# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1326256001 25200
# Node ID 4a9096f31017c45079f5fdbf140840b5bbc2fdd2
# Parent  e4bcd0c481ba014e82b6e6b6c73f40437871ab1e
working on touch

diff -r e4bcd0c481ba -r 4a9096f31017 assets/Models/creature1/tip.png
Binary file assets/Models/creature1/tip.png has changed
diff -r e4bcd0c481ba -r 4a9096f31017 org/test-creature.org
--- a/org/test-creature.org	Tue Jan 10 08:38:50 2012 -0700
+++ b/org/test-creature.org	Tue Jan 10 21:26:41 2012 -0700
@@ -125,6 +125,15 @@
    (let [out (Vector3f.)]
      (.worldToLocal object world-coordinate out) out))
 
+(defn local-to-world
+   "Convert the local coordinates into coordinates into world relative
+    coordinates" 
+   [#^Spatial object local-coordinate]
+   (let [world-coordinate (Vector3f.)]
+     (.localToWorld object local-coordinate world-coordinate)
+     world-coordinate))
+
+
 (defmulti joint-dispatch
   "Translate blender pseudo-joints into real JME joints."
   (fn [constraints & _] 
@@ -506,6 +515,9 @@
                              0))
                 (uv-triangle mesh tri)))
 
+(def rasterize pixel-triangle)
+
+
 (defn triangle-bounds
   "Dimensions of the bounding square of the triangle in the form
    [x y width height].
@@ -525,14 +537,13 @@
   "Search the geometry's tactile UV image for touch sensors, returning
   their positions in geometry-relative coordinates."
   [#^Geometry geo]
-
-  ;; inside-triangle? white-coordinates triangle-transformation 
-  ;; tri-uv-coord touch-receptor-image
   (let [mesh (.getMesh geo)
+        tris (triangles geo)
+        
         image (touch-receptor-image geo)
         width (.getWidth image)
         height (.getHeight image)
-        tris (triangles geo)
+        
 
         ;; for each triangle
         sensor-coords
@@ -560,11 +571,99 @@
                   ;; translate pixel coordinates to world-space
                   transform (triangle-transformation cutout-tri tri)]
               (map #(.mult transform %) whites))))]
-    (map sensor-coords tris)))
 
 
+    
+    (vec (map sensor-coords tris))))
+
+(defn locate-tactile-sensors*
+  "Search the geometry's tactile UV image for touch sensors, returning
+  their positions in geometry-relative coordinates."
+  [#^Geometry geo]
+  (let [uv-image (touch-receptor-image geo)
+        width (.getWidth uv-image)
+        height (.getHeight uv-image)
+
+        mesh (.getMesh geo)
+        mesh-tris (triangles geo)
+
+        ;; for each triangle
+        sensor-coords
+        (fn [tri]
+          ;; translate triangle to uv-pixel-space
+          (let [uv-tri
+                (rasterize mesh tri width height)
+                bounds (vec (triangle-bounds uv-tri))]
+            
+            ;; get that part of the picture
+            
+            (apply (partial (memfn setRoi) uv-image) bounds)
+            (let [cutout (.crop (.getProcessor uv-image))
+                  ;; extract white pixels inside triangle
+                  cutout-tri
+                  (map-triangle
+                   (fn [_ v]
+                     (.subtract
+                      v
+                      (Vector3f. (bounds 0) (bounds 1) (float 0))))
+                   uv-tri)
+                  whites (filter (partial inside-triangle? cutout-tri)
+                                 (map vector2f->vector3f
+                                      (white-coordinates cutout)))
+                  ;; translate pixel coordinates to world-space
+                  transform (triangle-transformation cutout-tri tri)]
+              (map #(.mult transform %) whites))))]
+
+
+      
+    (for [mesh-tri mesh-tris]
+     
+      (let [uv-tri (rasterize mesh mesh-tri width height)
+            bounding-box (vec (triangle-bounds uv-tri))]
+        (apply (partial (memfn setRoi) uv-image) bounding-box)
+
+        
+        
+        
+        ))   
+    (vec (map sensor-coords mesh-tris))))
+
+
+
+(defn measure-touchies [#^Geometry geo]
+  (let [tactile-sensor-coords (locate-tactile-sensors geo)
+        tris (triangles geo)]
+    (fn [world]
+      (let [sensor-origins (vec
+                         (map
+                          #(map (partial local-to-world geo) %)
+                          tactile-sensor-coords))
+            triangle-normals (vec
+                         (map (partial get-ray-direction geo)
+                              tris))
+            rays (flatten
+                  (map
+                   (fn [origins normals]
+                     (map
+                      #(Ray. %1 %2)
+                      origins
+                      normals))
+                   sensor-origins
+                   (map repeat triangle-normals)))
+
             
-          
+            ]
+        rays))))
+                 
+              
+                   
+            
+                   
+        
+        
+      
+      
+