Mercurial > cortex

     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

     8 

     9 

    10 

    11 

    12 * Intro 

    13 So far, I've made the following senses -- 

    14  - Vision

    15  - Hearing

    16  - Touch

    17  - Proprioception

    18 

    19 And one effector: 

    20  - Movement

    21 

    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.

    29 

    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.

    33 

    34 * The creature's body

    35 

    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.

    42 

    43 #+name: integration

    44 #+begin_src clojure 

    45 (ns cortex.integration

    46   "let's play!"

    47   {:author "Robert McIntyre"}

    48   (:use (cortex world util body

    49                 hearing touch vision sense proprioception movement))

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

    51   (:import com.jme3.audio.AudioNode)

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

    53 

    54 (def hand "Models/creature1/one.blend")

    55 

    56 (def worm "Models/creature1/try-again.blend")

    57 

    58 (defn test-creature [thing]

    59   (let [x-axis

    60         (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)

    61         y-axis

    62         (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)

    63         z-axis

    64         (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)

    65 

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

    67         bell (AudioNode. (asset-manager)

    68                          "Sounds/pure.wav" false)

    69 

    70         fix-display

    71         (runonce (fn [world]

    72                    (add-camera! world (.getCamera world) no-op)))

    73         creature (doto (load-blender-model thing) (body!))

    74 

    75         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    76         touch (touch! creature)

    77         touch-display (view-touch)

    78 

    79         vision (vision! creature)

    80         vision-display (view-vision)

    81 

    82         hearing (hearing! creature)

    83         hearing-display (view-hearing)

    84 

    85         prop (proprioception! creature)

    86         prop-display (view-proprioception)

    87 

    88         muscle-exertion (atom 0)

    89         muscles (movement! creature)

    90         muscle-display (view-movement)]

    91 

    92     (apply

    93      world

    94      (with-movement

    95        (.getChild creature "worm-21")

    96        ["key-r" "key-t"

    97         "key-f" "key-g"

    98         "key-v" "key-b"]

    99        [10 10 10 10 1 1]

   100        [(nodify [creature

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

   102                       :color ColorRGBA/Gray :mass 0)

   103                  x-axis y-axis z-axis

   104                  me])

   105         (merge standard-debug-controls

   106                {"key-return"

   107                 (fn [_ value]

   108                   (if value

   109                     (do

   110                       (println-repl "play-sound")

   111                       (.play bell))))

   112                 "key-h"

   113                 (fn [_ value]

   114                   (if value

   115                     (swap!  muscle-exertion (partial + 20))))

   116                 "key-n"

   117                 (fn [_ value]

   118                   (if value

   119                     (swap! muscle-exertion (fn [v] (- v 20)))))})

   120         (fn [world]

   121           (light-up-everything world)

   122           (enable-debug world)

   123           (add-camera! world

   124                        (add-eye! creature

   125                                  (.getChild 

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

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

   128           (.setTimer world (RatchetTimer. 60))

   129           (speed-up world)

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

   131           (comment 

   132             (com.aurellem.capture.Capture/captureVideo

   133              world (file-str "/home/r/proj/ai-videos/hand"))))

   134         (fn [world tpf]

   135           (prop-display (prop))

   136           (touch-display (map #(% (.getRootNode world)) touch))

   137           (vision-display (map #(% world) vision))

   138           (hearing-display (map #(% world) hearing))

   139           (muscle-display (map #(% @muscle-exertion) muscles))

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

   141           (fix-display world))]))))

   142 #+end_src

   143 

   144 #+results: body-1

   145 : #'cortex.silly/follow-test

   146 

   147 

   148 * COMMENT purgatory

   149 #+begin_src clojure

   150 

   151 (defn bullet-trans* []

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

   153                    :position (Vector3f. 5 0 0)

   154                    :mass 90)

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

   156                       :position (Vector3f. -5 0 0)

   157                       :mass 0)

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

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

   160         move-up? (atom nil)

   161         move-down? (atom nil)

   162         move-left? (atom nil)

   163         move-right? (atom nil)

   164         roll-left? (atom nil)

   165         roll-right? (atom nil)

   166         force 100

   167         swivel

   168         (.toRotationMatrix

   169          (doto (Quaternion.)

   170            (.fromAngleAxis (/ Math/PI 2)

   171                            Vector3f/UNIT_X)))

   172         x-move

   173         (doto (Matrix3f.)

   174           (.fromStartEndVectors Vector3f/UNIT_X

   175                                 (.normalize (Vector3f. 1 1 0))))

   176         

   177         timer (atom 0)]

   178     (doto 

   179         (ConeJoint.

   180          control-a control-b

   181          (Vector3f. -8 0 0)

   182          (Vector3f. 2 0 0)

   183          ;;swivel swivel

   184          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY

   185          x-move Matrix3f/IDENTITY 

   186          )

   187       (.setCollisionBetweenLinkedBodys false)

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

   189                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane

   190                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane

   191     (world (nodify

   192             [obj-a obj-b])

   193            (merge standard-debug-controls

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

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

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

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

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

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

   200            

   201            (fn [world]

   202              (enable-debug world)

   203              (set-gravity world Vector3f/ZERO)

   204              )

   205                            

   206            (fn [world _]

   207 

   208              (if @move-up?

