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 (defn test-everything! 

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

    36   ([record?]

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

    38 

    39         bell (AudioNode. (asset-manager)

    40                          "Sounds/pure.wav" false)

    41 

    42 

    43 

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

    45                    (body!))

    46         

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

    48         touch (touch! creature)

    49         touch-display (view-touch)

    50 

    51         vision (vision! creature)

    52         vision-display (view-vision)

    53 

    54         hearing (hearing! creature)

    55         hearing-display (view-hearing)

    56 

    57         prop (proprioception! creature)

    58         prop-display (view-proprioception)

    59 

    60         muscle-exertion (atom 0)

    61         muscles (movement! creature)

    62         muscle-display (view-movement)

    63         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    64 

    65         fix-display (gen-fix-display)]

    66     (apply

    67      world

    68      (with-movement

    69        (.getChild creature "palm")

    70        ["key-r" "key-t"

    71         "key-f" "key-g"

    72         "key-v" "key-b"]

    73        [10 10 10 10 1 1]

    74        [(nodify [creature

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

    76                       :color ColorRGBA/Gray :mass 0)

    77                  me])

    78         (merge standard-debug-controls

    79                {"key-return"

    80                 (fn [_ value]

    81                   (if value

    82                     (do

    83                       (println-repl "play-sound")

    84                       (.play bell))))

    85                 "key-h"

    86                 (fn [_ value]

    87                   (if value

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

    89                 "key-n"

    90                 (fn [_ value]

    91                   (if value

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

    93         (fn [world]

    94           (.setTimer world (RatchetTimer. 60))

    95           (light-up-everything world)

    96           (enable-debug world)

    97           (add-camera! world

    98                        (add-eye! creature

    99                                  (.getChild 

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

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

   102           (speed-up world))

   103         (fn [world tpf]

   104           (prop-display (prop))

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

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

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

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

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

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

   111 #+end_src

   112 

   113 * COMMENT purgatory

   114 #+begin_src clojure

   115 (defn bullet-trans* []

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

   117                    :position (Vector3f. 5 0 0)

   118                    :mass 90)

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

   120                       :position (Vector3f. -5 0 0)

   121                       :mass 0)

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

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

   124         move-up? (atom nil)

   125         move-down? (atom nil)

   126         move-left? (atom nil)

   127         move-right? (atom nil)

   128         roll-left? (atom nil)

   129         roll-right? (atom nil)

   130         force 100

   131         swivel

   132         (.toRotationMatrix

   133          (doto (Quaternion.)

   134            (.fromAngleAxis (/ Math/PI 2)

   135                            Vector3f/UNIT_X)))

   136         x-move

   137         (doto (Matrix3f.)

   138           (.fromStartEndVectors Vector3f/UNIT_X

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

   140         

   141         timer (atom 0)]

   142     (doto 

   143         (ConeJoint.

   144          control-a control-b

   145          (Vector3f. -8 0 0)

   146          (Vector3f. 2 0 0)

   147          ;;swivel swivel

   148          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   149          x-move Matrix3f/IDENTITY 

   150          )

   151       (.setCollisionBetweenLinkedBodys false)

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

   153                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   154                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   155     (world (nodify

   156             [obj-a obj-b])

   157            (merge standard-debug-controls

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

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

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

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

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

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

   164            

   165            (fn [world]

   166              (enable-debug world)

   167              (set-gravity world Vector3f/ZERO)

   168              )

   169                            

   170            (fn [world _]

   171 

   172              (if @move-up?

   173                (.applyForce control-a

   174                               (Vector3f. force 0 0)

   175                               (Vector3f. 0 0 0)))

   176              (if @move-down?

   177                (.applyForce control-a

   178                              (Vector3f. (- force) 0 0)

   179                              (Vector3f. 0 0 0)))

   180              (if @move-left?

   181                (.applyForce control-a

   182                              (Vector3f. 0 force 0)

   183                              (Vector3f. 0 0 0)))

   184              (if @move-right?

   185                (.applyForce control-a

   186                              (Vector3f. 0 (- force) 0)

   187                              (Vector3f. 0 0 0)))

   188 

   189              (if @roll-left?

   190                (.applyForce control-a

   191                              (Vector3f. 0 0 force)

   192                              (Vector3f. 0 0 0)))

   193              (if @roll-right?

   194                (.applyForce control-a

   195                              (Vector3f. 0 0 (- force))

   196                              (Vector3f. 0 0 0)))

   197 

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

   199                (.attachChild

   200                 (.getRootNode world)

   201                 (sphere 0.05 :color ColorRGBA/Yellow

   202                         :physical? false :position

   203                         (.getWorldTranslation obj-a)))))

   204            )

   205     ))

   206 

   207 (defn test-joint [joint]

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

   209         control (.getControl top RigidBodyControl)

   210         move-up? (atom false)

   211         move-down? (atom false)

   212         move-left? (atom false)

   213         move-right? (atom false)

   214         roll-left? (atom false)

   215         roll-right? (atom false)

   216         timer (atom 0)]

   217 

   218     (world

   219      (nodify [top bottom floor origin])

   220      (merge standard-debug-controls

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

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

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

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

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

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

   227      

   228      (fn [world]

   229        (light-up-everything world)

   230        (enable-debug world)

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

   232        )

   233      

   234      (fn [world _]

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

   236          (do

   237          ;;  (println-repl @timer)

   238            (.attachChild (.getRootNode world)

   239                        (sphere 0.05 :color ColorRGBA/Yellow

   240                                :position (.getWorldTranslation top)

   241                                :physical? false))

   242            (.attachChild (.getRootNode world)

   243                          (sphere 0.05 :color ColorRGBA/LightGray

   244                                  :position (.getWorldTranslation bottom)

   245                                  :physical? false))))

   246 

   247        (if @move-up?

   248          (.applyTorque control

   249                        (.mult (.getPhysicsRotation control)

   250                               (Vector3f. 0 0 10))))

   251        (if @move-down?

   252          (.applyTorque control

   253                        (.mult (.getPhysicsRotation control)

   254                               (Vector3f. 0 0 -10))))

   255        (if @move-left?

   256          (.applyTorque control

   257                        (.mult (.getPhysicsRotation control)

   258                               (Vector3f. 0 10 0))))

   259        (if @move-right?

   260          (.applyTorque control

   261                        (.mult (.getPhysicsRotation control)

   262                               (Vector3f. 0 -10 0))))

   263        (if @roll-left?

   264          (.applyTorque control

   265                        (.mult (.getPhysicsRotation control)

   266                               (Vector3f. -1 0 0))))

   267        (if @roll-right?

   268          (.applyTorque control

   269                        (.mult (.getPhysicsRotation control)

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

   271 #+end_src

   272   

   273 

   274 * COMMENT generate source

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

   276 <<integration>>

   277 #+end_src

   278 

   279 

   280   

   281
author	Robert McIntyre <rlm@mit.edu>
date	Wed, 15 Feb 2012 11:13:12 -0700
parents	305439cec54d
children	2ad29b68ff22