1.1 Binary file assets/Models/test-creature/hand.blend has changed

     2.1 --- a/org/integration.org	Thu Feb 16 12:48:51 2012 -0700
     2.2 +++ b/org/integration.org	Thu Feb 16 20:05:54 2012 -0700
     2.3 @@ -96,53 +96,106 @@
     2.4  (def full 9001)
     2.5  ;; the systax here is [keyframe body-part force]
     2.6  (def wiggle-each-finger-tip
     2.7 -  [[300 :pointer-3-f 50]
     2.8 +  [[300 :pinky-3-f 50]
     2.9 +   [320 :pinky-2-f 80]
    2.10 +   [340 :pinky-1-f 100]
    2.11  
    2.12 +   [310 :ring-3-f 100]
    2.13 +   [330 :ring-2-f 120]
    2.14 +   [350 :ring-1-f 140]
    2.15  
    2.16 -   [400 :middle-3-f full]
    2.17 -   [401 :middle-3-f 50]
    2.18 +   [330 :middle-3-f 120]
    2.19 +   [340 :middle-2-f 120]
    2.20 +   [360 :middle-1-f 30]
    2.21  
    2.22 -   [600 :ring-3-f full]
    2.23 -   [601 :ring-3-f 40]
    2.24 +   [350 :pointer-3-f 120]
    2.25 +   [360 :pointer-2-f 120]
    2.26 +   [380 :pointer-1-f 30]
    2.27  
    2.28 -   [800 :pinky-3-f full]
    2.29 -   [801 :pinky-3-f 50]
    2.30 +   [800 :pinky-3-f 0]
    2.31 +   [800 :pinky-2-f 0]
    2.32 +   [800 :pinky-1-f  0]
    2.33  
    2.34 -   [1300 :pointer-1-f full]
    2.35 -   [1300 :pointer-2-f full]
    2.36 -   [1300 :pointer-3-f 0]
    2.37 +   [800 :ring-3-f  0]
    2.38 +   [800 :ring-2-f  0]
    2.39 +   [800 :ring-1-f  0]
    2.40  
    2.41 -   [1289 :middle-1-f full]
    2.42 -   [1289 :middle-2-f full]
    2.43 -   [1289 :middle-3-f 0]
    2.44 -   
    2.45 -   [1310 :pointer-1-f 0]
    2.46 -   [1310 :pointer-2-f 0]
    2.47 -   [1310 :pointer-3-f 0]
    2.48 +   [800 :middle-3-f  0]
    2.49 +   [800 :middle-2-f  0]
    2.50 +   [800 :middle-1-f 0]
    2.51  
    2.52 -   [1310 :middle-1-f 0]
    2.53 -   [1310 :middle-2-f 0]
    2.54 -   [1310 :middle-3-f 0]
    2.55 +   [800 :pointer-3-f  0]
    2.56 +   [800 :pointer-2-f  0]
    2.57 +   [800 :pointer-1-f 0]
    2.58  
    2.59     
    2.60 +   [800 :pinky-3-e 50]
    2.61 +   [800 :pinky-2-e 80]
    2.62 +   [800 :pinky-1-e 100]
    2.63  
    2.64 +   [800 :ring-3-e 100]
    2.65 +   [800 :ring-2-e 120]
    2.66 +   [800 :ring-1-e 140]
    2.67 +
    2.68 +   [800 :middle-3-e 120]
    2.69 +   [800 :middle-2-e 120]
    2.70 +   [800 :middle-1-e 30]
    2.71 +
    2.72 +   [800 :pointer-3-e 120]
    2.73 +   [800 :pointer-2-e 120]
    2.74 +   [800 :pointer-1-e 30]
    2.75 +
    2.76 +   [870 :pinky-3-e 0]
    2.77 +   [870 :pinky-2-e 0]
    2.78 +   [870 :pinky-1-e  0]
    2.79 +
    2.80 +   [870 :ring-3-e  0]
    2.81 +   [870 :ring-2-e  0]
    2.82 +   [870 :ring-1-e  0]
    2.83 +
    2.84 +   [870 :middle-3-e  0]
    2.85 +   [870 :middle-2-e  0]
    2.86 +   [870 :middle-1-e 0]
    2.87 +
    2.88 +   [870 :pointer-3-e  0]
    2.89 +   [870 :pointer-2-e  0]
    2.90 +   [870 :pointer-1-e 0]
    2.91 +
    2.92 +   [1500 :pointer-1-f full]
    2.93 +   [1500 :pointer-2-f full]
    2.94 +   [1500 :pointer-3-f full]
    2.95 +   
    2.96 +   [1500 :middle-1-f full]
    2.97 +   [1500 :middle-2-f full]
    2.98 +   [1500 :middle-3-f full]
    2.99 +   
   2.100 +   [1510 :pointer-1-f 0]
   2.101 +   [1510 :pointer-2-f 0]
   2.102 +   [1510 :pointer-3-f 0]
   2.103 +   
   2.104 +   [1510 :middle-1-f 0]
   2.105 +   [1510 :middle-2-f 0]
   2.106 +   [1510 :middle-3-f 0]
   2.107     ])
   2.108  
   2.109 -(defn gen-summon-ball []
   2.110 -  (let [wait (atom 20)]
   2.111 +(defn gen-summon-ball [debug?]
