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@0: 
rlm@0: 
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@0: 
rlm@0: 
rlm@0: 
rlm@0: ;; looks like we can use GhostControls for implementing touch.
rlm@0: ;; for example:
rlm@0: (def rc (GhostControl. (BoxCollisionShape. (Vector3f. 2 2 2))))
rlm@0: (def shifted-sphere
rlm@0:      (doto (CompoundCollisionShape.)
rlm@0:        (.addChildShape (SphereCollisionShape. 3) (Vector3f. 1 0 0))))
rlm@0: 
rlm@0: (def gc (GhostControl. shifted-sphere))
rlm@0: (def b (box 1 1 1 :mass 1))
rlm@0: (.addControl b rc)
rlm@0: (.addControl b gc)
rlm@0: 
rlm@0: 
rlm@0: (defn looksies! []
rlm@0:   (view b))
rlm@0: 
rlm@0: ;; overlapping objects can be gotten via =.getOverlappingCount= and
rlm@0: ;; =.getOverlappingObjects=
rlm@0: 
rlm@0: ;; looks like I might be able to place a small "touch-sphere" whther
rlm@0: ;; on every triangle in the object's  mesh, or at the verticies, using
rlm@0: ;; .getTriangleCount() on the mesh gotten by .getMesh()
rlm@0: 
rlm@0: ;; this way, I can create a mesh and just divide up it's faces using
rlm@0: ;; blender, and this will create the touch sensor distribution.
rlm@0: 
rlm@0: 
rlm@0: (defn make-touch-sphere [#^Geometry geom]
rlm@0:   (let [tri (Triangle.)
rlm@0: 	mesh (.getMesh geom)
rlm@0: 	controls! (transient [])]
rlm@0:     (dorun
rlm@0:      (for [n (range (.getTriangleCount mesh))]
rlm@0:        (do
rlm@0: 	 (.getTriangle mesh n tri)
rlm@0: 	 (.calculateCenter tri)
rlm@0: 	 (let [control 
rlm@0: 	       (doto
rlm@0: 		   (GhostControl.
rlm@0: 		    (doto (CompoundCollisionShape.)
rlm@0: 		      (.addChildShape
rlm@0: 		       (SphereCollisionShape. (float 0.1))
rlm@0: 		       (.mult (.getCenter tri) (float 1)))
rlm@0: 		      (.setMargin -0.1)))
rlm@0: 		 (.setApplyPhysicsLocal true))]
rlm@0: 		  
rlm@0: 	   (.addControl geom control)
rlm@0: 	   (conj! controls! control)))))
rlm@0:     (persistent! controls!)))
rlm@0: 	 
rlm@0: 
rlm@0: (defn make-touch [#^Geometry geom]
rlm@0:   (let [tri (Triangle.)
rlm@0: 	mesh (.getMesh geom)
rlm@0: 	controls! (transient [])]
rlm@0:     (dorun
rlm@0:      (for [n (range (.getTriangleCount mesh))]
rlm@0:        (do
rlm@0: 	 (.getTriangle mesh n tri)
rlm@0: 	 (.calculateCenter tri)
rlm@0: 	 (.calculateNormal tri)
rlm@0: 	 (println-repl tri)
rlm@0: 	 (println-repl (.get1 tri))
rlm@0: 	 (println-repl (.get2 tri))
rlm@0: 	 (println-repl (.get3 tri))
rlm@0: 	 (println-repl (.getCenter tri))
rlm@0: 	 (println-repl (.getNormal tri))
rlm@0: 	 (let [control
rlm@0: 	       (doto 
rlm@0: 		   (GhostControl.
rlm@0: 		    
rlm@0: 		     (doto (CompoundCollisionShape.)
rlm@0: 		       (.addChildShape
rlm@0: 		        (SimplexCollisionShape. Vector3f/ZERO)
rlm@0: 			(.mult (.getCenter tri) (float 1)))		    
rlm@0: 		      (.setMargin 0)
rlm@0: 		      ))
rlm@0: 		 (.setApplyPhysicsLocal true))]
rlm@0: 
rlm@0: 	   (.addControl geom control)
rlm@0: 	   (conj! controls! control)))))
rlm@0:     (persistent! controls!)))
rlm@0: 
rlm@0: (defn make-fucked-touch [#^Geometry geom]
rlm@0:   (let [tri (Triangle.)
rlm@0: 	mesh (.getMesh geom)
rlm@0: 	controls! (transient [])]
rlm@0:     (dorun
rlm@0:      (for [n (range (.getTriangleCount mesh))]
rlm@0:        (do
rlm@0: 	 (.getTriangle mesh n tri)
rlm@0: 	 (.calculateCenter tri)
rlm@0: 	 (.calculateNormal tri)
rlm@0: 	 (println-repl tri)
rlm@0: 	 (println-repl (.get1 tri))
rlm@0: 	 (println-repl (.get2 tri))
rlm@0: 	 (println-repl (.get3 tri))
rlm@0: 	 (println-repl (.getCenter tri))
rlm@0: 	 (println-repl (.getNormal tri))
rlm@0: 	 (let [control1
rlm@0: 	       (doto 
rlm@0: 		   (GhostControl.
rlm@0: 		    (doto (CompoundCollisionShape.)
rlm@0: 		       (.addChildShape
rlm@0: 		        (SimplexCollisionShape. Vector3f/ZERO)
rlm@0: 		       (.get1 tri))))
rlm@0: 		 (.setApplyPhysicsLocal true))]
rlm@0: 
rlm@0: 	   (.addControl geom control1)
rlm@0: 	   (conj! controls! control1)
rlm@0: 	   )
rlm@0: 	 
rlm@0: 	 ;; (let [control1
rlm@0: 	 ;;       (doto 
rlm@0: 	 ;; 	   (GhostControl.
rlm@0: 	 ;; 	    (doto (CompoundCollisionShape.)
rlm@0: 	 ;; 	      (.addChildShape
rlm@0: 	 ;; 	       (SimplexCollisionShape. Vector3f/ZERO)
rlm@0: 	 ;; 	      (.get2 tri))))
rlm@0: 	 ;; 	 (.setApplyPhysicsLocal true))]
rlm@0: 	   
rlm@0: 	 ;;   (.addControl geom control1)
rlm@0: 	 ;;   (conj! controls! control1)
rlm@0: 	 ;;   )
rlm@0: 	 
rlm@0: 	 ;; (let [control1
rlm@0: 	 ;;       (doto 
rlm@0: 	 ;; 	   (GhostControl.
rlm@0: 	 ;; 	    (doto (CompoundCollisionShape.)
rlm@0: 	 ;; 	       (.addChildShape
rlm@0: 	 ;; 	        (SimplexCollisionShape. Vector3f/ZERO)
rlm@0: 	 ;; 	       (.get3 tri))))
rlm@0: 	 ;; 	 (.setApplyPhysicsLocal true))]
rlm@0: 	   
rlm@0: 	 ;;   (.addControl geom control1)
rlm@0: 	 ;;   (conj! controls! control1)
rlm@0: 	 
rlm@0: 	   )))
rlm@0: 	 (persistent! controls!)))
