#+title: Simulated Sense of Touch

 #+author: Robert McIntyre

 #+email: rlm@mit.edu

 #+description: Simulated touch for AI research using JMonkeyEngine and clojure.

 #+keywords: simulation, tactile sense, jMonkeyEngine3, clojure

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

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

 

 * Touch

 

 Touch is critical to navigation and spatial reasoning and as such I

 need a simulated version of it to give to my AI creatures.

 

 Human skin has a wide array of touch sensors, each of which speciliaze

 in detecting different vibrational modes and pressures. These sensors

 can integrate a vast expanse of skin (i.e. your entire palm), or a

 tiny patch of skin at the tip of your finger. The hairs of the skin

 help detect objects before they even come into contact with the skin

 proper.

 

 However, touch in my simulated world can not exactly correspond to

 human touch because my creatures are made out of completely rigid

 segments that don't deform like human skin.

 

 Instead of measuring deformation or vibration, I surround each rigid

 part with a plenitude of hair-like objects (/feelers/) which do not

 interact with the physical world. Physical objects can pass through

 them with no effect. The feelers are able to tell when other objects

 pass through them, and they constantly report how much of their extent

 is covered. So even though the creature's body parts do not deform,

 the feelers create a margin around those body parts which achieves a

 sense of touch which is a hybrid between a human's sense of

 deformation and sense from hairs.

 

 Implementing touch in jMonkeyEngine follows a different techinal route

 than vision and hearing. Those two senses piggybacked off

 jMonkeyEngine's 3D audio and video rendering subsystems. To simulate

 touch, I use jMonkeyEngine's physics system to execute many small

 collision detections, one for each feeler. The placement of the

 feelers is determined by a UV-mapped image which shows where each

 feeler should be on the 3D surface of the body.

 

 * Defining Touch Meta-Data in Blender

 

 Each geometry can have a single UV map which describes the position of

 the feelers which will constitute its sense of touch. This image path

 is stored under the "touch" key.  The image itself is black and white,

 with black meaning a feeler length of 0 (no feeler is present) and

 white meaning a feeler length of =scale=, which is a float stored

 under the key "scale".

 

 #+name: meta-data

 #+begin_src clojure

 (defn tactile-sensor-profile

   "Return the touch-sensor distribution image in BufferedImage format,

    or nil if it does not exist."

   [#^Geometry obj]

   (if-let [image-path (meta-data obj "touch")]

     (load-image image-path)))

 

 (defn tactile-scale

   "Return the length of each feeler. Default scale is 0.01

   jMonkeyEngine units."

   [#^Geometry obj]

   (if-let [scale (meta-data obj "scale")]

     scale 0.1))

 #+end_src

 

 Here is an example of a UV-map which specifies the position of touch

 sensors along the surface of the upper segment of the worm.

 

 #+attr_html: width=755

 #+caption: This is the tactile-sensor-profile for the upper segment of the worm. It defines regions of high touch sensitivity (where there are many white pixels) and regions of low sensitivity (where white pixels are sparse).

 [[../images/finger-UV.png]]

 

 * Implementation Summary

   

 To simulate touch there are three conceptual steps. For each solid

 object in the creature, you first have to get UV image and scale

 paramater which define the position and length of the feelers. Then,

 you use the triangles which compose the mesh and the UV data stored in

 the mesh to determine the world-space position and orientation of each

 feeler. Then once every frame, update these positions and orientations

 to match the current position and orientation of the object, and use

 physics collision detection to gather tactile data.

 

 Extracting the meta-data has already been described. The third step,

 physics collision detection, is handled in =(touch-kernel)=. 

 Translating the positions and orientations of the feelers from the

 UV-map to world-space is itself a three-step process.

 

   - Find the triangles which make up the mesh in pixel-space and in

     world-space. =(triangles)= =(pixel-triangles)=.

 

   - Find the coordinates of each feeler in world-space. These are the

     origins of the feelers. =(feeler-origins)=.

     

   - Calculate the normals of the triangles in world space, and add

     them to each of the origins of the feelers. These are the

     normalized coordinates of the tips of the feelers. =(feeler-tips)=.

 

 * Triangle Math

 ** Schrapnel Conversion Functions

 

 #+name: triangles-1

 #+begin_src clojure

 (defn vector3f-seq [#^Vector3f v]

   [(.getX v) (.getY v) (.getZ v)])

 

 (defn triangle-seq [#^Triangle tri]

   [(vector3f-seq (.get1 tri))

    (vector3f-seq (.get2 tri))

    (vector3f-seq (.get3 tri))])

 

 (defn ->vector3f 

   ([coords] (Vector3f. (nth coords 0 0)

                        (nth coords 1 0)

                        (nth coords 2 0))))

 

 (defn ->triangle [points]

   (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))

 #+end_src

 

 It is convienent to treat a =Triangle= as a vector of vectors, and a

 =Vector2f= and =Vector3f= as vectors of floats. (->vector3f) and

 (->triangle) undo the operations of =(vector3f-seq)= and

 =(triangle-seq)=. If these classes implemented =Iterable= then =(seq)=

 would work on them automitacally.

 

 ** Decomposing a 3D shape into Triangles

 

 The rigid objects which make up a creature have an underlying

 =Geometry=, which is a =Mesh= plus a =Material= and other important

 data involved with displaying the object.

 

 A =Mesh= is composed of =Triangles=, and each =Triangle= has three

 verticies which have coordinates in world space and UV space.

  

 Here, =(triangles)= gets all the world-space triangles which compose a

 mesh, while =(pixel-triangles)= gets those same triangles expressed in

 pixel coordinates (which are UV coordinates scaled to fit the height

 and width of the UV image).

 

 #+name: triangles-2

 #+begin_src clojure

 (in-ns 'cortex.touch)

 (defn triangle

   "Get the triangle specified by triangle-index from the mesh."

   [#^Geometry geo triangle-index]

   (triangle-seq

    (let [scratch (Triangle.)]

      (.getTriangle (.getMesh geo) triangle-index scratch) scratch)))

 

 (defn triangles

   "Return a sequence of all the Triangles which compose a given

    Geometry." 

   [#^Geometry geo]

   (map (partial triangle geo) (range (.getTriangleCount (.getMesh geo)))))

 

 (defn triangle-vertex-indices

   "Get the triangle vertex indices of a given triangle from a given

    mesh."

   [#^Mesh mesh triangle-index]

   (let [indices (int-array 3)]

     (.getTriangle mesh triangle-index indices)

     (vec indices)))

 

 (defn vertex-UV-coord

   "Get the UV-coordinates of the vertex named by vertex-index"

   [#^Mesh mesh vertex-index]

   (let [UV-buffer

         (.getData

          (.getBuffer

           mesh

           VertexBuffer$Type/TexCoord))]

     [(.get UV-buffer (* vertex-index 2))

      (.get UV-buffer (+ 1 (* vertex-index 2)))]))

 

 (defn pixel-triangle [#^Geometry geo image index]

   (let [mesh (.getMesh geo)

         width (.getWidth image)

         height (.getHeight image)]

     (vec (map (fn [[u v]] (vector (* width u) (* height v)))

               (map (partial vertex-UV-coord mesh)

                    (triangle-vertex-indices mesh index))))))

 

 (defn pixel-triangles 

   "The pixel-space triangles of the Geometry, in the same order as

    (triangles geo)"

   [#^Geometry geo image]

   (let [height (.getHeight image)

         width (.getWidth image)]

     (map (partial pixel-triangle geo image)

          (range (.getTriangleCount (.getMesh geo))))))

 #+end_src

 ** The Affine Transform from one Triangle to Another

 

 =(pixel-triangles)= gives us the mesh triangles expressed in pixel

 coordinates and =(triangles)= gives us the mesh triangles expressed in

 world coordinates. The tactile-sensor-profile gives the position of

 each feeler in pixel-space. In order to convert pixel-space

 coordinates into world-space coordinates we need something that takes

 coordinates on the surface of one triangle and gives the corresponding

 coordinates on the surface of another triangle.

 

 Triangles are [[http://mathworld.wolfram.com/AffineTransformation.html ][affine]], which means any triangle can be transformed into

 any other by a combination of translation, scaling, and

 rotation. The affine transformation from one triangle to another

 is readily computable if the triangle is expressed in terms of a $4x4$

 matrix.

 

 \begin{bmatrix}

 x_1 & x_2 & x_3 & n_x \\

 y_1 & y_2 & y_3 & n_y \\

 z_1 & z_2 & z_3 & n_z \\

 1 & 1 & 1 & 1

 \end{bmatrix}

 

 Here, the first three columns of the matrix are the verticies of the

 triangle. The last column is the right-handed unit normal of the

 triangle.

