1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/org/integration.org	Sat Feb 04 11:29:45 2012 -0700
     1.3 @@ -0,0 +1,347 @@
     1.4 +#+title: First attempt at a creature!
     1.5 +#+author: Robert McIntyre
     1.6 +#+email: rlm@mit.edu
     1.7 +#+description: 
     1.8 +#+keywords: simulation, jMonkeyEngine3, clojure
     1.9 +#+SETUPFILE: ../../aurellem/org/setup.org
    1.10 +#+INCLUDE: ../../aurellem/org/level-0.org
    1.11 +
    1.12 +
    1.13 +
    1.14 +
    1.15 +* Intro 
    1.16 +So far, I've made the following senses -- 
    1.17 + - Vision
    1.18 + - Hearing
    1.19 + - Touch
    1.20 + - Proprioception
    1.21 +
    1.22 +And one effector: 
    1.23 + - Movement
    1.24 +
    1.25 +However, the code so far has only enabled these senses, but has not
    1.26 +actually implemented them.  For example, there is still a lot of work
    1.27 +to be done for vision. I need to be able to create an /eyeball/ in
    1.28 +simulation that can be moved around and see the world from different
    1.29 +angles. I also need to determine weather to use log-polar or cartesian
    1.30 +for the visual input, and I need to determine how/wether to
    1.31 +disceritise the visual input.
    1.32 +
    1.33 +I also want to be able to visualize both the sensors and the
    1.34 +effectors in pretty pictures. This semi-retarted creature will be my
    1.35 +first attempt at bringing everything together.
    1.36 +
    1.37 +* The creature's body
    1.38 +
    1.39 +Still going to do an eve-like body in blender, but due to problems
    1.40 +importing the joints, etc into jMonkeyEngine3, I'm going to do all
    1.41 +the connecting here in clojure code, using the names of the individual
    1.42 +components and trial and error. Later, I'll maybe make some sort of
    1.43 +creature-building modifications to blender that support whatever
    1.44 +discritized senses I'm going to make.
    1.45 +
    1.46 +#+name: integration
    1.47 +#+begin_src clojure 
    1.48 +(ns cortex.integration
    1.49 +  "let's play!"
    1.50 +  {:author "Robert McIntyre"}
    1.51 +  (:use (cortex world util body
    1.52 +                hearing touch vision sense proprioception movement))
    1.53 +  (:import (com.jme3.math ColorRGBA Vector3f))
    1.54 +  (:import com.jme3.audio.AudioNode)
    1.55 +  (:import com.aurellem.capture.RatchetTimer))
    1.56 +
    1.57 +(def hand "Models/creature1/one.blend")
    1.58 +
    1.59 +(def worm "Models/creature1/try-again.blend")
    1.60 +
    1.61 +(defn test-creature [thing]
    1.62 +  (let [x-axis
    1.63 +        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
    1.64 +        y-axis
    1.65 +        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
    1.66 +        z-axis
    1.67 +        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
    1.68 +
    1.69 +        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.70 +        bell (AudioNode. (asset-manager)
    1.71 +                         "Sounds/pure.wav" false)
    1.72 +
    1.73 +        fix-display
    1.74 +        (runonce (fn [world]
    1.75 +                   (add-camera! world (.getCamera world) no-op)))
    1.76 +        creature (doto (load-blender-model thing) (body!))
    1.77 +
    1.78 +        ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
    1.79 +        touch (touch! creature)
    1.80 +        touch-display (view-touch)
    1.81 +
    1.82 +        vision (vision! creature)
    1.83 +        vision-display (view-vision)
    1.84 +
    1.85 +        hearing (hearing! creature)
    1.86 +        hearing-display (view-hearing)
    1.87 +
    1.88 +        prop (proprioception! creature)
    1.89 +        prop-display (view-proprioception)
    1.90 +
    1.91 +        muscle-exertion (atom 0)
    1.92 +        muscles (movement! creature)
    1.93 +        muscle-display (view-movement)]
    1.94 +
    1.95 +    (apply
    1.96 +     world
    1.97 +     (with-movement
    1.98 +       (.getChild creature "worm-21")
    1.99 +       ["key-r" "key-t"
   1.100 +        "key-f" "key-g"
   1.101 +        "key-v" "key-b"]
   1.102 +       [10 10 10 10 1 1]
   1.103 +       [(nodify [creature
   1.104 +                 (box 10 2 10 :position (Vector3f. 0 -9 0)
   1.105 +                      :color ColorRGBA/Gray :mass 0)
   1.106 +                 x-axis y-axis z-axis
   1.107 +                 me])
   1.108 +        (merge standard-debug-controls
   1.109 +               {"key-return"
   1.110 +                (fn [_ value]
   1.111 +                  (if value
   1.112 +                    (do
   1.113 +                      (println-repl "play-sound")
   1.114 +                      (.play bell))))
   1.115 +                "key-h"
   1.116 +                (fn [_ value]
   1.117 +                  (if value
   1.118 +                    (swap!  muscle-exertion (partial + 20))))
   1.119 +                "key-n"
   1.120 +                (fn [_ value]
   1.121 +                  (if value
   1.122 +                    (swap! muscle-exertion (fn [v] (- v 20)))))})
   1.123 +        (fn [world]
   1.124 +          (light-up-everything world)
   1.125 +          (enable-debug world)
   1.126 +          (add-camera! world
   1.127 +                       (add-eye! creature
   1.128 +                                 (.getChild 
   1.129 +                                  (.getChild creature "eyes") "eye"))
   1.130 +                   (comp (view-image) BufferedImage!))
   1.131 +          (.setTimer world (RatchetTimer. 60))
   1.132 +          (speed-up world)
   1.133 +          (set-gravity world (Vector3f. 0 0 0))
   1.134 +          (comment 
   1.135 +            (com.aurellem.capture.Capture/captureVideo
   1.136 +             world (file-str "/home/r/proj/ai-videos/hand"))))
   1.137 +        (fn [world tpf]
   1.138 +          (prop-display (prop))
   1.139 +          (touch-display (map #(% (.getRootNode world)) touch))
   1.140 +          (vision-display (map #(% world) vision))
   1.141 +          (hearing-display (map #(% world) hearing))
   1.142 +          (muscle-display (map #(% @muscle-exertion) muscles))
   1.143 +          (.setLocalTranslation me (.getLocation (.getCamera world)))
   1.144 +          (fix-display world))]))))
   1.145 +#+end_src
   1.146 +
   1.147 +#+results: body-1
   1.148 +: #'cortex.silly/follow-test
   1.149 +
   1.150 +
   1.151 +* COMMENT purgatory
   1.152 +#+begin_src clojure
   1.153 +
   1.154 +(defn bullet-trans* []
   1.155 +  (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
   1.156 +                   :position (Vector3f. 5 0 0)
   1.157 +                   :mass 90)
   1.158 +        obj-b (sphere 0.5 :color ColorRGBA/Blue
   1.159 +                      :position (Vector3f. -5 0 0)
   1.160 +                      :mass 0)
   1.161 +        control-a (.getControl obj-a RigidBodyControl)
   1.162 +        control-b (.getControl obj-b RigidBodyControl)
   1.163 +        move-up? (atom nil)
   1.164 +        move-down? (atom nil)
   1.165 +        move-left? (atom nil)
   1.166 +        move-right? (atom nil)
   1.167 +        roll-left? (atom nil)
   1.168 +        roll-right? (atom nil)
   1.169 +        force 100
   1.170 +        swivel
   1.171 +        (.toRotationMatrix
   1.172 +         (doto (Quaternion.)
   1.173 +           (.fromAngleAxis (/ Math/PI 2)
   1.174 +                           Vector3f/UNIT_X)))
   1.175 +        x-move
   1.176 +        (doto (Matrix3f.)
   1.177 +          (.fromStartEndVectors Vector3f/UNIT_X
   1.178 +                                (.normalize (Vector3f. 1 1 0))))
   1.179 +        
   1.180 +        timer (atom 0)]
   1.181 +    (doto 
   1.182 +        (ConeJoint.
   1.183 +         control-a control-b
   1.184 +         (Vector3f. -8 0 0)
   1.185 +         (Vector3f. 2 0 0)
   1.186 +         ;;swivel swivel
   1.187 +         ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
   1.188 +         x-move Matrix3f/IDENTITY 
   1.189 +         )
   1.190 +      (.setCollisionBetweenLinkedBodys false)
   1.191 +      (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
   1.192 +                 (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
   1.193 +                 (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
   1.194 +    (world (nodify
   1.195 +            [obj-a obj-b])
   1.196 +           (merge standard-debug-controls
   1.197 +                  {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.198 +                   "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.199 +                   "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.200 +                   "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.201 +                   "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.202 +                   "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.203 +           
   1.204 +           (fn [world]
   1.205 +             (enable-debug world)
   1.206 +             (set-gravity world Vector3f/ZERO)
   1.207 +             )
   1.208 +                           
   1.209 +           (fn [world _]
   1.210 +
   1.211 +             (if @move-up?
   1.212 +               (.applyForce control-a
   1.213 +                              (Vector3f. force 0 0)
   1.214 +                              (Vector3f. 0 0 0)))
   1.215 +             (if @move-down?
   1.216 +               (.applyForce control-a
   1.217 +                             (Vector3f. (- force) 0 0)
   1.218 +                             (Vector3f. 0 0 0)))
   1.219 +             (if @move-left?
   1.220 +               (.applyForce control-a
   1.221 +                             (Vector3f. 0 force 0)
   1.222 +                             (Vector3f. 0 0 0)))
   1.223 +             (if @move-right?
   1.224 +               (.applyForce control-a
   1.225 +                             (Vector3f. 0 (- force) 0)
   1.226 +                             (Vector3f. 0 0 0)))
   1.227 +
   1.228 +             (if @roll-left?
   1.229 +               (.applyForce control-a
   1.230 +                             (Vector3f. 0 0 force)
   1.231 +                             (Vector3f. 0 0 0)))
   1.232 +             (if @roll-right?
   1.233 +               (.applyForce control-a
   1.234 +                             (Vector3f. 0 0 (- force))
   1.235 +                             (Vector3f. 0 0 0)))
   1.236 +
   1.237 +             (if (zero? (rem (swap! timer inc) 100))
   1.238 +               (.attachChild
   1.239 +                (.getRootNode world)
   1.240 +                (sphere 0.05 :color ColorRGBA/Yellow
   1.241 +                        :physical? false :position
   1.242 +                        (.getWorldTranslation obj-a)))))
   1.243 +           )
   1.244 +    ))
   1.245 +
   1.246 +(defn test-joint [joint]
   1.247 +  (let [[origin top bottom floor] (world-setup joint)
   1.248 +        control (.getControl top RigidBodyControl)
   1.249 +        move-up? (atom false)
   1.250 +        move-down? (atom false)
   1.251 +        move-left? (atom false)
   1.252 +        move-right? (atom false)
   1.253 +        roll-left? (atom false)
   1.254 +        roll-right? (atom false)
   1.255 +        timer (atom 0)]
   1.256 +
   1.257 +    (world
   1.258 +     (nodify [top bottom floor origin])
   1.259 +     (merge standard-debug-controls
   1.260 +            {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   1.261 +             "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   1.262 +             "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   1.263 +             "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   1.264 +             "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   1.265 +             "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   1.266 +     
   1.267 +     (fn [world]
   1.268 +       (light-up-everything world)
   1.269 +       (enable-debug world)
   1.270 +       (set-gravity world (Vector3f. 0 0 0))
   1.271 +       )
   1.272 +     
   1.273 +     (fn [world _]
   1.274 +       (if (zero? (rem (swap! timer inc) 100))
   1.275 +         (do
   1.276 +         ;;  (println-repl @timer)
   1.277 +           (.attachChild (.getRootNode world)
   1.278 +                       (sphere 0.05 :color ColorRGBA/Yellow
   1.279 +                               :position (.getWorldTranslation top)
   1.280 +                               :physical? false))
   1.281 +           (.attachChild (.getRootNode world)
   1.282 +                         (sphere 0.05 :color ColorRGBA/LightGray
   1.283 +                                 :position (.getWorldTranslation bottom)
   1.284 +                                 :physical? false))))
   1.285 +
   1.286 +       (if @move-up?
   1.287 +         (.applyTorque control
   1.288 +                       (.mult (.getPhysicsRotation control)
   1.289 +                              (Vector3f. 0 0 10))))
   1.290 +       (if @move-down?
   1.291 +         (.applyTorque control
   1.292 +                       (.mult (.getPhysicsRotation control)
   1.293 +                              (Vector3f. 0 0 -10))))
   1.294 +       (if @move-left?
   1.295 +         (.applyTorque control
   1.296 +                       (.mult (.getPhysicsRotation control)
   1.297 +                              (Vector3f. 0 10 0))))
   1.298 +       (if @move-right?
   1.299 +         (.applyTorque control
   1.300 +                       (.mult (.getPhysicsRotation control)
   1.301 +                              (Vector3f. 0 -10 0))))
   1.302 +       (if @roll-left?
   1.303 +         (.applyTorque control
   1.304 +                       (.mult (.getPhysicsRotation control)
   1.305 +                              (Vector3f. -1 0 0))))
   1.306 +       (if @roll-right?
   1.307 +         (.applyTorque control
   1.308 +                       (.mult (.getPhysicsRotation control)
   1.309 +                              (Vector3f. 1 0 0))))))))
   1.310 +
   1.311 +(defn follow-test
   1.312 +  "Show a camera that stays in the same relative position to a blue cube."
   1.313 +  []
   1.314 +  (let [camera-pos (Vector3f. 0 30 0)
   1.315 +        rock (box 1 1 1 :color ColorRGBA/Blue
   1.316 +                     :position (Vector3f. 0 10 0)
   1.317 +                     :mass 30
   1.318 +                     )
   1.319 +        rot (.getWorldRotation rock)
   1.320 +        
   1.321 +        table (box 3 1 10 :color ColorRGBA/Gray :mass 0
   1.322 +                   :position (Vector3f. 0 -3 0))]
   1.323 +
   1.324 +    (world
   1.325 +     (nodify [rock table])
   1.326 +             standard-debug-controls
   1.327 +             (fn [world]
   1.328 +               (let 
   1.329 +                   [cam (doto (.clone (.getCamera world))
   1.330 +                          (.setLocation camera-pos)
   1.331 +                          (.lookAt Vector3f/ZERO
   1.332 +                                   Vector3f/UNIT_X))]
   1.333 +                 (bind-sense rock cam)
   1.334 +                 
   1.335 +                 (.setTimer world (RatchetTimer. 60))
   1.336 +                 (add-camera! world cam (comp (view-image) BufferedImage!))
   1.337 +                 (add-camera! world (.getCamera world) no-op))
   1.338 +               )
   1.339 +             (fn [_ _] (println-repl rot)))))
   1.340 +#+end_src
   1.341 +  
   1.342 +
   1.343 +* COMMENT generate source
   1.344 +#+begin_src clojure :tangle ../src/cortex/integration.clj
   1.345 +<<integration>>
   1.346 +#+end_src
   1.347 +
   1.348 +
   1.349 +  
   1.350 +

     2.1 --- a/org/test-creature.org	Sat Feb 04 11:02:19 2012 -0700
     2.2 +++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
     2.3 @@ -1,454 +0,0 @@
     2.4 -#+title: First attempt at a creature!
     2.5 -#+author: Robert McIntyre
     2.6 -#+email: rlm@mit.edu
     2.7 -#+description: 
     2.8 -#+keywords: simulation, jMonkeyEngine3, clojure
     2.9 -#+SETUPFILE: ../../aurellem/org/setup.org
    2.10 -#+INCLUDE: ../../aurellem/org/level-0.org
    2.11 -
    2.12 -
    2.13 -
    2.14 -
    2.15 -* Intro 
    2.16 -So far, I've made the following senses -- 
    2.17 - - Vision
    2.18 - - Hearing
    2.19 - - Touch
    2.20 - - Proprioception
    2.21 -
    2.22 -And one effector: 
    2.23 - - Movement
    2.24 -
    2.25 -However, the code so far has only enabled these senses, but has not
    2.26 -actually implemented them.  For example, there is still a lot of work
    2.27 -to be done for vision. I need to be able to create an /eyeball/ in
    2.28 -simulation that can be moved around and see the world from different
    2.29 -angles. I also need to determine weather to use log-polar or cartesian
    2.30 -for the visual input, and I need to determine how/wether to
    2.31 -disceritise the visual input.
    2.32 -
    2.33 -I also want to be able to visualize both the sensors and the
    2.34 -effectors in pretty pictures. This semi-retarted creature will be my
    2.35 -first attempt at bringing everything together.
    2.36 -
    2.37 -* The creature's body
    2.38 -
    2.39 -Still going to do an eve-like body in blender, but due to problems
    2.40 -importing the joints, etc into jMonkeyEngine3, I'm going to do all
    2.41 -the connecting here in clojure code, using the names of the individual
    2.42 -components and trial and error. Later, I'll maybe make some sort of
    2.43 -creature-building modifications to blender that support whatever
    2.44 -discritized senses I'm going to make.
    2.45 -
    2.46 -#+name: body-1
    2.47 -#+begin_src clojure 
    2.48 -(ns cortex.silly
    2.49 -  "let's play!"
    2.50 -  {:author "Robert McIntyre"})
    2.51 -
    2.52 -;; TODO remove this!
    2.53 -(require 'cortex.import)
    2.54 -(cortex.import/mega-import-jme3)
    2.55 -(use '(cortex world util body hearing touch vision sense
    2.56 -              proprioception movement))
    2.57 -
    2.58 -(rlm.rlm-commands/help)
    2.59 -(import java.awt.image.BufferedImage)
    2.60 -(import javax.swing.JPanel)
    2.61 -(import javax.swing.SwingUtilities)
    2.62 -(import java.awt.Dimension)
    2.63 -(import javax.swing.JFrame)
    2.64 -(import java.awt.Dimension)
    2.65 -(import com.aurellem.capture.RatchetTimer)
    2.66 -
    2.67 -(use 'clojure.contrib.def)
    2.68 -
    2.69 -(defn load-blender-model
    2.70 -  "Load a .blend file using an asset folder relative path."
