Mercurial > cortex

     1 * Summary of Senses

     2 

     3 vision -- list of functions which must each be called with

     4 the world as their argument, each of which returns [topology data]. Each

     5 element of data is a number between 0 and 255 representing the

     6 intensity of the light recieved at that sensor. Each element of

     7 topology is a pair of numbers [x, y] such that numbers whose pairs

     8 have a short euclidean distance are generally physically close on the

     9 actual sensor.

    10 

    11 proprioception -- list of nullary functions, one for each joint, which

    12 return [heding pitch roll].

    13 

    14 movement -- list of functions, one for each muscle, which must be

    15 called with an integer between 0 and the total number of muscle fibers

    16 in the muscle. Each function returns a float which is (current-force/

    17 total-possible-force).

    18 

    19 touch -- list of functions which must each be called with a Node

    20 (normally the root node of the simulation) the argument, each of which

    21 returns [topology data]. Each element of data is [length limit] where

    22 limit is the length of that particular "hair" and length is the amount

    23 of the hair that has been activated so far. (= limit length) means that

    24 nothing is touching the hair.

    25 

    26 

    27 * A Flower

    28 

    29 A flower is a basic creature that tries to maximize the amount of

    30 light that it sees. It can have one or more eyes, with one eye being

    31 "special" in that it is this eye which must recieve maximum light. It

    32 can have multiple articulated joints and mulcles.

    33 

    34 Want an algorithm that uses the sense data of =vision=

    35 =proprioception=, and =movement= to maximum benefit in order to look

    36 at the light source.

    37 

    38 The light source will move from place to place and the flower will

    39 have to follow it. 

    40 

    41 The algorithm should be generalize to any number of eyes and muscles,

    42 and should become /more/ preformant the more sensory data is

    43 available.

    44 

    45 I will punt on working out an elegant model of motivation for the

    46 flower which makes it want to go to the light.

    47 

    48 Maybe I need a motivationless entity first, which just learns how its

    49 own body works? But then, wouldn't that just be a motivation itself?

    50 

    51 

    52 

    53 

    54 

    55 #+name: load-creature

    56 #+begin_src clojure

    57 (in-ns 'cortex.joint)

    58 

    59 (def joint "Models/joint/joint.blend")

    60 

    61 (defn joint-creature []

    62   (load-blender-model joint))

    63 

    64 (defn test-joint-creature []

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

    66         creature (doto (joint-creature) (body!))

    67 

    68       ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    69         touch (touch! creature)

    70         touch-display (view-touch)

    71 

    72         vision (vision! creature)

    73         vision-display (view-vision)

    74 

    75         ;;hearing (hearing! creature)

    76         ;;hearing-display (view-hearing)

    77 

    78         prop (proprioception! creature)

    79         prop-display (view-proprioception)

    80 

    81         muscles (movement! creature)

    82         muscle-display (view-movement)

    83       ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    84 

    85         fix-display (gen-fix-display)

    86 

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

    88                    :color ColorRGBA/Gray :mass 0)]

    89     (world

    90      (nodify [floor me creature])

    91      standard-debug-controls

    92      (fn [world]

    93        ;;(speed-up world)

    94        (light-up-everything world)

    95        (let [timer (RatchetTimer. 60)]

    96          (.setTimer world timer)

    97          (display-dilated-time world timer)))

    98      (fn [world tpf]

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

   100        (fix-display world)))))

   101 #+end_src

   102 

   103 * Headers

   104 #+name: joint-header

   105 #+begin_src clojure

   106 (ns cortex.joint

   107   (:require cortex.import)

   108   (:use (cortex world util import body sense

   109                 hearing touch vision proprioception movement))

   110   (:import java.io.File)

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

   112 

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

   114 (rlm.rlm-commands/help)

   115 #+end_src

   116 

   117 

   118 * COMMENT Generate Source

   119 

   120 #+begin_src clojure :tangle ../src/cortex/joint.clj

   121 <<joint-header>>

   122 <<load-creature>>

   123 #+end_src

   124
author	Robert McIntyre <rlm@mit.edu>
date	Fri, 28 Mar 2014 13:16:37 -0400
parents	d9128eb5f42e
children