#+title: First attempt at a creature!

 #+author: Robert McIntyre

 #+email: rlm@mit.edu

 #+description: 

 #+keywords: simulation, jMonkeyEngine3, clojure

 #+SETUPFILE: ../../aurellem/org/setup.org

 #+INCLUDE: ../../aurellem/org/level-0.org

 

 

 

 

 * Intro 

 So far, I've made the following senses -- 

  - Vision

  - Hearing

  - Touch

  - Proprioception

 

 And one effector: 

  - Movement

 

 However, the code so far has only enabled these senses, but has not

 actually implemented them.  For example, there is still a lot of work

 to be done for vision. I need to be able to create an /eyeball/ in

 simulation that can be moved around and see the world from different

 angles. I also need to determine weather to use log-polar or cartesian

 for the visual input, and I need to determine how/wether to

 disceritise the visual input.

 

 I also want to be able to visualize both the sensors and the

 effectors in pretty pictures. This semi-retarted creature will be my

 first attempt at bringing everything together.

 

 * The creature's body

 

 Still going to do an eve-like body in blender, but due to problems

 importing the joints, etc into jMonkeyEngine3, I'm going to do all

 the connecting here in clojure code, using the names of the individual

 components and trial and error. Later, I'll maybe make some sort of

 creature-building modifications to blender that support whatever

 discritized senses I'm going to make.

 

 #+name: integration

 #+begin_src clojure 

 (ns cortex.integration

   "let's play!"

   {:author "Robert McIntyre"}

   (:use (cortex world util body

                 hearing touch vision sense proprioception movement))

   (:import (com.jme3.math ColorRGBA Vector3f))

   (:import com.jme3.audio.AudioNode)

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

 

 (def hand "Models/creature1/one.blend")

 

 (def worm "Models/creature1/try-again.blend")

 

 (defn test-creature [thing]

   (let [x-axis

         (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)

         y-axis

         (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)

         z-axis

         (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)

 

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

         bell (AudioNode. (asset-manager)

                          "Sounds/pure.wav" false)

 

         fix-display

         (runonce (fn [world]

                    (add-camera! world (.getCamera world) no-op)))

         creature (doto (load-blender-model thing) (body!))

 

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

         touch (touch! creature)

         touch-display (view-touch)

 

         vision (vision! creature)

         vision-display (view-vision)

 

         hearing (hearing! creature)

         hearing-display (view-hearing)

 

         prop (proprioception! creature)

         prop-display (view-proprioception)

 

         muscle-exertion (atom 0)

         muscles (movement! creature)

         muscle-display (view-movement)]

 

     (apply

      world

      (with-movement

        (.getChild creature "worm-21")

        ["key-r" "key-t"

         "key-f" "key-g"

         "key-v" "key-b"]

        [10 10 10 10 1 1]

        [(nodify [creature

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

                       :color ColorRGBA/Gray :mass 0)

                  x-axis y-axis z-axis

                  me])

         (merge standard-debug-controls

                {"key-return"

                 (fn [_ value]

                   (if value

                     (do

                       (println-repl "play-sound")

                       (.play bell))))

                 "key-h"

                 (fn [_ value]

                   (if value

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

                 "key-n"

                 (fn [_ value]

                   (if value

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

         (fn [world]

           (light-up-everything world)

           (enable-debug world)

           (add-camera! world

                        (add-eye! creature

                                  (.getChild 

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

                    (comp (view-image) BufferedImage!))

