Mercurial > cortex

     1 

     2 

     3 * A joint

     4 

     5 The point of this joint is that it uses exploratory motor movements to

     6 learn how to move to any particular position.

     7 

     8 visual-information -- list of functions which must each be called with the

     9 world the argument, each of which returns [topology data]. Each element

    10 of data is a number between 0 and 255 representing the intensity of

    11 the light recieved at that sensor.

    12 

    13 proprioception -- list of nullary functions, one for each joint, which

    14 return [heding pitch roll].

    15 

    16 touch -- list of functions which must each be called with a Node

    17 (normally the root node of the simulation) the argument, each of which

    18 returns [topology data]. Each element of data is a posive float

    19 between 0.0 and the max length of the "hairs" of which the touch sense

    20 is composed.

    21 

    22 movement -- list of functions, one for each muscle, which must be

    23 called with an integer between 0 and the total number of muscle fibers

    24 in the muscle. Each function returns a float which is (current-force/

    25 total-possible-force).

    26 

    27 

    28 #+name: load-creature

    29 #+begin_src clojure

    30 (in-ns 'cortex.joint)

    31 

    32 (def joint "Models/joint/joint.blend")

    33 

    34 (defn load-creature []

    35   (load-blender-model joint))

    36 

    37 

    38 

    39 

    40 

    41 (defn test-creature []

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

    43         creature (doto (load-creature) (body!))

    44 

    45       ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    46         touch (touch! creature)

    47         touch-display (view-touch)

    48 

    49         vision (vision! creature)

    50         vision-display (view-vision)

    51 

    52         ;;hearing (hearing! creature)

    53         ;;hearing-display (view-hearing)

    54 

    55         prop (proprioception! creature)

    56         prop-display (view-proprioception)

    57 

    58         muscles (movement! creature)

    59         muscle-display (view-movement)

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

    61 

    62         fix-display (gen-fix-display)

    63 

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

    65                    :color ColorRGBA/Gray :mass 0)]

    66     (world

    67      (nodify [floor me creature])

    68      standard-debug-controls

    69      (fn [world]

    70        (let [timer (RatchetTimer. 60)]

    71          (.setTimer world timer)

    72          (display-dilated-time world timer)))

    73      (fn [world tpf]

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

    75        (fix-display world)))))

    76 

    77     

    78 

    79 

    80 #+end_src

    81 

    82 

    83 

    84 

    85 

    86 

    87 * Headers

    88 #+name: joint-header

    89 #+begin_src clojure

    90 (ns cortex.joint

    91   (:require cortex.import)

    92   (:use (cortex world util import body sense

    93                 hearing touch vision proprioception movement))

    94   (:import java.io.File)

    95   (:import (com.aurellem.capture RatchetTimer IsoTimer)))

    96 

    97 

    98 (cortex.import/mega-import-jme3)

    99 (rlm.rlm-commands/help)

   100 #+end_src

   101 

   102 

   103 * COMMENT Generate Source

   104 

   105 #+begin_src clojure :tangle ../src/cortex/joint.clj

   106 <<joint-header>>

   107 <<load-creature>>

   108 #+end_src

   109
author	Robert McIntyre <rlm@mit.edu>
date	Mon, 23 Jul 2012 03:51:13 -0500
parents	ef958c44563d
children	d2806d5c5f74