 

 With two triangles $T_{1}$ and $T_{2}$ each expressed as a matrix like

 above, the affine transform from $T_{1}$ to $T_{2}$ is 

 

 $T_{2}T_{1}^{-1}$

 

 The clojure code below recaptiulates the formulas above, using

 jMonkeyEngine's =Matrix4f= objects, which can describe any affine

 transformation.

 

 #+name: triangles-3

 #+begin_src clojure

 (in-ns 'cortex.touch)

 

 (defn triangle->matrix4f

   "Converts the triangle into a 4x4 matrix: The first three columns

    contain the vertices of the triangle; the last contains the unit

    normal of the triangle. The bottom row is filled with 1s."

   [#^Triangle t]

   (let [mat (Matrix4f.)

         [vert-1 vert-2 vert-3]

         ((comp vec map) #(.get t %) (range 3))

         unit-normal (do (.calculateNormal t)(.getNormal t))

         vertices [vert-1 vert-2 vert-3 unit-normal]]

     (dorun 

      (for [row (range 4) col (range 3)]

        (do

          (.set mat col row (.get (vertices row) col))

          (.set mat 3 row 1)))) mat))

 

 (defn triangles->affine-transform

   "Returns the affine transformation that converts each vertex in the

    first triangle into the corresponding vertex in the second

    triangle."

   [#^Triangle tri-1 #^Triangle tri-2]

   (.mult 

    (triangle->matrix4f tri-2)

    (.invert (triangle->matrix4f tri-1))))

 #+end_src

 ** Triangle Boundaries

   

 For efficiency's sake I will divide the tactile-profile image into

 small squares which inscribe each pixel-triangle, then extract the

 points which lie inside the triangle and map them to 3D-space using

 =(triangle-transform)= above. To do this I need a function,

 =(convex-bounds)= which finds the smallest box which inscribes a 2D

 triangle.

 

 =(inside-triangle?)= determines whether a point is inside a triangle

 in 2D pixel-space.

 

 #+name: triangles-4

 #+begin_src clojure

 (defn convex-bounds

   "Returns the smallest square containing the given vertices, as a

    vector of integers [left top width height]."

   [verts]

   (let [xs (map first verts)

         ys (map second verts)

         x0 (Math/floor (apply min xs))

         y0 (Math/floor (apply min ys))

         x1 (Math/ceil (apply max xs))

         y1 (Math/ceil (apply max ys))]

     [x0 y0 (- x1 x0) (- y1 y0)]))

 

 (defn same-side?

   "Given the points p1 and p2 and the reference point ref, is point p

   on the same side of the line that goes through p1 and p2 as ref is?" 

   [p1 p2 ref p]

   (<=

    0

    (.dot 

     (.cross (.subtract p2 p1) (.subtract p p1))

     (.cross (.subtract p2 p1) (.subtract ref p1)))))

 

 (defn inside-triangle?

   "Is the point inside the triangle?"

   {:author "Dylan Holmes"}

   [#^Triangle tri #^Vector3f p]

   (let [[vert-1 vert-2 vert-3] [(.get1 tri) (.get2 tri) (.get3 tri)]]

     (and

      (same-side? vert-1 vert-2 vert-3 p)

      (same-side? vert-2 vert-3 vert-1 p)

      (same-side? vert-3 vert-1 vert-2 p))))

 #+end_src

 

 * Feeler Coordinates

 

 The triangle-related functions above make short work of calculating

 the positions and orientations of each feeler in world-space.

 

 #+name: sensors

 #+begin_src clojure

 (in-ns 'cortex.touch)

 

 (defn feeler-pixel-coords

  "Returns the coordinates of the feelers in pixel space in lists, one

   list for each triangle, ordered in the same way as (triangles) and

   (pixel-triangles)."

  [#^Geometry geo image]

  (map 

   (fn [pixel-triangle]

     (filter

      (fn [coord]

        (inside-triangle? (->triangle pixel-triangle)

                          (->vector3f coord)))

        (white-coordinates image (convex-bounds pixel-triangle))))

   (pixel-triangles geo image)))

 

 (defn feeler-world-coords 

  "Returns the coordinates of the feelers in world space in lists, one

   list for each triangle, ordered in the same way as (triangles) and

   (pixel-triangles)."

  [#^Geometry geo image]

  (let [transforms

        (map #(triangles->affine-transform

               (->triangle %1) (->triangle %2))

             (pixel-triangles geo image)

             (triangles geo))]

    (map (fn [transform coords]

           (map #(.mult transform (->vector3f %)) coords))

         transforms (feeler-pixel-coords geo image))))

 

 (defn feeler-origins

   "The world space coordinates of the root of each feeler."

   [#^Geometry geo image]

    (reduce concat (feeler-world-coords geo image)))

 

 (defn feeler-tips

   "The world space coordinates of the tip of each feeler."

   [#^Geometry geo image]

   (let [world-coords (feeler-world-coords geo image)

         normals

         (map

          (fn [triangle]

            (.calculateNormal triangle)

            (.clone (.getNormal triangle)))

          (map ->triangle (triangles geo)))]

 

     (mapcat (fn [origins normal]

               (map #(.add % normal) origins))

             world-coords normals)))

 

 (defn touch-topology

   "touch-topology? is not a function."

   [#^Geometry geo image]

   (collapse (reduce concat (feeler-pixel-coords geo image))))

 #+end_src

 * Simulated Touch

 

 =(touch-kernel)= generates functions to be called from within a

 simulation that perform the necessary physics collisions to collect

 tactile data, and =(touch!)= recursively applies it to every node in

 the creature. 

 

 #+name: kernel

 #+begin_src clojure

 (in-ns 'cortex.touch)

 

 (defn set-ray [#^Ray ray #^Matrix4f transform

                #^Vector3f origin #^Vector3f tip]

   ;; Doing everything locally recduces garbage collection by enough to

   ;; be worth it.

   (.mult transform origin (.getOrigin ray))

   (.mult transform tip (.getDirection ray))

   (.subtractLocal (.getDirection ray) (.getOrigin ray))

   (.normalizeLocal (.getDirection ray)))

 

 (import com.jme3.math.FastMath)

 

  

 (defn touch-kernel

   "Constructs a function which will return tactile sensory data from

    'geo when called from inside a running simulation"

   [#^Geometry geo]

   (if-let

       [profile (tactile-sensor-profile geo)]

     (let [ray-reference-origins (feeler-origins geo profile)

           ray-reference-tips (feeler-tips geo profile)

           ray-length (tactile-scale geo)

           current-rays (map (fn [_] (Ray.)) ray-reference-origins)

           topology (touch-topology geo profile)

           correction (float (* ray-length -0.2))]

 

       ;; slight tolerance for very close collisions.

       (dorun

        (map (fn [origin tip]

               (.addLocal origin (.mult (.subtract tip origin)

                                        correction)))

             ray-reference-origins ray-reference-tips))

       (dorun (map #(.setLimit % ray-length) current-rays))

       (fn [node]

         (let [transform (.getWorldMatrix geo)]

           (dorun

            (map (fn [ray ref-origin ref-tip]

                   (set-ray ray transform ref-origin ref-tip))

                 current-rays ray-reference-origins

                 ray-reference-tips))

           (vector

            topology

            (vec

             (for [ray current-rays]

               (do

                 (let [results (CollisionResults.)]

                   (.collideWith node ray results)

                   (let [touch-objects

                         (filter #(not (= geo (.getGeometry %)))

                                 results)

                         limit (.getLimit ray)]

                     [(if (empty? touch-objects)

                        limit

                        (let [response

                              (apply min (map #(.getDistance %)

                                              touch-objects))]

                          (FastMath/clamp

                           (float 

                            (if (> response limit) 0.0

                                (+ response correction)))

                            (float 0.0)

                            limit)))

                      limit])))))))))))

 

 (defn touch! 

   "Endow the creature with the sense of touch. Returns a sequence of

    functions, one for each body part with a tactile-sensor-proile,

    each of which when called returns sensory data for that body part."

   [#^Node creature]

   (filter

    (comp not nil?)

    (map touch-kernel

         (filter #(isa? (class %) Geometry)

                 (node-seq creature)))))

 #+end_src

 

 #+results: kernel

 : #'cortex.touch/touch!

 

 * Visualizing Touch

 

 Each feeler is represented in the image as a single pixel. The

 grayscale value of each pixel represents how deep the feeler

 represented by that pixel is inside another object.  Black means that

 nothing is touching the feeler, while white means that the feeler is

 completely inside another object, which is presumably flush with the

 surface of the triangle from which the feeler originates.

