rlm@394: (ns org.aurellem.worm-learn
rlm@394:   "General worm creation framework."
rlm@394:   {:author "Robert McIntyre"}
rlm@394:   (:use (cortex world util import body sense
rlm@394:                 hearing touch vision proprioception movement))
rlm@394:   (:import (com.jme3.math ColorRGBA Vector3f))
rlm@394:   (:import java.io.File)
rlm@394:   (:import com.jme3.audio.AudioNode)
rlm@397:   (:import com.aurellem.capture.RatchetTimer)
rlm@397:   (:import (com.aurellem.capture Capture IsoTimer))
rlm@397:   (:import (com.jme3.math Vector3f ColorRGBA)))
rlm@397:   
rlm@394: 
rlm@394: (dorun (cortex.import/mega-import-jme3))
rlm@394: (rlm.rlm-commands/help)
rlm@394: 
rlm@394: 
rlm@397: (defn worm-segment []
rlm@397:   (load-blender-model "Models/worm-segment/worm-segment.blend"))
rlm@394: 
rlm@394: 
rlm@398: (defn worm []
rlm@398:   (load-blender-model "Models/worm-segment/worm.blend"))
rlm@394: 
rlm@397: 
rlm@397: (defn gen-worm
rlm@397:   "create a creature acceptable for testing as a replacement for the
rlm@397:    worm."
rlm@397:   []
rlm@397:   (nodify
rlm@397:    "worm"
rlm@397:    [(nodify
rlm@397:      "eyes"
rlm@397:      [(doto
rlm@397:           (Node. "eye1")
rlm@397:         (.setLocalTranslation (Vector3f. 0 -1.1 0))
rlm@397:         (.setUserData
rlm@397:          
rlm@397:          "eye" 
rlm@397:          "(let [retina
rlm@397:                 \"Models/test-creature/retina-small.png\"]
rlm@397:                 {:all retina :red retina
rlm@397:                  :green retina :blue retina})"))])
rlm@397:     (box
rlm@397:      0.2 0.2 0.2
rlm@397:      :name "worm-segment"
rlm@397:      :position (Vector3f. 0 0 0)
rlm@397:      :color ColorRGBA/Orange)]))
rlm@397: 
rlm@397: 
rlm@397: (defn test-basic-touch
rlm@397:   "Testing touch:
rlm@397:    You should see a cube fall onto a table.  There is a cross-shaped
rlm@397:    display which reports the cube's sensation of touch. This display
rlm@397:    should change when the cube hits the table, and whenever you hit
rlm@397:    the cube with balls.
rlm@397: 
rlm@397:    Keys:
rlm@397:      <space> : fire ball"
rlm@397:   ([] (test-basic-touch false))
rlm@397:   ([record?]
rlm@398:      (let [head (doto (worm) (body!))
rlm@397:            touch (touch! head)
rlm@397:            touch-display (view-touch)]
rlm@397:        (world
rlm@397:         (nodify [head
rlm@397:                  (box 10 1 10 :position (Vector3f. 0 -10 0)
rlm@397:                       :color ColorRGBA/Gray :mass 0)])
rlm@397:         
rlm@397:         standard-debug-controls
rlm@397:         
rlm@397:         (fn [world]
rlm@397:           (let [timer (IsoTimer. 60)]
rlm@397:             (.setTimer world timer)
rlm@397:             (display-dilated-time world timer))
rlm@397:           (if record?
rlm@397:             (Capture/captureVideo
rlm@397:              world
rlm@397:              (File. "/home/r/proj/cortex/render/touch-cube/main-view/")))
rlm@397:           (speed-up world)
rlm@397:           (light-up-everything world))
rlm@397:         
rlm@397:         (fn [world tpf]
rlm@397:           (touch-display 
rlm@397:            (map #(% (.getRootNode world)) touch)
rlm@397:            (if record?
rlm@397:              (File. "/home/r/proj/cortex/render/touch-cube/touch/"))))))))