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 (def control-list

    35  [

    36   0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>

    37   1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

    38   0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>

    39   0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>

    40   0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>

    41   0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

    42   0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>

    43   0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>

    44   0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>

    45   0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

    46   0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

    47   0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>

    48   0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>

    49   0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

    50   0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

    51   0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>

    52   0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>

    53   0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

    54   0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>

    55   0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>

    56   0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

    57   0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

    58   0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>

    59   0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>

    60   0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

    61   0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>

    62   0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>

    63   0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

    64   0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>

    65   ])

    66 

    67 (defn test-everything! 

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

    69   ([record?]

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

    71 

    72         bell (AudioNode. (asset-manager)

    73                          "Sounds/pure.wav" false)

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

    75                    (body!))

    76         

    77         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    78         ;;touch (touch! creature)

    79         ;;touch-display (view-touch)

    80 

    81         ;;vision (vision! creature)

    82         ;;vision-display (view-vision)

    83 

    84         ;;hearing (hearing! creature)

    85         ;;hearing-display (view-hearing)

    86 

    87         prop (proprioception! creature)

    88         prop-display (view-proprioception)

    89 

    90         muscle-exertion (atom 0)

    91         muscles (movement! creature)

    92         muscle-display (view-movement)

    93         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    94 

    95         fix-display (gen-fix-display)]

    96     (world

    97      (nodify [creature

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

    99                    :color ColorRGBA/Gray :mass 0)

   100               me])

   101      (merge standard-debug-controls

   102             {"key-return"

   103              (fn [_ value]

   104                (if value

   105                    (.play bell)))

   106              "key-h"

   107              (fn [_ value]

   108                (if value

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

   110              "key-n"

   111              (fn [_ value]

   112                (if value

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

   114      (fn [world]

   115        (.setTimer world (RatchetTimer. 60))

   116        (light-up-everything world)

   117        (enable-debug world)

   118        (add-camera! world

   119                     (add-eye! creature

   120                               (.getChild 

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

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

   123        (speed-up world))

   124      (fn [world tpf]

   125        ;;(prop-display (prop))

   126        ;;(touch-display (map #(% (.getRootNode world)) touch))

   127        ;;(vision-display (map #(% world) vision))

   128        ;;(hearing-display (map #(% world) hearing))

   129 

   130        (muscle-display

   131         (map (fn [effector control]

   132                (effector (int (* @muscle-exertion control))))

   133              muscles

   134              control-list))

   135              

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

   137        (fix-display world))))))

   138 #+end_src

   139 

   140 #+results: integration

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

   142 

   143 * COMMENT purgatory

   144 #+begin_src clojure

   145 (defn bullet-trans* []

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

   147                    :position (Vector3f. 5 0 0)

   148                    :mass 90)

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

   150                       :position (Vector3f. -5 0 0)

   151                       :mass 0)

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

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

   154         move-up? (atom nil)

   155         move-down? (atom nil)

   156         move-left? (atom nil)

   157         move-right? (atom nil)

   158         roll-left? (atom nil)

   159         roll-right? (atom nil)

   160         force 100

   161         swivel

   162         (.toRotationMatrix

   163          (doto (Quaternion.)

   164            (.fromAngleAxis (/ Math/PI 2)

   165                            Vector3f/UNIT_X)))

   166         x-move

   167         (doto (Matrix3f.)

   168           (.fromStartEndVectors Vector3f/UNIT_X

   169                                 (.normalize (Vector3f. 1 1 0))))

   170         

   171         timer (atom 0)]

   172     (doto 

   173         (ConeJoint.

   174          control-a control-b

   175          (Vector3f. -8 0 0)

   176          (Vector3f. 2 0 0)

   177          ;;swivel swivel

   178          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   179          x-move Matrix3f/IDENTITY 

   180          )

   181       (.setCollisionBetweenLinkedBodys false)

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

   183                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   184                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   185     (world (nodify

   186             [obj-a obj-b])

   187            (merge standard-debug-controls

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

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

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

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

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

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

   194            

   195            (fn [world]

   196              (enable-debug world)

   197              (set-gravity world Vector3f/ZERO)

   198              )

   199                            

   200            (fn [world _]

   201 

   202              (if @move-up?

