# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329073851 25200
# Node ID 3fa49ff1649a88446e62b1b87f36a7018d119558
# Parent  02b2e6f3fb43ac07b1d938e847e7ef6b0145c1d3
going to recode touch.org to make it look better

diff -r 02b2e6f3fb43 -r 3fa49ff1649a org/ideas.org
--- a/org/ideas.org	Sun Feb 12 10:45:38 2012 -0700
+++ b/org/ideas.org	Sun Feb 12 12:10:51 2012 -0700
@@ -74,6 +74,7 @@
  - [ ] send package to friends for critiques -- 2 days
  - [ ] fix videos that were encoded wrong, test on InterNet Explorer.
  - [ ] redo videos vision with new collapse code
+ - [ ] find a topology that looks good. (maybe nil topology?)
  - [ ] write summary of project for Winston            \
  - [ ] project proposals for Winston                    \
  - [ ] additional senses to be implemented for Winston   |  -- 2 days 
diff -r 02b2e6f3fb43 -r 3fa49ff1649a org/touch.org
--- a/org/touch.org	Sun Feb 12 10:45:38 2012 -0700
+++ b/org/touch.org	Sun Feb 12 12:10:51 2012 -0700
@@ -50,7 +50,8 @@
 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=.
+hair length is linearly interpolated between 0 and =scale=. I call
+these "hairs" /feelers/.
 
 #+name: meta-data
 #+begin_src clojure
@@ -86,6 +87,24 @@
 
 #+end_src
 
+
+=(touch-kernel)= generates the functions which implement the sense of
+touch for a creature. These functions must do 6 things to obtain touch
+data.
+
+  - Get the tactile profile image and scale paramaters which describe
+    the layout of feelers along the object's surface.
+  - Get the lengths of each feeler by analyzing the color of the
+    pixels in the tactile profile image.
+  - Find the triangles which make up the mesh in pixel-space and in
+    world-space.
+  - Find the coordinates of each pixel in world-space. These
+    coordinates are the origins of the feelers.
+  - Calculate the normals of the triangles in world space, and add
+    them to each of the origins of the feelers. These are the
+    normalized coordinates of the tips of the feelers.
+  - Generate some sort of topology for the sensors.
+
 #+name: kernel
 #+begin_src clojure
 (in-ns 'cortex.touch)
@@ -173,6 +192,64 @@
                 (node-seq creature)))))
 #+end_src
 
+* Sensor Related Functions
+
+These functions analyze the touch-sensor-profile image convert the
+location of each touch sensor from pixel coordinates to UV-coordinates
+and XYZ-coordinates.
+
+#+name: sensors
+#+begin_src clojure
+(defn sensors-in-triangle
+  "Locate the touch sensors in the triangle, returning a map of their
+   UV and geometry-relative coordinates."
+  [image mesh tri-index]
+  (let [width (.getWidth image)
+        height (.getHeight image)
+        UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
+        bounds (convex-bounds UV-vertex-coords)
+        
+        cutout-triangle (points->triangle UV-vertex-coords)
+        UV-sensor-coords
+        (filter (comp (partial inside-triangle? cutout-triangle)
+                      (fn [[u v]] (Vector3f. u v 0)))
+                (white-coordinates image bounds))
+        UV->geometry (triangle-transformation
+                      cutout-triangle
+                      (mesh-triangle mesh tri-index))
+        geometry-sensor-coords
+        (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
+             UV-sensor-coords)]
+  {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
+
+(defn-memo locate-feelers
+  "Search the geometry's tactile UV profile for touch sensors,
+   returning their positions in geometry-relative coordinates."
+  [#^Geometry geo]
+  (let [mesh (.getMesh geo)
+        num-triangles (.getTriangleCount mesh)]
+    (if-let [image (tactile-sensor-profile geo)]
+      (map
+       (partial sensors-in-triangle image mesh)
+       (range num-triangles))
+      (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
+
+(defn-memo touch-topology
+  "Return a sequence of vectors of the form [x y] describing the
+   \"topology\" of the tactile sensors. Points that are close together
+   in the touch-topology are generally close together in the simulation."
+  [#^Gemoetry geo]
+  (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
+
+(defn-memo feeler-coordinates
+  "The location of the touch sensors in world-space coordinates."
+  [#^Geometry geo]
+  (vec (map :geometry (locate-feelers geo))))
+#+end_src
+
+
+
+
 * Visualizing Touch
 #+name: visualization
 #+begin_src clojure
@@ -393,61 +470,6 @@
 #+end_src
 
 
-* Sensor Related Functions
-
-These functions analyze the touch-sensor-profile image convert the
-location of each touch sensor from pixel coordinates to UV-coordinates
-and XYZ-coordinates.
-
-#+name: sensors
-#+begin_src clojure
-(defn sensors-in-triangle
-  "Locate the touch sensors in the triangle, returning a map of their
-   UV and geometry-relative coordinates."
-  [image mesh tri-index]
-  (let [width (.getWidth image)
-        height (.getHeight image)
-        UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
-        bounds (convex-bounds UV-vertex-coords)
-        
-        cutout-triangle (points->triangle UV-vertex-coords)
-        UV-sensor-coords
-        (filter (comp (partial inside-triangle? cutout-triangle)
-                      (fn [[u v]] (Vector3f. u v 0)))
-                (white-coordinates image bounds))
-        UV->geometry (triangle-transformation
-                      cutout-triangle
-                      (mesh-triangle mesh tri-index))
-        geometry-sensor-coords
-        (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
-             UV-sensor-coords)]
-  {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
-
-(defn-memo locate-feelers
-  "Search the geometry's tactile UV profile for touch sensors,
-   returning their positions in geometry-relative coordinates."
-  [#^Geometry geo]
-  (let [mesh (.getMesh geo)
-        num-triangles (.getTriangleCount mesh)]
-    (if-let [image (tactile-sensor-profile geo)]
-      (map
-       (partial sensors-in-triangle image mesh)
-       (range num-triangles))
-      (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
-
-(defn-memo touch-topology
-  "Return a sequence of vectors of the form [x y] describing the
-   \"topology\" of the tactile sensors. Points that are close together
-   in the touch-topology are generally close together in the simulation."
-  [#^Gemoetry geo]
-  (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
-
-(defn-memo feeler-coordinates
-  "The location of the touch sensors in world-space coordinates."
-  [#^Geometry geo]
-  (vec (map :geometry (locate-feelers geo))))
-#+end_src
-
 * Physics Collision Objects
 
 The "hairs" are actually =Rays= which extend  from a point on a