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 

    35 ;; Let the hand fall palm-up

    36 

    37 ;; it curls its phalanges, starting with the pinky.

    38 

    39 ;; it lets these fall back down?

    40 

    41 ;; block falls down onto the hand, accompanied by a sound. The block

    42 ;; can be seen by the hand's eye.

    43 

    44 ;; hand FORCEFULLY catapults the  block so that it hits the camera.

    45 

    46 

    47 (defn motor-control-program

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

    49   [muscle-positions

    50    script]

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

    52         keyed-script (group-by first script)

    53         current-forces (atom {}) ]

    54     (fn [effectors]

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

    56         (dorun 

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

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

    59         (doall (map (fn [effector power]

    60                       (effector (int power)))

    61                     effectors

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

    63 

    64 (def muscle-positions

    65   [:pointer-2-e

    66    :pointer-2-f

    67    :thumb-1

    68    :thumb-1

    69    :pointer-1-e

    70    :pointer-1-f

    71    :thumb-2-e

    72    :thumb-2-f

    73    :middle-1-e

    74    :middle-1-f

    75    :pointer-3-f

    76    :pointer-3-e

    77    :middle-2-e

    78    :middle-2-f

    79    :middle-3-f

    80    :middle-3-e

    81    :pinky-2-e

    82    :pinky-2-f

    83    :pinky-3-f

    84    :pinky-3-e

    85    :ring-3-e

    86    :ring-3-f

    87    :ring-2-f

    88    :ring-2-e

    89    :ring-1-e

    90    :ring-1-f

    91    :thumb-1-e

    92    :thumb-1-f

    93    :pinky-1-f

    94    :pinky-1-e])

    95 

    96 (def full 9001)

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

    98 (def wiggle-each-finger-tip

    99   [[300 :pinky-3-f 50]

   100    [320 :pinky-2-f 80]

   101    [340 :pinky-1-f 100]

   102 

   103    [310 :ring-3-f 100]

   104    [330 :ring-2-f 120]

   105    [350 :ring-1-f 140]

   106 

   107    [330 :middle-3-f 120]

   108    [340 :middle-2-f 120]

   109    [360 :middle-1-f 30]

   110 

   111    [350 :pointer-3-f 120]

   112    [360 :pointer-2-f 120]

   113    [380 :pointer-1-f 30]

   114 

   115    [800 :pinky-3-f 0]

   116    [800 :pinky-2-f 0]

   117    [800 :pinky-1-f  0]

   118 

   119    [800 :ring-3-f  0]

   120    [800 :ring-2-f  0]

   121    [800 :ring-1-f  0]

   122 

   123    [800 :middle-3-f  0]

   124    [800 :middle-2-f  0]

   125    [800 :middle-1-f 0]

   126 

   127    [800 :pointer-3-f  0]

   128    [800 :pointer-2-f  0]

   129    [800 :pointer-1-f 0]

   130 

   131    

   132    [800 :pinky-3-e 50]

   133    [800 :pinky-2-e 80]

   134    [800 :pinky-1-e 100]

   135 

   136    [800 :ring-3-e 100]

   137    [800 :ring-2-e 120]

   138    [800 :ring-1-e 140]

   139 

   140    [800 :middle-3-e 120]

   141    [800 :middle-2-e 120]

   142    [800 :middle-1-e 30]

   143 

   144    [800 :pointer-3-e 120]

   145    [800 :pointer-2-e 120]

   146    [800 :pointer-1-e 30]

   147 

   148    [870 :pinky-3-e 0]

   149    [870 :pinky-2-e 0]

   150    [870 :pinky-1-e  0]

   151 

   152    [870 :ring-3-e  0]

   153    [870 :ring-2-e  0]

   154    [870 :ring-1-e  0]

   155 

   156    [870 :middle-3-e  0]

   157    [870 :middle-2-e  0]

   158    [870 :middle-1-e 0]

   159 

   160    [870 :pointer-3-e  0]

   161    [870 :pointer-2-e  0]

   162    [870 :pointer-1-e 0]

   163 

   164    [1500 :pointer-1-f full]

   165    [1500 :pointer-2-f full]

   166    [1500 :pointer-3-f full]

   167    

   168    [1500 :middle-1-f full]

   169    [1500 :middle-2-f full]

   170    [1500 :middle-3-f full]

   171    

   172    [1510 :pointer-1-f 0]

   173    [1510 :pointer-2-f 0]

   174    [1510 :pointer-3-f 0]

   175    

   176    [1510 :middle-1-f 0]

   177    [1510 :middle-2-f 0]

   178    [1510 :middle-3-f 0]

   179    ])

   180 

   181 (defn gen-summon-ball [debug?]

