# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328705415 25200
# Node ID d5c597a7aed47ef78b2e0f52061a35e50fcb1117
# Parent 1c915cc1118b863a00fd281ac616ee89d0ee8c42
writing prose for body.org
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diff -r 1c915cc1118b -r d5c597a7aed4 assets/Models/creature1/try-again.blend
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diff -r 1c915cc1118b -r d5c597a7aed4 assets/Models/creature1/worm-2-UV-layout.png
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diff -r 1c915cc1118b -r d5c597a7aed4 assets/Models/creature1/worm-2-UV-layout.svg
--- a/assets/Models/creature1/worm-2-UV-layout.svg Tue Feb 07 07:13:45 2012 -0700
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,8 +0,0 @@
-<?xml version="1.0" standalone="no"?>
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
- "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg width="1024px" height="1024px" viewBox="0px 0px 1024px 1024px"
- xmlns="http://www.w3.org/2000/svg" version="1.1">
-<desc>'try-again.blend', worm-2, (Blender 2.59 (sub 4))</desc>
-
-</svg>
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diff -r 1c915cc1118b -r d5c597a7aed4 assets/Models/test-creature/worm-2-UV-layout.svg
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/assets/Models/test-creature/worm-2-UV-layout.svg Wed Feb 08 05:50:15 2012 -0700
@@ -0,0 +1,8 @@
+<?xml version="1.0" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="1024px" height="1024px" viewBox="0px 0px 1024px 1024px"
+ xmlns="http://www.w3.org/2000/svg" version="1.1">
+<desc>'try-again.blend', worm-2, (Blender 2.59 (sub 4))</desc>
+
+</svg>
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diff -r 1c915cc1118b -r d5c597a7aed4 images/Eve.jpg
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diff -r 1c915cc1118b -r d5c597a7aed4 org/body.org
--- a/org/body.org Tue Feb 07 07:13:45 2012 -0700
+++ b/org/body.org Wed Feb 08 05:50:15 2012 -0700
@@ -1,31 +1,200 @@
-#+title: The BODY!!!
+#+title: Building a Body
#+author: Robert McIntyre
#+email: rlm@mit.edu
#+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
#+SETUPFILE: ../../aurellem/org/setup.org
#+INCLUDE: ../../aurellem/org/level-0.org
-* Making a solid, connected body.
-#+name: joints
+
+* Design Constraints
+
+I use [[www.blender.org/][blender]] to design bodies. The design of the bodies is
+determined by the requirements of the AI that will use them. The
+bodies must be easy for an AI to sense and control, and they must be
+relatively simple for jMonkeyEngine to compute.
+
+** Bag of Bones
+
+How to create such a body? One option I ultimately rejected is to use
+blender's [[http://wiki.blender.org/index.php/Doc:2.6/Manual/Rigging/Armatures][armature]] system. The idea would have been to define a mesh
+which describes the creature's entire body. To this you add an
+(skeleton) which deforms this mesh. This technique is used extensively
+to model humans and create realistic animations. It is hard to use for
+my purposes because it is difficult to update the creature's Physics
+Collision Mesh in tandem with its Geometric Mesh under the influence
+of the armature. Withouth this the creature will not be able to grab
+things in its environment, and it won't be able to tell where its
+physical body is by using its eyes. Also, armatures do not specify
+any rotational limits for a joint, making it hard to model elbows,
+shoulders, etc.
+
+** EVE
+
+Instead of using the human-like "deformable bag of bones" approach, I
+decided to base my body plans on the robot EVE from the movie wall-E.
+
+#+caption: EVE from the movie WALL-E. This body plan turns out to be much better suited to my purposes than a more human-like one.
+[[../images/Eve.jpg]]
+
+The main reason that I use eve-style bodies is so that there will be
+correspondence between the AI's vision and the physical presence of
+its body.
+
+* Solidifying the Body
+
+Here is a hand designed eve-style in blender.
