# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328366688 25200
# Node ID f2552d61e8df567a2134b0a2ea14b8808b99de24
# Parent  0f1c7921d967c55bdddf5f4809595d4c46ad9466
cleaned up sense-utils some more, tested system again.

diff -r 0f1c7921d967 -r f2552d61e8df org/sense-util.org
--- a/org/sense-util.org	Sat Feb 04 07:31:08 2012 -0700
+++ b/org/sense-util.org	Sat Feb 04 07:44:48 2012 -0700
@@ -6,16 +6,21 @@
 #+SETUPFILE: ../../aurellem/org/setup.org
 #+INCLUDE: ../../aurellem/org/level-0.org
 
-
 #+name: sense-util
 #+begin_src clojure 
-(ns cortex.sense)
-(cortex.import/mega-import-jme3)
-(import ij.process.ImageProcessor)
-(import java.awt.image.BufferedImage)
-(use 'cortex.util)
-(use 'cortex.world)
-(import jme3tools.converters.ImageToAwt)
+(ns cortex.sense
+  "Here are functions usefull in the construction of two or more
+  senses/effectors."
+  {:author "Robert McInytre"}
+  (:use (cortex world util))
+  (:import ij.process.ImageProcessor)
+  (:import jme3tools.converters.ImageToAwt)
+  (:import java.awt.image.BufferedImage)
+  (:import com.jme3.collision.CollisionResults)
+  (:import com.jme3.bounding.BoundingBox)
+  (:import (com.jme3.scene Node Spatial))
+  (:import com.jme3.scene.control.AbstractControl)
+  (:import (com.jme3.math Quaternion Vector3f)))
 
 (defn meta-data
   "Get the meta-data for a node created with blender."
@@ -25,8 +30,7 @@
     nil))
 
 (defn closest-node
-  "Return the object in creature which is closest to the given node."
-  ;;dylan"The closest object in creature to the given node."
+  "Return the node in creature which is closest to the given node."
   [#^Node creature #^Node eye]
   (loop [radius (float 0.01)]
     (let [results (CollisionResults.)]
@@ -71,7 +75,8 @@
 
 (defn filter-pixels
   "List the coordinates of all pixels matching pred, within the bounds
-   provided. Bounds -> [x0 y0 width height]"
+   provided.
+   bounds -> [x0 y0 width height]"
   {:author "Dylan Holmes"}
   ([pred #^BufferedImage image]
      (filter-pixels pred image [0 0 (.getWidth image) (.getHeight image)]))
@@ -119,7 +124,7 @@
   (/ (reduce + coll) (count coll)))
 
 (defn collapse-1d
-  "One dimensional analogue of collapse"
+  "One dimensional analogue of collapse."
   [center line]
   (let [length (count line)
         num-above (count (filter (partial < center) line))
@@ -129,7 +134,7 @@
 
 (defn collapse
   "Take a set of pairs of integers and collapse them into a
-   contigous bitmap."
+   contigous bitmap with no \"holes\"."
   [points]
   (if (empty? points) []
       (let
@@ -157,30 +162,33 @@
                                  (map first row))
                     (map second row)))
              (partition-by second (sort-by second flattened))))
-           relocate
+           relocated
            (let [min-x (apply min (map first squeezed))
                  min-y (apply min (map second squeezed))]
              (map (fn [[x y]]
                     [(- x min-x)
                      (- y min-y)])
                   squeezed))]
-        relocate)))
+        relocated)))
 
 (defn world-to-local
-   "Convert the world coordinates into coordinates relative to the 
+  "Convert the world coordinates into coordinates relative to the 
    object (i.e. local coordinates), taking into account the rotation
    of object."
-   [#^Spatial object world-coordinate]
-   (.worldToLocal object world-coordinate nil))
+  [#^Spatial object world-coordinate]
+  (.worldToLocal object world-coordinate nil))
 
 (defn local-to-world
-   "Convert the local coordinates into coordinates into world relative
-    coordinates" 
-   [#^Spatial object local-coordinate]
-   (.localToWorld object local-coordinate nil))
+  "Convert the local coordinates into world relative coordinates"
+  [#^Spatial object local-coordinate]
+  (.localToWorld object local-coordinate nil))
 
-
-(defn sense-nodes [parent-name]
+(defn sense-nodes
+  "For each sense there is a special blender node whose children are
+   considered markers for an instance of a that sense. This function
+   generates functions to find those children, given the name of the
+   special parent node."
+  [parent-name]
   (fn [#^Node creature]
     (if-let [sense-node (.getChild creature parent-name)]
       (seq (.getChildren sense-node))