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: (rlm.rlm-commands/help)
rlm@73: 
rlm@87: (declare joint-create)
rlm@83: 
rlm@83: (defn load-bullet []
rlm@84:   (let [sim (world (Node.) {} no-op no-op)]
rlm@84:     (.enqueue
rlm@84:      sim
rlm@84:      (fn []
rlm@84:        (.stop sim)))
rlm@84:     (.start sim)))
rlm@83: 
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@78: (defn blender-to-jme
rlm@78:   "Convert from Blender coordinates to JME coordinates"
rlm@78:   [#^Vector3f in]
rlm@78:   (Vector3f. (.getX in)
rlm@78:              (.getZ in)
rlm@78:              (- (.getY in))))
rlm@74: 
rlm@79: (defn jme-to-blender
rlm@79:   "Convert from JME coordinates to Blender coordinates"
rlm@79:   [#^Vector3f in]
rlm@79:   (Vector3f. (.getX in)
rlm@79:              (- (.getZ in))
rlm@79:              (.getY in)))
rlm@79: 
rlm@78: (defn joint-targets
rlm@78:   "Return the two closest two objects to the joint object, ordered
rlm@78:   from bottom to top according to the joint's rotation."
rlm@78:   [#^Node parts #^Node joint]
rlm@78:   ;;(println (meta-data joint "joint"))
rlm@78:   (.getWorldRotation joint)
rlm@78:   (loop [radius (float 0.01)]
rlm@78:     (let [results (CollisionResults.)]
rlm@78:       (.collideWith
rlm@78:        parts
rlm@78:        (BoundingBox. (.getWorldTranslation joint)
rlm@78:                      radius radius radius)
rlm@78:        results)
rlm@78:       (let [targets
rlm@78:             (distinct
rlm@78:              (map  #(.getGeometry %) results))]
rlm@78:         (if (>= (count targets) 2)
rlm@78:           (sort-by
rlm@79:            #(let [v
rlm@79:                   (jme-to-blender
rlm@79:                    (.mult
rlm@79:                     (.inverse (.getWorldRotation joint))
rlm@79:                     (.subtract (.getWorldTranslation %)
rlm@79:                                (.getWorldTranslation joint))))]
rlm@79:               (println-repl (.getName %) ":" v)
rlm@79:               (.dot (Vector3f. 1 1 1)
rlm@79:                     v))                  
rlm@78:            (take 2 targets))
rlm@78:           (recur (float (* radius 2))))))))
rlm@74: 
rlm@87: (defn world-to-local
rlm@87:    "Convert the world coordinates into coordinates relative to the 
rlm@87:    object (i.e. local coordinates), taking into account the rotation
rlm@87:    of object."
rlm@87:    [#^Spatial object world-coordinate]
rlm@87:    (let [out (Vector3f.)]
rlm@88:      (.worldToLocal object world-coordinate out) out))
rlm@87: 
rlm@87: (defmulti joint-dispatch
rlm@87:   "Translate blender pseudo-joints into real JME joints."
rlm@88:   (fn [constraints & _] 
rlm@87:     (:type constraints)))
rlm@87: 
rlm@87: (defmethod joint-dispatch :point
rlm@87:   [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87:   (println-repl "creating POINT2POINT joint")
rlm@87:   (Point2PointJoint.
rlm@87:    control-a
rlm@87:    control-b
rlm@87:    pivot-a
rlm@87:    pivot-b))
rlm@87: 
rlm@87: (defmethod joint-dispatch :hinge
rlm@87:   [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87:   (println-repl "creating HINGE joint")
rlm@87:   (let [axis
rlm@87:         (if-let
rlm@87:             [axis (:axis constraints)]
rlm@87:           axis
rlm@87:           Vector3f/UNIT_X)
rlm@87:         [limit-1 limit-2] (:limit constraints)
rlm@87:         hinge-axis
rlm@87:         (.mult
rlm@87:          rotation
rlm@87:          (blender-to-jme axis))]
rlm@87:     (doto
rlm@87:         (HingeJoint.
rlm@87:          control-a
rlm@87:          control-b
rlm@87:          pivot-a
rlm@87:          pivot-b
rlm@87:          hinge-axis
rlm@87:          hinge-axis)
rlm@87:       (.setLimit limit-1 limit-2))))
rlm@87: 
rlm@87: (defmethod joint-dispatch :cone
rlm@87:   [constraints control-a control-b pivot-a pivot-b rotation]
rlm@87:   (let [limit-xz (:limit-xz constraints)
rlm@87:         limit-xy (:limit-xy constraints)
rlm@87:         twist    (:twist constraints)]
rlm@87:     
rlm@87:     (println-repl "creating CONE joint")
rlm@87:     (println-repl rotation)
rlm@87:     (println-repl
rlm@87:      "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
rlm@87:     (println-repl
rlm@87:      "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
rlm@87:     (println-repl
rlm@87:      "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
rlm@87:     (doto
rlm@87:         (ConeJoint.
rlm@87:          control-a
rlm@87:          control-b
rlm@87:          pivot-a
rlm@87:          pivot-b
rlm@87:          rotation
rlm@87:          rotation)
rlm@87:       (.setLimit (float limit-xz)
rlm@87:                  (float limit-xy)
rlm@87:                  (float twist)))))
rlm@87: 
rlm@88: (defn connect
rlm@87:   "here are some examples:
rlm@87:    {:type :point}
rlm@87:    {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
rlm@87:    (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
rlm@87: 
rlm@89:    {:type :cone :limit-xz 0]
rlm@89:                 :limit-xy 0]
rlm@89:                 :twist 0]}   (use XZY rotation mode in blender!)"
rlm@87:   [#^Node obj-a #^Node obj-b #^Node joint]
rlm@87:   (let [control-a (.getControl obj-a RigidBodyControl)
rlm@87:         control-b (.getControl obj-b RigidBodyControl)
rlm@87:         joint-center (.getWorldTranslation joint)
rlm@87:         joint-rotation (.toRotationMatrix (.getWorldRotation joint))
rlm@87:         pivot-a (world-to-local obj-a joint-center)
rlm@87:         pivot-b (world-to-local obj-b joint-center)]
rlm@89:    
rlm@87:     (if-let [constraints
rlm@87:              (map-vals
rlm@87:               eval
rlm@87:               (read-string
rlm@87:                (meta-data joint "joint")))]
rlm@89:       ;; A side-effect of creating a joint registers
rlm@89:       ;; it with both physics objects which in turn
rlm@89:       ;; will register the joint with the physics system
rlm@89:       ;; when the simulation is started.
rlm@87:       (do
rlm@87:         (println-repl "creating joint between"
rlm@87:                       (.getName obj-a) "and" (.getName obj-b))
rlm@87:         (joint-dispatch constraints
rlm@87:                         control-a control-b
rlm@87:                         pivot-a pivot-b
rlm@87:                         joint-rotation))
rlm@87:       (println-repl "could not find joint meta-data!"))))
rlm@87: 
rlm@78: (defn assemble-creature [#^Node pieces joints]
rlm@78:   (dorun
rlm@78:    (map
rlm@78:     (fn [geom]
rlm@78:       (let [physics-control
rlm@78:             (RigidBodyControl.
rlm@78:              (HullCollisionShape.
