view org/test-creature.org @ 156:e8df6e76c3e5

refactored touch
author Robert McIntyre <rlm@mit.edu>
date Fri, 03 Feb 2012 06:15:34 -0700
parents 95bf55614211
children 84c67be00abe
line wrap: on
line source
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 discreitized 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))
54 (rlm.rlm-commands/help)
55 (import java.awt.image.BufferedImage)
56 (import javax.swing.JPanel)
57 (import javax.swing.SwingUtilities)
58 (import java.awt.Dimension)
59 (import javax.swing.JFrame)
60 (import java.awt.Dimension)
61 (import com.aurellem.capture.RatchetTimer)
62 (declare joint-create)
63 (use 'clojure.contrib.def)
65 (defn load-blender-model
66 "Load a .blend file using an asset folder relative path."
67 [^String model]
68 (.loadModel
69 (doto (asset-manager)
70 (.registerLoader BlenderModelLoader (into-array String ["blend"])))
71 model))
73 (defn blender-to-jme
74 "Convert from Blender coordinates to JME coordinates"
75 [#^Vector3f in]
76 (Vector3f. (.getX in)
77 (.getZ in)
78 (- (.getY in))))
81 (defmulti joint-dispatch
82 "Translate blender pseudo-joints into real JME joints."
83 (fn [constraints & _]
84 (:type constraints)))
86 (defmethod joint-dispatch :point
87 [constraints control-a control-b pivot-a pivot-b rotation]
88 (println-repl "creating POINT2POINT joint")
89 ;; bullet's point2point joints are BROKEN, so we must use the
90 ;; generic 6DOF joint instead of an actual Point2Point joint!
92 ;; should be able to do this:
93 (comment
94 (Point2PointJoint.
95 control-a
96 control-b
97 pivot-a
98 pivot-b))
100 ;; but instead we must do this:
101 (println-repl "substuting 6DOF joint for POINT2POINT joint!")
102 (doto
103 (SixDofJoint.
104 control-a
105 control-b
106 pivot-a
107 pivot-b
108 false)
109 (.setLinearLowerLimit Vector3f/ZERO)
110 (.setLinearUpperLimit Vector3f/ZERO)
111 ;;(.setAngularLowerLimit (Vector3f. 1 1 1))
112 ;;(.setAngularUpperLimit (Vector3f. 0 0 0))
114 ))
117 (defmethod joint-dispatch :hinge
118 [constraints control-a control-b pivot-a pivot-b rotation]
119 (println-repl "creating HINGE joint")
120 (let [axis
121 (if-let
122 [axis (:axis constraints)]
123 axis
124 Vector3f/UNIT_X)
125 [limit-1 limit-2] (:limit constraints)
126 hinge-axis
127 (.mult
128 rotation
129 (blender-to-jme axis))]
130 (doto
131 (HingeJoint.
132 control-a
133 control-b
134 pivot-a
135 pivot-b
136 hinge-axis
137 hinge-axis)
138 (.setLimit limit-1 limit-2))))
140 (defmethod joint-dispatch :cone
141 [constraints control-a control-b pivot-a pivot-b rotation]
142 (let [limit-xz (:limit-xz constraints)
143 limit-xy (:limit-xy constraints)
144 twist (:twist constraints)]
146 (println-repl "creating CONE joint")
147 (println-repl rotation)
148 (println-repl
149 "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
150 (println-repl
151 "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
152 (println-repl
153 "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
154 (doto
155 (ConeJoint.
156 control-a
157 control-b
158 pivot-a
159 pivot-b
160 rotation
161 rotation)
162 (.setLimit (float limit-xz)
163 (float limit-xy)
164 (float twist)))))
166 (defn connect
167 "here are some examples:
168 {:type :point}
169 {:type :hinge :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
170 (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
172 {:type :cone :limit-xz 0]
173 :limit-xy 0]
174 :twist 0]} (use XZY rotation mode in blender!)"
