# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328364354 25200
# Node ID 6fba17a74a570519e0c0d76277ef09f1ea7dde63
# Parent  5af4ebe72b9709bb2cd15d91abbaaf864e06e627
refactored touch

diff -r 5af4ebe72b97 -r 6fba17a74a57 org/test-creature.org
--- a/org/test-creature.org	Sat Feb 04 06:54:14 2012 -0700
+++ b/org/test-creature.org	Sat Feb 04 07:05:54 2012 -0700
@@ -172,7 +172,7 @@
         creature (doto 
                      (load-blender-model thing)
                    (body!))
-        touch-nerves (touch creature)
+        touch-nerves (touch! creature)
         touch-debug-windows (map (fn [_] (debug-touch-window)) touch-nerves)
         vision-data (vision! creature)
         vision-debug (map (fn [_] (debug-vision-window)) vision-data)
diff -r 5af4ebe72b97 -r 6fba17a74a57 org/touch.org
--- a/org/touch.org	Sat Feb 04 06:54:14 2012 -0700
+++ b/org/touch.org	Sat Feb 04 07:05:54 2012 -0700
@@ -6,7 +6,6 @@
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 
-
 * Touch
 
 My creatures need to be able to feel their environments. The idea here
@@ -26,12 +25,12 @@
   Geometry to know what parts of itself are touching nearby objects."
   {:author "Robert McIntyre"}
   (:use (cortex world util sense))
+  (:use clojure.contrib.def)
   (:import com.jme3.scene.Geometry)
   (:import com.jme3.collision.CollisionResults)
   (:import jme3tools.converters.ImageToAwt)
   (:import (com.jme3.math Triangle Vector3f Ray)))
    
-(use 'clojure.contrib.def)
 (cortex.import/mega-import-jme3)
 
 (defn triangles
@@ -75,19 +74,12 @@
 ;; Every Mesh has many triangles, each with its own index.
 ;; Every vertex has its own index as well.
 
-(defn tactile-sensor-image
+(defn tactile-sensor-profile
   "Return the touch-sensor distribution image in BufferedImage format,
    or nil if it does not exist."
   [#^Geometry obj]
   (if-let [image-path (meta-data obj "touch")]
-    (ImageToAwt/convert
-     (.getImage
-      (.loadTexture
-       (asset-manager)
-       image-path))
-    false false 0)))
-     
-
+    (load-image image-path)))
 
 (defn triangle
   "Get the triangle specified by triangle-index from the mesh within
@@ -199,11 +191,8 @@
               (take 3 points))))
 
 (defn convex-bounds
-  ;;dylan
-  "Returns the smallest square containing the given
-vertices, as a vector of integers [left top width height]."
- ;; "Dimensions of the smallest integer bounding square of the list of
- ;;  2D verticies in the form: [x y width height]."
+  "Returns the smallest square containing the given vertices, as a
+   vector of integers [left top width height]."
   [uv-verts]
   (let [xs (map first uv-verts)
         ys (map second uv-verts)
@@ -214,10 +203,8 @@
     [x0 y0 (- x1 x0) (- y1 y0)]))
 
 (defn sensors-in-triangle
-  ;;dylan
-  "Locate the touch sensors in the triangle, returning a map of their UV and geometry-relative coordinates."
-  ;;"Find the locations of the touch sensors within a triangle in both
-  ;; UV and gemoetry relative coordinates."
+  "Locate the touch sensors in the triangle, returning a map of their
+   UV and geometry-relative coordinates."
   [image mesh tri-index]
   (let [width (.getWidth image)
         height (.getHeight image)
@@ -238,24 +225,33 @@
   {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
 
 (defn-memo locate-feelers
-  "Search the geometry's tactile UV image for touch sensors, returning
-  their positions in geometry-relative coordinates."
+  "Search the geometry's tactile UV profile for touch sensors,
+   returning their positions in geometry-relative coordinates."
   [#^Geometry geo]
   (let [mesh (.getMesh geo)
         num-triangles (.getTriangleCount mesh)]
-    (if-let [image (tactile-sensor-image geo)]
+    (if-let [image (tactile-sensor-profile geo)]
       (map
        (partial sensors-in-triangle image mesh)
        (range num-triangles))
       (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
 
-(defn-memo touch-topology [#^Gemoetry geo]
+(defn-memo touch-topology
+  "Return a sequence of vectors of the form [x y] describing the
+   \"topology\" of the tactile sensors. Points that are close together
+   in the touch-topology are generally close together in the simulation."
+  [#^Gemoetry geo]
   (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
 
-(defn-memo feeler-coordinates [#^Geometry geo]
+(defn-memo feeler-coordinates
+  "The location of the touch sensors in world-space coordinates."
+  [#^Geometry geo]
   (vec (map :geometry (locate-feelers geo))))
 
-(defn enable-touch [#^Geometry geo]
+(defn touch-fn
+  "Returns a function which returns tactile sensory data when called
+   inside a running simulation."
+  [#^Geometry geo]
   (let [feeler-coords (feeler-coordinates geo)
         tris (triangles geo)
         limit 0.1
@@ -294,13 +290,17 @@
                              (* 255 (/ (.getDistance
                                         (first touch-objects)) limit)))
                             256))))))))))))))
-                         
   
-(defn touch [#^Node pieces]
-  (filter (comp not nil?)
-          (map enable-touch
-               (filter #(isa? (class %) Geometry)
-                       (node-seq pieces)))))
+(defn touch! 
+  "Endow the creature with the sense of touch. Returns a sequence of
+   functions, one for each body part with a tactile-sensor-proile,
+   each of which when called returns sensory data for that body part."
+  [#^Node creature]
+  (filter
+   (comp not nil?)
+   (map touch-fn
+        (filter #(isa? (class %) Geometry)
+                (node-seq creature)))))
 
 
 #+end_src