# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328365212 25200
# Node ID f1b078375484d799ae6bf51e22843c9a47873b10
# Parent  11bd5f0625ad8454b66cb02a7e7ef040665b6b1a
refactored movement

diff -r 11bd5f0625ad -r f1b078375484 org/movement.org
--- a/org/movement.org	Sat Feb 04 07:09:40 2012 -0700
+++ b/org/movement.org	Sat Feb 04 07:20:12 2012 -0700
@@ -6,56 +6,68 @@
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 
+
+Surprisingly enough, terristerial creatures only move by using torque
+applied about their joints.  There's not a single straight line of
+force in the human body at all!  (A straight line of force would
+correspond to some sort of jet or rocket propulseion.)
+
+
+Here's how motor-control/ proprioception will work: Each muscle is
+defined by a 1-D array of numbers (the "motor pool") each of which
+represent muscle fibers. A muscle also has a scalar :strength factor
+which determines how strong the muscle as a whole is.  The effector
+function for a muscle takes a number < (count motor-pool) and that
+number is said to "activate" all the muscle fibers whose index is
+lower than the number.  Each fiber will apply force in proportion to
+its value in the array.  Lower values cause less force.  The lower
+values can be put at the "beginning" of the 1-D array to simulate the
+layout of actual human muscles, which are capable of more percise
+movements when exerting less force.
+
 #+name: movement
 #+begin_src clojure 
 (ns cortex.movement
+  "Give simulated creatures defined in special blender files the power
+   to move around in a simulated environment."
+  {:author "Robert McIntyre"}
   (:use (cortex world util sense body))
-  (:import jme3tools.converters.ImageToAwt)
-  (:import java.awt.image.BufferedImage))
+  (:use clojure.contrib.def)
+  (:import java.awt.image.BufferedImage)
+  (:import com.jme3.scene.Node)
+  (:import com.jme3.math.Vector3f)
+  (:import com.jme3.bullet.control.RigidBodyControl))
 
-(cortex.import/mega-import-jme3)
-
-;; here's how motor-control/ proprioception will work: Each muscle is
-;; defined by a 1-D array of numbers (the "motor pool") each of which
-;; represent muscle fibers. A muscle also has a scalar :strength
-;; factor which determines how strong the muscle as a whole is.
-;; The effector function for a muscle takes a number < (count
-;; motor-pool) and that number is said to "activate" all the muscle
-;; fibers whose index is lower than the number.  Each fiber will apply
-;; force in proportion to its value in the array.  Lower values cause
-;; less force.  The lower values can be put at the "beginning" of the
-;; 1-D array to simulate the layout of actual human muscles, which are
-;; capable of more percise movements when exerting less force.
-
-(defn muscle-fiber-values
-  "get motor pool strengths"
-  [#^BufferedImage image]
+(defn muscle-profile
+  "Return a vector where each entry is the strength of the \"motor
+  pool\" at that part in the muscle."
+  [#^BufferedImage profile]
   (vec
-   (let [width (.getWidth image)]
+   (let [width (.getWidth profile)]
      (for [x (range width)]
        (- 255
           (bit-and
            0x0000FF
-           (.getRGB image x 0)))))))
+           (.getRGB profile x 0)))))))
 
-(defn creature-muscles 
- "Return the children of the creature's \"muscles\" node."
- [#^Node creature]
- (if-let [muscle-node (.getChild creature "muscles")]
-   (seq (.getChildren muscle-node))
-   (do (println-repl "could not find muscles node") [])))
+(defvar 
+  ^{:arglists '([creature])}
+  muscles
+  (sense-nodes "muscles")
+  "Return the children of the creature's \"muscles\" node.")
 
-(defn single-muscle [#^Node parts #^Node muscle]
+(defn movement-fn
+  "Returns a function which when called with a integer value inside a
+   running simulation, will cause movement in the creature according
+   to the muscle's position and strength profile"
+  [#^Node parts #^Node muscle]
   (let [target (closest-node parts muscle)
         axis
         (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
         strength (meta-data muscle "strength")
         image-name (read-string (meta-data muscle "muscle"))
-        image 
-        (ImageToAwt/convert
-          (.getImage (.loadTexture (asset-manager) image-name))
-          false false 0)
-        fibers (muscle-fiber-values image)
+        image (load-image image-name)
+        fibers (muscle-profile image)
         fiber-integral (reductions + fibers)
         force-index (vec
                      (map
@@ -67,14 +79,13 @@
       (let [pool-index (min n (count fibers))]
         (.applyTorque control (.mult axis (force-index n)))))))
 
-
-(defn enable-muscles
-  "Must be called on a creature after RigidBodyControls have been
-   created." 
+(defn movement!
+  "Endow the creature with the power of movement. Returns a sequence
+   of functions, each of which accept an integer value and will
+   activate their corresponding muscle."
   [#^Node creature]
-  (let [muscles (creature-muscles creature)]
-    (for [muscle muscles]
-      (single-muscle creature muscle))))
+    (for [muscle (muscles creature)]
+      (movement-fn creature muscle)))
 
 
 #+end_src
diff -r 11bd5f0625ad -r f1b078375484 org/test-creature.org
--- a/org/test-creature.org	Sat Feb 04 07:09:40 2012 -0700
+++ b/org/test-creature.org	Sat Feb 04 07:20:12 2012 -0700
@@ -185,7 +185,7 @@
         prop (proprioception! creature)
         prop-debug (proprioception-debug-window)
 
-        muscle-fns (enable-muscles creature)
+        muscle-fns (movement! creature)
         ;; dream
         fix-display (runonce
                      (fn [world] (add-camera! world (.getCamera world) no-op)))