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@129: 
rlm@129: 
rlm@99: 
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@104: effectors in pretty pictures. This semi-retarted creature will be 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@104: 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@158: discritized 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@158: (use '(cortex world util body hearing touch vision sense
rlm@162:               proprioception movement))
rlm@73: 
rlm@73: (rlm.rlm-commands/help)
rlm@99: (import java.awt.image.BufferedImage)
rlm@99: (import javax.swing.JPanel)
rlm@99: (import javax.swing.SwingUtilities)
rlm@99: (import java.awt.Dimension)
rlm@99: (import javax.swing.JFrame)
rlm@99: (import java.awt.Dimension)
rlm@106: (import com.aurellem.capture.RatchetTimer)
rlm@161: 
rlm@108: (use 'clojure.contrib.def)
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@78: (def hand "Models/creature1/one.blend")
rlm@74: 
rlm@78: (def worm "Models/creature1/try-again.blend")
rlm@78: 
rlm@90: (defn worm-model [] (load-blender-model worm))
rlm@90: 
rlm@80: (defn x-ray [#^ColorRGBA color]
rlm@80:   (doto (Material. (asset-manager)
rlm@80:                    "Common/MatDefs/Misc/Unshaded.j3md")
rlm@80:     (.setColor "Color" color)
rlm@80:     (-> (.getAdditionalRenderState)
rlm@80:         (.setDepthTest false))))
rlm@80: 
rlm@91: (defn colorful []
rlm@91:   (.getChild (worm-model) "worm-21"))
rlm@90: 
rlm@90: (import jme3tools.converters.ImageToAwt)
rlm@90: 
rlm@90: (import ij.ImagePlus)
rlm@90: 
rlm@94: 
rlm@109: 
rlm@111: (defn test-eye  []
rlm@117:   (.getChild 
rlm@117:    (.getChild (worm-model) "eyes")
rlm@117:    "eye"))
rlm@111: 
rlm@111: 
rlm@123: 
rlm@128: ;; lower level --- nodes
rlm@128: ;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
rlm@128: 
rlm@128: ;; higher level -- organs
rlm@128: ;; 
rlm@128: 
rlm@128: ;; higher level --- sense/effector
rlm@128: ;; these are the functions that provide world i/o, chinese-room style
rlm@128: 
rlm@123: (defn debug-hearing-window
rlm@123:   "view audio data"
rlm@123:   [height]
rlm@123:   (let [vi (view-image)]
rlm@123:     (fn [[coords sensor-data]]
rlm@123:       (let [image (BufferedImage. (count coords) height
rlm@123:                                   BufferedImage/TYPE_INT_RGB)]
rlm@123:         (dorun
rlm@123:          (for [x (range (count coords))]
rlm@123:            (dorun
rlm@123:             (for [y (range height)]
rlm@123:               (let [raw-sensor (sensor-data x)]
rlm@188:                 (.setRGB image x y (gray raw-sensor)))))))
rlm@126: 
rlm@123:         (vi image)))))
rlm@123:         
rlm@106: (defn test-creature [thing]
rlm@106:   (let [x-axis
rlm@106:         (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@106:         y-axis
rlm@106:         (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@106:         z-axis
rlm@106:         (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
rlm@189: 
rlm@189:         creature (doto (load-blender-model thing) (body!))
rlm@189: 
rlm@185:         touch (touch! creature)
rlm@188:         touch-display (view-touch)
rlm@189: 
rlm@188:         vision (vision! creature)
rlm@188:         vision-display (view-vision)
rlm@189: 
rlm@189:         hearing (hearing! creature)
rlm@189:         hearing-display (view-hearing)
rlm@189: 
rlm@173:         prop (proprioception! creature)
rlm@190:         prop-display (view-proprioception)
rlm@148: 
rlm@180:         muscle-fns (movement! creature)
rlm@189: 
rlm@189: 
rlm@189:         me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@189:         bell (AudioNode. (asset-manager)
rlm@189:                          "Sounds/pure.wav" false)
rlm@189:        
rlm@170:         fix-display (runonce
rlm@170:                      (fn [world] (add-camera! world (.getCamera world) no-op)))
rlm@106:         ]
rlm@143:     
rlm@143:     
rlm@143:     (apply
rlm@143:      world
rlm@143:      (with-movement
rlm@143:        (.getChild creature "worm-21")
rlm@143:        ["key-r" "key-t"
rlm@143:         "key-f" "key-g"
rlm@143:         "key-v" "key-b"]
rlm@143:        [10 10 10 10 1 1]
rlm@143:        [(nodify [creature
rlm@143:                  (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@143:                       :color ColorRGBA/Gray :mass 0)
rlm@143:                  x-axis y-axis z-axis
rlm@143:                  me
rlm@143:                  ])
rlm@143:         (merge standard-debug-controls
rlm@143:                {"key-return"
rlm@143:                 (fn [_ value]
rlm@143:                   (if value
rlm@143:                     (do
rlm@143:                       (println-repl "play-sound")
rlm@148:                       (.play bell))))
rlm@148:                 "key-h"
rlm@148:                 (fn [_ value]
rlm@148:                   (if value
rlm@148:                     (do
rlm@148:                       (println-repl "muscle activating!")
rlm@148:                       ((first muscle-fns)  199))))
rlm@148: 
rlm@148:                 })
rlm@143:         (fn [world]
rlm@143:           (light-up-everything world)
rlm@143:           (enable-debug world)
rlm@170:           ;;(dorun (map #(% world) init-vision-fns))
rlm@164:           ;;(dorun (map #(% world) init-hearing-fns))
rlm@143:           
rlm@169:           (add-camera! world
rlm@169:                    (add-eye! creature (test-eye))
rlm@143:                    (comp (view-image) BufferedImage!))
rlm@143:           
rlm@170:           
rlm@145:           ;;(set-gravity world (Vector3f. 0 0 0))
rlm@143:           ;;(com.aurellem.capture.Capture/captureVideo
rlm@143:           ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@143:           ;;(.setTimer world (RatchetTimer. 60))
rlm@143:           (speed-up world)
rlm@148:           (set-gravity world (Vector3f. 0 0 0))
rlm@143:           )
rlm@143:         (fn [world tpf]
rlm@143:           ;;(dorun 
rlm@143:           ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
rlm@143:           
rlm@190:           (prop-display (prop))
rlm@143:           
rlm@188:           (touch-display (map #(% (.getRootNode world)) touch))
rlm@188: 
rlm@188:           (vision-display (map #(% world) vision))
rlm@189: 
rlm@189:           (hearing-display (map #(% world) hearing))
rlm@143:           
rlm@143:           ;;(println-repl (vision-data))
rlm@143:           (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@170:           (fix-display world)
rlm@143:           
rlm@143:           )]
rlm@106:    ;;(let [timer (atom 0)]
rlm@106:    ;;  (fn [_ _]
rlm@106:    ;;    (swap! timer inc)
rlm@106:    ;;    (if (= (rem @timer 60) 0)
rlm@106:    ;;      (println-repl (float (/ @timer 60))))))
rlm@143:    ))))
rlm@83: 
rlm@109:    
rlm@116: 
rlm@116: ;; the camera will stay in its initial position/rotation with relation
rlm@116: ;; to the spatial.
rlm@116: 
rlm@116: 
rlm@162: ;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
rlm@162: ;;anchor-qualia, augment-organ, with-organ
rlm@162: 
rlm@117: (defn follow-test
rlm@117:   "show a camera that stays in the same relative position to a blue cube."
rlm@117:   []
rlm@116:   (let [camera-pos (Vector3f. 0 30 0)
rlm@116:         rock (box 1 1 1 :color ColorRGBA/Blue
rlm@116:                      :position (Vector3f. 0 10 0)
rlm@116:                      :mass 30
rlm@116:                      )
rlm@118:         rot (.getWorldRotation rock)
rlm@116:         
rlm@116:         table (box 3 1 10 :color ColorRGBA/Gray :mass 0
rlm@116:                    :position (Vector3f. 0 -3 0))]
rlm@116: 
rlm@116:     (world
rlm@116:      (nodify [rock table])
rlm@116:              standard-debug-controls
rlm@116:              (fn [world]
rlm@116:                (let 
rlm@116:                    [cam (doto (.clone (.getCamera world))
rlm@116:                           (.setLocation camera-pos)
rlm@116:                           (.lookAt Vector3f/ZERO
rlm@116:                                    Vector3f/UNIT_X))]
rlm@123:                  (bind-sense rock cam)
rlm@116:                  
rlm@116:                  (.setTimer world (RatchetTimer. 60))
rlm@169:                  (add-camera! world cam (comp (view-image) BufferedImage!))
rlm@169:                  (add-camera! world (.getCamera world) no-op))
rlm@116:                )
rlm@118:              (fn [_ _] (println-repl rot)))))
rlm@116:        
rlm@118: 
rlm@123: 
rlm@87: #+end_src
rlm@83: 
rlm@87: #+results: body-1
rlm@133: : #'cortex.silly/follow-test
rlm@78: 
rlm@78: 
rlm@78: * COMMENT purgatory
rlm@78: #+begin_src clojure
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@106: (defn test-joint [joint]
rlm@106:   (let [[origin top bottom floor] (world-setup joint)
rlm@106:         control (.getControl top RigidBodyControl)
rlm@106:         move-up? (atom false)
rlm@106:         move-down? (atom false)
rlm@106:         move-left? (atom false)
rlm@106:         move-right? (atom false)
rlm@106:         roll-left? (atom false)
rlm@106:         roll-right? (atom false)
rlm@106:         timer (atom 0)]
rlm@106: 
rlm@106:     (world
rlm@106:      (nodify [top bottom floor origin])
rlm@106:      (merge standard-debug-controls
rlm@106:             {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106:              "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106:              "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106:              "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106:              "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106:              "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@106:      
rlm@106:      (fn [world]
rlm@106:        (light-up-everything world)
rlm@106:        (enable-debug world)
rlm@106:        (set-gravity world (Vector3f. 0 0 0))
rlm@106:        )
rlm@106:      
rlm@106:      (fn [world _]
rlm@106:        (if (zero? (rem (swap! timer inc) 100))
rlm@106:          (do
rlm@106:          ;;  (println-repl @timer)
rlm@106:            (.attachChild (.getRootNode world)
rlm@106:                        (sphere 0.05 :color ColorRGBA/Yellow
rlm@106:                                :position (.getWorldTranslation top)
rlm@106:                                :physical? false))
rlm@106:            (.attachChild (.getRootNode world)
rlm@106:                          (sphere 0.05 :color ColorRGBA/LightGray
rlm@106:                                  :position (.getWorldTranslation bottom)
rlm@106:                                  :physical? false))))
rlm@106: 
rlm@106:        (if @move-up?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 0 10))))
rlm@106:        (if @move-down?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 0 -10))))
rlm@106:        (if @move-left?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 10 0))))
rlm@106:        (if @move-right?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 -10 0))))
rlm@106:        (if @roll-left?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. -1 0 0))))
rlm@106:        (if @roll-right?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 1 0 0))))))))
rlm@99: #+end_src
rlm@99: 
rlm@99: 
rlm@99: * COMMENT generate source
rlm@99: #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@99: <<body-1>>
rlm@99: #+end_src
rlm@99: 
rlm@99: 
rlm@94:   
rlm@94: