# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328378539 25200
# Node ID 66fbab414d45bf1d186a2ad15e55dccbf15d6395
# Parent  2902aca33c6e567d8849169620908f00f53889ef
added muscle exertion debug view.

diff -r 2902aca33c6e -r 66fbab414d45 org/movement.org
--- a/org/movement.org	Sat Feb 04 10:26:11 2012 -0700
+++ b/org/movement.org	Sat Feb 04 11:02:19 2012 -0700
@@ -58,8 +58,9 @@
 
 (defn movement-fn
   "Returns a function which when called with a integer value inside a
-   running simulation, will cause movement in the creature according
-   to the muscle's position and strength profile"
+   running simulation will cause movement in the creature according
+   to the muscle's position and strength profile. Each function
+   returns the amount of force applied / max force."
   [#^Node parts #^Node muscle]
   (let [target (closest-node parts muscle)
         axis
@@ -69,15 +70,16 @@
         image (load-image image-name)
         fibers (muscle-profile image)
         fiber-integral (reductions + fibers)
-        force-index (vec
-                     (map
-                      #(float (* strength (/ % (last
-                                                fiber-integral))))
-                      fiber-integral))
+        force-index
+        (vec (map  #(float (* strength (/ % (last fiber-integral))))
+              fiber-integral))
         control (.getControl target RigidBodyControl)]
     (fn [n]
-      (let [pool-index (min n (count fibers))]
-        (.applyTorque control (.mult axis (force-index n)))))))
+      (let [pool-index (max 0 (min n (dec (count fibers))))
+            force (force-index pool-index)]
+        (.applyTorque control (.mult axis force))
+        (float (/ force strength))))))
+        
 
 (defn movement!
   "Endow the creature with the power of movement. Returns a sequence
@@ -87,6 +89,26 @@
     (for [muscle (muscles creature)]
       (movement-fn creature muscle)))
 
+(defn movement-display-kernel
+  "Display muscle exertion data as a bar filling up with red."
+  [exertion]
+     (let [height 20
+           width 300
+           image (BufferedImage. width height
+                                 BufferedImage/TYPE_INT_RGB)
+           fill (min (int (* width exertion)) width)]
+       (dorun
+        (for [x (range fill)
+              y (range height)]
+          (.setRGB image x y 0xFF0000)))
+       image))
+
+(defn view-movement
+  "Creates a function which accepts a list of muscle-exertion data and
+  displays each element of the list to the screen."
+  []
+  (view-sense movement-display-kernel))
+
 #+end_src
 
 
diff -r 2902aca33c6e -r 66fbab414d45 org/test-creature.org
--- a/org/test-creature.org	Sat Feb 04 10:26:11 2012 -0700
+++ b/org/test-creature.org	Sat Feb 04 11:02:19 2012 -0700
@@ -147,8 +147,9 @@
         prop (proprioception! creature)
         prop-display (view-proprioception)
 
-        muscle-fns (movement! creature)
-
+        muscle-exertion (atom 0)
+        muscles (movement! creature)
+        muscle-display (view-movement)
 
         me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
         bell (AudioNode. (asset-manager)
@@ -183,9 +184,11 @@
                 "key-h"
                 (fn [_ value]
                   (if value
-                    (do
-                      (println-repl "muscle activating!")
-                      ((first muscle-fns)  199))))
+                    (swap!  muscle-exertion (partial + 20))))
+                "key-n"
+                (fn [_ value]
+                  (if value
+                    (swap! muscle-exertion (fn [v] (- v 20)))))
 
                 })
         (fn [world]
@@ -217,6 +220,8 @@
           (vision-display (map #(% world) vision))
 
           (hearing-display (map #(% world) hearing))
+
+          (muscle-display (map #(% @muscle-exertion) muscles))
           
           ;;(println-repl (vision-data))
           (.setLocalTranslation me (.getLocation (.getCamera world)))