# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328177831 25200
# Node ID 48f9cba082ebc883b4c302faf4bcabd38eaf53ea
# Parent  d0f4b473ab4f7b50bc4dae49d8544d71d9b30d03
proprioception is position-dependent, investigating...

diff -r d0f4b473ab4f -r 48f9cba082eb assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r d0f4b473ab4f -r 48f9cba082eb org/body.org
--- a/org/body.org	Thu Feb 02 02:30:22 2012 -0700
+++ b/org/body.org	Thu Feb 02 03:17:11 2012 -0700
@@ -69,10 +69,13 @@
         pre-inv-a (.inverse (.getWorldRotation obj-a))
         x (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_X))
         y (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Y))
-        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))]
-    (println-repl "x:" x)
-    (println-repl "y:" y)
-    (println-repl "z:" z)
+        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))
+        tmp-rot-a (.getWorldRotation obj-a)]
+    (println-repl "x:" (.mult tmp-rot-a x))
+    (println-repl "y:" (.mult tmp-rot-a y))
+    (println-repl "z:" (.mult tmp-rot-a z))
+    (println-repl "rot-a" (.getWorldRotation obj-a))
+    (println-repl "rot-b" (.getWorldRotation obj-b))
     ;; this function will report proprioceptive information for the
     ;; joint.
     (fn []