# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328365868 25200
# Node ID 0f1c7921d967c55bdddf5f4809595d4c46ad9466
# Parent  f1b078375484d799ae6bf51e22843c9a47873b10
removed blender.org; got rid of magic constant in sense-utils.

diff -r f1b078375484 -r 0f1c7921d967 org/blender.org
--- a/org/blender.org	Sat Feb 04 07:20:12 2012 -0700
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-#+title: Blender Clojure utilities
-#+author: Robert McIntyre
-#+email: rlm@mit.edu
-#+description: blender utilities
-#+keywords: simulation, jMonkeyEngine3, clojure, blender
-#+SETUPFILE: ../../aurellem/org/setup.org
-#+INCLUDE: ../../aurellem/org/level-0.org
-
-
-#+name: blender
-#+begin_src clojure 
-
-#+end_src
-
-
-* COMMENT generate source
-#+begin_src clojure :tangle ../src/cortex/blender.clj
-<<blender>>
-#+end_src
diff -r f1b078375484 -r 0f1c7921d967 org/movement.org
--- a/org/movement.org	Sat Feb 04 07:20:12 2012 -0700
+++ b/org/movement.org	Sat Feb 04 07:31:08 2012 -0700
@@ -87,7 +87,6 @@
     (for [muscle (muscles creature)]
       (movement-fn creature muscle)))
 
-
 #+end_src
 
 
diff -r f1b078375484 -r 0f1c7921d967 org/sense-util.org
--- a/org/sense-util.org	Sat Feb 04 07:20:12 2012 -0700
+++ b/org/sense-util.org	Sat Feb 04 07:31:08 2012 -0700
@@ -14,9 +14,12 @@
 (import ij.process.ImageProcessor)
 (import java.awt.image.BufferedImage)
 (use 'cortex.util)
+(use 'cortex.world)
 (import jme3tools.converters.ImageToAwt)
 
-(defn meta-data [blender-node key]
+(defn meta-data
+  "Get the meta-data for a node created with blender."
+  [blender-node key]
   (if-let [data (.getUserData blender-node "properties")]
     (.findValue data key)
     nil))
@@ -51,16 +54,21 @@
        (controlUpdate [tpf]
          (let [total-rotation
                (.mult base-anti-rotation (.getWorldRotation obj))]
-           (.setLocation sense
-                         (.add
-                          (.mult total-rotation sense-offset)
-                          (.getWorldTranslation obj)))
-           (.setRotation sense
-                         (.mult total-rotation initial-sense-rotation))))
+           (.setLocation
+            sense
+            (.add
+             (.mult total-rotation sense-offset)
+             (.getWorldTranslation obj)))
+           (.setRotation
+            sense
+            (.mult total-rotation initial-sense-rotation))))
        (controlRender [_ _])))))
 
-(def white -1)
-  
+(def white 0xFFFFFF)
+
+(defn white? [rgb]
+  (= (bit-and white rgb) white))
+
 (defn filter-pixels
   "List the coordinates of all pixels matching pred, within the bounds
    provided. Bounds -> [x0 y0 width height]"
@@ -80,16 +88,13 @@
 (defn white-coordinates
   "Coordinates of all the white pixels in a subset of the image."
   ([#^BufferedImage image bounds]
-     (filter-pixels #(= % white) image bounds))
+     (filter-pixels white? image bounds))
   ([#^BufferedImage image]
-     (filter-pixels #(= % white) image)))
+     (filter-pixels white? image)))
 
 (defn points->image
   "Take a sparse collection of points and visuliaze it as a
    BufferedImage."
-
-  ;; TODO maybe parallelize this since it's easy
-
   [points]
   (if (empty? points)
     (BufferedImage. 1 1 BufferedImage/TYPE_BYTE_BINARY)
@@ -108,7 +113,6 @@
       (dorun 
        (for [index (range (count points))]
          (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
-      
       image)))
 
 (defn average [coll]
@@ -188,8 +192,20 @@
   (ImageToAwt/convert
    (.getImage (.loadTexture (asset-manager) asset-relative-path))
    false false 0))
-  
 
+(defn jme-to-blender
+  "Convert from JME coordinates to Blender coordinates"
+  [#^Vector3f in]
+  (Vector3f. (.getX in)
+             (- (.getZ in))
+             (.getY in)))
+
+(defn blender-to-jme
+  "Convert from Blender coordinates to JME coordinates"
+  [#^Vector3f in]
+  (Vector3f. (.getX in)
+             (.getZ in)
+             (- (.getY in))))
 #+end_src
 
 #+results: sense-util