# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1327159828 25200
# Node ID ebfd62779ab41df954d5e637538418724e3137af
# Parent  1261444da2c73ed9548e37bec691a23cfd9fbe99
color selection enabled

diff -r 1261444da2c7 -r ebfd62779ab4 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 1261444da2c7 -r ebfd62779ab4 org/test-creature.org
--- a/org/test-creature.org	Sat Jan 21 01:08:35 2012 -0700
+++ b/org/test-creature.org	Sat Jan 21 08:30:28 2012 -0700
@@ -83,11 +83,11 @@
           width (- (apply max xs) x0)
           height (- (apply max ys) y0)
           image (BufferedImage. (inc width) (inc height)
-                                BufferedImage/TYPE_4BYTE_ABGR)]
+                                BufferedImage/TYPE_INT_RGB)]
       (dorun
        (for [x (range (.getWidth image))
              y (range (.getHeight image))]
-         (.setRGB image x y 0xFFFF0000)))
+         (.setRGB image x y 0xFF0000)))
       (dorun 
        (for [index (range (count points))]
          (.setRGB image (- (xs index) x0) (- (ys index) y0) -1)))
@@ -749,12 +749,21 @@
         cam (Camera. cam-width cam-height)]
     (.setLocation cam (.getWorldTranslation eye))
     (.setRotation cam (.getWorldRotation eye))
+    (.setFrustumPerspective
+     cam 45 (/ (.getWidth cam) (.getHeight cam))
+     1 1000)
+                                            
     (bind-camera target cam)
     cam))
 
 
 (def presets
-  {:gray identity})
+  {:all    0x000000
+   :red    0xFF0000
+   :blue   0x0000FF
+   :green  0x00FF00})
+
+
 
 (defn enable-vision
   "return [init-function sensor-functions] for a particular eye"
@@ -770,15 +779,20 @@
          (fn [r fb bb bi]
            (if (zero? (rem (swap! counter inc) (inc skip)))
              (reset! vision-image (BufferedImage! r fb bb bi)))))))
-    (vector
-     (let [whites (white-coordinates (:gray retinal-map))
-           topology (vec (collapse whites))]
-     (fn []
-       (vector
-        topology
-        (vec 
-         (for [[x y] whites]
-           (.getRGB @vision-image x y)))))))
+    (vec
+     (map
+      (fn [[key image]]
+        (let [whites (white-coordinates image)
+              topology (vec (collapse whites))
+              mask (presets key)]
+          (fn []
+            (vector
+             topology
+             (vec 
+              (for [[x y] whites]
+                (bit-xor
+                 mask (.getRGB @vision-image x y))))))))
+        retinal-map))
     ]))
 
 (defn vision
@@ -882,7 +896,7 @@
      ;;(com.aurellem.capture.Capture/captureVideo
      ;; world (file-str "/home/r/proj/ai-videos/hand"))
      ;;(.setTimer world (RatchetTimer. 60))
-     ;;(speed-up world)
+     (speed-up world)
      ;;(set-gravity world (Vector3f. 0 0 0))
      )
    (fn [world tpf]