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

     2.1 --- a/org/body.org	Wed Feb 08 09:10:23 2012 -0700
     2.2 +++ b/org/body.org	Thu Feb 09 04:15:09 2012 -0700
     2.3 @@ -60,14 +60,8 @@
     2.4  
     2.5  If we load it directly into jMonkeyEngine, we get this:
     2.6  
     2.7 -#+name: test-0
     2.8 +#+name: test-1
     2.9  #+begin_src clojure
    2.10 -(ns cortex.test.body
    2.11 -  (:use (cortex world util body))
    2.12 -  (:import (com.aurellem.capture Capture RatchetTimer)
    2.13 -           (com.jme3.math Quaternion Vector3f)
    2.14 -           java.io.File))
    2.15 -
    2.16  (def hand-path "Models/test-creature/hand.blend")
    2.17  
    2.18  (defn hand [] (load-blender-model hand-path))
    2.19 @@ -150,7 +144,7 @@
    2.20  CollisionShapes for each geometry with the mass specified in that
    2.21  geometry's meta-data.
    2.22  
    2.23 -#+name: test-1
    2.24 +#+name: test-2
    2.25  #+begin_src clojure 
    2.26  (in-ns 'cortex.test.body)
    2.27  
    2.28 @@ -409,6 +403,7 @@
    2.29  Creating joints is now a matter applying =(connect)= to each joint
    2.30  node.
    2.31  
    2.32 +#+name: joints-5
    2.33  #+begin_src clojure
    2.34  (defn joints!
    2.35    "Connect the solid parts of the creature with physical joints. The
    2.36 @@ -427,21 +422,20 @@
    2.37  
    2.38  Now we can test the hand in all its glory.
    2.39  
    2.40 +#+name: test-3
    2.41  #+begin_src clojure 
    2.42  (in-ns 'cortex.test.body)
    2.43  
    2.44  (def debug-control 
    2.45    {"key-h" (fn [world val]
    2.46               (if val (enable-debug world)))
    2.47 -
    2.48 -   "key-u" (fn [world _] (set-gravity world Vector3f/ZERO))
    2.49 -   })
    2.50 +   "key-u" (fn [world _] (set-gravity world Vector3f/ZERO))})
    2.51    
    2.52  (defn test-three []
    2.53    (world (nodify
    2.54            [(doto (hand)
    2.55 -           (physical!)
    2.56 -           (joints!) )
    2.57 +             (physical!)
    2.58 +             (joints!))
    2.59             (floor)])
    2.60           (merge standard-debug-controls debug-control
    2.61                  normal-gravity)
    2.62 @@ -456,7 +450,6 @@
    2.63  =(physical!)= makes the hand solid, then =(joints!)= connects each
    2.64  piece together. 
    2.65  
    2.66 -
    2.67  #+begin_html
    2.68  <div class="figure">
    2.69  <center>
    2.70 @@ -478,7 +471,7 @@
    2.71  It is convienent to combine =(physical!)= and =(joints!)= into one
    2.72  function that completely creates the creature's physical body.
    2.73  
    2.74 -#+name: joints-4
    2.75 +#+name: joints-6
    2.76  #+begin_src clojure
    2.77  (defn body!
    2.78    "Endow the creature with a physical body connected with joints.  The
    2.79 @@ -489,11 +482,55 @@
    2.80    (joints! creature))
    2.81  #+end_src
    2.82  
    2.83 +* The Worm
    2.84 +
    2.85 +Going forward, I will use a model that is less complicated than the
    2.86 +hand. It has two segments and one joint, and I call it the worm. All
    2.87 +of the senses described in the following posts will be applied to this
    2.88 +worm.
    2.89 +
    2.90 +#+name: test-4
    2.91 +#+begin_src clojure 
    2.92 +(in-ns 'cortex.test.body)
    2.93 +
    2.94 +(defn worm-1 []
    2.95 +  (let [timer (RatchetTimer. 60)]
    2.96 +    (world
    2.97 +     (nodify
    2.98 +      [(doto
    2.99 +           (load-blender-model
   2.100 +            "Models/test-creature/worm.blend")
   2.101 +         (body!))
   2.102 +       (floor)])
   2.103 +     (merge standard-debug-controls debug-control)
   2.104 +     #(do
   2.105 +        (speed-up %)
   2.106 +        (light-up-everything %)
   2.107 +        (.setTimer % timer)
   2.108 +        (cortex.util/display-dialated-time % timer)
   2.109 +        (Capture/captureVideo
   2.110 +         % (File. "/home/r/proj/cortex/render/body/4")))
   2.111 +     no-op)))
   2.112 +#+end_src
   2.113 +
   2.114 +#+begin_html
   2.115 +<div class="figure">
   2.116 +<center>
   2.117 +<video controls="controls" width="640">
   2.118 +  <source src="../video/worm-1.ogg" type="video/ogg"
   2.119 +	  preload="none" poster="../images/aurellem-1280x480.png" />
   2.120 +</video>
   2.121 +</center>
   2.122 +<p>This worm model will be the platform onto which future senses will
   2.123 +be grafted.</p>
   2.124 +</div>
   2.125 +#+end_html
   2.126 +
   2.127  * Bookkeeping
   2.128  
   2.129  Header; here for completeness.
   2.130  
   2.131 -#+name: body-0
   2.132 +#+name: body-header
   2.133  #+begin_src clojure
   2.134  (ns cortex.body
   2.135    "Assemble a physical creature using the definitions found in a
   2.136 @@ -514,6 +551,16 @@
   2.137     com.jme3.bullet.collision.shapes.HullCollisionShape))
   2.138  #+end_src
   2.139  
   2.140 +#+name: test-header
   2.141 +#+begin_src clojure
   2.142 +(ns cortex.test.body
   2.143 +  (:use (cortex world util body))
   2.144 +  (:import
   2.145 +   (com.aurellem.capture Capture RatchetTimer)
   2.146 +   (com.jme3.math Quaternion Vector3f ColorRGBA)
   2.147 +   java.io.File))
   2.148 +#+end_src
   2.149 +
   2.150  * Source 
   2.151  
   2.152  Dylan -- I'll fill these in later
   2.153 @@ -525,16 +572,6 @@
   2.154  
   2.155  #+name: test-body
   2.156  #+begin_src clojure
   2.157 -(ns cortex.test.body
   2.158 -  (:use (cortex world util body))
   2.159 -  (:require cortex.silly)
   2.160 -  (:import
   2.161 -   com.jme3.math.Vector3f
   2.162 -   com.jme3.math.ColorRGBA
   2.163 -   com.jme3.bullet.joints.Point2PointJoint
   2.164 -   com.jme3.bullet.control.RigidBodyControl
   2.165 -   com.jme3.system.NanoTimer
   2.166 -   com.jme3.math.Quaternion))
   2.167  
   2.168  (defn worm-segments
   2.169    "Create multiple evenly spaced box segments. They're fabulous!"
   2.170 @@ -1253,11 +1290,21 @@
   2.171  
   2.172  * COMMENT generate Source
   2.173  #+begin_src clojure :tangle ../src/cortex/body.clj
   2.174 -<<joints>>
   2.175 +<<body-header>>
   2.176 +<<body-1>>
   2.177 +<<joints-2>>
   2.178 +<<joints-3>>
   2.179 +<<joints-4>>
   2.180 +<<joints-5>>
   2.181 +<<joints-6>>
   2.182  #+end_src
   2.183  
   2.184  #+begin_src clojure :tangle ../src/cortex/test/body.clj
   2.185 -<<test-0>>
   2.186 +<<test-header>>
   2.187 +<<test-1>>
   2.188 +<<test-2>>
   2.189 +<<test-3>>
   2.190 +<<test-4>>
   2.191  #+end_src  
   2.192  
   2.193  

     3.1 --- a/org/ideas.org	Wed Feb 08 09:10:23 2012 -0700
     3.2 +++ b/org/ideas.org	Thu Feb 09 04:15:09 2012 -0700
     3.3 @@ -64,7 +64,7 @@
     3.4  * goals
     3.5  
     3.6  ** have to get done before winston
     3.7 - - [ ] write an explination for why greyscale bitmaps for senses is
     3.8 + - [X] write an explination for why greyscale bitmaps for senses is
     3.9         appropiate -- 1/2 day
    3.10   - [X] muscle control -- day
    3.11   - [X] proprioception sensor map in the style of the other senses -- day
    3.12 @@ -90,36 +90,13 @@
    3.13  
    3.14  ** don't have to get done before winston
    3.15   - [ ] write tests for integration -- 3 days
    3.16 - - [ ] usertime/gametime clock HUD display -- day 
    3.17 + - [X] usertime/gametime clock HUD display -- day 
    3.18   - [ ] find papers for each of the senses justifying my own
    3.19         representation -- week
    3.20   - [ ] show sensor maps in HUD display? -- 4 days
    3.21   - [ ] show sensor maps in AWT display? -- 2 days
    3.22   - [ ] add iteraterator constructs to Vector3f, Vector2f, etc.
    3.23  
    3.24 -* refactoring objectives
    3.25 - - [X] consistent, high-quality names
    3.26 - - [X] joint-creation function in the style of others, kill blender-creature
    3.27 - - [X] docstrings for every function
    3.28 - - [X] common image-loading code
    3.29 - - [X] refactor display/debug code
    3.30 - - [X] refactor the "get the XX nodes functions"
    3.31 -
    3.32 -
    3.33 -
    3.34 -these are the sense-functions --- they each take a Node which
    3.35 -repepsents the creature
    3.36 -
    3.37 -
    3.38 - - [X] body!
    3.39 - - [X] joints!
    3.40 -
    3.41 - - [X] touch!
    3.42 - - [X] hearing!
    3.43 - - [X] vision!
    3.44 - - [X] proprioception!
    3.45 - - [X] movement!
    3.46 -
    3.47  
    3.48  ;;In the elder days of Art,
    3.49  ;;Builders wrought with greatest care

     4.1 --- a/org/util.org	Wed Feb 08 09:10:23 2012 -0700
     4.2 +++ b/org/util.org	Thu Feb 09 04:15:09 2012 -0700
     4.3 @@ -475,8 +475,26 @@
     4.4       intilization
     4.5       world-loop*]))
     4.6  
     4.7 +(import com.jme3.font.BitmapText)
     4.8 +(import com.jme3.scene.control.AbstractControl)
     4.9 +(import com.aurellem.capture.IsoTimer)
    4.10  
    4.11 -
    4.12 +(defn display-dialated-time
    4.13 +  "Shows the time as it is flowing in the simulation on a HUD display.
    4.14 +   Useful for making videos."
    4.15 +  [world timer]
    4.16 +  (let [font (.loadFont (asset-manager) "Interface/Fonts/Default.fnt")
    4.17 +        text (BitmapText. font false)]
    4.18 +    (.setLocalTranslation text 300 (.getLineHeight text) 0)
    4.19 +    (.addControl
    4.20 +     text
    4.21 +     (proxy [AbstractControl] []
    4.22 +       (controlUpdate [tpf]
    4.23 +         (.setText text (format
    4.24 +                         "%.2f"
    4.25 +                         (float (/ (.getTime timer) 1000)))))
    4.26 +       (controlRender [_ _])))
    4.27 +    (.attachChild (.getGuiNode world) text)))
    4.28  #+end_src
    4.29  
    4.30