# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329082432 25200
# Node ID 102ac596cc3f61a308d9b0f79ea6b71891e9e49b
# Parent  f23217324f7298fd0f208fd36106efc37e9fa3e5
minor formatting changes

diff -r f23217324f72 -r 102ac596cc3f org/touch.org
--- a/org/touch.org	Sun Feb 12 14:29:09 2012 -0700
+++ b/org/touch.org	Sun Feb 12 14:33:52 2012 -0700
@@ -42,14 +42,12 @@
 
 * Defining Touch Meta-Data in Blender
 
-Each geometry can have a single UV map which describes the position
-and length of the "hairs" which will constitute its sense of
-touch. This image path is stored under the "touch" key.  The image
-itself is grayscale, with black meaning a hair length of 0 (no hair is
-present) and white meaning a hair length of =scale=, which is a float
-stored under the key "scale". If the pixel is gray then the resultant
-hair length is linearly interpolated between 0 and =scale=. I call
-these "hairs" /feelers/.
+Each geometry can have a single UV map which describes the position of
+the "hairs" which will constitute its sense of touch. This image path
+is stored under the "touch" key.  The image itself is black and white,
+with black meaning a hair length of 0 (no hair is present) and white
+meaning a hair length of =scale=, which is a float stored under the
+key "scale". I call these "hairs" /feelers/.
 
 #+name: meta-data
 #+begin_src clojure
@@ -75,8 +73,6 @@
 
 
 * Skin Creation
-* TODO get the actual lengths for each feeler
-
 
 =(touch-kernel)= generates the functions which implement the sense of
 touch for a creature. These functions must do 6 things to obtain touch
@@ -86,10 +82,6 @@
     the layout of feelers along the object's surface.
     =(tactile-sensor-profile)=, =(tactile-scale)=
 
-  - Get the lengths of each feeler by analyzing the color of the
-    pixels in the tactile profile image.
-    NOT IMPLEMENTED YET
-
   - Find the triangles which make up the mesh in pixel-space and in
     world-space.
     =(triangles)= =(pixel-triangles)=
@@ -114,8 +106,6 @@
 #+begin_src clojure
 (in-ns 'cortex.touch)
 
-(declare touch-topology feelers set-ray)
-
 (defn set-ray [#^Ray ray #^Matrix4f transform
                #^Vector3f origin #^Vector3f tip]
   ;; Doing everything locally recduces garbage collection by enough to
@@ -171,9 +161,6 @@
                 (node-seq creature)))))
 #+end_src
 
-#+results: kernel
-: #'cortex.touch/touch!
-
 * Sensor Related Functions
 
 These functions analyze the touch-sensor-profile image convert the
@@ -223,7 +210,6 @@
     (mapcat (fn [origins normal]
               (map #(.add % normal) origins))
             world-coords normals)))
-    
 
 (defn touch-topology [#^Geometry geo image]
   (collapse (reduce concat (feeler-pixel-coords geo image))))
@@ -235,17 +221,12 @@
 (in-ns 'cortex.touch)
 
 (defn touch->gray
-  "Convert a pair of [distance, max-distance] into a grayscale pixel" 
+  "Convert a pair of [distance, max-distance] into a grayscale pixel." 
   [distance max-distance]
-  (gray 
-   (- 255
-      (rem 
-       (int
-        (* 255 (/ distance max-distance)))
-       256))))
+  (gray (- 255 (rem (int (* 255 (/ distance max-distance))) 256))))
 
 (defn view-touch 
-  "Creates a function which accepts a list of  touch sensor-data and
+  "Creates a function which accepts a list of touch sensor-data and
    displays each element to the screen."
   []
   (view-sense
@@ -295,8 +276,7 @@
   (apply #(Triangle. %1 %2 %3) (map ->vector3f points)))
 
 (defn triangle
-  "Get the triangle specified by triangle-index from the mesh within
-  bounds."
+  "Get the triangle specified by triangle-index from the mesh."
   [#^Geometry geo triangle-index]
   (triangle-seq
    (let [scratch (Triangle.)]
@@ -370,8 +350,7 @@
      (for [row (range 4) col (range 3)]
        (do
          (.set mat col row (.get (vertices row)col))
-         (.set mat 3 row 1))))
-    mat))
+         (.set mat 3 row 1)))) mat))
 
 (defn triangles->affine-transform
   "Returns the affine transformation that converts each vertex in the