#+title: 

 #+author: Robert McIntyre

 #+email: rlm@mit.edu

 #+description: 

 #+keywords: simulation, jMonkeyEngine3, clojure

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

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

 

 * Intro 

 

 This is the ultimate test which features all of the senses that I've

 made so far. The blender file for the creature serves as an example of

 a fully equipped creature in terms of senses. You can find it [[../assets/Models/test-creature/hand.blend][here]].

 

 #+name: integration

 #+begin_src clojure 

 (ns cortex.integration

   "let's play!"

   {:author "Robert McIntyre"}

   (:use (cortex world util body sense

                 hearing touch vision proprioception movement))

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

   (:import java.io.File)

   (:import com.jme3.audio.AudioNode)

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

 

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

 (rlm.rlm-commands/help)

 

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

 

 (def output-base (File. "/home/r/proj/cortex/render/hand"))

 

 

 ;; Let the hand fall palm-up

 

 ;; it curls its phalanges, starting with the pinky.

 

 ;; it lets these fall back down?

 

 ;; block falls down onto the hand, accompanied by a sound. The block

 ;; can be seen by the hand's eye.

 

 ;; hand FORCEFULLY catapults the  block so that it hits the camera.

 

 

 (defn motor-control-program

   "Create a function which will execute the motor script"

   [muscle-positions

    script]

   (let [current-frame (atom -1)

         keyed-script (group-by first script)

         current-forces (atom {}) ]

     (fn [effectors]

       (let [indexed-effectors (vec effectors)]

         (dorun 

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

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

         (doall (map (fn [effector power]

                       (effector (int power)))

                     effectors

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

 

 (def muscle-positions

   [:pointer-2-e

    :pointer-2-f

    :thumb-1

    :thumb-1

    :pointer-1-e

    :pointer-1-f

    :thumb-2-e

    :thumb-2-f

    :middle-1-e

    :middle-1-f

    :pointer-3-f

    :pointer-3-e

    :middle-2-e

    :middle-2-f

    :middle-3-f

    :middle-3-e

    :pinky-2-e

    :pinky-2-f

    :pinky-3-f

    :pinky-3-e

    :ring-3-e

    :ring-3-f

    :ring-2-f

    :ring-2-e

    :ring-1-e

    :ring-1-f

    :thumb-1-e

    :thumb-1-f

    :pinky-1-f

    :pinky-1-e])

 

 (def full 9001)

 ;; the systax here is [keyframe body-part force]

 (def wiggle-each-finger-tip

   [[300 :pinky-3-f 50]

    [320 :pinky-2-f 80]

    [340 :pinky-1-f 100]

 

    [310 :ring-3-f 100]

    [330 :ring-2-f 120]

    [350 :ring-1-f 140]

 

    [330 :middle-3-f 120]

    [340 :middle-2-f 120]

    [360 :middle-1-f 30]

 

    [350 :pointer-3-f 120]

    [360 :pointer-2-f 120]

    [380 :pointer-1-f 30]

 

    [800 :pinky-3-f 0]

    [800 :pinky-2-f 0]

    [800 :pinky-1-f  0]

 

    [800 :ring-3-f  0]

    [800 :ring-2-f  0]

    [800 :ring-1-f  0]

 

    [800 :middle-3-f  0]

    [800 :middle-2-f  0]

    [800 :middle-1-f 0]

 

    [800 :pointer-3-f  0]

    [800 :pointer-2-f  0]

    [800 :pointer-1-f 0]

 

    

    [800 :pinky-3-e 50]

    [800 :pinky-2-e 80]

    [800 :pinky-1-e 100]

 

    [800 :ring-3-e 100]

    [800 :ring-2-e 120]

    [800 :ring-1-e 140]

 

    [800 :middle-3-e 120]

    [800 :middle-2-e 120]

    [800 :middle-1-e 30]

 

    [800 :pointer-3-e 120]

    [800 :pointer-2-e 120]

    [800 :pointer-1-e 30]

 

    [870 :pinky-3-e 0]

    [870 :pinky-2-e 0]

    [870 :pinky-1-e  0]

 