   203                (.applyForce control-a

   204                               (Vector3f. force 0 0)

   205                               (Vector3f. 0 0 0)))

   206              (if @move-down?

   207                (.applyForce control-a

   208                              (Vector3f. (- force) 0 0)

   209                              (Vector3f. 0 0 0)))

   210              (if @move-left?

   211                (.applyForce control-a

   212                              (Vector3f. 0 force 0)

   213                              (Vector3f. 0 0 0)))

   214              (if @move-right?

   215                (.applyForce control-a

   216                              (Vector3f. 0 (- force) 0)

   217                              (Vector3f. 0 0 0)))

   218 

   219              (if @roll-left?

   220                (.applyForce control-a

   221                              (Vector3f. 0 0 force)

   222                              (Vector3f. 0 0 0)))

   223              (if @roll-right?

   224                (.applyForce control-a

   225                              (Vector3f. 0 0 (- force))

   226                              (Vector3f. 0 0 0)))

   227 

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

   229                (.attachChild

   230                 (.getRootNode world)

   231                 (sphere 0.05 :color ColorRGBA/Yellow

   232                         :physical? false :position

   233                         (.getWorldTranslation obj-a)))))

   234            )

   235     ))

   236 

   237 (defn test-joint [joint]

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

   239         control (.getControl top RigidBodyControl)

   240         move-up? (atom false)

   241         move-down? (atom false)

   242         move-left? (atom false)

   243         move-right? (atom false)

   244         roll-left? (atom false)

   245         roll-right? (atom false)

   246         timer (atom 0)]

   247 

   248     (world

   249      (nodify [top bottom floor origin])

   250      (merge standard-debug-controls

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

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

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

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

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

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

   257      

   258      (fn [world]

   259        (light-up-everything world)

   260        (enable-debug world)

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

   262        )

   263      

   264      (fn [world _]

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

   266          (do

   267          ;;  (println-repl @timer)

   268            (.attachChild (.getRootNode world)

   269                        (sphere 0.05 :color ColorRGBA/Yellow

   270                                :position (.getWorldTranslation top)

   271                                :physical? false))

   272            (.attachChild (.getRootNode world)

   273                          (sphere 0.05 :color ColorRGBA/LightGray

   274                                  :position (.getWorldTranslation bottom)

   275                                  :physical? false))))

   276 

   277        (if @move-up?

   278          (.applyTorque control

   279                        (.mult (.getPhysicsRotation control)

   280                               (Vector3f. 0 0 10))))

   281        (if @move-down?

   282          (.applyTorque control

   283                        (.mult (.getPhysicsRotation control)

   284                               (Vector3f. 0 0 -10))))

   285        (if @move-left?

   286          (.applyTorque control

   287                        (.mult (.getPhysicsRotation control)

   288                               (Vector3f. 0 10 0))))

   289        (if @move-right?

   290          (.applyTorque control

   291                        (.mult (.getPhysicsRotation control)

   292                               (Vector3f. 0 -10 0))))

   293        (if @roll-left?

   294          (.applyTorque control

   295                        (.mult (.getPhysicsRotation control)

   296                               (Vector3f. -1 0 0))))

   297        (if @roll-right?

   298          (.applyTorque control

   299                        (.mult (.getPhysicsRotation control)

   300                               (Vector3f. 1 0 0))))))))

   301 #+end_src

   302   

   303 

   304 * COMMENT generate source

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

   306 <<integration>>

   307 #+end_src

   308 

   309 

   310   

   311
author	Robert McIntyre <rlm@mit.edu>
date	Thu, 16 Feb 2012 09:59:44 -0700
parents	76a5edd6507d
children	1eed471e2ebf