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 

    35 ;; Let the hand fall palm-up

    36 

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

    38 

    39 ;; it lets these fall back down?

    40 

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

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

    43 

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

    45 

    46 

    47 (defn motor-control-program

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

    49   [muscle-positions

    50    script]

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

    52         keyed-script (group-by first script)

    53         current-forces (atom {}) ]

    54     (fn [effectors]

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

    56         (dorun 

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

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

    59         (doall (map (fn [effector power]

    60                       (effector (int power)))

    61                     effectors

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

    63 

    64 (def muscle-positions

    65   [:pointer-2-e

    66    :pointer-2-f

    67    :thumb-1

    68    :thumb-1

    69    :pointer-1-e

    70    :pointer-1-f

    71    :thumb-2-e

    72    :thumb-2-f

    73    :middle-1-e

    74    :middle-1-f

    75    :pointer-3-f

    76    :pointer-3-e

    77    :middle-2-e

    78    :middle-2-f

    79    :middle-3-f

    80    :middle-3-e

    81    :pinky-2-e

    82    :pinky-2-f

    83    :pinky-3-f

    84    :pinky-3-e

    85    :ring-3-e

    86    :ring-3-f

    87    :ring-2-f

    88    :ring-2-e

    89    :ring-1-e

    90    :ring-1-f

    91    :thumb-1-e

    92    :thumb-1-f

    93    :pinky-1-f

    94    :pinky-1-e])

    95 

    96 (def full 9001)

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

    98 (def wiggle-each-finger-tip

    99   [[300 :pointer-3-f 50]

   100 

   101 

   102    [400 :middle-3-f full]

   103    [401 :middle-3-f 50]

   104 

   105    [600 :ring-3-f full]

   106    [601 :ring-3-f 40]

   107 

   108    [800 :pinky-3-f full]

   109    [801 :pinky-3-f 50]

   110 

   111    [1300 :pointer-1-f full]

   112    [1300 :pointer-2-f full]

   113    [1300 :pointer-3-f 0]

   114 

   115    [1289 :middle-1-f full]

   116    [1289 :middle-2-f full]

   117    [1289 :middle-3-f 0]

   118    

   119    [1310 :pointer-1-f 0]

   120    [1310 :pointer-2-f 0]

   121    [1310 :pointer-3-f 0]

   122 

   123    [1310 :middle-1-f 0]

   124    [1310 :middle-2-f 0]

   125    [1310 :middle-3-f 0]

   126 

   127    

   128 

   129    ])

   130 

   131 (defn gen-summon-ball []

   132   (let [wait (atom 20)]

   133     (fn [world]

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

   135         (let [brick

   136               (box 0.8 0.8 0.8 :mass 0.05

   137                                 :position (Vector3f. 0 0 0.5)

   138                                 :color (ColorRGBA/Red))]

   139 

   140           (.addControl

   141            brick

   142            (proxy [AbstractControl] []

   143              (controlUpdate [tpf]

   144                (println-repl (.getWorldTranslation brick)))

   145              (controlRender [_ _])))

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

   147           

   148 

   149 (def control-list

   150  [

   151   0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   152   0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   153   0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>

   154   0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>

   155   0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   156   0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   157   0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>

   158   0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>

   159   0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   160   0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   161   1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   162   0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   163   0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   164   0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   165   0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   166   0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   167   0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   168   0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   169   0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>

   170   0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>

   171   0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>

   172   0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>

   173   0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>

   174   0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>

   175   0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   176   0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   177   0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>

   178   0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>

   179   0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>

   180   0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>

   181   ])

   182 

   183 (defn test-everything! 

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

   185   ([record?]

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

   187 

   188         bell (AudioNode. (asset-manager)

   189                          "Sounds/pure.wav" false)

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

   191                    (body!))

   192 

   193         summon-ball (gen-summon-ball)

   194         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   195         ;;touch (touch! creature)

   196         ;;touch-display (view-touch)

   197 

   198         ;;vision (vision! creature)

   199         ;;vision-display (view-vision)

   200 

   201         ;;hearing (hearing! creature)

   202         ;;hearing-display (view-hearing)

   203 

   204         prop (proprioception! creature)

   205         prop-display (view-proprioception)

   206 

   207         control-script (motor-control-program

   208                         muscle-positions wiggle-each-finger-tip)

   209         muscles (movement! creature)

   210         muscle-display (view-movement)

   211         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

   212 

   213         fix-display (gen-fix-display)]

   214     (world

   215      (nodify [creature

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

   217                    :color ColorRGBA/Gray :mass 0)

   218               me])

   219      (merge standard-debug-controls

   220             {"key-return"

   221              (fn [_ value]

   222                (if value

   223                    (.play bell)))})

   224 

   225      (fn [world]

   226        (.setTimer world (RatchetTimer. 60))

   227        (position-camera

   228         world (Vector3f. 7.7101235, 6.3628435, -14.15047)

   229         (Quaternion. 0.3644328, -0.2558489, 0.104854375, 0.8892332))

   230        (light-up-everything world)

   231        (enable-debug world)

   232        (add-camera! world

   233                     (add-eye! creature

   234                               (.getChild 

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

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

   237        (speed-up world)

   238        )

   239      (fn [world tpf]

   240        ;;(prop-display (prop))

   241        ;;(touch-display (map #(% (.getRootNode world)) touch))

   242        ;;(vision-display (map #(% world) vision))

   243        ;;(hearing-display (map #(% world) hearing))

   244        (summon-ball world)

   245        ;;(muscle-display

   246        (control-script muscles)

   247        ;;)

   248              

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

   250        (fix-display world))))))

   251 #+end_src

   252 

   253 #+results: integration

   254 : #'cortex.integration/test-everything!