rlm@78:               (.getMesh geom))
rlm@78:              (if-let [mass (meta-data geom "mass")]
rlm@78:                (do
rlm@78:                  (println-repl
rlm@78:                   "setting" (.getName geom) "mass to" (float mass))
rlm@78:                  (float mass))
rlm@78:                (float 1)))]
rlm@78:                
rlm@78:         (.addControl geom physics-control)))
rlm@78:     (filter #(isa? (class %) Geometry )
rlm@78:             (node-seq pieces))))
rlm@77: 
rlm@78:   (dorun
rlm@78:    (map
rlm@78:     (fn [joint]
rlm@78:       (let [[obj-a obj-b]
rlm@78:             (joint-targets pieces joint)]
rlm@88:         (connect obj-a obj-b joint)))
rlm@78:     joints))
rlm@78:   pieces)
rlm@74: 
rlm@78: (defn blender-creature [blender-path]
rlm@78:   (let [model (load-blender-model blender-path)
rlm@78:         joints
rlm@78:         (if-let [joint-node (.getChild model "joints")]
rlm@78:           (seq (.getChildren joint-node))
rlm@78:           (do (println-repl "could not find joints node")
rlm@78:               []))]
rlm@78:   (assemble-creature model joints)))
rlm@74: 
rlm@78: (def hand "Models/creature1/one.blend")
rlm@74: 
rlm@78: (def worm "Models/creature1/try-again.blend")
rlm@78: 
rlm@90: (def touch "Models/creature1/touch.blend")
rlm@90: 
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@78: (defn test-creature [thing]
rlm@80:   (let [x-axis
rlm@80:         (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@80:         y-axis
rlm@80:         (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@80:         z-axis
rlm@80:         (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
rlm@78:   (world
rlm@78:    (nodify [(blender-creature thing)
rlm@81:             (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@80:                  :color ColorRGBA/Gray :mass 0)
rlm@80:             x-axis y-axis z-axis
rlm@80:             ])
rlm@78:    standard-debug-controls
rlm@90:    (fn [world]
rlm@90:      (light-up-everything world)
rlm@90:      (enable-debug world)
rlm@90:      ;;(com.aurellem.capture.Capture/captureVideo
rlm@90:      ;; world (file-str "/home/r/proj/ai-videos/hand"))
rlm@90:      (.setTimer world (NanoTimer.))
rlm@90:      ;;(set-gravity world (Vector3f. 0 0 0))
rlm@90:      (speed-up world)
rlm@90:      )
rlm@90:    no-op
rlm@90:    ;;(let [timer (atom 0)]
rlm@90:    ;;  (fn [_ _]
rlm@90:    ;;    (swap! timer inc)
rlm@90:    ;;    (if (= (rem @timer 60) 0)
rlm@90:    ;;      (println-repl (float (/ @timer 60))))))
rlm@90:    )))
rlm@90: 
rlm@90: 
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@90: (defn triangle-indices
rlm@90:   "Get the triangle vertex indices of a given triangle from a given
rlm@90:    mesh."
rlm@90:   [#^Mesh mesh triangle-index]
rlm@90:   (let [indices (int-array 3)]
rlm@90:     (.getTriangle mesh triangle-index indices)
rlm@90:     (vec indices)))
rlm@90: 
rlm@90: (defn uv-coord
rlm@90:   "Get the uv-coordinates of the vertex named by vertex-index"
rlm@90:   [#^Mesh mesh vertex-index]
rlm@90:   (let [UV-buffer
rlm@90:         (.getData
rlm@90:          (.getBuffer
rlm@90:           mesh
rlm@90:           VertexBuffer$Type/TexCoord))]
rlm@91:     (Vector2f.
rlm@91:      (.get UV-buffer (* vertex-index 2))
rlm@91:      (.get UV-buffer (+ 1 (* vertex-index 2))))))
rlm@90: 
rlm@91: (defn touch-receptor-image
rlm@91:   "Return the touch-sensor distribution image in ImagePlus format."
rlm@91:   [#^Geometry obj]
rlm@90:   (let
rlm@91:       [mat (.getMaterial obj)
rlm@90:        texture
rlm@90:        (.getTextureValue
rlm@90:         (.getTextureParam
rlm@90:          mat
rlm@90:          MaterialHelper/TEXTURE_TYPE_DIFFUSE))
rlm@90:        im (.getImage texture)]
rlm@90:        (ImagePlus.
