view org/test-creature.org @ 169:94b79c191fc7

renamed some functions in vision.org
author Robert McIntyre <rlm@mit.edu>
date Sat, 04 Feb 2012 04:23:32 -0700
parents 9e6a30b8c99a
children 1a00b4918529
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1 #+title: First attempt at a creature!
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
12 * Intro
13 So far, I've made the following senses --
14 - Vision
15 - Hearing
16 - Touch
17 - Proprioception
19 And one effector:
20 - Movement
22 However, the code so far has only enabled these senses, but has not
23 actually implemented them. For example, there is still a lot of work
24 to be done for vision. I need to be able to create an /eyeball/ in
25 simulation that can be moved around and see the world from different
26 angles. I also need to determine weather to use log-polar or cartesian
27 for the visual input, and I need to determine how/wether to
28 disceritise the visual input.
30 I also want to be able to visualize both the sensors and the
31 effectors in pretty pictures. This semi-retarted creature will be my
32 first attempt at bringing everything together.
34 * The creature's body
36 Still going to do an eve-like body in blender, but due to problems
37 importing the joints, etc into jMonkeyEngine3, I'm going to do all
38 the connecting here in clojure code, using the names of the individual
39 components and trial and error. Later, I'll maybe make some sort of
40 creature-building modifications to blender that support whatever
41 discritized senses I'm going to make.
43 #+name: body-1
44 #+begin_src clojure
45 (ns cortex.silly
46 "let's play!"
47 {:author "Robert McIntyre"})
49 ;; TODO remove this!
50 (require 'cortex.import)
51 (cortex.import/mega-import-jme3)
52 (use '(cortex world util body hearing touch vision sense
53 proprioception movement))
55 (rlm.rlm-commands/help)
56 (import java.awt.image.BufferedImage)
57 (import javax.swing.JPanel)
58 (import javax.swing.SwingUtilities)
59 (import java.awt.Dimension)
60 (import javax.swing.JFrame)
61 (import java.awt.Dimension)
62 (import com.aurellem.capture.RatchetTimer)
64 (use 'clojure.contrib.def)
66 (defn load-blender-model
67 "Load a .blend file using an asset folder relative path."
68 [^String model]
69 (.loadModel
70 (doto (asset-manager)
71 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
72 model))
74 (declare blender-creature)
76 (defn blender-creature
77 "Return a creature with all joints in place."
78 [blender-path]
79 (let [model (load-blender-model blender-path)
80 joints (creature-joints model)]
81 (assemble-creature model joints)))
83 (def hand "Models/creature1/one.blend")
85 (def worm "Models/creature1/try-again.blend")
87 (defn worm-model [] (load-blender-model worm))
89 (defn x-ray [#^ColorRGBA color]
90 (doto (Material. (asset-manager)
91 "Common/MatDefs/Misc/Unshaded.j3md")
92 (.setColor "Color" color)
93 (-> (.getAdditionalRenderState)
94 (.setDepthTest false))))
96 (defn colorful []
97 (.getChild (worm-model) "worm-21"))
99 (import jme3tools.converters.ImageToAwt)
101 (import ij.ImagePlus)
105 (defn test-eye []
106 (.getChild
107 (.getChild (worm-model) "eyes")
108 "eye"))
112 ;; lower level --- nodes
113 ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
115 ;; higher level -- organs
116 ;;
118 ;; higher level --- sense/effector
119 ;; these are the functions that provide world i/o, chinese-room style
125 (defn gray-scale [num]
126 (+ num
127 (bit-shift-left num 8)
128 (bit-shift-left num 16)))
130 (defn debug-touch-window
131 "creates function that offers a debug view of sensor data"
132 []
133 (let [vi (view-image)]
134 (fn
135 [[coords sensor-data]]
136 (let [image (points->image coords)]
137 (dorun
138 (for [i (range (count coords))]
139 (.setRGB image ((coords i) 0) ((coords i) 1)
140 (gray-scale (sensor-data i)))))
143 (vi image)))))
145 (defn debug-vision-window
146 "creates function that offers a debug view of sensor data"
147 []
148 (let [vi (view-image)]
149 (fn
150 [[coords sensor-data]]
151 (let [image (points->image coords)]
152 (dorun
153 (for [i (range (count coords))]
154 (.setRGB image ((coords i) 0) ((coords i) 1)
155 (sensor-data i))))
156 (vi image)))))
158 (defn debug-hearing-window
159 "view audio data"
160 [height]
161 (let [vi (view-image)]
162 (fn [[coords sensor-data]]
163 (let [image (BufferedImage. (count coords) height
164 BufferedImage/TYPE_INT_RGB)]
165 (dorun
166 (for [x (range (count coords))]
167 (dorun
168 (for [y (range height)]
169 (let [raw-sensor (sensor-data x)]
170 (.setRGB image x y (gray-scale raw-sensor)))))))
172 (vi image)))))
174 (defn test-creature [thing]
175 (let [x-axis
176 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
177 y-axis
178 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
179 z-axis
180 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
181 creature (blender-creature thing)
182 touch-nerves (touch creature)
183 touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
184 [init-vision-fns vision-data] (vision creature)
185 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
186 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
187 hearing-senses (hearing! creature)
188 hearing-windows (map (fn [_] (debug-hearing-window 50))
189 hearing-senses)
190 bell (AudioNode. (asset-manager)
191 "Sounds/pure.wav" false)
192 prop (proprioception creature)
193 prop-debug (proprioception-debug-window)
195 muscle-fns (enable-muscles creature)
196 ;; dream
198 ]
201 (apply
202 world
203 (with-movement
204 (.getChild creature "worm-21")
205 ["key-r" "key-t"
206 "key-f" "key-g"
207 "key-v" "key-b"]
208 [10 10 10 10 1 1]
209 [(nodify [creature
210 (box 10 2 10 :position (Vector3f. 0 -9 0)
211 :color ColorRGBA/Gray :mass 0)
212 x-axis y-axis z-axis
213 me
214 ])
215 (merge standard-debug-controls
216 {"key-return"
217 (fn [_ value]
218 (if value
219 (do
220 (println-repl "play-sound")
221 (.play bell))))
222 "key-h"
223 (fn [_ value]
224 (if value
225 (do
226 (println-repl "muscle activating!")
227 ((first muscle-fns) 199))))
229 })
230 (fn [world]
231 (light-up-everything world)
232 (enable-debug world)
233 (dorun (map #(% world) init-vision-fns))
234 ;;(dorun (map #(% world) init-hearing-fns))
236 (add-camera! world
237 (add-eye! creature (test-eye))
238 (comp (view-image) BufferedImage!))
240 (add-camera! world (.getCamera world) no-op)
241 ;;(set-gravity world (Vector3f. 0 0 0))
242 ;;(com.aurellem.capture.Capture/captureVideo
243 ;; world (file-str "/home/r/proj/ai-videos/hand"))
244 ;;(.setTimer world (RatchetTimer. 60))
245 (speed-up world)
246 (set-gravity world (Vector3f. 0 0 0))
247 )
248 (fn [world tpf]
249 ;;(dorun
250 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
252 (prop-debug (prop))
254 (dorun
255 (map #(%1 (%2 (.getRootNode world)))
256 touch-debug-windows touch-nerves))
258 (dorun
259 (map #(%1 (%2))
260 vision-debug vision-data))
261 (dorun
262 (map #(%1 (%2 world)) hearing-windows hearing-senses))
265 ;;(println-repl (vision-data))
266 (.setLocalTranslation me (.getLocation (.getCamera world)))
269 )]
270 ;;(let [timer (atom 0)]
271 ;; (fn [_ _]
272 ;; (swap! timer inc)
273 ;; (if (= (rem @timer 60) 0)
274 ;; (println-repl (float (/ @timer 60))))))
275 ))))
279 ;; the camera will stay in its initial position/rotation with relation
280 ;; to the spatial.
283 ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
284 ;;anchor-qualia, augment-organ, with-organ
286 (defn follow-test
287 "show a camera that stays in the same relative position to a blue cube."
288 []
289 (let [camera-pos (Vector3f. 0 30 0)
290 rock (box 1 1 1 :color ColorRGBA/Blue
291 :position (Vector3f. 0 10 0)
292 :mass 30
293 )
294 rot (.getWorldRotation rock)
296 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
297 :position (Vector3f. 0 -3 0))]
299 (world
300 (nodify [rock table])
301 standard-debug-controls
302 (fn [world]
303 (let
304 [cam (doto (.clone (.getCamera world))
305 (.setLocation camera-pos)
306 (.lookAt Vector3f/ZERO
307 Vector3f/UNIT_X))]
308 (bind-sense rock cam)
310 (.setTimer world (RatchetTimer. 60))
311 (add-camera! world cam (comp (view-image) BufferedImage!))
312 (add-camera! world (.getCamera world) no-op))
313 )
314 (fn [_ _] (println-repl rot)))))
318 #+end_src
320 #+results: body-1
321 : #'cortex.silly/follow-test
324 * COMMENT purgatory
325 #+begin_src clojure
327 (defn bullet-trans* []
328 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
329 :position (Vector3f. 5 0 0)
330 :mass 90)
331 obj-b (sphere 0.5 :color ColorRGBA/Blue
332 :position (Vector3f. -5 0 0)
333 :mass 0)
334 control-a (.getControl obj-a RigidBodyControl)
335 control-b (.getControl obj-b RigidBodyControl)
336 move-up? (atom nil)
337 move-down? (atom nil)
338 move-left? (atom nil)
339 move-right? (atom nil)
340 roll-left? (atom nil)
341 roll-right? (atom nil)
342 force 100
343 swivel
344 (.toRotationMatrix
345 (doto (Quaternion.)