    [870 :ring-3-e  0]

    [870 :ring-2-e  0]

    [870 :ring-1-e  0]

 

    [870 :middle-3-e  0]

    [870 :middle-2-e  0]

    [870 :middle-1-e 0]

 

    [870 :pointer-3-e  0]

    [870 :pointer-2-e  0]

    [870 :pointer-1-e 0]

 

    [1500 :pointer-1-f full]

    [1500 :pointer-2-f full]

    [1500 :pointer-3-f full]

    

    [1500 :middle-1-f full]

    [1500 :middle-2-f full]

    [1500 :middle-3-f full]

    

    [1510 :pointer-1-f 0]

    [1510 :pointer-2-f 0]

    [1510 :pointer-3-f 0]

    

    [1510 :middle-1-f 0]

    [1510 :middle-2-f 0]

    [1510 :middle-3-f 0]

    ])

 

 (defn gen-summon-ball [debug?]

   (let [wait (atom 1100)]

     (fn [world]

       (if (= 0 (swap! wait dec))

         (let [brick

               (box 0.8 0.8 0.8 :mass 0.05

                                 :position (Vector3f. -0.5 0 0.5)

                                 :color (ColorRGBA/Red))

               bell (AudioNode. (asset-manager)

                                "Sounds/pure.wav" false)]

           (.play bell)

           (if debug?

             (.addControl

              brick

              (proxy [AbstractControl] []

                (controlUpdate [tpf]

                  (println-repl (.getWorldTranslation brick)))

                (controlRender [_ _]))))

           (add-element world brick))))))

           

 

 (def control-list

  [

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

   0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>

   0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>

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

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

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

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

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

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

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

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

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

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

   ])

 

 (import com.aurellem.capture.Capture)

 

 (defn test-everything! 

   ([] (test-everything! false))

   ([record?]

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

 

         base (File. "/home/r/proj/cortex/render/hand")

         

         

         creature (doto (load-blender-model hand) 

                    (body!))

 

         summon-ball (gen-summon-ball false)

         ;;;;;;;;;;;;  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)

 

         control-script (motor-control-program

                         muscle-positions wiggle-each-finger-tip)

         muscles (movement! creature)

         muscle-display (view-movement)

         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

 

         fix-display (gen-fix-display)]

     (world

      (nodify [creature

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

                    :color ColorRGBA/Gray :mass 0)

               me])

      standard-debug-controls

     

      (fn [world]

        (.setTimer world (RatchetTimer. 60))

        (position-camera

         world (Vector3f. -0.13217318, 5.816415, -5.3089414)

         (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))

 

        (light-up-everything world)

        (enable-debug world)

        (add-camera! world

                     (add-eye! creature

                               (.getChild 

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

                     (comp (view-image) BufferedImage!))

 

        (if record?

          (Capture/captureVideo

           world (File. base "main")))

        (if record?

          (Capture/captureAudio

           world (File. base "main.wav"))))

      (fn [world tpf]

        (prop-display

         (prop)

         (if record? (File. base "proprio")))             

        (touch-display

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

         (if record? (File. base "touch")))

        (vision-display

         (map #(% world) vision)

         (if record? (File. base "vision")))

        (hearing-display

         (map #(% world) hearing)

         (if record? (File. base "hearing")))

        (muscle-display

         (control-script muscles)

         (if record? (File. base "muscle")))

          

        (summon-ball world)

        

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

        (fix-display world))))))

 

 

 (comment

 ;; list of touch targets

 0  middle-11 

 1  middle-21 

 2  middle-31

 3  pinky-11

 4  pinky-21

 5  pinky-31

 6  pointer-11

 7  pointer-21

 8  pointer-31

 9  ring-11

 10 ring-21

 11 ring-31

 12 thumb-11

 13 thumb-2.0011 

 

 

 ;; list of vision targets

 0  :all

 1  :green

 2  :blue

 3  :red 

 