rlm@90:         "UV-map"
rlm@90:         (ImageToAwt/convert im false false 0))))
rlm@90: 
rlm@91: 
rlm@91: (import ij.process.ImageProcessor)
rlm@91: (import java.awt.image.BufferedImage)
rlm@91: 
rlm@91: (defprotocol Frame
rlm@91:   (frame [this]))
rlm@91: 
rlm@91: (extend-type BufferedImage
rlm@91:   Frame
rlm@91:   (frame [image]
rlm@91:     (merge  
rlm@91:      (apply
rlm@91:       hash-map 
rlm@91:       (interleave 
rlm@91:        (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91:                 (vector x y)))
rlm@91:        (doall (for [x (range (.getWidth image)) y (range (.getHeight image))]
rlm@91:                 (let [data (.getRGB image x y)] 
rlm@91:                   (hash-map :r (bit-shift-right (bit-and 0xff0000 data) 16)
rlm@91:                             :g (bit-shift-right (bit-and 0x00ff00 data) 8)
rlm@91:                             :b (bit-and 0x0000ff data)))))))
rlm@91:      {:width  (.getWidth image) :height (.getHeight image)})))
rlm@91: 
rlm@91: 
rlm@91: (extend-type ImagePlus
rlm@91:   Frame
rlm@91:   (frame [image+]
rlm@91:     (frame (.getBufferedImage image+))))
rlm@91: 
rlm@91: (defn rgb->int [r g b]
rlm@91:   (+ (bit-shift-left r 16)
rlm@91:      (bit-shift-left g 8)
rlm@91:      b))
rlm@91:      
rlm@91:   
rlm@91: 
rlm@91: (defn filter-pixels
rlm@91:   "List the coordinates of all pixels matching pred."
rlm@91:   [pred #^ImageProcessor ip]
rlm@91:   (let
rlm@91:       [width (.getWidth ip)
rlm@91:        height (.getHeight ip)]
rlm@91:     ((fn accumulate [x y matches]
rlm@91:        (cond
rlm@91:         (>= y height) matches
rlm@91:         (>= x width) (recur 0 (inc y) matches)
rlm@91:         (pred (.getPixel ip x y))
rlm@91:         (recur (inc x) y (conj matches (Vector2f. x y)))
rlm@91:         :else (recur (inc x) y matches)))
rlm@91:      0 0 [])))
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: (defn filter-pixels*
rlm@91:   [pred #^ImageProcessor ip]
rlm@91:   (let
rlm@91:       [width (.getWidth ip)
rlm@91:        height (.getHeight ip)
rlm@91:        coords (ref [])
rlm@91:        process 
rlm@91:        (fn [[start end]]
rlm@91:          (loop [i start]
rlm@91:            (if (<= i end)
rlm@91:              (do 
rlm@91:                (let [column (rem i height)
rlm@91:                      row (unchecked-divide i width)]
rlm@91:                  (if (pred (.getPixel ip row column))
rlm@91:                    (dosync (ref-set
rlm@91:                             coords
rlm@91:                             (conj @coords (Vector2f. column row)))))
rlm@91:         
rlm@91:                (recur (inc i)))))))
rlm@91:        ]
rlm@91: 
rlm@91:        
rlm@91:     (dorun 
rlm@91:      (pmap process (partition
rlm@91:                     2
rlm@91:                     (conj (vec (range 0 (* width height) 100))
rlm@91:                           (* width height)))))
rlm@91:     @coords))
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: (comment
rlm@91:   ((->
rlm@91:     f
rlm@91:     (partial x)
rlm@91:     (partial y)
rlm@91:     (partial z))))
rlm@91: 
rlm@91: (defn filter-pixels**
rlm@91:   [pred #^ImageProcessor ip]
rlm@91:   (let [width (.getWidth ip)
rlm@91:         height (.getHeight ip)]
rlm@91:     ((fn f [x1 x2 y1 y2]
rlm@91:        (println x1)
rlm@91:          (if
rlm@91:              (and
rlm@91:               (= x1 (dec x2))
rlm@91:               (= y1 (dec y2)))
rlm@91:            (if (pred (.getPixel ip x1 y1))
rlm@91:              [[x1 y1]]
rlm@91:              [])
rlm@91:            (let
rlm@91:                [xm (+ x1 (/ (- x2 x1) 2))
rlm@91:                 ym (+ y1 (/ (- y2 y1) 2))]
rlm@91:            (apply concat
rlm@91:            (pvalues
rlm@91:             ;;(f x1 xm y1 ym)
rlm@91:             ;;(f xm x2 y1 ym)
rlm@91:             ;;(f x1 xm ym y2)
rlm@91:             (f xm x2 ym y2))))))
rlm@91:        0 width 0 height)))
rlm@91:     
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91:   
rlm@91:        
rlm@91: 
rlm@91: 
rlm@91: (defn white-coordinates*
rlm@91:   [#^ImageProcessor ip]
rlm@91:   (filter-pixels** #(== % -1) ip))
rlm@91:   
rlm@91: 
rlm@91: (defn white-coordinates
rlm@91:   "List the coordinates of all the white pixels in an image."