    2.71 -  [^String model]
    2.72 -  (.loadModel
    2.73 -   (doto (asset-manager)
    2.74 -     (.registerLoader BlenderModelLoader (into-array String ["blend"])))
    2.75 -   model))
    2.76 -
    2.77 -(def hand "Models/creature1/one.blend")
    2.78 -
    2.79 -(def worm "Models/creature1/try-again.blend")
    2.80 -
    2.81 -(defn worm-model [] (load-blender-model worm))
    2.82 -
    2.83 -(defn x-ray [#^ColorRGBA color]
    2.84 -  (doto (Material. (asset-manager)
    2.85 -                   "Common/MatDefs/Misc/Unshaded.j3md")
    2.86 -    (.setColor "Color" color)
    2.87 -    (-> (.getAdditionalRenderState)
    2.88 -        (.setDepthTest false))))
    2.89 -
    2.90 -(defn colorful []
    2.91 -  (.getChild (worm-model) "worm-21"))
    2.92 -
    2.93 -(import jme3tools.converters.ImageToAwt)
    2.94 -
    2.95 -(import ij.ImagePlus)
    2.96 -
    2.97 -
    2.98 -
    2.99 -(defn test-eye  []
   2.100 -  (.getChild 
   2.101 -   (.getChild (worm-model) "eyes")
   2.102 -   "eye"))
   2.103 -
   2.104 -
   2.105 -
   2.106 -;; lower level --- nodes
   2.107 -;; closest-node "parse/compile-x" -> makes organ, which is spatial, fn pair
   2.108 -
   2.109 -;; higher level -- organs
   2.110 -;; 
   2.111 -
   2.112 -;; higher level --- sense/effector
   2.113 -;; these are the functions that provide world i/o, chinese-room style
   2.114 -
   2.115 -(defn debug-hearing-window
   2.116 -  "view audio data"
   2.117 -  [height]
   2.118 -  (let [vi (view-image)]
   2.119 -    (fn [[coords sensor-data]]
   2.120 -      (let [image (BufferedImage. (count coords) height
   2.121 -                                  BufferedImage/TYPE_INT_RGB)]
   2.122 -        (dorun
   2.123 -         (for [x (range (count coords))]
   2.124 -           (dorun
   2.125 -            (for [y (range height)]
   2.126 -              (let [raw-sensor (sensor-data x)]
   2.127 -                (.setRGB image x y (gray raw-sensor)))))))
   2.128 -
   2.129 -        (vi image)))))
   2.130 -        
   2.131 -(defn test-creature [thing]
   2.132 -  (let [x-axis
   2.133 -        (box 1 0.01 0.01 :physical? false :color ColorRGBA/Red)
   2.134 -        y-axis
   2.135 -        (box 0.01 1 0.01 :physical? false :color ColorRGBA/Green)
   2.136 -        z-axis
   2.137 -        (box 0.01 0.01 1 :physical? false :color ColorRGBA/Blue)
   2.138 -
   2.139 -        creature (doto (load-blender-model thing) (body!))
   2.140 -
   2.141 -        touch (touch! creature)
   2.142 -        touch-display (view-touch)
   2.143 -
   2.144 -        vision (vision! creature)
   2.145 -        vision-display (view-vision)
   2.146 -
   2.147 -        hearing (hearing! creature)
   2.148 -        hearing-display (view-hearing)
   2.149 -
   2.150 -        prop (proprioception! creature)
   2.151 -        prop-display (view-proprioception)
   2.152 -
   2.153 -        muscle-exertion (atom 0)
   2.154 -        muscles (movement! creature)
   2.155 -        muscle-display (view-movement)
   2.156 -
   2.157 -        me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
   2.158 -        bell (AudioNode. (asset-manager)
   2.159 -                         "Sounds/pure.wav" false)
   2.160 -       
   2.161 -        fix-display (runonce
   2.162 -                     (fn [world] (add-camera! world (.getCamera world) no-op)))
   2.163 -        ]
   2.164 -    
   2.165 -    
   2.166 -    (apply
   2.167 -     world
   2.168 -     (with-movement
   2.169 -       (.getChild creature "worm-21")
   2.170 -       ["key-r" "key-t"
   2.171 -        "key-f" "key-g"
   2.172 -        "key-v" "key-b"]
   2.173 -       [10 10 10 10 1 1]
   2.174 -       [(nodify [creature
   2.175 -                 (box 10 2 10 :position (Vector3f. 0 -9 0)
   2.176 -                      :color ColorRGBA/Gray :mass 0)
   2.177 -                 x-axis y-axis z-axis
   2.178 -                 me
   2.179 -                 ])
   2.180 -        (merge standard-debug-controls
   2.181 -               {"key-return"
   2.182 -                (fn [_ value]
   2.183 -                  (if value
   2.184 -                    (do
   2.185 -                      (println-repl "play-sound")
   2.186 -                      (.play bell))))
   2.187 -                "key-h"
   2.188 -                (fn [_ value]
   2.189 -                  (if value
   2.190 -                    (swap!  muscle-exertion (partial + 20))))
   2.191 -                "key-n"
   2.192 -                (fn [_ value]
   2.193 -                  (if value
   2.194 -                    (swap! muscle-exertion (fn [v] (- v 20)))))
   2.195 -
   2.196 -                })
   2.197 -        (fn [world]
   2.198 -          (light-up-everything world)
   2.199 -          (enable-debug world)
   2.200 -          ;;(dorun (map #(% world) init-vision-fns))
   2.201 -          ;;(dorun (map #(% world) init-hearing-fns))
   2.202 -          
   2.203 -          (add-camera! world
   2.204 -                   (add-eye! creature (test-eye))
   2.205 -                   (comp (view-image) BufferedImage!))
   2.206 -          
   2.207 -          
   2.208 -          ;;(set-gravity world (Vector3f. 0 0 0))
   2.209 -          ;;(com.aurellem.capture.Capture/captureVideo
   2.210 -          ;; world (file-str "/home/r/proj/ai-videos/hand"))
   2.211 -          ;;(.setTimer world (RatchetTimer. 60))
   2.212 -          (speed-up world)
   2.213 -          (set-gravity world (Vector3f. 0 0 0))
   2.214 -          )
   2.215 -        (fn [world tpf]
   2.216 -          ;;(dorun 
   2.217 -          ;; (map #(%1 %2) touch-nerves (repeat (.getRootNode world))))
   2.218 -          
   2.219 -          (prop-display (prop))
   2.220 -          
   2.221 -          (touch-display (map #(% (.getRootNode world)) touch))
   2.222 -
   2.223 -          (vision-display (map #(% world) vision))
   2.224 -
   2.225 -          (hearing-display (map #(% world) hearing))
   2.226 -
   2.227 -          (muscle-display (map #(% @muscle-exertion) muscles))
   2.228 -          
   2.229 -          ;;(println-repl (vision-data))
   2.230 -          (.setLocalTranslation me (.getLocation (.getCamera world)))
   2.231 -          (fix-display world)
   2.232 -          
   2.233 -          )]
   2.234 -   ;;(let [timer (atom 0)]
   2.235 -   ;;  (fn [_ _]
   2.236 -   ;;    (swap! timer inc)
   2.237 -   ;;    (if (= (rem @timer 60) 0)
   2.238 -   ;;      (println-repl (float (/ @timer 60))))))
   2.239 -   ))))
   2.240 -
   2.241 -   
   2.242 -
   2.243 -;; the camera will stay in its initial position/rotation with relation
   2.244 -;; to the spatial.
   2.245 -
   2.246 -
   2.247 -;;dylan (defn follow-sense, adjoin-sense, attach-stimuli,
   2.248 -;;anchor-qualia, augment-organ, with-organ
   2.249 -
   2.250 -(defn follow-test
   2.251 -  "show a camera that stays in the same relative position to a blue cube."
   2.252 -  []
   2.253 -  (let [camera-pos (Vector3f. 0 30 0)
   2.254 -        rock (box 1 1 1 :color ColorRGBA/Blue
   2.255 -                     :position (Vector3f. 0 10 0)
   2.256 -                     :mass 30
   2.257 -                     )
   2.258 -        rot (.getWorldRotation rock)
   2.259 -        
   2.260 -        table (box 3 1 10 :color ColorRGBA/Gray :mass 0
   2.261 -                   :position (Vector3f. 0 -3 0))]
   2.262 -
   2.263 -    (world
   2.264 -     (nodify [rock table])
   2.265 -             standard-debug-controls
   2.266 -             (fn [world]
   2.267 -               (let 
   2.268 -                   [cam (doto (.clone (.getCamera world))
   2.269 -                          (.setLocation camera-pos)
   2.270 -                          (.lookAt Vector3f/ZERO
   2.271 -                                   Vector3f/UNIT_X))]
   2.272 -                 (bind-sense rock cam)
   2.273 -                 
   2.274 -                 (.setTimer world (RatchetTimer. 60))
   2.275 -                 (add-camera! world cam (comp (view-image) BufferedImage!))
   2.276 -                 (add-camera! world (.getCamera world) no-op))
   2.277 -               )
   2.278 -             (fn [_ _] (println-repl rot)))))
   2.279 -       
   2.280 -
   2.281 -
   2.282 -#+end_src
   2.283 -
   2.284 -#+results: body-1
   2.285 -: #'cortex.silly/follow-test
   2.286 -
   2.287 -
   2.288 -* COMMENT purgatory
   2.289 -#+begin_src clojure
   2.290 -
   2.291 -(defn bullet-trans* []
   2.292 -  (let [obj-a (box 1.5 0.5 0.5 :color ColorRGBA/Red
   2.293 -                   :position (Vector3f. 5 0 0)
   2.294 -                   :mass 90)
   2.295 -        obj-b (sphere 0.5 :color ColorRGBA/Blue
   2.296 -                      :position (Vector3f. -5 0 0)
   2.297 -                      :mass 0)
   2.298 -        control-a (.getControl obj-a RigidBodyControl)
   2.299 -        control-b (.getControl obj-b RigidBodyControl)
   2.300 -        move-up? (atom nil)
   2.301 -        move-down? (atom nil)
   2.302 -        move-left? (atom nil)
   2.303 -        move-right? (atom nil)
   2.304 -        roll-left? (atom nil)
   2.305 -        roll-right? (atom nil)
   2.306 -        force 100
   2.307 -        swivel
   2.308 -        (.toRotationMatrix
   2.309 -         (doto (Quaternion.)
   2.310 -           (.fromAngleAxis (/ Math/PI 2)
   2.311 -                           Vector3f/UNIT_X)))
   2.312 -        x-move
   2.313 -        (doto (Matrix3f.)
   2.314 -          (.fromStartEndVectors Vector3f/UNIT_X
   2.315 -                                (.normalize (Vector3f. 1 1 0))))
   2.316 -        
   2.317 -        timer (atom 0)]
   2.318 -    (doto 
   2.319 -        (ConeJoint.
   2.320 -         control-a control-b
   2.321 -         (Vector3f. -8 0 0)
   2.322 -         (Vector3f. 2 0 0)
   2.323 -         ;;swivel swivel
   2.324 -         ;;Matrix3f/IDENTITY Matrix3f/IDENTITY
   2.325 -         x-move Matrix3f/IDENTITY 
   2.326 -         )
   2.327 -      (.setCollisionBetweenLinkedBodys false)
   2.328 -      (.setLimit (* 1 (/ Math/PI 4))    ;; twist 
   2.329 -                 (* 1 (/ Math/PI 4))  ;; swing span in X-Y plane
   2.330 -                 (* 0 (/ Math/PI 4))))  ;; swing span in Y-Z plane
   2.331 -    (world (nodify
   2.332 -            [obj-a obj-b])
   2.333 -           (merge standard-debug-controls
   2.334 -                  {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   2.335 -                   "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   2.336 -                   "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   2.337 -                   "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   2.338 -                   "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   2.339 -                   "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   2.340 -           
   2.341 -           (fn [world]
   2.342 -             (enable-debug world)
   2.343 -             (set-gravity world Vector3f/ZERO)
   2.344 -             )
   2.345 -                           
   2.346 -           (fn [world _]
   2.347 -
   2.348 -             (if @move-up?
   2.349 -               (.applyForce control-a
   2.350 -                              (Vector3f. force 0 0)
   2.351 -                              (Vector3f. 0 0 0)))
   2.352 -             (if @move-down?
   2.353 -               (.applyForce control-a
   2.354 -                             (Vector3f. (- force) 0 0)
   2.355 -                             (Vector3f. 0 0 0)))
   2.356 -             (if @move-left?
   2.357 -               (.applyForce control-a
   2.358 -                             (Vector3f. 0 force 0)
   2.359 -                             (Vector3f. 0 0 0)))
   2.360 -             (if @move-right?
   2.361 -               (.applyForce control-a
   2.362 -                             (Vector3f. 0 (- force) 0)
   2.363 -                             (Vector3f. 0 0 0)))
   2.364 -
   2.365 -             (if @roll-left?
   2.366 -               (.applyForce control-a
   2.367 -                             (Vector3f. 0 0 force)
   2.368 -                             (Vector3f. 0 0 0)))
   2.369 -             (if @roll-right?
   2.370 -               (.applyForce control-a
   2.371 -                             (Vector3f. 0 0 (- force))
   2.372 -                             (Vector3f. 0 0 0)))
   2.373 -
   2.374 -             (if (zero? (rem (swap! timer inc) 100))
   2.375 -               (.attachChild
   2.376 -                (.getRootNode world)
   2.377 -                (sphere 0.05 :color ColorRGBA/Yellow
   2.378 -                        :physical? false :position
   2.379 -                        (.getWorldTranslation obj-a)))))
   2.380 -           )
   2.381 -    ))
   2.382 -
   2.383 -(defn test-joint [joint]
   2.384 -  (let [[origin top bottom floor] (world-setup joint)
   2.385 -        control (.getControl top RigidBodyControl)
   2.386 -        move-up? (atom false)
   2.387 -        move-down? (atom false)
   2.388 -        move-left? (atom false)
   2.389 -        move-right? (atom false)
   2.390 -        roll-left? (atom false)
   2.391 -        roll-right? (atom false)
   2.392 -        timer (atom 0)]
   2.393 -
   2.394 -    (world
   2.395 -     (nodify [top bottom floor origin])
   2.396 -     (merge standard-debug-controls
   2.397 -            {"key-r" (fn [_ pressed?] (reset! move-up? pressed?))
   2.398 -             "key-t" (fn [_ pressed?] (reset! move-down? pressed?))
   2.399 -             "key-f" (fn [_ pressed?] (reset! move-left? pressed?))
   2.400 -             "key-g" (fn [_ pressed?] (reset! move-right? pressed?))
   2.401 -             "key-v" (fn [_ pressed?] (reset! roll-left? pressed?))