175 [#^Node obj-a #^Node obj-b #^Node joint]
176 (let [control-a (.getControl obj-a RigidBodyControl)
177 control-b (.getControl obj-b RigidBodyControl)
178 joint-center (.getWorldTranslation joint)
179 joint-rotation (.toRotationMatrix (.getWorldRotation joint))
180 pivot-a (world-to-local obj-a joint-center)
181 pivot-b (world-to-local obj-b joint-center)]
183 (if-let [constraints
184 (map-vals
185 eval
186 (read-string
187 (meta-data joint "joint")))]
188 ;; A side-effect of creating a joint registers
189 ;; it with both physics objects which in turn
190 ;; will register the joint with the physics system
191 ;; when the simulation is started.
192 (do
193 (println-repl "creating joint between"
194 (.getName obj-a) "and" (.getName obj-b))
195 (joint-dispatch constraints
196 control-a control-b
197 pivot-a pivot-b
198 joint-rotation))
199 (println-repl "could not find joint meta-data!"))))
204 (defn assemble-creature [#^Node pieces joints]
205 (dorun
206 (map
207 (fn [geom]
208 (let [physics-control
209 (RigidBodyControl.
210 (HullCollisionShape.
211 (.getMesh geom))
212 (if-let [mass (meta-data geom "mass")]
213 (do
214 (println-repl
215 "setting" (.getName geom) "mass to" (float mass))
216 (float mass))
217 (float 1)))]
219 (.addControl geom physics-control)))
220 (filter #(isa? (class %) Geometry )
221 (node-seq pieces))))
222 (dorun
223 (map
224 (fn [joint]
225 (let [[obj-a obj-b] (joint-targets pieces joint)]
226 (connect obj-a obj-b joint)))
227 joints))
228 pieces)
230 (declare blender-creature)
232 (def hand "Models/creature1/one.blend")
234 (def worm "Models/creature1/try-again.blend")
236 (defn worm-model [] (load-blender-model worm))
238 (defn x-ray [#^ColorRGBA color]
239 (doto (Material. (asset-manager)
240 "Common/MatDefs/Misc/Unshaded.j3md")
241 (.setColor "Color" color)
242 (-> (.getAdditionalRenderState)
243 (.setDepthTest false))))
245 (defn colorful []
246 (.getChild (worm-model) "worm-21"))
248 (import jme3tools.converters.ImageToAwt)
250 (import ij.ImagePlus)
254 (defn test-eye []
255 (.getChild
256 (.getChild (worm-model) "eyes")
257 "eye"))
261 ;; Ears work the same way as vision.
263 ;; (hearing creature) will return [init-functions
264 ;; sensor-functions]. The init functions each take the world and
265 ;; register a SoundProcessor that does foureier transforms on the
266 ;; incommong sound data, making it available to each sensor function.
268 (defn creature-ears
269 "Return the children of the creature's \"ears\" node."
270 ;;dylan
271 ;;"The ear nodes which are children of the \"ears\" node in the
272 ;;creature."
273 [#^Node creature]
274 (if-let [ear-node (.getChild creature "ears")]
275 (seq (.getChildren ear-node))
276 (do (println-repl "could not find ears node") [])))
279 ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
280 ;;anchor-qualia, augment-organ, with-organ
283 (defn update-listener-velocity
284 "Update the listener's velocity every update loop."
285 [#^Spatial obj #^Listener lis]
286 (let [old-position (atom (.getLocation lis))]
287 (.addControl
288 obj
289 (proxy [AbstractControl] []
290 (controlUpdate [tpf]
291 (let [new-position (.getLocation lis)]
292 (.setVelocity
293 lis
294 (.mult (.subtract new-position @old-position)
295 (float (/ tpf))))
296 (reset! old-position new-position)))
297 (controlRender [_ _])))))
299 (import com.aurellem.capture.audio.AudioSendRenderer)
301 (defn attach-ear
302 [#^Application world #^Node creature #^Spatial ear continuation]
303 (let [target (closest-node creature ear)
304 lis (Listener.)
305 audio-renderer (.getAudioRenderer world)
306 sp (sound-processor continuation)]
307 (.setLocation lis (.getWorldTranslation ear))
308 (.setRotation lis (.getWorldRotation ear))
309 (bind-sense target lis)
310 (update-listener-velocity target lis)
311 (.addListener audio-renderer lis)
312 (.registerSoundProcessor audio-renderer lis sp)))
314 (defn enable-hearing
315 [#^Node creature #^Spatial ear]
316 (let [hearing-data (atom [])]
317 [(fn [world]
318 (attach-ear world creature ear
319 (fn [data]
320 (reset! hearing-data (vec data)))))
321 [(fn []
322 (let [data @hearing-data
323 topology
324 (vec (map #(vector % 0) (range 0 (count data))))
325 scaled-data
326 (vec
327 (map
328 #(rem (int (* 255 (/ (+ 1 %) 2))) 256)
329 data))]
330 [topology scaled-data]))
331 ]]))
333 (defn hearing
334 [#^Node creature]
335 (reduce
336 (fn [[init-a senses-a]
337 [init-b senses-b]]
338 [(conj init-a init-b)
339 (into senses-a senses-b)])
340 [[][]]
341 (for [ear (creature-ears creature)]
342 (enable-hearing creature ear))))
349 ;; lower level --- nodes
350 ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
352 ;; higher level -- organs
353 ;;
355 ;; higher level --- sense/effector
356 ;; these are the functions that provide world i/o, chinese-room style
361 (defn blender-creature
362 "Return a creature with all joints in place."
363 [blender-path]
364 (let [model (load-blender-model blender-path)
365 joints (creature-joints model)]
366 (assemble-creature model joints)))
368 (defn gray-scale [num]
369 (+ num
370 (bit-shift-left num 8)
371 (bit-shift-left num 16)))
373 (defn debug-touch-window
374 "creates function that offers a debug view of sensor data"
375 []
376 (let [vi (view-image)]
377 (fn
378 [[coords sensor-data]]
379 (let [image (points->image coords)]
380 (dorun
381 (for [i (range (count coords))]
382 (.setRGB image ((coords i) 0) ((coords i) 1)
383 (gray-scale (sensor-data i)))))
386 (vi image)))))
388 (defn debug-vision-window
389 "creates function that offers a debug view of sensor data"
390 []
391 (let [vi (view-image)]
392 (fn
393 [[coords sensor-data]]
394 (let [image (points->image coords)]
395 (dorun
396 (for [i (range (count coords))]
397 (.setRGB image ((coords i) 0) ((coords i) 1)
398 (sensor-data i))))
399 (vi image)))))
401 (defn debug-hearing-window
402 "view audio data"
403 [height]
404 (let [vi (view-image)]
405 (fn [[coords sensor-data]]
406 (let [image (BufferedImage. (count coords) height
407 BufferedImage/TYPE_INT_RGB)]
408 (dorun
409 (for [x (range (count coords))]
410 (dorun
411 (for [y (range height)]
412 (let [raw-sensor (sensor-data x)]
413 (.setRGB image x y (gray-scale raw-sensor)))))))
415 (vi image)))))
419 ;;(defn test-touch [world creature]
424 ;; here's how motor-control/ proprioception will work: Each muscle is
425 ;; defined by a 1-D array of numbers (the "motor pool") each of which
426 ;; represent muscle fibers. A muscle also has a scalar :strength
427 ;; factor which determines how strong the muscle as a whole is.