   255 

   256 * COMMENT purgatory

   257 #+begin_src clojure

   258 (defn bullet-trans* []

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

   260                    :position (Vector3f. 5 0 0)

   261                    :mass 90)

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

   263                       :position (Vector3f. -5 0 0)

   264                       :mass 0)

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

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

   267         move-up? (atom nil)

   268         move-down? (atom nil)

   269         move-left? (atom nil)

   270         move-right? (atom nil)

   271         roll-left? (atom nil)

   272         roll-right? (atom nil)

   273         force 100

   274         swivel

   275         (.toRotationMatrix

   276          (doto (Quaternion.)

   277            (.fromAngleAxis (/ Math/PI 2)

   278                            Vector3f/UNIT_X)))

   279         x-move

   280         (doto (Matrix3f.)

   281           (.fromStartEndVectors Vector3f/UNIT_X

   282                                 (.normalize (Vector3f. 1 1 0))))

   283         

   284         timer (atom 0)]

   285     (doto 

   286         (ConeJoint.

   287          control-a control-b

   288          (Vector3f. -8 0 0)

   289          (Vector3f. 2 0 0)

   290          ;;swivel swivel

   291          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   292          x-move Matrix3f/IDENTITY 

   293          )

   294       (.setCollisionBetweenLinkedBodys false)

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

   296                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   297                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   298     (world (nodify

   299             [obj-a obj-b])

   300            (merge standard-debug-controls

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

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

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

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

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

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

   307            

   308            (fn [world]

   309              (enable-debug world)

   310              (set-gravity world Vector3f/ZERO)

   311              )

   312                            

   313            (fn [world _]

   314 

   315              (if @move-up?

   316                (.applyForce control-a

   317                               (Vector3f. force 0 0)

   318                               (Vector3f. 0 0 0)))

   319              (if @move-down?

   320                (.applyForce control-a

   321                              (Vector3f. (- force) 0 0)

   322                              (Vector3f. 0 0 0)))

   323              (if @move-left?

   324                (.applyForce control-a

   325                              (Vector3f. 0 force 0)

   326                              (Vector3f. 0 0 0)))

   327              (if @move-right?

   328                (.applyForce control-a

   329                              (Vector3f. 0 (- force) 0)

   330                              (Vector3f. 0 0 0)))

   331 

   332              (if @roll-left?

   333                (.applyForce control-a

   334                              (Vector3f. 0 0 force)

   335                              (Vector3f. 0 0 0)))

   336              (if @roll-right?

   337                (.applyForce control-a

   338                              (Vector3f. 0 0 (- force))

   339                              (Vector3f. 0 0 0)))

   340 

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

   342                (.attachChild

   343                 (.getRootNode world)

   344                 (sphere 0.05 :color ColorRGBA/Yellow

   345                         :physical? false :position

   346                         (.getWorldTranslation obj-a)))))

   347            )

   348     ))

   349 

   350 (defn test-joint [joint]

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

   352         control (.getControl top RigidBodyControl)

   353         move-up? (atom false)

   354         move-down? (atom false)

   355         move-left? (atom false)

   356         move-right? (atom false)

   357         roll-left? (atom false)

   358         roll-right? (atom false)

   359         timer (atom 0)]

   360 

   361     (world

   362      (nodify [top bottom floor origin])

   363      (merge standard-debug-controls

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

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

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

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

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

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

   370      

   371      (fn [world]

   372        (light-up-everything world)

   373        (enable-debug world)

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

   375        )

   376      

   377      (fn [world _]

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

   379          (do

   380          ;;  (println-repl @timer)

   381            (.attachChild (.getRootNode world)

   382                        (sphere 0.05 :color ColorRGBA/Yellow

   383                                :position (.getWorldTranslation top)

   384                                :physical? false))

   385            (.attachChild (.getRootNode world)

   386                          (sphere 0.05 :color ColorRGBA/LightGray

   387                                  :position (.getWorldTranslation bottom)

   388                                  :physical? false))))

   389 

   390        (if @move-up?

   391          (.applyTorque control

   392                        (.mult (.getPhysicsRotation control)

   393                               (Vector3f. 0 0 10))))

   394        (if @move-down?

   395          (.applyTorque control

   396                        (.mult (.getPhysicsRotation control)

   397                               (Vector3f. 0 0 -10))))

   398        (if @move-left?

   399          (.applyTorque control

   400                        (.mult (.getPhysicsRotation control)

   401                               (Vector3f. 0 10 0))))

   402        (if @move-right?

   403          (.applyTorque control

   404                        (.mult (.getPhysicsRotation control)

   405                               (Vector3f. 0 -10 0))))

   406        (if @roll-left?

   407          (.applyTorque control

   408                        (.mult (.getPhysicsRotation control)

   409                               (Vector3f. -1 0 0))))

   410        (if @roll-right?

   411          (.applyTorque control

   412                        (.mult (.getPhysicsRotation control)

   413                               (Vector3f. 1 0 0))))))))

   414 #+end_src

   415   

   416 

   417 * COMMENT generate source

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

   419 <<integration>>

   420 #+end_src

   421 

   422 

   423   

   424
author	Robert McIntyre <rlm@mit.edu>
date	Thu, 16 Feb 2012 12:48:51 -0700
parents	1eed471e2ebf
children	85f3ff3e3f26