# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1329078642 25200
# Node ID f2e583be858460969a4744db027e9f5b4edd9a1f
# Parent  6961377c4554f8b2fbe4d2314084b7afa6140904
saving progress...

diff -r 6961377c4554 -r f2e583be8584 org/touch.org
--- a/org/touch.org	Sun Feb 12 13:25:42 2012 -0700
+++ b/org/touch.org	Sun Feb 12 13:30:42 2012 -0700
@@ -250,12 +250,18 @@
             transforms (feeler-pixel-coords geo image))))
 
 (defn feeler-tips [#^Geometry geo image]
-  (let [origins (feeler-origins geo image)]
-    (
+  (let [origins (feeler-origins geo image)
+        normals
+        (map
+         (fn [triangle]
+           (.calculateNormal triangle)
+           (.clone (.getNormal triangle)))
+         (map ->triangle (triangles geo)))]
+    (map #(.add %1 %2) origins normals)))
+
+(defn touch-topology [#^Geometry geo image]
+  (collapse (feeler-pixel-coords geo image)))
   
-)
-
-
 
 (defn sensors-in-triangle
   "Locate the touch sensors in the triangle, returning a map of their