Mercurial > cortex
changeset 177:5af4ebe72b97
renamed skin.org to touch.org
| author | Robert McIntyre <rlm@mit.edu> |
|---|---|
| date | Sat, 04 Feb 2012 06:54:14 -0700 |
| parents | 026f69582022 |
| children | 6fba17a74a57 |
| files | org/skin.org org/touch.org |
| diffstat | 2 files changed, 488 insertions(+), 490 deletions(-) [+] |
line wrap: on
line diff
1.1 --- a/org/skin.org Sat Feb 04 06:52:47 2012 -0700 1.2 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 1.3 @@ -1,490 +0,0 @@ 1.4 -#+title: Simulated Sense of Touch 1.5 -#+author: Robert McIntyre 1.6 -#+email: rlm@mit.edu 1.7 -#+description: Simulated touch for AI research using JMonkeyEngine and clojure. 1.8 -#+keywords: simulation, tactile sense, jMonkeyEngine3, clojure 1.9 -#+SETUPFILE: ../../aurellem/org/setup.org 1.10 -#+INCLUDE: ../../aurellem/org/level-0.org 1.11 - 1.12 - 1.13 -* Touch 1.14 - 1.15 -My creatures need to be able to feel their environments. The idea here 1.16 -is to create thousands of small /touch receptors/ along the geometries 1.17 -which make up the creature's body. The number of touch receptors in a 1.18 -given area is determined by how complicated that area is, as 1.19 -determined by the total number of triangles in that region. This way, 1.20 -complicated regions like the hands/face, etc. get more touch receptors 1.21 -than simpler areas of the body. 1.22 - 1.23 -#+name: skin-main 1.24 -#+begin_src clojure 1.25 -(ns cortex.touch 1.26 - "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry 1.27 - to be outfitted with touch sensors with density proportional to the 1.28 - density of triangles along the surface of the Geometry. Enables a 1.29 - Geometry to know what parts of itself are touching nearby objects." 1.30 - {:author "Robert McIntyre"} 1.31 - (:use (cortex world util sense)) 1.32 - (:import com.jme3.scene.Geometry) 1.33 - (:import com.jme3.collision.CollisionResults) 1.34 - (:import jme3tools.converters.ImageToAwt) 1.35 - (:import (com.jme3.math Triangle Vector3f Ray))) 1.36 - 1.37 -(use 'clojure.contrib.def) 1.38 -(cortex.import/mega-import-jme3) 1.39 - 1.40 -(defn triangles 1.41 - "Return a sequence of all the Triangles which compose a given 1.42 - Geometry." 1.43 - [#^Geometry geom] 1.44 - (let 1.45 - [mesh (.getMesh geom) 1.46 - triangles (transient [])] 1.47 - (dorun 1.48 - (for [n (range (.getTriangleCount mesh))] 1.49 - (let [tri (Triangle.)] 1.50 - (.getTriangle mesh n tri) 1.51 - ;; (.calculateNormal tri) 1.52 - ;; (.calculateCenter tri) 1.53 - (conj! triangles tri)))) 1.54 - (persistent! triangles))) 1.55 - 1.56 -(defn get-ray-origin 1.57 - "Return the origin which a Ray would have to have to be in the exact 1.58 - center of a particular Triangle in the Geometry in World 1.59 - Coordinates." 1.60 - [geom tri] 1.61 - (let [new (Vector3f.)] 1.62 - (.calculateCenter tri) 1.63 - (.localToWorld geom (.getCenter tri) new) new)) 1.64 - 1.65 -(defn get-ray-direction 1.66 - "Return the direction which a Ray would have to have to be to point 1.67 - normal to the Triangle, in coordinates relative to the center of the 1.68 - Triangle." 1.69 - [geom tri] 1.70 - (let [n+c (Vector3f.)] 1.71 - (.calculateNormal tri) 1.72 - (.calculateCenter tri) 1.73 - (.localToWorld 1.74 - geom 1.75 - (.add (.getCenter tri) (.getNormal tri)) n+c) 1.76 - (.subtract n+c (get-ray-origin geom tri)))) 1.77 - 1.78 -;; Every Mesh has many triangles, each with its own index. 1.79 -;; Every vertex has its own index as well. 1.80 - 1.81 -(defn tactile-sensor-image 1.82 - "Return the touch-sensor distribution image in BufferedImage format, 1.83 - or nil if it does not exist." 1.84 - [#^Geometry obj] 1.85 - (if-let [image-path (meta-data obj "touch")] 1.86 - (ImageToAwt/convert 1.87 - (.getImage 1.88 - (.loadTexture 1.89 - (asset-manager) 1.90 - image-path)) 1.91 - false false 0))) 1.92 - 1.93 - 1.94 - 1.95 -(defn triangle 1.96 - "Get the triangle specified by triangle-index from the mesh within 1.97 - bounds." 1.98 - [#^Mesh mesh triangle-index] 1.99 - (let [scratch (Triangle.)] 1.100 - (.getTriangle mesh triangle-index scratch) 1.101 - scratch)) 1.102 - 1.103 -(defn triangle-vertex-indices 1.104 - "Get the triangle vertex indices of a given triangle from a given 1.105 - mesh." 1.106 - [#^Mesh mesh triangle-index] 1.107 - (let [indices (int-array 3)] 1.108 - (.getTriangle mesh triangle-index indices) 1.109 - (vec indices))) 1.110 - 1.111 -(defn vertex-UV-coord 1.112 - "Get the uv-coordinates of the vertex named by vertex-index" 1.113 - [#^Mesh mesh vertex-index] 1.114 - (let [UV-buffer 1.115 - (.getData 1.116 - (.getBuffer 1.117 - mesh 1.118 - VertexBuffer$Type/TexCoord))] 1.119 - [(.get UV-buffer (* vertex-index 2)) 1.120 - (.get UV-buffer (+ 1 (* vertex-index 2)))])) 1.121 - 1.122 -(defn triangle-UV-coord 1.123 - "Get the uv-cooridnates of the triangle's verticies." 1.124 - [#^Mesh mesh width height triangle-index] 1.125 - (map (fn [[u v]] (vector (* width u) (* height v))) 1.126 - (map (partial vertex-UV-coord mesh) 1.127 - (triangle-vertex-indices mesh triangle-index)))) 1.128 - 1.129 -(defn same-side? 1.130 - "Given the points p1 and p2 and the reference point ref, is point p 1.131 - on the same side of the line that goes through p1 and p2 as ref is?" 1.132 - [p1 p2 ref p] 1.133 - (<= 1.134 - 0 1.135 - (.dot 1.136 - (.cross (.subtract p2 p1) (.subtract p p1)) 1.137 - (.cross (.subtract p2 p1) (.subtract ref p1))))) 1.138 - 1.139 -(defn triangle-seq [#^Triangle tri] 1.140 - [(.get1 tri) (.get2 tri) (.get3 tri)]) 1.141 - 1.142 -(defn vector3f-seq [#^Vector3f v] 1.143 - [(.getX v) (.getY v) (.getZ v)]) 1.144 - 1.145 -(defn inside-triangle? 1.146 - "Is the point inside the triangle?" 1.147 - {:author "Dylan Holmes"} 1.148 - [#^Triangle tri #^Vector3f p] 1.149 - (let [[vert-1 vert-2 vert-3] (triangle-seq tri)] 1.150 - (and 1.151 - (same-side? vert-1 vert-2 vert-3 p) 1.152 - (same-side? vert-2 vert-3 vert-1 p) 1.153 - (same-side? vert-3 vert-1 vert-2 p)))) 1.154 - 1.155 -(defn triangle->matrix4f 1.156 - "Converts the triangle into a 4x4 matrix: The first three columns 1.157 - contain the vertices of the triangle; the last contains the unit 1.158 - normal of the triangle. The bottom row is filled with 1s." 1.159 - [#^Triangle t] 1.160 - (let [mat (Matrix4f.) 1.161 - [vert-1 vert-2 vert-3] 1.162 - ((comp vec map) #(.get t %) (range 3)) 1.163 - unit-normal (do (.calculateNormal t)(.getNormal t)) 1.164 - vertices [vert-1 vert-2 vert-3 unit-normal]] 1.165 - (dorun 1.166 - (for [row (range 4) col (range 3)] 1.167 - (do 1.168 - (.set mat col row (.get (vertices row)col)) 1.169 - (.set mat 3 row 1)))) 1.170 - mat)) 1.171 - 1.172 -(defn triangle-transformation 1.173 - "Returns the affine transformation that converts each vertex in the 1.174 - first triangle into the corresponding vertex in the second 1.175 - triangle." 1.176 - [#^Triangle tri-1 #^Triangle tri-2] 1.177 - (.mult 1.178 - (triangle->matrix4f tri-2) 1.179 - (.invert (triangle->matrix4f tri-1)))) 1.180 - 1.181 -(defn point->vector2f [[u v]] 1.182 - (Vector2f. u v)) 1.183 - 1.184 -(defn vector2f->vector3f [v] 1.185 - (Vector3f. (.getX v) (.getY v) 0)) 1.186 - 1.187 -(defn map-triangle [f #^Triangle tri] 1.188 - (Triangle. 1.189 - (f 0 (.get1 tri)) 1.190 - (f 1 (.get2 tri)) 1.191 - (f 2 (.get3 tri)))) 1.192 - 1.193 -(defn points->triangle 1.194 - "Convert a list of points into a triangle." 1.195 - [points] 1.196 - (apply #(Triangle. %1 %2 %3) 1.197 - (map (fn [point] 1.198 - (let [point (vec point)] 1.199 - (Vector3f. (get point 0 0) 1.200 - (get point 1 0) 1.201 - (get point 2 0)))) 1.202 - (take 3 points)))) 1.203 - 1.204 -(defn convex-bounds 1.205 - ;;dylan 1.206 - "Returns the smallest square containing the given 1.207 -vertices, as a vector of integers [left top width height]." 1.208 - ;; "Dimensions of the smallest integer bounding square of the list of 1.209 - ;; 2D verticies in the form: [x y width height]." 1.210 - [uv-verts] 1.211 - (let [xs (map first uv-verts) 1.212 - ys (map second uv-verts) 1.213 - x0 (Math/floor (apply min xs)) 1.214 - y0 (Math/floor (apply min ys)) 1.215 - x1 (Math/ceil (apply max xs)) 1.216 - y1 (Math/ceil (apply max ys))] 1.217 - [x0 y0 (- x1 x0) (- y1 y0)])) 1.218 - 1.219 -(defn sensors-in-triangle 1.220 - ;;dylan 1.221 - "Locate the touch sensors in the triangle, returning a map of their UV and geometry-relative coordinates." 