# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328624025 25200
# Node ID 1c915cc1118b863a00fd281ac616ee89d0ee8c42
# Parent  7eb966144dadd12f0096ac936ac761280c8f9363
minor edits for sense.org

diff -r 7eb966144dad -r 1c915cc1118b org/sense.org
--- a/org/sense.org	Mon Feb 06 08:26:20 2012 -0700
+++ b/org/sense.org	Tue Feb 07 07:13:45 2012 -0700
@@ -75,11 +75,11 @@
 
 Blender and jMonkeyEngine already have support for exactly this sort
 of data structure because it is used to "skin" models for games. It is
-called [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Textures/Mapping/UV][UV-mapping]].  The three-dimensional surface is cut and smooshed
-until it fits on a two-dimensional image. You paint whatever you want
-on that image, and when the three-dimensional shape is rendered in a
-game that image the smooshing and cutting us reversed and the image
-appears on the three-dimensional object.
+called [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Textures/Mapping/UV][UV-mapping]].  The three-dimensional surface of a model is cut
+and smooshed until it fits on a two-dimensional image. You paint
+whatever you want on that image, and when the three-dimensional shape
+is rendered in a game the smooshing and cutting us reversed and the
+image appears on the three-dimensional object.
 
 To make a sense, interpret the UV-image as describing the distribution
 of that senses sensors. To get different types of sensors, you can
@@ -111,7 +111,7 @@
 pixels so that they can be used to create senses. =(load-image)= finds
 images using jMonkeyEngine's asset-manager, so the image path is
 expected to be relative to the =assets= directory.  Thanks to Dylan
-for the beautiful version of filter-pixels.
+for the beautiful version of =(filter-pixels)=.
 
 #+name: topology-1
 #+begin_src clojure
@@ -352,7 +352,8 @@
       (do (println-repl "could not find" parent-name "node") []))))
 
 (defn closest-node
-  "Return the node in creature which is closest to the given node."
+  "Return the physical node in creature which is closest to the given
+  node."
   [#^Node creature #^Node empty]
   (loop [radius (float 0.01)]
     (let [results (CollisionResults.)]
@@ -425,24 +426,23 @@
    (com.aurellem.capture RatchetTimer Capture)))
 
 (defn test-bind-sense
-  "Show a camera that stays in the same relative position to a blue cube."
+  "Show a camera that stays in the same relative position to a blue
+  cube."
   []
-  (let [camera-pos (Vector3f. 0 30 0)
+  (let [eye-pos (Vector3f. 0 30 0)
         rock (box 1 1 1 :color ColorRGBA/Blue
                   :position (Vector3f. 0 10 0)
                   :mass 30)
-        rot (.getWorldRotation rock)
         table (box 3 1 10 :color ColorRGBA/Gray :mass 0
                    :position (Vector3f. 0 -3 0))]
     (world
      (nodify [rock table])
      standard-debug-controls
-     (fn [world]
-       (let 
-           [cam (doto (.clone (.getCamera world))
-                  (.setLocation camera-pos)
-                  (.lookAt Vector3f/ZERO
-                           Vector3f/UNIT_X))]
+     (fn init [world]
+       (let [cam (doto (.clone (.getCamera world))
+                   (.setLocation eye-pos)
+                   (.lookAt Vector3f/ZERO
+                            Vector3f/UNIT_X))]
          (bind-sense rock cam)
          (.setTimer world (RatchetTimer. 60))
          (Capture/captureVideo