+
+
+#+attr_html: width="500"
+[[../images/hand-screenshot0.png]]
+
+If we load it directly into jMonkeyEngine, we get this:
+
+#+name: test-0
+#+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))
+
+(defn setup [world]
+ (let [cam (.getCamera world)]
+ (println-repl cam)
+ (.setLocation
+ cam (Vector3f.
+ -6.9015837, 8.644911, 5.6043186))
+ (.setRotation
+ cam
+ (Quaternion.
+ 0.14046453, 0.85894054, -0.34301838, 0.3533118)))
+ (light-up-everything world)
+ (.setTimer world (RatchetTimer. 60))
+ world)
+
+(defn test-one []
+ (world (hand)
+ standard-debug-controls
+ (comp
+ #(Capture/captureVideo
+ % (File. "/home/r/proj/cortex/render/body/1"))
+ setup)
+ no-op))
+#+end_src
+
+
+#+begin_src clojure :results silent
+(.start (cortex.test.body/test-one))
+#+end_src
+
+#+begin_html
+<video controls="controls" width="755">
+ <source src="../video/ghost-hand.ogg" type="video/ogg"
+ preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+#+end_html
+
+You will notice that the hand has no physical presence -- it's a
+hologram through witch everything passes. Therefore, the first thing
+to do is to make it solid. Blender has physics simulation on par with
+jMonkeyEngine (they both use bullet as their physics backend), but it
+can be difficult to translate between the two systems, so for now I
+specify the mass of each object in blender and construct the physics
+shape based on the mesh in jMonkeyEngine.
+
+#+name: joints-1
+#+begin_src clojure
+(defn physical!
+ "Iterate through the nodes in creature and make them real physical
+ objects in the simulation."
+ [#^Node creature]
+ (dorun
+ (map
+ (fn [geom]
+ (let [physics-control
+ (RigidBodyControl.
+ (HullCollisionShape.
+ (.getMesh geom))
+ (if-let [mass (meta-data geom "mass")]
+ (do
+ (println-repl
+ "setting" (.getName geom) "mass to" (float mass))
+ (float mass))
+ (float 1)))]
+ (.addControl geom physics-control)))
+ (filter #(isa? (class %) Geometry )
+ (node-seq creature)))))
+#+end_src
+
+=(physical!)= iterates through a creature's node structure, creating
+CollisionShapes for each geometry with the mass specified in that
+geometry's meta-data.
+
#+begin_src clojure
-(ns cortex.body
- "Assemble a physical creature using the definitions found in a
- specially prepared blender file. Creates rigid bodies and joints so
- that a creature can have a physical presense in the simulation."
- {:author "Robert McIntyre"}
- (:use (cortex world util sense))
- (:use clojure.contrib.def)
- (:import
- (com.jme3.math Vector3f Quaternion Vector2f Matrix3f)
- (com.jme3.bullet.joints
- SixDofJoint Point2PointJoint HingeJoint ConeJoint)
- com.jme3.bullet.control.RigidBodyControl
- com.jme3.collision.CollisionResults
- com.jme3.bounding.BoundingBox
- com.jme3.scene.Node
- com.jme3.scene.Geometry
- com.jme3.bullet.collision.shapes.HullCollisionShape))
+(in-ns 'cortex.test.body)
+(def normal-gravity
+ {"key-g" (fn [world _]
+ (set-gravity world (Vector3f. 0 -9.81 0)))})
+
+(defn floor []
+ (box 10 3 10 :position (Vector3f. 0 -10 0)
+ :color ColorRGBA/Gray :mass 0))
+
+(defn test-two []
+ (world (nodify
+ [(doto (hand)
+ (physical!))
+ (floor)])
+ (merge standard-debug-controls normal-gravity)
+ (comp
+ #(Capture/captureVideo
+ % (File. "/home/r/proj/cortex/render/body/2"))
+ #(do (set-gravity % Vector3f/ZERO) %)
+ setup)
+ no-op))
+#+end_src
+
+#+begin_html
+<video controls="controls" width="755">
+ <source src="../video/crumbly-hand.ogg" type="video/ogg"
+ preload="none" poster="../images/aurellem-1280x480.png" />
+</video>
+#+end_html
+
+Now that's some progress.