1.222 - ;;"Find the locations of the touch sensors within a triangle in both 1.223 - ;; UV and gemoetry relative coordinates." 1.224 - [image mesh tri-index] 1.225 - (let [width (.getWidth image) 1.226 - height (.getHeight image) 1.227 - UV-vertex-coords (triangle-UV-coord mesh width height tri-index) 1.228 - bounds (convex-bounds UV-vertex-coords) 1.229 - 1.230 - cutout-triangle (points->triangle UV-vertex-coords) 1.231 - UV-sensor-coords 1.232 - (filter (comp (partial inside-triangle? cutout-triangle) 1.233 - (fn [[u v]] (Vector3f. u v 0))) 1.234 - (white-coordinates image bounds)) 1.235 - UV->geometry (triangle-transformation 1.236 - cutout-triangle 1.237 - (triangle mesh tri-index)) 1.238 - geometry-sensor-coords 1.239 - (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0))) 1.240 - UV-sensor-coords)] 1.241 - {:UV UV-sensor-coords :geometry geometry-sensor-coords})) 1.242 - 1.243 -(defn-memo locate-feelers 1.244 - "Search the geometry's tactile UV image for touch sensors, returning 1.245 - their positions in geometry-relative coordinates." 1.246 - [#^Geometry geo] 1.247 - (let [mesh (.getMesh geo) 1.248 - num-triangles (.getTriangleCount mesh)] 1.249 - (if-let [image (tactile-sensor-image geo)] 1.250 - (map 1.251 - (partial sensors-in-triangle image mesh) 1.252 - (range num-triangles)) 1.253 - (repeat (.getTriangleCount mesh) {:UV nil :geometry nil})))) 1.254 - 1.255 - 1.256 - 1.257 -(defn-memo touch-topology [#^Gemoetry geo] 1.258 - (vec (collapse (reduce concat (map :UV (locate-feelers geo)))))) 1.259 - 1.260 -(defn-memo feeler-coordinates [#^Geometry geo] 1.261 - (vec (map :geometry (locate-feelers geo)))) 1.262 - 1.263 -(defn enable-touch [#^Geometry geo] 1.264 - (let [feeler-coords (feeler-coordinates geo) 1.265 - tris (triangles geo) 1.266 - limit 0.1 1.267 - ;;results (CollisionResults.) 1.268 - ] 1.269 - (if (empty? (touch-topology geo)) 1.270 - nil 1.271 - (fn [node] 1.272 - (let [sensor-origins 1.273 - (map 1.274 - #(map (partial local-to-world geo) %) 1.275 - feeler-coords) 1.276 - triangle-normals 1.277 - (map (partial get-ray-direction geo) 1.278 - tris) 1.279 - rays 1.280 - (flatten 1.281 - (map (fn [origins norm] 1.282 - (map #(doto (Ray. % norm) 1.283 - (.setLimit limit)) origins)) 1.284 - sensor-origins triangle-normals))] 1.285 - (vector 1.286 - (touch-topology geo) 1.287 - (vec 1.288 - (for [ray rays] 1.289 - (do 1.290 - (let [results (CollisionResults.)] 1.291 - (.collideWith node ray results) 1.292 - (let [touch-objects 1.293 - (filter #(not (= geo (.getGeometry %))) 1.294 - results)] 1.295 - (- 255 1.296 - (if (empty? touch-objects) 255 1.297 - (rem 1.298 - (int 1.299 - (* 255 (/ (.getDistance 1.300 - (first touch-objects)) limit))) 1.301 - 256)))))))))))))) 1.302 - 1.303 - 1.304 -(defn touch [#^Node pieces] 1.305 - (filter (comp not nil?) 1.306 - (map enable-touch 1.307 - (filter #(isa? (class %) Geometry) 1.308 - (node-seq pieces))))) 1.309 - 1.310 - 1.311 -#+end_src 1.312 - 1.313 - 1.314 -* Example 1.315 - 1.316 -#+name: touch-test 1.317 -#+begin_src clojure 1.318 -(ns cortex.test.touch 1.319 - (:use (cortex world util touch)) 1.320 - (:import 1.321 - com.jme3.scene.shape.Sphere 1.322 - com.jme3.math.ColorRGBA 1.323 - com.jme3.math.Vector3f 1.324 - com.jme3.material.RenderState$BlendMode 1.325 - com.jme3.renderer.queue.RenderQueue$Bucket 1.326 - com.jme3.scene.shape.Box 1.327 - com.jme3.scene.Node)) 1.328 - 1.329 -(defn ray-origin-debug 1.330 - [ray color] 1.331 - (make-shape 1.332 - (assoc base-shape 1.333 - :shape (Sphere. 