# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329052890 25200
# Node ID f27c9fd9134dcce3d484d319ae06da731a7974b1
# Parent  b7762699eeb59a809d359fd17166434b5c644957
seperated out image generating code from touch-kernel

diff -r b7762699eeb5 -r f27c9fd9134d org/touch.org
--- a/org/touch.org	Sat Feb 11 19:48:32 2012 -0700
+++ b/org/touch.org	Sun Feb 12 06:21:30 2012 -0700
@@ -60,12 +60,106 @@
   [#^Geometry obj]
   (if-let [image-path (meta-data obj "touch")]
     (load-image image-path)))
+
+(defn tactile-scale
+  "Return the maximum length of a hair.  All hairs are scalled between
+   0.0 and this length, depending on their color. Black is 0, and
+   white is maximum length, and everything in between is scalled
+   linearlly. Default scale is 0.01 jMonkeyEngine units."
+  [#^Geometry obj]
+  (if-let [scale (meta-data obj "scale")]
+    scale 0.1))
 #+end_src
 
-
 ** TODO add image showing example touch-uv map
 ** TODO add metadata display for worm
 
+* Skin Creation
+#+name: kernel
+#+begin_src clojure
+(in-ns 'cortex.touch)
+
+(defn touch-kernel
+  "Returns a function which returns tactile sensory data when called
+   inside a running simulation."
+  [#^Geometry geo]
+  (let [feeler-coords (feeler-coordinates geo)
+        tris (triangles geo)
+        limit (tactile-scale geo)]
+    (if (empty? (touch-topology geo))
+      nil
+      (fn [node]
+        (let [sensor-origins 
+              (map
+               #(map (partial local-to-world geo) %)
+               feeler-coords)
+              triangle-normals 
+              (map (partial get-ray-direction geo)
+                   tris)
+              rays
+              (flatten
+               (map (fn [origins norm]
+                      (map #(doto (Ray. % norm)
+                              (.setLimit limit)) origins))
+                    sensor-origins triangle-normals))]
+          (vector
+           (touch-topology geo)
+           (vec
+            (for [ray rays]
+              (do
+                (let [results (CollisionResults.)]
+                  (.collideWith node ray results)
+                  (let [touch-objects
+                        (filter #(not (= geo (.getGeometry %)))
+                                results)]
+                    [(if (empty? touch-objects)
+                       limit (.getDistance (first touch-objects)))
+                     limit])))))))))))
+
+(defn touch! 
+  "Endow the creature with the sense of touch. Returns a sequence of
+   functions, one for each body part with a tactile-sensor-proile,
+   each of which when called returns sensory data for that body part."
+  [#^Node creature]
+  (filter
+   (comp not nil?)
+   (map touch-kernel
+        (filter #(isa? (class %) Geometry)
+                (node-seq creature)))))
+#+end_src
+
+* Visualizing Touch
+#+name: visualization
+#+begin_src clojure
+(in-ns 'cortex.touch)
+
+(defn touch->gray
+  "Convert a pair of [distance, max-distance] into a grayscale pixel" 
+  [distance max-distance]
+  (gray 
+   (- 255
+      (rem 
+       (int
+        (* 255 (/ distance max-distance)))
+       256))))
+
+(defn view-touch 
+  "Creates a function which accepts a list of  touch sensor-data and
+   displays each element to the screen."
+  []
+  (view-sense
+   (fn 
+     [[coords sensor-data]]
+     (let [image (points->image coords)]
+       (dorun
+        (for [i (range (count coords))]
+          (.setRGB image ((coords i) 0) ((coords i) 1)
+                   (apply touch->gray (sensor-data i)))))
+       image))))
+#+end_src
+
+
+
 * Triangle Manipulation Functions
 
 The rigid bodies which make up a creature have an underlying
@@ -341,81 +435,6 @@
 #+end_src
 
 
-* Skin Creation
-#+name: kernel
-#+begin_src clojure
-(defn touch-fn
-  "Returns a function which returns tactile sensory data when called
-   inside a running simulation."
-  [#^Geometry geo]
-  (let [feeler-coords (feeler-coordinates geo)
-        tris (triangles geo)
-        limit 0.1
-        ;;results (CollisionResults.)
-        ]
-    (if (empty? (touch-topology geo))
-      nil
-      (fn [node]
-        (let [sensor-origins 
-              (map
-               #(map (partial local-to-world geo) %)
-               feeler-coords)
-              triangle-normals 
-              (map (partial get-ray-direction geo)
-                   tris)
-              rays
-              (flatten
-               (map (fn [origins norm]
-                      (map #(doto (Ray. % norm)
-                              (.setLimit limit)) origins))
-                    sensor-origins triangle-normals))]
-          (vector
-           (touch-topology geo)
-           (vec
-            (for [ray rays]
-              (do
-                (let [results (CollisionResults.)]
-                  (.collideWith node ray results)
-                  (let [touch-objects
-                        (filter #(not (= geo (.getGeometry %)))
-                                results)]
-                    (- 255
-                       (if (empty? touch-objects) 255
-                           (rem 
-                            (int
-                             (* 255 (/ (.getDistance
-                                        (first touch-objects)) limit)))
-                            256))))))))))))))
-  
-(defn touch! 
-  "Endow the creature with the sense of touch. Returns a sequence of
-   functions, one for each body part with a tactile-sensor-proile,
-   each of which when called returns sensory data for that body part."
-  [#^Node creature]
-  (filter
-   (comp not nil?)
-   (map touch-fn
-        (filter #(isa? (class %) Geometry)
-                (node-seq creature)))))
-#+end_src
-
-* Visualizing Touch
-#+name: visualization
-#+begin_src clojure
-(defn view-touch 
-  "Creates a function which accepts a list of  touch sensor-data and
-   displays each element to the screen."
-  []
-  (view-sense
-   (fn 
-     [[coords sensor-data]]
-     (let [image (points->image coords)]
-       (dorun
-        (for [i (range (count coords))]
-          (.setRGB image ((coords i) 0) ((coords i) 1)
-                   (gray (sensor-data i)))))
-       image))))
-#+end_src
 
 * Headers 
 
@@ -458,7 +477,6 @@
 
            (fn [world tpf]
              (touch-display (map #(% (.getRootNode world)) touch))))))
-           
 #+end_src
 
 * Source Listing