   2.112 +  (let [wait (atom 1100)]
   2.113      (fn [world]
   2.114        (if (= 0 (swap! wait dec))
   2.115          (let [brick
   2.116                (box 0.8 0.8 0.8 :mass 0.05
   2.117 -                                :position (Vector3f. 0 0 0.5)
   2.118 -                                :color (ColorRGBA/Red))]
   2.119 -
   2.120 -          (.addControl
   2.121 -           brick
   2.122 -           (proxy [AbstractControl] []
   2.123 -             (controlUpdate [tpf]
   2.124 -               (println-repl (.getWorldTranslation brick)))
   2.125 -             (controlRender [_ _])))
   2.126 +                                :position (Vector3f. -0.5 0 0.5)
   2.127 +                                :color (ColorRGBA/Red))
   2.128 +              bell (AudioNode. (asset-manager)
   2.129 +                               "Sounds/pure.wav" false)]
   2.130 +          (.play bell)
   2.131 +          (if debug?
   2.132 +            (.addControl
   2.133 +             brick
   2.134 +             (proxy [AbstractControl] []
   2.135 +               (controlUpdate [tpf]
   2.136 +                 (println-repl (.getWorldTranslation brick)))
   2.137 +               (controlRender [_ _]))))
   2.138            (add-element world brick))))))
   2.139            
   2.140  
   2.141 @@ -158,7 +211,7 @@
   2.142    0 ;;thumb-2.0011 #<Vector3f (-0.10567085, 0.83862597, 0.53435963)>
   2.143    0 ;;middle-11 #<Vector3f (0.99999994, 0.0, 0.0)>
   2.144    0 ;;middle-11 #<Vector3f (-0.99999994, 0.0, 0.0)>
   2.145 -  1 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   2.146 +  0 ;;pointer-31 #<Vector3f (-0.99999994, 0.0, 0.0)>
   2.147    0 ;;pointer-31 #<Vector3f (0.99999994, 0.0, 0.0)>
   2.148    0 ;;middle-21 #<Vector3f (0.99999994, 0.0, 0.0)>
   2.149    0 ;;middle-21 #<Vector3f (-0.99999994, 0.0, 0.0)>
   2.150 @@ -180,26 +233,29 @@
   2.151    0 ;;pinky-11 #<Vector3f (0.99999994, 0.0, 0.0)>
   2.152    ])
   2.153  
   2.154 +(import com.aurellem.capture.Capture)
   2.155 +
   2.156  (defn test-everything! 
   2.157    ([] (test-everything! false))
   2.158    ([record?]
   2.159    (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
   2.160  
   2.161 -        bell (AudioNode. (asset-manager)
   2.162 -                         "Sounds/pure.wav" false)
   2.163 +        base (File. "/home/r/proj/cortex/render/hand")
   2.164 +        
   2.165 +        
   2.166          creature (doto (load-blender-model hand) 
   2.167                     (body!))
   2.168  
   2.169 -        summon-ball (gen-summon-ball)
   2.170 +        summon-ball (gen-summon-ball false)
   2.171          ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
   2.172 -        ;;touch (touch! creature)
   2.173 -        ;;touch-display (view-touch)
   2.174 +        touch (touch! creature)
   2.175 +        touch-display (view-touch)
   2.176  
   2.177 -        ;;vision (vision! creature)
   2.178 -        ;;vision-display (view-vision)
   2.179 +        vision (vision! creature)
   2.180 +        vision-display (view-vision)
   2.181  
   2.182 -        ;;hearing (hearing! creature)
   2.183 -        ;;hearing-display (view-hearing)
   2.184 +        hearing (hearing! creature)
   2.185 +        hearing-display (view-hearing)
   2.186  
   2.187          prop (proprioception! creature)
   2.188          prop-display (view-proprioception)
   2.189 @@ -216,17 +272,14 @@
   2.190                (box 10 2 10 :position (Vector3f. 0 -9 0)
   2.191                     :color ColorRGBA/Gray :mass 0)
   2.192                me])
   2.193 -     (merge standard-debug-controls
   2.194 -            {"key-return"
   2.195 -             (fn [_ value]
   2.196 -               (if value
   2.197 -                   (.play bell)))})
   2.198 -
   2.199 +     standard-debug-controls
   2.200 +    
   2.201       (fn [world]
   2.202         (.setTimer world (RatchetTimer. 60))
   2.203         (position-camera
   2.204 -        world (Vector3f. 7.7101235, 6.3628435, -14.15047)
   2.205 -        (Quaternion. 0.3644328, -0.2558489, 0.104854375, 0.8892332))
   2.206 +        world (Vector3f. -0.13217318, 5.816415, -5.3089414)
   2.207 +        (Quaternion. 0.55685693, 0.0042774677, -0.0028673497, 0.83059245))
   2.208 +
   2.209         (light-up-everything world)
   2.210         (enable-debug world)
   2.211         (add-camera! world
   2.212 @@ -234,20 +287,337 @@
   2.213                                (.getChild 
   2.214                                 (.getChild creature "eyes") "eye"))
   2.215                      (comp (view-image) BufferedImage!))
   2.216 -       (speed-up world)
   2.217 -       )
   2.218 +
   2.219 +       (if record?
   2.220 +         (Capture/captureVideo
   2.221 +          world (File. base "main")))
   2.222 +       (if record?
   2.223 +         (Capture/captureAudio
   2.224 +          world (File. base "main.wav"))))
   2.225       (fn [world tpf]
   2.226 -       ;;(prop-display (prop))
   2.227 -       ;;(touch-display (map #(% (.getRootNode world)) touch))
   2.228 -       ;;(vision-display (map #(% world) vision))
   2.229 -       ;;(hearing-display (map #(% world) hearing))
   2.230 +       (prop-display
   2.231 +        (prop)
   2.232 +        (if record? (File. base "proprio")))             
   2.233 +       (touch-display
   2.234 +        (map #(% (.getRootNode world)) touch)
   2.235 +        (if record? (File. base "touch")))
   2.236 +       (vision-display
   2.237 +        (map #(% world) vision)
   2.238 +        (if record? (File. base "vision")))
   2.239 +       (hearing-display
   2.240 +        (map #(% world) hearing)
   2.241 +        (if record? (File. base "hearing")))
   2.242 +       (muscle-display
   2.243 +        (control-script muscles)
   2.244 +        (if record? (File. base "muscle")))
   2.245 +         
   2.246         (summon-ball world)
   2.247 -       ;;(muscle-display
