# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328276017 25200
# Node ID 811127d79d24b9637d2311fedf9c41e5f05d7be6
# Parent  84c67be00abe4d37a51a9b5156c7d132d83d7b6f
refactored muscles

diff -r 84c67be00abe -r 811127d79d24 org/movement.org
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/org/movement.org	Fri Feb 03 06:33:37 2012 -0700
@@ -0,0 +1,98 @@
+#+title: Movement!
+#+author: Robert McIntyre
+#+email: rlm@mit.edu
+#+description: muscles for a simulated creature
+#+keywords: simulation, jMonkeyEngine3, clojure
+#+SETUPFILE: ../../aurellem/org/setup.org
+#+INCLUDE: ../../aurellem/org/level-0.org
+
+#+name: movement
+#+begin_src clojure 
+(ns cortex.movement
+  (:use (cortex world util sense body))
+  (:import jme3tools.converters.ImageToAwt)
+  (:import java.awt.image.BufferedImage))
+
+(cortex.import/mega-import-jme3)
+
+
+
+
+;; here's how motor-control/ proprioception will work: Each muscle is
+;; defined by a 1-D array of numbers (the "motor pool") each of which
+;; represent muscle fibers. A muscle also has a scalar :strength
+;; factor which determines how strong the muscle as a whole is.
+;; The effector function for a muscle takes a number < (count
+;; motor-pool) and that number is said to "activate" all the muscle
+;; fibers whose index is lower than the number.  Each fiber will apply
+;; force in proportion to its value in the array.  Lower values cause
+;; less force.  The lower values can be put at the "beginning" of the
+;; 1-D array to simulate the layout of actual human muscles, which are
+;; capable of more percise movements when exerting less force.
+
+;; I don't know how to encode proprioception, so for now, just return
+;; a function for each joint that returns a triplet of floats which
+;; represent relative roll, pitch, and yaw.  Write display code for
+;; this though.
+
+(defn muscle-fiber-values
+  "get motor pool strengths"
+  [#^BufferedImage image]
+  (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 (.mult axis (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))))
+
+
+#+end_src
+
+
+
+
+
+* COMMENT code generation
+#+begin_src clojure :tangle ../src/cortex/movement.clj
+<<movement>>
+#+end_src
diff -r 84c67be00abe -r 811127d79d24 org/test-creature.org
--- a/org/test-creature.org	Fri Feb 03 06:21:39 2012 -0700
+++ b/org/test-creature.org	Fri Feb 03 06:33:37 2012 -0700
@@ -38,7 +38,7 @@
 the connecting here in clojure code, using the names of the individual
 components and trial and error. Later, I'll maybe make some sort of
 creature-building modifications to blender that support whatever
-discreitized senses I'm going to make.
+discritized senses I'm going to make.
 
 #+name: body-1
 #+begin_src clojure 
@@ -49,7 +49,8 @@
 ;; TODO remove this!
 (require 'cortex.import)
 (cortex.import/mega-import-jme3)
-(use '(cortex world util body hearing touch vision sense proprioception))
+(use '(cortex world util body hearing touch vision sense
+proprioception movement))
 
 (rlm.rlm-commands/help)
 (import java.awt.image.BufferedImage)
@@ -421,72 +422,6 @@
 
 
 
-;; here's how motor-control/ proprioception will work: Each muscle is
-;; defined by a 1-D array of numbers (the "motor pool") each of which
-;; represent muscle fibers. A muscle also has a scalar :strength
-;; factor which determines how strong the muscle as a whole is.
-;; The effector function for a muscle takes a number < (count
-;; motor-pool) and that number is said to "activate" all the muscle
-;; fibers whose index is lower than the number.  Each fiber will apply
-;; force in proportion to its value in the array.  Lower values cause
-;; less force.  The lower values can be put at the "beginning" of the
-;; 1-D array to simulate the layout of actual human muscles, which are
-;; capable of more percise movements when exerting less force.
-
-;; I don't know how to encode proprioception, so for now, just return
-;; a function for each joint that returns a triplet of floats which
-;; represent relative roll, pitch, and yaw.  Write display code for
-;; this though.
-
-(defn muscle-fiber-values
-  "get motor pool strengths"
-  [#^BufferedImage image]
-  (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 (.mult axis (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