1.1 Binary file assets/Models/test-creature/basic-muscle.png has changed

     2.1 Binary file assets/Models/test-creature/worm.blend has changed

     3.1 Binary file images/worm-with-muscle.png has changed

     4.1 --- a/org/ideas.org	Tue Feb 14 03:16:50 2012 -0700
     4.2 +++ b/org/ideas.org	Tue Feb 14 04:35:40 2012 -0700
     4.3 @@ -100,6 +100,7 @@
     4.4   - [ ] show sensor maps in HUD display? -- 4 days
     4.5   - [ ] show sensor maps in AWT display? -- 2 days
     4.6   - [ ] upgrade to clojure 1.3, replace all defvars with new def
     4.7 + - [ ] common video creation code.
     4.8  
     4.9  
    4.10  

     5.1 --- a/org/movement.org	Tue Feb 14 03:16:50 2012 -0700
     5.2 +++ b/org/movement.org	Tue Feb 14 04:35:40 2012 -0700
     5.3 @@ -59,7 +59,7 @@
     5.4  
     5.5  These functions define the expected meta-data for a muscle node.
     5.6  
     5.7 -#+name: movement
     5.8 +#+name: muscle-meta-data
     5.9  #+begin_src clojure 
    5.10  (in-ns 'cortex.movement)
    5.11  
    5.12 @@ -101,7 +101,10 @@
    5.13  senses. This is purely an aesthetic touch.
    5.14  
    5.15  * Creating Muscles
    5.16 +#+name: muscle-kernel
    5.17  #+begin_src clojure
    5.18 +(in-ns 'cortex.movement)
    5.19 +
    5.20  (defn movement-kernel
    5.21    "Returns a function which when called with a integer value inside a
    5.22     running simulation will cause movement in the creature according
    5.23 @@ -147,6 +150,7 @@
    5.24  Muscle exertion is a percent of a total, so the visulazation is just a
    5.25  simple percent bar.
    5.26  
    5.27 +#+name: visualization
    5.28  #+begin_src clojure
    5.29  (defn movement-display-kernel
    5.30    "Display muscle exertion data as a bar filling up with red."
    5.31 @@ -171,6 +175,110 @@
    5.32  
    5.33  * Adding Touch to the Worm
    5.34  
    5.35 +#+begin_src clojure
    5.36 +(defn test-movement
    5.37 +  ([] (test-movement false))
    5.38 +  ([record?]
    5.39 +     (let [creature (doto (worm) (body!))
    5.40 +
    5.41 +           muscle-exertion (atom 0)
    5.42 +           muscles (movement! creature)
    5.43 +           muscle-display (view-movement)]
    5.44 +       (.setMass
    5.45 +        (.getControl (.getChild creature "worm-11") RigidBodyControl)
    5.46 +        (float 0))
    5.47 +       (world
    5.48 +        (nodify [creature (floor)])
    5.49 +        (merge standard-debug-controls
    5.50 +               {"key-h"
    5.51 +                (fn [_ value]
    5.52 +                  (if value
    5.53 +                    (swap!  muscle-exertion (partial + 20))))
    5.54 +                "key-n"
    5.55 +                (fn [_ value]
    5.56 +                  (if value
    5.57 +                    (swap! muscle-exertion (fn [v] (- v 20)))))})
    5.58 +        (fn [world]
    5.59 +          (if record?
    5.60 +            (Capture/captureVideo
    5.61 +             world
    5.62 +             (File. "/home/r/proj/cortex/render/worm-muscles/main-view")))
    5.63 +          (light-up-everything world)
    5.64 +          (enable-debug world)
    5.65 +          (.setTimer world (RatchetTimer. 60))
    5.66 +          (set-gravity world (Vector3f. 0 0 0))
    5.67 +          (.setLocation (.getCamera world)
    5.68 +                        (Vector3f. -4.912815, 2.004171, 0.15710819))
    5.69 +          (.setRotation (.getCamera world)
    5.70 +                        (Quaternion. 0.13828252, 0.65516764, 
    5.71 +                                     -0.12370994, 0.7323449))
    5.72 +
    5.73 +          (comment 
    5.74 +            (com.aurellem.capture.Capture/captureVideo
    5.75 +             world (file-str "/home/r/proj/ai-videos/hand"))))
    5.76 +        (fn [world tpf]
    5.77 +          (muscle-display
    5.78 +           (map #(% @muscle-exertion) muscles)
    5.79 +           (if record?
    5.80 +             (File. "/home/r/proj/cortex/render/worm-muscles/muscles"))))))))
    5.81 +#+end_src
    5.82 +
    5.83 +* Video Demonstration 
    5.84 +
    5.85 +#+begin_html
    5.86 +<div class="figure">
    5.87 +<center>
    5.88 +<video controls="controls" width="550">
    5.89 +  <source src="../video/worm-muscles.ogg" type="video/ogg"
    5.90 +	  preload="none" poster="../images/aurellem-1280x480.png" />
    5.91 +</video>
    5.92 +</center>
    5.93 +<p>The worm is now able to move. The bar in the lower right displays
    5.94 +  the power output of the muscle . Each jump causes 20 more motor neurons to
    5.95 +  be recruited.  Notice that the power output increases non-linearly
    5.96 +  with motror neuron recruitement, similiar to a human muscle.</p>
    5.97 +</div>
    5.98 +#+end_html
    5.99 +
   5.100 +
   5.101 +** Making the Worm Muscles Video
   5.102 +#+name: magick7
   5.103 +#+begin_src clojure
   5.104 +(ns cortex.video.magick7
   5.105 +  (:import java.io.File)
   5.106 +  (:use clojure.contrib.shell-out))
   5.107 +
   5.108 +(defn images [path]
   5.109 +  (sort (rest (file-seq (File. path)))))
   5.110 +
   5.111 +(def base "/home/r/proj/cortex/render/worm-muscles/")
   5.112 +
   5.113 +(defn pics [file]
   5.114 +  (images (str base file)))
   5.115 +
   5.116 +(defn combine-images []
   5.117 +  (let [main-view (pics "main-view")
   5.118 +        muscles (pics "muscles/0")
   5.119 +        targets (map
   5.120 +                 #(File. (str base "out/" (format "%07d.png" %)))
   5.121 +                 (range 0 (count main-view)))]
   5.122 +    (dorun
   5.123 +     (pmap
   5.124 +      (comp
   5.125 +       (fn [[ main-view muscles target]]
   5.126 +         (println target)
   5.127 +         (sh "convert"
   5.128 +             main-view 
   5.129 +             muscles "-geometry" "+320+440" "-composite"
   5.130 +             target))
   5.131 +       (fn [& args] (map #(.getCanonicalPath %) args)))
   5.132 +       main-view muscles targets))))
   5.133 +#+end_src
   5.134 +
   5.135 +#+begin_src sh :results silent
   5.136 +cd ~/proj/cortex/render/worm-muscles
   5.137 +ffmpeg -r 60 -i out/%07d.png -b:v 9000k -c:v libtheora worm-muscles.ogg
   5.138 +#+end_src
   5.139  
   5.140  * Headers
   5.141  #+name: muscle-header
   5.142 @@ -187,9 +295,42 @@
   5.143    (:import com.jme3.bullet.control.RigidBodyControl))
   5.144  #+end_src
   5.145  
   5.146 +#+name: test-header
   5.147 +#+begin_src clojure
   5.148 +(ns cortex.test.movement
   5.149 +  (:use (cortex world util sense body movement))
   5.150 +  (:use cortex.test.body)
   5.151 +  (:use clojure.contrib.def)
   5.152 +  (:import java.io.File)
   5.153 +  (:import java.awt.image.BufferedImage)
   5.154 +  (:import com.jme3.scene.Node)
   5.155 +  (:import com.jme3.math.Vector3f)
   5.156 +  (:import (com.aurellem.capture Capture RatchetTimer))
   5.157 +  (:import com.jme3.bullet.control.RigidBodyControl))
   5.158  
   5.159 +(cortex.import/mega-import-jme3)
   5.160 +#+end_src
   5.161 +
   5.162 +* Source Listing
   5.163 +  - [[../src/cortex/movement.clj][cortex.movement]]
   5.164 +  - [[../src/cortex/test/movement.clj][cortex.test.movement]]
   5.165 +  - [[../src/cortex/video/magick7.clj][cortex.video.magick7]]
   5.166 +#+html: <ul> <li> <a href="../org/movement.org">This org file</a> </li> </ul>
   5.167 +  - [[http://hg.bortreb.com ][source-repository]]
   5.168  
   5.169  * COMMENT code generation
   5.170  #+begin_src clojure :tangle ../src/cortex/movement.clj
   5.171 -<<movement>>
   5.172 +<<muscle-header>>
   5.173 +<<muscle-meta-data>>
   5.174 +<<muscle-kernel>>
   5.175 +<<visualization>>
   5.176  #+end_src
   5.177 +
   5.178 +#+begin_src clojure :tangle ../src/cortex/test/movement.clj
   5.179 +<<test-header>>
   5.180 +<<test-movement>>
   5.181 +#+end_src
   5.182 +
   5.183 +#+begin_src clojure :tangle ../src/cortex/video/magick7.clj
   5.184 +<<magick7>>
   5.185 +#+end_src