rlm@23: #+title: Helper Utilities
rlm@23: #+author: Robert McIntyre
rlm@23: #+email: rlm@mit.edu
rlm@23: #+description: Simulating senses for AI research using JMonkeyEngine3
rlm@23: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@23: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@23: #+babel: :mkdirp yes :noweb yes :exports both
rlm@23: 
rlm@23: ** Imports
rlm@28: 
rlm@23: jMonkeyEngine has a plethora of classes which can be overwhelming at
rlm@23: first. So that I one can get right to coding, it's good to take the
rlm@23: time right now and make a "import all" function which brings in all of
rlm@23: the important jme3 classes. Once I'm happy with the general structure
rlm@23: of a namespace I can deal with importing only the classes it actually
rlm@23: needs.
rlm@23: 
rlm@23: #+srcname: import
rlm@23: #+begin_src clojure :results silent
rlm@23: (ns cortex.import
rlm@23:   (:require swank.util.class-browse))
rlm@23: 
rlm@23: (defn permissive-import
rlm@23:   [classname]
rlm@23:   (eval `(try (import '~classname)
rlm@23:               (catch java.lang.Exception e#
rlm@23:                 (println "couldn't import " '~classname))))
rlm@23:   classname)
rlm@23: 
rlm@23: (defn jme-class? [classname]
rlm@23:   (and
rlm@23:    (.startsWith classname "com.jme3.")
rlm@23:    ;; Don't import the Lwjgl stuff since it can throw exceptions
rlm@23:    ;;  upon being loaded.
rlm@23:    (not (re-matches #".*Lwjgl.*" classname))))
rlm@23: 
rlm@23: (defn jme-classes
rlm@23:   "returns a list of all jme3 classes"
rlm@23:   []
rlm@23:   (filter
rlm@23:    jme-class?
rlm@23:    (map :name
rlm@23:         swank.util.class-browse/available-classes)))
rlm@23:   
rlm@23: (defn mega-import-jme3
rlm@23:   "Import ALL the jme classes. For REPL use."
rlm@23:   []
rlm@23:   (doall
rlm@23:    (map (comp permissive-import symbol) (jme-classes))))
rlm@23: #+end_src  
rlm@23: 
rlm@23: The =mega-import-jme3= is quite usefull for debugging purposes since
rlm@23: it allows completion for almost all of JME's classes.
rlm@23: 
rlm@23: Out of curiousity, let's see just how many classes =mega-import-jme3=
rlm@23: imports:
rlm@23: 
rlm@23: #+begin_src clojure :exports both
rlm@23: (clojure.core/count (cortex.import/jme-classes))
rlm@23: #+end_src
rlm@23: 
rlm@23: #+results:
rlm@23: : 955
rlm@23: 
rlm@25: 
rlm@23: #+srcname: world-view
rlm@23: #+begin_src clojure :results silent
rlm@25: (ns cortex.util)
rlm@25: (require 'cortex.import)
rlm@25: (cortex.import/mega-import-jme3)
rlm@25: (use 'cortex.world)
rlm@23: (defprotocol Viewable
rlm@23:   (view [something]))
rlm@23: 
rlm@23: (extend-type com.jme3.scene.Geometry
rlm@23:   Viewable
rlm@23:   (view [geo]
rlm@23: 	(view (doto (Node.)(.attachChild geo)))))
rlm@23: 
rlm@23: (extend-type com.jme3.scene.Node
rlm@23:   Viewable
rlm@23:   (view [node]
rlm@23: 	(.start
rlm@23: 	 (world node
rlm@23: 		{}
rlm@23: 		(fn [world]
rlm@23: 		  (.enableDebug 
rlm@23: 		   (.getPhysicsSpace
rlm@23: 		    (.getState
rlm@23: 		     (.getStateManager world)
rlm@23: 		     BulletAppState))
rlm@23: 		   (asset-manager))
rlm@23: 		  (set-gravity* world Vector3f/ZERO)
rlm@23: ;;		  (set-gravity* world (Vector3f. 0 (float -0.4) 0))
rlm@23: 		  (let [sun (doto (DirectionalLight.)
rlm@23: 			      (.setDirection (.normalizeLocal (Vector3f. 1 0 -2)))
rlm@23: 			      (.setColor ColorRGBA/White))]
rlm@23: 		    (.addLight (.getRootNode world) sun)))
rlm@23: 		no-op))))
rlm@23: #+end_src
rlm@23: 
rlm@23: Here I make the =Viewable= protocol and extend it to JME's types.  Now
rlm@23: hello-world can be written as easily as:
rlm@23: 
rlm@23: #+begin_src clojure :results silent
rlm@23: (cortex.world/view (cortex.world/box))
rlm@23: #+end_src
rlm@24: 
rlm@24: 
rlm@25: #+srcname: util
rlm@25: #+begin_src clojure 
rlm@25: (in-ns 'cortex.util)
rlm@25: 
rlm@25: (def println-repl (bound-fn [& args] (apply println args)))
rlm@25: 
rlm@25: (defn position-camera [game]
rlm@25:   (doto (.getCamera game)
rlm@25:     (.setLocation (Vector3f. 0 6 6))
rlm@25:     (.lookAt Vector3f/ZERO (Vector3f. 0 1 0))))
rlm@25: 
rlm@25: (defn set-gravity*
rlm@25:   [game gravity]
rlm@25:   (traverse
rlm@25:    (fn [geom]
rlm@25:      (if-let
rlm@25: 	 [control (.getControl geom RigidBodyControl)]
rlm@25:        (do
rlm@25: 	 (.setGravity control gravity)
rlm@25: 	 (.applyImpulse control Vector3f/ZERO Vector3f/ZERO)
rlm@25: 	 )))
rlm@25:    (.getRootNode game)))
rlm@25: #+end_src
rlm@25: 
rlm@25: 
rlm@25: #+srcname: shapes
rlm@25: #+begin_src clojure :results silent
rlm@25: (in-ns 'cortex.util)
rlm@25: (defrecord shape-description
rlm@25:   [name
rlm@25:    color
rlm@25:    mass
rlm@25:    friction
rlm@25:    texture
rlm@25:    material
rlm@25:    position
rlm@25:    rotation
rlm@25:    shape
rlm@25:    physical?])
rlm@25: 
rlm@25: (def base-shape
rlm@25:      (shape-description.
rlm@25:       "default-shape"
rlm@25:       false
rlm@25:       ;;ColorRGBA/Blue
rlm@25:       1.0 ;; mass
rlm@25:       1.0 ;; friction
rlm@25:       ;; texture
rlm@25:       "Textures/Terrain/BrickWall/BrickWall.jpg"
rlm@25:       ;; material
rlm@25:       "Common/MatDefs/Misc/Unshaded.j3md"
rlm@25:       Vector3f/ZERO
rlm@25:       Quaternion/IDENTITY
rlm@25:       (Box. Vector3f/ZERO 0.5 0.5 0.5)
rlm@25:       true))
rlm@25: 
rlm@25: (defn make-shape
rlm@25:   [#^shape-description d]
rlm@25:   (let [asset-manager (if (:asset-manager d) (:asset-manager d) (asset-manager))
rlm@25:         mat (Material. asset-manager (:material d))
rlm@25: 	geom (Geometry. (:name d) (:shape d))]
rlm@25:     (if (:texture d)
rlm@25:       (let [key (TextureKey. (:texture d))]
rlm@25: 	(.setGenerateMips key true)
rlm@25: 	(.setTexture mat "ColorMap" (.loadTexture asset-manager key))))
rlm@25:     (if (:color d) (.setColor mat "Color" (:color d)))
rlm@25:     (.setMaterial geom mat)
rlm@25:     (if-let [rotation (:rotation d)] (.rotate geom rotation))
rlm@25:     (.setLocalTranslation geom (:position d))
rlm@25:     (if (:physical? d)
rlm@25:       (let [impact-shape (doto (GImpactCollisionShape. 
rlm@25:                                 (.getMesh geom)) (.setMargin 0))
rlm@25: 	    physics-control (RigidBodyControl.
rlm@25: 			     ;;impact-shape ;; comment to disable 
rlm@25: 			     (float (:mass d)))]
rlm@25: 	(.createJmeMesh impact-shape)
rlm@25: 	(.addControl geom physics-control)
rlm@25: 	;;(.setSleepingThresholds physics-control (float 0) (float 0))
rlm@25: 	(.setFriction physics-control (:friction d))))
rlm@25:     ;;the default is to keep this node in the physics engine forever.
rlm@25:     ;;these commands must come after the control is added to the geometry.
rlm@25:     ;;
rlm@25:     geom))
rlm@25:   
rlm@25: (defn box
rlm@25:   ([l w h & {:as options}]
rlm@25:      (let [options (merge base-shape options)]
rlm@25:        (make-shape (assoc options
rlm@25: 		     :shape (Box. l w h)))))
rlm@25:   ([] (box 0.5 0.5 0.5)))
rlm@25: 
rlm@25: (defn sphere
rlm@25:   ([r & {:as options}]
rlm@25:      (let [options (merge base-shape options)]
rlm@25:        (make-shape (assoc options
rlm@25: 		     :shape (Sphere. 32 32 (float r)))))) 
rlm@25:   ([] (sphere 0.5)))
rlm@25: 
rlm@25: (defn add-element
rlm@25:   ([game element node]
rlm@25:   (.addAll
rlm@25:    (.getPhysicsSpace
rlm@25:     (.getState
rlm@25:      (.getStateManager game)
rlm@25:      BulletAppState))
rlm@25:     element)
rlm@25:   (.attachChild node element))
rlm@25:   ([game element]
rlm@25:      (add-element game element (.getRootNode game))))
rlm@25: 
rlm@25: 
rlm@26: (defn apply-map
rlm@26:   "Like apply, but works for maps and functions that expect an
rlm@26:    implicit map and nothing else as in (fn [& {}]).
rlm@26:    ------- Example -------
rlm@26:    (defn demo [& {:keys [www] :or {www \"oh yeah\"} :as env}] 
rlm@26:      (println www))
rlm@26:    (apply-map demo {:www \"hello!\"})
rlm@26:    -->\"hello\""
rlm@26:   [fn m]
rlm@26:   (apply fn (reduce #(into %1 %2) [] m)))
rlm@25: 
rlm@25: #+end_src
rlm@25: 
rlm@25: 
rlm@24: 
rlm@24: * COMMENT code generation
rlm@24: #+begin_src clojure :tangle ../src/cortex/import.clj
rlm@24: <<import>>
rlm@24: #+end_src
rlm@25: 
rlm@25: 
rlm@25: #+begin_src clojure :tangle ../src/cortex/util.clj
rlm@25: <<world-view>>
rlm@25: <<util>>
rlm@25: <<shapes>>
rlm@25: #+end_src
rlm@25: