rlm@0: #+title: The BODY!!!
rlm@0: #+author: Robert McIntyre
rlm@0: #+email: rlm@mit.edu
rlm@4: #+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
rlm@4: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@4: 
rlm@45: * Body  
rlm@0: 
rlm@0: #+srcname: body-main
rlm@0: #+begin_src clojure 
rlm@44: (ns cortex.body
rlm@44:   (use (cortex world util import)))
rlm@44: 
rlm@0: (use 'clojure.contrib.def)
rlm@0: (cortex.import/mega-import-jme3)
rlm@0: (rlm.rlm-commands/help)
rlm@0: 
rlm@44: ;;(.loadModel 
rlm@44: ;; (doto (asset-manager)
rlm@44: ;;   (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44: ;;   "Models/person/person.blend")
rlm@44: 
rlm@44: (defn view-model [^String model]
rlm@44:   (view 
rlm@44:    (.loadModel 
rlm@44:     (doto (asset-manager)
rlm@44:       (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@44:     model)))
rlm@49: 
rlm@49: (defn load-blender-scene [^String model]
rlm@49:   (.loadModel
rlm@49:    (doto (asset-manager)
rlm@49:      (.registerLoader BlenderLoader (into-array String ["blend"])))
rlm@49:     model))
rlm@49: 
rlm@49: (defn load-blender-model 
rlm@49:   [^String model]
rlm@49:   (.loadModel
rlm@49:    (doto (asset-manager)
rlm@49:      (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@49:    model))
rlm@49: 
rlm@49: (defn worm
rlm@49:   []
rlm@50:   (.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml"))
rlm@49: 
rlm@50: (defn oto
rlm@49:   []
rlm@49:   (.loadModel (asset-manager) "Models/Oto/Oto.mesh.xml"))
rlm@49: 
rlm@50: (defn sinbad
rlm@50:   []
rlm@50:   (.loadModel (asset-manager) "Models/Sinbad/Sinbad.mesh.xml"))
rlm@50: 
rlm@50: (defn worm-blender
rlm@50:   []
rlm@50:   (first (seq (.getChildren (load-blender-model
rlm@50:                              "Models/anim2/worm3.blend")))))
rlm@50: 
rlm@52: (defn skel [node]
rlm@52:   (doto
rlm@52:       (.getSkeleton
rlm@52:        (.getControl node SkeletonControl))
rlm@52:     ;; this is necessary to force the skeleton to have accurate world
rlm@52:     ;; transforms before it is rendered to the screen. 
rlm@52:     (.resetAndUpdate)))
rlm@52: 
rlm@50: (defprotocol Textual
rlm@50:   (text [something]
rlm@50:     "Display a detailed textual analysis of the given object."))
rlm@50: 
rlm@50: (extend-type com.jme3.scene.Node
rlm@50:   Textual
rlm@50:   (text [node]
rlm@50:     (println "Total Vertexes: " (.getVertexCount node))
rlm@50:     (println "Total Triangles: " (.getTriangleCount node))
rlm@50:     (println "Controls :")
rlm@50:     (dorun (map #(text (.getControl node %)) (range (.getNumControls node))))
rlm@50:     (println "Has " (.getQuantity node) " Children:")
rlm@50:     (doall (map text (.getChildren node)))))
rlm@50: 
rlm@50: (extend-type com.jme3.animation.AnimControl
rlm@50:   Textual
rlm@50:   (text [control]
rlm@50:     (let [animations (.getAnimationNames control)]
rlm@52:       (println "Animation Control with " (count animations) " animation(s):")
rlm@50:       (dorun (map println animations)))))
rlm@50: 
rlm@50: (extend-type com.jme3.animation.SkeletonControl
rlm@50:   Textual
rlm@50:   (text [control]
rlm@50:     (println "Skeleton Control with the following skeleton:")
rlm@50:     (println (.getSkeleton control))))
rlm@50: 
rlm@52: (extend-type com.jme3.bullet.control.KinematicRagdollControl
rlm@52:   Textual
rlm@52:   (text [control]
rlm@52:     (println "Ragdoll Control")))
rlm@52:                  
rlm@52: 
rlm@50: (extend-type com.jme3.scene.Geometry
rlm@50:   Textual
rlm@50:   (text [control]
rlm@50:     (println "...geo...")))
rlm@50: 
rlm@50: 
rlm@50: 
rlm@50: 
rlm@50: (defn body
rlm@52:   "given a node with a SkeletonControl, will produce a body sutiable
rlm@52:   for AI control with movement and proprioception."