   182   (let [wait (atom 1100)]

   183     (fn [world]

   184       (if (= 0 (swap! wait dec))

   185         (let [brick

   186               (box 0.8 0.8 0.8 :mass 0.05

   187                                 :position (Vector3f. -0.5 0 0.5)

   188                                 :color (ColorRGBA/Red))

   189               bell (AudioNode. (asset-manager)

   190                                "Sounds/pure.wav" false)]

   191           (.play bell)

   192           (if debug?

   193             (.addControl

   194              brick

   195              (proxy [AbstractControl] []

   196                (controlUpdate [tpf]

   197                  (println-repl (.getWorldTranslation brick)))

   198                (controlRender [_ _]))))

   199           (add-element world brick))))))

   200           

   201 

   202 (def control-list

   203  [

   204   0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   205   0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   206   0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>

   207   0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>

   208   0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   209   0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   210   0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>

   211   0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>

   212   0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   213   0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   214   0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   215   0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   216   0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   217   0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   218   0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   219   0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   220   0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   221   0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   222   0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>

   223   0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>

   224   0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   225   0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   226   0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   227   0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   228   0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   229   0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   230   0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>

   231   0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>

   232   0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   233   0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   234   ])

   235 

   236 (import com.aurellem.capture.Capture)

   237 

   238 (defn test-everything! 

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

   240   ([record?]

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

   242 

   243         base (File. "/home/r/proj/cortex/render/hand")

   244         

   245         

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

   247                    (body!))

   248 

   249         summon-ball (gen-summon-ball false)

   250         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   251         touch (touch! creature)

   252         touch-display (view-touch)

   253 

   254         vision (vision! creature)

   255         vision-display (view-vision)

   256 

   257         hearing (hearing! creature)

   258         hearing-display (view-hearing)

   259 

   260         prop (proprioception! creature)

   261         prop-display (view-proprioception)

   262 

   263         control-script (motor-control-program

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

   265         muscles (movement! creature)

   266         muscle-display (view-movement)

   267         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   268 

   269         fix-display (gen-fix-display)]

   270     (world

   271      (nodify [creature

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

   273                    :color ColorRGBA/Gray :mass 0)

   274               me])

   275      standard-debug-controls

   276     

   277      (fn [world]

   278        (.setTimer world (RatchetTimer. 60))

   279        (position-camera

   280         world (Vector3f. -0.13217318, 5.816415, -5.3089414)

   281         (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))

   282 

   283        (light-up-everything world)

   284        (enable-debug world)

   285        (add-camera! world

   286                     (add-eye! creature

   287                               (.getChild 

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

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

   290 

   291        (if record?

   292          (Capture/captureVideo

   293           world (File. base "main")))

   294        (if record?

   295          (Capture/captureAudio

   296           world (File. base "main.wav"))))

   297      (fn [world tpf]

   298        (prop-display

   299         (prop)

   300         (if record? (File. base "proprio")))             

   301        (touch-display

   302         (map #(% (.getRootNode world)) touch)

   303         (if record? (File. base "touch")))

   304        (vision-display

   305         (map #(% world) vision)

   306         (if record? (File. base "vision")))

   307        (hearing-display

   308         (map #(% world) hearing)

   309         (if record? (File. base "hearing")))

   310        (muscle-display

   311         (control-script muscles)

   312         (if record? (File. base "muscle")))

   313          

   314        (summon-ball world)

   315        

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

   317        (fix-display world))))))

