Mercurial > cortex

     1 (ns org.aurellem.worm-learn

     2   "General worm creation framework."

     3   {:author "Robert McIntyre"}

     4   (:use (cortex world util import body sense

     5                 hearing touch vision proprioception movement))

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

     7   (:import java.io.File)

     8   (:import com.jme3.audio.AudioNode)

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

    10   (:import (com.aurellem.capture Capture IsoTimer))

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

    12   

    13 

    14 (dorun (cortex.import/mega-import-jme3))

    15 (rlm.rlm-commands/help)

    16 

    17 

    18 (def hand "Models/test-creature/hand.blend")

    19 

    20 (defn worm-model []

    21   (load-blender-model "Models/worm/worm.blend"))

    22 

    23 (def output-base (File. "/home/r/proj/cortex/render/worm-learn/"))

    24 

    25 

    26 (defn motor-control-program

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

    28   [muscle-positions

    29    script]

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

    31         keyed-script (group-by first script)

    32         current-forces (atom {}) ]

    33     (fn [effectors]

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

    35         (dorun 

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

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

    38         (doall (map (fn [effector power]

    39                       (effector (int power)))

    40                     effectors

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

    42 

    43 (def muscle-labels

    44   [:base-up :base-down

    45    :a-up :a-down

    46    :b-up :b-down

    47    :c-up :c-down

    48    :d-up :d-down

    49    ])

    50 

    51 (def curl-script

    52   [[370 :d-up 20]

    53    [390 :d-up 0]])

    54 

    55 (def period 18)

    56 

    57 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]

    58   (let [period period

    59         power 45]

    60     [[time-base flexor power]

    61      [(+ time-base period) flexor 0]

    62      [(+ time-base period 1) extensor power]

    63      [(+ time-base (+ (* 2 period) 2))  extensor 0]]))

    64   

    65 (def wiggle-script

    66   (mapcat gen-wiggle [[:d-up :d-down]

    67                       [:c-up :c-down]

    68                       [:b-up :b-down]

    69                       [:a-up :a-down]] (range 100 1000 12)))

    70 

    71 (def wiggle-script

    72   (mapcat gen-wiggle (repeat 40 [:a-down :a-up])

    73                      (range 100 10000 (+ 3 (* period 2)))))

    74 

    75 

    76 

    77 (defn worm-world

    78   ""

    79   ([] (worm-world curl-script))

    80   ([motion-script]

    81      (let [record? false

    82            worm (doto (worm-model) (body!))

    83            touch   '();;(touch! worm)

    84            prop    (proprioception! worm)

    85            muscles (movement! worm)

    86            

    87            touch-display  (view-touch)

    88            prop-display   (view-proprioception)

    89            muscle-display (view-movement)

    90 

    91            floor (box 10 1 10 :position (Vector3f. 0 -10 0)

    92                       :color ColorRGBA/Gray :mass 0)

    93 

    94            control-script (motor-control-program

    95                            muscle-labels motion-script)]

    96        (world

    97         (nodify [worm floor])

    98         standard-debug-controls

    99         

   100         (fn [world]

   101           ;; (set-gravity world Vector3f/ZERO)

   102           ;; (position-camera

   103           ;;  world (Vector3f. 4.207176, -3.7366982, 3.0816958)

   104           ;;  (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771))

   105 

   106 

   107 

   108           (position-camera

   109            world (Vector3f. 4.207176, -3.7366982, 3.0816958)

   110            (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518))

   111 

   112 

   113 

   114 

   115           (let [timer (IsoTimer. 60)]

   116             (.setTimer world timer)

   117             (display-dilated-time world timer))

   118           (if record?

   119             (Capture/captureVideo

   120              world

   121              (File. output-base "main-view")))

   122           (speed-up world)

   123           (light-up-everything world))

   124         

   125         (fn [world tpf]

   126           (muscle-display

   127            (control-script muscles)

   128            (if record? (File. output-base "muscle")))

   129           (prop-display

   130            (prop)

   131            (if record? (File. output-base "proprio")))             

   132           (touch-display 

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

   134            (if record?

   135              (File. output-base "touch"))))))))
author	Robert McIntyre <rlm@mit.edu>
date	Tue, 04 Mar 2014 23:04:43 -0500
parents	36d492f4deab
children	6ba908c1a0a9