rlm@73: #+title: First attempt at a creature!
rlm@73: #+author: Robert McIntyre
rlm@73: #+email: rlm@mit.edu
rlm@73: #+description: 
rlm@73: #+keywords: simulation, jMonkeyEngine3, clojure
rlm@73: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@73: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@73: 
rlm@73: * Intro 
rlm@73: So far, I've made the following senses -- 
rlm@73:  - Vision
rlm@73:  - Hearing
rlm@73:  - Touch
rlm@73:  - Proprioception
rlm@73: 
rlm@73: And one effector: 
rlm@73:  - Movement
rlm@73: 
rlm@73: However, the code so far has only enabled these senses, but has not
rlm@73: actually implemented them.  For example, there is still a lot of work
rlm@73: to be done for vision. I need to be able to create an /eyeball/ in
rlm@73: simulation that can be moved around and see the world from different
rlm@73: angles. I also need to determine weather to use log-polar or cartesian
rlm@73: for the visual input, and I need to determine how/wether to
rlm@73: disceritise the visual input.
rlm@73: 
rlm@73: I also want to be able to visualize both the sensors and the
rlm@73: effectors in pretty pictures. This semi-retarted creature will by my
rlm@73: first attempt at bringing everything together.
rlm@73: 
rlm@73: * The creature's body
rlm@73: 
rlm@73: Still going to do an eve-like body in blender, but due to problems
rlm@73: importing the joints, etc into jMonkeyEngine3, I',m going to do all
rlm@73: the connecting here in clojure code, using the names of the individual
rlm@73: components and trial and error. Later, I'll maybe make some sort of
rlm@73: creature-building modifications to blender that support whatever
rlm@73: discreitized senses I'm going to make.
rlm@73: 
rlm@73: #+name: body-1
rlm@73: #+begin_src clojure 
rlm@73: (ns cortex.silly
rlm@73:   "let's play!"
rlm@73:   {:author "Robert McIntyre"})
rlm@73: 
rlm@73: ;; TODO remove this!
rlm@73: (require 'cortex.import)
rlm@73: (cortex.import/mega-import-jme3)
rlm@73: (use '(cortex world util body hearing touch vision))
rlm@73: 
rlm@73: (use '[clojure.contrib [seq :only [find-first]]])
rlm@73: 
rlm@73: 
rlm@73: (rlm.rlm-commands/help)
rlm@73: 
rlm@73: (defn load-blender-model
rlm@73:   "Load a .blend file using an asset folder relative path."
rlm@73:   [^String model]
rlm@73:   (.loadModel
rlm@73:    (doto (asset-manager)
rlm@73:      (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73:    model))
rlm@73: 
rlm@74: (defn meta-data [blender-node key]
rlm@74:   (if-let [data (.getUserData blender-node "properties")]
rlm@74:     (.findValue data key)
rlm@74:     nil))
rlm@73: 
rlm@74: 
rlm@74: (defn hand []
rlm@74:   (load-blender-model "Models/creature1/one.blend"))
rlm@74: 
rlm@74: 
rlm@73:   
rlm@74: (def hand-names
rlm@74:   #{
rlm@74:     "middle-1"
rlm@74:     "middle-2"
rlm@74:     "middle-3"
rlm@74:     "palm"
rlm@74:     "pinky-1"
rlm@74:     "pinky-2"
rlm@74:     "pinky-3"
rlm@74:     "pointer-1"
rlm@74:     "pointer-2"
rlm@74:     "pointer-3"
rlm@74:     "ring-1"
rlm@74:     "ring-2"
rlm@74:     "ring-3"
rlm@74:     "thumb-1"
rlm@74:     "thumb-2"})
rlm@74: 
rlm@74: (defn hand-pieces []
rlm@74:   (filter
rlm@74:    (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
rlm@74: 
rlm@74: (defn hand-joints []
rlm@74:   (map #(.getWorldTranslation %)
rlm@74:        (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@74:                (node-seq (hand)))))
rlm@77: (defn worm []
rlm@77:   (load-blender-model "Models/creature1/try-again.blend"))
rlm@77: 
rlm@74: 
rlm@74: (defn worm-pieces []
rlm@74:   (filter
rlm@74:    (comp #{"worm-2" "worm-1"}
rlm@74:          #(apply str (drop-last (.getName %))))
rlm@77:    (node-seq (worm))))
rlm@74: 
rlm@74: (defn worm-joints []
rlm@77:   (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@77:           (node-seq (worm))))
rlm@74: 
rlm@77: (defn bullet-trans []
rlm@77:   (let [obj-a (sphere 0.5 :color ColorRGBA/Red
rlm@77:                       :position (Vector3f. -10 5 0))
rlm@77:         obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77:                       :position (Vector3f. -10 -5 0)
rlm@77:                       :mass 0)
rlm@77:         control-a (.getControl obj-a RigidBodyControl)
rlm@77:         control-b (.getControl obj-b RigidBodyControl)
rlm@77:         swivel
rlm@77:         (.toRotationMatrix
rlm@77:          (doto (Quaternion.)