   2.402 -             "key-b" (fn [_ pressed?] (reset! roll-right? pressed?))})     
   2.403 -     
   2.404 -     (fn [world]
   2.405 -       (light-up-everything world)
   2.406 -       (enable-debug world)
   2.407 -       (set-gravity world (Vector3f. 0 0 0))
   2.408 -       )
   2.409 -     
   2.410 -     (fn [world _]
   2.411 -       (if (zero? (rem (swap! timer inc) 100))
   2.412 -         (do
   2.413 -         ;;  (println-repl @timer)
   2.414 -           (.attachChild (.getRootNode world)
   2.415 -                       (sphere 0.05 :color ColorRGBA/Yellow
   2.416 -                               :position (.getWorldTranslation top)
   2.417 -                               :physical? false))
   2.418 -           (.attachChild (.getRootNode world)
   2.419 -                         (sphere 0.05 :color ColorRGBA/LightGray
   2.420 -                                 :position (.getWorldTranslation bottom)
   2.421 -                                 :physical? false))))
   2.422 -
   2.423 -       (if @move-up?
   2.424 -         (.applyTorque control
   2.425 -                       (.mult (.getPhysicsRotation control)
   2.426 -                              (Vector3f. 0 0 10))))
   2.427 -       (if @move-down?
   2.428 -         (.applyTorque control
   2.429 -                       (.mult (.getPhysicsRotation control)
   2.430 -                              (Vector3f. 0 0 -10))))
   2.431 -       (if @move-left?
   2.432 -         (.applyTorque control
   2.433 -                       (.mult (.getPhysicsRotation control)
   2.434 -                              (Vector3f. 0 10 0))))
   2.435 -       (if @move-right?
   2.436 -         (.applyTorque control
   2.437 -                       (.mult (.getPhysicsRotation control)
   2.438 -                              (Vector3f. 0 -10 0))))
   2.439 -       (if @roll-left?
   2.440 -         (.applyTorque control
   2.441 -                       (.mult (.getPhysicsRotation control)
   2.442 -                              (Vector3f. -1 0 0))))
   2.443 -       (if @roll-right?
   2.444 -         (.applyTorque control
   2.445 -                       (.mult (.getPhysicsRotation control)
   2.446 -                              (Vector3f. 1 0 0))))))))
   2.447 -#+end_src
   2.448 -
   2.449 -
   2.450 -* COMMENT generate source
   2.451 -#+begin_src clojure :tangle ../src/cortex/silly.clj
   2.452 -<<body-1>>
   2.453 -#+end_src
   2.454 -
   2.455 -
   2.456 -  
   2.457 -

     3.1 --- a/org/util.org	Sat Feb 04 11:02:19 2012 -0700
     3.2 +++ b/org/util.org	Sat Feb 04 11:29:45 2012 -0700
     3.3 @@ -102,7 +102,7 @@
     3.4    (:import javax.swing.JPanel)
     3.5    (:import javax.swing.JFrame)
     3.6    (:import javax.swing.SwingUtilities)
     3.7 -  
     3.8 +  (:import com.jme3.scene.plugins.blender.BlenderModelLoader)
     3.9    (:import (java.util.logging Level Logger)))
    3.10  
    3.11  (defvar println-repl
    3.12 @@ -318,15 +318,15 @@
    3.13  		     :shape (Sphere. 32 32 (float r)))))) 
    3.14    ([] (sphere 0.5)))
    3.15  
    3.16 -(defn green-x-ray 
    3.17 -  "A usefull material for debuging -- it can be seen no matter what
    3.18 -  object occuldes it."
    3.19 -  []
    3.20 -  (doto (Material. (asset-manager)
    3.21 -                   "Common/MatDefs/Misc/Unshaded.j3md")
    3.22 -    (.setColor "Color" ColorRGBA/Green)
    3.23 -    (-> (.getAdditionalRenderState)
    3.24 -        (.setDepthTest false))))
    3.25 +(defn x-ray 
    3.26 +   "A usefull material for debuging -- it can be seen no matter what
    3.27 +    object occuldes it."
    3.28 +   [#^ColorRGBA color]
    3.29 +   (doto (Material. (asset-manager)
    3.30 +                    "Common/MatDefs/Misc/Unshaded.j3md")
    3.31 +     (.setColor "Color" color)
    3.32 +     (-> (.getAdditionalRenderState)
    3.33 +         (.setDepthTest false))))
    3.34  
    3.35  (defn node-seq
    3.36    "Take a node and return a seq of all its children
    3.37 @@ -344,6 +344,14 @@
    3.38         node))
    3.39    ([children] (nodify "" children)))
    3.40  
    3.41 +(defn load-blender-model
    3.42 +  "Load a .blend file using an asset folder relative path."
    3.43 +  [^String model]
    3.44 +  (.loadModel
    3.45 +   (doto (asset-manager)
    3.46 +     (.registerLoader BlenderModelLoader 
    3.47 +                      (into-array String ["blend"]))) model))
    3.48 +
    3.49  
    3.50  #+end_src
    3.51