rlm@0: #+title: SKIN!
rlm@0: #+author: Robert McIntyre
rlm@0: #+email: rlm@mit.edu
rlm@0: #+description: Simulating touch in JMonkeyEngine
rlm@4: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@4: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@6: #+babel: :mkdirp yes :noweb yes
rlm@0: 
rlm@5: let's see what checkboxes look like:
rlm@5:  
rlm@5: * test [1/2]
rlm@5:  - [ ] item 1
rlm@5:  - [X] item 2
rlm@0: 
rlm@0: 
rlm@0: * skin!
rlm@0: 
rlm@0: #+srcname: skin-main
rlm@0: #+begin_src clojure
rlm@0: (ns body.skin)
rlm@0: (use 'cortex.world)
rlm@0: (use 'cortex.import)
rlm@0: (use 'clojure.contrib.def)
rlm@0: (cortex.import/mega-import-jme3)
rlm@0: (rlm.rlm-commands/help)
rlm@0: 
rlm@0: (import java.util.logging.Level)
rlm@0: (import java.util.logging.Logger)
rlm@11: (use 'hello.brick-wall)
rlm@0: 
rlm@0: 
rlm@0: 
rlm@6: (defn triangles [#^Geometry geom]
rlm@6:   (let
rlm@6:       [mesh (.getMesh geom)
rlm@6:        triangles (transient [])]
rlm@6:     (dorun
rlm@6:      (for [n (range (.getTriangleCount mesh))]
rlm@6:        (let [tri (Triangle.)]
rlm@6:          (.getTriangle mesh n tri)
rlm@6:          (.calculateNormal tri)
rlm@6:          (.calculateCenter tri)
rlm@6:          (conj! triangles tri))))
rlm@6:     (persistent! triangles)))
rlm@6:    
rlm@6: 
rlm@7: (defn get-ray-origin
rlm@7:   [geom tri]
rlm@7:   (let [new (Vector3f.)]
rlm@7:     (.calculateCenter tri)
rlm@8:     (.localToWorld geom (.getCenter tri) new)
rlm@7:     new))
rlm@6: 
rlm@7: (defn get-ray-direction
rlm@7:   [geom tri]
rlm@9:   (let [n+c (Vector3f.)]
rlm@7:     (.calculateNormal tri)
rlm@9:     (.calculateCenter tri)
rlm@9:     (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
rlm@9:     (.subtract n+c (get-ray-origin geom tri))
rlm@8:     ))
rlm@7:   
rlm@7: (defn ray-origin-debug
rlm@9:   [ray color]
rlm@7:   (make-shape
rlm@6:               (assoc base-shape
rlm@6:                 :shape (Sphere. 5 5 0.05)
rlm@6:                 :name "arrow"
rlm@9:                 :color color
rlm@6:                 :texture false
rlm@6:                 :physical? false
rlm@6:                 :position
rlm@7:                 (.getOrigin ray))))
rlm@6: 
rlm@9: (defn ray-debug [ray color]
rlm@6:   (make-shape
rlm@6:    (assoc
rlm@6:        base-shape
rlm@6:      :name "debug-ray"
rlm@6:      :physical? false
rlm@6:      :shape (com.jme3.scene.shape.Line.
rlm@6:              (.getOrigin ray)
rlm@6:              (.add
rlm@6:               (.getOrigin ray)
rlm@6:               (.mult (.getDirection ray)
rlm@6:                      (float (.getLimit ray))))))))
rlm@6:              
rlm@6: 
rlm@10: (defn contact-color [contacts]
rlm@10:   (case contacts
rlm@10:     0 ColorRGBA/Gray
rlm@10:     1  ColorRGBA/Blue 
rlm@10:     2  ColorRGBA/Green 
rlm@10:     3  ColorRGBA/Yellow 
rlm@10:     4  ColorRGBA/Orange 
rlm@10:     5  ColorRGBA/Red 
rlm@10:     6  ColorRGBA/Magenta 
rlm@10:     7  ColorRGBA/Pink 
rlm@10:     8  ColorRGBA/White))
rlm@6: 
rlm@6: (defn normal-rays
rlm@6:   "returns rays"
rlm@6:   [limit #^Geometry geom]
rlm@6:   (vec
rlm@6:    (map 
rlm@6:     (fn [tri]
rlm@6:       (doto 
rlm@6:           (Ray. (get-ray-origin geom tri)
rlm@6:                 (get-ray-direction geom tri))
rlm@12:         (.setLimit limit)))
rlm@6:     (triangles geom))))
rlm@6: 
rlm@6: 
rlm@6: (defn collision-debug [node result]
rlm@6:   (println-repl "contact point: " (.getContactPoint result))
rlm@14: 
rlm@14: 
rlm@6:   )
rlm@6: 
rlm@14: (defn update-ray-debug [node ray contacts]
rlm@14:   (let [origin (.getChild node 0)]
rlm@14:     (.setLocalTranslation origin (.getOrigin ray))
rlm@14:     (.setColor (.getMaterial origin) "Color" (contact-color contacts))))
rlm@14: 
rlm@14:   
rlm@13: 
rlm@13: 
rlm@13: (defn init-node
rlm@13:   [debug-node rays]
rlm@13:     (println-repl "Init touch debug node.")
rlm@12:     (.detachAllChildren debug-node)
rlm@13:     (dorun 
rlm@13:      (for [ray rays]
rlm@13:        (do
rlm@13:          (.attachChild
rlm@13:           debug-node 
rlm@13:           (doto (Node.)
rlm@14:             (.attachChild (ray-origin-debug ray ColorRGBA/Gray))
rlm@14:             ;;(.attachChild (ray-debug ray ColorRGBA/Gray))
rlm@14:             ))))))
rlm@14: 
rlm@12: 
rlm@12: 
rlm@13: (defn manage-ray-debug-node [debug-node geom touch-data limit]
rlm@13:   (let [rays (normal-rays limit geom)]
rlm@13:     (if (not= (count (.getChildren debug-node)) (count touch-data))
rlm@13:       (init-node debug-node rays))
rlm@13:     (dorun 
rlm@13:      (for [n (range (count touch-data))]
rlm@14:        (update-ray-debug
rlm@14:         (.getChild debug-node n) (nth rays n) (nth touch-data n))))))
rlm@12: 
rlm@12: 
rlm@13: (defn touch-percieve [limit geom node]
rlm@6:   (let [normals  (normal-rays limit geom)]
rlm@12: 
rlm@6:     (doall
rlm@6:      (for [ray normals]
rlm@6:        (do
rlm@6:          (let [results (CollisionResults.)]
rlm@10:            (.collideWith node ray results)
rlm@10:            (let [answer (count (filter #(not (= geom (.getGeometry %))) results)) 
rlm@10:                  ;;color (contact-color answer)
rlm@10:                  ]
rlm@10:              ;;(dorun (map #(println-repl (.getName (.getGeometry %))) results))
rlm@12:              
rlm@10:            
rlm@10:            ;;(println-repl (.size results) "results for " ray)
rlm@10:            ;;(doall (map (partial collision-debug node) results))
rlm@10:            answer
rlm@10:            )))))))
rlm@6: 
rlm@0: (defn enable-debug [world]
rlm@0:   (.enableDebug 
rlm@0:    (.getPhysicsSpace
rlm@0:     (.getState
rlm@0:      (.getStateManager world)
rlm@0:      BulletAppState))
rlm@0:    (asset-manager)))
rlm@0: 
rlm@11: (defn no-logging []
rlm@11:   (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@11: 
rlm@11: (defn set-accuracy [world new-accuracy]
rlm@11:   (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
rlm@11:     (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
rlm@11: 
rlm@11: 
rlm@0: (defn transparent-sphere []
rlm@0:   (doto
rlm@0:       (make-shape
rlm@0:        (merge base-shape
rlm@0: 	      {:position (Vector3f. 0 2 0)
rlm@0: 	       :name "the blob."
