1.1 --- a/org/movement.org	Sat Feb 04 07:09:40 2012 -0700
     1.2 +++ b/org/movement.org	Sat Feb 04 07:20:12 2012 -0700
     1.3 @@ -6,56 +6,68 @@
     1.4  #+SETUPFILE: ../../aurellem/org/setup.org
     1.5  #+INCLUDE: ../../aurellem/org/level-0.org
     1.6  
     1.7 +
     1.8 +Surprisingly enough, terristerial creatures only move by using torque
     1.9 +applied about their joints.  There's not a single straight line of
    1.10 +force in the human body at all!  (A straight line of force would
    1.11 +correspond to some sort of jet or rocket propulseion.)
    1.12 +
    1.13 +
    1.14 +Here's how motor-control/ proprioception will work: Each muscle is
    1.15 +defined by a 1-D array of numbers (the "motor pool") each of which
    1.16 +represent muscle fibers. A muscle also has a scalar :strength factor
    1.17 +which determines how strong the muscle as a whole is.  The effector
    1.18 +function for a muscle takes a number < (count motor-pool) and that
    1.19 +number is said to "activate" all the muscle fibers whose index is
    1.20 +lower than the number.  Each fiber will apply force in proportion to
    1.21 +its value in the array.  Lower values cause less force.  The lower
    1.22 +values can be put at the "beginning" of the 1-D array to simulate the
    1.23 +layout of actual human muscles, which are capable of more percise
    1.24 +movements when exerting less force.
    1.25 +
    1.26  #+name: movement
    1.27  #+begin_src clojure 
    1.28  (ns cortex.movement
    1.29 +  "Give simulated creatures defined in special blender files the power
    1.30 +   to move around in a simulated environment."
    1.31 +  {:author "Robert McIntyre"}
    1.32    (:use (cortex world util sense body))
    1.33 -  (:import jme3tools.converters.ImageToAwt)
    1.34 -  (:import java.awt.image.BufferedImage))
    1.35 +  (:use clojure.contrib.def)
    1.36 +  (:import java.awt.image.BufferedImage)
    1.37 +  (:import com.jme3.scene.Node)
    1.38 +  (:import com.jme3.math.Vector3f)
    1.39 +  (:import com.jme3.bullet.control.RigidBodyControl))
    1.40  
    1.41 -(cortex.import/mega-import-jme3)
    1.42 -
    1.43 -;; here's how motor-control/ proprioception will work: Each muscle is
    1.44 -;; defined by a 1-D array of numbers (the "motor pool") each of which
    1.45 -;; represent muscle fibers. A muscle also has a scalar :strength
    1.46 -;; factor which determines how strong the muscle as a whole is.
    1.47 -;; The effector function for a muscle takes a number < (count
    1.48 -;; motor-pool) and that number is said to "activate" all the muscle
    1.49 -;; fibers whose index is lower than the number.  Each fiber will apply
    1.50 -;; force in proportion to its value in the array.  Lower values cause
    1.51 -;; less force.  The lower values can be put at the "beginning" of the
    1.52 -;; 1-D array to simulate the layout of actual human muscles, which are
    1.53 -;; capable of more percise movements when exerting less force.
    1.54 -
    1.55 -(defn muscle-fiber-values
    1.56 -  "get motor pool strengths"
    1.57 -  [#^BufferedImage image]
    1.58 +(defn muscle-profile
    1.59 +  "Return a vector where each entry is the strength of the \"motor
    1.60 +  pool\" at that part in the muscle."
    1.61 +  [#^BufferedImage profile]
    1.62    (vec
    1.63 -   (let [width (.getWidth image)]
    1.64 +   (let [width (.getWidth profile)]
    1.65       (for [x (range width)]
    1.66         (- 255
    1.67            (bit-and
    1.68             0x0000FF
    1.69 -           (.getRGB image x 0)))))))
    1.70 +           (.getRGB profile x 0)))))))
    1.71  
    1.72 -(defn creature-muscles 
    1.73 - "Return the children of the creature's \"muscles\" node."
    1.74 - [#^Node creature]
    1.75 - (if-let [muscle-node (.getChild creature "muscles")]
    1.76 -   (seq (.getChildren muscle-node))
    1.77 -   (do (println-repl "could not find muscles node") [])))
    1.78 +(defvar 
    1.79 +  ^{:arglists '([creature])}
    1.80 +  muscles
    1.81 +  (sense-nodes "muscles")
    1.82 +  "Return the children of the creature's \"muscles\" node.")
    1.83  
    1.84 -(defn single-muscle [#^Node parts #^Node muscle]
    1.85 +(defn movement-fn
    1.86 +  "Returns a function which when called with a integer value inside a
    1.87 +   running simulation, will cause movement in the creature according
    1.88 +   to the muscle's position and strength profile"
    1.89 +  [#^Node parts #^Node muscle]
    1.90    (let [target (closest-node parts muscle)
    1.91          axis
    1.92          (.mult (.getWorldRotation muscle) Vector3f/UNIT_Y)
    1.93          strength (meta-data muscle "strength")
    1.94          image-name (read-string (meta-data muscle "muscle"))
    1.95 -        image 
    1.96 -        (ImageToAwt/convert
    1.97 -          (.getImage (.loadTexture (asset-manager) image-name))
    1.98 -          false false 0)
    1.99 -        fibers (muscle-fiber-values image)
   1.100 +        image (load-image image-name)
   1.101 +        fibers (muscle-profile image)
   1.102          fiber-integral (reductions + fibers)
   1.103          force-index (vec
   1.104                       (map
   1.105 @@ -67,14 +79,13 @@
   1.106        (let [pool-index (min n (count fibers))]
   1.107          (.applyTorque control (.mult axis (force-index n)))))))
   1.108  
   1.109 -
   1.110 -(defn enable-muscles
   1.111 -  "Must be called on a creature after RigidBodyControls have been
   1.112 -   created." 
   1.113 +(defn movement!
   1.114 +  "Endow the creature with the power of movement. Returns a sequence
   1.115 +   of functions, each of which accept an integer value and will
   1.116 +   activate their corresponding muscle."
   1.117    [#^Node creature]
   1.118 -  (let [muscles (creature-muscles creature)]
   1.119 -    (for [muscle muscles]
   1.120 -      (single-muscle creature muscle))))
   1.121 +    (for [muscle (muscles creature)]
   1.122 +      (movement-fn creature muscle)))
   1.123  
   1.124  
   1.125  #+end_src

     2.1 --- a/org/test-creature.org	Sat Feb 04 07:09:40 2012 -0700
     2.2 +++ b/org/test-creature.org	Sat Feb 04 07:20:12 2012 -0700
     2.3 @@ -185,7 +185,7 @@
     2.4          prop (proprioception! creature)
     2.5          prop-debug (proprioception-debug-window)
     2.6  
     2.7 -        muscle-fns (enable-muscles creature)
     2.8 +        muscle-fns (movement! creature)
     2.9          ;; dream
    2.10          fix-display (runonce
    2.11                       (fn [world] (add-camera! world (.getCamera world) no-op)))