1.1 --- a/org/ideas.org	Sun Feb 12 10:45:38 2012 -0700
     1.2 +++ b/org/ideas.org	Sun Feb 12 12:10:51 2012 -0700
     1.3 @@ -74,6 +74,7 @@
     1.4   - [ ] send package to friends for critiques -- 2 days
     1.5   - [ ] fix videos that were encoded wrong, test on InterNet Explorer.
     1.6   - [ ] redo videos vision with new collapse code
     1.7 + - [ ] find a topology that looks good. (maybe nil topology?)
     1.8   - [ ] write summary of project for Winston            \
     1.9   - [ ] project proposals for Winston                    \
    1.10   - [ ] additional senses to be implemented for Winston   |  -- 2 days 

     2.1 --- a/org/touch.org	Sun Feb 12 10:45:38 2012 -0700
     2.2 +++ b/org/touch.org	Sun Feb 12 12:10:51 2012 -0700
     2.3 @@ -50,7 +50,8 @@
     2.4  itself is grayscale, with black meaning a hair length of 0 (no hair is
     2.5  present) and white meaning a hair length of =scale=, which is a float
     2.6  stored under the key "scale". If the pixel is gray then the resultant
     2.7 -hair length is linearly interpolated between 0 and =scale=.
     2.8 +hair length is linearly interpolated between 0 and =scale=. I call
     2.9 +these "hairs" /feelers/.
    2.10  
    2.11  #+name: meta-data
    2.12  #+begin_src clojure
    2.13 @@ -86,6 +87,24 @@
    2.14  
    2.15  #+end_src
    2.16  
    2.17 +
    2.18 +=(touch-kernel)= generates the functions which implement the sense of
    2.19 +touch for a creature. These functions must do 6 things to obtain touch
    2.20 +data.
    2.21 +
    2.22 +  - Get the tactile profile image and scale paramaters which describe
    2.23 +    the layout of feelers along the object's surface.
    2.24 +  - Get the lengths of each feeler by analyzing the color of the
    2.25 +    pixels in the tactile profile image.
    2.26 +  - Find the triangles which make up the mesh in pixel-space and in
    2.27 +    world-space.
    2.28 +  - Find the coordinates of each pixel in world-space. These
    2.29 +    coordinates are the origins of the feelers.
    2.30 +  - Calculate the normals of the triangles in world space, and add
    2.31 +    them to each of the origins of the feelers. These are the
    2.32 +    normalized coordinates of the tips of the feelers.
    2.33 +  - Generate some sort of topology for the sensors.
    2.34 +
    2.35  #+name: kernel
    2.36  #+begin_src clojure
    2.37  (in-ns 'cortex.touch)
    2.38 @@ -173,6 +192,64 @@
    2.39                  (node-seq creature)))))
    2.40  #+end_src
    2.41  
    2.42 +* Sensor Related Functions
    2.43 +
    2.44 +These functions analyze the touch-sensor-profile image convert the
    2.45 +location of each touch sensor from pixel coordinates to UV-coordinates
    2.46 +and XYZ-coordinates.
    2.47 +
    2.48 +#+name: sensors
    2.49 +#+begin_src clojure
    2.50 +(defn sensors-in-triangle
    2.51 +  "Locate the touch sensors in the triangle, returning a map of their
    2.52 +   UV and geometry-relative coordinates."
    2.53 +  [image mesh tri-index]
    2.54 +  (let [width (.getWidth image)
    2.55 +        height (.getHeight image)
    2.56 +        UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
    2.57 +        bounds (convex-bounds UV-vertex-coords)
    2.58 +        
    2.59 +        cutout-triangle (points->triangle UV-vertex-coords)
    2.60 +        UV-sensor-coords
    2.61 +        (filter (comp (partial inside-triangle? cutout-triangle)
    2.62 +                      (fn [[u v]] (Vector3f. u v 0)))
    2.63 +                (white-coordinates image bounds))
    2.64 +        UV->geometry (triangle-transformation
    2.65 +                      cutout-triangle
    2.66 +                      (mesh-triangle mesh tri-index))
    2.67 +        geometry-sensor-coords
    2.68 +        (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
    2.69 +             UV-sensor-coords)]
    2.70 +  {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
    2.71 +
    2.72 +(defn-memo locate-feelers
    2.73 +  "Search the geometry's tactile UV profile for touch sensors,
    2.74 +   returning their positions in geometry-relative coordinates."