428 ;; The effector function for a muscle takes a number < (count
429 ;; motor-pool) and that number is said to "activate" all the muscle
430 ;; fibers whose index is lower than the number. Each fiber will apply
431 ;; force in proportion to its value in the array. Lower values cause
432 ;; less force. The lower values can be put at the "beginning" of the
433 ;; 1-D array to simulate the layout of actual human muscles, which are
434 ;; capable of more percise movements when exerting less force.
436 ;; I don't know how to encode proprioception, so for now, just return
437 ;; a function for each joint that returns a triplet of floats which
438 ;; represent relative roll, pitch, and yaw. Write display code for
439 ;; this though.
441 (defn muscle-fiber-values
442 "get motor pool strengths"
443 [#^BufferedImage image]
444 (vec
445 (let [width (.getWidth image)]
446 (for [x (range width)]
447 (- 255
448 (bit-and
449 0x0000FF
450 (.getRGB image x 0)))))))
453 (defn creature-muscles
454 "Return the children of the creature's \"muscles\" node."
455 [#^Node creature]
456 (if-let [muscle-node (.getChild creature "muscles")]
457 (seq (.getChildren muscle-node))
458 (do (println-repl "could not find muscles node") [])))
460 (defn single-muscle [#^Node parts #^Node muscle]
461 (let [target (closest-node parts muscle)
462 axis
463 (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
464 strength (meta-data muscle "strength")
465 image-name (read-string (meta-data muscle "muscle"))
466 image
467 (ImageToAwt/convert
468 (.getImage (.loadTexture (asset-manager) image-name))
469 false false 0)
470 fibers (muscle-fiber-values image)
471 fiber-integral (reductions + fibers)
472 force-index (vec
473 (map
474 #(float (* strength (/ % (last
475 fiber-integral))))
476 fiber-integral))
477 control (.getControl target RigidBodyControl)]
478 (fn [n]
479 (let [pool-index (min n (count fibers))]
480 (.applyTorque control (.mult axis (force-index n)))))))
483 (defn enable-muscles
484 "Must be called on a creature after RigidBodyControls have been
485 created."
486 [#^Node creature]
487 (let [muscles (creature-muscles creature)]
488 (for [muscle muscles]
489 (single-muscle creature muscle))))
491 (defn test-creature [thing]
492 (let [x-axis
493 (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
494 y-axis
495 (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
496 z-axis
497 (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
498 creature (blender-creature thing)
499 touch-nerves (touch creature)
500 touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
501 [init-vision-fns vision-data] (vision creature)
502 vision-debug (map (fn [_] (debug-vision-window)) vision-data)
503 me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
504 [init-hearing-fns hearing-senses] (hearing creature)
505 hearing-windows (map (fn [_] (debug-hearing-window 50))
506 hearing-senses)
507 bell (AudioNode. (asset-manager)
508 "Sounds/pure.wav" false)
509 prop (proprioception creature)
510 prop-debug (proprioception-debug-window)
512 muscle-fns (enable-muscles creature)
513 ;; dream
515 ]
518 (apply
519 world
520 (with-movement
521 (.getChild creature "worm-21")
522 ["key-r" "key-t"
523 "key-f" "key-g"
524 "key-v" "key-b"]
525 [10 10 10 10 1 1]
526 [(nodify [creature
527 (box 10 2 10 :position (Vector3f. 0 -9 0)
528 :color ColorRGBA/Gray :mass 0)
529 x-axis y-axis z-axis
530 me
531 ])
532 (merge standard-debug-controls
533 {"key-return"
534 (fn [_ value]
535 (if value
536 (do
537 (println-repl "play-sound")
538 (.play bell))))
539 "key-h"
540 (fn [_ value]
541 (if value
542 (do
543 (println-repl "muscle activating!")
544 ((first muscle-fns) 199))))
546 })
547 (fn [world]
548 (light-up-everything world)
549 (enable-debug world)
550 (dorun (map #(% world) init-vision-fns))
551 (dorun (map #(% world) init-hearing-fns))
553 (add-eye world
554 (attach-eye creature (test-eye))
555 (comp (view-image) BufferedImage!))
557 (add-eye world (.getCamera world) no-op)
558 ;;(set-gravity world (Vector3f. 0 0 0))
559 ;;(com.aurellem.capture.Capture/captureVideo
560 ;; world (file-str "/home/r/proj/ai-videos/hand"))
561 ;;(.setTimer world (RatchetTimer. 60))
562 (speed-up world)
563 (set-gravity world (Vector3f. 0 0 0))
564 )
565 (fn [world tpf]
566 ;;(dorun
567 ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
569 (prop-debug (prop))
571 (dorun
572 (map #(%1 (%2 (.getRootNode world)))
573 touch-debug-windows touch-nerves))
575 (dorun
576 (map #(%1 (%2))
577 vision-debug vision-data))
578 (dorun
579 (map #(%1 (%2)) hearing-windows hearing-senses))
582 ;;(println-repl (vision-data))
583 (.setLocalTranslation me (.getLocation (.getCamera world)))
586 )]
587 ;;(let [timer (atom 0)]
588 ;; (fn [_ _]
589 ;; (swap! timer inc)
590 ;; (if (= (rem @timer 60) 0)
591 ;; (println-repl (float (/ @timer 60))))))
592 ))))
596 ;; the camera will stay in its initial position/rotation with relation
597 ;; to the spatial.
600 (defn follow-test
601 "show a camera that stays in the same relative position to a blue cube."
602 []
603 (let [camera-pos (Vector3f. 0 30 0)
604 rock (box 1 1 1 :color ColorRGBA/Blue
605 :position (Vector3f. 0 10 0)
606 :mass 30
607 )
608 rot (.getWorldRotation rock)
610 table (box 3 1 10 :color ColorRGBA/Gray :mass 0
611 :position (Vector3f. 0 -3 0))]
613 (world
614 (nodify [rock table])
615 standard-debug-controls
616 (fn [world]
617 (let
618 [cam (doto (.clone (.getCamera world))
619 (.setLocation camera-pos)
620 (.lookAt Vector3f/ZERO
621 Vector3f/UNIT_X))]
622 (bind-sense rock cam)
624 (.setTimer world (RatchetTimer. 60))
625 (add-eye world cam (comp (view-image) BufferedImage!))
626 (add-eye world (.getCamera world) no-op))
627 )
628 (fn [_ _] (println-repl rot)))))
632 #+end_src
634 #+results: body-1
635 : #'cortex.silly/follow-test
638 * COMMENT purgatory
639 #+begin_src clojure
641 (defn bullet-trans* []
642 (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
643 :position (Vector3f. 5 0 0)
644 :mass 90)
645 obj-b (sphere 0.5 :color ColorRGBA/Blue
646 :position (Vector3f. -5 0 0)
647 :mass 0)
648 control-a (.getControl obj-a RigidBodyControl)
649 control-b (.getControl obj-b RigidBodyControl)
650 move-up? (atom nil)
651 move-down? (atom nil)
652 move-left? (atom nil)
653 move-right? (atom nil)
654 roll-left? (atom nil)
655 roll-right? (atom nil)
656 force 100
657 swivel
658 (.toRotationMatrix
659 (doto (Quaternion.)
660 (.fromAngleAxis (/ Math/PI 2)
661 Vector3f/UNIT_X)))
662 x-move
663 (doto (Matrix3f.)
664 (.fromStartEndVectors Vector3f/UNIT_X
665 (.normalize (Vector3f. 1 1 0))))
667 timer (atom 0)]
668 (doto
669 (ConeJoint.