   209                (.applyForce control-a

   210                               (Vector3f. force 0 0)

   211                               (Vector3f. 0 0 0)))

   212              (if @move-down?

   213                (.applyForce control-a

   214                              (Vector3f. (- force) 0 0)

   215                              (Vector3f. 0 0 0)))

   216              (if @move-left?

   217                (.applyForce control-a

   218                              (Vector3f. 0 force 0)

   219                              (Vector3f. 0 0 0)))

   220              (if @move-right?

   221                (.applyForce control-a

   222                              (Vector3f. 0 (- force) 0)

   223                              (Vector3f. 0 0 0)))

   224 

   225              (if @roll-left?

   226                (.applyForce control-a

   227                              (Vector3f. 0 0 force)

   228                              (Vector3f. 0 0 0)))

   229              (if @roll-right?

   230                (.applyForce control-a

   231                              (Vector3f. 0 0 (- force))

   232                              (Vector3f. 0 0 0)))

   233 

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

   235                (.attachChild

   236                 (.getRootNode world)

   237                 (sphere 0.05 :color ColorRGBA/Yellow

   238                         :physical? false :position

   239                         (.getWorldTranslation obj-a)))))

   240            )

   241     ))

   242 

   243 (defn test-joint [joint]

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

   245         control (.getControl top RigidBodyControl)

   246         move-up? (atom false)

   247         move-down? (atom false)

   248         move-left? (atom false)

   249         move-right? (atom false)

   250         roll-left? (atom false)

   251         roll-right? (atom false)

   252         timer (atom 0)]

   253 

   254     (world

   255      (nodify [top bottom floor origin])

   256      (merge standard-debug-controls

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

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

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

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

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

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

   263      

   264      (fn [world]

   265        (light-up-everything world)

   266        (enable-debug world)

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

   268        )

   269      

   270      (fn [world _]

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

   272          (do

   273          ;;  (println-repl @timer)

   274            (.attachChild (.getRootNode world)

   275                        (sphere 0.05 :color ColorRGBA/Yellow

   276                                :position (.getWorldTranslation top)

   277                                :physical? false))

   278            (.attachChild (.getRootNode world)

   279                          (sphere 0.05 :color ColorRGBA/LightGray

   280                                  :position (.getWorldTranslation bottom)

   281                                  :physical? false))))

   282 

   283        (if @move-up?

   284          (.applyTorque control

   285                        (.mult (.getPhysicsRotation control)

   286                               (Vector3f. 0 0 10))))

   287        (if @move-down?

   288          (.applyTorque control

   289                        (.mult (.getPhysicsRotation control)

   290                               (Vector3f. 0 0 -10))))

   291        (if @move-left?

   292          (.applyTorque control

   293                        (.mult (.getPhysicsRotation control)

   294                               (Vector3f. 0 10 0))))

   295        (if @move-right?

   296          (.applyTorque control

   297                        (.mult (.getPhysicsRotation control)

   298                               (Vector3f. 0 -10 0))))

   299        (if @roll-left?

   300          (.applyTorque control

   301                        (.mult (.getPhysicsRotation control)

   302                               (Vector3f. -1 0 0))))

   303        (if @roll-right?

   304          (.applyTorque control

   305                        (.mult (.getPhysicsRotation control)

   306                               (Vector3f. 1 0 0))))))))

   307 

   308 (defn follow-test

   309   "Show a camera that stays in the same relative position to a blue cube."

   310   []

   311   (let [camera-pos (Vector3f. 0 30 0)

   312         rock (box 1 1 1 :color ColorRGBA/Blue

   313                      :position (Vector3f. 0 10 0)

   314                      :mass 30

   315                      )

   316         rot (.getWorldRotation rock)

   317         

   318         table (box 3 1 10 :color ColorRGBA/Gray :mass 0

   319                    :position (Vector3f. 0 -3 0))]

   320 

   321     (world

   322      (nodify [rock table])

   323              standard-debug-controls

   324              (fn [world]

   325                (let 

   326                    [cam (doto (.clone (.getCamera world))

   327                           (.setLocation camera-pos)

   328                           (.lookAt Vector3f/ZERO

   329                                    Vector3f/UNIT_X))]

   330                  (bind-sense rock cam)

   331                  

   332                  (.setTimer world (RatchetTimer. 60))

   333                  (add-camera! world cam (comp (view-image) BufferedImage!))

   334                  (add-camera! world (.getCamera world) no-op))

   335                )

   336              (fn [_ _] (println-repl rot)))))

   337 #+end_src

   338   

   339 

   340 * COMMENT generate source

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

   342 <<integration>>

   343 #+end_src

   344 

   345 

   346   

   347
author	Robert McIntyre <rlm@mit.edu>
date	Sat, 04 Feb 2012 11:29:45 -0700
parents	org/test-creature.org@66fbab414d45
children	305439cec54d