# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328255314 25200
# Node ID 72801a20b8e5d2b994b538e2a4e868b6db0750ad
# Parent  68226790d1fa46e56f19c575509c8365562d6a8d
First stab at blender muscles. (gee that sounds a little violent...)

diff -r 68226790d1fa -r 72801a20b8e5 assets/Models/creature1/basic-muscle.png
Binary file assets/Models/creature1/basic-muscle.png has changed
diff -r 68226790d1fa -r 72801a20b8e5 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 68226790d1fa -r 72801a20b8e5 org/test-creature.org
--- a/org/test-creature.org	Thu Feb 02 13:22:14 2012 -0700
+++ b/org/test-creature.org	Fri Feb 03 00:48:34 2012 -0700
@@ -80,7 +80,8 @@
  - [X] proprioception sensor map in the style of the other senses -- day
  - [ ] refactor integration code to distribute to each of the senses
        -- day
- - [ ] create video showing all the senses for Winston -- 2 days 
+ - [ ] create video showing all the senses for Winston -- 2 days
+ - [ ] send package to friends for critiques -- 2 days
  - [ ] write summary of project for Winston            \
  - [ ] project proposals for Winston                    \
  - [ ] additional senses to be implemented for Winston   |  -- 2 days 
@@ -1077,14 +1078,55 @@
 ;; represent relative roll, pitch, and yaw.  Write display code for
 ;; this though.
 
-(defn muscle-fibre-values
-  "Take the first row of the image and return the low-order bytes."
+(defn muscle-fiber-values
+  "get motor pool strengths"
   [#^BufferedImage image]
-  (let [width (.getWidth image)]
-    (for [x (range width)]
-      (bit-and
-       0xFF
-       (.getRGB image x 0)))))
+  (vec
+   (let [width (.getWidth image)]
+     (for [x (range width)]
+       (- 255
+          (bit-and
+           0x0000FF
+           (.getRGB image x 0)))))))
+
+
+(defn creature-muscles 
+ "Return the children of the creature's \"muscles\" node."
+ [#^Node creature]
+ (if-let [muscle-node (.getChild creature "muscles")]
+   (seq (.getChildren muscle-node))
+   (do (println-repl "could not find muscles node") [])))
+
+(defn single-muscle [#^Node parts #^Node muscle]
+  (let [target (closest-node parts muscle)
+        axis
+        (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
+        strength (meta-data muscle "strength")
+        image-name (read-string (meta-data muscle "muscle"))
+        image 
+        (ImageToAwt/convert
+          (.getImage (.loadTexture (asset-manager) image-name))
+          false false 0)
+        fibers (muscle-fiber-values image)
+        fiber-integral (reductions + fibers)
+        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 (force-index n))))))
+
+
+(defn enable-muscles
+  "Must be called on a creature after RigidBodyControls have been
+   created." 
+  [#^Node creature]
+  (let [muscles (creature-muscles creature)]
+    (for [muscle muscles]
+      (single-muscle creature muscle))))
 
 (defn test-creature [thing]
   (let [x-axis