rlm@458: 
rlm@458: #+begin_src clojure
rlm@458: (ns cortex.depth-map
rlm@458:   "lol depth maps."
rlm@458:   {:author "Robert McIntyre"}
rlm@458:   (:use (cortex world util body sense vision touch))
rlm@458:   (:import (com.jme3.scene Geometry Node Mesh))
rlm@458:   (:import com.jme3.collision.CollisionResults)
rlm@458:   (:import com.jme3.scene.VertexBuffer$Type)
rlm@458: 
rlm@458:   (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
rlm@458: 
rlm@458: (cortex.import/mega-import-jme3)
rlm@458: 
rlm@458: (defn convert-pixel-to-ray
rlm@458:   [camera x y]
rlm@458:   (let [pixel-arrow
rlm@458:         (.getWorldCoordinates
rlm@458:          camera
rlm@458:          (Vector2f. (float x) (float y))
rlm@458:          ;; this is the "z depth" and can be anything, since
rlm@458:          ;; we only care about direction
rlm@458:          (float 1))
rlm@458:         ;; now that we have the direction of a pixel, subtract
rlm@458:         ray (Ray.)]
rlm@458:     (set-ray ray Matrix4f/IDENTITY (.getLocation camera)
rlm@458:              pixel-arrow) ray))
rlm@458: 
rlm@458: 
rlm@458: (defn generate-depth-map-points
rlm@458:   "Generate a data structure representating the depth of the first
rlm@458:   object to collide with a ray from the camera's current position."
rlm@458:   [world camera]
rlm@458:   (let [width (.getWidth camera)
rlm@458:         height (.getHeight camera)
rlm@458:         pixels (for [x (range width) y (range height)]
rlm@458:                  [x y])
rlm@458:         
rlm@458:         depths
rlm@458:         (for [[x y] pixels]
rlm@458:           (let [ray (convert-pixel-to-ray camera x y)
rlm@458:                 results (CollisionResults.)]
rlm@458:             (.collideWith world ray results)
rlm@458:             (.getDistance (.getClosestCollision results))))]
rlm@458:     (zipmap pixels depths)))
rlm@458: 
rlm@458: (defn test-world []
rlm@458:   (nodify [(floor*) (brick-wall*)]))
rlm@458: 
rlm@458: (defn run-depth-map-test []
rlm@458: #+end_src