# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1326982960 25200
# Node ID f89f0b9ed2fee8451cb9332cb9760770b3167fc3
# Parent  c05d8d222166607baeae77230218af795e45c264
changed touch image retrieval code to use meta-data in preparation for multiple sensor maps per object

diff -r c05d8d222166 -r f89f0b9ed2fe assets/Models/creature1/hand.png
Binary file assets/Models/creature1/hand.png has changed
diff -r c05d8d222166 -r f89f0b9ed2fe assets/Models/creature1/tip.png
Binary file assets/Models/creature1/tip.png has changed
diff -r c05d8d222166 -r f89f0b9ed2fe assets/Models/creature1/tip.xcf
Binary file assets/Models/creature1/tip.xcf has changed
diff -r c05d8d222166 -r f89f0b9ed2fe assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r c05d8d222166 -r f89f0b9ed2fe org/test-creature.org
--- a/org/test-creature.org	Mon Jan 16 03:19:15 2012 -0700
+++ b/org/test-creature.org	Thu Jan 19 07:22:40 2012 -0700
@@ -423,20 +423,17 @@
 ;; Every vertex has its own index as well.
 
 (defn tactile-sensor-image
-  "Return the touch-sensor distribution image in ImagePlus format, or
-   nil if it does not exist."
+  "Return the touch-sensor distribution image in BufferedImage format,
+   or nil if it does not exist."
   [#^Geometry obj]
-  (let [mat (.getMaterial obj)]
-    (if-let [texture-param
-             (.getTextureParam
-              mat
-              MaterialHelper/TEXTURE_TYPE_DIFFUSE)]
-      (let
-          [texture
-           (.getTextureValue texture-param)
-           im (.getImage texture)]
-        (ImageToAwt/convert im false false 0)))))
-
+  (if-let [image-path (meta-data obj "touch")]
+    (ImageToAwt/convert
+     (.getImage
+      (.loadTexture
+       (asset-manager)
+       image-path))
+    false false 0)))
+     
 (import ij.process.ImageProcessor)
 (import java.awt.image.BufferedImage)
 
@@ -707,18 +704,18 @@
      (enable-debug world)
      ;;(com.aurellem.capture.Capture/captureVideo
      ;; world (file-str "/home/r/proj/ai-videos/hand"))
-     (.setTimer world (RatchetTimer. 60))
-     (speed-up world)
+     ;;(.setTimer world (RatchetTimer. 60))
+     ;;(speed-up world)
      ;;(set-gravity world (Vector3f. 0 0 0))
      )
    (fn [world tpf]
      ;;(dorun 
      ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
-     
+    
      (dorun
       (map #(%1 (%2 (.getRootNode world)))
-           touch-debug-windows touch-nerves))
-     
+           touch-debug-windows touch-nerves)
+     )
 
      )
    ;;(let [timer (atom 0)]
@@ -741,40 +738,49 @@
 
 
 (defn collision-test []
-  (let [a-radius 1 
-        a-position (Vector3f. -0.25 3 0)
-        b-radius 1
-        b-position (Vector3f. 0.25 3 0)
-
-
-        obj-a (box 1 1 1 :color ColorRGBA/Red
-                      :position a-position
-                      :physical? false)
+  (let [b-radius 1
+        b-position (Vector3f. 0 0 0)
         obj-b (box 1 1 1 :color ColorRGBA/Blue
                       :position b-position
-                      :physical? false)
-        node (nodify [obj-a obj-b])
-        bounds-a (BoundingBox. a-position 1 1 1)
-        bounds-b (BoundingBox. b-position 1 1 1)
+                      :mass 0)
+        node (nodify [obj-b])
+        bounds-b
+        (doto (Picture.)
+          (.setHeight 50)
+          (.setWidth 50)
+          (.setImage (asset-manager)
+                     "Models/creature1/hand.png"
+                     false
+          ))
+        
+        ;;(Ray. (Vector3f. 0 -5 0) (.normalize (Vector3f. 0 1 0)))
+
+        collisions
+        (let [cr (CollisionResults.)]
+          (.collideWith node bounds-b cr)
+          (println (map #(.getContactPoint %) cr))
+          cr)
+
+        ;;collision-points
+        ;;(map #(sphere 0.1 :position (.getContactPoint %))
+        ;;     collisions)
+
+        ;;node (nodify (conj collision-points obj-b))
+        
         sim
         (world node
-               {}
+               {"key-space"
+                (fn [_ value]
+                  (if value
+                    (let [cr (CollisionResults.)]
+                      (.collideWith node bounds-b cr)
+                      (println-repl (map #(.getContactPoint %) cr))
+                      cr)))}
                no-op
                no-op)
 
         ]
-    (.setBound (.getMesh obj-a) bounds-a)
-    (.updateBound (.getMesh obj-a))
-
-    
-    (.setBound (.getMesh obj-b) bounds-b)
-    (.updateBound (.getMesh obj-b))
-
-
-
-    (let [cr (CollisionResults.)]
-      (.collideWith node bounds-a cr)
-      [cr sim])
+    sim
     
 ))