 ;; list of proprio targets

 0  middle-11 -> middle-21

 1  middle-21 -> middle-31

 2  thumb-11 -> thumb-2.0011

 3  pointer-11 -> pointer-21

 4  pointer-21 -> pointer-31

 5  ring-21 -> ring-31

 6  ring-11 -> ring-21

 7  pinky-21 -> pinky-31

 8  pinky-11 -> pinky-21

 9  middle-11 -> palm1

 10 pinky-11 -> palm1

 11 palm1 -> pointer-11

 12 palm1 -> ring-11

 13 palm1 -> thumb-11

 

 

 ;; list of muscle targets

 0  :pointer-2-e

 1  :pointer-2-f

 2  :thumb-1

 3  :thumb-1

 4  :pointer-1-e

 5  :pointer-1-f

 6  :thumb-2-e

 7  :thumb-2-f

 8  :middle-1-e

 9  :middle-1-f

 10 :pointer-3-f

 11 :pointer-3-e

 12 :middle-2-e

 13 :middle-2-f

 14 :middle-3-f

 15 :middle-3-e

 16 :pinky-2-e

 17 :pinky-2-f

 18 :pinky-3-f

 19 :pinky-3-e

 20 :ring-3-e

 21 :ring-3-f

 22 :ring-2-f

 23 :ring-2-e

 24 :ring-1-e

 25 :ring-1-f

 26 :thumb-1-e

 27 :thumb-1-f

 28 :pinky-1-f

 29 :pinky-1-e

 )

 

 

 

 ;; rotate touch 180

 

 ;; rotate mucles 90 counter-clockwise

 ;; scale muscles to 15x60

 

 finger width : 113

 finger height : 357

 

 thumb width : 113

 

 pinky  --- 0,195

 ring   --- 111,100

 middle --- 228,0

 pointer -- 436,96

 thumb ---  486,420

 

 

 

 within a finger (coordinates of top left corner (x,y)):

 

 tip-flexor     : 0,7

 tip-extensor   : 98,7

 tip            : 18,0

 

 joint-2-3      : 32,79

 

 mid-flexor     : 19,131

 mid-extensor   : 80,131

 mid            : 30,133

 

 joint-1-2      : 32,193

 

 base-flexor    : 19,245

 base-extensor  : 80,245

 base           : 39,247

 

 joint-palm-1   : 32,307

 

 

 Thumb is the same as finger, except it has two more pieces

 

 extra-flexor-1 : 2,131

 extra-flexor-2 : 100,131

 

 ;; rotate entire thumb 45 degrees clockwise

 

 within vision

 gray -- 165,577

 green -- 278,577

 blue  -- 165,682

 red   -- 278,682

 

 entire hand          : 809, 22

 main view            :  78,202

 hearing              : 784,819

 

 hand-size: 688x769

 

 

 total image size:

 1600x894

 

 (def base (File. "/home/r/proj/cortex/render/hand"))

 

 

 

 (defn prepare-muscle [muscle]

   ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])

 

 (defn prepare-touch [touch]

   ["(" touch "-rotate" "180" ")"])

 

 (defn generate-top-finger [tip-flexor tip-extensor tip

                            joint-2-3

                            mid-flexor mid-extensor mid

                            joint-1-2]

   ["("

    "-size" "113x357" "xc:transparent"

    (prepare-muscle tip-flexor)   "-geometry" "+0+7"    "-composite"

    (prepare-muscle tip-extensor) "-geometry" "+98+7"   "-composite"

    (prepare-touch tip)           "-geometry" "+18+0"   "-composite"

 

    joint-2-3                     "-geometry" "+32+79" "-composite"

 

    (prepare-muscle mid-flexor)   "-geometry" "+19+131"    "-composite"

    (prepare-muscle mid-extensor) "-geometry" "+80+131"   "-composite"

    (prepare-touch mid)           "-geometry" "+39+133"   "-composite"

    

    joint-1-2                     "-geometry" "+32+193" "-composite"

    ")"])

 

 (defn generate-finger

   [tip-flexor tip-extensor tip

    joint-2-3

    mid-flexor mid-extensor mid

    joint-1-2

    base-flexor base-extensor base

    joint-palm-1]

   ["("

    "-size" "113x357" "xc:transparent"