670 control-a control-b
671 (Vector3f. -8 0 0)
672 (Vector3f. 2 0 0)
673 ;;swivel swivel
674 ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
675 x-move Matrix3f/IDENTITY
676 )
677 (.setCollisionBetweenLinkedBodys false)
678 (.setLimit (* 1 (/ Math/PI 4)) ;; twist
679 (* 1 (/ Math/PI 4)) ;; swing span in X-Y plane
680 (* 0 (/ Math/PI 4)))) ;; swing span in Y-Z plane
681 (world (nodify
682 [obj-a obj-b])
683 (merge standard-debug-controls
684 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
685 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
686 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
687 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
688 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
689 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
691 (fn [world]
692 (enable-debug world)
693 (set-gravity world Vector3f/ZERO)
694 )
696 (fn [world _]
698 (if @move-up?
699 (.applyForce control-a
700 (Vector3f. force 0 0)
701 (Vector3f. 0 0 0)))
702 (if @move-down?
703 (.applyForce control-a
704 (Vector3f. (- force) 0 0)
705 (Vector3f. 0 0 0)))
706 (if @move-left?
707 (.applyForce control-a
708 (Vector3f. 0 force 0)
709 (Vector3f. 0 0 0)))
710 (if @move-right?
711 (.applyForce control-a
712 (Vector3f. 0 (- force) 0)
713 (Vector3f. 0 0 0)))
715 (if @roll-left?
716 (.applyForce control-a
717 (Vector3f. 0 0 force)
718 (Vector3f. 0 0 0)))
719 (if @roll-right?
720 (.applyForce control-a
721 (Vector3f. 0 0 (- force))
722 (Vector3f. 0 0 0)))
724 (if (zero? (rem (swap! timer inc) 100))
725 (.attachChild
726 (.getRootNode world)
727 (sphere 0.05 :color ColorRGBA/Yellow
728 :physical? false :position
729 (.getWorldTranslation obj-a)))))
730 )
731 ))
733 (defn test-joint [joint]
734 (let [[origin top bottom floor] (world-setup joint)
735 control (.getControl top RigidBodyControl)
736 move-up? (atom false)
737 move-down? (atom false)
738 move-left? (atom false)
739 move-right? (atom false)
740 roll-left? (atom false)
741 roll-right? (atom false)
742 timer (atom 0)]
744 (world
745 (nodify [top bottom floor origin])
746 (merge standard-debug-controls
747 {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
748 "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
749 "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
750 "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
751 "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
752 "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})
754 (fn [world]
755 (light-up-everything world)
756 (enable-debug world)
757 (set-gravity world (Vector3f. 0 0 0))
758 )
760 (fn [world _]
761 (if (zero? (rem (swap! timer inc) 100))
762 (do
763 ;; (println-repl @timer)
764 (.attachChild (.getRootNode world)
765 (sphere 0.05 :color ColorRGBA/Yellow
766 :position (.getWorldTranslation top)
767 :physical? false))
768 (.attachChild (.getRootNode world)
769 (sphere 0.05 :color ColorRGBA/LightGray
770 :position (.getWorldTranslation bottom)
771 :physical? false))))
773 (if @move-up?
774 (.applyTorque control
775 (.mult (.getPhysicsRotation control)
776 (Vector3f. 0 0 10))))
777 (if @move-down?
778 (.applyTorque control
779 (.mult (.getPhysicsRotation control)
780 (Vector3f. 0 0 -10))))
781 (if @move-left?
782 (.applyTorque control
783 (.mult (.getPhysicsRotation control)
784 (Vector3f. 0 10 0))))
785 (if @move-right?
786 (.applyTorque control
787 (.mult (.getPhysicsRotation control)
788 (Vector3f. 0 -10 0))))
789 (if @roll-left?
790 (.applyTorque control
791 (.mult (.getPhysicsRotation control)
792 (Vector3f. -1 0 0))))
793 (if @roll-right?
794 (.applyTorque control
795 (.mult (.getPhysicsRotation control)
796 (Vector3f. 1 0 0))))))))
797 #+end_src
800 * COMMENT generate source
801 #+begin_src clojure :tangle ../src/cortex/silly.clj
802 <<body-1>>
803 #+end_src