# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1326599053 25200
# Node ID 7eeb940bcbc84f3b4e3c12a8b984c37443a22488
# Parent  65332841b7d94f69906282bf3b8c6d81b4114a7e
data format for touch implemented

diff -r 65332841b7d9 -r 7eeb940bcbc8 org/test-creature.org
--- a/org/test-creature.org	Sat Jan 14 04:28:37 2012 -0700
+++ b/org/test-creature.org	Sat Jan 14 20:44:13 2012 -0700
@@ -97,6 +97,9 @@
 (defn points->image
   "Take a sparse collection of points and visuliaze it as a
    BufferedImage."
+
+  ;; TODO maybe parallelize this since it's easy
+
   [points]
   (let [xs (vec (map first points))
         ys (vec (map second points))
@@ -112,16 +115,11 @@
 
     image))
 
-  
-  
-
-;;(defn visualize [points]
-  
 (defn test-data
   []
   (vec
-   (for [a (range 0 100 2)
-         b (range 0 100 2)]
+   (for [a (range 0 1000 2)
+         b (range 0 1000 2)]
      (vector a b))
   ))
 
@@ -145,8 +143,8 @@
   (let
       [num-points (count points)
        center (vector
-               (average (map first points))
-               (average (map first points)))
+               (int (average (map first points)))
+               (int (average (map first points))))
        flattened
        (reduce
         concat 
@@ -166,19 +164,31 @@
                 (collapse-1d (first center)
                              (map first row))
                 (map second row)))
-         (partition-by second (sort-by second flattened))))]
-   squeezed
+         (partition-by second (sort-by second flattened))))
+       ;;vi (view-image)
+       relocate
+       (let [min-x (apply min (map first squeezed))
+             min-y (apply min (map second squeezed))]
+         (map (fn [[x y]]
+                [(- x min-x)
+                 (- y min-y)])
+              squeezed))
+       ]
+    ;;(vi (points->image points))
+    ;;(Thread/sleep 1000)
+    ;;(vi (points->image flattened))
+    ;;(Thread/sleep 1000)
+    ;;(vi (points->image squeezed))
+    relocate
    ))
-        
-
 
 (defn load-bullet []
   (let [sim (world (Node.) {} no-op no-op)]
-    (.enqueue
-     sim
-     (fn []
-       (.stop sim)))
-    (.start sim)))
+    (doto sim
+      (.enqueue
+       (fn []
+         (.stop sim)))
+      (.start))))
 
 (defn load-blender-model
   "Load a .blend file using an asset folder relative path."
@@ -536,14 +546,16 @@
   [#^ImageProcessor ip]
   (filter-pixels #(= % white) ip))
   
-(defn same-side? [p1 p2 ref p]
+(defn same-side?
+  "Given the points p1 and p2 and the reference point ref, is point p
+  on the same side of the line that goes through p1 and p2 as ref is?" 
+  [p1 p2 ref p]
   (<=
    0
    (.dot 
     (.cross (.subtract p2 p1) (.subtract p p1))
     (.cross (.subtract p2 p1) (.subtract ref p1)))))
 
-
 (defn triangle->matrix4f
   "Converts the triangle into a 4x4 matrix of vertices: The first
    three columns contain the vertices of the triangle; the last
@@ -555,7 +567,6 @@
         ((comp vec map) #(.get t %) (range 3))
         unit-normal (do (.calculateNormal t)(.getNormal t))
         vertices [vert-1 vert-2 vert-3 unit-normal]]
-
     (dorun 
      (for [row (range 4) col (range 3)]
        (do
@@ -585,14 +596,12 @@
 (defn vector2f->vector3f [v]
   (Vector3f. (.getX v) (.getY v) 0))
 
-
 (extend-type Triangle
   Textual
   (text [t]
     (println "Triangle: " \newline (.get1 t) \newline
              (.get2 t) \newline (.get3 t))))
 
-
 (defn map-triangle [f #^Triangle tri]
   (Triangle.
    (f 0 (.get1 tri))
@@ -625,7 +634,7 @@
               (tri-uv-coord mesh tri))))
 
 (defn pixel-triangle
-  "Convert the mesh triange into the corresponding triangle in
+  "Convert the mesh triangle into the corresponding triangle in
   UV-pixel-space. Z compenent will be zero."
   [#^Mesh mesh #^Triangle tri width height]
   (map-triangle (fn [_ v]
@@ -645,7 +654,6 @@
   (let [verts (map vector3f-seq (triangle-seq tri))
         x (apply min (map first verts))
         y (apply min (map second verts))]
-
     [x y 
      (- (apply max (map first verts)) x)
      (- (apply max (map second verts)) y)
@@ -659,8 +667,7 @@
   (if-let [image (touch-receptor-image geo)]
     (let [mesh (.getMesh geo)
           tris (triangles geo)
-          
-          
+
           width (.getWidth image)
           height (.getHeight image)
           
@@ -692,7 +699,17 @@
                 (map #(.mult transform %) whites))))]
       (vec (map sensor-coords tris)))
     (repeat (count (triangles geo)) [])))
-  
+
+(use 'clojure.contrib.def)
+
+(defn-memo touch-topology [#^Gemoetry geo]
+  (let [feeler-coords
+        (map
+         #(vector (int (.getX %)) (int (.getY %)))
+         (white-coordinates
+          (.getProcessor (touch-receptor-image (colorful)))))]
+    (vec (collapse feeler-coords))))
+
 (defn enable-touch [#^Geometry geo]
   (let [feeler-coords (locate-feelers geo)
         tris (triangles geo)
@@ -711,24 +728,25 @@
                      (map #(doto (Ray. % norm)
                               (.setLimit limit)) origins))
                    sensor-origins triangle-normals))]
-        (for [ray rays]
-          (do
-            (let [results (CollisionResults.)]
-              (.collideWith node ray results)
-              (let [touch-objects
-                    (set
-                     (filter #(not (= geo %))
-                             (map #(.getGeometry %) results)))]
-                (if (> (count touch-objects) 0)
-                  1 0)))))))))
+        (vector
+         (touch-topology geo)
+         (vec
+          (for [ray rays]
+            (do
+              (let [results (CollisionResults.)]
+                (.collideWith node ray results)
+                (let [touch-objects
+                      (set
+                       (filter #(not (= geo %))
+                               (map #(.getGeometry %) results)))]
+                  (if (> (count touch-objects) 0)
+                    1 0)))))))))))
 
 (defn touch [#^Node pieces]
-  (let [touch-components
-        (map enable-touch
-             (filter #(isa? (class %) Geometry)
-                     (node-seq pieces)))]
-    (fn [node]
-      (reduce into [] (map #(% node) touch-components))))) 
+  (map enable-touch
+       (filter #(isa? (class %) Geometry)
+               (node-seq pieces))))
+
     
 (defn all-names []
   (concat 
@@ -910,9 +928,7 @@
                   ;; translate pixel coordinates to world-space
                   transform (triangle-transformation cutout-tri tri)]
               (map #(.mult transform %) whites))))]
-
-
-      
+     
     (for [mesh-tri mesh-tris]
      
       (let [uv-tri (rasterize mesh mesh-tri width height)