# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1321341886 25200
# Node ID bb24106cbd6a5c8fe0200c46f1d69cf99ec1187e
# Parent  00d0e1639d4bc9e12be69ae237f70950c0391745
many problems solved by tightening up the vertex groups in the blender model

diff -r 00d0e1639d4b -r bb24106cbd6a assets/Models/anim2/worm3.blend
Binary file assets/Models/anim2/worm3.blend has changed
diff -r 00d0e1639d4b -r bb24106cbd6a org/body.org
--- a/org/body.org	Mon Nov 14 21:30:23 2011 -0700
+++ b/org/body.org	Tue Nov 15 00:24:46 2011 -0700
@@ -5,7 +5,7 @@
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 
-* Body  
+* COMMENT Body  
 
 #+srcname: body-main
 #+begin_src clojure 
@@ -112,30 +112,13 @@
   for AI control with movement and proprioception."
   [node]
   (let [skeleton-control (.getControl node SkeletonControl)
-        krc (KinematicRagdollControl. (float 0.5))]
+        krc (KinematicRagdollControl.)]
+    (comment
     (dorun
      (map #(.addBoneName krc %)
-          ["mid1" "mid2" "mid3" "tail" "head"]
-        ;; ["Ulna.L"
-        ;;  "Ulna.R"
-        ;;  "Chest"
-        ;;  "Foot.L"
-        ;;  "Foot.R"
-        ;;  "Hand.R"
-        ;;  "Hand.L"
-        ;;  "Neck"
-        ;;  "Root"
-        ;;  "Stomach"
-        ;;  "Waist"
-        ;;  "Humerus.L"
-        ;;  "Humerus.R"
-        ;;  "Thigh.L"
-        ;;  "Thigh.R"
-        ;;  "Calf.L"
-        ;;  "Calf.R"
-        ;;  "Clavicle.L"
-        ;;  "Clavicle.R"]
-        ))
+          ["mid2" "tail" "head" "mid1" "mid3" "mid4" "Dummy-Root" ""]
+           ;;"mid2" "mid3" "tail" "head"]
+        )))
 
 
     
@@ -152,21 +135,16 @@
     (-> (.getAdditionalRenderState)
         (.setDepthTest false))))
 
-(defn view-skeleton [node]
+(defn show-skeleton [node]
   (let [sd
 
         (doto
             (SkeletonDebugger. "aurellem-skel-debug"
                                (skel node))
           (.setMaterial (green-x-ray)))]
-    (view (doto (Node. "view node")
-            (.attachChild sd)
+    (.attachChild node sd)
+    node))
 
-             
-             
-             
-             ;;(.attachChild node)
-             ))))
   
 
 (defn init-debug-skel-node
@@ -193,13 +171,40 @@
 
 (import jme3test.bullet.PhysicsTestHelper)
 
+
+(defn test-zzz [the-worm world value]
+  (if (not value)
+    (let [skeleton (skel the-worm)]
+      (println-repl "enabling bones")
+      (dorun
+       (map
+        #(.setUserControl (.getBone skeleton %) true)
+        (range (.getBoneCount skeleton))))
+
+
+      (let [b (.getBone skeleton 6)]
+        (println-repl "moving " (.getName b))
+        (println-repl (.getLocalPosition b))
+        (.setUserTransforms b
+                            (.add (.getLocalPosition b) Vector3f/UNIT_X)
+                            Quaternion/IDENTITY
+                            (Vector3f. 1 1 1))
+
+        )
+      
+
+      
+      (println-repl "hi! <3"))))
+
+
 (defn test-ragdoll []
   
   (let [the-worm
-        (body
+        
          ;;(.loadModel (asset-manager) "Models/anim2/Cube.mesh.xml")
-         ;;(worm-blender)
-         (worm)
+         (doto (show-skeleton (worm-blender))
+           (.setLocalTranslation (Vector3f. 0 10 0))
+         ;;(worm)
          ;;(oto)
          ;;(sinbad)
         )
@@ -210,7 +215,9 @@
      (world
       (doto (Node.)
         (.attachChild the-worm))
-      {"mouse-left" (fire-cannon-ball)}
+      {"key-return" (fire-cannon-ball)
+       "key-space" (partial test-zzz the-worm)
+       }
       (fn [world]
         (light-up-everything world)
         (PhysicsTestHelper/createPhysicsTestWorld
@@ -218,6 +225,7 @@
          (asset-manager)
          (.getPhysicsSpace
           (.getState (.getStateManager world) BulletAppState)))
+        (set-gravity world Vector3f/ZERO)
         ;;(.setTimer world (NanoTimer.))
         ;;(org.lwjgl.input.Mouse/setGrabbed false)
         )