rlm@77:            (.fromAngleAxis (/ Math/PI 2)
rlm@77:                            Vector3f/UNIT_X)))]
rlm@77:     (doto 
rlm@77:         (ConeJoint.
rlm@77:          control-a control-b
rlm@77:          (Vector3f. 0 5 0)
rlm@77:          (Vector3f. 0 -5 0)
rlm@77:          swivel swivel)
rlm@77:       (.setLimit (* 0.6 (/ Math/PI 4))
rlm@77:                  (/ Math/PI 4)
rlm@77:                  (* Math/PI 0.8)))
rlm@77:     (world (nodify
rlm@77:             [obj-a obj-b])
rlm@77:             standard-debug-controls
rlm@77:             enable-debug
rlm@77:             no-op)))
rlm@74: 
rlm@74: 
rlm@77: (defn bullet-trans* []
rlm@77:   (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77:                    :position (Vector3f. 5 0 0)
rlm@77:                    :mass 90)
rlm@77:         obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77:                       :position (Vector3f. -5 0 0)
rlm@77:                       :mass 0)
rlm@77:         control-a (.getControl obj-a RigidBodyControl)
rlm@77:         control-b (.getControl obj-b RigidBodyControl)
rlm@77:         move-up? (atom nil)
rlm@77:         move-down? (atom nil)
rlm@77:         move-left? (atom nil)
rlm@77:         move-right? (atom nil)
rlm@77:         roll-left? (atom nil)
rlm@77:         roll-right? (atom nil)
rlm@77:         force 100
rlm@77:         swivel
rlm@77:         (.toRotationMatrix
rlm@77:          (doto (Quaternion.)
rlm@77:            (.fromAngleAxis (/ Math/PI 2)
rlm@77:                            Vector3f/UNIT_X)))
rlm@77:         x-move
rlm@77:         (doto (Matrix3f.)
rlm@77:           (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:                                 (.normalize (Vector3f. 1 1 0))))
rlm@77:         
rlm@77:         timer (atom 0)]
rlm@77:     (doto 
rlm@77:         (ConeJoint.
rlm@77:          control-a control-b
rlm@77:          (Vector3f. -8 0 0)
rlm@77:          (Vector3f. 2 0 0)
rlm@77:          ;;swivel swivel
rlm@77:          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77:          x-move Matrix3f/IDENTITY 
rlm@77:          )
rlm@77:       (.setCollisionBetweenLinkedBodys false)
rlm@77:       (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
rlm@77:                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
rlm@77:                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
rlm@77:     (world (nodify
rlm@77:             [obj-a obj-b])
rlm@77:            (merge standard-debug-controls
rlm@77:                   {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77:                    "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77:                    "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77:                    "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77:                    "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77:                    "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@77:            
rlm@77:            (fn [world]
rlm@77:              (enable-debug world)
rlm@77:              (set-gravity world Vector3f/ZERO)
rlm@77:              )
rlm@77:                            
rlm@77:            (fn [world _]
rlm@77: 
rlm@77:              (if @move-up?
