#+begin_src clojure

 (ns cortex.depth-map

   "lol depth maps."

   {:author "Robert McIntyre"}

   (:use (cortex world util body sense vision touch))

   (:import (com.jme3.scene Geometry Node Mesh))

   (:import com.jme3.collision.CollisionResults)

   (:import com.jme3.scene.VertexBuffer$Type)

 

   (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))

 

 (cortex.import/mega-import-jme3)

 

 (defn convert-pixel-to-ray

   [camera x y]

   (let [pixel-arrow

         (.getWorldCoordinates

          camera

          (Vector2f. (float x) (float y))

          ;; this is the "z depth" and can be anything, since

          ;; we only care about direction

          (float 1))

         ;; now that we have the direction of a pixel, subtract

         ray (Ray.)]

     (set-ray ray Matrix4f/IDENTITY (.getLocation camera)

              pixel-arrow) ray))

 

 

 (defn generate-depth-map-points

   "Generate a data structure representating the depth of the first

   object to collide with a ray from the camera's current position."

   [world camera]

   (let [width (.getWidth camera)

         height (.getHeight camera)

         pixels (for [x (range width) y (range height)]

                  [x y])

         

         depths

         (for [[x y] pixels]

           (let [ray (convert-pixel-to-ray camera x y)

                 results (CollisionResults.)]

             (.collideWith world ray results)

             (.getDistance (.getClosestCollision results))))]

     (zipmap pixels depths)))

 

 (defn test-world []

   (nodify [(floor*) (brick-wall*)]))

 

 (defn run-depth-map-test []

 #+end_src