rlm@0: 	       :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0: 	       :texture "Textures/purpleWisp.png"
rlm@0: 	       :physical? true
rlm@0: 	       :mass 70
rlm@0: 	       :color ColorRGBA/Blue
rlm@0: 	       :shape (Sphere. 10 10 1)}))
rlm@0:     (-> (.getMaterial)
rlm@0: 	(.getAdditionalRenderState)
rlm@0: 	(.setBlendMode RenderState$BlendMode/Alpha))
rlm@0:     (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0: 
rlm@0: (defn transparent-box []
rlm@0:     (doto
rlm@0:       (make-shape
rlm@0:        (merge base-shape
rlm@0: 	      {:position (Vector3f. 0 2 0)
rlm@10: 	       :name "box"
rlm@0: 	       :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0: 	       :texture "Textures/purpleWisp.png"
rlm@0: 	       :physical? true
rlm@0: 	       :mass 70
rlm@0: 	       :color ColorRGBA/Blue
rlm@0: 	       :shape (Box. 1 1 1)}))
rlm@0:     (-> (.getMaterial)
rlm@0: 	(.getAdditionalRenderState)
rlm@0: 	(.setBlendMode RenderState$BlendMode/Alpha))
rlm@0:     (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@0: 
rlm@6: (defn transparent-floor []
rlm@6:   (doto
rlm@6:       (box 5 0.2 5  :mass 0 :position (Vector3f. 0 -2 0)
rlm@6:            :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@10:            :texture "Textures/redWisp.png"
rlm@10:            :name "floor")
rlm@6:     (-> (.getMaterial)
rlm@6:         (.getAdditionalRenderState)
rlm@6:         (.setBlendMode RenderState$BlendMode/Alpha))
rlm@6:     (.setQueueBucket RenderQueue$Bucket/Transparent)))
rlm@6: 
rlm@0: (defn test-skin []
rlm@0:   (let [b
rlm@14: 	;;(transparent-box)
rlm@14: 	(transparent-sphere)
rlm@10:         ;;(sphere)
rlm@6: 	f (transparent-floor)
rlm@6: 	;;controls
rlm@0: 	;;(make-touch-sphere b)
rlm@6: 	;;(make-touch b)
rlm@6:         debug-node (Node.)
rlm@12:         node      (doto (Node.) (.attachChild b) (.attachChild f))
rlm@12:         root-node (doto (Node.) (.attachChild node)
rlm@12:                         (.attachChild debug-node))
rlm@12:         ]
rlm@0:     
rlm@0:     (world
rlm@12:      root-node
rlm@11:      {"key-return" (fire-cannon-ball)}
rlm@6:      ;;no-op
rlm@0:      (fn [world]
rlm@6:      ;;  (Capture/SimpleCaptureVideo
rlm@6:      ;;   world 
rlm@6:      ;;   (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@6:      ;;  (no-logging)
rlm@6:      (enable-debug world)
rlm@6:      ;;  (set-accuracy world (/ 1 60))
rlm@11:      )
rlm@0: 
rlm@0:      (fn [& _]
rlm@13:        (let [touch-data (touch-percieve 0.2 b node)]
rlm@13:          (println-repl touch-data)
rlm@13:          (manage-ray-debug-node debug-node b touch-data 0.2))
rlm@11:        (Thread/sleep 10)
rlm@5:        ;;(touch-print controls)
rlm@6:        ;;(color-touch controls)
rlm@0:        ))))
rlm@0: 
rlm@0: #+end_src
rlm@0: 
rlm@3: #+results: skin-main
rlm@3: : #'body.skin/test-skin
rlm@3: 
rlm@0: 
rlm@0: 
rlm@0: 
rlm@10: 
rlm@10: 
rlm@6:   
rlm@0: 
rlm@0: * COMMENT code generation
rlm@6: #+begin_src clojure :tangle ../src/body/skin.clj :noweb yes
rlm@0: <<skin-main>>
rlm@0: #+end_src
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: