# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325079876 25200
# Node ID fb810a2c50c28c680a17b83101d95e255491b47a
# Parent  257a86328adb1ef5e9963f8da6c606d692d1ac05
trying to get the hand to work

diff -r 257a86328adb -r fb810a2c50c2 assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 257a86328adb -r fb810a2c50c2 assets/Models/creature1/try-again.blend
Binary file assets/Models/creature1/try-again.blend has changed
diff -r 257a86328adb -r fb810a2c50c2 org/body.org
--- a/org/body.org	Wed Dec 28 00:00:23 2011 -0700
+++ b/org/body.org	Wed Dec 28 06:44:36 2011 -0700
@@ -730,8 +730,6 @@
        (.setTimer world (NanoTimer.)))
      (fn [_ _]
        (dorun (motor-map [0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0]))))))
-
-
 #+end_src
 
 
diff -r 257a86328adb -r fb810a2c50c2 org/test-creature.org
--- a/org/test-creature.org	Wed Dec 28 00:00:23 2011 -0700
+++ b/org/test-creature.org	Wed Dec 28 06:44:36 2011 -0700
@@ -61,13 +61,132 @@
      (.registerLoader BlenderModelLoader (into-array String ["blend"])))
    model))
 
+(defn meta-data [blender-node key]
+  (if-let [data (.getUserData blender-node "properties")]
+    (.findValue data key)
+    nil))
 
-(defn apply-skeleton
-  "Given an imported blender model, apply the armature using the
-  following pattern: if two bones are connected and have the same
-  names as two shapes, connect the shapes with a joint constraint."
-  [armature-name creature]
+(defn hand2 []
+  (load-blender-model "Models/creature1/try-again.blend"))
+
+(defn hand []
+  (load-blender-model "Models/creature1/one.blend"))
+
+
   
+(def hand-names
+  #{
+    "middle-1"
+    "middle-2"
+    "middle-3"
+    "palm"
+    "pinky-1"
+    "pinky-2"
+    "pinky-3"
+    "pointer-1"
+    "pointer-2"
+    "pointer-3"
+    "ring-1"
+    "ring-2"
+    "ring-3"
+    "thumb-1"
+    "thumb-2"})
+
+(defn hand-pieces []
+  (filter
+   (comp hand-names #(apply str (drop-last (.getName %)))) (node-seq (hand))))
+
+(defn hand-joints []
+  (map #(.getWorldTranslation %)
+       (filter #(re-matches #"joint\.\d\d\d" (.getName %))
+               (node-seq (hand)))))
+
+(defn worm-pieces []
+  (filter
+   (comp #{"worm-2" "worm-1"}
+         #(apply str (drop-last (.getName %))))
+   (node-seq (hand2))))
+
+(defn worm-joints []
+  [Vector3f/ZERO])
+
+
+
+(defn find-joint
+  [#^Node parts #^Vector3f joint-position]
+  (loop [radius (float 0.01)]
+    (let [results (CollisionResults.)]
+      (.collideWith
+       parts
+       (BoundingBox. joint-position radius radius radius)
+       results)
+      (let [targets
+            (distinct
+             (map  #(.getGeometry %) results))]
+        (if (>= (count targets) 2)
+          (take 2 targets)
+          (recur (float (* radius 2))))))))
+
+
+
+(defn connect-at-point
+  [obj-a obj-b point]
+  (let [center-a (.getWorldTranslation obj-a)
+        center-b (.getWorldTranslation obj-b)
+        pivot-a (.subtract point center-a)
+        pivot-b (.subtract point center-b)
+        ;; A side-effect of creating a joint registers
+        ;; it with both physics objects which in turn
+        ;; will register the joint with the physics system
+        ;; when the simulation is started.
+        joint (Point2PointJoint.
+               (.getControl obj-a RigidBodyControl)
+               (.getControl obj-b RigidBodyControl)
+               pivot-a
+               pivot-b)]
+    obj-a))
+
+
+(defn physical-hand [#^Node pieces joints]
+  ;; Make each piece a physical entity in the simulation.
+  (dorun
+   (map
+    (fn [geom]
+      (let [physics-control
+            (RigidBodyControl.
+             (HullCollisionShape.
+              (.getMesh geom))
+             ;; TODO: fix this.
+             (float 1.0))]
+        (.addControl geom physics-control)))
+    (filter #(isa? (class %) Geometry )
+            (node-seq pieces))))
+  (dorun
+   (map
+    (fn [joint-position]
+      (let [[geom-a geom-b] (find-joint pieces joint-position)]
+        (connect-at-point geom-a geom-b joint-position)))
+      joints))
+   pieces)
+
+
+(defn the-hand! [] (physical-hand  (hand) (hand-joints)))
+
+
+(defn test-hand []
+  (world
+   (nodify [(the-hand!)
+            (box 10 0.1 10 :position (Vector3f. 0 -10 0)
+                 :color ColorRGBA/Gray
+                 :mass 0)])
+   standard-debug-controls
+   enable-debug
+   no-op))
+
+
+
+
+
 
 
 #+end_src
diff -r 257a86328adb -r fb810a2c50c2 org/util.org
--- a/org/util.org	Wed Dec 28 00:00:23 2011 -0700
+++ b/org/util.org	Wed Dec 28 06:44:36 2011 -0700
@@ -274,6 +274,16 @@
 		     :shape (Sphere. 32 32 (float r)))))) 
   ([] (sphere 0.5)))
 
+(defn green-x-ray 
+  "A usefull material for debuging -- it can be seen no matter what
+  object occuldes it."
+  []
+  (doto (Material. (asset-manager)
+                   "Common/MatDefs/Misc/Unshaded.j3md")
+    (.setColor "Color" ColorRGBA/Green)
+    (-> (.getAdditionalRenderState)
+        (.setDepthTest false))))
+
 (defn node-seq
   "Take a node and return a seq of all its children
    recursively. There will be no nodes left in the resulting