# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329415462 25200
# Node ID 1eed471e2ebf0846db5a33187394536f3ac27020
# Parent  67a4e92d4628eea22c63be22cb989aaae7c0e1c6
first version of a mini motor-control script language

diff -r 67a4e92d4628 -r 1eed471e2ebf assets/Models/test-creature/hand.blend
Binary file assets/Models/test-creature/hand.blend has changed
diff -r 67a4e92d4628 -r 1eed471e2ebf org/integration.org
--- a/org/integration.org	Thu Feb 16 09:59:44 2012 -0700
+++ b/org/integration.org	Thu Feb 16 11:04:22 2012 -0700
@@ -31,10 +31,77 @@
 
 (def output-base (File. "/home/r/proj/cortex/render/hand"))
 
+(defn motor-control-program
+  "Create a function which will execute the motor script"
+  [muscle-positions
+   script]
+  (let [current-frame (atom -1)
+        keyed-script (group-by first script)
+        current-forces (atom {}) ]
+    (fn [effectors]
+      (let [indexed-effectors (vec effectors)]
+        (dorun 
+         (for [[_ part force] (keyed-script (swap! current-frame inc))]
+           (swap! current-forces (fn [m] (assoc m part force)))))
+        (doall (map (fn [effector power]
+                      (effector (int power)))
+                    effectors
+                    (map #(@current-forces % 0) muscle-positions)))))))
+
+(def muscle-positions
+  [:pointer-2-e
+   :pointer-2-f
+   :thumb-1
+   :thumb-1
+   :pointer-1-e
+   :pointer-1-f
+   :thumb-2-e
+   :thumb-2-f
+   :middle-1-e
+   :middle-1-f
+   :pointer-3-f
+   :pointer-3-e
+   :middle-2-e
+   :middle-2-f
+   :middle-3-f
+   :middle-3-e
+   :pinky-2-e
+   :pinky-2-f
+   :pinky-3-f
+   :pinky-3-e
+   :ring-3-e
+   :ring-3-f
+   :ring-2-f
+   :ring-2-e
+   :ring-1-e
+   :ring-1-f
+   :thumb-1-e
+   :thumb-1-f
+   :pinky-1-f
+   :pinky-1-e])
+
+(def full 9001)
+;; the systax here is [keyframe body-part force]
+(def wiggle-each-finger-tip
+  [[200 :pointer-3-f full]
+   [200 :pointer-3-f 40]
+
+   [400 :middle-3-f full]
+   [401 :middle-3-f 40]
+
+   [600 :ring-3-f full]
+   [601 :ring-3-f 40]
+
+   [800 :pinky-3-f full]
+   [801 :pinky-3-f 40]])
+
+
+
+
 (def control-list
  [
   0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
-  1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
   0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
   0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
   0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
@@ -43,7 +110,7 @@
   0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
   0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
-  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
@@ -51,7 +118,8 @@
   0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
-  0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;pinky-31 #<Vector3f (-1, 0.0, 0.0)>
+  0 ;;pinky-31 #<Vector3f (1.0, 0.0, 0.0)>
   0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
   0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
@@ -87,7 +155,8 @@
         prop (proprioception! creature)
         prop-display (view-proprioception)
 
-        muscle-exertion (atom 0)
+        control-script (motor-control-program
+                        muscle-positions wiggle-each-finger-tip)
         muscles (movement! creature)
         muscle-display (view-movement)
         ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -102,15 +171,8 @@
             {"key-return"
              (fn [_ value]
                (if value
-                   (.play bell)))
-             "key-h"
-             (fn [_ value]
-               (if value
-                 (swap!  muscle-exertion (partial + 20))))
-             "key-n"
-             (fn [_ value]
-               (if value
-                 (swap! muscle-exertion (fn [v] (- v 20)))))})
+                   (.play bell)))})
+
      (fn [world]
        (.setTimer world (RatchetTimer. 60))
        (light-up-everything world)
@@ -127,11 +189,9 @@
        ;;(vision-display (map #(% world) vision))
        ;;(hearing-display (map #(% world) hearing))
 
-       (muscle-display
-        (map (fn [effector control]
-               (effector (int (* @muscle-exertion control))))
-             muscles
-             control-list))
+       ;;(muscle-display
+       (control-script muscles)
+       ;;)
              
        (.setLocalTranslation me (.getLocation (.getCamera world)))
        (fix-display world))))))
diff -r 67a4e92d4628 -r 1eed471e2ebf org/movement.org
--- a/org/movement.org	Thu Feb 16 09:59:44 2012 -0700
+++ b/org/movement.org	Thu Feb 16 11:04:22 2012 -0700
@@ -118,15 +118,14 @@
         
         pool (motor-pool muscle)
         pool-integral (reductions + pool)
-        force-index
+        forces
         (vec (map  #(float (* strength (/ % (last pool-integral))))
               pool-integral))
         control (.getControl target RigidBodyControl)]
-    (println-repl "adding muscle to" (.getName target))
-    (println-repl "points" axis)
+    (println-repl (.getName target) axis)
     (fn [n]
       (let [pool-index (max 0 (min n (dec (count pool))))
-            force (force-index pool-index)]
+            force (forces pool-index)]
         (.applyTorque control (.mult axis force))
         (float (/ force strength))))))