rlm@73: #+title: First attempt at a creature!
rlm@73: #+author: Robert McIntyre
rlm@73: #+email: rlm@mit.edu
rlm@73: #+description: 
rlm@73: #+keywords: simulation, jMonkeyEngine3, clojure
rlm@73: #+SETUPFILE: ../../aurellem/org/setup.org
rlm@73: #+INCLUDE: ../../aurellem/org/level-0.org
rlm@73: 
rlm@129: 
rlm@129: 
rlm@99: 
rlm@73: * Intro 
rlm@73: So far, I've made the following senses -- 
rlm@73:  - Vision
rlm@73:  - Hearing
rlm@73:  - Touch
rlm@73:  - Proprioception
rlm@73: 
rlm@73: And one effector: 
rlm@73:  - Movement
rlm@73: 
rlm@73: However, the code so far has only enabled these senses, but has not
rlm@73: actually implemented them.  For example, there is still a lot of work
rlm@73: to be done for vision. I need to be able to create an /eyeball/ in
rlm@73: simulation that can be moved around and see the world from different
rlm@73: angles. I also need to determine weather to use log-polar or cartesian
rlm@73: for the visual input, and I need to determine how/wether to
rlm@73: disceritise the visual input.
rlm@73: 
rlm@73: I also want to be able to visualize both the sensors and the
rlm@104: effectors in pretty pictures. This semi-retarted creature will be my
rlm@73: first attempt at bringing everything together.
rlm@73: 
rlm@73: * The creature's body
rlm@73: 
rlm@73: Still going to do an eve-like body in blender, but due to problems
rlm@104: importing the joints, etc into jMonkeyEngine3, I'm going to do all
rlm@73: the connecting here in clojure code, using the names of the individual
rlm@73: components and trial and error. Later, I'll maybe make some sort of
rlm@73: creature-building modifications to blender that support whatever
rlm@158: discritized senses I'm going to make.
rlm@73: 
rlm@192: #+name: integration
rlm@73: #+begin_src clojure 
rlm@192: (ns cortex.integration
rlm@73:   "let's play!"
rlm@192:   {:author "Robert McIntyre"}
rlm@192:   (:use (cortex world util body
rlm@192:                 hearing touch vision sense proprioception movement))
rlm@192:   (:import (com.jme3.math ColorRGBA Vector3f))
rlm@192:   (:import com.jme3.audio.AudioNode)
rlm@192:   (:import com.aurellem.capture.RatchetTimer))
rlm@73: 
rlm@78: (def hand "Models/creature1/one.blend")
rlm@74: 
rlm@78: (def worm "Models/creature1/try-again.blend")
rlm@78: 
rlm@106: (defn test-creature [thing]
rlm@106:   (let [x-axis
rlm@106:         (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
rlm@106:         y-axis
rlm@106:         (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
rlm@106:         z-axis
rlm@106:         (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
rlm@189: 
rlm@192:         me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
rlm@192:         bell (AudioNode. (asset-manager)
rlm@192:                          "Sounds/pure.wav" false)
rlm@192: 
rlm@192:         fix-display
rlm@192:         (runonce (fn [world]
rlm@192:                    (add-camera! world (.getCamera world) no-op)))
rlm@189:         creature (doto (load-blender-model thing) (body!))
rlm@189: 
rlm@192:         ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
rlm@185:         touch (touch! creature)
rlm@188:         touch-display (view-touch)
rlm@189: 
rlm@188:         vision (vision! creature)
rlm@188:         vision-display (view-vision)
rlm@189: 
rlm@189:         hearing (hearing! creature)
rlm@189:         hearing-display (view-hearing)
rlm@189: 
rlm@173:         prop (proprioception! creature)
rlm@190:         prop-display (view-proprioception)
rlm@148: 
rlm@191:         muscle-exertion (atom 0)
rlm@191:         muscles (movement! creature)
rlm@192:         muscle-display (view-movement)]
rlm@189: 
rlm@143:     (apply
rlm@143:      world
rlm@143:      (with-movement
rlm@143:        (.getChild creature "worm-21")
rlm@143:        ["key-r" "key-t"
rlm@143:         "key-f" "key-g"
rlm@143:         "key-v" "key-b"]
rlm@143:        [10 10 10 10 1 1]
rlm@143:        [(nodify [creature
rlm@143:                  (box 10 2 10 :position (Vector3f. 0 -9 0)
rlm@143:                       :color ColorRGBA/Gray :mass 0)
rlm@143:                  x-axis y-axis z-axis
rlm@192:                  me])
rlm@143:         (merge standard-debug-controls
rlm@143:                {"key-return"
rlm@143:                 (fn [_ value]
rlm@143:                   (if value
rlm@143:                     (do
rlm@143:                       (println-repl "play-sound")
rlm@148:                       (.play bell))))
rlm@148:                 "key-h"
rlm@148:                 (fn [_ value]
rlm@148:                   (if value
rlm@191:                     (swap!  muscle-exertion (partial + 20))))
rlm@191:                 "key-n"
rlm@191:                 (fn [_ value]
rlm@191:                   (if value
rlm@192:                     (swap! muscle-exertion (fn [v] (- v 20)))))})
rlm@143:         (fn [world]
rlm@143:           (light-up-everything world)
rlm@143:           (enable-debug world)
rlm@169:           (add-camera! world
rlm@192:                        (add-eye! creature
rlm@192:                                  (.getChild 
rlm@192:                                   (.getChild creature "eyes") "eye"))
rlm@143:                    (comp (view-image) BufferedImage!))
