# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329411584 25200
# Node ID 67a4e92d4628eea22c63be22cb989aaae7c0e1c6
# Parent  76a5edd6507d4c64a6f37251a6b8eabc8473fa31
made the hand 10x stronger

diff -r 76a5edd6507d -r 67a4e92d4628 assets/Models/test-creature/hand.blend
Binary file assets/Models/test-creature/hand.blend has changed
diff -r 76a5edd6507d -r 67a4e92d4628 org/integration.org
--- a/org/integration.org	Thu Feb 16 07:43:13 2012 -0700
+++ b/org/integration.org	Thu Feb 16 09:59:44 2012 -0700
@@ -31,6 +31,39 @@
 
 (def output-base (File. "/home/r/proj/cortex/render/hand"))
 
+(def control-list
+ [
+  0 ;;pointer-21 #<Vector3f (0.99999994, 0.0, 0.0)>
+  1 ;;pointer-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;thumb-11 #<Vector3f (-0.8802276, -0.39781287, -0.25873658)>
+  0 ;;thumb-11 #<Vector3f (0.8485723, 0.46149826, 0.2587364)>
+  0 ;;pointer-11 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;pointer-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;thumb-2.0011 #<Vector3f (-0.71705645, -0.44753736, -0.5343599)>
+  0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
+  0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;middle-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;middle-31 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;pinky-21 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;pinky-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;pinky-31 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;ring-31 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;ring-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;ring-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;ring-21 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;ring-11 #<Vector3f (0.99999994, 0.0, 0.0)>
+  0 ;;ring-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;thumb-11 #<Vector3f (-0.43154645, 0.7302033, 0.5296894)>
+  0 ;;thumb-11 #<Vector3f (-0.8032993, -0.2722854, -0.5296895)>
+  0 ;;pinky-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
+  0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
+  ])
+
 (defn test-everything! 
   ([] (test-everything! false))
   ([record?]
@@ -93,7 +126,13 @@
        ;;(touch-display (map #(% (.getRootNode world)) touch))
        ;;(vision-display (map #(% world) vision))
        ;;(hearing-display (map #(% world) hearing))
-       (muscle-display (map #(% @muscle-exertion) muscles))
+
+       (muscle-display
+        (map (fn [effector control]
+               (effector (int (* @muscle-exertion control))))
+             muscles
+             control-list))
+             
        (.setLocalTranslation me (.getLocation (.getCamera world)))
        (fix-display world))))))
 #+end_src
diff -r 76a5edd6507d -r 67a4e92d4628 org/movement.org
--- a/org/movement.org	Thu Feb 16 07:43:13 2012 -0700
+++ b/org/movement.org	Thu Feb 16 09:59:44 2012 -0700
@@ -122,6 +122,8 @@
         (vec (map  #(float (* strength (/ % (last pool-integral))))
               pool-integral))
         control (.getControl target RigidBodyControl)]
+    (println-repl "adding muscle to" (.getName target))
+    (println-repl "points" axis)
     (fn [n]
       (let [pool-index (max 0 (min n (dec (count pool))))
             force (force-index pool-index)]