#+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

 

 * COMMENT 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/simple-worm.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.)]

     (comment

     (dorun

      (map #(.addBoneName krc %)

           ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]

            ;;"mid2" "mid3" "tail" "head"]

         )))

     (.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 show-skeleton [node]

   (let [sd

 

         (doto

             (SkeletonDebugger. "aurellem-skel-debug"

                                (skel node))

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

     (.attachChild node sd)

     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-zzz [the-worm world value]

   (if (not value)

     (let [skeleton (skel the-worm)]

       (println-repl "enabling bones")

       (dorun

        (map

         #(.setUserControl (.getBone skeleton %) true)

         (range (.getBoneCount skeleton))))

 

 

       (let [b (.getBone skeleton 2)]

         (println-repl "moving " (.getName b))

         (println-repl (.getLocalPosition b))

         (.setUserTransforms b

                             Vector3f/UNIT_X

                             Quaternion/IDENTITY

                             ;;(doto (Quaternion.)

                              ;; (.fromAngles (/ Math/PI 2)

                              ;;              0

                              ;;              0

                                           

                             (Vector3f. 1 1 1))

         )

       

       (println-repl "hi! <3"))))

 

 

 (defn test-ragdoll []

   

   (let [the-worm

         

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

          (doto (show-skeleton (worm-blender))

            (.setLocalTranslation (Vector3f. 0 10 0))

          ;;(worm)

          ;;(oto)

          ;;(sinbad)

         )

     ]

 

 

     (.start 

      (world

       (doto (Node.)

         (.attachChild the-worm))

       {"key-return" (fire-cannon-ball)

        "key-space" (partial test-zzz the-worm)

        }

       (fn [world]

         (light-up-everything world)

         (PhysicsTestHelper/createPhysicsTestWorld

          (.getRootNode world)

          (asset-manager)

          (.getPhysicsSpace

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

         (set-gravity world Vector3f/ZERO)

         ;;(.setTimer world (NanoTimer.))

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

         )

       no-op

       )

   

      

      )))

     

 (defn joint-control

   [joint]

   (let [physics-space (ref nil)]

     (reify PhysicsControl

       (setPhysicsSpace [this space]

         (dosync

          (ref-set physics-space space))

         (.addJoint space joint))

       (update [this tpf])

       (setSpatial [this spatial])

       (render [this rm vp])

       (getPhysicsSpace [this] (deref physics-space))

       (isEnabled [this] true)

       (setEnabled [this state]))))

 

 (defn add-joint

   "Add a joint to a particular object. When the object is added to the

   PhysicsSpace of a simulation, the joint will also be added"

   [object joint]

   (let [control (joint-control joint)]

     (.addControl object control))

   object)

 

 (defn hinge-world

   []

   (let [sphere1 (sphere)

         sphere2 (sphere 1 :position (Vector3f. 3 3 3))

         joint (Point2PointJoint.

                (.getControl sphere1 RigidBodyControl)

                (.getControl sphere2 RigidBodyControl) 

                Vector3f/ZERO (Vector3f. 3 3 3))]

     (add-joint sphere1 joint)

     (doto (Node. "hinge-world")

       (.attachChild sphere1)

       (.attachChild sphere2))))

 

 (defn test-joint []

   (view (hinge-world)))

        

 

 

 

 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

 ;;; here is the ragdoll stuff

 

 (def worm-mesh (.getMesh (.getChild (worm-blender) 0)))

 (def mesh worm-mesh)

 

 (.getFloatBuffer mesh VertexBuffer$Type/Position)

 (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)

 (.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))

 

 

 (defn position [index]

   (.get

    (.getFloatBuffer worm-mesh VertexBuffer$Type/Position)

      index))

 

 (defn bones [index]

   (.get

    (.getData  (.getBuffer mesh VertexBuffer$Type/BoneIndex))

    index))

 

 (defn bone-weights [index]

   (.get

    (.getFloatBuffer mesh VertexBuffer$Type/BoneWeight)

    index))

 

 

 

 (defn vertex-bones [vertex]

   (vec (map (comp int bones) (range (* vertex 4) (+ (* vertex 4) 4)))))

 

 (defn vertex-weights [vertex]

   (vec (map (comp float bone-weights) (range (* vertex 4) (+ (* vertex 4) 4)))))

 

 (defn vertex-position [index]

   (let [offset (* index 3)]

     (Vector3f. (position offset)

                (position (inc offset))

                (position (inc(inc offset))))))

 

 (def vertex-info (juxt vertex-position vertex-bones vertex-weights))

 

 (defn bone-control-color [index]

   (get {[1 0 0 0] ColorRGBA/Red

         [1 2 0 0] ColorRGBA/Magenta

         [2 0 0 0] ColorRGBA/Blue}

        (vertex-bones index)

        ColorRGBA/White))

 

 (defn influence-color [index bone-num]

   (get

    {(float 0)   ColorRGBA/Blue

     (float 0.5) ColorRGBA/Green

     (float 1)   ColorRGBA/Red}

      ;; find the weight of the desired bone

    ((zipmap (vertex-bones index)(vertex-weights index))

     bone-num)

    ColorRGBA/Blue))

          

    

    

 

 (def worm-vertices (set (map vertex-info (range 60))))

 

 

 (defn test-info []

   (let [points (Node.)]

     (dorun

      (map #(.attachChild points %)

           (map #(sphere 0.01

                         :position (vertex-position %)

                         :color (influence-color % 1)

                         :physical? false)

                (range 60))))

     (view points)))

   

 

 

 

 

 

 

 

 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

 

 

 

 

 

 

 

 

 #+end_src

 

 

 

 

 

 

 

 

 * COMMENT generate Source.

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

 <<body-main>>

 #+end_src