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 test-everything! 

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

    36   ([record?]

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

    38 

    39         bell (AudioNode. (asset-manager)

    40                          "Sounds/pure.wav" false)

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

    42                    (body!))

    43         

    44         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    45         touch (touch! creature)

    46         touch-display (view-touch)

    47 

    48         vision (vision! creature)

    49         vision-display (view-vision)

    50 

    51         hearing (hearing! creature)

    52         hearing-display (view-hearing)

    53 

    54         prop (proprioception! creature)

    55         prop-display (view-proprioception)

    56 

    57         muscle-exertion (atom 0)

    58         muscles (movement! creature)

    59         muscle-display (view-movement)

    60         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    61 

    62         fix-display (gen-fix-display)]

    63     (world

    64      (nodify [creature

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

    66                    :color ColorRGBA/Gray :mass 0)

    67               me])

    68      (merge standard-debug-controls

    69             {"key-return"

    70              (fn [_ value]

    71                (if value

    72                    (.play bell)))

    73              "key-h"

    74              (fn [_ value]

    75                (if value

    76                  (swap!  muscle-exertion (partial + 20))))

    77              "key-n"

    78              (fn [_ value]

    79                (if value

    80                  (swap! muscle-exertion (fn [v] (- v 20)))))})

    81      (fn [world]

    82        (.setTimer world (RatchetTimer. 60))

    83        (light-up-everything world)

    84        (enable-debug world)

    85        (add-camera! world

    86                     (add-eye! creature

    87                               (.getChild 

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

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

    90        (speed-up world))

    91      (fn [world tpf]

    92        (prop-display (prop))

    93        (touch-display (map #(% (.getRootNode world)) touch))

    94        (vision-display (map #(% world) vision))

    95        (hearing-display (map #(% world) hearing))

    96        (muscle-display (map #(% @muscle-exertion) muscles))

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

    98        (fix-display world))))))

    99 #+end_src

   100 

   101 #+results: integration

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

   103 

   104 * COMMENT purgatory

   105 #+begin_src clojure

   106 (defn bullet-trans* []

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

   108                    :position (Vector3f. 5 0 0)

   109                    :mass 90)

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

   111                       :position (Vector3f. -5 0 0)

   112                       :mass 0)

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

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

   115         move-up? (atom nil)

   116         move-down? (atom nil)

   117         move-left? (atom nil)

   118         move-right? (atom nil)

   119         roll-left? (atom nil)

   120         roll-right? (atom nil)

   121         force 100

   122         swivel

   123         (.toRotationMatrix

   124          (doto (Quaternion.)

   125            (.fromAngleAxis (/ Math/PI 2)

   126                            Vector3f/UNIT_X)))

   127         x-move

   128         (doto (Matrix3f.)

   129           (.fromStartEndVectors Vector3f/UNIT_X

   130                                 (.normalize (Vector3f. 1 1 0))))

   131         

   132         timer (atom 0)]

   133     (doto 

   134         (ConeJoint.

   135          control-a control-b

   136          (Vector3f. -8 0 0)

   137          (Vector3f. 2 0 0)

   138          ;;swivel swivel

   139          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   140          x-move Matrix3f/IDENTITY 

   141          )

   142       (.setCollisionBetweenLinkedBodys false)

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

   144                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   145                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   146     (world (nodify

   147             [obj-a obj-b])

   148            (merge standard-debug-controls

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

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

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

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

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

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

   155            

   156            (fn [world]

   157              (enable-debug world)

   158              (set-gravity world Vector3f/ZERO)

   159              )

   160                            

   161            (fn [world _]

   162 

   163              (if @move-up?

   164                (.applyForce control-a

   165                               (Vector3f. force 0 0)

   166                               (Vector3f. 0 0 0)))

   167              (if @move-down?

   168                (.applyForce control-a

   169                              (Vector3f. (- force) 0 0)

   170                              (Vector3f. 0 0 0)))

   171              (if @move-left?

   172                (.applyForce control-a

   173                              (Vector3f. 0 force 0)

   174                              (Vector3f. 0 0 0)))

   175              (if @move-right?

   176                (.applyForce control-a

   177                              (Vector3f. 0 (- force) 0)

   178                              (Vector3f. 0 0 0)))

   179 

   180              (if @roll-left?

   181                (.applyForce control-a

   182                              (Vector3f. 0 0 force)

   183                              (Vector3f. 0 0 0)))

   184              (if @roll-right?

   185                (.applyForce control-a

   186                              (Vector3f. 0 0 (- force))

   187                              (Vector3f. 0 0 0)))

   188 

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

   190                (.attachChild

   191                 (.getRootNode world)

   192                 (sphere 0.05 :color ColorRGBA/Yellow

   193                         :physical? false :position

   194                         (.getWorldTranslation obj-a)))))

   195            )

   196     ))

   197 

   198 (defn test-joint [joint]

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

   200         control (.getControl top RigidBodyControl)

   201         move-up? (atom false)

   202         move-down? (atom false)

   203         move-left? (atom false)

   204         move-right? (atom false)

   205         roll-left? (atom false)

   206         roll-right? (atom false)

   207         timer (atom 0)]

   208 

   209     (world

   210      (nodify [top bottom floor origin])

   211      (merge standard-debug-controls

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

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

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

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

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

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

   218      

   219      (fn [world]

   220        (light-up-everything world)

   221        (enable-debug world)

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

   223        )

   224      

   225      (fn [world _]

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

   227          (do

   228          ;;  (println-repl @timer)

   229            (.attachChild (.getRootNode world)

   230                        (sphere 0.05 :color ColorRGBA/Yellow

   231                                :position (.getWorldTranslation top)

   232                                :physical? false))

   233            (.attachChild (.getRootNode world)

   234                          (sphere 0.05 :color ColorRGBA/LightGray

   235                                  :position (.getWorldTranslation bottom)

   236                                  :physical? false))))

   237 

   238        (if @move-up?

   239          (.applyTorque control

   240                        (.mult (.getPhysicsRotation control)

   241                               (Vector3f. 0 0 10))))

   242        (if @move-down?

   243          (.applyTorque control

   244                        (.mult (.getPhysicsRotation control)

   245                               (Vector3f. 0 0 -10))))

   246        (if @move-left?

   247          (.applyTorque control

   248                        (.mult (.getPhysicsRotation control)

   249                               (Vector3f. 0 10 0))))

   250        (if @move-right?

   251          (.applyTorque control

   252                        (.mult (.getPhysicsRotation control)

   253                               (Vector3f. 0 -10 0))))

   254        (if @roll-left?

   255          (.applyTorque control

   256                        (.mult (.getPhysicsRotation control)

   257                               (Vector3f. -1 0 0))))

   258        (if @roll-right?

   259          (.applyTorque control

   260                        (.mult (.getPhysicsRotation control)

   261                               (Vector3f. 1 0 0))))))))

   262 #+end_src

   263   

   264 

   265 * COMMENT generate source

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

   267 <<integration>>

   268 #+end_src

   269 

   270 

   271   

   272
author	Robert McIntyre <rlm@mit.edu>
date	Thu, 16 Feb 2012 06:58:00 -0700
parents	decdbb24ef7c
children	76a5edd6507d