rlm@91:   [#^ImageProcessor ip]
rlm@91:   (let [height (.getHeight ip)
rlm@91:         width  (.getWidth  ip)
rlm@91:         coords (transient [])]
rlm@91:     (dorun 
rlm@91:      (for [x (range width)
rlm@91:            y (range height)]
rlm@91:        (let [pixel (.getPixel ip x y)]
rlm@91:          (if (= pixel -1)
rlm@91:            (conj! coords (Vector2f. x y))))))
rlm@91:     (persistent! coords)))
rlm@91:                                     
rlm@91:         
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91:     
rlm@91:   
rlm@91: 
rlm@91: (def white {:r 255, :g 255, :b 255})
rlm@91: (def black {:r 0,   :g 0,   :b 0})
rlm@91: 
rlm@91: 
rlm@91: (defn same-side? [p1 p2 ref p]
rlm@91:   (<=
rlm@91:    0
rlm@91:    (.dot 
rlm@91:     (.cross (.subtract p2 p1) (.subtract p p1))
rlm@91:     (.cross (.subtract p2 p1) (.subtract ref p1)))))
rlm@91: 
rlm@91: (defn inside-triangle?
rlm@91:   [vert-1 vert-2 vert-3 p]
rlm@91:    (and
rlm@91:     (same-side? vert-1 vert-2 vert-3 p)
rlm@91:     (same-side? vert-2 vert-3 vert-1 p)
rlm@91:     (same-side? vert-3 vert-1 vert-2 p)))
rlm@91: 
rlm@91: 
rlm@91: (defn white? [color]
rlm@91:   (and 
rlm@91:    (= (:r color) 255)
rlm@91:    (= (:b color) 255)
rlm@91:    (= (:g color) 255)))
rlm@91:                         
rlm@91: 
rlm@90: ;; for each triangle in the mesh,
rlm@90: ;; get the normal to the triangle,
rlm@90: ;; look at the UV touch map, restricted to that triangle,
rlm@90: ;; get the positions of those touch sensors in geometry-relative
rlm@90: ;; coordinates.
