1.1 --- a/org/eyes.org	Sat Feb 04 03:38:05 2012 -0700
     1.2 +++ b/org/eyes.org	Sat Feb 04 04:07:25 2012 -0700
     1.3 @@ -48,10 +48,6 @@
     1.4  the eye's camera are equal to the dimensions of the eye's "UV"
     1.5  map.
     1.6  
     1.7 -
     1.8 -
     1.9 -
    1.10 -
    1.11  #+name: eyes
    1.12  #+begin_src clojure 
    1.13  (ns cortex.vision
    1.14 @@ -60,6 +56,7 @@
    1.15    the observed data to any arbitray function."
    1.16    {:author "Robert McIntyre"}
    1.17    (:use (cortex world sense util))
    1.18 +  (:use clojure.contrib.def)
    1.19    (:import com.jme3.post.SceneProcessor)
    1.20    (:import (com.jme3.util BufferUtils Screenshots))
    1.21    (:import java.nio.ByteBuffer)
    1.22 @@ -67,7 +64,6 @@
    1.23    (:import com.jme3.renderer.ViewPort)
    1.24    (:import com.jme3.math.ColorRGBA)
    1.25    (:import com.jme3.renderer.Renderer)
    1.26 -  (:import jme3tools.converters.ImageToAwt)
    1.27    (:import com.jme3.scene.Node))
    1.28  
    1.29  (cortex.import/mega-import-jme3)
    1.30 @@ -124,10 +120,10 @@
    1.31    (byteBuffer->bufferedImage!
    1.32     (frameBuffer->byteBuffer! r fb bb) bi))
    1.33  
    1.34 -(defn add-eye
    1.35 +(defn add-eye!
    1.36    "Add an eye to the world, calling continuation on every frame
    1.37    produced." 
    1.38 -  [world camera continuation]
    1.39 +  [#^Application world camera continuation]
    1.40    (let [width (.getWidth camera)
    1.41  	height (.getHeight camera)
    1.42  	render-manager (.getRenderManager world)
    1.43 @@ -148,9 +144,7 @@
    1.44     [#^Spatial eye]
    1.45     (if-let [eye-map (meta-data eye "eye")]
    1.46       (map-vals
    1.47 -      #(ImageToAwt/convert
    1.48 -        (.getImage (.loadTexture (asset-manager) %))
    1.49 -        false false 0)
    1.50 +      load-image
    1.51        (eval (read-string eye-map)))))
    1.52  
    1.53  (defn eye-dimensions
    1.54 @@ -162,16 +156,11 @@
    1.55      [(apply max (map first dimensions))
    1.56       (apply max (map second dimensions))]))
    1.57  
    1.58 -(defn creature-eyes
    1.59 -  ;;dylan
    1.60 -  "Return the children of the creature's \"eyes\" node."
    1.61 -  ;;"The eye nodes which are children of the \"eyes\" node in the
    1.62 -  ;;creature."
    1.63 -  [#^Node creature]
    1.64 -  (if-let [eye-node (.getChild creature "eyes")]
    1.65 -    (seq (.getChildren eye-node))
    1.66 -    (do (println-repl "could not find eyes node") [])))
    1.67 -
    1.68 +(defvar 
    1.69 +  ^{:arglists '([creature])}
    1.70 +  eyes
    1.71 +  (sense-nodes "eyes")
    1.72 +  "Return the children of the creature's \"eyes\" node.")
    1.73  
    1.74  (defn attach-eye
    1.75    "Attach a Camera to the appropiate area and return the Camera."
    1.76 @@ -204,7 +193,7 @@
    1.77                           (.getHeight camera)
    1.78                           BufferedImage/TYPE_BYTE_BINARY))]
    1.79      [(fn [world]
    1.80 -       (add-eye
    1.81 +       (add-eye!
    1.82          world camera
    1.83          (let [counter  (atom 0)]
    1.84            (fn [r fb bb bi]
    1.85 @@ -233,7 +222,7 @@
    1.86       [(conj init-a init-b)
    1.87        (into senses-a senses-b)])
    1.88     [[][]]      
    1.89 -   (for [eye (creature-eyes creature)]
    1.90 +   (for [eye (eyes creature)]
    1.91       (enable-vision creature eye))))
    1.92  
    1.93  
    1.94 @@ -281,11 +270,11 @@
    1.95         (let [cam (.clone (.getCamera world))
    1.96               width (.getWidth cam)
    1.97               height (.getHeight cam)]
    1.98 -         (add-eye world cam 
    1.99 +         (add-eye! world cam 
   1.100                    ;;no-op
   1.101                    (comp (view-image) BufferedImage!)
   1.102                    )
   1.103 -         (add-eye world
   1.104 +         (add-eye! world
   1.105                    (doto (.clone cam)
   1.106                      (.setLocation (Vector3f. -10 0 0))
   1.107                      (.lookAt Vector3f/ZERO Vector3f/UNIT_Y))
   1.108 @@ -293,7 +282,7 @@
   1.109                    (comp (view-image) BufferedImage!))
   1.110           ;; This is here to restore the main view
   1.111           ;; after the other views have completed processing
   1.112 -         (add-eye world (.getCamera world) no-op)))
   1.113 +         (add-eye! world (.getCamera world) no-op)))
   1.114       (fn [world tpf]
   1.115         (.rotate candy (* tpf 0.2) 0 0)))))
   1.116  #+end_src

     2.1 --- a/org/hearing.org	Sat Feb 04 03:38:05 2012 -0700
     2.2 +++ b/org/hearing.org	Sat Feb 04 04:07:25 2012 -0700
     2.3 @@ -741,22 +741,13 @@
     2.4  
     2.5  * Finally, Ears in clojure! 
     2.6  
     2.7 -Now that the infrastructure is complete (modulo a few patches to
     2.8 -jMonkeyEngine3 to support accessing this modified version of =OpenAL=
     2.9 -that are not worth discussing), the clojure ear abstraction is rather
    2.10 -simple.  Just as there were =SceneProcessors= for vision, there are
    2.11 +Now that the infrastructure is complete the clojure ear abstraction is
    2.12 +simple. Just as there were =SceneProcessors= for vision, there are
    2.13  now =SoundProcessors= for hearing.
    2.14  
    2.15  #+include "../../jmeCapture/src/com/aurellem/capture/audio/SoundProcessor.java" src java 
    2.16  
    2.17  
    2.18 -Ears work the same way as vision.
    2.19 -
    2.20 -(hearing creature) will return [init-functions sensor-functions]. The
    2.21 -init functions each take the world and register a SoundProcessor that
    2.22 -does foureier transforms on the incommong sound data, making it
    2.23 -available to each sensor function.
    2.24 -
    2.25  
    2.26  #+name: ears
    2.27  #+begin_src clojure
    2.28 @@ -866,7 +857,6 @@
    2.29    (for [ear (ears creature)]
    2.30      (hearing-fn creature ear)))
    2.31  
    2.32 -
    2.33  #+end_src
    2.34  
    2.35  * Example

     3.1 --- a/org/sense-util.org	Sat Feb 04 03:38:05 2012 -0700
     3.2 +++ b/org/sense-util.org	Sat Feb 04 04:07:25 2012 -0700
     3.3 @@ -13,7 +13,8 @@
     3.4  (cortex.import/mega-import-jme3)
     3.5  (import ij.process.ImageProcessor)
     3.6  (import java.awt.image.BufferedImage)
     3.7 -
     3.8 +(use 'cortex.util)
     3.9 +(import jme3tools.converters.ImageToAwt)
    3.10  
    3.11  (defn meta-data [blender-node key]
    3.12    (if-let [data (.getUserData blender-node "properties")]
    3.13 @@ -181,6 +182,13 @@
    3.14        (seq (.getChildren sense-node))
    3.15        (do (println-repl "could not find" parent-name "node") []))))
    3.16  
    3.17 +(defn load-image
    3.18 +  "Load an image as a BufferedImage using the asset-manager system." 
    3.19 +  [asset-relative-path]
    3.20 +  (ImageToAwt/convert
    3.21 +   (.getImage (.loadTexture (asset-manager) asset-relative-path))
    3.22 +   false false 0))
    3.23 +  
    3.24  
    3.25  #+end_src
    3.26  

     4.1 --- a/org/test-creature.org	Sat Feb 04 03:38:05 2012 -0700
     4.2 +++ b/org/test-creature.org	Sat Feb 04 04:07:25 2012 -0700
     4.3 @@ -233,11 +233,11 @@
     4.4            (dorun (map #(% world) init-vision-fns))
     4.5            ;;(dorun (map #(% world) init-hearing-fns))
     4.6            
     4.7 -          (add-eye world
     4.8 +          (add-eye! world
     4.9                     (attach-eye creature (test-eye))
    4.10                     (comp (view-image) BufferedImage!))
    4.11            
    4.12 -          (add-eye world (.getCamera world) no-op)
    4.13 +          (add-eye! world (.getCamera world) no-op)
    4.14            ;;(set-gravity world (Vector3f. 0 0 0))
    4.15            ;;(com.aurellem.capture.Capture/captureVideo
    4.16            ;; world (file-str "/home/r/proj/ai-videos/hand"))
    4.17 @@ -308,8 +308,8 @@
    4.18                   (bind-sense rock cam)
    4.19                   
    4.20                   (.setTimer world (RatchetTimer. 60))
    4.21 -                 (add-eye world cam (comp (view-image) BufferedImage!))
    4.22 -                 (add-eye world (.getCamera world) no-op))
    4.23 +                 (add-eye! world cam (comp (view-image) BufferedImage!))
    4.24 +                 (add-eye! world (.getCamera world) no-op))
    4.25                 )
    4.26               (fn [_ _] (println-repl rot)))))
    4.27