Mercurial > cortex
view org/skin.org @ 14:3aa1ee6c6308
touch-debug partially works
author | Robert McIntyre <rlm@mit.edu> |
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date | Sun, 23 Oct 2011 11:30:42 -0700 |
parents | 0eb2eac53361 |
children | c32f3eb9fdeb |
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1 #+title: SKIN!2 #+author: Robert McIntyre3 #+email: rlm@mit.edu4 #+description: Simulating touch in JMonkeyEngine5 #+SETUPFILE: ../../aurellem/org/setup.org6 #+INCLUDE: ../../aurellem/org/level-0.org7 #+babel: :mkdirp yes :noweb yes9 let's see what checkboxes look like:11 * test [1/2]12 - [ ] item 113 - [X] item 216 * skin!18 #+srcname: skin-main19 #+begin_src clojure20 (ns body.skin)21 (use 'cortex.world)22 (use 'cortex.import)23 (use 'clojure.contrib.def)24 (cortex.import/mega-import-jme3)25 (rlm.rlm-commands/help)27 (import java.util.logging.Level)28 (import java.util.logging.Logger)29 (use 'hello.brick-wall)33 (defn triangles [#^Geometry geom]34 (let35 [mesh (.getMesh geom)36 triangles (transient [])]37 (dorun38 (for [n (range (.getTriangleCount mesh))]39 (let [tri (Triangle.)]40 (.getTriangle mesh n tri)41 (.calculateNormal tri)42 (.calculateCenter tri)43 (conj! triangles tri))))44 (persistent! triangles)))47 (defn get-ray-origin48 [geom tri]49 (let [new (Vector3f.)]50 (.calculateCenter tri)51 (.localToWorld geom (.getCenter tri) new)52 new))54 (defn get-ray-direction55 [geom tri]56 (let [n+c (Vector3f.)]57 (.calculateNormal tri)58 (.calculateCenter tri)59 (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)60 (.subtract n+c (get-ray-origin geom tri))61 ))63 (defn ray-origin-debug64 [ray color]65 (make-shape66 (assoc base-shape67 :shape (Sphere. 5 5 0.05)68 :name "arrow"69 :color color70 :texture false71 :physical? false72 :position73 (.getOrigin ray))))75 (defn ray-debug [ray color]76 (make-shape77 (assoc78 base-shape79 :name "debug-ray"80 :physical? false81 :shape (com.jme3.scene.shape.Line.82 (.getOrigin ray)83 (.add84 (.getOrigin ray)85 (.mult (.getDirection ray)86 (float (.getLimit ray))))))))89 (defn contact-color [contacts]90 (case contacts91 0 ColorRGBA/Gray92 1 ColorRGBA/Blue93 2 ColorRGBA/Green94 3 ColorRGBA/Yellow95 4 ColorRGBA/Orange96 5 ColorRGBA/Red97 6 ColorRGBA/Magenta98 7 ColorRGBA/Pink99 8 ColorRGBA/White))101 (defn normal-rays102 "returns rays"103 [limit #^Geometry geom]104 (vec105 (map106 (fn [tri]107 (doto108 (Ray. (get-ray-origin geom tri)109 (get-ray-direction geom tri))110 (.setLimit limit)))111 (triangles geom))))114 (defn collision-debug [node result]115 (println-repl "contact point: " (.getContactPoint result))118 )120 (defn update-ray-debug [node ray contacts]121 (let [origin (.getChild node 0)]122 (.setLocalTranslation origin (.getOrigin ray))123 (.setColor (.getMaterial origin) "Color" (contact-color contacts))))128 (defn init-node129 [debug-node rays]130 (println-repl "Init touch debug node.")131 (.detachAllChildren debug-node)132 (dorun133 (for [ray rays]134 (do135 (.attachChild136 debug-node137 (doto (Node.)138 (.attachChild (ray-origin-debug ray ColorRGBA/Gray))139 ;;(.attachChild (ray-debug ray ColorRGBA/Gray))140 ))))))144 (defn manage-ray-debug-node [debug-node geom touch-data limit]145 (let [rays (normal-rays limit geom)]146 (if (not= (count (.getChildren debug-node)) (count touch-data))147 (init-node debug-node rays))148 (dorun149 (for [n (range (count touch-data))]150 (update-ray-debug151 (.getChild debug-node n) (nth rays n) (nth touch-data n))))))154 (defn touch-percieve [limit geom node]155 (let [normals (normal-rays limit geom)]157 (doall158 (for [ray normals]159 (do160 (let [results (CollisionResults.)]161 (.collideWith node ray results)162 (let [answer (count (filter #(not (= geom (.getGeometry %))) results))163 ;;color (contact-color answer)164 ]165 ;;(dorun (map #(println-repl (.getName (.getGeometry %))) results))168 ;;(println-repl (.size results) "results for " ray)169 ;;(doall (map (partial collision-debug node) results))170 answer171 )))))))173 (defn enable-debug [world]174 (.enableDebug175 (.getPhysicsSpace176 (.getState177 (.getStateManager world)178 BulletAppState))179 (asset-manager)))181 (defn no-logging []182 (.setLevel (Logger/getLogger "com.jme3") Level/OFF))184 (defn set-accuracy [world new-accuracy]185 (let [physics-manager (.getState (.getStateManager world) BulletAppState)]186 (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))189 (defn transparent-sphere []190 (doto191 (make-shape192 (merge base-shape193 {:position (Vector3f. 0 2 0)194 :name "the blob."195 :material "Common/MatDefs/Misc/Unshaded.j3md"196 :texture "Textures/purpleWisp.png"197 :physical? true198 :mass 70199 :color ColorRGBA/Blue200 :shape (Sphere. 10 10 1)}))201 (-> (.getMaterial)202 (.getAdditionalRenderState)203 (.setBlendMode RenderState$BlendMode/Alpha))204 (.setQueueBucket RenderQueue$Bucket/Transparent)))206 (defn transparent-box []207 (doto208 (make-shape209 (merge base-shape210 {:position (Vector3f. 0 2 0)211 :name "box"212 :material "Common/MatDefs/Misc/Unshaded.j3md"213 :texture "Textures/purpleWisp.png"214 :physical? true215 :mass 70216 :color ColorRGBA/Blue217 :shape (Box. 1 1 1)}))218 (-> (.getMaterial)219 (.getAdditionalRenderState)220 (.setBlendMode RenderState$BlendMode/Alpha))221 (.setQueueBucket RenderQueue$Bucket/Transparent)))223 (defn transparent-floor []224 (doto225 (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0)226 :material "Common/MatDefs/Misc/Unshaded.j3md"227 :texture "Textures/redWisp.png"228 :name "floor")229 (-> (.getMaterial)230 (.getAdditionalRenderState)231 (.setBlendMode RenderState$BlendMode/Alpha))232 (.setQueueBucket RenderQueue$Bucket/Transparent)))234 (defn test-skin []235 (let [b236 ;;(transparent-box)237 (transparent-sphere)238 ;;(sphere)239 f (transparent-floor)240 ;;controls241 ;;(make-touch-sphere b)242 ;;(make-touch b)243 debug-node (Node.)244 node (doto (Node.) (.attachChild b) (.attachChild f))245 root-node (doto (Node.) (.attachChild node)246 (.attachChild debug-node))247 ]249 (world250 root-node251 {"key-return" (fire-cannon-ball)}252 ;;no-op253 (fn [world]254 ;; (Capture/SimpleCaptureVideo255 ;; world256 ;; (file-str "/home/r/proj/cortex/tmp/blob.avi"))257 ;; (no-logging)258 (enable-debug world)259 ;; (set-accuracy world (/ 1 60))260 )262 (fn [& _]263 (let [touch-data (touch-percieve 0.2 b node)]264 (println-repl touch-data)265 (manage-ray-debug-node debug-node b touch-data 0.2))266 (Thread/sleep 10)267 ;;(touch-print controls)268 ;;(color-touch controls)269 ))))271 #+end_src273 #+results: skin-main274 : #'body.skin/test-skin283 * COMMENT code generation284 #+begin_src clojure :tangle ../src/body/skin.clj :noweb yes285 <<skin-main>>286 #+end_src