# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328175022 25200
# Node ID d0f4b473ab4f7b50bc4dae49d8544d71d9b30d03
# Parent  ccd057319c2aa47d551f8f135dbed63937e557c4
debugging worm proprioception

diff -r ccd057319c2a -r d0f4b473ab4f assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r ccd057319c2a -r d0f4b473ab4f org/test-creature.org
--- a/org/test-creature.org	Thu Feb 02 02:03:19 2012 -0700
+++ b/org/test-creature.org	Thu Feb 02 02:30:22 2012 -0700
@@ -1156,66 +1156,75 @@
         ;; dream
 
         ]
-  (world
-   (nodify [creature
-            (box 10 2 10 :position (Vector3f. 0 -9 0)
-                 :color ColorRGBA/Gray :mass 0)
-            x-axis y-axis z-axis
-            me
-            ])
-   (merge standard-debug-controls
-          {"key-return"
-           (fn [_ value]
-             (if value
-               (do
-                 (println-repl "play-sound")
-                 (.play bell))))})
-   (fn [world]
-     (light-up-everything world)
-     (enable-debug world)
-     (dorun (map #(% world) init-vision-fns))
-     (dorun (map #(% world) init-hearing-fns))
-     
-     (add-eye world
-              (attach-eye creature (test-eye))
-              (comp (view-image) BufferedImage!))
-     
-     (add-eye world (.getCamera world) no-op)
-     ;;(set-gravity world (Vector3f. 0 0 0))
-     ;;(com.aurellem.capture.Capture/captureVideo
-     ;; world (file-str "/home/r/proj/ai-videos/hand"))
-     ;;(.setTimer world (RatchetTimer. 60))
-     (speed-up world)
-     ;;(set-gravity world (Vector3f. 0 0 0))
-     )
-   (fn [world tpf]
-     ;;(dorun 
-     ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
-     
-     (prop-debug (prop))
-     
-     (dorun
-      (map #(%1 (%2 (.getRootNode world)))
-           touch-debug-windows touch-nerves))
-     
-     (dorun
-      (map #(%1 (%2))
-           vision-debug vision-data))
-     (dorun
-      (map #(%1 (%2)) hearing-windows hearing-senses))
-     
-     
-     ;;(println-repl (vision-data))
-     (.setLocalTranslation me (.getLocation (.getCamera world)))
-     
-
-     )
+    
+    
+    (apply
+     world
+     (with-movement
+       (.getChild creature "worm-21")
+       ["key-r" "key-t"
+        "key-f" "key-g"
+        "key-v" "key-b"]
+       [10 10 10 10 1 1]
+       [(nodify [creature
+                 (box 10 2 10 :position (Vector3f. 0 -9 0)
+                      :color ColorRGBA/Gray :mass 0)
+                 x-axis y-axis z-axis
+                 me
+                 ])
+        (merge standard-debug-controls
+               {"key-return"
+                (fn [_ value]
+                  (if value
+                    (do
+                      (println-repl "play-sound")
+                      (.play bell))))})
+        (fn [world]
+          (light-up-everything world)
+          (enable-debug world)
+          (dorun (map #(% world) init-vision-fns))
+          (dorun (map #(% world) init-hearing-fns))
+          
+          (add-eye world
+                   (attach-eye creature (test-eye))
+                   (comp (view-image) BufferedImage!))
+          
+          (add-eye world (.getCamera world) no-op)
+          (set-gravity world (Vector3f. 0 0 0))
+          ;;(com.aurellem.capture.Capture/captureVideo
+          ;; world (file-str "/home/r/proj/ai-videos/hand"))
+          ;;(.setTimer world (RatchetTimer. 60))
+          (speed-up world)
+          ;;(set-gravity world (Vector3f. 0 0 0))
+          )
+        (fn [world tpf]
+          ;;(dorun 
+          ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
+          
+          (prop-debug (prop))
+          
+          (dorun
+           (map #(%1 (%2 (.getRootNode world)))
+                touch-debug-windows touch-nerves))
+          
+          (dorun
+           (map #(%1 (%2))
+                vision-debug vision-data))
+          (dorun
+           (map #(%1 (%2)) hearing-windows hearing-senses))
+          
+          
+          ;;(println-repl (vision-data))
+          (.setLocalTranslation me (.getLocation (.getCamera world)))
+          
+          
+          )]
    ;;(let [timer (atom 0)]
    ;;  (fn [_ _]
    ;;    (swap! timer inc)
    ;;    (if (= (rem @timer 60) 0)
    ;;      (println-repl (float (/ @timer 60))))))
-   )))
+   ))))