# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1327046866 25200
# Node ID 947bef5d6670bdce0e1fe35e970fc5b419bee544
# Parent  247860e255365e93e05253dc42d902381b9ea608
working on eye-following camera

diff -r 247860e25536 -r 947bef5d6670 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 247860e25536 -r 947bef5d6670 org/test-creature.org
--- a/org/test-creature.org	Thu Jan 19 22:26:16 2012 -0700
+++ b/org/test-creature.org	Fri Jan 20 01:07:46 2012 -0700
@@ -180,8 +180,6 @@
   "Return the two closest two objects to the joint object, ordered
   from bottom to top according to the joint's rotation."
   [#^Node parts #^Node joint]
-  ;;(println (meta-data joint "joint"))
-  (.getWorldRotation joint)
   (loop [radius (float 0.01)]
     (let [results (CollisionResults.)]
       (.collideWith
@@ -347,14 +345,7 @@
     joints))
   pieces)
 
-(defn blender-creature [blender-path]
-  (let [model (load-blender-model blender-path)
-        joints
-        (if-let [joint-node (.getChild model "joints")]
-          (seq (.getChildren joint-node))
-          (do (println-repl "could not find joints node")
-              []))]
-  (assemble-creature model joints)))
+(declare blender-creature)
 
 (def hand "Models/creature1/one.blend")
 
@@ -650,18 +641,14 @@
       (read-string
        eye-map))))
 
+(defn creature-eyes
+  "The eye nodes which are children of the \"eyes\" node in the
+  creature."
+  [#^Node creature]
+  (if-let [eye-node (.getChild creature "eyes")]
+    (seq (.getChildren eye-node))
+    (do (println-repl "could not find eyes node") [])))
 
-(defn enable-vision
-
-  ;; need to create a camera based on uv image,
-  ;; update this camera every frame based on the position of this
-  ;; geometry. (maybe can get cam to follow the object)
-
-  ;; use a stack for the continuation to grab the image.
-  
-
-  [#^Geometry eye]
-  
 
   ;; Here's how vision will work.
 
@@ -698,10 +685,62 @@
   ;; eye, and will be moved by it's bound geometry. The dimensions of
   ;; the eye's camera are equal to the dimensions of the eye's "UV"
   ;; map. 
+
+(defn eye-target
+  "The closest object in creature to eye."
+  [#^Node creature #^Node eye]
+  (loop [radius (float 0.01)]
+    (let [results (CollisionResults.)]
+      (.collideWith
+       creature
+       (BoundingBox. (.getWorldTranslation eye)
+                     radius radius radius)
+       results)
+      (if-let [target (first results)]
+        (.getGeometry target)
+        (recur (float (* 2 radius)))))))
+
+(defn attach-eyes
+  "For each eye in the creature, attach a CameraNode to the appropiate
+   area and return the Camera."
+  [#^Node creature]
+  (for [eye (creature-eyes creature)]
+    (let [target (eye-target creature eye)]
+      (CameraNode
+)
+  
+(defn vision
+
+  ;; need to create a camera based on uv image,
+  ;; update this camera every frame based on the position of this
+  ;; geometry. (maybe can get cam to follow the object)
+
+  ;; use a stack for the continuation to grab the image.
+  
+
+  [#^Geometry eye]
+  
+
   
 
 )
 
+
+(defn blender-creature
+  "Return a creature with all joints in place."
+  [blender-path]
+  (let [model (load-blender-model blender-path)
+        joints
+        (if-let [joint-node (.getChild model "joints")]
+          (seq (.getChildren joint-node))
+          (do (println-repl "could not find joints node") []))]
+  (assemble-creature model joints)))
+
+
+
+
+
+
 (defn debug-window
   "creates function that offers a debug view of sensor data"
   []
@@ -823,9 +862,63 @@
     
 ))
    
+
+;; the camera will stay in its initial position/rotation with relation
+;; to the spatial.
+
+(defn bind-camera [#^Spatial obj #^Camera cam]
+  (let [cam-offset (.subtract (.getLocation cam)
+                              (.getWorldTranslation obj))
+        initial-cam-rotation (.getRotation cam)
+        base-anti-rotation (.inverse (.getWorldRotation obj))]
+    (.addControl
+     obj
+     (proxy [AbstractControl] []
+       (controlUpdate [tpf]
+         (let [total-rotation
+               (.mult base-anti-rotation (.getWorldRotation obj))]
+                          
+         (.setLocation cam
+                       (.add
+                        (.mult total-rotation cam-offset)
+                        (.getWorldTranslation obj)))
+         (.setRotation cam
+                       initial-cam-rotation)
+                       ;;(.mult total-rotation initial-cam-rotation)
+                       
+         ))
+
+       (controlRender [_ _])))))
     
-                         
-  
+
+
+(defn follow-test []
+  (let [camera-pos (Vector3f. 0 30 0)
+        rock (box 1 1 1 :color ColorRGBA/Blue
+                     :position (Vector3f. 0 10 0)
+                     :mass 30
+                     )
+        
+        table (box 3 1 10 :color ColorRGBA/Gray :mass 0
+                   :position (Vector3f. 0 -3 0))]
+
+    (world
+     (nodify [rock table])
+             standard-debug-controls
+             (fn [world]
+               (let 
+                   [cam (doto (.clone (.getCamera world))
+                          (.setLocation camera-pos)
+                          (.lookAt Vector3f/ZERO
+                                   Vector3f/UNIT_X))]
+                 (bind-camera rock cam)
+                 
+                 (.setTimer world (RatchetTimer. 60))
+                 (add-eye world cam (comp (view-image) BufferedImage!))
+                 (add-eye world (.getCamera world) no-op))
+               )
+             no-op)))
+       
 #+end_src
 
 #+results: body-1