rlm@91: (defn tactile-coords [#^Geometry obj]
rlm@91:   (let [mesh (.getMesh obj)
rlm@91:         num-triangles (.getTriangleCount mesh)
rlm@91:         num-verticies (.getVertexCount mesh)
rlm@91:         uv-coord (partial uv-coord mesh)
rlm@91:         triangle-indices (partial triangle-indices mesh)
rlm@91:         receptors (touch-receptor-image obj)
rlm@91:         ]
rlm@91:     (map
rlm@91:      (fn [[tri-1 tri-2 tri-3]]
rlm@91:        (let [width (.getWidth receptors)
rlm@91:              height (.getHeight receptors)
rlm@91:              uv-1 (uv-coord tri-1)
rlm@91:              uv-2 (uv-coord tri-2)
rlm@91:              uv-3 (uv-coord tri-3)
rlm@91:              x-coords (map #(.getX %) [uv-1 uv-2 uv-3])
rlm@91:              y-coords (map #(.getY %) [uv-1 uv-2 uv-3])
rlm@91:              max-x (Math/ceil (* width (apply max x-coords)))
rlm@91:              min-x (Math/floor (* width (apply min x-coords)))
rlm@91:              max-y (Math/ceil (* height (apply max y-coords)))
rlm@91:              min-y (Math/floor (* height (apply min y-coords)))
rlm@91: 
rlm@91:              image-1 (Vector2f. (* width (.getX uv-1))
rlm@91:                                 (* height (.getY uv-1)))
rlm@91:              image-2 (Vector2f. (* width (.getX uv-2))
rlm@91:                                 (* height (.getY uv-2)))
rlm@91:              image-3 (Vector2f. (* width (.getX uv-3))
rlm@91:                                 (* height (.getY uv-3)))
rlm@91:              left-corner
rlm@91:              (Vector2f. min-x min-y)
rlm@91:              
rlm@91:              ]
rlm@91: 
rlm@91:          (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
rlm@91:          (let [processor  (.crop (.getProcessor receptors))
rlm@91:                image (frame (.getBufferedImage processor))]
rlm@91:            (with-meta
rlm@91:              (filter-keys
rlm@91:               (fn [[x y]]
rlm@91:                 (inside-triangle?
rlm@91:                  (.subtract image-1 left-corner)
rlm@91:                  (.subtract image-2 left-corner)
rlm@91:                  (.subtract image-3 left-corner)
rlm@91:                  (Vector2f. x y)))
rlm@91:               
rlm@91:               
rlm@91:               (filter-vals white? image))
rlm@91:              {:image
rlm@91:               (comment
rlm@91:                 (.getBufferedImage
rlm@91:                  (doto processor
rlm@91:                    (.flipVertical))))
rlm@91:                }
rlm@91:            ))
rlm@91:          )) (map triangle-indices (range num-triangles)))))
rlm@91:     
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91: 
rlm@91:     
rlm@91: (defn all-names []
rlm@91:   (concat 
rlm@91:    (re-split #"\n" (slurp (file-str
rlm@91:                            "/home/r/proj/names/dist.female.first")))
rlm@91:    (re-split #"\n" (slurp (file-str
rlm@91:                            "/home/r/proj/names/dist.male.first")))
rlm@91:    (re-split #"\n" (slurp (file-str
rlm@91:                            "/home/r/proj/names/dist.all.last")))))
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90: 
rlm@90:        
rlm@90: (defrecord LulzLoader [])
rlm@90: (defprotocol Lulzable (load-lulz [this]))
rlm@90: (extend-type LulzLoader
rlm@90:   Lulzable
rlm@90:   (load-lulz [this] (println "the lulz have arrived!")))
rlm@90: 
rlm@78: 
rlm@78: (defn world-setup [joint]
rlm@90:   (let [joint-position (Vector3f. 0 0 0)
rlm@83:         joint-rotation
rlm@83:         (.toRotationMatrix
rlm@83:          (.mult
rlm@83:           (doto (Quaternion.)
rlm@83:             (.fromAngleAxis
rlm@83:              (* 1 (/ Math/PI 4))
rlm@85:              (Vector3f. -1 0 0)))
rlm@85:           (doto (Quaternion.)
rlm@85:             (.fromAngleAxis
rlm@85:              (* 1 (/ Math/PI 2))
rlm@85:              (Vector3f. 0 0 1)))))
rlm@84:         top-position (.mult joint-rotation (Vector3f. 8 0 0))
rlm@83:         
rlm@83:         origin (doto
rlm@83:                    (sphere 0.1 :physical? false :color ColorRGBA/Cyan
rlm@84:                            :position top-position))
rlm@83:         top (doto
rlm@78:                 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
rlm@84:                         :position top-position)
rlm@83: 
rlm@78:               (.addControl
rlm@78:                (RigidBodyControl.
rlm@83:                 (CapsuleCollisionShape. 0.5 1.5 1) (float 20))))
rlm@78:         bottom (doto
rlm@78:                    (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
rlm@83:                            :position (Vector3f. 0 0 0))
rlm@83:                  (.addControl
rlm@78:                (RigidBodyControl.
rlm@78:                 (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
rlm@83:         table (box 10 2 10 :position (Vector3f. 0 -20 0)
rlm@78:                    :color ColorRGBA/Gray :mass 0)
rlm@78:         a (.getControl top RigidBodyControl)
rlm@78:         b (.getControl bottom RigidBodyControl)]
rlm@83: 
rlm@78:     (cond
rlm@83:      (= joint :cone)
rlm@83:      
rlm@83:        (doto (ConeJoint.
rlm@83:               a b
rlm@87:               (world-to-local top joint-position)
rlm@87:               (world-to-local bottom joint-position)
rlm@83:               joint-rotation
rlm@83:               joint-rotation
rlm@83:               )
rlm@78: 
rlm@83:               
rlm@83:          (.setLimit (* (/ 10) Math/PI)
rlm@83:                     (* (/ 4)  Math/PI)
rlm@83:                     0)))
rlm@83:   [origin top bottom table]))
rlm@78:             
rlm@78: (defn test-joint [joint]
rlm@83:   (let [[origin top bottom floor] (world-setup joint)
rlm@78:         control (.getControl top RigidBodyControl)
rlm@78:         move-up? (atom false)
rlm@78:         move-down? (atom false)
rlm@78:         move-left? (atom false)
rlm@78:         move-right? (atom false)
rlm@78:         roll-left? (atom false)
rlm@78:         roll-right? (atom false)
rlm@78:         timer (atom 0)]
rlm@78: 
rlm@78:     (world
rlm@83:      (nodify [top bottom floor origin])
rlm@78:      (merge standard-debug-controls
rlm@78:             {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@78:              "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@78:              "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@78:              "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@78:              "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@78:              "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@78:      
rlm@78:      (fn [world]
rlm@78:        (light-up-everything world)
rlm@78:        (enable-debug world)
rlm@78:        (set-gravity world (Vector3f. 0 0 0))
rlm@78:        )
rlm@78:      
rlm@78:      (fn [world _]
rlm@78:        (if (zero? (rem (swap! timer inc) 100))
rlm@78:          (do
rlm@78:          ;;  (println-repl @timer)
rlm@78:            (.attachChild (.getRootNode world)
rlm@78:                        (sphere 0.05 :color ColorRGBA/Yellow
rlm@78:                                :position (.getWorldTranslation top)
rlm@83:                                :physical? false))
rlm@83:            (.attachChild (.getRootNode world)
rlm@83:                          (sphere 0.05 :color ColorRGBA/LightGray
rlm@83:                                  :position (.getWorldTranslation bottom)
rlm@83:                                  :physical? false))))
rlm@83: 
rlm@78:        (if @move-up?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. 0 0 10))))
rlm@78:        (if @move-down?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. 0 0 -10))))
rlm@78:        (if @move-left?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. 0 10 0))))
rlm@78:        (if @move-right?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. 0 -10 0))))
rlm@78:        (if @roll-left?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. -1 0 0))))
rlm@78:        (if @roll-right?
rlm@78:          (.applyTorque control
rlm@78:                        (.mult (.getPhysicsRotation control)
rlm@78:                               (Vector3f. 1 0 0))))))))
rlm@83: 
rlm@83: 
rlm@83: 
rlm@87: #+end_src
rlm@83: 
rlm@87: #+results: body-1
rlm@87: : #'cortex.silly/test-joint
rlm@78: 
rlm@78: 
rlm@78: * COMMENT purgatory
rlm@78: #+begin_src clojure
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@73: #+end_src
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: