# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329082149 25200
# Node ID f23217324f7298fd0f208fd36106efc37e9fa3e5
# Parent  f33fec68f775365735e4d1a464b037b52d8e8775
changed semantics of feeler lengths

diff -r f33fec68f775 -r f23217324f72 org/touch.org
--- a/org/touch.org	Sun Feb 12 14:14:57 2012 -0700
+++ b/org/touch.org	Sun Feb 12 14:29:09 2012 -0700
@@ -6,8 +6,6 @@
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 
-
-
 * Touch
 
 Touch is critical to navigation and spatial reasoning and as such I
@@ -118,15 +116,14 @@
 
 (declare touch-topology feelers set-ray)
 
-(defn set-ray [#^Ray ray #^Matrix4f transform #^Vector3f origin
-               #^Vector3f tip length]
+(defn set-ray [#^Ray ray #^Matrix4f transform
+               #^Vector3f origin #^Vector3f tip]
   ;; Doing everything locally recduces garbage collection by enough to
   ;; be worth it.
   (.mult transform origin (.getOrigin ray))
   
   (.mult transform tip (.getDirection ray))
-  (.subtractLocal (.getDirection ray) (.getOrigin ray))
-  (.setLimit ray length))
+  (.subtractLocal (.getDirection ray) (.getOrigin ray)))
 
 (defn touch-kernel
   "Constructs a function which will return tactile sensory data from
@@ -136,16 +133,17 @@
       [profile (tactile-sensor-profile geo)]
     (let [ray-reference-origins (feeler-origins geo profile)
           ray-reference-tips (feeler-tips geo profile)
-          ray-lengths (repeat 9000 0.1)
+          ray-length (tactile-scale geo)
           current-rays (map (fn [_] (Ray.)) ray-reference-origins)
           topology (touch-topology geo profile)]
+      (dorun (map #(.setLimit % ray-length) current-rays))
       (fn [node]
         (let [transform (.getWorldMatrix geo)]
           (dorun
-           (map (fn [ray ref-origin ref-tip length]
-                  (set-ray ray transform ref-origin ref-tip length))
+           (map (fn [ray ref-origin ref-tip]
+                  (set-ray ray transform ref-origin ref-tip))
                 current-rays ray-reference-origins
-                ray-reference-tips ray-lengths))
+                ray-reference-tips))
           (vector
            topology
            (vec
@@ -480,14 +478,11 @@
            standard-debug-controls
            
            (fn [world]
+             (speed-up world)
              (light-up-everything world))
 
            (fn [world tpf]
-
-             
-             (dorun (map #(% (.getRootNode world)) touch))
-
-
+             (touch-display (map #(% (.getRootNode world)) touch))
              ))))
 #+end_src
 * Source Listing