rlm@50:   [node]
rlm@50:   (let [skeleton-control (.getControl node SkeletonControl)
rlm@50:         krc (KinematicRagdollControl. (float 0.5))]
rlm@50:     (dorun
rlm@50:      (map #(.addBoneName krc %)
rlm@52:           ["mid1" "mid2" "mid3" "tail" "head"]
rlm@52:         ;; ["Ulna.L"
rlm@52:         ;;  "Ulna.R"
rlm@52:         ;;  "Chest"
rlm@52:         ;;  "Foot.L"
rlm@52:         ;;  "Foot.R"
rlm@52:         ;;  "Hand.R"
rlm@52:         ;;  "Hand.L"
rlm@52:         ;;  "Neck"
rlm@52:         ;;  "Root"
rlm@52:         ;;  "Stomach"
rlm@52:         ;;  "Waist"
rlm@52:         ;;  "Humerus.L"
rlm@52:         ;;  "Humerus.R"
rlm@52:         ;;  "Thigh.L"
rlm@52:         ;;  "Thigh.R"
rlm@52:         ;;  "Calf.L"
rlm@52:         ;;  "Calf.R"
rlm@52:         ;;  "Clavicle.L"
rlm@52:         ;;  "Clavicle.R"]
rlm@52:         ))
rlm@52: 
rlm@52: 
rlm@52:     
rlm@50:     (.addControl node krc)
rlm@52:     (.setRagdollMode krc)
rlm@52:     )
rlm@50:   node
rlm@50:   )
rlm@50: 
rlm@52: (defn green-x-ray []
rlm@51:   (doto (Material. (asset-manager)
rlm@51:                    "Common/MatDefs/Misc/Unshaded.j3md")
rlm@51:     (.setColor "Color" ColorRGBA/Green)
rlm@52:     (-> (.getAdditionalRenderState)
rlm@52:         (.setDepthTest false))))
rlm@51: 
rlm@50: (defn view-skeleton [node]
rlm@50:   (let [sd
rlm@51: 
rlm@50:         (doto
rlm@51:             (SkeletonDebugger. "aurellem-skel-debug"
rlm@51:                                (skel node))
rlm@51:           (.setMaterial (green-x-ray)))]
rlm@51:     (view (doto (Node. "view node")
rlm@51:             (.attachChild sd)
rlm@50: 
rlm@51:              
rlm@51:              
rlm@51:              
rlm@51:              ;;(.attachChild node)
rlm@51:              ))))
rlm@51:   
rlm@50: 
rlm@50: (defn init-debug-skel-node
rlm@50:   [f debug-node skeleton]
rlm@50:   (let [bones 
rlm@50:         (map #(.getBone skeleton %)
rlm@50:              (range (.getBoneCount skeleton)))]
rlm@50:   (dorun (map #(.setUserControl % true) bones)) 
rlm@50:   (dorun (map (fn [b]
rlm@50:                 (println (.getName b)
rlm@50:                          " -- " (f b)))
rlm@50:               bones))
rlm@51: 
rlm@50:   (dorun
rlm@50:    (map #(.attachChild
rlm@50:           debug-node 
rlm@51:           (doto 
rlm@51:               (sphere 0.1
rlm@51:                       :position (f %)
rlm@51:                       :physical? false)
rlm@51:           (.setMaterial (green-x-ray))))
rlm@50:         bones)))
rlm@50:     debug-node)
rlm@50: 
rlm@52: (import jme3test.bullet.PhysicsTestHelper)
rlm@50: 
rlm@50: (defn test-ragdoll []
rlm@50:   
rlm@50:   (let [the-worm
rlm@50:         (body
rlm@52:          ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
rlm@50:          ;;(worm-blender)
rlm@52:          (worm)
rlm@52:          ;;(oto)
rlm@52:          ;;(sinbad)
rlm@50:         )
rlm@50:     ]
rlm@50: 
rlm@50: 
rlm@50:     (.start 
rlm@50:      (world
rlm@50:       (doto (Node.)
rlm@50:         (.attachChild the-worm))
rlm@50:       {"mouse-left" (fire-cannon-ball)}
rlm@50:       (fn [world]
rlm@50:         (light-up-everything world)
rlm@52:         (PhysicsTestHelper/createPhysicsTestWorld
rlm@52:          (.getRootNode world)
rlm@52:          (asset-manager)
rlm@52:          (.getPhysicsSpace
rlm@52:           (.getState (.getStateManager world) BulletAppState)))
rlm@50:         ;;(.setTimer world (NanoTimer.))
rlm@50:         ;;(org.lwjgl.input.Mouse/setGrabbed false)
rlm@50:         )
rlm@50:       no-op
rlm@50:       )
rlm@50:   
rlm@50:      
rlm@50:      )))
rlm@50:     
rlm@50: 
rlm@50: 
rlm@49:     
rlm@50: 
rlm@50: 
rlm@50: 
rlm@49: 
rlm@49: 
rlm@49: 
rlm@0: #+end_src
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: * COMMENT generate Source.
rlm@44: #+begin_src clojure :tangle ../src/cortex/body.clj
rlm@0: <<body-main>>
rlm@0: #+end_src
rlm@0: