# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329062747 25200
# Node ID 712bd7e5b148a368ce1224af4e858b3ea68e8527
# Parent  f27c9fd9134dcce3d484d319ae06da731a7974b1
saving progress

diff -r f27c9fd9134d -r 712bd7e5b148 org/ideas.org
--- a/org/ideas.org	Sun Feb 12 06:21:30 2012 -0700
+++ b/org/ideas.org	Sun Feb 12 09:05:47 2012 -0700
@@ -96,13 +96,17 @@
        representation -- week
  - [ ] show sensor maps in HUD display? -- 4 days
  - [ ] show sensor maps in AWT display? -- 2 days
- - [ ] add iteraterator constructs to Vector3f, Vector2f, etc.
  - [ ] upgrade to clojure 1.3, replace all defvars with new def
- - [ ] get Vector3f, Triangle to implement iterable
 
 
 
 
+* jMonkeyEngine ideas
+ - [ ] video showing bullet joints problem
+ - [ ] add mult for Matrix to Ray
+ - [ ] add iteraterator constructs to Vector3f, Vector2f, Triangle,
+   Matrix3f, Matrix4f, etc
+
 ;;In the elder days of Art,
 ;;Builders wrought with greatest care
 ;;Each minute and unseen part;
diff -r f27c9fd9134d -r 712bd7e5b148 org/touch.org
--- a/org/touch.org	Sun Feb 12 06:21:30 2012 -0700
+++ b/org/touch.org	Sun Feb 12 09:05:47 2012 -0700
@@ -74,12 +74,57 @@
 ** TODO add image showing example touch-uv map
 ** TODO add metadata display for worm
 
+
 * Skin Creation
+* TODO get the actual lengths for each hair
+
+#+begin_src clojure
+pixel-triangles
+        xyz-triangles
+        conversions (map triangles->affine-transform pixel-triangles
+                         xyz-triangles)
+
+#+end_src
+
 #+name: kernel
 #+begin_src clojure
 (in-ns 'cortex.touch)
 
+(declare touch-topology touch-hairs set-ray)
+
 (defn touch-kernel
+  "Constructs a function which will return tactile sensory data from
+   'geo when called from inside a running simulation"
+  [#^Geometry geo]
+  (let [[ray-reference-origins
+         ray-reference-tips
+         ray-lengths] (touch-hairs geo)
+        current-rays (map (fn [] (Ray.)) ray-reference-origins)
+        topology (touch-topology geo)]
+    (if (empty? ray-reference-origins) nil
+        (fn [node]
+          (let [transform (.getWorldMatrix geo)]
+            (dorun
+             (map (fn [ray ref-origin ref-tip length]
+                    (set-ray ray transform ref-origin ref-tip length))
+                  current-rays ray-reference-origins
+                  ray-reference-tips ray-lengths))
+            (vector
+             topology
+             (vec
+              (for [ray current-rays]
+                (do
+                  (let [results (CollisionResults.)]
+                    (.collideWith node ray results)
+                    (let [touch-objects
+                          (filter #(not (= geo (.getGeometry %)))
+                                  results)]
+                      [(if (empty? touch-objects)
+                         (.getLimit ray)
+                         (.getDistance (first touch-objects)))
+                       (.getLimit ray)])))))))))))
+
+(defn touch-kernel*
   "Returns a function which returns tactile sensory data when called
    inside a running simulation."
   [#^Geometry geo]
@@ -348,7 +393,6 @@
 #+end_src
 
 
-
 * Sensor Related Functions
 
 These functions analyze the touch-sensor-profile image convert the
@@ -406,7 +450,7 @@
 
 * Physics Collision Objects
 
-The "hairs" are actually rays which extend  from a point on a
+The "hairs" are actually =Rays= which extend  from a point on a
 =Triangle= in the =Mesh= normal to the =Triangle's= surface.
 
 #+name: rays
@@ -433,9 +477,6 @@
      (.add (.getCenter tri) (.getNormal tri)) n+c)
     (.subtract n+c (get-ray-origin geom tri))))
 #+end_src
-
-
-
 * Headers 
 
 #+name: touch-header
@@ -478,7 +519,6 @@
            (fn [world tpf]
              (touch-display (map #(% (.getRootNode world)) touch))))))
 #+end_src
-
 * Source Listing
 * Next