1.1 Binary file assets/Models/creature1/basic-muscle.png has changed

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

     3.1 --- a/org/test-creature.org	Thu Feb 02 13:22:14 2012 -0700
     3.2 +++ b/org/test-creature.org	Fri Feb 03 00:48:34 2012 -0700
     3.3 @@ -80,7 +80,8 @@
     3.4   - [X] proprioception sensor map in the style of the other senses -- day
     3.5   - [ ] refactor integration code to distribute to each of the senses
     3.6         -- day
     3.7 - - [ ] create video showing all the senses for Winston -- 2 days 
     3.8 + - [ ] create video showing all the senses for Winston -- 2 days
     3.9 + - [ ] send package to friends for critiques -- 2 days
    3.10   - [ ] write summary of project for Winston            \
    3.11   - [ ] project proposals for Winston                    \
    3.12   - [ ] additional senses to be implemented for Winston   |  -- 2 days 
    3.13 @@ -1077,14 +1078,55 @@
    3.14  ;; represent relative roll, pitch, and yaw.  Write display code for
    3.15  ;; this though.
    3.16  
    3.17 -(defn muscle-fibre-values
    3.18 -  "Take the first row of the image and return the low-order bytes."
    3.19 +(defn muscle-fiber-values
    3.20 +  "get motor pool strengths"
    3.21    [#^BufferedImage image]
    3.22 -  (let [width (.getWidth image)]
    3.23 -    (for [x (range width)]
    3.24 -      (bit-and
    3.25 -       0xFF
    3.26 -       (.getRGB image x 0)))))
    3.27 +  (vec
    3.28 +   (let [width (.getWidth image)]
    3.29 +     (for [x (range width)]
    3.30 +       (- 255
    3.31 +          (bit-and
    3.32 +           0x0000FF
    3.33 +           (.getRGB image x 0)))))))
    3.34 +
    3.35 +
    3.36 +(defn creature-muscles 
    3.37 + "Return the children of the creature's \"muscles\" node."
    3.38 + [#^Node creature]
    3.39 + (if-let [muscle-node (.getChild creature "muscles")]
    3.40 +   (seq (.getChildren muscle-node))
    3.41 +   (do (println-repl "could not find muscles node") [])))
    3.42 +
    3.43 +(defn single-muscle [#^Node parts #^Node muscle]
    3.44 +  (let [target (closest-node parts muscle)
    3.45 +        axis
    3.46 +        (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
    3.47 +        strength (meta-data muscle "strength")
    3.48 +        image-name (read-string (meta-data muscle "muscle"))
    3.49 +        image 
    3.50 +        (ImageToAwt/convert
    3.51 +          (.getImage (.loadTexture (asset-manager) image-name))
    3.52 +          false false 0)
    3.53 +        fibers (muscle-fiber-values image)
    3.54 +        fiber-integral (reductions + fibers)
    3.55 +        force-index (vec
    3.56 +                     (map
    3.57 +                      #(float (* strength (/ % (last
    3.58 +                                                fiber-integral))))
    3.59 +                      fiber-integral))
    3.60 +        control (.getControl target RigidBodyControl)]
    3.61 +    (fn [n]
    3.62 +      (let [pool-index (min n (count fibers))]
    3.63 +        (.applyTorque control (force-index n))))))
    3.64 +
    3.65 +
    3.66 +(defn enable-muscles
    3.67 +  "Must be called on a creature after RigidBodyControls have been
    3.68 +   created." 
    3.69 +  [#^Node creature]
    3.70 +  (let [muscles (creature-muscles creature)]
    3.71 +    (for [muscle muscles]
    3.72 +      (single-muscle creature muscle))))
    3.73  
    3.74  (defn test-creature [thing]
    3.75    (let [x-axis