1.1 Binary file assets/Models/creature1/one.blend has changed

     2.1 Binary file assets/Models/creature1/try-again.blend has changed

     3.1 --- a/org/test-creature.org	Wed Dec 28 23:12:32 2011 -0700
     3.2 +++ b/org/test-creature.org	Wed Jan 04 08:36:42 2012 -0700
     3.3 @@ -66,8 +66,6 @@
     3.4      (.findValue data key)
     3.5      nil))
     3.6  
     3.7 -(defn hand2 []
     3.8 -  (load-blender-model "Models/creature1/try-again.blend"))
     3.9  
    3.10  (defn hand []
    3.11    (load-blender-model "Models/creature1/one.blend"))
    3.12 @@ -100,55 +98,450 @@
    3.13    (map #(.getWorldTranslation %)
    3.14         (filter #(re-matches #"joint\.\d\d\d" (.getName %))
    3.15                 (node-seq (hand)))))
    3.16 +(defn worm []
    3.17 +  (load-blender-model "Models/creature1/try-again.blend"))
    3.18 +
    3.19  
    3.20  (defn worm-pieces []
    3.21    (filter
    3.22     (comp #{"worm-2" "worm-1"}
    3.23           #(apply str (drop-last (.getName %))))
    3.24 -   (node-seq (hand2))))
    3.25 +   (node-seq (worm))))
    3.26  
    3.27  (defn worm-joints []
    3.28 -  [Vector3f/ZERO])
    3.29 +  (filter #(re-matches #"joint\.\d\d\d" (.getName %))
    3.30 +          (node-seq (worm))))
    3.31  
    3.32 +(defn bullet-trans []
    3.33 +  (let [obj-a (sphere 0.5 :color ColorRGBA/Red
    3.34 +                      :position (Vector3f. -10 5 0))
    3.35 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
    3.36 +                      :position (Vector3f. -10 -5 0)
    3.37 +                      :mass 0)
    3.38 +        control-a (.getControl obj-a RigidBodyControl)
    3.39 +        control-b (.getControl obj-b RigidBodyControl)
    3.40 +        swivel
    3.41 +        (.toRotationMatrix
    3.42 +         (doto (Quaternion.)
    3.43 +           (.fromAngleAxis (/ Math/PI 2)
    3.44 +                           Vector3f/UNIT_X)))]
    3.45 +    (doto 
    3.46 +        (ConeJoint.
    3.47 +         control-a control-b
    3.48 +         (Vector3f. 0 5 0)
    3.49 +         (Vector3f. 0 -5 0)
    3.50 +         swivel swivel)
    3.51 +      (.setLimit (* 0.6 (/ Math/PI 4))
    3.52 +                 (/ Math/PI 4)
    3.53 +                 (* Math/PI 0.8)))
    3.54 +    (world (nodify
    3.55 +            [obj-a obj-b])
    3.56 +            standard-debug-controls
    3.57 +            enable-debug
    3.58 +            no-op)))
    3.59  
    3.60  
    3.61 -(defn find-joint
    3.62 -  [#^Node parts #^Vector3f joint-position]
    3.63 +(defn bullet-trans* []
    3.64 +  (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
    3.65 +                   :position (Vector3f. 5 0 0)
    3.66 +                   :mass 90)
    3.67 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
    3.68 +                      :position (Vector3f. -5 0 0)
    3.69 +                      :mass 0)
    3.70 +        control-a (.getControl obj-a RigidBodyControl)
    3.71 +        control-b (.getControl obj-b RigidBodyControl)
    3.72 +        move-up? (atom nil)
    3.73 +        move-down? (atom nil)
    3.74 +        move-left? (atom nil)
    3.75 +        move-right? (atom nil)
    3.76 +        roll-left? (atom nil)
    3.77 +        roll-right? (atom nil)
    3.78 +        force 100
    3.79 +        swivel
    3.80 +        (.toRotationMatrix
    3.81 +         (doto (Quaternion.)
    3.82 +           (.fromAngleAxis (/ Math/PI 2)
    3.83 +                           Vector3f/UNIT_X)))
    3.84 +        x-move
    3.85 +        (doto (Matrix3f.)
    3.86 +          (.fromStartEndVectors Vector3f/UNIT_X
    3.87 +                                (.normalize (Vector3f. 1 1 0))))
    3.88 +        
    3.89 +        timer (atom 0)]
    3.90 +    (doto 
    3.91 +        (ConeJoint.
    3.92 +         control-a control-b
    3.93 +         (Vector3f. -8 0 0)
    3.94 +         (Vector3f. 2 0 0)
    3.95 +         ;;swivel swivel
    3.96 +         ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
    3.97 +         x-move Matrix3f/IDENTITY 
    3.98 +         )
    3.99 +      (.setCollisionBetweenLinkedBodys false)
   3.100 +      (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
   3.101 +                 (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
   3.102 +                 (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
   3.103 +    (world (nodify
   3.104 +            [obj-a obj-b])
   3.105 +           (merge standard-debug-controls
   3.106 +                  {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   3.107 +                   "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   3.108 +                   "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   3.109 +                   "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   3.110 +                   "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   3.111 +                   "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   3.112 +           
   3.113 +           (fn [world]
   3.114 +             (enable-debug world)
   3.115 +             (set-gravity world Vector3f/ZERO)
   3.116 +             )
   3.117 +                           
   3.118 +           (fn [world _]
   3.119 +
   3.120 +             (if @move-up?
   3.121 +               (.applyForce control-a
   3.122 +                              (Vector3f. force 0 0)
   3.123 +                              (Vector3f. 0 0 0)))
   3.124 +             (if @move-down?
   3.125 +               (.applyForce control-a
   3.126 +                             (Vector3f. (- force) 0 0)
   3.127 +                             (Vector3f. 0 0 0)))
   3.128 +             (if @move-left?
   3.129 +               (.applyForce control-a
   3.130 +                             (Vector3f. 0 force 0)
   3.131 +                             (Vector3f. 0 0 0)))
   3.132 +             (if @move-right?
   3.133 +               (.applyForce control-a
   3.134 +                             (Vector3f. 0 (- force) 0)
   3.135 +                             (Vector3f. 0 0 0)))
   3.136 +
   3.137 +             (if @roll-left?
   3.138 +               (.applyForce control-a
   3.139 +                             (Vector3f. 0 0 force)
   3.140 +                             (Vector3f. 0 0 0)))
   3.141 +             (if @roll-right?
   3.142 +               (.applyForce control-a
   3.143 +                             (Vector3f. 0 0 (- force))
   3.144 +                             (Vector3f. 0 0 0)))
   3.145 +
   3.146 +             (if (zero? (rem (swap! timer inc) 100))
   3.147 +               (.attachChild
   3.148 +                (.getRootNode world)
   3.149 +                (sphere 0.05 :color ColorRGBA/Yellow
   3.150 +                        :physical? false :position
   3.151 +                        (.getWorldTranslation obj-a)))))
   3.152 +           )
   3.153 +    ))
   3.154 +
   3.155 +        
   3.156 +                          
   3.157 +    
   3.158 +        
   3.159 +    
   3.160 +
   3.161 +
   3.162 +
   3.163 +
   3.164 +
   3.165 +(defn world-setup [joint]
   3.166 +  (let [top (doto
   3.167 +                (sphere 0.1 :physical? false :color ColorRGBA/Yellow
   3.168 +                        :position (Vector3f. 0 7 0))
   3.169 +              (.addControl
   3.170 +               (RigidBodyControl.
   3.171 +                (CapsuleCollisionShape. 0.5 1.5 1) (float 15))))
   3.172 +        bottom (doto
   3.173 +                   (sphere 0.1 :physical? false :color ColorRGBA/DarkGray
   3.174 +                           :position (Vector3f. 0 -1 0))
   3.175 +              (.addControl
   3.176 +               (RigidBodyControl.
   3.177 +                (CapsuleCollisionShape. 0.5 1.5 1) (float 0))))
   3.178 +        table (box 10 2 10 :position (Vector3f. 0 -6 0)
   3.179 +                   :color ColorRGBA/Gray :mass 0)
   3.180 +        a (.getControl top RigidBodyControl)
   3.181 +        b (.getControl bottom RigidBodyControl)]
   3.182 +    (cond
   3.183 +     (= joint :point)
   3.184 +     (doto
   3.185 +         (Point2PointJoint. a b
   3.186 +                            (Vector3f. 0 -2 0)
   3.187 +                            (Vector3f. 0  2 0))
   3.188 +       (.setCollisionBetweenLinkedBodys false))
   3.189 +     (= joint :hinge)
   3.190 +     (doto
   3.191 +         (HingeJoint.
   3.192 +          a b
   3.193 +          (Vector3f. 0 -2 0)
   3.194 +          (Vector3f. 0 2 0)
   3.195 +          (Vector3f. 0 0 1)
   3.196 +          (Vector3f. 0 0 1)
   3.197 +
   3.198 +          )
   3.199 +       (.setCollisionBetweenLinkedBodys false)
   3.200 +       ;;(.setLimit (- Math/PI) Math/PI)
   3.201 +       )
   3.202 +     (= joint :cone)
   3.203 +     ;; note to self -- jbullet does NOT implement cone joints
   3.204 +     ;; correctly. You must use plain ol' bullet for this to work.
   3.205 +     ;; It's faster anyway, so whatever.
   3.206 +     
   3.207 +     (doto (ConeJoint.
   3.208 +            a b
   3.209 +            (Vector3f. 0 -5 0)
   3.210 +            (Vector3f. 0 2 0)
   3.211 +
   3.212 +            (doto (Matrix3f.)
   3.213 +              (.fromStartEndVectors Vector3f/UNIT_X
   3.214 +                                    Vector3f/UNIT_Y))
   3.215 +            (doto (Matrix3f.)
   3.216 +              (.fromStartEndVectors Vector3f/UNIT_X
   3.217 +                                    Vector3f/UNIT_Y))
   3.218 +            )
   3.219 +       ;;(.setAngularOnly true)
   3.220 +       
   3.221 +       (.setCollisionBetweenLinkedBodys false)
   3.222 +       (.setLimit (* 1 (/ Math/PI 4))
   3.223 +                  (* 1 (/ Math/PI 4))
   3.224 +                  (* 0 (/ Math/PI 4)))
   3.225 +        
   3.226 +       )
   3.227 +     (= joint :six)
   3.228 +     (doto
   3.229 +         (SixDofJoint.
   3.230 +          a b
   3.231 +          (Vector3f. 0 -2 0)
   3.232 +          (Vector3f. 0 2 0)
   3.233 +          ;;(doto (Matrix3f.)
   3.234 +          ;;    (.fromStartEndVectors Vector3f/UNIT_X
   3.235 +          ;;                          Vector3f/UNIT_Y))
   3.236 +          ;;(doto (Matrix3f.)
   3.237 +          ;;  (.fromStartEndVectors Vector3f/UNIT_X
   3.238 +          ;;                        Vector3f/UNIT_Y))
   3.239 +          true)
   3.240 +       (.setCollisionBetweenLinkedBodys false)
   3.241 +       (.setAngularLowerLimit (Vector3f. 0
   3.242 +                                         (- (/ Math/PI 2))
   3.243 +                                         0))
   3.244 +                                         
   3.245 +       (.setAngularUpperLimit (Vector3f. 0
   3.246 +                                         (/ Math/PI 2)
   3.247 +                                         0))
   3.248 +       (.setLinearLowerLimit  (Vector3f. 0 0 0))
   3.249 +       (.setLinearUpperLimit  (Vector3f. 0 0 0))
   3.250 +
   3.251 +       )
   3.252 +          
   3.253 +            
   3.254 +            
   3.255 +          
   3.256 +     
   3.257 +    )
   3.258 +      
   3.259 +    [top bottom table]))
   3.260 +
   3.261 +(defn speed-up [world]
   3.262 +  (.setMoveSpeed (.getFlyByCamera world)
   3.263 +                 (float 100))
   3.264 +  (.setRotationSpeed (.getFlyByCamera world)
   3.265 +                     (float 20))
   3.266 +  world)
   3.267 +
   3.268 +
   3.269 +(defn test-joint [joint]
   3.270 +  (let [[top bottom floor] (world-setup joint)
   3.271 +        control (.getControl top RigidBodyControl)
   3.272 +        move-up? (atom false)
   3.273 +        move-down? (atom false)
   3.274 +        move-left? (atom false)
   3.275 +        move-right? (atom false)
   3.276 +        roll-left? (atom false)
   3.277 +        roll-right? (atom false)
   3.278 +        timer (atom 0)]
   3.279 +
   3.280 +    (world
   3.281 +     (nodify [top bottom floor])
   3.282 +     (merge standard-debug-controls
   3.283 +            {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   3.284 +             "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   3.285 +             "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   3.286 +             "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   3.287 +             "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   3.288 +             "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   3.289 +     
   3.290 +     (fn [world]
   3.291 +       (light-up-everything world)
   3.292 +       (enable-debug world)
   3.293 +       (set-gravity world (Vector3f. 0 0 0))
   3.294 +       )
   3.295 +     
   3.296 +     (fn [world _]
   3.297 +       (if (zero? (rem (swap! timer inc) 100))
   3.298 +         (do
   3.299 +         ;;  (println-repl @timer)
   3.300 +           (.attachChild (.getRootNode world)
   3.301 +                       (sphere 0.05 :color ColorRGBA/Yellow
   3.302 +                               :position (.getWorldTranslation top)
   3.303 +                               :physical? false))))
   3.304 +       (if @move-up?
   3.305 +         (.applyTorque control
   3.306 +                       (.mult (.getPhysicsRotation control)
   3.307 +                              (Vector3f. 0 0 10))))
   3.308 +       (if @move-down?
   3.309 +         (.applyTorque control
   3.310 +                       (.mult (.getPhysicsRotation control)
   3.311 +                              (Vector3f. 0 0 -10))))
   3.312 +       (if @move-left?
   3.313 +         (.applyTorque control
   3.314 +                       (.mult (.getPhysicsRotation control)
   3.315 +                              (Vector3f. 0 10 0))))
   3.316 +       (if @move-right?
   3.317 +         (.applyTorque control
   3.318 +                       (.mult (.getPhysicsRotation control)
   3.319 +                              (Vector3f. 0 -10 0))))
   3.320 +       (if @roll-left?
   3.321 +         (.applyTorque control
   3.322 +                       (.mult (.getPhysicsRotation control)
   3.323 +                              (Vector3f. -1 0 0))))
   3.324 +       (if @roll-right?
   3.325 +         (.applyTorque control
   3.326 +                       (.mult (.getPhysicsRotation control)
   3.327 +                              (Vector3f. 1 0 0))))))))
   3.328 +
   3.329 +                  
   3.330 +
   3.331 +(defn run [joint] (.start (test-joint joint)))
   3.332 +(defn look [joint] (view (nodify (world-setup joint))))
   3.333 +
   3.334 +(defn blender-to-jme
   3.335 +  "Convert from Blender coordinates to JME coordinates"
   3.336 +  [#^Vector3f in]
   3.337 +  (Vector3f. (.getX in)
   3.338 +             (.getZ in)
   3.339 +             (- (.getY in))))
   3.340 +
   3.341 +
   3.342 +(defn joint-targets
   3.343 +  "Return the two closest two objects to the joint object, ordered
   3.344 +  from bottom to top according to the joint's rotation."
   3.345 +  [#^Node parts #^Node joint]
   3.346 +  ;;(println (meta-data joint "joint"))
   3.347 +  (.getWorldRotation joint)
   3.348    (loop [radius (float 0.01)]
   3.349      (let [results (CollisionResults.)]
   3.350        (.collideWith
   3.351         parts
   3.352 -       (BoundingBox. joint-position radius radius radius)
   3.353 +       (BoundingBox. (.getWorldTranslation joint)
   3.354 +                     radius radius radius)
   3.355         results)
   3.356        (let [targets
   3.357              (distinct
   3.358               (map  #(.getGeometry %) results))]
   3.359          (if (>= (count targets) 2)
   3.360 -          (take 2 targets)
   3.361 +          (sort-by
   3.362 +           #(.getY
   3.363 +             (.mult
   3.364 +              (.inverse (.getWorldRotation joint))
   3.365 +              (.subtract (.getWorldTranslation %)
   3.366 +                         (.getWorldTranslation joint))))
   3.367 +           (take 2 targets))
   3.368            (recur (float (* radius 2))))))))
   3.369  
   3.370 +(defn connect
   3.371 +  "here are some examples:
   3.372 +   {:type :point}
   3.373 +   {:type :hinge  :limit [0 (/ Math/PI 2)] :axis (Vector3f. 0 1 0)}
   3.374 +   (:axis defaults to (Vector3f. 1 0 0) if not provided for hinge joints)
   3.375  
   3.376 +   {:type :cone   :limit-xz 0]
   3.377 +                  :limit-yz 0]
   3.378 +                  :twist 0]}
   3.379 +"
   3.380 +  ([#^Node obj-a #^Node obj-b #^Node joint]
   3.381 +     (let [center-a (.getWorldTranslation obj-a)
   3.382 +           center-b (.getWorldTranslation obj-b)
   3.383 +           joint-center (.getWorldTranslation joint)
   3.384 +           pivot-a (.subtract joint-center center-a)
   3.385 +           pivot-b (.subtract joint-center center-b)
   3.386 +           control-a (.getControl obj-a RigidBodyControl)
   3.387 +           control-b (.getControl obj-b RigidBodyControl)]
   3.388 +           ;; A side-effect of creating a joint registers
   3.389 +           ;; it with both physics objects which in turn
   3.390 +           ;; will register the joint with the physics system
   3.391 +           ;; when the simulation is started.
   3.392 +       (if-let [constraints
   3.393 +                (map-vals
   3.394 +                 eval
   3.395 +                 (read-string
   3.396 +                  (meta-data (first (worm-joints)) "joint")))]
   3.397  
   3.398 -(defn connect-at-point
   3.399 -  [obj-a obj-b point]
   3.400 -  (let [center-a (.getWorldTranslation obj-a)
   3.401 -        center-b (.getWorldTranslation obj-b)
   3.402 -        pivot-a (.subtract point center-a)
   3.403 -        pivot-b (.subtract point center-b)
   3.404 -        ;; A side-effect of creating a joint registers
   3.405 -        ;; it with both physics objects which in turn
   3.406 -        ;; will register the joint with the physics system
   3.407 -        ;; when the simulation is started.
   3.408 -        joint (Point2PointJoint.
   3.409 -               (.getControl obj-a RigidBodyControl)
   3.410 -               (.getControl obj-b RigidBodyControl)
   3.411 -               pivot-a
   3.412 -               pivot-b)]
   3.413 -    obj-a))
   3.414 +         (let [joint-type (:type constraints)]
   3.415 +           (cond (= :point joint-type)
   3.416 +                 (do
   3.417 +                   (println-repl "creating POINT joint")
   3.418 +                   (Point2PointJoint.
   3.419 +                    control-a
   3.420 +                    control-b
   3.421 +                    pivot-a
   3.422 +                    pivot-b))
   3.423 +                 (= :hinge joint-type)
   3.424 +                 (do
   3.425 +                   (println-repl "creating HINGE joint")
   3.426 +                   (let [axis (if-let
   3.427 +                                  [axis (:axis constraints)]
   3.428 +                                axis
   3.429 +                                Vector3f/UNIT_X)
   3.430 +                         [limit-1 limit-2] (:limit constraints)
   3.431 +                         hinge-axis
   3.432 +                         (.mult
   3.433 +                          (.getWorldRotation joint)
   3.434 +                          (blender-to-jme axis))]
   3.435 +                     (doto
   3.436 +                         (HingeJoint.
   3.437 +                          control-a
   3.438 +                          control-b
   3.439 +                          pivot-a
   3.440 +                          pivot-b
   3.441 +                          hinge-axis
   3.442 +                          hinge-axis)
   3.443 +                       (.setLimit limit-1 limit-2))))
   3.444 +                 (= :cone joint-type)
   3.445 +                 (do
   3.446 +                   (let [limit-xy (:limit-xz constraints)
   3.447 +                         limit-yz (:limit-yz constraints)
   3.448 +                         twist    (:twist constraints)]
   3.449 +                     
   3.450 +                     (println-repl "creating CONE joint")
   3.451 +                     (doto
   3.452 +                         (ConeJoint.
   3.453 +                          control-a
   3.454 +                          control-b
   3.455 +                          pivot-a
   3.456 +                          pivot-b
   3.457 +                          (doto (Matrix3f.)
   3.458 +                            (.fromStartEndVectors
   3.459 +                             Vector3f/UNIT_X
   3.460 +                             (.normalize
   3.461 +                              (.subtract (.getWorldTranslation joint)
   3.462 +                                         (.getWorldTranslation obj-a)))))
   3.463 +                          (doto (Matrix3f.)
   3.464 +                            (.fromStartEndVectors
   3.465 +                             Vector3f/UNIT_X
   3.466 +                             (.normalize
   3.467 +                              (.subtract
   3.468 +                               (.getWorldTranslation obj-b)
   3.469 +                               (.getWorldTranslation joint))))))
   3.470 +                       (.setLimit (float limit-xy)
   3.471 +                                  (float limit-yz)
   3.472 +                                  (float twist)))))
   3.473 +                 true
   3.474 +                 (println-repl
   3.475 +                  "joint-type " joint-type " not recognized")))
   3.476 +                 
   3.477 +           (println-repl "could not find joint meta-data!")))))
   3.478 +           
   3.479  
   3.480  
   3.481 -(defn physical-hand [#^Node pieces joints]
   3.482 -  ;; Make each piece a physical entity in the simulation.
   3.483 +(defn physical-worm [#^Node pieces joints]
   3.484    (dorun
   3.485     (map
   3.486      (fn [geom]
   3.487 @@ -156,44 +549,48 @@
   3.488              (RigidBodyControl.
   3.489               (HullCollisionShape.
   3.490                (.getMesh geom))
   3.491 -             ;; TODO: fix this.
   3.492 -             (float 1.0))]
   3.493 +             (if-let [mass (meta-data geom "mass")]
   3.494 +               (do
   3.495 +                 (println-repl
   3.496 +                  "setting mass to " (float mass))
   3.497 +                 (float mass))
   3.498 +               (float 1)))]
   3.499 +               
   3.500          (.addControl geom physics-control)))
   3.501      (filter #(isa? (class %) Geometry )
   3.502              (node-seq pieces))))
   3.503 +
   3.504    (dorun
   3.505     (map
   3.506 -    (fn [joint-position]
   3.507 -      (let [[geom-a geom-b] (find-joint pieces joint-position)]
   3.508 -        (connect-at-point geom-a geom-b joint-position)))
   3.509 -      joints))
   3.510 -   pieces)
   3.511 +    (fn [joint]
   3.512 +      (let [[obj-a obj-b]
   3.513 +            (joint-targets pieces joint)]
   3.514 +        (connect obj-a obj-b joint)))
   3.515 +    joints))
   3.516 +  pieces)
   3.517  
   3.518 +(defn the-worm []
   3.519 +  (physical-worm (worm) (worm-joints)))
   3.520  
   3.521 -(defn the-hand! [] (physical-hand  (hand) (hand-joints)))
   3.522 -
   3.523 -
   3.524 -(defn test-hand []
   3.525 +(defn test-worm []
   3.526    (world
   3.527 -   (nodify [(the-hand!)
   3.528 -            (box 10 1 10 :position (Vector3f. 0 -10 0)
   3.529 -                 :color ColorRGBA/Gray
   3.530 -                 :mass 0)])
   3.531 +   (nodify [(the-worm)
   3.532 +            (box 10 2 10 :position (Vector3f. 0 -5 0)
   3.533 +                 :color ColorRGBA/Gray :mass 0)])
   3.534     standard-debug-controls
   3.535 -   enable-debug 
   3.536 -   (fn [_ _] 
   3.537 -     (Thread/sleep 100))))
   3.538 -
   3.539 -
   3.540 -
   3.541 -
   3.542 -
   3.543 -
   3.544 +   (comp light-up-everything enable-debug
   3.545 +         (fn [world]
   3.546 +           (.setTimer world (NanoTimer.))
   3.547 +           (speed-up world)
   3.548 +           ;;(set-gravity world (Vector3f. 0 0 0))
   3.549 +           world
   3.550 +           ))
   3.551 +   no-op))
   3.552  
   3.553  #+end_src
   3.554  
   3.555  #+results: body-1
   3.556 -: #'cortex.silly/test-hand
   3.557 +: #'cortex.silly/test-try-again
   3.558  
   3.559  
   3.560