5 5 0.05) 1.334 - :name "arrow" 1.335 - :color color 1.336 - :texture false 1.337 - :physical? false 1.338 - :position 1.339 - (.getOrigin ray)))) 1.340 - 1.341 -(defn ray-debug [ray color] 1.342 - (make-shape 1.343 - (assoc 1.344 - base-shape 1.345 - :name "debug-ray" 1.346 - :physical? false 1.347 - :shape (com.jme3.scene.shape.Line. 1.348 - (.getOrigin ray) 1.349 - (.add 1.350 - (.getOrigin ray) 1.351 - (.mult (.getDirection ray) 1.352 - (float (.getLimit ray)))))))) 1.353 - 1.354 - 1.355 -(defn contact-color [contacts] 1.356 - (case contacts 1.357 - 0 ColorRGBA/Gray 1.358 - 1 ColorRGBA/Red 1.359 - 2 ColorRGBA/Green 1.360 - 3 ColorRGBA/Yellow 1.361 - 4 ColorRGBA/Orange 1.362 - 5 ColorRGBA/Red 1.363 - 6 ColorRGBA/Magenta 1.364 - 7 ColorRGBA/Pink 1.365 - 8 ColorRGBA/White)) 1.366 - 1.367 -(defn update-ray-debug [node ray contacts] 1.368 - (let [origin (.getChild node 0)] 1.369 - (.setLocalTranslation origin (.getOrigin ray)) 1.370 - (.setColor (.getMaterial origin) "Color" (contact-color contacts)))) 1.371 - 1.372 -(defn init-node 1.373 - [debug-node rays] 1.374 - (.detachAllChildren debug-node) 1.375 - (dorun 1.376 - (for [ray rays] 1.377 - (do 1.378 - (.attachChild 1.379 - debug-node 1.380 - (doto (Node.) 1.381 - (.attachChild (ray-origin-debug ray ColorRGBA/Gray)) 1.382 - (.attachChild (ray-debug ray ColorRGBA/Gray)) 1.383 - )))))) 1.384 - 1.385 -(defn manage-ray-debug-node [debug-node geom touch-data limit] 1.386 - (let [rays (normal-rays limit geom)] 1.387 - (if (not= (count (.getChildren debug-node)) (count touch-data)) 1.388 - (init-node debug-node rays)) 1.389 - (dorun 1.390 - (for [n (range (count touch-data))] 1.391 - (update-ray-debug 1.392 - (.getChild debug-node n) (nth rays n) (nth touch-data n)))))) 1.393 - 1.394 -(defn transparent-sphere [] 1.395 - (doto 1.396 - (make-shape 1.397 - (merge base-shape 1.398 - {:position (Vector3f. 0 2 0) 1.399 - :name "the blob." 1.400 - :material "Common/MatDefs/Misc/Unshaded.j3md" 1.401 - :texture "Textures/purpleWisp.png" 1.402 - :physical? true 1.403 - :mass 70 1.404 - :color ColorRGBA/Blue 1.405 - :shape (Sphere. 10 10 1)})) 1.406 - (-> (.getMaterial) 1.407 - (.getAdditionalRenderState) 1.408 - (.setBlendMode RenderState$BlendMode/Alpha)) 1.409 - (.setQueueBucket RenderQueue$Bucket/Transparent))) 1.410 - 1.411 -(defn transparent-box [] 1.412 - (doto 1.413 - (make-shape 1.414 - (merge base-shape 1.415 - {:position (Vector3f. 0 2 0) 1.416 - :name "box" 1.417 - :material "Common/MatDefs/Misc/Unshaded.j3md" 1.418 - :texture "Textures/purpleWisp.png" 1.419 - :physical? true 1.420 - :mass 70 1.421 - :color ColorRGBA/Blue 1.422 - :shape (Box. 1 1 1)})) 1.423 - (-> (.getMaterial) 1.424 - (.getAdditionalRenderState) 1.425 - (.setBlendMode RenderState$BlendMode/Alpha)) 1.426 - (.setQueueBucket RenderQueue$Bucket/Transparent))) 1.427 - 1.428 -(defn transparent-floor [] 1.429 - (doto 1.430 - (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0) 1.431 - :material "Common/MatDefs/Misc/Unshaded.j3md" 1.432 - :texture "Textures/redWisp.png" 1.433 - :name "floor") 1.434 - (-> (.getMaterial) 1.435 - (.getAdditionalRenderState) 1.436 - (.setBlendMode RenderState$BlendMode/Alpha)) 1.437 - (.setQueueBucket RenderQueue$Bucket/Transparent))) 1.438 - 1.439 -(defn test-skin 1.440 - "Testing touch: 1.441 - you should see a ball which responds to the table 1.442 - and whatever balls hit it." 1.443 - [] 1.444 - (let [b 1.445 - ;;(transparent-box) 1.446 - (transparent-sphere) 1.447 - ;;(sphere) 1.448 - f (transparent-floor) 1.449 - debug-node (Node.) 1.450 - node (doto (Node.) (.attachChild b) (.attachChild f)) 1.451 - root-node (doto (Node.) (.attachChild node) 1.452 - (.attachChild debug-node)) 1.453 - ] 1.454 - 1.455 - (world 1.456 - root-node 1.457 - {"key-return" (fire-cannon-ball node)} 1.458 - (fn [world] 1.459 - ;; (Capture/SimpleCaptureVideo 1.460 - ;; world 1.461 - ;; (file-str "/home/r/proj/cortex/tmp/blob.avi")) 1.462 - ;; (no-logging) 1.463 - ;;(enable-debug world) 1.464 - ;; (set-accuracy world (/ 1 60)) 1.465 - ) 1.466 - 1.467 - (fn [& _] 1.468 - (let [sensitivity 0.2 1.469 - touch-data (touch-percieve sensitivity b node)] 1.470 - (manage-ray-debug-node debug-node b touch-data sensitivity)) 1.471 - )))) 1.472 - 1.473 - 1.474 -#+end_src 1.475 - 1.476 - 1.477 - 1.478 - 1.479 - 1.480 -* COMMENT code generation 1.481 -#+begin_src clojure :tangle ../src/cortex/touch.clj 1.482 -<<skin-main>> 1.483 -#+end_src 1.484 - 1.485 -#+begin_src clojure :tangle ../src/cortex/test/touch.clj 1.486 -<<touch-test>> 1.487 -#+end_src 1.488 - 1.489 - 1.490 - 1.491 - 1.492 - 1.493 -
