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@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@73: effectors in pretty pictures. This semi-retarted creature will by 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@73: 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@73: discreitized senses I'm going to make.
rlm@73: 
rlm@73: #+name: body-1
rlm@73: #+begin_src clojure 
rlm@73: (ns cortex.silly
rlm@73:   "let's play!"
rlm@73:   {:author "Robert McIntyre"})
rlm@73: 
rlm@73: ;; TODO remove this!
rlm@73: (require 'cortex.import)
rlm@73: (cortex.import/mega-import-jme3)
rlm@73: (use '(cortex world util body hearing touch vision))
rlm@73: 
rlm@73: (use '[clojure.contrib [seq :only [find-first]]])
rlm@73: 
rlm@73: 
rlm@73: (rlm.rlm-commands/help)
rlm@73: 
rlm@73: (defn load-blender-model
rlm@73:   "Load a .blend file using an asset folder relative path."
rlm@73:   [^String model]
rlm@73:   (.loadModel
rlm@73:    (doto (asset-manager)
rlm@73:      (.registerLoader BlenderModelLoader (into-array String ["blend"])))
rlm@73:    model))
rlm@73: 
rlm@74: (defn meta-data [blender-node key]
rlm@74:   (if-let [data (.getUserData blender-node "properties")]
rlm@74:     (.findValue data key)
rlm@74:     nil))
rlm@73: 
rlm@74: (defn hand2 []
rlm@74:   (load-blender-model "Models/creature1/try-again.blend"))
rlm@74: 
rlm@74: (defn hand []
rlm@74:   (load-blender-model "Models/creature1/one.blend"))
rlm@74: 
rlm@74: 
rlm@73:   
rlm@74: (def hand-names
rlm@74:   #{
rlm@74:     "middle-1"
rlm@74:     "middle-2"
rlm@74:     "middle-3"
rlm@74:     "palm"
rlm@74:     "pinky-1"
rlm@74:     "pinky-2"
rlm@74:     "pinky-3"
rlm@74:     "pointer-1"
rlm@74:     "pointer-2"
rlm@74:     "pointer-3"
rlm@74:     "ring-1"
rlm@74:     "ring-2"
rlm@74:     "ring-3"
rlm@74:     "thumb-1"
rlm@74:     "thumb-2"})
rlm@74: 
rlm@74: (defn hand-pieces []
rlm@74:   (filter
rlm@74:    (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
rlm@74: 
rlm@74: (defn hand-joints []
rlm@74:   (map #(.getWorldTranslation %)
rlm@74:        (filter #(re-matches #"joint\.\d\d\d" (.getName %))
rlm@74:                (node-seq (hand)))))
rlm@74: 
rlm@74: (defn worm-pieces []
rlm@74:   (filter
rlm@74:    (comp #{"worm-2" "worm-1"}
rlm@74:          #(apply str (drop-last (.getName %))))
rlm@74:    (node-seq (hand2))))
rlm@74: 
rlm@74: (defn worm-joints []
rlm@74:   [Vector3f/ZERO])
rlm@74: 
rlm@74: 
rlm@74: 
rlm@74: (defn find-joint
rlm@74:   [#^Node parts #^Vector3f joint-position]
rlm@74:   (loop [radius (float 0.01)]
rlm@74:     (let [results (CollisionResults.)]
rlm@74:       (.collideWith
rlm@74:        parts
rlm@74:        (BoundingBox. joint-position radius radius radius)
rlm@74:        results)
rlm@74:       (let [targets
rlm@74:             (distinct
rlm@74:              (map  #(.getGeometry %) results))]
rlm@74:         (if (>= (count targets) 2)
rlm@74:           (take 2 targets)
rlm@74:           (recur (float (* radius 2))))))))
rlm@74: 
rlm@74: 
rlm@74: 
rlm@74: (defn connect-at-point
rlm@74:   [obj-a obj-b point]
rlm@74:   (let [center-a (.getWorldTranslation obj-a)
rlm@74:         center-b (.getWorldTranslation obj-b)
rlm@74:         pivot-a (.subtract point center-a)
rlm@74:         pivot-b (.subtract point center-b)
rlm@74:         ;; A side-effect of creating a joint registers
rlm@74:         ;; it with both physics objects which in turn
rlm@74:         ;; will register the joint with the physics system
rlm@74:         ;; when the simulation is started.
rlm@74:         joint (Point2PointJoint.
rlm@74:                (.getControl obj-a RigidBodyControl)
rlm@74:                (.getControl obj-b RigidBodyControl)
rlm@74:                pivot-a
rlm@74:                pivot-b)]
rlm@74:     obj-a))
rlm@74: 
rlm@74: 
rlm@74: (defn physical-hand [#^Node pieces joints]
rlm@74:   ;; Make each piece a physical entity in the simulation.
rlm@74:   (dorun
rlm@74:    (map
rlm@74:     (fn [geom]
rlm@74:       (let [physics-control
rlm@74:             (RigidBodyControl.
rlm@74:              (HullCollisionShape.
rlm@74:               (.getMesh geom))
rlm@74:              ;; TODO: fix this.
rlm@74:              (float 1.0))]
rlm@74:         (.addControl geom physics-control)))
rlm@74:     (filter #(isa? (class %) Geometry )
rlm@74:             (node-seq pieces))))
rlm@74:   (dorun
rlm@74:    (map
rlm@74:     (fn [joint-position]
rlm@74:       (let [[geom-a geom-b] (find-joint pieces joint-position)]
rlm@74:         (connect-at-point geom-a geom-b joint-position)))
rlm@74:       joints))
rlm@74:    pieces)
rlm@74: 
rlm@74: 
rlm@74: (defn the-hand! [] (physical-hand  (hand) (hand-joints)))
rlm@74: 
rlm@74: 
rlm@74: (defn test-hand []
rlm@74:   (world
rlm@74:    (nodify [(the-hand!)
rlm@74:             (box 10 0.1 10 :position (Vector3f. 0 -10 0)
rlm@74:                  :color ColorRGBA/Gray
rlm@74:                  :mass 0)])
rlm@74:    standard-debug-controls
rlm@74:    enable-debug
rlm@74:    no-op))
rlm@74: 
rlm@74: 
rlm@74: 
rlm@74: 
rlm@74: 
rlm@73: 
rlm@73: 
rlm@73: #+end_src
rlm@73: 
rlm@73: 
rlm@73: 
rlm@73: * COMMENT generate source
rlm@73: #+begin_src clojure :tangle ../src/cortex/silly.clj
rlm@73: <<body-1>>
rlm@73: #+end_src
rlm@73: