X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=1cf4a3a5c511aa16e9874fd30b71dce9215c10f7;hb=7e02b21428efa3ebec14a34d0c1f81e81d362bfc;hp=468967887ee96a1d62b7547c2d7a2ad8cff04461;hpb=75398ab9230c15215e7a378a26d2d55de67b47f0;p=blobs.git

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 4689678..1cf4a3a 100644
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -29,9 +29,11 @@
 namespace blobs {
 namespace creature {
 
-Composition::Composition()
-: components()
-, total_mass(0.0) {
+Composition::Composition(const world::Set<world::Resource> &resources)
+: resources(resources)
+, components()
+, total_mass(0.0)
+, state_mass{0.0} {
 }
 
 Composition::~Composition() {
@@ -49,6 +51,7 @@ void Composition::Add(int res, double amount) {
 		if (c->resource == res) {
 			c->value += amount;
 			if (c->value <= 0.0) {
+				amount += c->value;
 				components.erase(c);
 			}
 			found = true;
@@ -59,6 +62,7 @@ void Composition::Add(int res, double amount) {
 		components.emplace_back(res, amount);
 	}
 	std::sort(components.begin(), components.end(), CompositionCompare);
+	state_mass[resources[res].state] += amount;
 	total_mass += amount;
 }
 
@@ -80,13 +84,46 @@ double Composition::Get(int res) const noexcept {
 	return 0.0;
 }
 
+double Composition::Proportion(int res) const noexcept {
+	return Get(res) / TotalMass();
+}
+
+double Composition::StateProportion(int res) const noexcept {
+	return Get(res) / StateMass(resources[res].state);
+}
+
+double Composition::Compatibility(int res) const noexcept {
+	if (Has(res)) {
+		return StateProportion(res);
+	}
+	double max_compat = -1.0;
+	double min_compat = 1.0;
+	for (const auto &c : components) {
+		double prop = c.value / StateMass(resources[res].state);
+		for (const auto &compat : resources[c.resource].compatibility) {
+			double value = compat.second * prop;
+			if (value > max_compat) {
+				max_compat = value;
+			}
+			if (value < min_compat) {
+				min_compat = value;
+			}
+		}
+	}
+	if (min_compat < 0.0) {
+		return min_compat;
+	} else {
+		return max_compat;
+	}
+}
+
 
 Creature::Creature(world::Simulation &sim)
 : sim(sim)
 , name()
 , genome()
 , properties()
-, composition()
+, composition(sim.Resources())
 , base_color(1.0)
 , highlight_color(0.0, 0.0, 0.0, 1.0)
 , mass(1.0)
@@ -102,6 +139,11 @@ Creature::Creature(world::Simulation &sim)
 , goals()
 , situation()
 , steering(*this)
+, perception_range(1.0)
+, perception_range_squared(1.0)
+, perception_omni_range(1.0)
+, perception_omni_range_squared(1.0)
+, perception_field(1.0)
 , vao() {
 	sim.SetAlive(this);
 	// all creatures avoid each other for now
@@ -116,8 +158,8 @@ void Creature::AddMass(int res, double amount) {
 	double nonsolid = 0.0;
 	double volume = 0.0;
 	for (const auto &c : composition) {
-		volume += c.value / sim.Assets().data.resources[c.resource].density;
-		if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
+		volume += c.value / sim.Resources()[c.resource].density;
+		if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 			nonsolid += c.value;
 		}
 	}
@@ -131,13 +173,12 @@ void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 }
 
 void Creature::Ingest(int res, double amount) noexcept {
-	// TODO: check foreign materials
 	if (sim.Resources()[res].state == world::Resource::SOLID) {
-		// 15% of solids stays in body
-		AddMass(res, amount * 0.15);
+		// 30% of solids stays in body
+		AddMass(res, amount * 0.3 * composition.Compatibility(res));
 	} else {
-		// 10% of fluids stays in body
-		AddMass(res, amount * 0.05);
+		// 5% of fluids stays in body
+		AddMass(res, amount * 0.05 * composition.Compatibility(res));
 	}
 	math::GaloisLFSR &random = sim.Assets().random;
 	if (random.UNorm() < AdaptChance()) {
@@ -266,7 +307,7 @@ void Creature::AddParent(Creature &p) {
 }
 
 double Creature::Age() const noexcept {
-	return sim.Time() - birth;
+	return Dead() ? death - birth : sim.Time() - birth;
 }
 
 double Creature::AgeFactor(double peak) const noexcept {
@@ -294,18 +335,38 @@ double Creature::Strength() const noexcept {
 	return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StrengthFactor() const noexcept {
+	double str = Strength();
+	return str / (str + 1.0);
+}
+
 double Creature::Stamina() const noexcept {
 	return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StaminaFactor() const noexcept {
+	double stm = Stamina();
+	return stm / (stm + 1.0);
+}
+
 double Creature::Dexerty() const noexcept {
 	return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::DexertyFactor() const noexcept {
+	double dex = Dexerty();
+	return dex / (dex + 1.0);
+}
+
 double Creature::Intelligence() const noexcept {
 	return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 }
 
+double Creature::IntelligenceFactor() const noexcept {
+	double intl = Intelligence();
+	return intl / (intl + 1.0);
+}
+
 double Creature::Lifetime() const noexcept {
 	return properties.Lifetime();
 }
@@ -327,25 +388,23 @@ double Creature::OffspringMass() const noexcept {
 }
 
 double Creature::PerceptionRange() const noexcept {
-	return 3.0 * (Dexerty() / (Dexerty() + 1)) + Size();
+	return perception_range;
 }
 
 double Creature::PerceptionOmniRange() const noexcept {
-	return 0.5 * (Dexerty() / (Dexerty() + 1)) + Size();
+	return perception_omni_range;
 }
 
 double Creature::PerceptionField() const noexcept {
-	// this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
-	return 0.8 - (Dexerty() / (Dexerty() + 1));
+	return perception_field;
 }
 
 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 	const glm::dvec3 diff(p - situation.Position());
-	double omni_range = PerceptionOmniRange();
-	if (length2(diff) < omni_range * omni_range) return true;
-	double range = PerceptionRange();
-	if (length2(diff) > range * range) return false;
-	return dot(normalize(diff), situation.Heading()) > PerceptionField();
+	double ldiff = glm::length2(diff);
+	if (ldiff < perception_omni_range_squared) return true;
+	if (ldiff > perception_range_squared) return false;
+	return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 }
 
 double Creature::OffspringChance() const noexcept {
@@ -377,11 +436,22 @@ bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b)
 }
 
 void Creature::Tick(double dt) {
+	Cache();
 	TickState(dt);
 	TickStats(dt);
 	TickBrain(dt);
 }
 
+void Creature::Cache() noexcept {
+	double dex_fact = DexertyFactor();
+	perception_range = 3.0 * dex_fact + size;
+	perception_range_squared = perception_range * perception_range;
+	perception_omni_range = 0.5 * dex_fact + size;
+	perception_omni_range_squared = perception_omni_range * perception_omni_range;
+	// this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
+	perception_field = 0.8 - dex_fact;
+}
+
 void Creature::TickState(double dt) {
 	steering.MaxSpeed(Dexerty());
 	steering.MaxForce(Strength());
@@ -397,42 +467,45 @@ void Creature::TickState(double dt) {
 	state.pos += f.vel * dt;
 	state.vel += f.acc * dt;
 	situation.EnforceConstraints(state);
-	if (length2(state.vel) > 0.000001) {
-		glm::dvec3 nvel(normalize(state.vel));
-		double ang = angle(nvel, state.dir);
+	if (glm::length2(state.vel) > 0.000001) {
+		glm::dvec3 nvel(glm::normalize(state.vel));
+		double ang = glm::angle(nvel, state.dir);
 		double turn_rate = PI * 0.75 * dt;
 		if (ang < turn_rate) {
-			state.dir = normalize(state.vel);
+			state.dir = glm::normalize(state.vel);
 		} else if (std::abs(ang - PI) < 0.001) {
-			state.dir = rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
+			state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 		} else {
-			state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
+			state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 		}
 	}
 	situation.SetState(state);
 	// work is force times distance
-	DoWork(length(f.acc) * Mass() * length(f.vel) * dt);
+	// exclude gravity for no apparent reason
+	// actually, this should solely be based on steering force
+	DoWork(glm::length(f.acc - situation.GetPlanet().GravityAt(state.pos)) * Mass() * glm::length(f.vel) * dt);
 }
 
 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 	Situation::State s = situation.GetState();
 	s.pos += ds.vel * dt;
 	s.vel += ds.acc * dt;
+	situation.EnforceConstraints(s);
 	glm::dvec3 force(steering.Force(s));
 	// gravity = antinormal * mass * Gm / r²
-	double elevation = situation.GetPlanet().DistanceAt(s.pos);
 	glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 	force += glm::dvec3(
 		-normal
-		* Mass() * situation.GetPlanet().GravitationalParameter()
-		/ (elevation * elevation));
+		* (Mass() * situation.GetPlanet().GravitationalParameter()
+		/ glm::length2(s.pos)));
 	// if net force is applied and in contact with surface
-	if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
-		// apply friction = -|normal force| * tangential force * coefficient
-		glm::dvec3 fn(normal * dot(force, normal));
+	if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
+		// apply friction
+		glm::dvec3 fn(normal * glm::dot(force, normal));
+		// TODO: friction somehow bigger than force?
 		glm::dvec3 ft(force - fn);
 		double u = 0.4;
-		glm::dvec3 friction(-length(fn) * ft * u);
+		glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 		force += friction;
 	}
 	return {
@@ -498,7 +571,7 @@ void Creature::TickBrain(double dt) {
 	}
 }
 
-math::AABB Creature::CollisionBox() const noexcept {
+math::AABB Creature::CollisionBounds() const noexcept {
 	return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 }
 
@@ -508,11 +581,11 @@ glm::dmat4 Creature::CollisionTransform() const noexcept {
 	glm::dmat3 orient;
 	orient[1] = situation.GetPlanet().NormalAt(pos);
 	orient[2] = situation.Heading();
-	if (std::abs(dot(orient[1], orient[2])) > 0.999) {
+	if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 		orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 	}
-	orient[0] = normalize(cross(orient[1], orient[2]));
-	orient[2] = normalize(cross(orient[0], orient[1]));
+	orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
+	orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 	return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 		* glm::dmat4(orient)
 		* glm::translate(glm::dvec3(0.0, half_size, 0.0));
@@ -740,7 +813,7 @@ void Split(Creature &c) {
 	// TODO: duplicate situation somehow
 	a->GetSituation().SetPlanetSurface(
 		s.GetPlanet(),
-		s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
+		s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 	a->BuildVAO();
 	c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 
@@ -754,7 +827,7 @@ void Split(Creature &c) {
 	s.GetPlanet().AddCreature(b);
 	b->GetSituation().SetPlanetSurface(
 		s.GetPlanet(),
-		s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
+		s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 	b->BuildVAO();
 	c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 
@@ -773,11 +846,43 @@ void Memory::Erase() {
 	known_types.clear();
 }
 
+bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
+	double best_rating = -1.0;
+	for (const auto &k : known_types) {
+		const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
+		auto entry = t.FindBestResource(accept);
+		if (entry != t.resources.end()) {
+			double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
+			if (rating > best_rating) {
+				best_rating = rating;
+				pos = k.second.first_loc.position;
+			}
+			rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
+			if (rating > best_rating) {
+				best_rating = rating;
+				pos = k.second.last_loc.position;
+			}
+		}
+	}
+	if (best_rating > 0.0) {
+		glm::dvec3 error(
+			c.GetSimulation().Assets().random.SNorm(),
+			c.GetSimulation().Assets().random.SNorm(),
+			c.GetSimulation().Assets().random.SNorm());
+		pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
+		pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
+		return true;
+	} else {
+		return false;
+	}
+}
+
 void Memory::Tick(double dt) {
 	Situation &s = c.GetSituation();
 	if (s.OnSurface()) {
 		TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 	}
+	// TODO: forget
 }
 
 void Memory::TrackStay(const Location &l, double t) {
@@ -843,6 +948,14 @@ bool Situation::OnSurface() const noexcept {
 	return type == PLANET_SURFACE;
 }
 
+bool Situation::OnGround() const noexcept {
+	return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
+}
+
+glm::dvec3 Situation::SurfaceNormal() const noexcept {
+	return planet->NormalAt(state.pos);
+}
+
 world::Tile &Situation::GetTile() const noexcept {
 	return planet->TileAt(state.pos);
 }
@@ -861,11 +974,13 @@ void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 	EnforceConstraints(state);
 }
 
-void Situation::EnforceConstraints(State &s) noexcept {
+void Situation::EnforceConstraints(State &s) const noexcept {
 	if (OnSurface()) {
 		double r = GetPlanet().Radius();
-		if (length2(s.pos) < r * r) {
-			s.pos = normalize(s.pos) * r;
+		if (glm::length2(s.pos) < r * r) {
+			const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
+			s.pos = normal * r;
+			s.vel -= normal * glm::dot(normal, s.vel);
 		}
 	}
 }
@@ -947,32 +1062,36 @@ glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 		for (auto &other : s.GetPlanet().Creatures()) {
 			if (&*other == &c) continue;
 			glm::dvec3 diff = s.Position() - other->GetSituation().Position();
-			if (length2(diff) > max_look * max_look) continue;
+			if (glm::length2(diff) > max_look * max_look) continue;
 			if (!c.PerceptionTest(other->GetSituation().Position())) continue;
-			double sep = glm::clamp(length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
-			repulse += normalize(diff) * (1.0 - sep / min_dist) * force;
+			double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
+			repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
 		}
 		result += repulse;
 	}
 	if (halting) {
-		// break twice as hard
-		result += -2.0 * s.vel * force;
+		// brake hard
+		result += -5.0 * s.vel * force;
 	}
 	if (seeking) {
 		glm::dvec3 diff = target - s.pos;
 		if (!allzero(diff)) {
-			result += TargetVelocity(s, (normalize(diff) * speed), force);
+			result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
 		}
 	}
 	if (arriving) {
 		glm::dvec3 diff = target - s.pos;
-		double dist = length(diff);
+		double dist = glm::length(diff);
 		if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 			result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
 		}
 	}
-	if (length2(result) > max_force * max_force) {
-		result = normalize(result) * max_force;
+	// remove vertical component, if any
+	const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
+	result -= normal * glm::dot(normal, result);
+	// clamp to max
+	if (glm::length2(result) > max_force * max_force) {
+		result = glm::normalize(result) * max_force;
 	}
 	return result;
 }