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@399: (def hand "Models/test-creature/hand.blend")
rlm@394: 
rlm@399: (defn worm-model []
rlm@399:   (load-blender-model "Models/worm/worm.blend"))
rlm@394: 
rlm@399: (def output-base (File. "/home/r/proj/cortex/render/worm-learn/"))
rlm@394: 
rlm@397: 
rlm@399: (defn motor-control-program
rlm@399:   "Create a function which will execute the motor script"
rlm@399:   [muscle-positions
rlm@399:    script]
rlm@399:   (let [current-frame (atom -1)
rlm@399:         keyed-script (group-by first script)
rlm@399:         current-forces (atom {}) ]
rlm@399:     (fn [effectors]
rlm@399:       (let [indexed-effectors (vec effectors)]
rlm@399:         (dorun 
rlm@399:          (for [[_ part force] (keyed-script (swap! current-frame inc))]
rlm@399:            (swap! current-forces (fn [m] (assoc m part force)))))
rlm@399:         (doall (map (fn [effector power]
rlm@399:                       (effector (int power)))
rlm@399:                     effectors
rlm@399:                     (map #(@current-forces % 0) muscle-positions)))))))
rlm@397: 
rlm@399: (def muscle-labels
rlm@399:   [:base-up :base-down
rlm@399:    :a-up :a-down
rlm@399:    :b-up :b-down
rlm@399:    :c-up :c-down
rlm@399:    :d-up :d-down
rlm@399:    ])
rlm@397: 
rlm@399: (def curl-script
rlm@399:   [[370 :d-up 20]
rlm@399:    [390 :d-up 0]])
rlm@397: 
rlm@399: (def period 18)
rlm@399: 
rlm@399: (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
rlm@399:   (let [period period
rlm@399:         power 45]
rlm@399:     [[time-base flexor power]
rlm@399:      [(+ time-base period) flexor 0]
rlm@399:      [(+ time-base period 1) extensor power]
rlm@399:      [(+ time-base (+ (* 2 period) 2))  extensor 0]]))
rlm@399:   
rlm@399: (def wiggle-script
rlm@399:   (mapcat gen-wiggle [[:d-up :d-down]
rlm@399:                       [:c-up :c-down]
rlm@399:                       [:b-up :b-down]
rlm@399:                       [:a-up :a-down]] (range 100 1000 12)))
rlm@399: 
rlm@399: (def wiggle-script
rlm@399:   (mapcat gen-wiggle (repeat 40 [:a-down :a-up])
rlm@399:                      (range 100 10000 (+ 3 (* period 2)))))
rlm@399: 
rlm@399: 
rlm@399: 
rlm@399: (defn worm-world
rlm@399:   ""
rlm@399:   ([] (worm-world curl-script))
rlm@399:   ([motion-script]
rlm@399:      (let [record? false
rlm@399:            worm (doto (worm-model) (body!))
rlm@399:            touch   '();;(touch! worm)
rlm@399:            prop    (proprioception! worm)
rlm@399:            muscles (movement! worm)
rlm@399:            
rlm@399:            touch-display  (view-touch)
rlm@399:            prop-display   (view-proprioception)
rlm@399:            muscle-display (view-movement)
rlm@399: 
rlm@399:            floor (box 10 1 10 :position (Vector3f. 0 -10 0)
rlm@399:                       :color ColorRGBA/Gray :mass 0)
rlm@399: 
rlm@399:            control-script (motor-control-program
rlm@399:                            muscle-labels motion-script)]
rlm@397:        (world
rlm@399:         (nodify [worm floor])
rlm@397:         standard-debug-controls
rlm@397:         
rlm@397:         (fn [world]
rlm@399:           ;; (set-gravity world Vector3f/ZERO)
rlm@399:           ;; (position-camera
rlm@399:           ;;  world (Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@399:           ;;  (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771))
rlm@399: 
rlm@399: 
rlm@399: 
rlm@399:           (position-camera
rlm@399:            world (Vector3f. 4.207176, -3.7366982, 3.0816958)
rlm@399:            (Quaternion. -0.11555642, 0.88188726, -0.2854942, -0.3569518))
rlm@399: 
rlm@399: 
rlm@399: 
rlm@399: 
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@399:              (File. output-base "main-view")))
rlm@397:           (speed-up world)
rlm@397:           (light-up-everything world))
rlm@397:         
rlm@397:         (fn [world tpf]
rlm@399:           (muscle-display
rlm@399:            (control-script muscles)
rlm@399:            (if record? (File. output-base "muscle")))
rlm@399:           (prop-display
rlm@399:            (prop)
rlm@399:            (if record? (File. output-base "proprio")))             
rlm@397:           (touch-display 
rlm@397:            (map #(% (.getRootNode world)) touch)
rlm@397:            (if record?
rlm@399:              (File. output-base "touch"))))))))