    2.75 +  [#^Geometry geo]
    2.76 +  (let [mesh (.getMesh geo)
    2.77 +        num-triangles (.getTriangleCount mesh)]
    2.78 +    (if-let [image (tactile-sensor-profile geo)]
    2.79 +      (map
    2.80 +       (partial sensors-in-triangle image mesh)
    2.81 +       (range num-triangles))
    2.82 +      (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
    2.83 +
    2.84 +(defn-memo touch-topology
    2.85 +  "Return a sequence of vectors of the form [x y] describing the
    2.86 +   \"topology\" of the tactile sensors. Points that are close together
    2.87 +   in the touch-topology are generally close together in the simulation."
    2.88 +  [#^Gemoetry geo]
    2.89 +  (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
    2.90 +
    2.91 +(defn-memo feeler-coordinates
    2.92 +  "The location of the touch sensors in world-space coordinates."
    2.93 +  [#^Geometry geo]
    2.94 +  (vec (map :geometry (locate-feelers geo))))
    2.95 +#+end_src
    2.96 +
    2.97 +
    2.98 +
    2.99 +
   2.100  * Visualizing Touch
   2.101  #+name: visualization
   2.102  #+begin_src clojure
   2.103 @@ -393,61 +470,6 @@
   2.104  #+end_src
   2.105  
   2.106  
   2.107 -* Sensor Related Functions
   2.108 -
   2.109 -These functions analyze the touch-sensor-profile image convert the
   2.110 -location of each touch sensor from pixel coordinates to UV-coordinates
   2.111 -and XYZ-coordinates.
   2.112 -
   2.113 -#+name: sensors
   2.114 -#+begin_src clojure
   2.115 -(defn sensors-in-triangle
   2.116 -  "Locate the touch sensors in the triangle, returning a map of their
   2.117 -   UV and geometry-relative coordinates."
   2.118 -  [image mesh tri-index]
   2.119 -  (let [width (.getWidth image)
   2.120 -        height (.getHeight image)
   2.121 -        UV-vertex-coords (triangle-UV-coord mesh width height tri-index)
   2.122 -        bounds (convex-bounds UV-vertex-coords)
   2.123 -        
   2.124 -        cutout-triangle (points->triangle UV-vertex-coords)
   2.125 -        UV-sensor-coords
   2.126 -        (filter (comp (partial inside-triangle? cutout-triangle)
   2.127 -                      (fn [[u v]] (Vector3f. u v 0)))
   2.128 -                (white-coordinates image bounds))
   2.129 -        UV->geometry (triangle-transformation
   2.130 -                      cutout-triangle
   2.131 -                      (mesh-triangle mesh tri-index))
   2.132 -        geometry-sensor-coords
   2.133 -        (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0)))
   2.134 -             UV-sensor-coords)]
   2.135 -  {:UV UV-sensor-coords :geometry geometry-sensor-coords}))
   2.136 -
   2.137 -(defn-memo locate-feelers
   2.138 -  "Search the geometry's tactile UV profile for touch sensors,
   2.139 -   returning their positions in geometry-relative coordinates."
   2.140 -  [#^Geometry geo]
   2.141 -  (let [mesh (.getMesh geo)
   2.142 -        num-triangles (.getTriangleCount mesh)]
   2.143 -    (if-let [image (tactile-sensor-profile geo)]
   2.144 -      (map
   2.145 -       (partial sensors-in-triangle image mesh)
   2.146 -       (range num-triangles))
   2.147 -      (repeat (.getTriangleCount mesh) {:UV nil :geometry nil}))))
   2.148 -
   2.149 -(defn-memo touch-topology
   2.150 -  "Return a sequence of vectors of the form [x y] describing the
   2.151 -   \"topology\" of the tactile sensors. Points that are close together
   2.152 -   in the touch-topology are generally close together in the simulation."
   2.153 -  [#^Gemoetry geo]
   2.154 -  (vec (collapse (reduce concat (map :UV (locate-feelers geo))))))
   2.155 -
   2.156 -(defn-memo feeler-coordinates
   2.157 -  "The location of the touch sensors in world-space coordinates."
   2.158 -  [#^Geometry geo]
   2.159 -  (vec (map :geometry (locate-feelers geo))))
   2.160 -#+end_src
   2.161 -
   2.162  * Physics Collision Objects
   2.163  
   2.164  The "hairs" are actually =Rays= which extend  from a point on a