   2.248 -       (control-script muscles)
   2.249 -       ;;)
   2.250 -             
   2.251 +       
   2.252         (.setLocalTranslation me (.getLocation (.getCamera world)))
   2.253         (fix-display world))))))
   2.254 +
   2.255 +
   2.256 +(comment
   2.257 +;; list of touch targets
   2.258 +0  middle-11 
   2.259 +1  middle-21 
   2.260 +2  middle-31
   2.261 +3  pinky-11
   2.262 +4  pinky-21
   2.263 +5  pinky-31
   2.264 +6  pointer-11
   2.265 +7  pointer-21
   2.266 +8  pointer-31
   2.267 +9  ring-11
   2.268 +10 ring-21
   2.269 +11 ring-31
   2.270 +12 thumb-11
   2.271 +13 thumb-2.0011 
   2.272 +
   2.273 +
   2.274 +;; list of vision targets
   2.275 +0  :all
   2.276 +1  :green
   2.277 +2  :blue
   2.278 +3  :red 
   2.279 +
   2.280 +;; list of proprio targets
   2.281 +0  middle-11 -> middle-21
   2.282 +1  middle-21 -> middle-31
   2.283 +2  thumb-11 -> thumb-2.0011
   2.284 +3  pointer-11 -> pointer-21
   2.285 +4  pointer-21 -> pointer-31
   2.286 +5  ring-21 -> ring-31
   2.287 +6  ring-11 -> ring-21
   2.288 +7  pinky-21 -> pinky-31
   2.289 +8  pinky-11 -> pinky-21
   2.290 +9  middle-11 -> palm1
   2.291 +10 pinky-11 -> palm1
   2.292 +11 palm1 -> pointer-11
   2.293 +12 palm1 -> ring-11
   2.294 +13 palm1 -> thumb-11
   2.295 +
   2.296 +
   2.297 +;; list of muscle targets
   2.298 +0  :pointer-2-e
   2.299 +1  :pointer-2-f
   2.300 +2  :thumb-1
   2.301 +3  :thumb-1
   2.302 +4  :pointer-1-e
   2.303 +5  :pointer-1-f
   2.304 +6  :thumb-2-e
   2.305 +7  :thumb-2-f
   2.306 +8  :middle-1-e
   2.307 +9  :middle-1-f
   2.308 +10 :pointer-3-f
   2.309 +11 :pointer-3-e
   2.310 +12 :middle-2-e
   2.311 +13 :middle-2-f
   2.312 +14 :middle-3-f
   2.313 +15 :middle-3-e
   2.314 +16 :pinky-2-e
   2.315 +17 :pinky-2-f
   2.316 +18 :pinky-3-f
   2.317 +19 :pinky-3-e
   2.318 +20 :ring-3-e
   2.319 +21 :ring-3-f
   2.320 +22 :ring-2-f
   2.321 +23 :ring-2-e
   2.322 +24 :ring-1-e
   2.323 +25 :ring-1-f
   2.324 +26 :thumb-1-e
   2.325 +27 :thumb-1-f
   2.326 +28 :pinky-1-f
   2.327 +29 :pinky-1-e
   2.328 +)
   2.329 +
   2.330 +
   2.331 +
   2.332 +;; rotate touch 180
   2.333 +
   2.334 +;; rotate mucles 90 counter-clockwise
   2.335 +;; scale muscles to 15x60
   2.336 +
   2.337 +finger width : 113
   2.338 +finger height : 357
   2.339 +
   2.340 +thumb width : 113
   2.341 +
   2.342 +pinky  --- 0,195
   2.343 +ring   --- 111,100
   2.344 +middle --- 228,0
   2.345 +pointer -- 436,96
   2.346 +thumb ---  486,420
   2.347 +
   2.348 +
   2.349 +
   2.350 +within a finger (coordinates of top left corner (x,y)):
   2.351 +
   2.352 +tip-flexor     : 0,7
   2.353 +tip-extensor   : 98,7
   2.354 +tip            : 18,0
   2.355 +
   2.356 +joint-2-3      : 32,79
   2.357 +
   2.358 +mid-flexor     : 19,131
   2.359 +mid-extensor   : 80,131
   2.360 +mid            : 30,133
   2.361 +
   2.362 +joint-1-2      : 32,193
   2.363 +
   2.364 +base-flexor    : 19,245
   2.365 +base-extensor  : 80,245
   2.366 +base           : 39,247
   2.367 +
   2.368 +joint-palm-1   : 32,307
   2.369 +
   2.370 +
   2.371 +Thumb is the same as finger, except it has two more pieces
   2.372 +
   2.373 +extra-flexor-1 : 2,131
   2.374 +extra-flexor-2 : 100,131
   2.375 +
   2.376 +;; rotate entire thumb 45 degrees clockwise
   2.377 +
   2.378 +within vision
   2.379 +gray -- 165,577
   2.380 +green -- 278,577
   2.381 +blue  -- 165,682
   2.382 +red   -- 278,682
   2.383 +
   2.384 +entire hand          : 809, 22
   2.385 +main view            :  78,202
   2.386 +hearing              : 784,819
   2.387 +
   2.388 +hand-size: 688x769
   2.389 +
   2.390 +
   2.391 +total image size:
   2.392 +1600x894
   2.393 +
   2.394 +(def base (File. "/home/r/proj/cortex/render/hand"))
   2.395 +
   2.396 +
   2.397 +
   2.398 +(defn prepare-muscle [muscle]
   2.399 +  ["(" muscle "-rotate" "90" "-scale" "15x60!" ")"])
   2.400 +
   2.401 +(defn prepare-touch [touch]
   2.402 +  ["(" touch "-rotate" "180" ")"])
   2.403 +
   2.404 +(defn generate-top-finger [tip-flexor tip-extensor tip
   2.405 +                           joint-2-3
   2.406 +                           mid-flexor mid-extensor mid
   2.407 +                           joint-1-2]
   2.408 +  ["("
   2.409 +   "-size" "113x357" "xc:transparent"
   2.410 +   (prepare-muscle tip-flexor)   "-geometry" "+0+7"    "-composite"
   2.411 +   (prepare-muscle tip-extensor) "-geometry" "+98+7"   "-composite"
   2.412 +   (prepare-touch tip)           "-geometry" "+18+0"   "-composite"
   2.413 +
   2.414 +   joint-2-3                     "-geometry" "+32+79" "-composite"
   2.415 +
   2.416 +   (prepare-muscle mid-flexor)   "-geometry" "+19+131"    "-composite"
   2.417 +   (prepare-muscle mid-extensor) "-geometry" "+80+131"   "-composite"
   2.418 +   (prepare-touch mid)           "-geometry" "+39+133"   "-composite"
   2.419 +   
   2.420 +   joint-1-2                     "-geometry" "+32+193" "-composite"
   2.421 +   ")"])
   2.422 +
   2.423 +(defn generate-finger
   2.424 +  [tip-flexor tip-extensor tip
   2.425 +   joint-2-3
   2.426 +   mid-flexor mid-extensor mid
   2.427 +   joint-1-2
   2.428 +   base-flexor base-extensor base
   2.429 +   joint-palm-1]
   2.430 +  ["("
   2.431 +   "-size" "113x357" "xc:transparent"
   2.432 +   (generate-top-finger
   2.433 +    tip-flexor  tip-extensor tip
   2.434 +    joint-2-3
   2.435 +    mid-flexor mid-extensor mid
   2.436 +    joint-1-2)                    "-geometry" "+0+0"      "-composite"
   2.437 +   (prepare-muscle base-flexor)   "-geometry" "+19+245"   "-composite"
   2.438 +   (prepare-muscle base-extensor) "-geometry" "+80+245"   "-composite"
   2.439 +   (prepare-touch base)           "-geometry" "+39+247"   "-composite"
   2.440 +   joint-palm-1                   "-geometry" "+32+307"   "-composite"
   2.441 +   ")"])
   2.442 +
   2.443 +(defn generate-thumb
   2.444 +  [tip-flexor tip-extensor tip
   2.445 +   joint-1-2
   2.446 +   mid-flexor mid-extensor mid-flexor-2 mid-extensor-2 mid
   2.447 +   joint-palm-1]
   2.448 +  ["("
   2.449 +   "-size" "113x357" "xc:transparent"
   2.450 +   (generate-top-finger
   2.451 +    tip-flexor  tip-extensor tip
   2.452 +    joint-1-2
   2.453 +    mid-flexor mid-extensor mid
   2.454 +    joint-palm-1)                   "-geometry" "+0+0"     "-composite"
   2.455 +   (prepare-muscle mid-flexor-2)    "-geometry" "+2+131"   "-composite"
   2.456 +   (prepare-muscle mid-extensor-2)  "-geometry" "+100+131" "-composite"
   2.457 +   ")"])
   2.458 +
   2.459 +pinky  --- 0,195
   2.460 +ring   --- 111,100
   2.461 +middle --- 228,0
   2.462 +pointer -- 436,96
   2.463 +thumb ---  486,420
   2.464 +
   2.465 +
   2.466 +(defn generate-hand
   2.467 +  [pinky-pieces
   2.468 +   ring-pieces
   2.469 +   middle-pieces
   2.470 +   pointer-pieces
   2.471 +   thumb-pieces]
   2.472 +  ["("
   2.473 +   "-size" "688x769" "xc:transparent"
   2.474 +   (apply generate-finger pinky-pieces)
   2.475 +   "-geometry" "+0+195" "-composite"
   2.476 +   (apply generate-finger ring-pieces)
   2.477 +   "-geometry" "+111+100" "-composite"
   2.478 +   (apply generate-finger middle-pieces)
   2.479 +   "-geometry" "+228+0"   "-composite"
   2.480 +   "(" (apply generate-thumb thumb-pieces) "-background" "#00000000"
   2.481 +   "-rotate" "45" ")"
   2.482 +   "-geometry" "+300+420" "-composite"
   2.483 +   (apply generate-finger pointer-pieces)
   2.484 +   "-geometry" "+350+96"  "-composite"
   2.485 +   ")"])
   2.486 +
   2.487 +(defn generate-vision
   2.488 +  [all green blue red]
   2.489 +  ["("
   2.490 +   "-size" "204x192" "xc:transparent"
   2.491 +   all    "-geometry" "+0+0" "-composite"
   2.492 +   green  "-geometry" "+113+0" "-composite"
   2.493 +   blue   "-geometry" "+0+105" "-composite"
   2.494 +   red    "-geometry" "+113+105" "-composite"
   2.495 +   ")"])
   2.496 +  
   2.497 +
   2.498 +
   2.499 +(def test-muscle (File. base "muscle/0/0000000.png"))
   2.500 +(def test-proprio (File. base "proprio/0/0000000.png"))
   2.501 +(def test-tip (File. base "touch/2/0000000.png"))
   2.502 +(def test-mid (File. base "touch/0/0000000.png"))
   2.503 +(def test-vision (File. base "vision/0/0000000.png"))
   2.504 +(def test-hearing (File. base "hearing/0/0000000.png"))
   2.505 +(def test-main (File. base "main/0000000.png"))
   2.506 +
   2.507 +
   2.508 +(def test-target (File. base "output.png"))
   2.509 +
   2.510 +(def background (File. base "background.png"))
   2.511 +
   2.512 +(use 'clojure.contrib.shell-out)
   2.513 +(defn final-image [muscle proprio tip mid vision hearing main]
   2.514 +  (let [[muscle proprio tip mid vision hearing main] (map #(.getCanonicalPath %)
   2.515 +                                      [muscle proprio tip mid vision
   2.516 +                                       hearing main])
   2.517 +        finger-pieces [muscle muscle tip
   2.518 +                       proprio
   2.519 +                       muscle muscle mid
   2.520 +                       proprio
   2.521 +                       muscle muscle mid
   2.522 +                       proprio]
   2.523 +        thumb-pieces  [muscle muscle tip
   2.524 +                       proprio
   2.525 +                       muscle muscle muscle muscle mid
   2.526 +                       proprio]]
   2.527 +    
   2.528 +    
   2.529 +    (apply
   2.530 +     sh
   2.531 +     (flatten
   2.532 +      ["convert"
   2.533 +       (.getCanonicalPath background)
   2.534 +       (generate-hand finger-pieces
   2.535 +                      finger-pieces
   2.536 +                      finger-pieces
   2.537 +                      finger-pieces
   2.538 +                      thumb-pieces)
   2.539 +       "-geometry" "+809+22" "-composite"
   2.540 +       
   2.541 +       (generate-vision vision vision vision vision)
   2.542 +       "-geometry" "+974+599" "-composite"
   2.543 +
   2.544 +       hearing
   2.545 +       "-geometry" "+784+819" "-composite"
   2.546 +
   2.547 +       main
   2.548 +       "-geometry" "+78+202" "-composite"
   2.549 +              
   2.550 +       (.getCanonicalPath test-target)]))))
   2.551 +  
   2.552 +
   2.553 +
   2.554 +   
   2.555 +
   2.556 +                       
   2.557  #+end_src
   2.558  
   2.559  #+results: integration