# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325055623 25200
# Node ID 257a86328adb1ef5e9963f8da6c606d692d1ac05
# Parent  6f1c86126d51dadd91a3c7f53d8bd5120bf0f6f2
saving progress

diff -r 6f1c86126d51 -r 257a86328adb assets/Models/creature1/hand.png
Binary file assets/Models/creature1/hand.png has changed
diff -r 6f1c86126d51 -r 257a86328adb assets/Models/creature1/one.bk.blend
Binary file assets/Models/creature1/one.bk.blend has changed
diff -r 6f1c86126d51 -r 257a86328adb assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 6f1c86126d51 -r 257a86328adb assets/Models/property/test.blend
Binary file assets/Models/property/test.blend has changed
diff -r 6f1c86126d51 -r 257a86328adb org/body.org
--- a/org/body.org	Wed Dec 14 17:41:19 2011 -0700
+++ b/org/body.org	Wed Dec 28 00:00:23 2011 -0700
@@ -740,7 +740,7 @@
 
 
 
-* COMMENT generate Source.
+* COMMENT generate Source
 #+begin_src clojure :tangle ../src/cortex/body.clj
 <<proprioception>>
 <<motor-control>>
diff -r 6f1c86126d51 -r 257a86328adb org/integration.org
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/org/integration.org	Wed Dec 28 00:00:23 2011 -0700
@@ -0,0 +1,80 @@
+
+
+* TODO goals for today
+ - [X] create falling cube in blender
+ - [ ] record falling cube animation in blender
+ - [ ] import falling cube in jMonkeyEngine
+ - [ ] record jmonkeyEngine cube animation
+
+
+#+name: integration
+#+begin_src clojure
+(ns cortex.integration
+  "Enable loading creatures with senses from blender."
+  {:author "Robert McIntyre"})
+
+;; TODO remove this!
+(require 'cortex.import)
+(cortex.import/mega-import-jme3)
+(use '(cortex world util))
+
+(rlm.rlm-commands/help)
+
+
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+;; this could be a good way to give objects special properties like
+;; being eyes and the like
+(defn load-blender-model
+  "Load a .blend file using an asset folder relative path."
+  [^String model]
+  (.loadModel
+   (doto (asset-manager)
+     (.registerLoader BlenderModelLoader (into-array String ["blend"])))
+   model))
+
+(defn scene []
+  (load-blender-model "Models/property/test.blend"))
+
+(defn test-GET! []
+  (.getUserData 
+   (.getChild
+    (scene) 0)
+    "properties"))
+
+(defn make-eye []
+  (println "hi"))
+
+(defn test-eval-prop []
+  (eval (read-string (.findValue (test-GET!) "form"))))
+
+;; the properties are saved along with the blender file.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+
+
+;; Sensors are thunk-functions that return sensory data.
+;; Effectors take data and cause changes in the results of the sensor
+;; functions. 
+
+(defrecord Creature [sensors effectors])
+
+
+
+
+
+
+
+
+
+#+end_src
+
+
+
+#+begin_src clojure :tangle ../src/cortex/integration.clj
+<<integration>>
+#+end_src
+
+
+
diff -r 6f1c86126d51 -r 257a86328adb org/test-creature.org
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/org/test-creature.org	Wed Dec 28 00:00:23 2011 -0700
@@ -0,0 +1,81 @@
+#+title: First attempt at a creature!
+#+author: Robert McIntyre
+#+email: rlm@mit.edu
+#+description: 
+#+keywords: simulation, jMonkeyEngine3, clojure
+#+SETUPFILE: ../../aurellem/org/setup.org
+#+INCLUDE: ../../aurellem/org/level-0.org
+
+* Intro 
+So far, I've made the following senses -- 
+ - Vision
+ - Hearing
+ - Touch
+ - Proprioception
+
+And one effector: 
+ - Movement
+
+However, the code so far has only enabled these senses, but has not
+actually implemented them.  For example, there is still a lot of work
+to be done for vision. I need to be able to create an /eyeball/ in
+simulation that can be moved around and see the world from different
+angles. I also need to determine weather to use log-polar or cartesian
+for the visual input, and I need to determine how/wether to
+disceritise the visual input.
+
+I also want to be able to visualize both the sensors and the
+effectors in pretty pictures. This semi-retarted creature will by my
+first attempt at bringing everything together.
+
+* The creature's body
+
+Still going to do an eve-like body in blender, but due to problems
+importing the joints, etc into jMonkeyEngine3, I',m going to do all
+the connecting here in clojure code, using the names of the individual
+components and trial and error. Later, I'll maybe make some sort of
+creature-building modifications to blender that support whatever
+discreitized senses I'm going to make.
+
+#+name: body-1
+#+begin_src clojure 
+(ns cortex.silly
+  "let's play!"
+  {:author "Robert McIntyre"})
+
+;; TODO remove this!
+(require 'cortex.import)
+(cortex.import/mega-import-jme3)
+(use '(cortex world util body hearing touch vision))
+
+(use '[clojure.contrib [seq :only [find-first]]])
+
+
+(rlm.rlm-commands/help)
+
+(defn load-blender-model
+  "Load a .blend file using an asset folder relative path."
+  [^String model]
+  (.loadModel
+   (doto (asset-manager)
+     (.registerLoader BlenderModelLoader (into-array String ["blend"])))
+   model))
+
+
+(defn apply-skeleton
+  "Given an imported blender model, apply the armature using the
+  following pattern: if two bones are connected and have the same
+  names as two shapes, connect the shapes with a joint constraint."
+  [armature-name creature]
+  
+
+
+#+end_src
+
+
+
+* COMMENT generate source
+#+begin_src clojure :tangle ../src/cortex/silly.clj
+<<body-1>>
+#+end_src
+
diff -r 6f1c86126d51 -r 257a86328adb org/util.org
--- a/org/util.org	Wed Dec 14 17:41:19 2011 -0700
+++ b/org/util.org	Wed Dec 28 00:00:23 2011 -0700
@@ -188,7 +188,7 @@
 
 #+results: util
 : #'cortex.util/apply-map
-
+    
 
 *** Creating Basic Shapes
 
@@ -250,7 +250,8 @@
                (doto (GImpactCollisionShape. 
                       (.getMesh geom))
                  (.createJmeMesh)
-                 (.setMargin 0))
+                 ;;(.setMargin 0)
+                 )
                (float (:mass d)))
               ;; otherwise use jme3's default
               (RigidBodyControl. (float (:mass d))))]