rlm@192:           (.setTimer world (RatchetTimer. 60))
rlm@143:           (speed-up world)
rlm@148:           (set-gravity world (Vector3f. 0 0 0))
rlm@192:           (comment 
rlm@192:             (com.aurellem.capture.Capture/captureVideo
rlm@192:              world (file-str "/home/r/proj/ai-videos/hand"))))
rlm@143:         (fn [world tpf]
rlm@190:           (prop-display (prop))
rlm@188:           (touch-display (map #(% (.getRootNode world)) touch))
rlm@188:           (vision-display (map #(% world) vision))
rlm@189:           (hearing-display (map #(% world) hearing))
rlm@191:           (muscle-display (map #(% @muscle-exertion) muscles))
rlm@143:           (.setLocalTranslation me (.getLocation (.getCamera world)))
rlm@192:           (fix-display world))]))))
rlm@87: #+end_src
rlm@83: 
rlm@87: #+results: body-1
rlm@133: : #'cortex.silly/follow-test
rlm@78: 
rlm@78: 
rlm@78: * COMMENT purgatory
rlm@78: #+begin_src clojure
rlm@74: 
rlm@77: (defn bullet-trans* []
rlm@77:   (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
rlm@77:                    :position (Vector3f. 5 0 0)
rlm@77:                    :mass 90)
rlm@77:         obj-b (sphere 0.5 :color ColorRGBA/Blue
rlm@77:                       :position (Vector3f. -5 0 0)
rlm@77:                       :mass 0)
rlm@77:         control-a (.getControl obj-a RigidBodyControl)
rlm@77:         control-b (.getControl obj-b RigidBodyControl)
rlm@77:         move-up? (atom nil)
rlm@77:         move-down? (atom nil)
rlm@77:         move-left? (atom nil)
rlm@77:         move-right? (atom nil)
rlm@77:         roll-left? (atom nil)
rlm@77:         roll-right? (atom nil)
rlm@77:         force 100
rlm@77:         swivel
rlm@77:         (.toRotationMatrix
rlm@77:          (doto (Quaternion.)
rlm@77:            (.fromAngleAxis (/ Math/PI 2)
rlm@77:                            Vector3f/UNIT_X)))
rlm@77:         x-move
rlm@77:         (doto (Matrix3f.)
rlm@77:           (.fromStartEndVectors Vector3f/UNIT_X
rlm@77:                                 (.normalize (Vector3f. 1 1 0))))
rlm@77:         
rlm@77:         timer (atom 0)]
rlm@77:     (doto 
rlm@77:         (ConeJoint.
rlm@77:          control-a control-b
rlm@77:          (Vector3f. -8 0 0)
rlm@77:          (Vector3f. 2 0 0)
rlm@77:          ;;swivel swivel
rlm@77:          ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
rlm@77:          x-move Matrix3f/IDENTITY 
rlm@77:          )
rlm@77:       (.setCollisionBetweenLinkedBodys false)
rlm@77:       (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
rlm@77:                  (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
rlm@77:                  (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
rlm@77:     (world (nodify
rlm@77:             [obj-a obj-b])
rlm@77:            (merge standard-debug-controls
rlm@77:                   {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@77:                    "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@77:                    "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@77:                    "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@77:                    "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@77:                    "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@77:            
rlm@77:            (fn [world]
rlm@77:              (enable-debug world)
rlm@77:              (set-gravity world Vector3f/ZERO)
rlm@77:              )
rlm@77:                            
rlm@77:            (fn [world _]
rlm@77: 
rlm@77:              (if @move-up?
rlm@77:                (.applyForce control-a
rlm@77:                               (Vector3f. force 0 0)
rlm@77:                               (Vector3f. 0 0 0)))
rlm@77:              (if @move-down?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. (- force) 0 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @move-left?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 force 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @move-right?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 (- force) 0)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77: 
rlm@77:              (if @roll-left?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 0 force)
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77:              (if @roll-right?
