# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328376371 25200
# Node ID 2902aca33c6e567d8849169620908f00f53889ef
# Parent  facc2ef3fe5caf4506f942a7cbaa4928978f0106
added proprioception debug view.

diff -r facc2ef3fe5c -r 2902aca33c6e org/proprioception.org
--- a/org/proprioception.org	Sat Feb 04 10:13:15 2012 -0700
+++ b/org/proprioception.org	Sat Feb 04 10:26:11 2012 -0700
@@ -16,6 +16,7 @@
   (:use (cortex world util sense body))
   (:use clojure.contrib.def)
   (:import com.jme3.scene.Node)
+  (:import java.awt.image.BufferedImage)
   (:import (com.jme3.math Vector3f Quaternion)))
 
 (defn right-handed?
@@ -85,13 +86,12 @@
       (map #(%) senses))))
 
 
-(import java.awt.image.BufferedImage)
-
 (defn draw-sprite [image sprite x y color ]
   (dorun
    (for [[u v] sprite]
      (.setRGB image (+ u x) (+ v y) color))))
 
+
 (defn view-angle
   "create a debug view of an angle"
   [color]
@@ -109,23 +109,42 @@
           (reset! previous position))
         image))))
 
-(defn proprioception-debug-window
+
+(defn proprioception-display-kernel
+  "Display proprioception angles in a BufferedImage"
+  [[h p r]]
+  (let [image (BufferedImage. 50 50 BufferedImage/TYPE_INT_RGB)
+        previous-heading (atom [25 25])
+        previous-pitch   (atom [25 25])
+        previous-roll    (atom [25 25])
+        
+        heading-sprite [[0 0] [0 1] [0 -1] [-1 0] [1 0]]
+        pitch-sprite   [[0 0] [0 1] [0 -1] [-1 0] [1 0]]
+        roll-sprite    [[0 0] [0 1] [0 -1] [-1 0] [1 0]]
+        draw-angle
+        (fn [angle sprite previous color]
+          (let [angle (float angle)]
+            (let [position
+                  [(+ 25 (int (* 20 (Math/cos angle))))
+                   (+ 25 (int (* -20 (Math/sin angle))))]]
+              (draw-sprite image sprite (@previous 0) (@previous 1) 0x000000)
+              (draw-sprite image sprite (position 0) (position 1) color)
+              (reset! previous position))
+            image))]
+    (dorun (map draw-angle
+                [h p r]
+                [heading-sprite pitch-sprite roll-sprite]
+                [previous-heading previous-pitch previous-roll]
+                [0xFF0000 0x00FF00 0xFFFFFF]))
+    image))
+                
+(defn view-proprioception
+  "Creates a function which accepts a list of proprioceptive data and
+   display each element of the list to the screen as an image."
   []
-  (let [heading (view-angle 0xFF0000)
-        pitch (view-angle 0x00FF00)
-        roll (view-angle 0xFFFFFF)
-        v-heading (view-image)
-        v-pitch (view-image)
-        v-roll (view-image)
-        ]
-    (fn [prop-data]
-      (dorun
-       (map
-        (fn [[h p r]]
-          (v-heading (heading h))
-          (v-pitch (pitch p))
-          (v-roll (roll r)))
-        prop-data)))))
+  (view-sense proprioception-display-kernel))
+  
+  
 
 #+end_src
 
diff -r facc2ef3fe5c -r 2902aca33c6e org/test-creature.org
--- a/org/test-creature.org	Sat Feb 04 10:13:15 2012 -0700
+++ b/org/test-creature.org	Sat Feb 04 10:26:11 2012 -0700
@@ -145,7 +145,7 @@
         hearing-display (view-hearing)
 
         prop (proprioception! creature)
-        prop-debug (proprioception-debug-window)
+        prop-display (view-proprioception)
 
         muscle-fns (movement! creature)
 
@@ -210,7 +210,7 @@
           ;;(dorun 
           ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
           
-          (prop-debug (prop))
+          (prop-display (prop))
           
           (touch-display (map #(% (.getRootNode world)) touch))