# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328786109 25200
# Node ID d3a2abfac405763b0b1e97d5c4aa6d3b3b6592a9
# Parent  162b24a8271222948670a7d1e9fcecb9649e7423
fixed tangling in body.org, added dialated time HUD display in cortex.util

diff -r 162b24a82712 -r d3a2abfac405 assets/Models/test-creature/worm.blend
Binary file assets/Models/test-creature/worm.blend has changed
diff -r 162b24a82712 -r d3a2abfac405 org/body.org
--- a/org/body.org	Wed Feb 08 09:10:23 2012 -0700
+++ b/org/body.org	Thu Feb 09 04:15:09 2012 -0700
@@ -60,14 +60,8 @@
 
 If we load it directly into jMonkeyEngine, we get this:
 
-#+name: test-0
+#+name: test-1
 #+begin_src clojure
-(ns cortex.test.body
-  (:use (cortex world util body))
-  (:import (com.aurellem.capture Capture RatchetTimer)
-           (com.jme3.math Quaternion Vector3f)
-           java.io.File))
-
 (def hand-path "Models/test-creature/hand.blend")
 
 (defn hand [] (load-blender-model hand-path))
@@ -150,7 +144,7 @@
 CollisionShapes for each geometry with the mass specified in that
 geometry's meta-data.
 
-#+name: test-1
+#+name: test-2
 #+begin_src clojure 
 (in-ns 'cortex.test.body)
 
@@ -409,6 +403,7 @@
 Creating joints is now a matter applying =(connect)= to each joint
 node.
 
+#+name: joints-5
 #+begin_src clojure
 (defn joints!
   "Connect the solid parts of the creature with physical joints. The
@@ -427,21 +422,20 @@
 
 Now we can test the hand in all its glory.
 
+#+name: test-3
 #+begin_src clojure 
 (in-ns 'cortex.test.body)
 
 (def debug-control 
   {"key-h" (fn [world val]
              (if val (enable-debug world)))
-
-   "key-u" (fn [world _] (set-gravity world Vector3f/ZERO))
-   })
+   "key-u" (fn [world _] (set-gravity world Vector3f/ZERO))})
   
 (defn test-three []
   (world (nodify
           [(doto (hand)
-           (physical!)
-           (joints!) )
+             (physical!)
+             (joints!))
            (floor)])
          (merge standard-debug-controls debug-control
                 normal-gravity)
@@ -456,7 +450,6 @@
 =(physical!)= makes the hand solid, then =(joints!)= connects each
 piece together. 
 
-
 #+begin_html
 <div class="figure">
 <center>
@@ -478,7 +471,7 @@
 It is convienent to combine =(physical!)= and =(joints!)= into one
 function that completely creates the creature's physical body.
 
-#+name: joints-4
+#+name: joints-6
 #+begin_src clojure
 (defn body!
   "Endow the creature with a physical body connected with joints.  The
@@ -489,11 +482,55 @@
   (joints! creature))
 #+end_src
 
+* The Worm
+
+Going forward, I will use a model that is less complicated than the
+hand. It has two segments and one joint, and I call it the worm. All
+of the senses described in the following posts will be applied to this
+worm.
+
+#+name: test-4
+#+begin_src clojure 
+(in-ns 'cortex.test.body)
+
+(defn worm-1 []
+  (let [timer (RatchetTimer. 60)]
+    (world
+     (nodify
+      [(doto
+           (load-blender-model
+            "Models/test-creature/worm.blend")
+         (body!))
+       (floor)])
+     (merge standard-debug-controls debug-control)
+     #(do
+        (speed-up %)
+        (light-up-everything %)
+        (.setTimer % timer)
+        (cortex.util/display-dialated-time % timer)
+        (Capture/captureVideo
+         % (File. "/home/r/proj/cortex/render/body/4")))
+     no-op)))
+#+end_src
+
+#+begin_html
+<div class="figure">
+<center>
+<video controls="controls" width="640">
+  <source src="../video/worm-1.ogg" type="video/ogg"
+	  preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+</center>
+<p>This worm model will be the platform onto which future senses will
+be grafted.</p>
+</div>
+#+end_html
+
 * Bookkeeping
 
 Header; here for completeness.
 
-#+name: body-0
+#+name: body-header
 #+begin_src clojure
 (ns cortex.body
   "Assemble a physical creature using the definitions found in a
@@ -514,6 +551,16 @@
    com.jme3.bullet.collision.shapes.HullCollisionShape))
 #+end_src
 
+#+name: test-header
+#+begin_src clojure
+(ns cortex.test.body
+  (:use (cortex world util body))
+  (:import
+   (com.aurellem.capture Capture RatchetTimer)
+   (com.jme3.math Quaternion Vector3f ColorRGBA)
+   java.io.File))
+#+end_src
+
 * Source 
 
 Dylan -- I'll fill these in later
@@ -525,16 +572,6 @@
 
 #+name: test-body
 #+begin_src clojure
-(ns cortex.test.body
-  (:use (cortex world util body))
-  (:require cortex.silly)
-  (:import
-   com.jme3.math.Vector3f
-   com.jme3.math.ColorRGBA
-   com.jme3.bullet.joints.Point2PointJoint
-   com.jme3.bullet.control.RigidBodyControl
-   com.jme3.system.NanoTimer
-   com.jme3.math.Quaternion))
 
 (defn worm-segments
   "Create multiple evenly spaced box segments. They're fabulous!"
@@ -1253,11 +1290,21 @@
 
 * COMMENT generate Source
 #+begin_src clojure :tangle ../src/cortex/body.clj
-<<joints>>
+<<body-header>>
+<<body-1>>
+<<joints-2>>
+<<joints-3>>
+<<joints-4>>
+<<joints-5>>
+<<joints-6>>
 #+end_src
 
 #+begin_src clojure :tangle ../src/cortex/test/body.clj
-<<test-0>>
+<<test-header>>
+<<test-1>>
+<<test-2>>
+<<test-3>>
+<<test-4>>
 #+end_src  
 
 
diff -r 162b24a82712 -r d3a2abfac405 org/ideas.org
--- a/org/ideas.org	Wed Feb 08 09:10:23 2012 -0700
+++ b/org/ideas.org	Thu Feb 09 04:15:09 2012 -0700
@@ -64,7 +64,7 @@
 * goals
 
 ** have to get done before winston
- - [ ] write an explination for why greyscale bitmaps for senses is
+ - [X] write an explination for why greyscale bitmaps for senses is
        appropiate -- 1/2 day
  - [X] muscle control -- day
  - [X] proprioception sensor map in the style of the other senses -- day
@@ -90,36 +90,13 @@
 
 ** don't have to get done before winston
  - [ ] write tests for integration -- 3 days
- - [ ] usertime/gametime clock HUD display -- day 
+ - [X] usertime/gametime clock HUD display -- day 
  - [ ] find papers for each of the senses justifying my own
        representation -- week
  - [ ] show sensor maps in HUD display? -- 4 days
  - [ ] show sensor maps in AWT display? -- 2 days
  - [ ] add iteraterator constructs to Vector3f, Vector2f, etc.
 
-* refactoring objectives
- - [X] consistent, high-quality names
- - [X] joint-creation function in the style of others, kill blender-creature
- - [X] docstrings for every function
- - [X] common image-loading code
- - [X] refactor display/debug code
- - [X] refactor the "get the XX nodes functions"
-
-
-
-these are the sense-functions --- they each take a Node which
-repepsents the creature
-
-
- - [X] body!
- - [X] joints!
-
- - [X] touch!
- - [X] hearing!
- - [X] vision!
- - [X] proprioception!
- - [X] movement!
-
 
 ;;In the elder days of Art,
 ;;Builders wrought with greatest care
diff -r 162b24a82712 -r d3a2abfac405 org/util.org
--- a/org/util.org	Wed Feb 08 09:10:23 2012 -0700
+++ b/org/util.org	Thu Feb 09 04:15:09 2012 -0700
@@ -475,8 +475,26 @@
      intilization
      world-loop*]))
 
+(import com.jme3.font.BitmapText)
+(import com.jme3.scene.control.AbstractControl)
+(import com.aurellem.capture.IsoTimer)
 
-
+(defn display-dialated-time
+  "Shows the time as it is flowing in the simulation on a HUD display.
+   Useful for making videos."
+  [world timer]
+  (let [font (.loadFont (asset-manager) "Interface/Fonts/Default.fnt")
+        text (BitmapText. font false)]
+    (.setLocalTranslation text 300 (.getLineHeight text) 0)
+    (.addControl
+     text
+     (proxy [AbstractControl] []
+       (controlUpdate [tpf]
+         (.setText text (format
+                         "%.2f"
+                         (float (/ (.getTime timer) 1000)))))
+       (controlRender [_ _])))
+    (.attachChild (.getGuiNode world) text)))
 #+end_src