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: (use 'hello.brick-wall)
rlm@0: 
rlm@0: (defn touch-reception [controls]
rlm@0:     (let [control
rlm@0: 	  (first 
rlm@0: 	   (filter 
rlm@0: 	    #(< 2 (.getOverlappingCount %)) controls))]
rlm@0:       (if (not (nil? control))
rlm@0: 	(println
rlm@0: 	 (seq
rlm@0: 	  (.getOverlappingObjects control))))))
rlm@0: 
rlm@0: (defn touch-print [controls]
rlm@0:   (println
rlm@0:    (map #(count (.getNonGhostOverlappingObjects %)) controls)))
rlm@0: 
rlm@0: (defn set-debug-color [#^ColorRGBA color #^GhostControl gc]
rlm@0:   (.setColor (.getMaterial (.getChild (.getDebugShape gc) 0)) "Color" color))
rlm@0: 
rlm@0: (defn html-color [html-str]
rlm@0:   ((fn [[r g b]] (ColorRGBA. r g b (float 1)))
rlm@0:    (map #(float (/ (Integer/parseInt % 16) 255))
rlm@0: 	(map (partial apply str) (partition 2 html-str)))))
rlm@0:   
rlm@0: 
rlm@0: (defn color-touch [controls]
rlm@0:   (no-exceptions
rlm@0:    (dorun
rlm@0:     (map
rlm@0:      (fn [control]
rlm@0:        (case (count (.getNonGhostOverlappingObjects control))
rlm@0: 	     0 (set-debug-color ColorRGBA/Gray control)
rlm@0: 	     1 (set-debug-color ColorRGBA/Blue control)
rlm@0: 	     2 (set-debug-color ColorRGBA/Green control)
rlm@0: 	     3 (set-debug-color ColorRGBA/Yellow control)
rlm@0: 	     4 (set-debug-color ColorRGBA/Orange control)
rlm@0: 	     5 (set-debug-color ColorRGBA/Red control)
rlm@0: 	     6 (set-debug-color ColorRGBA/Magenta control)
rlm@0: 	     7 (set-debug-color ColorRGBA/Pink control)
rlm@0: 	     8 (set-debug-color ColorRGBA/White control)))
rlm@0:      controls))))
rlm@0: 
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@0: (def with-debug
rlm@0:      '(1 1 1 1 0 1 2 0 2 0 1 1 1 1 0 2 0 2 2 1 0 0 0 1 0 0 0 0 1 0))
rlm@0: (def no-debug
rlm@0:      '(1 1 1 1 0 1 2 0 2 0 1 1 1 1 0 2 0 2 2 1 0 0 0 1 0 0 0 0 1 0))
rlm@0: 
rlm@0: 
rlm@0: 
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@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 (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@0:   
rlm@0: 
rlm@0: (defn no-logging []
rlm@0:   (.setLevel (Logger/getLogger "com.jme3") Level/OFF))
rlm@0: 
rlm@0: (defn set-accuracy [world new-accuracy]
rlm@0:   (let [physics-manager (.getState (.getStateManager world) BulletAppState)]
rlm@0:     (.setAccuracy (.getPhysicsSpace physics-manager) (float new-accuracy))))
rlm@0: 
rlm@0: (defn test-skin []
rlm@0:   (let [b
rlm@0: 	;;(transparent-box)
rlm@0: 	(transparent-sphere)
rlm@0: 	
rlm@0: 	controls
rlm@0: 	;;(make-touch-sphere b)
rlm@0: 	(make-touch b)
rlm@0: 	]
rlm@0:     
rlm@0:     (world
rlm@0:      (doto (Node.) (.attachChild b)
rlm@0: 	   (.attachChild
rlm@0: 	    (doto
rlm@0: 		(box 5 0.2 5  :mass 0 :position (Vector3f. 0 -2 0)
rlm@0: 		     :material "Common/MatDefs/Misc/Unshaded.j3md"
rlm@0: 		     :texture "Textures/redWisp.png")
rlm@0: 	      (-> (.getMaterial)
rlm@0: 		  (.getAdditionalRenderState)
rlm@0: 		  (.setBlendMode RenderState$BlendMode/Alpha))
rlm@0: 	      (.setQueueBucket RenderQueue$Bucket/Transparent))))
rlm@0:      
rlm@0:      {"key-return" (fire-cannon-ball)
rlm@0:       "key-space"  (fn [game value]
rlm@0:      		     (touch-print controls))}
rlm@0:      (fn [world]
rlm@1:        (Capture/SimpleCaptureVideo
rlm@1:         world 
rlm@3:         (file-str "/home/r/proj/cortex/tmp/blob.avi"))
rlm@0:        (no-logging)
rlm@0:        (enable-debug world)
rlm@0:        (set-accuracy world (/ 1 60))
rlm@0:        )
rlm@0: 
rlm@0:      (fn [& _]
rlm@0:        (touch-print controls)
rlm@0:        (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@0: 
rlm@0: 
rlm@0: * COMMENT code generation
rlm@0: #+begin_src clojure :tangle ../src/body/skin.clj
rlm@0: <<skin-main>>
rlm@0: #+end_src
rlm@0: 
rlm@0: 
rlm@0: 
rlm@0: