# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1326161687 25200
# Node ID 7b739503836a5978e5dae3f8047bf4f22e12ce00
# Parent  e70ec4bba96b073b75aa2b76406f1cafa3abc36b
saving work

diff -r e70ec4bba96b -r 7b739503836a assets/Models/creature1/tip.png
Binary file assets/Models/creature1/tip.png has changed
diff -r e70ec4bba96b -r 7b739503836a assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r e70ec4bba96b -r 7b739503836a org/test-creature.org
--- a/org/test-creature.org	Mon Jan 09 06:05:29 2012 -0700
+++ b/org/test-creature.org	Mon Jan 09 19:14:47 2012 -0700
@@ -295,7 +295,7 @@
      ;;(com.aurellem.capture.Capture/captureVideo
      ;; world (file-str "/home/r/proj/ai-videos/hand"))
      (.setTimer world (NanoTimer.))
-     ;;(set-gravity world (Vector3f. 0 0 0))
+     (set-gravity world (Vector3f. 0 0 0))
      (speed-up world)
      )
    no-op
@@ -334,6 +334,12 @@
      (.get UV-buffer (* vertex-index 2))
      (.get UV-buffer (+ 1 (* vertex-index 2))))))
 
+(defn tri-uv-coord
+  "Get the uv-cooridnates of the triangle's verticies."
+  [#^Mesh mesh #^Triangle triangle]
+  (map (partial uv-coord mesh)
+       (triangle-indices mesh (.getIndex triangle))))
+
 (defn touch-receptor-image
   "Return the touch-sensor distribution image in ImagePlus format."
   [#^Geometry obj]
@@ -416,12 +422,32 @@
     (same-side? vert-3 vert-1 vert-2 p)))
 
 
-(defn white? [color]
-  (and 
-   (= (:r color) 255)
-   (= (:b color) 255)
-   (= (:g color) 255)))
-                        
+(defn analyze-triangle [#^Geometry obj #^Triangle tri]
+  ;; first, calculate the transformation matrix that will take us
+  ;; from uv-coordinates to the real world coordinates
+  (let [mesh (.getMesh obj)
+        world [(.get1 tri) (.get2 tri) (.get3 tri)]
+        uv    (tri-uv-coord mesh tri)
+
+    
+
+    
+   (println-repl world uv)))
+  
+  
+  
+
+
+(defn tactile-coords* 
+  [#^Geometry obj]
+  (let
+      [tris (triangles obj)
+       mesh (.getMesh obj)
+       
+    
+  )
+
+
 
 ;; for each triangle in the mesh,
 ;; get the normal to the triangle,
@@ -435,6 +461,7 @@
         uv-coord (partial uv-coord mesh)
         triangle-indices (partial triangle-indices mesh)
         receptors (touch-receptor-image obj)
+        tris (triangles obj)
         ]
     (map
      (fn [[tri-1 tri-2 tri-3]]
@@ -462,28 +489,19 @@
              ]
 
          (.setRoi receptors min-x min-y (- max-x min-x) (- max-y min-y))
-         (let [processor  (.crop (.getProcessor receptors))
-               image (frame (.getBufferedImage processor))]
-           (with-meta
-             (filter-keys
-              (fn [[x y]]
-                (inside-triangle?
-                 (.subtract image-1 left-corner)
-                 (.subtract image-2 left-corner)
-                 (.subtract image-3 left-corner)
-                 (Vector2f. x y)))
-              
-              
-              (filter-vals white? image))
-             {:image
-              (comment
-                (.getBufferedImage
-                 (doto processor
-                   (.flipVertical))))
-               }
-           ))
+         (let [processor  (.crop (.getProcessor receptors))]
+           (map
+            #(.add left-corner %)
+            
+            (filter 
+             (partial
+              inside-triangle?
+              (.subtract image-1 left-corner)
+              (.subtract image-2 left-corner)
+              (.subtract image-3 left-corner))
+             (white-coordinates processor))))
          )) (map triangle-indices (range num-triangles)))))
-    
+