           (.setTimer world (RatchetTimer. 60))

           (speed-up world)

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

           (comment 

             (com.aurellem.capture.Capture/captureVideo

              world (file-str "/home/r/proj/ai-videos/hand"))))

         (fn [world tpf]

           (prop-display (prop))

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

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

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

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

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

           (fix-display world))]))))

 #+end_src

 

 #+results: body-1

 : #'cortex.silly/follow-test

 

 

 * COMMENT purgatory

 #+begin_src clojure

 

 (defn bullet-trans* []

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

                    :position (Vector3f. 5 0 0)

                    :mass 90)

         obj-b (sphere 0.5 :color ColorRGBA/Blue

                       :position (Vector3f. -5 0 0)

                       :mass 0)

         control-a (.getControl obj-a RigidBodyControl)

         control-b (.getControl obj-b RigidBodyControl)

         move-up? (atom nil)

         move-down? (atom nil)

         move-left? (atom nil)

         move-right? (atom nil)

         roll-left? (atom nil)

         roll-right? (atom nil)

         force 100

         swivel

         (.toRotationMatrix

          (doto (Quaternion.)

            (.fromAngleAxis (/ Math/PI 2)

                            Vector3f/UNIT_X)))

         x-move

         (doto (Matrix3f.)

           (.fromStartEndVectors Vector3f/UNIT_X

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

         

         timer (atom 0)]

     (doto 

         (ConeJoint.

          control-a control-b

          (Vector3f. -8 0 0)

          (Vector3f. 2 0 0)

          ;;swivel swivel

          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

          x-move Matrix3f/IDENTITY 

          )

       (.setCollisionBetweenLinkedBodys false)

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

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

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

     (world (nodify

             [obj-a obj-b])

            (merge standard-debug-controls

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

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

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

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

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

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

            

            (fn [world]

              (enable-debug world)

              (set-gravity world Vector3f/ZERO)

              )

                            

            (fn [world _]

 

              (if @move-up?

                (.applyForce control-a

                               (Vector3f. force 0 0)

                               (Vector3f. 0 0 0)))

              (if @move-down?

                (.applyForce control-a

                              (Vector3f. (- force) 0 0)

                              (Vector3f. 0 0 0)))

              (if @move-left?

                (.applyForce control-a

                              (Vector3f. 0 force 0)

                              (Vector3f. 0 0 0)))

              (if @move-right?

                (.applyForce control-a

                              (Vector3f. 0 (- force) 0)

                              (Vector3f. 0 0 0)))

 

              (if @roll-left?

                (.applyForce control-a

                              (Vector3f. 0 0 force)

                              (Vector3f. 0 0 0)))

              (if @roll-right?

                (.applyForce control-a

                              (Vector3f. 0 0 (- force))

                              (Vector3f. 0 0 0)))

 

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

                (.attachChild

                 (.getRootNode world)

                 (sphere 0.05 :color ColorRGBA/Yellow

                         :physical? false :position

                         (.getWorldTranslation obj-a)))))

            )

     ))

 

 (defn test-joint [joint]

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

         control (.getControl top RigidBodyControl)

         move-up? (atom false)

         move-down? (atom false)

         move-left? (atom false)

         move-right? (atom false)

         roll-left? (atom false)

         roll-right? (atom false)

         timer (atom 0)]

 

     (world

      (nodify [top bottom floor origin])

      (merge standard-debug-controls

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

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

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

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

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

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

      

      (fn [world]

        (light-up-everything world)

        (enable-debug world)

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

        )

      

      (fn [world _]

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

          (do

          ;;  (println-repl @timer)

            (.attachChild (.getRootNode world)

                        (sphere 0.05 :color ColorRGBA/Yellow

                                :position (.getWorldTranslation top)

                                :physical? false))

            (.attachChild (.getRootNode world)

                          (sphere 0.05 :color ColorRGBA/LightGray

                                  :position (.getWorldTranslation bottom)

                                  :physical? false))))

 

        (if @move-up?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

                               (Vector3f. 0 0 10))))

        (if @move-down?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

                               (Vector3f. 0 0 -10))))

        (if @move-left?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

                               (Vector3f. 0 10 0))))

        (if @move-right?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

                               (Vector3f. 0 -10 0))))

        (if @roll-left?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

                               (Vector3f. -1 0 0))))

        (if @roll-right?

          (.applyTorque control

                        (.mult (.getPhysicsRotation control)

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

 #+end_src

   

 

 * COMMENT generate source

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

 <<integration>>

 #+end_src