rlm@77:                (.applyForce control-a
rlm@77:                               (Vector3f. force 0 0)
rlm@77:                               (Vector3f. 0 0 0)))
rlm@77:              (if @move-down?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. (- force) 0 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @move-left?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 force 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @move-right?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 (- force) 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77: 
rlm@77:              (if @roll-left?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 0 force)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @roll-right?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 0 (- force))
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77: 
rlm@77:              (if (zero? (rem (swap! timer inc) 100))
rlm@77:                (.attachChild
rlm@77:                 (.getRootNode world)
rlm@77:                 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77:                         :physical? false :position
rlm@77:                         (.getWorldTranslation obj-a)))))
rlm@77:            )
rlm@77:     ))
rlm@77: 
rlm@77:         
rlm@77:                           
rlm@77:     
rlm@77:         
rlm@77:     
rlm@77: 
rlm@77: 
rlm@77: 
rlm@77: 
rlm@77: 
rlm@77: (defn world-setup [joint]
rlm@77:   (let [top (doto
rlm@77:                 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@77:                         :position (Vector3f. 0 7 0))
rlm@77:               (.addControl
rlm@77:                (RigidBodyControl.
rlm@77:                 (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
rlm@77:         bottom (doto
rlm@77:                    (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@77:                            :position (Vector3f. 0 -1 0))
rlm@77:               (.addControl
rlm@77:                (RigidBodyControl.
rlm@77:                 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@77:         table (box 10 2 10 :position (Vector3f. 0 -6 0)
rlm@77:                    :color ColorRGBA/Gray :mass 0)
rlm@77:         a (.getControl top RigidBodyControl)
rlm@77:         b (.getControl bottom RigidBodyControl)]
rlm@77:     (cond
rlm@77:      (= joint :point)
rlm@77:      (doto
rlm@77:          (Point2PointJoint. a b
rlm@77:                             (Vector3f. 0 -2 0)
rlm@77:                             (Vector3f. 0  2 0))
rlm@77:        (.setCollisionBetweenLinkedBodys false))
rlm@77:      (= joint :hinge)
rlm@77:      (doto
rlm@77:          (HingeJoint.
rlm@77:           a b
rlm@77:           (Vector3f. 0 -2 0)
rlm@77:           (Vector3f. 0 2 0)
rlm@77:           (Vector3f. 0 0 1)
rlm@77:           (Vector3f. 0 0 1)
rlm@77: 
rlm@77:           )
rlm@77:        (.setCollisionBetweenLinkedBodys false)
rlm@77:        ;;(.setLimit (- Math/PI) Math/PI)
rlm@77:        )
rlm@77:      (= joint :cone)
rlm@77:      ;; note to self -- jbullet does NOT implement cone joints
rlm@77:      ;; correctly. You must use plain ol' bullet for this to work.
rlm@77:      ;; It's faster anyway, so whatever.
rlm@77:      
rlm@77:      (doto (ConeJoint.
rlm@77:             a b
rlm@77:             (Vector3f. 0 -5 0)
rlm@77:             (Vector3f. 0 2 0)
rlm@77: 
rlm@77:             (doto (Matrix3f.)
rlm@77:               (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:                                     Vector3f/UNIT_Y))
rlm@77:             (doto (Matrix3f.)
rlm@77:               (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:                                     Vector3f/UNIT_Y))
rlm@77:             )
rlm@77:        ;;(.setAngularOnly true)
rlm@77:        
rlm@77:        (.setCollisionBetweenLinkedBodys false)
rlm@77:        (.setLimit (* 1 (/ Math/PI 4))
rlm@77:                   (* 1 (/ Math/PI 4))
rlm@77:                   (* 0 (/ Math/PI 4)))
rlm@77:         
rlm@77:        )
rlm@77:      (= joint :six)
rlm@77:      (doto
rlm@77:          (SixDofJoint.