+
+
+* Joints
+
+Obviously, an AI is not going to be doing much just lying in pieces on
+the floor. So, the next step to making a proper body is to connect
+those pieces together with joints. jMonkeyEngine has a large array of
+joints available via bullet, such as Point2Point, Cone, Hinge, and a
+generic Six Degree of Freedom joint, with or without spring
+restitution.
+
+Although it should be possible to specify the joints using blender's
+physics system, and then automatically import them with jMonkeyEngine,
+the support isn't there yet, and there are a few problems with bullet
+itself that need to be solved before it can happen.
+
+So, I will use the same system for specifying joints as I will do for
+some senses. Each joint is specified by an empty node whose parent
+has the name "joints". Their orientation and meta-data determine what
+joint is created.
+
+[[../images/hand-screenshot1.png]]
+
+
+
+
+#+name: joints-2
+#+begin_src clojure
(defn joint-targets
"Return the two closest two objects to the joint object, ordered
from bottom to top according to the joint's rotation."
@@ -183,28 +352,6 @@
(sense-nodes "joints")
"Return the children of the creature's \"joints\" node.")
-(defn physical!
- "Iterate through the nodes in creature and make them real physical
- objects in the simulation."
- [#^Node creature]
- (dorun
- (map
- (fn [geom]
- (let [physics-control
- (RigidBodyControl.
- (HullCollisionShape.
- (.getMesh geom))
- (if-let [mass (meta-data geom "mass")]
- (do
- (println-repl
- "setting" (.getName geom) "mass to" (float mass))
- (float mass))
- (float 1)))]
-
- (.addControl geom physics-control)))
- (filter #(isa? (class %) Geometry )
- (node-seq creature)))))
-
(defn joints!
"Connect the solid parts of the creature with physical joints. The
joints are taken from the \"joints\" node in the creature."
@@ -225,13 +372,32 @@
(joints! creature))
#+end_src
-#+results: joints
-: #'cortex.body/body!
+* Bookkeeping
-#+results: proprioception
-: #'cortex.body/proprioception-debug-window
+#+name: body-0
+#+begin_src clojure
+(ns cortex.body
+ "Assemble a physical creature using the definitions found in a
+ specially prepared blender file. Creates rigid bodies and joints so
+ that a creature can have a physical presense in the simulation."
+ {:author "Robert McIntyre"}
+ (:use (cortex world util sense))
+ (:use clojure.contrib.def)
+ (:import
+ (com.jme3.math Vector3f Quaternion Vector2f Matrix3f)
+ (com.jme3.bullet.joints
+ SixDofJoint Point2PointJoint HingeJoint ConeJoint)
+ com.jme3.bullet.control.RigidBodyControl
+ com.jme3.collision.CollisionResults
+ com.jme3.bounding.BoundingBox
+ com.jme3.scene.Node
+ com.jme3.scene.Geometry
+ com.jme3.bullet.collision.shapes.HullCollisionShape))
+#+end_src
-* Examples
+* Source
+
+* COMMENT Examples
#+name: test-body
#+begin_src clojure
@@ -967,7 +1133,7 @@
#+end_src
#+begin_src clojure :tangle ../src/cortex/test/body.clj
-<<test-body>>
+<<test-0>>
#+end_src
diff -r 1c915cc1118b -r d5c597a7aed4 org/sense.org
--- a/org/sense.org Tue Feb 07 07:13:45 2012 -0700
+++ b/org/sense.org Wed Feb 08 05:50:15 2012 -0700
@@ -1,4 +1,4 @@
-#+title:
+#+title: Helper Functions / Motivations
#+author: Robert McIntyre
#+email: rlm@mit.edu
#+description: sensory utilities
@@ -461,7 +461,6 @@
<source src="../video/bind-sense.ogg" type="video/ogg"
preload="none" poster="../images/aurellem-1280x480.png" />
</video>
-
#+end_html
With this, eyes are easy --- you just bind the camera closer to the