2.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 2.2 +++ b/org/touch.org Sat Feb 04 06:54:14 2012 -0700 2.3 @@ -0,0 +1,488 @@ 2.4 +#+title: Simulated Sense of Touch 2.5 +#+author: Robert McIntyre 2.6 +#+email: rlm@mit.edu 2.7 +#+description: Simulated touch for AI research using JMonkeyEngine and clojure. 2.8 +#+keywords: simulation, tactile sense, jMonkeyEngine3, clojure 2.9 +#+SETUPFILE: ../../aurellem/org/setup.org 2.10 +#+INCLUDE: ../../aurellem/org/level-0.org 2.11 + 2.12 + 2.13 +* Touch 2.14 + 2.15 +My creatures need to be able to feel their environments. The idea here 2.16 +is to create thousands of small /touch receptors/ along the geometries 2.17 +which make up the creature's body. The number of touch receptors in a 2.18 +given area is determined by how complicated that area is, as 2.19 +determined by the total number of triangles in that region. This way, 2.20 +complicated regions like the hands/face, etc. get more touch receptors 2.21 +than simpler areas of the body. 2.22 + 2.23 +#+name: skin-main 2.24 +#+begin_src clojure 2.25 +(ns cortex.touch 2.26 + "Simulate the sense of touch in jMonkeyEngine3. Enables any Geometry 2.27 + to be outfitted with touch sensors with density proportional to the 2.28 + density of triangles along the surface of the Geometry. Enables a 2.29 + Geometry to know what parts of itself are touching nearby objects." 2.30 + {:author "Robert McIntyre"} 2.31 + (:use (cortex world util sense)) 2.32 + (:import com.jme3.scene.Geometry) 2.33 + (:import com.jme3.collision.CollisionResults) 2.34 + (:import jme3tools.converters.ImageToAwt) 2.35 + (:import (com.jme3.math Triangle Vector3f Ray))) 2.36 + 2.37 +(use 'clojure.contrib.def) 2.38 +(cortex.import/mega-import-jme3) 2.39 + 2.40 +(defn triangles 2.41 + "Return a sequence of all the Triangles which compose a given 2.42 + Geometry." 2.43 + [#^Geometry geom] 2.44 + (let 2.45 + [mesh (.getMesh geom) 2.46 + triangles (transient [])] 2.47 + (dorun 2.48 + (for [n (range (.getTriangleCount mesh))] 2.49 + (let [tri (Triangle.)] 2.50 + (.getTriangle mesh n tri) 2.51 + ;; (.calculateNormal tri) 2.52 + ;; (.calculateCenter tri) 2.53 + (conj! triangles tri)))) 2.54 + (persistent! triangles))) 2.55 + 2.56 +(defn get-ray-origin 2.57 + "Return the origin which a Ray would have to have to be in the exact 2.58 + center of a particular Triangle in the Geometry in World 2.59 + Coordinates." 2.60 + [geom tri] 2.61 + (let [new (Vector3f.)] 2.62 + (.calculateCenter tri) 2.63 + (.localToWorld geom (.getCenter tri) new) new)) 2.64 + 2.65 +(defn get-ray-direction 2.66 + "Return the direction which a Ray would have to have to be to point 2.67 + normal to the Triangle, in coordinates relative to the center of the 2.68 + Triangle." 2.69 + [geom tri] 2.70 + (let [n+c (Vector3f.)] 2.71 + (.calculateNormal tri) 2.72 + (.calculateCenter tri) 2.73 + (.localToWorld 2.74 + geom 2.75 + (.add (.getCenter tri) (.getNormal tri)) n+c) 2.76 + (.subtract n+c (get-ray-origin geom tri)))) 2.77 + 2.78 +;; Every Mesh has many triangles, each with its own index. 2.79 +;; Every vertex has its own index as well. 2.80 + 2.81 +(defn tactile-sensor-image 2.82 + "Return the touch-sensor distribution image in BufferedImage format, 2.83 + or nil if it does not exist." 2.84 + [#^Geometry obj] 2.85 + (if-let [image-path (meta-data obj "touch")] 2.86 + (ImageToAwt/convert 2.87 + (.getImage 2.88 + (.loadTexture 2.89 + (asset-manager) 2.90 + image-path)) 2.91 + false false 0))) 2.92 + 2.93 + 2.94 + 2.95 +(defn triangle 2.96 + "Get the triangle specified by triangle-index from the mesh within 2.97 + bounds." 2.98 + [#^Mesh mesh triangle-index] 2.99 + (let [scratch (Triangle.)] 2.100 + (.getTriangle mesh triangle-index scratch) 2.101 + scratch)) 2.102 + 2.103 +(defn triangle-vertex-indices 2.104 + "Get the triangle vertex indices of a given triangle from a given 2.105 + mesh." 2.106 + [#^Mesh mesh triangle-index] 2.107 + (let [indices (int-array 3)] 2.108 + (.getTriangle mesh triangle-index indices) 2.109 + (vec indices))) 2.110 + 2.111 +(defn vertex-UV-coord 2.112 + "Get the uv-coordinates of the vertex named by vertex-index" 2.113 + [#^Mesh mesh vertex-index] 2.114 + (let [UV-buffer 2.115 + (.getData 2.116 + (.getBuffer 2.117 + mesh 2.118 + VertexBuffer$Type/TexCoord))] 2.119 + [(.get UV-buffer (* vertex-index 2)) 2.120 + (.get UV-buffer (+ 1 (* vertex-index 2)))])) 2.121 + 2.122 +(defn triangle-UV-coord 2.123 + "Get the uv-cooridnates of the triangle's verticies." 2.124 + [#^Mesh mesh width height triangle-index] 2.125 + (map (fn [[u v]] (vector (* width u) (* height v))) 2.126 + (map (partial vertex-UV-coord mesh) 2.127 + (triangle-vertex-indices mesh triangle-index)))) 2.128 + 2.129 +(defn same-side? 2.130 + "Given the points p1 and p2 and the reference point ref, is point p 2.131 + on the same side of the line that goes through p1 and p2 as ref is?" 2.132 + [p1 p2 ref p] 2.133 + (<= 2.134 + 0 2.135 + (.dot 2.136 + (.cross (.subtract p2 p1) (.subtract p p1)) 2.137 + (.cross (.subtract p2 p1) (.subtract ref p1))))) 2.138 + 2.139 +(defn triangle-seq [#^Triangle tri] 2.140 + [(.get1 tri) (.get2 tri) (.get3 tri)]) 2.141 + 2.142 +(defn vector3f-seq [#^Vector3f v] 2.143 + [(.getX v) (.getY v) (.getZ v)]) 2.144 + 2.145 +(defn inside-triangle? 2.146 + "Is the point inside the triangle?" 2.147 + {:author "Dylan Holmes"} 2.148 + [#^Triangle tri #^Vector3f p] 2.149 + (let [[vert-1 vert-2 vert-3] (triangle-seq tri)] 2.150 + (and 2.151 + (same-side? vert-1 vert-2 vert-3 p) 2.152 + (same-side? vert-2 vert-3 vert-1 p) 2.153 + (same-side? vert-3 vert-1 vert-2 p)))) 2.154 + 2.155 +(defn triangle->matrix4f 2.156 + "Converts the triangle into a 4x4 matrix: The first three columns 2.157 + contain the vertices of the triangle; the last contains the unit 2.158 + normal of the triangle. The bottom row is filled with 1s." 2.159 + [#^Triangle t] 2.160 + (let [mat (Matrix4f.) 2.161 + [vert-1 vert-2 vert-3] 2.162 + ((comp vec map) #(.get t %) (range 3)) 2.163 + unit-normal (do (.calculateNormal t)(.getNormal t)) 2.164 + vertices [vert-1 vert-2 vert-3 unit-normal]] 2.165 + (dorun 2.166 + (for [row (range 4) col (range 3)] 2.167 + (do 2.168 + (.set mat col row (.get (vertices row)col)) 2.169 + (.set mat 3 row 1)))) 2.170 + mat)) 2.171 + 2.172 +(defn triangle-transformation 2.173 + "Returns the affine transformation that converts each vertex in the 2.174 + first triangle into the corresponding vertex in the second 2.175 + triangle." 2.176 + [#^Triangle tri-1 #^Triangle tri-2] 2.177 + (.mult 2.178 + (triangle->matrix4f tri-2) 2.179 + (.invert (triangle->matrix4f tri-1)))) 2.180 + 2.181 +(defn point->vector2f [[u v]] 2.182 + (Vector2f. u v)) 2.183 + 2.184 +(defn vector2f->vector3f [v] 2.185 + (Vector3f. (.getX v) (.getY v) 0)) 2.186 + 2.187 +(defn map-triangle [f #^Triangle tri] 2.188 + (Triangle. 2.189 + (f 0 (.get1 tri)) 2.190 + (f 1 (.get2 tri)) 2.191 + (f 2 (.get3 tri)))) 2.192 + 2.193 +(defn points->triangle 2.194 + "Convert a list of points into a triangle." 2.195 + [points] 2.196 + (apply #(Triangle. %1 %2 %3) 2.197 + (map (fn [point] 2.198 + (let [point (vec point)] 2.199 + (Vector3f. (get point 0 0) 2.200 + (get point 1 0) 2.201 + (get point 2 0)))) 2.202 + (take 3 points)))) 2.203 + 2.204 +(defn convex-bounds 2.205 + ;;dylan 2.206 + "Returns the smallest square containing the given 2.207 +vertices, as a vector of integers [left top width height]." 2.208 + ;; "Dimensions of the smallest integer bounding square of the list of 2.209 + ;; 2D verticies in the form: [x y width height]." 2.210 + [uv-verts] 2.211 + (let [xs (map first uv-verts) 2.212 + ys (map second uv-verts) 2.213 + x0 (Math/floor (apply min xs)) 2.214 + y0 (Math/floor (apply min ys)) 2.215 + x1 (Math/ceil (apply max xs)) 2.216 + y1 (Math/ceil (apply max ys))] 2.217 + [x0 y0 (- x1 x0) (- y1 y0)])) 2.218 + 2.219 +(defn sensors-in-triangle 2.220 + ;;dylan 2.221 + "Locate the touch sensors in the triangle, returning a map of their UV and geometry-relative coordinates." 2.222 + ;;"Find the locations of the touch sensors within a triangle in both 2.223 + ;; UV and gemoetry relative coordinates." 2.224 + [image mesh tri-index] 2.225 + (let [width (.getWidth image) 2.226 + height (.getHeight image) 2.227 + UV-vertex-coords (triangle-UV-coord mesh width height tri-index) 2.228 + bounds (convex-bounds UV-vertex-coords) 2.229 + 2.230 + cutout-triangle (points->triangle UV-vertex-coords) 2.231 + UV-sensor-coords 2.232 + (filter (comp (partial inside-triangle? cutout-triangle) 2.233 + (fn [[u v]] (Vector3f. u v 0))) 2.234 + (white-coordinates image bounds)) 2.235 + UV->geometry (triangle-transformation 2.236 + cutout-triangle 2.237 + (triangle mesh tri-index)) 2.238 + geometry-sensor-coords 2.239 + (map (fn [[u v]] (.mult UV->geometry (Vector3f. u v 0))) 2.240 + UV-sensor-coords)] 2.241 + {:UV UV-sensor-coords :geometry geometry-sensor-coords})) 2.242 + 2.243 +(defn-memo locate-feelers 2.244 + "Search the geometry's tactile UV image for touch sensors, returning 2.245 + their positions in geometry-relative coordinates." 2.246 + [#^Geometry geo] 2.247 + (let [mesh (.getMesh geo) 2.248 + num-triangles (.getTriangleCount mesh)] 2.249 + (if-let [image (tactile-sensor-image geo)] 2.250 + (map 2.251 + (partial sensors-in-triangle image mesh) 2.252 + (range num-triangles)) 2.253 + (repeat (.getTriangleCount mesh) {:UV nil :geometry nil})))) 2.254 + 2.255 +(defn-memo touch-topology [#^Gemoetry geo] 2.256 + (vec (collapse (reduce concat (map :UV (locate-feelers geo)))))) 2.257 + 2.258 +(defn-memo feeler-coordinates [#^Geometry geo] 2.259 + (vec (map :geometry (locate-feelers geo)))) 2.260 + 2.261 +(defn enable-touch [#^Geometry geo] 2.262 + (let [feeler-coords (feeler-coordinates geo) 2.263 + tris (triangles geo) 2.264 + limit 0.1 2.265 + ;;results (CollisionResults.) 2.266 + ] 2.267 + (if (empty? (touch-topology geo)) 2.268 + nil 2.269 + (fn [node] 2.270 + (let [sensor-origins 2.271 + (map 2.272 + #(map (partial local-to-world geo) %) 2.273 + feeler-coords) 2.274 + triangle-normals 2.275 + (map (partial get-ray-direction geo) 2.276 + tris) 2.277 + rays 2.278 + (flatten 2.279 + (map (fn [origins norm] 2.280 + (map #(doto (Ray. % norm) 2.281 + (.setLimit limit)) origins)) 2.282 + sensor-origins triangle-normals))] 2.283 + (vector 2.284 + (touch-topology geo) 2.285 + (vec 2.286 + (for [ray rays] 2.287 + (do 2.288 + (let [results (CollisionResults.)] 2.289 + (.collideWith node ray results) 2.290 + (let [touch-objects 2.291 + (filter #(not (= geo (.getGeometry %))) 2.292 + results)] 2.293 + (- 255 2.294 + (if (empty? touch-objects) 255 2.295 + (rem 2.296 + (int 2.297 + (* 255 (/ (.getDistance 2.298 + (first touch-objects)) limit))) 2.299 + 256)))))))))))))) 2.300 + 2.301 + 2.302 +(defn touch [#^Node pieces] 2.303 + (filter (comp not nil?) 2.304 + (map enable-touch 2.305 + (filter #(isa? (class %) Geometry) 2.306 + (node-seq pieces))))) 2.307 + 2.308 + 2.309 +#+end_src 2.310 + 2.311 + 2.312 +* Example 2.313 + 2.314 +#+name: touch-test 2.315 +#+begin_src clojure 2.316 +(ns cortex.test.touch 2.317 + (:use (cortex world util touch)) 2.318 + (:import 2.319 + com.jme3.scene.shape.Sphere 2.320 + com.jme3.math.ColorRGBA 2.321 + com.jme3.math.Vector3f 2.322 + com.jme3.material.RenderState$BlendMode 2.323 + com.jme3.renderer.queue.RenderQueue$Bucket 2.324 + com.jme3.scene.shape.Box 2.325 + com.jme3.scene.Node)) 2.326 + 2.327 +(defn ray-origin-debug 2.328 + [ray color] 2.329 + (make-shape 2.330 + (assoc base-shape 2.331 + :shape (Sphere. 5 5 0.05) 2.332 + :name "arrow" 2.333 + :color color 2.334 + :texture false 2.335 + :physical? false 2.336 + :position 2.337 + (.getOrigin ray)))) 2.338 + 2.339 +(defn ray-debug [ray color] 2.340 + (make-shape 2.341 + (assoc 2.342 + base-shape 2.343 + :name "debug-ray" 2.344 + :physical? false 2.345 + :shape (com.jme3.scene.shape.Line. 2.346 + (.getOrigin ray) 2.347 + (.add 2.348 + (.getOrigin ray) 2.349 + (.mult (.getDirection ray) 2.350 + (float (.getLimit ray)))))))) 2.351 + 2.352 + 2.353 +(defn contact-color [contacts] 2.354 + (case contacts 2.355 + 0 ColorRGBA/Gray 2.356 + 1 ColorRGBA/Red 2.357 + 2 ColorRGBA/Green 2.358 + 3 ColorRGBA/Yellow 2.359 + 4 ColorRGBA/Orange 2.360 + 5 ColorRGBA/Red 2.361 + 6 ColorRGBA/Magenta 2.362 + 7 ColorRGBA/Pink 2.363 + 8 ColorRGBA/White)) 2.364 + 2.365 +(defn update-ray-debug [node ray contacts] 2.366 + (let [origin (.getChild node 0)] 2.367 + (.setLocalTranslation origin (.getOrigin ray)) 2.368 + (.setColor (.getMaterial origin) "Color" (contact-color contacts)))) 2.369 + 2.370 +(defn init-node 2.371 + [debug-node rays] 2.372 + (.detachAllChildren debug-node) 2.373 + (dorun 2.374 + (for [ray rays] 2.375 + (do 2.376 + (.attachChild 2.377 + debug-node 2.378 + (doto (Node.) 2.379 + (.attachChild (ray-origin-debug ray ColorRGBA/Gray)) 2.380 + (.attachChild (ray-debug ray ColorRGBA/Gray)) 2.381 + )))))) 2.382 + 2.383 +(defn manage-ray-debug-node [debug-node geom touch-data limit] 2.384 + (let [rays (normal-rays limit geom)] 2.385 + (if (not= (count (.getChildren debug-node)) (count touch-data)) 2.386 + (init-node debug-node rays)) 2.387 + (dorun 2.388 + (for [n (range (count touch-data))] 2.389 + (update-ray-debug 2.390 + (.getChild debug-node n) (nth rays n) (nth touch-data n)))))) 2.391 + 2.392 +(defn transparent-sphere [] 2.393 + (doto 2.394 + (make-shape 2.395 + (merge base-shape 2.396 + {:position (Vector3f. 0 2 0) 2.397 + :name "the blob." 2.398 + :material "Common/MatDefs/Misc/Unshaded.j3md" 2.399 + :texture "Textures/purpleWisp.png" 2.400 + :physical? true 2.401 + :mass 70 2.402 + :color ColorRGBA/Blue 2.403 + :shape (Sphere. 10 10 1)})) 2.404 + (-> (.getMaterial) 2.405 + (.getAdditionalRenderState) 2.406 + (.setBlendMode RenderState$BlendMode/Alpha)) 2.407 + (.setQueueBucket RenderQueue$Bucket/Transparent))) 2.408 + 2.409 +(defn transparent-box [] 2.410 + (doto 2.411 + (make-shape 2.412 + (merge base-shape 2.413 + {:position (Vector3f. 0 2 0) 2.414 + :name "box" 2.415 + :material "Common/MatDefs/Misc/Unshaded.j3md" 2.416 + :texture "Textures/purpleWisp.png" 2.417 + :physical? true 2.418 + :mass 70 2.419 + :color ColorRGBA/Blue 2.420 + :shape (Box. 1 1 1)})) 2.421 + (-> (.getMaterial) 2.422 + (.getAdditionalRenderState) 2.423 + (.setBlendMode RenderState$BlendMode/Alpha)) 2.424 + (.setQueueBucket RenderQueue$Bucket/Transparent))) 2.425 + 2.426 +(defn transparent-floor [] 2.427 + (doto 2.428 + (box 5 0.2 5 :mass 0 :position (Vector3f. 0 -2 0) 2.429 + :material "Common/MatDefs/Misc/Unshaded.j3md" 2.430 + :texture "Textures/redWisp.png" 2.431 + :name "floor") 2.432 + (-> (.getMaterial) 2.433 + (.getAdditionalRenderState) 2.434 + (.setBlendMode RenderState$BlendMode/Alpha)) 2.435 + (.setQueueBucket RenderQueue$Bucket/Transparent))) 2.436 + 2.437 +(defn test-skin 2.438 + "Testing touch: 2.439 + you should see a ball which responds to the table 2.440 + and whatever balls hit it." 2.441 + [] 2.442 + (let [b 2.443 + ;;(transparent-box) 2.444 + (transparent-sphere) 2.445 + ;;(sphere) 2.446 + f (transparent-floor) 2.447 + debug-node (Node.) 2.448 + node (doto (Node.) (.attachChild b) (.attachChild f)) 2.449 + root-node (doto (Node.) (.attachChild node) 2.450 + (.attachChild debug-node)) 2.451 + ] 2.452 + 2.453 + (world 2.454 + root-node 2.455 + {"key-return" (fire-cannon-ball node)} 2.456 + (fn [world] 2.457 + ;; (Capture/SimpleCaptureVideo 2.458 + ;; world 2.459 + ;; (file-str "/home/r/proj/cortex/tmp/blob.avi")) 2.460 + ;; (no-logging) 2.461 + ;;(enable-debug world) 2.462 + ;; (set-accuracy world (/ 1 60)) 2.463 + ) 2.464 + 2.465 + (fn [& _] 2.466 + (let [sensitivity 0.2 2.467 + touch-data (touch-percieve sensitivity b node)] 2.468 + (manage-ray-debug-node debug-node b touch-data sensitivity)) 2.469 + )))) 2.470 + 2.471 + 2.472 +#+end_src 2.473 + 2.474 + 2.475 + 2.476 + 2.477 + 2.478 +* COMMENT code generation 2.479 +#+begin_src clojure :tangle ../src/cortex/touch.clj 2.480 +<<skin-main>> 2.481 +#+end_src 2.482 + 2.483 +#+begin_src clojure :tangle ../src/cortex/test/touch.clj 2.484 +<<touch-test>> 2.485 +#+end_src 2.486 + 2.487 + 2.488 + 2.489 + 2.490 + 2.491 +