rlm@77:           a b
rlm@77:           (Vector3f. 0 -2 0)
rlm@77:           (Vector3f. 0 2 0)
rlm@77:           ;;(doto (Matrix3f.)
rlm@77:           ;;    (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:           ;;                          Vector3f/UNIT_Y))
rlm@77:           ;;(doto (Matrix3f.)
rlm@77:           ;;  (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:           ;;                        Vector3f/UNIT_Y))
rlm@77:           true)
rlm@77:        (.setCollisionBetweenLinkedBodys false)
rlm@77:        (.setAngularLowerLimit (Vector3f. 0
rlm@77:                                          (- (/ Math/PI 2))
rlm@77:                                          0))
rlm@77:                                          
rlm@77:        (.setAngularUpperLimit (Vector3f. 0
rlm@77:                                          (/ Math/PI 2)
rlm@77:                                          0))
rlm@77:        (.setLinearLowerLimit  (Vector3f. 0 0 0))
rlm@77:        (.setLinearUpperLimit  (Vector3f. 0 0 0))
rlm@77: 
rlm@77:        )
rlm@77:           
rlm@77:             
rlm@77:             
rlm@77:           
rlm@77:      
rlm@77:     )
rlm@77:       
rlm@77:     [top bottom table]))
rlm@77: 
rlm@77: (defn speed-up [world]
rlm@77:   (.setMoveSpeed (.getFlyByCamera world)
rlm@77:                  (float 100))
rlm@77:   (.setRotationSpeed (.getFlyByCamera world)
rlm@77:                      (float 20))
rlm@77:   world)
rlm@77: 
rlm@77: 
rlm@77: (defn test-joint [joint]
rlm@77:   (let [[top bottom floor] (world-setup joint)
rlm@77:         control (.getControl top RigidBodyControl)
rlm@77:         move-up? (atom false)
rlm@77:         move-down? (atom false)
rlm@77:         move-left? (atom false)
rlm@77:         move-right? (atom false)
rlm@77:         roll-left? (atom false)
rlm@77:         roll-right? (atom false)
rlm@77:         timer (atom 0)]
rlm@77: 
rlm@77:     (world
rlm@77:      (nodify [top bottom floor])
rlm@77:      (merge standard-debug-controls
rlm@77:             {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77:              "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77:              "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77:              "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77:              "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77:              "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@77:      
rlm@77:      (fn [world]
rlm@77:        (light-up-everything world)
rlm@77:        (enable-debug world)
rlm@77:        (set-gravity world (Vector3f. 0 0 0))
rlm@77:        )
rlm@77:      
rlm@77:      (fn [world _]
rlm@77:        (if (zero? (rem (swap! timer inc) 100))
rlm@77:          (do
rlm@77:          ;;  (println-repl @timer)
rlm@77:            (.attachChild (.getRootNode world)
rlm@77:                        (sphere 0.05 :color ColorRGBA/Yellow
rlm@77:                                :position (.getWorldTranslation top)
rlm@77:                                :physical? false))))
rlm@77:        (if @move-up?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. 0 0 10))))
rlm@77:        (if @move-down?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. 0 0 -10))))
rlm@77:        (if @move-left?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. 0 10 0))))
rlm@77:        (if @move-right?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. 0 -10 0))))
rlm@77:        (if @roll-left?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. -1 0 0))))
rlm@77:        (if @roll-right?
rlm@77:          (.applyTorque control
rlm@77:                        (.mult (.getPhysicsRotation control)
rlm@77:                               (Vector3f. 1 0 0))))))))
rlm@77: 
rlm@77:                   
rlm@77: 
rlm@77: (defn run [joint] (.start (test-joint joint)))
rlm@77: (defn look [joint] (view (nodify (world-setup joint))))
rlm@77: 
rlm@77: (defn blender-to-jme
rlm@77:   "Convert from Blender coordinates to JME coordinates"
rlm@77:   [#^Vector3f in]
rlm@77:   (Vector3f. (.getX in)
rlm@77:              (.getZ in)
rlm@77:              (- (.getY in))))
rlm@77: 
rlm@77: 
rlm@77: (defn joint-targets
rlm@77:   "Return the two closest two objects to the joint object, ordered
rlm@77:   from bottom to top according to the joint's rotation."
