rlm@157: #+title: The Sense of Proprioception
rlm@157: #+author: Robert McIntyre
rlm@157: #+email: rlm@mit.edu
rlm@157: #+description: proprioception for simulated creatures
rlm@157: #+keywords: simulation, jMonkeyEngine3, clojure
rlm@157: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@157: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@157: 
rlm@157: #+name: proprioception
rlm@157: #+begin_src clojure
rlm@157: (ns cortex.proprioception
rlm@173:   "Simulate the sense of proprioception (ability to detect the
rlm@173:   relative positions of body parts with repsect to other body parts)
rlm@173:   in jMonkeyEngine3. Reads specially prepared blender files to
rlm@173:   automatically generate proprioceptive senses."
rlm@173:   (:use (cortex world util sense body))
rlm@174:   (:use clojure.contrib.def)
rlm@174:   (:import com.jme3.scene.Node)
rlm@174:   (:import (com.jme3.math Vector3f Quaternion)))
rlm@157: 
rlm@173: (defn right-handed?
rlm@173:   "true iff the three vectors form a right handed coordinate
rlm@173:   system. The three vectors do not have to be normalized or
rlm@173:   orthogonal."
rlm@173:   [vec1 vec2 vec3]
rlm@157:   (< 0 (.dot (.cross vec1 vec2) vec3)))
rlm@157: 
rlm@173: (defn absolute-angle
rlm@173:   "The angle between 'vec1 and 'vec2. Positive if the angle to get
rlm@173:   from 'vec1 to 'vec2 is counterclockwise around 'axis, and negative
rlm@173:   otherwise." 
rlm@173:   [vec1 vec2 axis]
rlm@157:   (let [angle (.angleBetween vec1 vec2)]
rlm@157:     (if (right-handed? vec1 vec2 axis)
rlm@157:       angle (- (* 2 Math/PI) angle))))
rlm@157: 
rlm@173: (defn proprioception-fn
rlm@173:   "Returns a function which returns proprioceptive sensory data when
rlm@173:   called inside a running simulation."
rlm@173:   [#^Node parts #^Node joint]
rlm@157:   (let [[obj-a obj-b] (joint-targets parts joint)
rlm@157:         joint-rot (.getWorldRotation joint)
rlm@157:         x0 (.mult joint-rot Vector3f/UNIT_X)
rlm@157:         y0 (.mult joint-rot Vector3f/UNIT_Y)
rlm@157:         z0 (.mult joint-rot Vector3f/UNIT_Z)]
rlm@157:     (println-repl "x:" x0)
rlm@157:     (println-repl "y:" y0)
rlm@157:     (println-repl "z:" z0)
rlm@157:     (println-repl "init-a:" (.getWorldRotation obj-a))
rlm@157:     (println-repl "init-b:" (.getWorldRotation obj-b))
rlm@157: 
rlm@157:     (fn []
rlm@157:       (let [rot-a (.clone (.getWorldRotation obj-a))
rlm@157:             rot-b (.clone (.getWorldRotation obj-b))
rlm@157:             x (.mult rot-a x0)
rlm@157:             y (.mult rot-a y0)
rlm@157:             z (.mult rot-a z0)
rlm@157: 
rlm@157:             X (.mult rot-b x0)
rlm@157:             Y (.mult rot-b y0)
rlm@157:             Z (.mult rot-b z0)
rlm@157:             heading  (Math/atan2 (.dot X z) (.dot X x))
rlm@157:             pitch  (Math/atan2 (.dot X y) (.dot X x))
rlm@157: 
rlm@157:             ;; rotate x-vector back to origin
rlm@157:             reverse
rlm@157:             (doto (Quaternion.)
rlm@157:               (.fromAngleAxis
rlm@157:                (.angleBetween X x)
rlm@157:                (let [cross (.normalize (.cross X x))]
rlm@157:                  (if (= 0 (.length cross)) y cross))))
rlm@157:             roll (absolute-angle (.mult reverse Y) y x)]
rlm@157:         [heading pitch roll]))))
rlm@157: 
rlm@173: (defn proprioception!
rlm@173:   "Endow the creature with the sense of proprioception. Returns a
rlm@173:    sequence of functions, one for each child of the \"joints\" node in
rlm@173:    the creature, which each report proprioceptive information about
rlm@173:    that joint."
rlm@157:   [#^Node creature]
rlm@157:   ;; extract the body's joints
rlm@173:   (let [senses (map (partial proprioception-fn creature)
rlm@173:                     (joints creature))]
rlm@157:     (fn []
rlm@157:       (map #(%) senses))))
rlm@175: 
rlm@175: 
rlm@175: (import java.awt.image.BufferedImage)
rlm@175: 
rlm@175: (defn draw-sprite [image sprite x y color ]
rlm@175:   (dorun
rlm@175:    (for [[u v] sprite]
rlm@175:      (.setRGB image (+ u x) (+ v y) color))))
rlm@175: 
rlm@175: (defn view-angle
rlm@175:   "create a debug view of an angle"
rlm@175:   [color]
rlm@175:   (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
rlm@175:         previous (atom [25 25])
rlm@175:         sprite [[0 0] [0 1]
rlm@175:                 [0 -1] [-1 0] [1 0]]] 
rlm@175:     (fn [angle]
rlm@175:       (let [angle (float angle)]
rlm@175:         (let [position
rlm@175:               [(+ 25 (int (* 20 (Math/cos angle))))
rlm@175:                (+ 25 (int (* -20 (Math/sin angle))))]]
rlm@175:           (draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
rlm@175:           (draw-sprite image sprite (position 0) (position 1) color)
rlm@175:           (reset! previous position))
rlm@175:         image))))
rlm@175: 
rlm@175: (defn proprioception-debug-window
rlm@175:   []
rlm@175:   (let [heading (view-angle 0xFF0000)
rlm@175:         pitch (view-angle 0x00FF00)
rlm@175:         roll (view-angle 0xFFFFFF)
rlm@175:         v-heading (view-image)
rlm@175:         v-pitch (view-image)
rlm@175:         v-roll (view-image)
rlm@175:         ]
rlm@175:     (fn [prop-data]
rlm@175:       (dorun
rlm@175:        (map
rlm@175:         (fn [[h p r]]
rlm@175:           (v-heading (heading h))
rlm@175:           (v-pitch (pitch p))
rlm@175:           (v-roll (roll r)))
rlm@175:         prop-data)))))
rlm@175: 
rlm@157: #+end_src
rlm@157: 
rlm@157: * COMMENT generate source
rlm@157: #+begin_src clojure :tangle ../src/cortex/proprioception.clj
rlm@157: <<proprioception>>
rlm@157: #+end_src