# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1396061474 14400
# Node ID ba54df21fc7c4725ba77536769fc2099a993640f
# Parent  5a15611fbb9fd98961d24ad93416f1aacbe6e9d3
complete first draft of touch.

diff -r 5a15611fbb9f -r ba54df21fc7c thesis/cortex.org
--- a/thesis/cortex.org	Fri Mar 28 22:09:03 2014 -0400
+++ b/thesis/cortex.org	Fri Mar 28 22:51:14 2014 -0400
@@ -1554,7 +1554,7 @@
     jMonkeyEngine3 community and is used to record audio for demo
     videos.
 
-** Touch uses hundreds of hair-like elements
+** COMMENT Touch uses hundreds of hair-like elements
 
    Touch is critical to navigation and spatial reasoning and as such I
    need a simulated version of it to give to my AI creatures.
@@ -1588,7 +1588,7 @@
    of the feelers is determined by a UV-mapped image which shows where
    each feeler should be on the 3D surface of the body.
 
-*** COMMENT Defining Touch Meta-Data in Blender
+*** Defining Touch Meta-Data in Blender
 
     Each geometry can have a single UV map which describes the
     position of the feelers which will constitute its sense of touch.
@@ -1602,6 +1602,7 @@
     #+caption: creature's body is sufficient.
     #+name: touch-meta-data
     #+begin_listing clojure
+    #+BEGIN_SRC  clojure
 (defn tactile-sensor-profile
   "Return the touch-sensor distribution image in BufferedImage format,
    or nil if it does not exist."
@@ -1615,21 +1616,21 @@
   [#^Geometry obj]
   (if-let [scale (meta-data obj "scale")]
     scale 0.1))
+    #+END_SRC
     #+end_listing
 
     Here is an example of a UV-map which specifies the position of
     touch sensors along the surface of the upper segment of a fingertip.
 
-
     #+caption: This is the tactile-sensor-profile for the upper segment 
     #+caption: of a fingertip. It defines regions of high touch sensitivity 
     #+caption: (where there are many white pixels) and regions of low 
     #+caption: sensitivity (where white pixels are sparse).
     #+name: fimgertip-UV
-    #+ATTR_LaTeX: :width 10cm
-    [[../images/finger-UV.png]]
+    #+ATTR_LaTeX: :width 13cm
+    [[./images/finger-UV.png]]
 
-*** COMMENT Implementation Summary
+*** Implementation Summary
   
     To simulate touch there are three conceptual steps. For each solid
     object in the creature, you first have to get UV image and scale
@@ -1657,7 +1658,7 @@
       normalized coordinates of the tips of the feelers.
       (=feeler-tips=).
 
-*** COMMENT Triangle Math
+*** Triangle Math
 
     The rigid objects which make up a creature have an underlying
     =Geometry=, which is a =Mesh= plus a =Material= and other
@@ -1675,6 +1676,7 @@
     #+caption: their verticies in both world and UV-coordinates.
     #+name: get-triangles
     #+begin_listing clojure
+    #+BEGIN_SRC clojure
 (defn triangle
   "Get the triangle specified by triangle-index from the mesh."
   [#^Geometry geo triangle-index]
@@ -1723,6 +1725,7 @@
         width (.getWidth image)]
     (map (partial pixel-triangle geo image)
          (range (.getTriangleCount (.getMesh geo))))))
+    #+END_SRC
     #+end_listing
     
 *** The Affine Transform from one Triangle to Another
@@ -1796,7 +1799,7 @@
     #+END_SRC
     #+end_listing
 
-*** COMMENT Triangle Boundaries
+*** Triangle Boundaries
   
 For efficiency's sake I will divide the tactile-profile image into
 small squares which inscribe each pixel-triangle, then extract the
@@ -1847,7 +1850,7 @@
     #+END_SRC
     #+end_listing
 
-*** COMMENT Feeler Coordinates
+*** Feeler Coordinates
 
     The triangle-related functions above make short work of
     calculating the positions and orientations of each feeler in
@@ -1919,7 +1922,7 @@
     #+END_SRC
     #+end_listing
 
-*** COMMENT Simulated Touch
+*** Simulated Touch
 
     Now that the functions to construct feelers are complete,
     =touch-kernel= generates functions to be called from within a