rlm@77:   [#^Node parts #^Node joint]
rlm@77:   ;;(println (meta-data joint "joint"))
rlm@77:   (.getWorldRotation joint)
rlm@74:   (loop [radius (float 0.01)]
rlm@74:     (let [results (CollisionResults.)]
rlm@74:       (.collideWith
rlm@74:        parts
rlm@77:        (BoundingBox. (.getWorldTranslation joint)
rlm@77:                      radius radius radius)
rlm@74:        results)
rlm@74:       (let [targets
rlm@74:             (distinct
rlm@74:              (map  #(.getGeometry %) results))]
rlm@74:         (if (>= (count targets) 2)
rlm@77:           (sort-by
rlm@77:            #(.getY
rlm@77:              (.mult
rlm@77:               (.inverse (.getWorldRotation joint))
rlm@77:               (.subtract (.getWorldTranslation %)
rlm@77:                          (.getWorldTranslation joint))))
rlm@77:            (take 2 targets))
rlm@74:           (recur (float (* radius 2))))))))
rlm@74: 
rlm@77: (defn connect
rlm@77:   "here are some examples:
rlm@77:    {:type :point}
rlm@77:    {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@77:    (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@74: 
rlm@77:    {:type :cone   :limit-xz 0]
rlm@77:                   :limit-yz 0]
rlm@77:                   :twist 0]}
rlm@77: "
rlm@77:   ([#^Node obj-a #^Node obj-b #^Node joint]
rlm@77:      (let [center-a (.getWorldTranslation obj-a)
rlm@77:            center-b (.getWorldTranslation obj-b)
rlm@77:            joint-center (.getWorldTranslation joint)
rlm@77:            pivot-a (.subtract joint-center center-a)
rlm@77:            pivot-b (.subtract joint-center center-b)
rlm@77:            control-a (.getControl obj-a RigidBodyControl)
rlm@77:            control-b (.getControl obj-b RigidBodyControl)]
rlm@77:            ;; A side-effect of creating a joint registers
rlm@77:            ;; it with both physics objects which in turn
rlm@77:            ;; will register the joint with the physics system
rlm@77:            ;; when the simulation is started.
rlm@77:        (if-let [constraints
rlm@77:                 (map-vals
rlm@77:                  eval
rlm@77:                  (read-string
rlm@77:                   (meta-data (first (worm-joints)) "joint")))]
rlm@74: 
rlm@77:          (let [joint-type (:type constraints)]
rlm@77:            (cond (= :point joint-type)
rlm@77:                  (do
rlm@77:                    (println-repl "creating POINT joint")
rlm@77:                    (Point2PointJoint.
rlm@77:                     control-a
rlm@77:                     control-b
rlm@77:                     pivot-a
rlm@77:                     pivot-b))
rlm@77:                  (= :hinge joint-type)
rlm@77:                  (do
rlm@77:                    (println-repl "creating HINGE joint")
rlm@77:                    (let [axis (if-let
rlm@77:                                   [axis (:axis constraints)]
rlm@77:                                 axis
rlm@77:                                 Vector3f/UNIT_X)
rlm@77:                          [limit-1 limit-2] (:limit constraints)
rlm@77:                          hinge-axis
rlm@77:                          (.mult
rlm@77:                           (.getWorldRotation joint)
rlm@77:                           (blender-to-jme axis))]
rlm@77:                      (doto
rlm@77:                          (HingeJoint.