    (generate-top-finger

     tip-flexor  tip-extensor tip

     joint-2-3

     mid-flexor mid-extensor mid

     joint-1-2)                    "-geometry" "+0+0"      "-composite"

    (prepare-muscle base-flexor)   "-geometry" "+19+245"   "-composite"

    (prepare-muscle base-extensor) "-geometry" "+80+245"   "-composite"

    (prepare-touch base)           "-geometry" "+39+247"   "-composite"

    joint-palm-1                   "-geometry" "+32+307"   "-composite"

    ")"])

 

 (defn generate-thumb

   [tip-flexor tip-extensor tip

    joint-1-2

    mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid

    joint-palm-1]

   ["("

    "-size" "113x357" "xc:transparent"

    (generate-top-finger

     tip-flexor  tip-extensor tip

     joint-1-2

     mid-flexor mid-extensor mid

     joint-palm-1)                   "-geometry" "+0+0"     "-composite"

    (prepare-muscle mid-flexor-2)    "-geometry" "+2+131"   "-composite"

    (prepare-muscle mid-extensor-2)  "-geometry" "+100+131" "-composite"

    ")"])

 

 pinky  --- 0,195

 ring   --- 111,100

 middle --- 228,0

 pointer -- 436,96

 thumb ---  486,420

 

 

 (defn generate-hand

   [pinky-pieces

    ring-pieces

    middle-pieces

    pointer-pieces

    thumb-pieces]

   ["("

    "-size" "688x769" "xc:transparent"

    (apply generate-finger pinky-pieces)

    "-geometry" "+0+195" "-composite"

    (apply generate-finger ring-pieces)

    "-geometry" "+111+100" "-composite"

    (apply generate-finger middle-pieces)

    "-geometry" "+228+0"   "-composite"

    "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"

    "-rotate" "45" ")"

    "-geometry" "+300+420" "-composite"

    (apply generate-finger pointer-pieces)

    "-geometry" "+350+96"  "-composite"

    ")"])

 

 (defn generate-vision

   [all green blue red]

   ["("

    "-size" "204x192" "xc:transparent"

    all    "-geometry" "+0+0" "-composite"

    green  "-geometry" "+113+0" "-composite"

    blue   "-geometry" "+0+105" "-composite"

    red    "-geometry" "+113+105" "-composite"

    ")"])

   

 

 

 (def test-muscle (File. base "muscle/0/0000000.png"))

 (def test-proprio (File. base "proprio/0/0000000.png"))

 (def test-tip (File. base "touch/2/0000000.png"))

 (def test-mid (File. base "touch/0/0000000.png"))

 (def test-vision (File. base "vision/0/0000000.png"))

 (def test-hearing (File. base "hearing/0/0000000.png"))

 (def test-main (File. base "main/0000000.png"))

 

 

 (def test-target (File. base "output.png"))

 

 (def background (File. base "background.png"))

 

 (use 'clojure.contrib.shell-out)

 (defn final-image [muscle proprio tip mid vision hearing main]

   (let [[muscle proprio tip mid vision hearing main] (map #(.getCanonicalPath %)

                                       [muscle proprio tip mid vision

                                        hearing main])

         finger-pieces [muscle muscle tip

                        proprio

                        muscle muscle mid

                        proprio

                        muscle muscle mid

                        proprio]

         thumb-pieces  [muscle muscle tip

                        proprio

                        muscle muscle muscle muscle mid

                        proprio]]

     

     

     (apply

      sh

      (flatten

       ["convert"

        (.getCanonicalPath background)

        (generate-hand finger-pieces

                       finger-pieces

                       finger-pieces

                       finger-pieces

                       thumb-pieces)

        "-geometry" "+809+22" "-composite"

        

        (generate-vision vision vision vision vision)

        "-geometry" "+974+599" "-composite"

 

        hearing

        "-geometry" "+784+819" "-composite"

 

        main

        "-geometry" "+78+202" "-composite"

               

        (.getCanonicalPath test-target)]))))

   

 

 

    

 

                        

 #+end_src

 

 #+results: integration

 : #'cortex.integration/test-everything!

 

 * 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