Mercurial > cortex

     1 

     2 

     3 * A self learning joint

     4 

     5 #+name: load-creature

     6 #+begin_src clojure

     7 (in-ns 'cortex.joint)

     8 

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

    10 

    11 (defn load-creature []

    12   (load-blender-model joint))

    13 

    14 

    15 (defn test-creature []

    16 

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

    18         creature (doto (load-creature) (body!))

    19 

    20       ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    21         touch (touch! creature)

    22         touch-display (view-touch)

    23 

    24         ;;vision (vision! creature)

    25         ;;vision-display (view-vision)

    26 

    27         ;;hearing (hearing! creature)

    28         ;;hearing-display (view-hearing)

    29 

    30         prop (proprioception! creature)

    31         prop-display (view-proprioception)

    32 

    33         muscles (movement! creature)

    34         muscle-display (view-movement)

    35       ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    36 

    37         fix-display (gen-fix-display)

    38 

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

    40                    :color ColorRGBA/Gray :mass 0)

    41 

    42         timer (RatchetTimer. 60)

    43         ]

    44 

    45 

    46     (world

    47      (nodify [floor me creature])

    48      standard-debug-controls

    49      (fn [world]

    50        (.setTimer world timer)

    51        )

    52      (fn [world tpf]

    53        (fix-display world)))))

    54 

    55     

    56 

    57 

    58 #+end_src

    59 

    60 

    61 

    62 

    63 

    64 

    65 * Headers

    66 #+name: joint-header

    67 #+begin_src clojure

    68 (ns cortex.joint

    69   (:require cortex.import)

    70   (:use (cortex world util import body sense

    71                 hearing touch vision proprioception movement))

    72   (:import java.io.File)

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

    74 

    75 

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

    77 (rlm.rlm-commands/help)

    78 #+end_src

    79 

    80 

    81 * COMMENT Generate Source

    82 

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

    84 <<joint-header>>

    85 <<load-creature>>

    86 #+end_src

    87
author	Robert McIntyre <rlm@mit.edu>
date	Sun, 22 Jul 2012 11:30:19 -0500
parents	83afb1fcc999
children	5405f369f4a0