# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1319358440 25200
# Node ID 7d0c0282c3a75e848826a4edb70d29bbe62e8ac0
# Parent  522cf85fdb571cb28fac0f18271fc702af9b89e7
got positioning right, but there is still a problem

diff -r 522cf85fdb57 -r 7d0c0282c3a7 org/skin.org
--- a/org/skin.org	Sun Oct 23 00:59:22 2011 -0700
+++ b/org/skin.org	Sun Oct 23 01:27:20 2011 -0700
@@ -108,28 +108,26 @@
 
 (defn get-ray-direction
   [geom tri]
-  (let [new (Vector3f.)]
+  (let [n+c (Vector3f.)]
     (.calculateNormal tri)
-    
-    (.localToWorld geom (.getNormal tri) new)
-    (.subtract new (get-ray-origin geom tri))
-               
-    ;;Vector3f/UNIT_Y
+    (.calculateCenter tri)
+    (.localToWorld geom (.add (.getCenter tri) (.getNormal tri)) n+c)
+    (.subtract n+c (get-ray-origin geom tri))
     ))
   
 (defn ray-origin-debug
-  [ray]
+  [ray color]
   (make-shape
               (assoc base-shape
                 :shape (Sphere. 5 5 0.05)
                 :name "arrow"
-                :color ColorRGBA/Orange
+                :color color
                 :texture false
                 :physical? false
                 :position
                 (.getOrigin ray))))
 
-(defn ray-debug [ray]
+(defn ray-debug [ray color]
   (make-shape
    (assoc
        base-shape
@@ -160,28 +158,25 @@
 
 
 (defn collision-debug [node result]
-
   (println-repl "contact point: " (.getContactPoint result))
-
-
   )
 
 (defn touch-percieve [limit geom node debug-node]
   (let [normals  (normal-rays limit geom)]
     (.detachAllChildren debug-node)
-
-    
-    (println-repl "---------")
     (doall
      (for [ray normals]
        (do
          (let [results (CollisionResults.)]
-           (.attachChild debug-node (ray-debug ray))
-           (.attachChild debug-node (ray-origin-debug ray))
            (.collideWith geom ray results)
+           (let [color (contact-color (.size results))]
+             
+             (.attachChild debug-node (ray-debug ray color))
+             (.attachChild debug-node (ray-origin-debug ray color))
+           )
            
-            ;;(println-repl (.size results) "results for " ray)
-           ;;(doall (map (partial collision-debug node) results))
+           (println-repl (.size results) "results for " ray)
+           (doall (map (partial collision-debug node) results))
            (.size results)
            ))))))