346 (.fromAngleAxis (/ Math/PI 2)
347 Vector3f/UNIT_X)))
348 x-move
349 (doto (Matrix3f.)
350 (.fromStartEndVectors Vector3f/UNIT_X
351 (.normalize (Vector3f. 1 1 0))))
353 timer (atom 0)]
354 (doto
355 (ConeJoint.
356 control-a control-b
357 (Vector3f. -8 0 0)
358 (Vector3f. 2 0 0)
359 ;;swivel swivel
360 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
361 x-move Matrix3f/IDENTITY
362 )
363 (.setCollisionBetweenLinkedBodys false)
364 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
365 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
366 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
367 (world (nodify
368 [obj-a obj-b])
369 (merge standard-debug-controls
370 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
371 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
372 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
373 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
374 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
375 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
377 (fn [world]
378 (enable-debug world)
379 (set-gravity world Vector3f/ZERO)
380 )
382 (fn [world _]
384 (if @move-up?
385 (.applyForce control-a
386 (Vector3f. force 0 0)
387 (Vector3f. 0 0 0)))
388 (if @move-down?
389 (.applyForce control-a
390 (Vector3f. (- force) 0 0)
391 (Vector3f. 0 0 0)))
392 (if @move-left?
393 (.applyForce control-a
394 (Vector3f. 0 force 0)
395 (Vector3f. 0 0 0)))
396 (if @move-right?
397 (.applyForce control-a
398 (Vector3f. 0 (- force) 0)
399 (Vector3f. 0 0 0)))
401 (if @roll-left?
402 (.applyForce control-a
403 (Vector3f. 0 0 force)
404 (Vector3f. 0 0 0)))
405 (if @roll-right?
406 (.applyForce control-a
407 (Vector3f. 0 0 (- force))
408 (Vector3f. 0 0 0)))
410 (if (zero? (rem (swap! timer inc) 100))
411 (.attachChild
412 (.getRootNode world)
413 (sphere 0.05 :color ColorRGBA/Yellow
414 :physical? false :position
415 (.getWorldTranslation obj-a)))))
416 )
417 ))
419 (defn test-joint [joint]
420 (let [[origin top bottom floor] (world-setup joint)
421 control (.getControl top RigidBodyControl)
422 move-up? (atom false)
423 move-down? (atom false)
424 move-left? (atom false)
425 move-right? (atom false)
426 roll-left? (atom false)
427 roll-right? (atom false)
428 timer (atom 0)]
430 (world
431 (nodify [top bottom floor origin])
432 (merge standard-debug-controls
433 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
434 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
435 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
436 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
437 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
438 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
440 (fn [world]
441 (light-up-everything world)
442 (enable-debug world)
443 (set-gravity world (Vector3f. 0 0 0))
444 )
446 (fn [world _]
447 (if (zero? (rem (swap! timer inc) 100))
448 (do
449 ;; (println-repl @timer)
450 (.attachChild (.getRootNode world)
451 (sphere 0.05 :color ColorRGBA/Yellow
452 :position (.getWorldTranslation top)
453 :physical? false))
454 (.attachChild (.getRootNode world)
455 (sphere 0.05 :color ColorRGBA/LightGray
456 :position (.getWorldTranslation bottom)
457 :physical? false))))
459 (if @move-up?
460 (.applyTorque control
461 (.mult (.getPhysicsRotation control)
462 (Vector3f. 0 0 10))))
463 (if @move-down?
464 (.applyTorque control
465 (.mult (.getPhysicsRotation control)
466 (Vector3f. 0 0 -10))))
467 (if @move-left?
468 (.applyTorque control
469 (.mult (.getPhysicsRotation control)
470 (Vector3f. 0 10 0))))
471 (if @move-right?
472 (.applyTorque control
473 (.mult (.getPhysicsRotation control)
474 (Vector3f. 0 -10 0))))
475 (if @roll-left?
476 (.applyTorque control
477 (.mult (.getPhysicsRotation control)
478 (Vector3f. -1 0 0))))
479 (if @roll-right?
480 (.applyTorque control
481 (.mult (.getPhysicsRotation control)
482 (Vector3f. 1 0 0))))))))
483 #+end_src
486 * COMMENT generate source
487 #+begin_src clojure :tangle ../src/cortex/silly.clj
488 <<body-1>>
489 #+end_src