rlm@346: 
rlm@346: 
rlm@348: * A joint
rlm@348: 
rlm@348: The point of this joint is that it uses exploratory motor movements to
rlm@348: learn how to move to any particular position.
rlm@348: 
rlm@350: visual-information -- list of functions which must each be called with
rlm@350: the world the argument, each of which returns [topology data]. Each
rlm@350: element of data is a number between 0 and 255 representing the
rlm@350: intensity of the light recieved at that sensor.
rlm@348: 
rlm@348: proprioception -- list of nullary functions, one for each joint, which
rlm@348: return [heding pitch roll].
rlm@348: 
rlm@350: movement -- list of functions, one for each muscle, which must be
rlm@350: called with an integer between 0 and the total number of muscle fibers
rlm@350: in the muscle. Each function returns a float which is (current-force/
rlm@350: total-possible-force).
rlm@350: 
rlm@348: touch -- list of functions which must each be called with a Node
rlm@348: (normally the root node of the simulation) the argument, each of which
rlm@348: returns [topology data]. Each element of data is a posive float
rlm@348: between 0.0 and the max length of the "hairs" of which the touch sense
rlm@348: is composed.
rlm@348: 
rlm@347: #+name: load-creature
rlm@347: #+begin_src clojure
rlm@347: (in-ns 'cortex.joint)
rlm@343: 
rlm@347: (def joint "Models/joint/joint.blend")
rlm@347: 
rlm@347: (defn load-creature []
rlm@347:   (load-blender-model joint))
rlm@347: 
rlm@347: (defn test-creature []
rlm@347:   (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@347:         creature (doto (load-creature) (body!))
rlm@347: 
rlm@347:       ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@347:         touch (touch! creature)
rlm@347:         touch-display (view-touch)
rlm@347: 
rlm@348:         vision (vision! creature)
rlm@348:         vision-display (view-vision)
rlm@347: 
rlm@347:         ;;hearing (hearing! creature)
rlm@347:         ;;hearing-display (view-hearing)
rlm@347: 
rlm@347:         prop (proprioception! creature)
rlm@347:         prop-display (view-proprioception)
rlm@347: 
rlm@347:         muscles (movement! creature)
rlm@347:         muscle-display (view-movement)
rlm@347:       ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@347: 
rlm@347:         fix-display (gen-fix-display)
rlm@347: 
rlm@347:         floor (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@348:                    :color ColorRGBA/Gray :mass 0)]
rlm@347:     (world
rlm@347:      (nodify [floor me creature])
rlm@347:      standard-debug-controls
rlm@347:      (fn [world]
rlm@348:        (let [timer (RatchetTimer. 60)]
rlm@348:          (.setTimer world timer)
rlm@348:          (display-dilated-time world timer)))
rlm@347:      (fn [world tpf]
rlm@348:        (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@347:        (fix-display world)))))
rlm@347: #+end_src
rlm@343: 
rlm@343: * Headers
rlm@343: #+name: joint-header
rlm@343: #+begin_src clojure
rlm@343: (ns cortex.joint
rlm@347:   (:require cortex.import)
rlm@347:   (:use (cortex world util import body sense
rlm@347:                 hearing touch vision proprioception movement))
rlm@347:   (:import java.io.File)
rlm@347:   (:import (com.aurellem.capture RatchetTimer IsoTimer)))
rlm@347: 
rlm@343: (cortex.import/mega-import-jme3)
rlm@346: (rlm.rlm-commands/help)
rlm@343: #+end_src
rlm@343: 
rlm@343: 
rlm@343: * COMMENT Generate Source
rlm@343: 
rlm@343: #+begin_src clojure :tangle ../src/cortex/joint.clj
rlm@343: <<joint-header>>
rlm@347: <<load-creature>>
rlm@343: #+end_src
rlm@346: