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changeset 144:48f9cba082eb

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proprioception is position-dependent, investigating...
author Robert McIntyre <rlm@mit.edu>
date Thu, 02 Feb 2012 03:17:11 -0700
parents d0f4b473ab4f
children 7a49b81ca1bf
files assets/Models/creature1/try-again.blend org/body.org
diffstat 2 files changed, 7 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
     1.1 Binary file assets/Models/creature1/try-again.blend has changed

     2.1 --- a/org/body.org	Thu Feb 02 02:30:22 2012 -0700
     2.2 +++ b/org/body.org	Thu Feb 02 03:17:11 2012 -0700
     2.3 @@ -69,10 +69,13 @@
     2.4          pre-inv-a (.inverse (.getWorldRotation obj-a))
     2.5          x (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_X))
     2.6          y (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Y))
     2.7 -        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))]
     2.8 -    (println-repl "x:" x)
     2.9 -    (println-repl "y:" y)
    2.10 -    (println-repl "z:" z)
    2.11 +        z (.mult pre-inv-a (.mult joint-rot Vector3f/UNIT_Z))
    2.12 +        tmp-rot-a (.getWorldRotation obj-a)]
    2.13 +    (println-repl "x:" (.mult tmp-rot-a x))
    2.14 +    (println-repl "y:" (.mult tmp-rot-a y))
    2.15 +    (println-repl "z:" (.mult tmp-rot-a z))
    2.16 +    (println-repl "rot-a" (.getWorldRotation obj-a))
    2.17 +    (println-repl "rot-b" (.getWorldRotation obj-b))
    2.18      ;; this function will report proprioceptive information for the
    2.19      ;; joint.
    2.20      (fn []