# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329138362 25200
# Node ID 95a9f6f1cb823afd5d2d6040eedfbd9f21a4b2fb
# Parent 267add63b1685c9a003f2437fa770b36b2fff4dd
added touch-cube and fixed some problems with touch which it flushed out
diff -r 267add63b168 -r 95a9f6f1cb82 assets/Models/test-touch/touch-cube.blend
Binary file assets/Models/test-touch/touch-cube.blend has changed
diff -r 267add63b168 -r 95a9f6f1cb82 assets/Models/test-touch/touch-guide.png
Binary file assets/Models/test-touch/touch-guide.png has changed
diff -r 267add63b168 -r 95a9f6f1cb82 assets/Models/test-touch/touch-profile.png
Binary file assets/Models/test-touch/touch-profile.png has changed
diff -r 267add63b168 -r 95a9f6f1cb82 assets/Models/test-touch/touch-profile.xcf
Binary file assets/Models/test-touch/touch-profile.xcf has changed
diff -r 267add63b168 -r 95a9f6f1cb82 images/touch-cube-1.png
Binary file images/touch-cube-1.png has changed
diff -r 267add63b168 -r 95a9f6f1cb82 images/touch-profile.png
Binary file images/touch-profile.png has changed
diff -r 267add63b168 -r 95a9f6f1cb82 org/ideas.org
--- a/org/ideas.org Sun Feb 12 16:00:31 2012 -0700
+++ b/org/ideas.org Mon Feb 13 06:06:02 2012 -0700
@@ -75,6 +75,7 @@
- [ ] fix videos that were encoded wrong, test on InterNet Explorer.
- [ ] redo videos vision with new collapse code
- [ ] find a topology that looks good. (maybe nil topology?)
+ - [ ] fix red part of touch cube in video and image
- [ ] write summary of project for Winston \
- [ ] project proposals for Winston \
- [ ] additional senses to be implemented for Winston | -- 2 days
diff -r 267add63b168 -r 95a9f6f1cb82 org/touch.org
--- a/org/touch.org Sun Feb 12 16:00:31 2012 -0700
+++ b/org/touch.org Mon Feb 13 06:06:02 2012 -0700
@@ -383,10 +383,13 @@
;; Doing everything locally recduces garbage collection by enough to
;; be worth it.
(.mult transform origin (.getOrigin ray))
-
(.mult transform tip (.getDirection ray))
- (.subtractLocal (.getDirection ray) (.getOrigin ray)))
+ (.subtractLocal (.getDirection ray) (.getOrigin ray))
+ (.normalizeLocal (.getDirection ray)))
+(import com.jme3.math.FastMath)
+
+
(defn touch-kernel
"Constructs a function which will return tactile sensory data from
'geo when called from inside a running simulation"
@@ -397,7 +400,15 @@
ray-reference-tips (feeler-tips geo profile)
ray-length (tactile-scale geo)
current-rays (map (fn [_] (Ray.)) ray-reference-origins)
- topology (touch-topology geo profile)]
+ topology (touch-topology geo profile)
+ correction (float (* ray-length -0.2))]
+
+ ;; slight tolerance for very close collisions.
+ (dorun
+ (map (fn [origin tip]
+ (.addLocal origin (.mult (.subtract tip origin)
+ correction)))
+ ray-reference-origins ray-reference-tips))
(dorun (map #(.setLimit % ray-length) current-rays))
(fn [node]
(let [transform (.getWorldMatrix geo)]
@@ -415,11 +426,20 @@
(.collideWith node ray results)
(let [touch-objects
(filter #(not (= geo (.getGeometry %)))
- results)]
+ results)
+ limit (.getLimit ray)]
[(if (empty? touch-objects)
- (.getLimit ray)
- (.getDistance (first touch-objects)))
- (.getLimit ray)])))))))))))
+ limit
+ (let [response
+ (apply min (map #(.getDistance %)
+ touch-objects))]
+ (FastMath/clamp
+ (float
+ (if (> response limit) 0.0
+ (+ response correction)))
+ (float 0.0)
+ limit)))
+ limit])))))))))))
(defn touch!
"Endow the creature with the sense of touch. Returns a sequence of
@@ -433,8 +453,18 @@
(node-seq creature)))))
#+end_src
+#+results: kernel
+: #'cortex.touch/touch!
+
* Visualizing Touch
+Each feeler is represented in the image as a single pixel. The
+grayscale value of each pixel represents how deep the feeler
+represented by that pixel is inside another object. Black means that
+nothing is touching the feeler, while white means that the feeler is
+completely inside another object, which is presumably flush with the
+surface of the triangle from which the feeler originates.
+
#+name: visualization
#+begin_src clojure
(in-ns 'cortex.touch)
@@ -453,9 +483,80 @@
(let [image (points->image coords)]
(dorun
(for [i (range (count coords))]
- (.setRGB image ((coords i) 0) ((coords i) 1)
- (apply touch->gray (sensor-data i))))) image))))
+ (do
+ (if (= i 500) (println-repl (sensor-data i)))
+
+ (comment
+ (.setRGB image ((coords i) 0) ((coords i) 1)
+ (apply touch->gray (sensor-data i)))))))
+ image))))
#+end_src
+
+#+results: visualization
+: #'cortex.touch/view-touch
+
+* COMMENT Basic Test of Touch
+
+The worm's sense of touch is a bit complicated, so for this basic test
+I'll use a new creature --- a simple cube which has touch sensors
+evenly distributed along each of its sides.
+
+#+begin_src clojure
+(in-ns 'cortex.test.touch)
+
+(defn touch-cube []
+ (load-blender-model "Models/test-touch/touch-cube.blend"))
+#+end_src
+
+#+begin_html
+<br>
+#+end_html
+
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="500">
+ <source src="../video/touch-cube.ogg" type="video/ogg"
+ preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>A simple creature with evenly distributed touch sensors.</p>
+</div>
+#+end_html
+
+The tactile-sensor-profile image for this simple creature looks like
+this:
+
+#+attr_html: width=500
+#+caption: The distribution of feelers along the touch-cube. The colors of the faces are irrelevant; only the white pixels specify feelers.
+[[../images/touch-profile.png]]
+
+#+begin_src clojure
+(in-ns 'cortex.test.touch)
+
+(defn test-basic-touch
+ ([] (test-basic-touch false))
+ ([record?]
+ (let [the-cube (doto (touch-cube) (body!))
+ touch (touch! the-cube)
+ touch-display (view-touch)]
+ (world (nodify [the-cube
+ (box 10 1 10 :position (Vector3f. 0 -10 0)
+ :color ColorRGBA/Gray :mass 0)])
+
+ standard-debug-controls
+
+ (fn [world]
+ (speed-up world)
+ (light-up-everything world))
+
+ (fn [world tpf]
+ (touch-display
+ (map #(% (.getRootNode world)) touch)))))))
+
+
+#+end_src
+
* Adding Touch to the Worm
#+name: test-touch