 

 #+name: visualization

 #+begin_src clojure

 (in-ns 'cortex.touch)

 

 (defn touch->gray

   "Convert a pair of [distance, max-distance] into a grayscale pixel." 

   [distance max-distance]

   (gray (- 255 (rem (int (* 255 (/ distance max-distance))) 256))))

 

 (defn view-touch 

   "Creates a function which accepts a list of touch sensor-data and

    displays each element to the screen."

   []

   (view-sense

    (fn [[coords sensor-data]]

      (let [image (points->image coords)]

        (dorun

         (for [i (range (count coords))]

           (do

             (if (= i 500) (println-repl (sensor-data i)))

 

             (comment

               (.setRGB image ((coords i) 0) ((coords i) 1)

                      (apply touch->gray (sensor-data i))))))) 

        image))))

 #+end_src

 

 #+results: visualization

 : #'cortex.touch/view-touch

 

 * COMMENT Basic Test of Touch

 

 The worm's sense of touch is a bit complicated, so for this basic test

 I'll use a new creature --- a simple cube which has touch sensors

 evenly distributed along each of its sides.

 

 #+begin_src clojure

 (in-ns 'cortex.test.touch)

 

 (defn touch-cube []

   (load-blender-model "Models/test-touch/touch-cube.blend"))

 #+end_src

 

 #+begin_html

 <br>

 #+end_html

 

 #+begin_html

 <div class="figure">

 <center>

 <video controls="controls" width="500">

   <source src="../video/touch-cube.ogg" type="video/ogg"

 	  preload="none" poster="../images/aurellem-1280x480.png" />

 </video>

 </center>

 <p>A simple creature with evenly distributed touch sensors.</p>

 </div>

 #+end_html

 

 The tactile-sensor-profile image for this simple creature looks like

 this:

 

 #+attr_html: width=500

 #+caption: The distribution of feelers along the touch-cube. The colors of the faces are irrelevant; only the white pixels specify feelers.

 [[../images/touch-profile.png]]

 

 #+begin_src clojure

 (in-ns 'cortex.test.touch)

 

 (defn test-basic-touch

   ([] (test-basic-touch false))

   ([record?]

      (let [the-cube (doto (touch-cube) (body!))

            touch (touch! the-cube)

            touch-display (view-touch)]

        (world (nodify [the-cube

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

                             :color ColorRGBA/Gray :mass 0)])

 

               standard-debug-controls

               

               (fn [world]

                 (speed-up world)

                 (light-up-everything world))

 

               (fn [world tpf]

                 (touch-display 

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

   

 

 #+end_src

 

 * Adding Touch to the Worm

 

 #+name: test-touch

 #+begin_src clojure

 (ns cortex.test.touch

   (:use (cortex world util sense body touch))

   (:use cortex.test.body))

 

 (cortex.import/mega-import-jme3)

 

 (defn test-touch []

   (let [the-worm (doto (worm) (body!))

         touch (touch! the-worm)

         touch-display (view-touch)]

     (world (nodify [the-worm (floor)])

            standard-debug-controls

            

            (fn [world]

              (speed-up world)

              (light-up-everything world))

 

            (fn [world tpf]

              (touch-display 

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

 #+end_src

 

 * Headers 

 

 #+name: touch-header

 #+begin_src clojure

 (ns cortex.touch

   "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry

   to be outfitted with touch sensors with density determined by a UV

   image. In this way a Geometry can know what parts of itself are

   touching nearby objects. Reads specially prepared blender files to

   construct this sense automatically."

   {:author "Robert McIntyre"}

   (:use (cortex world util sense))

   (:use clojure.contrib.def)

   (:import (com.jme3.scene Geometry Node Mesh))

   (:import com.jme3.collision.CollisionResults)

   (:import com.jme3.scene.VertexBuffer$Type)

   (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))

 #+end_src   

 

 * Source Listing

 * Next

 

 

 * COMMENT Code Generation

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

 <<touch-header>>

 <<meta-data>>

 <<triangles-1>>

 <<triangles-2>>

 <<triangles-3>>

 <<triangles-4>>

 <<sensors>>

 <<kernel>>

 <<visualization>>

 #+end_src

 

 

 #+begin_src clojure :tangle ../src/cortex/test/touch.clj 

 <<test-touch>>

 #+end_src