rlm@77:                           control-a
rlm@77:                           control-b
rlm@77:                           pivot-a
rlm@77:                           pivot-b
rlm@77:                           hinge-axis
rlm@77:                           hinge-axis)
rlm@77:                        (.setLimit limit-1 limit-2))))
rlm@77:                  (= :cone joint-type)
rlm@77:                  (do
rlm@77:                    (let [limit-xy (:limit-xz constraints)
rlm@77:                          limit-yz (:limit-yz constraints)
rlm@77:                          twist    (:twist constraints)]
rlm@77:                      
rlm@77:                      (println-repl "creating CONE joint")
rlm@77:                      (doto
rlm@77:                          (ConeJoint.
rlm@77:                           control-a
rlm@77:                           control-b
rlm@77:                           pivot-a
rlm@77:                           pivot-b
rlm@77:                           (doto (Matrix3f.)
rlm@77:                             (.fromStartEndVectors
rlm@77:                              Vector3f/UNIT_X
rlm@77:                              (.normalize
rlm@77:                               (.subtract (.getWorldTranslation joint)
rlm@77:                                          (.getWorldTranslation obj-a)))))
rlm@77:                           (doto (Matrix3f.)
rlm@77:                             (.fromStartEndVectors
rlm@77:                              Vector3f/UNIT_X
rlm@77:                              (.normalize
rlm@77:                               (.subtract
rlm@77:                                (.getWorldTranslation obj-b)
rlm@77:                                (.getWorldTranslation joint))))))
rlm@77:                        (.setLimit (float limit-xy)
rlm@77:                                   (float limit-yz)
rlm@77:                                   (float twist)))))
rlm@77:                  true
rlm@77:                  (println-repl
rlm@77:                   "joint-type " joint-type " not recognized")))
rlm@77:                  
rlm@77:            (println-repl "could not find joint meta-data!")))))
rlm@77:            
rlm@74: 
rlm@74: 
rlm@77: (defn physical-worm [#^Node pieces joints]
rlm@74:   (dorun
rlm@74:    (map
rlm@74:     (fn [geom]
rlm@74:       (let [physics-control
rlm@74:             (RigidBodyControl.
rlm@74:              (HullCollisionShape.
rlm@74:               (.getMesh geom))
rlm@77:              (if-let [mass (meta-data geom "mass")]
rlm@77:                (do
rlm@77:                  (println-repl
rlm@77:                   "setting mass to " (float mass))
rlm@77:                  (float mass))
rlm@77:                (float 1)))]
rlm@77:                
rlm@74:         (.addControl geom physics-control)))
rlm@74:     (filter #(isa? (class %) Geometry )
rlm@74:             (node-seq pieces))))
rlm@77: 
rlm@74:   (dorun
rlm@74:    (map
rlm@77:     (fn [joint]
rlm@77:       (let [[obj-a obj-b]
rlm@77:             (joint-targets pieces joint)]
rlm@77:         (connect obj-a obj-b joint)))
rlm@77:     joints))
rlm@77:   pieces)
rlm@74: 
rlm@77: (defn the-worm []
rlm@77:   (physical-worm (worm) (worm-joints)))
rlm@74: 
rlm@77: (defn test-worm []
rlm@74:   (world
rlm@77:    (nodify [(the-worm)
rlm@77:             (box 10 2 10 :position (Vector3f. 0 -5 0)
rlm@77:                  :color ColorRGBA/Gray :mass 0)])
rlm@74:    standard-debug-controls
rlm@77:    (comp light-up-everything enable-debug
rlm@77:          (fn [world]
rlm@77:            (.setTimer world (NanoTimer.))
rlm@77:            (speed-up world)
rlm@77:            ;;(set-gravity world (Vector3f. 0 0 0))
rlm@77:            world
rlm@77:            ))
rlm@77:    no-op))
rlm@73: 
rlm@73: #+end_src
rlm@73: 
rlm@75: #+results: body-1
rlm@77: : #'cortex.silly/test-try-again
rlm@75: 
rlm@73: 
rlm@73: 
rlm@73: * COMMENT generate source
rlm@73: #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73: <<body-1>>
rlm@73: #+end_src
rlm@73: