumb-2-f

    60    :middle-1-e

    61    :middle-1-f

    62    :pointer-3-f

    63    :pointer-3-e

    64    :middle-2-e

    65    :middle-2-f

    66    :middle-3-f

    67    :middle-3-e

    68    :pinky-2-e

    69    :pinky-2-f

    70    :pinky-3-f

    71    :pinky-3-e

    72    :ring-3-e

    73    :ring-3-f

    74    :ring-2-f

    75    :ring-2-e

    76    :ring-1-e

    77    :ring-1-f

    78    :thumb-1-e

    79    :thumb-1-f

    80    :pinky-1-f

    81    :pinky-1-e])

    82 

    83 (def full 9001)

    84 ;; the systax here is [keyframe body-part force]

    85 (def wiggle-each-finger-tip

    86   [[200 :pointer-3-f full]

    87    [200 :pointer-3-f 40]

    88 

    89    [400 :middle-3-f full]

    90    [401 :middle-3-f 40]

    91 

    92    [600 :ring-3-f full]

    93    [601 :ring-3-f 40]

    94 

    95    [800 :pinky-3-f full]

    96    [801 :pinky-3-f 40]])

    97 

    98 

    99 

   100 

   101 (def control-list

   102  [

   103   0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   104   0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   105   0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>

   106   0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>

   107   0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   108   0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   109   0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>

   110   0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>

   111   0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   112   0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   113   1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   114   0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   115   0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   116   0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   117   0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   118   0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   119   0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   120   0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   121   0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>

   122   0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>

   123   0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   124   0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   125   0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   126   0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   127   0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   128   0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   129   0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>

   130   0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>

   131   0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   132   0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   133   ])

   134 

   135 (defn test-everything! 

   136   ([] (test-everything! false))

   137   ([record?]

   138   (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)

   139 

   140         bell (AudioNode. (asset-manager)

   141                          "Sounds/pure.wav" false)

   142         creature (doto (load-blender-model hand) 

   143                    (body!))

   144         

   145         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   146         ;;touch (touch! creature)

   147         ;;touch-display (view-touch)

   148 

   149         ;;vision (vision! creature)

   150         ;;vision-display (view-vision)

   151 

   152         ;;hearing (hearing! creature)

   153         ;;hearing-display (view-hearing)

   154 

   155         prop (proprioception! creature)

   156         prop-display (view-proprioception)

   157 

   158         control-script (motor-control-program

   159                         muscle-positions wiggle-each-finger-tip)

   160         muscles (movement! creature)

   161         muscle-display (view-movement)

   162         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   163 

   164         fix-display (gen-fix-display)]

   165     (world

   166      (nodify [creature

   167               (box 10 2 10 :position (Vector3f. 0 -9 0)

   168                    :color ColorRGBA/Gray :mass 0)

   169               me])

   170      (merge standard-debug-controls

   171             {"key-return"

   172              (fn [_ value]

   173                (if value

   174                    (.play bell)))})

   175 

   176      (fn [world]

   177        (.setTimer world (RatchetTimer. 60))

   178        (light-up-everything world)

   179        (enable-debug world)

   180        (add-camera! world

   181                     (add-eye! creature

   182                               (.getChild 

   183                                (.getChild creature "eyes") "eye"))

   184                     (comp (view-image) BufferedImage!))

   185        (speed-up world))

   186      (fn [world tpf]

   187        ;;(prop-display (prop))

   188        ;;(touch-display (map #(% (.getRootNode world)) touch))

   189        ;;(vision-display (map #(% world) vision))

   190        ;;(hearing-display (map #(% world) hearing))

   191 

   192        ;;(muscle-display

   193        (control-script muscles)

   194        ;;)

   195              

   196        (.setLocalTranslation me (.getLocation (.getCamera world)))

   197        (fix-display world))))))

   198 #+end_src

   199 

   200 #+results: integration

   201 : #'cortex.integration/test-everything!

   202 

   203 * COMMENT purgatory

   204 #+begin_src clojure

   205 (defn bullet-trans* []

   206   (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red

   207                    :position (Vector3f. 5 0 0)

   208                    :mass 90)

   209         obj-b (sphere 0.5 :color ColorRGBA/Blue

   210                       :position (Vector3f. -5 0 0)

   211                       :mass 0)

   212         control-a (.getControl obj-a RigidBodyControl)

   213         control-b (.getControl obj-b RigidBodyControl)

   214         move-up? (atom nil)

   215         move-down? (atom nil)

   216         move-left? (atom nil)

   217         move-right? (atom nil)

   218         roll-left? (atom nil)

   219         roll-right? (atom nil)

   220         force 100

   221         swivel

   222         (.toRotationMatrix

   223          (doto (Quaternion.)

   224            (.fromAngleAxis (/ Math/PI 2)

   225                            Vector3f/UNIT_X)))

   226         x-move

   227         (doto (Matrix3f.)

   228           (.fromStartEndVectors Vector3f/UNIT_X

   229                                 (.normalize (Vector3f. 1 1 0))))

   230         

   231         timer (atom 0)]

   232     (doto 

   233         (ConeJoint.

   234          control-a control-b

   235          (Vector3f. -8 0 0)

   236          (Vector3f. 2 0 0)

   237          ;;swivel swivel

   238          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   239          x-move Matrix3f/IDENTITY 

   240          )

   241       (.setCollisionBetweenLinkedBodys false)

   242       (.setLimit (* 1 (/ Math/PI 4))    ;; twist 

   243                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   244                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   245     (world (nodify

   246             [obj-a obj-b])

   247            (merge standard-debug-controls

   248                   {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))

   249                    "key-t" (fn [_ pressed?] (reset! move-down? pressed?))

   250                    "key-f" (fn [_ pressed?] (reset! move-left? pressed?))

   251                    "key-g" (fn [_ pressed?] (reset! move-right? pressed?))

   252                    "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))

   253                    "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     

   254            

   255            (fn [world]

   256              (enable-debug world)

   257              (set-gravity world Vector3f/ZERO)

   258              )

   259                            

   260            (fn [world _]

   261 

   262              (if @move-up?

   263                (.applyForce control-a

   264                               (Vector3f. force 0 0)

   265                               (Vector3f. 0 0 0)))

   266              (if @move-down?

   267                (.applyForce control-a

   268                              (Vector3f. (- force) 0 0)

   269                              (Vector3f. 0 0 0)))

   270              (if @move-left?

   271                (.applyForce control-a

   272                              (Vector3f. 0 force 0)

   273                              (Vector3f. 0 0 0)))

   274              (if @move-right?

   275                (.applyForce control-a

   276                              (Vector3f. 0 (- force) 0)

   277                              (Vector3f. 0 0 0)))

   278 

   279              (if @roll-left?

   280                (.applyForce control-a

   281                              (Vector3f. 0 0 force)

   282                              (Vector3f. 0 0 0)))

   283              (if @roll-right?

   284                (.applyForce control-a

   285                              (Vector3f. 0 0 (- force))

   286                              (Vector3f. 0 0 0)))

   287 

   288              (if (zero? (rem (swap! timer inc) 100))

   289                (.attachChild

   290                 (.getRootNode world)

   291                 (sphere 0.05 :color ColorRGBA/Yellow

   292                         :physical? false :position

   293                         (.getWorldTranslation obj-a)))))

   294            )

   295     ))

   296 

   297 (defn test-joint [joint]

   298   (let [[origin top bottom floor] (world-setup joint)

   299         control (.getControl top RigidBodyControl)

   300         move-up? (atom false)

   301         move-down? (atom false)

   302         move-left? (atom false)

   303         move-right? (atom false)

   304         roll-left? (atom false)

   305         roll-right? (atom false)

   306         timer (atom 0)]

   307 

   308     (world

   309      (nodify [top bottom floor origin])

   310      (merge standard-debug-controls

   311             {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))

   312              "key-t" (fn [_ pressed?] (reset! move-down? pressed?))

   313              "key-f" (fn [_ pressed?] (reset! move-left? pressed?))

   314              "key-g" (fn [_ pressed?] (reset! move-right? pressed?))

   315              "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))

   316              "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     

   317      

   318      (fn [world]

   319        (light-up-everything world)

   320        (enable-debug world)

   321        (set-gravity world (Vector3f. 0 0 0))

   322        )

   323      

   324      (fn [world _]

   325        (if (zero? (rem (swap! timer inc) 100))

   326          (do

   327          ;;  (println-repl @timer)

   328            (.attachChild (.getRootNode world)

   329                        (sphere 0.05 :color ColorRGBA/Yellow

   330                                :position (.getWorldTranslation top)

   331                                :physical? false))

   332            (.attachChild (.getRootNode world)

   333                          (sphere 0.05 :color ColorRGBA/LightGray

   334                                  :position (.getWorldTranslation bottom)

   335                                  :physical? false))))

   336 

   337        (if @move-up?

   338          (.applyTorque control

   339                        (.mult (.getPhysicsRotation control)

   340                               (Vector3f. 0 0 10))))

   341        (if @move-down?

   342          (.applyTorque control

   343                        (.mult (.getPhysicsRotation control)

   344                               (Vector3f. 0 0 -10))))

   345        (if @move-left?

   346          (.applyTorque control

   347                        (.mult (.getPhysicsRotation control)

   348                               (Vector3f. 0 10 0))))

   349        (if @move-right?

   350          (.applyTorque control

   351                        (.mult (.getPhysicsRotation control)

   352                               (Vector3f. 0 -10 0))))

   353        (if @roll-left?

   354          (.applyTorque control

   355                        (.mult (.getPhysicsRotation control)

   356                               (Vector3f. -1 0 0))))

   357        (if @roll-right?

   358          (.applyTorque control

   359                        (.mult (.getPhysicsRotation control)

   360                               (Vector3f. 1 0 0))))))))

   361 #+end_src

   362   

   363 

   364 * COMMENT generate source

   365 #+begin_src clojure :tangle ../src/cortex/integration.clj

   366 <<integration>>

   367 #+end_src

   368 

   369 

   370   

   371
author	Robert McIntyre <rlm@mit.edu>
date	Thu, 16 Feb 2012 11:04:22 -0700
parents	67a4e92d4628
children	d1206b11ae2d