rlm@77:                (.applyForce control-a
rlm@77:                              (Vector3f. 0 0 (- force))
rlm@77:                              (Vector3f. 0 0 0)))
rlm@77: 
rlm@77:              (if (zero? (rem (swap! timer inc) 100))
rlm@77:                (.attachChild
rlm@77:                 (.getRootNode world)
rlm@77:                 (sphere 0.05 :color ColorRGBA/Yellow
rlm@77:                         :physical? false :position
rlm@77:                         (.getWorldTranslation obj-a)))))
rlm@77:            )
rlm@77:     ))
rlm@77: 
rlm@106: (defn test-joint [joint]
rlm@106:   (let [[origin top bottom floor] (world-setup joint)
rlm@106:         control (.getControl top RigidBodyControl)
rlm@106:         move-up? (atom false)
rlm@106:         move-down? (atom false)
rlm@106:         move-left? (atom false)
rlm@106:         move-right? (atom false)
rlm@106:         roll-left? (atom false)
rlm@106:         roll-right? (atom false)
rlm@106:         timer (atom 0)]
rlm@106: 
rlm@106:     (world
rlm@106:      (nodify [top bottom floor origin])
rlm@106:      (merge standard-debug-controls
rlm@106:             {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
rlm@106:              "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
rlm@106:              "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
rlm@106:              "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
rlm@106:              "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
rlm@106:              "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
rlm@106:      
rlm@106:      (fn [world]
rlm@106:        (light-up-everything world)
rlm@106:        (enable-debug world)
rlm@106:        (set-gravity world (Vector3f. 0 0 0))
rlm@106:        )
rlm@106:      
rlm@106:      (fn [world _]
rlm@106:        (if (zero? (rem (swap! timer inc) 100))
rlm@106:          (do
rlm@106:          ;;  (println-repl @timer)
rlm@106:            (.attachChild (.getRootNode world)
rlm@106:                        (sphere 0.05 :color ColorRGBA/Yellow
rlm@106:                                :position (.getWorldTranslation top)
rlm@106:                                :physical? false))
rlm@106:            (.attachChild (.getRootNode world)
rlm@106:                          (sphere 0.05 :color ColorRGBA/LightGray
rlm@106:                                  :position (.getWorldTranslation bottom)
rlm@106:                                  :physical? false))))
rlm@106: 
rlm@106:        (if @move-up?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 0 10))))
rlm@106:        (if @move-down?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 0 -10))))
rlm@106:        (if @move-left?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 10 0))))
rlm@106:        (if @move-right?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 0 -10 0))))
rlm@106:        (if @roll-left?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. -1 0 0))))
rlm@106:        (if @roll-right?
rlm@106:          (.applyTorque control
rlm@106:                        (.mult (.getPhysicsRotation control)
rlm@106:                               (Vector3f. 1 0 0))))))))
rlm@192: 
rlm@192: (defn follow-test
rlm@192:   "Show a camera that stays in the same relative position to a blue cube."
rlm@192:   []
rlm@192:   (let [camera-pos (Vector3f. 0 30 0)
rlm@192:         rock (box 1 1 1 :color ColorRGBA/Blue
rlm@192:                      :position (Vector3f. 0 10 0)
rlm@192:                      :mass 30
rlm@192:                      )
rlm@192:         rot (.getWorldRotation rock)
rlm@192:         
rlm@192:         table (box 3 1 10 :color ColorRGBA/Gray :mass 0
rlm@192:                    :position (Vector3f. 0 -3 0))]
rlm@192: 
rlm@192:     (world
rlm@192:      (nodify [rock table])
rlm@192:              standard-debug-controls
rlm@192:              (fn [world]
rlm@192:                (let 
rlm@192:                    [cam (doto (.clone (.getCamera world))
rlm@192:                           (.setLocation camera-pos)
rlm@192:                           (.lookAt Vector3f/ZERO
rlm@192:                                    Vector3f/UNIT_X))]
rlm@192:                  (bind-sense rock cam)
rlm@192:                  
rlm@192:                  (.setTimer world (RatchetTimer. 60))
rlm@192:                  (add-camera! world cam (comp (view-image) BufferedImage!))
rlm@192:                  (add-camera! world (.getCamera world) no-op))
rlm@192:                )
rlm@192:              (fn [_ _] (println-repl rot)))))
rlm@99: #+end_src
rlm@192:   
rlm@99: 
rlm@99: * COMMENT generate source
rlm@192: #+begin_src clojure :tangle ../src/cortex/integration.clj
rlm@192: <<integration>>
rlm@99: #+end_src
rlm@99: 
rlm@99: 
rlm@94:   
rlm@94: