1.1 Binary file assets/Models/creature1/one.blend has changed

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

     3.1 --- a/org/test-creature.org	Wed Jan 04 21:03:25 2012 -0700
     3.2 +++ b/org/test-creature.org	Thu Jan 05 02:35:07 2012 -0700
     3.3 @@ -173,31 +173,62 @@
     3.4                           twist    (:twist constraints)]
     3.5                       
     3.6                       (println-repl "creating CONE joint")
     3.7 -                     (doto
     3.8 -                         (ConeJoint.
     3.9 -                          control-a
    3.10 -                          control-b
    3.11 -                          pivot-a
    3.12 -                          pivot-b
    3.13 -                          
    3.14 -                          (doto (Matrix3f.)
    3.15 -                            (.fromStartEndVectors
    3.16 -                             Vector3f/UNIT_X
    3.17 -                             (.normalize
    3.18 -                              (.subtract
    3.19 -                               (.getWorldTranslation joint)
    3.20 -                               (.getWorldTranslation obj-a)))))
    3.21 -                          (doto (Matrix3f.)
    3.22 -                            (.set (.getWorldRotation joint)))
    3.23 -                          
    3.24 -                          )
    3.25 -                       (.setLimit (float limit-xy)
    3.26 -                                  (float limit-yz)
    3.27 -                                  (float twist)))))
    3.28 -                 true
    3.29 -                 (println-repl
    3.30 -                  "joint-type" joint-type "not recognized")))
    3.31 -                 
    3.32 +                     (let [vector-1
    3.33 +                           (.mult (.getWorldRotation joint)
    3.34 +                                  Vector3f/UNIT_X)
    3.35 +                           vector-2
    3.36 +                           (.normalize
    3.37 +                            (.subtract
    3.38 +                             (.getWorldTranslation joint)
    3.39 +                             (.getWorldTranslation obj-a)))
    3.40 +                           ]
    3.41 +                       (println-repl
    3.42 +                        "vector-1 :" vector-1)
    3.43 +                       (println-repl
    3.44 +                        "vector-2 :" vector-2)
    3.45 +                        
    3.46 +                       
    3.47 +                       
    3.48 +                       (doto
    3.49 +                           (ConeJoint.
    3.50 +                            control-a
    3.51 +                            control-b
    3.52 +                            pivot-a
    3.53 +                            pivot-b
    3.54 +                            
    3.55 +                            ;;(doto (Matrix3f.)
    3.56 +                            ;;  (.fromStartEndVectors
    3.57 +                            ;;   Vector3f/UNIT_X
    3.58 +                            ;;   (.normalize
    3.59 +                            ;;    (.subtract
    3.60 +                            ;;     (.getWorldTranslation joint)
    3.61 +                            ;;     (.getWorldTranslation obj-a)))))
    3.62 +                            
    3.63 +                            (.toRotationMatrix (.getWorldRotation joint))
    3.64 +
    3.65 +                            (.toRotationMatrix
    3.66 +                             (.fromAngleAxis (Quaternion.)
    3.67 +                              (.angleBetween Vector3f/UNIT_X pivot-a)
    3.68 +                              (.cross Vector3f/UNIT_X pivot-a)))
    3.69 +                            
    3.70 +                            ;; (doto (Matrix3f.)
    3.71 +                            ;;   (.fromStartEndVectors
    3.72 +                            ;;    Vector3f/UNIT_X
    3.73 +                            ;;    (.normalize
    3.74 +                            ;;     vector-1)))
    3.75 +                            
    3.76 +                            ;; (doto (Matrix3f.)
    3.77 +                            ;;   (.fromStartEndVectors
    3.78 +                            ;;    Vector3f/UNIT_X
    3.79 +                            ;;    vector-2))
    3.80 +                            )
    3.81 +                         (.setLimit (float limit-xy)
    3.82 +                                    (float limit-yz)
    3.83 +                                    (float twist))))))
    3.84 +                   true
    3.85 +                   (println-repl
    3.86 +                    "joint-type" joint-type "not recognized")))
    3.87 +           
    3.88             (println-repl "could not find joint meta-data!")))))
    3.89  
    3.90  (defn assemble-creature [#^Node pieces joints]
    3.91 @@ -241,20 +272,35 @@
    3.92  
    3.93  (def worm "Models/creature1/try-again.blend")
    3.94  
    3.95 +(defn x-ray [#^ColorRGBA color]
    3.96 +  (doto (Material. (asset-manager)
    3.97 +                   "Common/MatDefs/Misc/Unshaded.j3md")
    3.98 +    (.setColor "Color" color)
    3.99 +    (-> (.getAdditionalRenderState)
   3.100 +        (.setDepthTest false))))
   3.101 +
   3.102  (defn test-creature [thing]
   3.103 +  (let [x-axis
   3.104 +        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
   3.105 +        y-axis
   3.106 +        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
   3.107 +        z-axis
   3.108 +        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)]
   3.109    (world
   3.110     (nodify [(blender-creature thing)
   3.111              (box 10 2 10 :position (Vector3f. 0 -5.5 0)
   3.112 -                 :color ColorRGBA/Gray :mass 0)])
   3.113 +                 :color ColorRGBA/Gray :mass 0)
   3.114 +            x-axis y-axis z-axis
   3.115 +            ])
   3.116     standard-debug-controls
   3.117     (comp light-up-everything enable-debug
   3.118           (fn [world]
   3.119             (.setTimer world (NanoTimer.))
   3.120 -           ;;(set-gravity world (Vector3f. 0 0 0))
   3.121 +           (set-gravity world (Vector3f. 0 0 0))
   3.122             (speed-up world)
   3.123             world
   3.124             ))
   3.125 -   no-op))
   3.126 +   no-op)))
   3.127  
   3.128  (defn world-setup [joint]
   3.129    (let [top (doto
   3.130 @@ -309,7 +355,7 @@
   3.131              (doto (Matrix3f.)
   3.132                (.fromStartEndVectors Vector3f/UNIT_X
   3.133                                      (.normalize
   3.134 -                                     (Vector3f. 5 5 0))))
   3.135 +                                     (Vector3f. 0 0 -1))))
   3.136              )
   3.137         ;;(.setAngularOnly true)
   3.138