# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325923814 25200
# Node ID 4f5e2c629e45f28147a6d09782a0947b3bbbdb08
# Parent  14b604e955ed81f119141aaed191adec9993cfce
going to try to fix cone-joint generating code

diff -r 14b604e955ed -r 4f5e2c629e45 org/test-creature.org
--- a/org/test-creature.org	Sat Jan 07 00:58:47 2012 -0700
+++ b/org/test-creature.org	Sat Jan 07 01:10:14 2012 -0700
@@ -53,7 +53,12 @@
 (declare joint-create get-subjective-position)
 
 (defn load-bullet []
-  (.start (world (Node.) {} no-op no-op)))
+  (let [sim (world (Node.) {} no-op no-op)]
+    (.enqueue
+     sim
+     (fn []
+       (.stop sim)))
+    (.start sim)))
 
 (defn load-blender-model
   "Load a .blend file using an asset folder relative path."
@@ -309,25 +314,31 @@
 (defn world-setup [joint]
   (let [
 
-        joint-position (Vector3f. 0 4 0)
+        joint-position (Vector3f. 0 0 0)
         joint-rotation
         (.toRotationMatrix
          (.mult
           (doto (Quaternion.)
             (.fromAngleAxis
              (* 1 (/ Math/PI 4))
-             (Vector3f. -1 0 0)))
-          (doto (Quaternion.)
-            (.fromAngleAxis
-             (/ Math/PI 2)
-             (Vector3f. 0 0 1)))))
+             (Vector3f. 0 0 1)))
+          (.mult
+           (doto (Quaternion.)
+             (.fromAngleAxis
+              (* 2 (/ Math/PI 4))
+              (Vector3f. 0 1 0)))
+           (doto (Quaternion.)
+             (.fromAngleAxis
+              (* 1 (/ Math/PI 2))
+              (Vector3f. 0 0 1))))))
+        top-position (.mult joint-rotation (Vector3f. 8 0 0))
         
         origin (doto
                    (sphere 0.1 :physical? false :color ColorRGBA/Cyan
-                           :position (Vector3f. 0 0 0)))
+                           :position top-position))
         top (doto
                 (sphere 0.1 :physical? false :color ColorRGBA/Yellow
-                        :position (.mult joint-rotation (Vector3f. 8 0 0)))
+                        :position top-position)
 
               (.addControl
                (RigidBodyControl.