# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1370949222 14400
# Node ID 42ddfe406c0a3897eb833cdb6b9b3ee59b098166
# Parent ee977613c2442ff3c26e8b4ac72ce0e439bdbfde
working on depth maps for the lulz.
diff -r ee977613c244 -r 42ddfe406c0a org/body.org
--- a/org/body.org Fri Jun 07 11:49:09 2013 -0400
+++ b/org/body.org Tue Jun 11 07:13:42 2013 -0400
@@ -179,6 +179,9 @@
no-op)))
#+end_src
+#+results: test-2
+: #'cortex.test.body/test-hand-2
+
#+begin_html
<div class="figure">
<center>
diff -r ee977613c244 -r 42ddfe406c0a org/depth-map.org
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/org/depth-map.org Tue Jun 11 07:13:42 2013 -0400
@@ -0,0 +1,51 @@
+
+#+begin_src clojure
+(ns cortex.depth-map
+ "lol depth maps."
+ {:author "Robert McIntyre"}
+ (:use (cortex world util body sense vision touch))
+ (:import (com.jme3.scene Geometry Node Mesh))
+ (:import com.jme3.collision.CollisionResults)
+ (:import com.jme3.scene.VertexBuffer$Type)
+
+ (:import (com.jme3.math Triangle Vector3f Vector2f Ray Matrix4f)))
+
+(cortex.import/mega-import-jme3)
+
+(defn convert-pixel-to-ray
+ [camera x y]
+ (let [pixel-arrow
+ (.getWorldCoordinates
+ camera
+ (Vector2f. (float x) (float y))
+ ;; this is the "z depth" and can be anything, since
+ ;; we only care about direction
+ (float 1))
+ ;; now that we have the direction of a pixel, subtract
+ ray (Ray.)]
+ (set-ray ray Matrix4f/IDENTITY (.getLocation camera)
+ pixel-arrow) ray))
+
+
+(defn generate-depth-map-points
+ "Generate a data structure representating the depth of the first
+ object to collide with a ray from the camera's current position."
+ [world camera]
+ (let [width (.getWidth camera)
+ height (.getHeight camera)
+ pixels (for [x (range width) y (range height)]
+ [x y])
+
+ depths
+ (for [[x y] pixels]
+ (let [ray (convert-pixel-to-ray camera x y)
+ results (CollisionResults.)]
+ (.collideWith world ray results)
+ (.getDistance (.getClosestCollision results))))]
+ (zipmap pixels depths)))
+
+(defn test-world []
+ (nodify [(floor*) (brick-wall*)]))
+
+(defn run-depth-map-test []
+#+end_src
\ No newline at end of file
diff -r ee977613c244 -r 42ddfe406c0a org/gabor.org
--- a/org/gabor.org Fri Jun 07 11:49:09 2013 -0400
+++ b/org/gabor.org Tue Jun 11 07:13:42 2013 -0400
@@ -177,68 +177,6 @@
(println (.dump kernel)))
-(def brick-length 0.48)
-(def brick-width 0.24)
-(def brick-height 0.12)
-(def gravity (Vector3f. 0 -9.81 0))
-
-
-(defn brick* [position]
- (println "get brick.")
- (doto (box brick-length brick-height brick-width
- :position position :name "brick"
- :material "Common/MatDefs/Misc/Unshaded.j3md"
- :texture "Textures/Terrain/BrickWall/BrickWall.jpg"
- :mass 34)
- (->
- (.getMesh)
- (.scaleTextureCoordinates (Vector2f. 1 0.5)))
- (.setShadowMode RenderQueue$ShadowMode/CastAndReceive)
- )
- )
-
-
-(defn floor*
- "make a sturdy, unmovable physical floor"
- []
- (box 10 0.1 5 :name "floor" :mass 0
- :color ColorRGBA/Gray :position (Vector3f. 0 0 0)))
-
-(defn floor* []
- (doto (box 10 0.1 5 :name "floor" ;10 0.1 5 ; 240 0.1 240
- :material "Common/MatDefs/Misc/Unshaded.j3md"
- :texture "Textures/BronzeCopper030.jpg"
- :position (Vector3f. 0 0 0 )
- :mass 0)
- (->
- (.getMesh)
- (.scaleTextureCoordinates (Vector2f. 3 6)));64 64
- (->
- (.getMaterial)
- (.getTextureParam "ColorMap")
- (.getTextureValue)
- (.setWrap Texture$WrapMode/Repeat))
- (.setShadowMode RenderQueue$ShadowMode/Receive)
- ))
-
-
-(defn brick-wall* []
- (let [node (Node. "brick-wall")]
- (dorun
- (map
- (comp #(.attachChild node %) brick*)
- (for [y (range 10)
- x (range 4)
- z (range 1)]
- (Vector3f.
- (+ (* 2 x brick-length)
- (if (even? (+ y z))
- (/ brick-length 4) (/ brick-length -4)))
- (+ (* brick-height (inc (* 2 y))))
- (* 2 z brick-width) ))))
- (.setShadowMode node RenderQueue$ShadowMode/CastAndReceive)
- node))
-
(import com.aurellem.capture.Capture)
(import java.io.File)
diff -r ee977613c244 -r 42ddfe406c0a org/touch.org
--- a/org/touch.org Fri Jun 07 11:49:09 2013 -0400
+++ b/org/touch.org Tue Jun 11 07:13:42 2013 -0400
@@ -388,7 +388,6 @@
(.normalizeLocal (.getDirection ray)))
(import com.jme3.math.FastMath)
-
(defn touch-kernel
"Constructs a function which will return tactile sensory data from
diff -r ee977613c244 -r 42ddfe406c0a org/util.org
--- a/org/util.org Fri Jun 07 11:49:09 2013 -0400
+++ b/org/util.org Tue Jun 11 07:13:42 2013 -0400
@@ -365,6 +365,73 @@
(into-array String ["blend"]))) model))
+
+(def brick-length 0.48)
+(def brick-width 0.24)
+(def brick-height 0.12)
+(def gravity (Vector3f. 0 -9.81 0))
+
+(import com.jme3.math.Vector2f)
+(import com.jme3.renderer.queue.RenderQueue$ShadowMode)
+(import com.jme3.texture.Texture$WrapMode)
+
+(defn brick* [position]
+ (println "get brick.")
+ (doto (box brick-length brick-height brick-width
+ :position position :name "brick"
+ :material "Common/MatDefs/Misc/Unshaded.j3md"
+ :texture "Textures/Terrain/BrickWall/BrickWall.jpg"
+ :mass 34)
+ (->
+ (.getMesh)
+ (.scaleTextureCoordinates (Vector2f. 1 0.5)))
+ (.setShadowMode RenderQueue$ShadowMode/CastAndReceive)
+ )
+ )
+
+
+(defn floor*
+ "make a sturdy, unmovable physical floor"
+ []
+ (box 10 0.1 5 :name "floor" :mass 0
+ :color ColorRGBA/Gray :position (Vector3f. 0 0 0)))
+
+(defn floor* []
+ (doto (box 10 0.1 5 :name "floor" ;10 0.1 5 ; 240 0.1 240
+ :material "Common/MatDefs/Misc/Unshaded.j3md"
+ :texture "Textures/BronzeCopper030.jpg"
+ :position (Vector3f. 0 0 0 )
+ :mass 0)
+ (->
+ (.getMesh)
+ (.scaleTextureCoordinates (Vector2f. 3 6)));64 64
+ (->
+ (.getMaterial)
+ (.getTextureParam "ColorMap")
+ (.getTextureValue)
+ (.setWrap Texture$WrapMode/Repeat))
+ (.setShadowMode RenderQueue$ShadowMode/Receive)
+ ))
+
+
+(defn brick-wall* []
+ (let [node (Node. "brick-wall")]
+ (dorun
+ (map
+ (comp #(.attachChild node %) brick*)
+ (for [y (range 10)
+ x (range 4)
+ z (range 1)]
+ (Vector3f.
+ (+ (* 2 x brick-length)
+ (if (even? (+ y z))
+ (/ brick-length 4) (/ brick-length -4)))
+ (+ (* brick-height (inc (* 2 y))))
+ (* 2 z brick-width) ))))
+ (.setShadowMode node RenderQueue$ShadowMode/CastAndReceive)
+ node))
+
+
#+end_src