# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325756107 25200
# Node ID 7af5ef6865393a4f8ef82d3825625cd549843284
# Parent  01dbdb0d55008403131b94e408e366496946ae9a
got a finger working!

diff -r 01dbdb0d5500 -r 7af5ef686539 assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 01dbdb0d5500 -r 7af5ef686539 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 01dbdb0d5500 -r 7af5ef686539 org/test-creature.org
--- a/org/test-creature.org	Wed Jan 04 21:03:25 2012 -0700
+++ b/org/test-creature.org	Thu Jan 05 02:35:07 2012 -0700
@@ -173,31 +173,62 @@
                          twist    (:twist constraints)]
                      
                      (println-repl "creating CONE joint")
-                     (doto
-                         (ConeJoint.
-                          control-a
-                          control-b
-                          pivot-a
-                          pivot-b
-                          
-                          (doto (Matrix3f.)
-                            (.fromStartEndVectors
-                             Vector3f/UNIT_X
-                             (.normalize
-                              (.subtract
-                               (.getWorldTranslation joint)
-                               (.getWorldTranslation obj-a)))))
-                          (doto (Matrix3f.)
-                            (.set (.getWorldRotation joint)))
-                          
-                          )
-                       (.setLimit (float limit-xy)
-                                  (float limit-yz)
-                                  (float twist)))))
-                 true
-                 (println-repl
-                  "joint-type" joint-type "not recognized")))
-                 
+                     (let [vector-1
+                           (.mult (.getWorldRotation joint)
+                                  Vector3f/UNIT_X)
+                           vector-2
+                           (.normalize
+                            (.subtract
+                             (.getWorldTranslation joint)
+                             (.getWorldTranslation obj-a)))
+                           ]
+                       (println-repl
+                        "vector-1 :" vector-1)
+                       (println-repl
+                        "vector-2 :" vector-2)
+                        
+                       
+                       
+                       (doto
+                           (ConeJoint.
+                            control-a
+                            control-b
+                            pivot-a
+                            pivot-b
+                            
+                            ;;(doto (Matrix3f.)
+                            ;;  (.fromStartEndVectors
+                            ;;   Vector3f/UNIT_X
+                            ;;   (.normalize
+                            ;;    (.subtract
+                            ;;     (.getWorldTranslation joint)
+                            ;;     (.getWorldTranslation obj-a)))))
+                            
+                            (.toRotationMatrix (.getWorldRotation joint))
+
+                            (.toRotationMatrix
+                             (.fromAngleAxis (Quaternion.)
+                              (.angleBetween Vector3f/UNIT_X pivot-a)
+                              (.cross Vector3f/UNIT_X pivot-a)))
+                            
+                            ;; (doto (Matrix3f.)
+                            ;;   (.fromStartEndVectors
+                            ;;    Vector3f/UNIT_X
+                            ;;    (.normalize
+                            ;;     vector-1)))
+                            
+                            ;; (doto (Matrix3f.)
+                            ;;   (.fromStartEndVectors
+                            ;;    Vector3f/UNIT_X
+                            ;;    vector-2))
+                            )
+                         (.setLimit (float limit-xy)
+                                    (float limit-yz)
+                                    (float twist))))))
+                   true
+                   (println-repl
+                    "joint-type" joint-type "not recognized")))
+           
            (println-repl "could not find joint meta-data!")))))
 
 (defn assemble-creature [#^Node pieces joints]
@@ -241,20 +272,35 @@
 
 (def worm "Models/creature1/try-again.blend")
 
+(defn x-ray [#^ColorRGBA color]
+  (doto (Material. (asset-manager)
+                   "Common/MatDefs/Misc/Unshaded.j3md")
+    (.setColor "Color" color)
+    (-> (.getAdditionalRenderState)
+        (.setDepthTest false))))
+
 (defn test-creature [thing]
+  (let [x-axis
+        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
+        y-axis
+        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
+        z-axis
+        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
   (world
    (nodify [(blender-creature thing)
             (box 10 2 10 :position (Vector3f. 0 -5.5 0)
-                 :color ColorRGBA/Gray :mass 0)])
+                 :color ColorRGBA/Gray :mass 0)
+            x-axis y-axis z-axis
+            ])
    standard-debug-controls
    (comp light-up-everything enable-debug
          (fn [world]
            (.setTimer world (NanoTimer.))
-           ;;(set-gravity world (Vector3f. 0 0 0))
+           (set-gravity world (Vector3f. 0 0 0))
            (speed-up world)
            world
            ))
-   no-op))
+   no-op)))
 
 (defn world-setup [joint]
   (let [top (doto
@@ -309,7 +355,7 @@
             (doto (Matrix3f.)
               (.fromStartEndVectors Vector3f/UNIT_X
                                     (.normalize
-                                     (Vector3f. 5 5 0))))
+                                     (Vector3f. 0 0 -1))))
             )
        ;;(.setAngularOnly true)