   318 

   319 

   320 (comment

   321 ;; list of touch targets

   322 0  middle-11 

   323 1  middle-21 

   324 2  middle-31

   325 3  pinky-11

   326 4  pinky-21

   327 5  pinky-31

   328 6  pointer-11

   329 7  pointer-21

   330 8  pointer-31

   331 9  ring-11

   332 10 ring-21

   333 11 ring-31

   334 12 thumb-11

   335 13 thumb-2.0011 

   336 

   337 

   338 ;; list of vision targets

   339 0  :all

   340 1  :green

   341 2  :blue

   342 3  :red 

   343 

   344 ;; list of proprio targets

   345 0  middle-11 -> middle-21

   346 1  middle-21 -> middle-31

   347 2  thumb-11 -> thumb-2.0011

   348 3  pointer-11 -> pointer-21

   349 4  pointer-21 -> pointer-31

   350 5  ring-21 -> ring-31

   351 6  ring-11 -> ring-21

   352 7  pinky-21 -> pinky-31

   353 8  pinky-11 -> pinky-21

   354 9  middle-11 -> palm1

   355 10 pinky-11 -> palm1

   356 11 palm1 -> pointer-11

   357 12 palm1 -> ring-11

   358 13 palm1 -> thumb-11

   359 

   360 

   361 ;; list of muscle targets

   362 0  :pointer-2-e

   363 1  :pointer-2-f

   364 2  :thumb-1

   365 3  :thumb-1

   366 4  :pointer-1-e

   367 5  :pointer-1-f

   368 6  :thumb-2-e

   369 7  :thumb-2-f

   370 8  :middle-1-e

   371 9  :middle-1-f

   372 10 :pointer-3-f

   373 11 :pointer-3-e

   374 12 :middle-2-e

   375 13 :middle-2-f

   376 14 :middle-3-f

   377 15 :middle-3-e

   378 16 :pinky-2-e

   379 17 :pinky-2-f

   380 18 :pinky-3-f

   381 19 :pinky-3-e

   382 20 :ring-3-e

   383 21 :ring-3-f

   384 22 :ring-2-f

   385 23 :ring-2-e

   386 24 :ring-1-e

   387 25 :ring-1-f

   388 26 :thumb-1-e

   389 27 :thumb-1-f

   390 28 :pinky-1-f

   391 29 :pinky-1-e

   392 )

   393 

   394 (def base (File. "/home/r/proj/cortex/render/hand"))

   395 

   396 (defn prepare-muscle [muscle]

   397   ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])

   398 

   399 (defn prepare-touch [touch]

   400   ["(" touch "-rotate" "180" ")"])

   401 

   402 (defn generate-top-finger [tip-flexor tip-extensor tip

   403                            joint-2-3

   404                            mid-flexor mid-extensor mid

   405                            joint-1-2]

   406   ["("

   407    "-size" "113x357" "xc:transparent"

   408    (prepare-muscle tip-flexor)   "-geometry" "+0+7"    "-composite"

   409    (prepare-muscle tip-extensor) "-geometry" "+98+7"   "-composite"

   410    (prepare-touch tip)           "-geometry" "+18+0"   "-composite"

   411 

   412    joint-2-3                     "-geometry" "+32+79" "-composite"

   413 

   414    (prepare-muscle mid-flexor)   "-geometry" "+19+131"    "-composite"

   415    (prepare-muscle mid-extensor) "-geometry" "+80+131"   "-composite"

   416    (prepare-touch mid)           "-geometry" "+39+133"   "-composite"

   417    

   418    joint-1-2                     "-geometry" "+32+193" "-composite"

   419    ")"])

   420 

   421 (defn file-names [#^File dir]

   422    (map #(.getCanonicalPath %) (next (sort (file-seq dir)))))

   423 

   424 (defn file-groups [& paths]

   425   (apply (partial map list )

   426          (map (comp file-names #(File. base %))

   427               paths)))

   428   

   429 

   430 (defn pinky []

   431   (file-groups

   432    "muscle/18"

   433    "muscle/19"

   434    "touch/5"

   435    "proprio/7"

   436    

   437    "muscle/17"

   438    "muscle/16"

   439    "touch/4"

   440    "proprio/8"

   441    

   442    "muscle/28"

   443    "muscle/29"

   444    "touch/3"

   445    "proprio/10"))

   446 

   447 (defn ring []

   448   (file-groups

   449    "muscle/21"

   450    "muscle/20"

   451    "touch/11"

   452    "proprio/5"

   453 

   454    "muscle/22"

   455    "muscle/23"

   456    "touch/10"

   457    "proprio/6"

   458 

   459    "muscle/25"

   460    "muscle/24"

   461    "touch/9"

   462    "proprio/12"))

   463 

   464 (defn middle []

   465   (file-groups

   466    "muscle/14"

   467    "muscle/15"

   468    "touch/2"

   469    "proprio/1"

   470 

   471    "muscle/12"

   472    "muscle/13"

   473    "touch/1"

   474    "proprio/0"

   475 

   476    "muscle/8"

   477    "muscle/9"

   478    "touch/0"

   479    "proprio/9"))

   480 

   481 (defn pointer []

   482   (file-groups

   483    "muscle/10"

   484    "muscle/11"

   485    "touch/8"

   486    "proprio/4"

   487 

   488    "muscle/1"

   489    "muscle/0"

   490    "touch/7"

   491    "proprio/3"

   492 

   493    "muscle/5"

   494    "muscle/4"

   495    "touch/6"

   496    "proprio/11"))

   497 

   498 (defn thumb []

   499   (file-groups

   500    "muscle/7"

   501    "muscle/6"

   502    "touch/13"

   503    "proprio/2"

   504 

   505    "muscle/27"

   506    "muscle/26"

   507    "muscle/3"

   508    "muscle/2"

   509    "touch/12"

   510    "proprio/13"))

   511 

   512 (defn generate-finger

   513   [tip-flexor tip-extensor tip

   514    joint-2-3

   515    mid-flexor mid-extensor mid

   516    joint-1-2

   517    base-flexor base-extensor base

   518    joint-palm-1]

   519   ["("

   520    "-size" "113x357" "xc:transparent"

   521    (generate-top-finger

   522     tip-flexor  tip-extensor tip

   523     joint-2-3

   524     mid-flexor mid-extensor mid

   525     joint-1-2)                    "-geometry" "+0+0"      "-composite"

   526    (prepare-muscle base-flexor)   "-geometry" "+19+245"   "-composite"

   527    (prepare-muscle base-extensor) "-geometry" "+80+245"   "-composite"

   528    (prepare-touch base)           "-geometry" "+39+247"   "-composite"

   529    joint-palm-1                   "-geometry" "+32+307"   "-composite"

   530    ")"])

   531 

   532 (defn generate-thumb

   533   [tip-flexor tip-extensor tip

   534    joint-1-2

   535    mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid

   536    joint-palm-1]

   537   ["("

   538    "-size" "113x357" "xc:transparent"

   539    (generate-top-finger

   540     tip-flexor  tip-extensor tip

   541     joint-1-2

   542     mid-flexor mid-extensor mid

   543     joint-palm-1)                   "-geometry" "+0+0"     "-composite"

   544    (prepare-muscle mid-flexor-2)    "-geometry" "+2+131"   "-composite"

   545    (prepare-muscle mid-extensor-2)  "-geometry" "+100+131" "-composite"

   546    ")"])

   547 

   548 (defn generate-hand

   549   [pinky-pieces

   550    ring-pieces

   551    middle-pieces

   552    pointer-pieces

   553    thumb-pieces]

   554   ["("

   555    "-size" "688x769" "xc:transparent"

   556    (apply generate-finger pinky-pieces)

   557    "-geometry" "+0+195" "-composite"

   558    (apply generate-finger ring-pieces)

   559    "-geometry" "+111+100" "-composite"

   560    (apply generate-finger middle-pieces)

   561    "-geometry" "+228+0"   "-composite"

   562    "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"

   563    "-rotate" "45" ")"

   564    "-geometry" "+300+420" "-composite"

   565    (apply generate-finger pointer-pieces)

   566    "-geometry" "+350+96"  "-composite"

   567    ")"])

   568 

   569 (defn generate-vision

   570   [all green blue red]

   571   ["("

   572    "-size" "204x192" "xc:transparent"

   573    all    "-geometry" "+0+0" "-composite"

   574    green  "-geometry" "+113+0" "-composite"

   575    blue   "-geometry" "+0+105" "-composite"

   576    red    "-geometry" "+113+105" "-composite"

   577    ")"])

   578   

   579 (def test-muscle (File. base "muscle/0/0000000.png"))

   580 (def test-proprio (File. base "proprio/0/0000000.png"))

   581 (def test-tip (File. base "touch/2/0000000.png"))

   582 (def test-mid (File. base "touch/0/0000000.png"))

   583 (def test-vision (File. base "vision/0/0000000.png"))

   584 (def test-hearing (File. base "hearing/0/0000000.png"))

   585 (def test-main (File. base "main/0000000.png"))

   586 

   587 (def test-target (File. base "output.png"))

   588 

   589 (def background (File. base "background.png"))

   590 

   591 (use 'clojure.contrib.shell-out)

   592 

   593 (defn vision []

   594   (file-groups

   595    "vision/0"

   596    "vision/1"

   597    "vision/2"

   598    "vision/3"))

   599 

   600 (defn hearing []

   601   (file-names (File. base "hearing/0")))

   602 

   603 (defn main []

   604   (file-names (File. base "main")))

   605 

   606 (defn targets []

   607   (map

   608    (comp #(.getCanonicalPath %)

   609          #(File. (str base "/out/" (format "%07d.png" %))))

   610    (range 0 (count (main)))))

   611 

   612 

   613 (defn final-image [main [all red green blue] hearing

   614                    pinky ring middle pointer thumb target]

   615   (println target)

   616   (apply

   617      sh

   618      (flatten

   619       ["convert"

   620        (.getCanonicalPath background)

   621        

   622        (generate-hand pinky ring middle pointer thumb)

   623        "-geometry" "+809+22" "-composite"

   624        

   625        (generate-vision all red green blue)

   626        "-geometry" "+974+599" "-composite"

   627 

   628        hearing

   629        "-geometry" "+784+819" "-composite"

   630 

   631        main

   632        "-geometry" "+78+202" "-composite"

   633               

   634        target])))

   635   

   636 (defn convert-files []

   637   (dorun

   638    (pmap final-image

   639          (main)

   640          (vision)

   641          (hearing)

   642          (pinky)

   643          (ring)

   644          (middle)

   645          (pointer)

   646          (thumb)

   647          (targets))))

   648 #+end_src

   649 

   650 

   651 #+begin_src sh

   652 cd /home/r/proj/cortex/render/hand

   653 

   654 ffmpeg -r 60 -i out/%07d.png -i main.wav -b:a 128k \

   655          -b:v 9000k -c:a libvorbis -c:v libtheora hand.ogg 

   656 #+end_src

   657 

   658 #+results: integration

   659 : #'cortex.integration/convert-files

   660 

   661 * COMMENT purgatory

   662 #+begin_src clojure

   663 (defn bullet-trans* []

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

   665                    :position (Vector3f. 5 0 0)

   666                    :mass 90)

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

   668                       :position (Vector3f. -5 0 0)

   669                       :mass 0)

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

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

   672         move-up? (atom nil)

   673         move-down? (atom nil)

   674         move-left? (atom nil)

   675         move-right? (atom nil)

   676         roll-left? (atom nil)

   677         roll-right? (atom nil)

   678         force 100

   679         swivel

   680         (.toRotationMatrix

   681          (doto (Quaternion.)

   682            (.fromAngleAxis (/ Math/PI 2)

   683                            Vector3f/UNIT_X)))

   684         x-move

   685         (doto (Matrix3f.)

   686           (.fromStartEndVectors Vector3f/UNIT_X

   687                                 (.normalize (Vector3f. 1 1 0))))

   688         

   689         timer (atom 0)]

   690     (doto 

   691         (ConeJoint.

   692          control-a control-b

   693          (Vector3f. -8 0 0)

   694          (Vector3f. 2 0 0)

   695          ;;swivel swivel

   696          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   697          x-move Matrix3f/IDENTITY 

   698          )

   699       (.setCollisionBetweenLinkedBodys false)

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

   701                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   702                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   703     (world (nodify

   704             [obj-a obj-b])

   705            (merge standard-debug-controls

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

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

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

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

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

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

   712            

   713            (fn [world]

   714              (enable-debug world)

   715              (set-gravity world Vector3f/ZERO)

   716              )

   717                            

   718            (fn [world _]

   719 

   720              (if @move-up?

   721                (.applyForce control-a

   722                               (Vector3f. force 0 0)

   723                               (Vector3f. 0 0 0)))

   724              (if @move-down?

   725                (.applyForce control-a

   726                              (Vector3f. (- force) 0 0)

   727                              (Vector3f. 0 0 0)))

   728              (if @move-left?

   729                (.applyForce control-a

   730                              (Vector3f. 0 force 0)

   731                              (Vector3f. 0 0 0)))

   732              (if @move-right?

   733                (.applyForce control-a

   734                              (Vector3f. 0 (- force) 0)

   735                              (Vector3f. 0 0 0)))

   736 

   737              (if @roll-left?

   738                (.applyForce control-a

   739                              (Vector3f. 0 0 force)

   740                              (Vector3f. 0 0 0)))

   741              (if @roll-right?

   742                (.applyForce control-a

   743                              (Vector3f. 0 0 (- force))

   744                              (Vector3f. 0 0 0)))

   745 

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

   747                (.attachChild

   748                 (.getRootNode world)

   749                 (sphere 0.05 :color ColorRGBA/Yellow

   750                         :physical? false :position

   751                         (.getWorldTranslation obj-a)))))

   752            )

   753     ))

   754 

   755 (defn test-joint [joint]

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

   757         control (.getControl top RigidBodyControl)

   758         move-up? (atom false)

   759         move-down? (atom false)

   760         move-left? (atom false)

   761         move-right? (atom false)

   762         roll-left? (atom false)

   763         roll-right? (atom false)

   764         timer (atom 0)]

   765 

   766     (world

   767      (nodify [top bottom floor origin])

   768      (merge standard-debug-controls

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

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

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

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

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

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

   775      

   776      (fn [world]

   777        (light-up-everything world)

   778        (enable-debug world)

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

   780        )

   781      

   782      (fn [world _]

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

   784          (do

   785          ;;  (println-repl @timer)

   786            (.attachChild (.getRootNode world)

   787                        (sphere 0.05 :color ColorRGBA/Yellow

   788                                :position (.getWorldTranslation top)

   789                                :physical? false))

   790            (.attachChild (.getRootNode world)

   791                          (sphere 0.05 :color ColorRGBA/LightGray

   792                                  :position (.getWorldTranslation bottom)

   793                                  :physical? false))))

   794 

   795        (if @move-up?

   796          (.applyTorque control

   797                        (.mult (.getPhysicsRotation control)

   798                               (Vector3f. 0 0 10))))

   799        (if @move-down?

   800          (.applyTorque control

   801                        (.mult (.getPhysicsRotation control)

   802                               (Vector3f. 0 0 -10))))

   803        (if @move-left?

   804          (.applyTorque control

   805                        (.mult (.getPhysicsRotation control)

   806                               (Vector3f. 0 10 0))))

   807        (if @move-right?

   808          (.applyTorque control

   809                        (.mult (.getPhysicsRotation control)

   810                               (Vector3f. 0 -10 0))))

   811        (if @roll-left?

   812          (.applyTorque control

   813                        (.mult (.getPhysicsRotation control)

   814                               (Vector3f. -1 0 0))))

   815        (if @roll-right?

   816          (.applyTorque control

   817                        (.mult (.getPhysicsRotation control)

   818                               (Vector3f. 1 0 0))))))))

   819 #+end_src

   820   

   821 

   822 * COMMENT generate source

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

   824 <<integration>>

   825 #+end_src

   826 

   827 

   828   

   829
author	Robert McIntyre <rlm@mit.edu>
date	Thu, 16 Feb 2012 21:14:28 -0700
parents	85f3ff3e3f26
children	c78917fb0615