X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=1cf4a3a5c511aa16e9874fd30b71dce9215c10f7;hb=7e02b21428efa3ebec14a34d0c1f81e81d362bfc;hp=667dc1740bdfa4fa37227b5ba74396a61dc9de2b;hpb=f764c5e628865648bb277b1081bc23d60de38d9d;p=blobs.git diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp index 667dc17..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 &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()) { @@ -193,7 +234,7 @@ void Creature::Ingest(int res, double amount) noexcept { } void Creature::DoWork(double amount) noexcept { - stats.Exhaustion().Add(amount / Stamina()); + stats.Exhaustion().Add(amount / (Stamina() + 1.0)); // burn resources proportional to composition // factor = 1/total * 1/efficiency * amount * -1 double factor = -amount / (composition.TotalMass() * EnergyEfficiency()); @@ -204,10 +245,20 @@ void Creature::DoWork(double amount) noexcept { double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy; AddMass(cmp.resource, value); } + // doing work improves strength a little + properties.Strength() += amount * 0.0001; } void Creature::Hurt(double amount) noexcept { stats.Damage().Add(amount); + if (stats.Damage().Full()) { + Die(); + } +} + +void Creature::Die() noexcept { + if (Dead()) return; + if (stats.Damage().Full()) { std::ostream &log = sim.Log() << name << " "; if (stats.Exhaustion().Full()) { @@ -225,12 +276,7 @@ void Creature::Hurt(double amount) noexcept { << " (" << ui::PercentageString(Age() / properties.Lifetime()) << " of life expectancy of " << ui::TimeString(properties.Lifetime()) << ")" << std::endl; - Die(); } -} - -void Creature::Die() noexcept { - if (Dead()) return; sim.SetDead(this); death = sim.Time(); @@ -261,7 +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 { @@ -289,18 +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(); } @@ -322,25 +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 { @@ -357,6 +421,9 @@ double Creature::AdaptChance() const noexcept { void Creature::AddGoal(std::unique_ptr &&g) { g->Enable(); + if (goals.empty()) { + g->SetForeground(); + } goals.emplace_back(std::move(g)); } @@ -369,11 +436,22 @@ bool GoalCompare(const std::unique_ptr &a, const std::unique_ptr &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()); @@ -389,42 +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, world::Planet::SurfaceNormal(situation.Surface())); + 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 = s.pos[(situation.Surface() + 2) % 3]; - glm::dvec3 normal(world::Planet::SurfaceNormal(situation.Surface())); + 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 { @@ -437,7 +518,6 @@ void Creature::TickStats(double dt) { for (auto &s : stats.stat) { s.Add(s.gain * dt); } - stats.Breath().Add(stats.Breath().gain * stats.Exhaustion().value * dt); // TODO: damage values depending on properties if (stats.Breath().Full()) { constexpr double dps = 1.0 / 4.0; @@ -468,10 +548,16 @@ void Creature::TickBrain(double dt) { for (auto &goal : goals) { goal->Tick(dt); } + Goal *top = &*goals.front(); // if active goal can be interrupted, check priorities if (goals.size() > 1 && goals[0]->Interruptible()) { std::sort(goals.begin(), goals.end(), GoalCompare); } + if (&*goals.front() != top) { + top->SetBackground(); + goals.front()->SetForeground(); + top = &*goals.front(); + } goals[0]->Action(); for (auto goal = goals.begin(); goal != goals.end();) { if ((*goal)->Complete()) { @@ -480,19 +566,29 @@ void Creature::TickBrain(double dt) { ++goal; } } + if (&*goals.front() != top) { + goals.front()->SetForeground(); + } } -math::AABB Creature::CollisionBox() const noexcept { +math::AABB Creature::CollisionBounds() const noexcept { return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) }; } glm::dmat4 Creature::CollisionTransform() const noexcept { const double half_size = size * 0.5; const glm::dvec3 &pos = situation.Position(); - const glm::dmat3 srf(world::Planet::SurfaceOrientation(situation.Surface())); - return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size)) - * glm::rotate(glm::orientedAngle(-srf[2], situation.Heading(), srf[1]), srf[1]) - * glm::dmat4(srf); + glm::dmat3 orient; + orient[1] = situation.GetPlanet().NormalAt(pos); + orient[2] = situation.Heading(); + 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] = 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)); } glm::dmat4 Creature::LocalTransform() noexcept { @@ -597,8 +693,8 @@ void Creature::Draw(graphics::Viewport &viewport) { void Spawn(Creature &c, world::Planet &p) { p.AddCreature(&c); - c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2)); - c.GetSituation().Heading(-world::Planet::SurfaceOrientation(0)[2]); + c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius())); + c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0)); // probe surrounding area for common resources int start = p.SideLength() / 2 - 2; @@ -716,8 +812,8 @@ void Split(Creature &c) { s.GetPlanet().AddCreature(a); // TODO: duplicate situation somehow a->GetSituation().SetPlanetSurface( - s.GetPlanet(), s.Surface(), - s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0)); + s.GetPlanet(), + 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; @@ -730,8 +826,8 @@ void Split(Creature &c) { } s.GetPlanet().AddCreature(b); b->GetSituation().SetPlanetSurface( - s.GetPlanet(), s.Surface(), - s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0)); + s.GetPlanet(), + 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; @@ -750,15 +846,47 @@ 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.OnTile()) { - TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt); + if (s.OnSurface()) { + TrackStay({ &s.GetPlanet(), s.Position() }, dt); } + // TODO: forget } void Memory::TrackStay(const Location &l, double t) { - const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y); + const world::TileType &type = l.planet->TileTypeAt(l.position); auto entry = known_types.find(type.id); if (entry != known_types.end()) { if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) { @@ -806,7 +934,6 @@ std::string NameGenerator::Sequential() { Situation::Situation() : planet(nullptr) , state(glm::dvec3(0.0), glm::dvec3(0.0)) -, surface(0) , type(LOST) { } @@ -821,25 +948,20 @@ bool Situation::OnSurface() const noexcept { return type == PLANET_SURFACE; } -bool Situation::OnTile() const noexcept { - if (type != PLANET_SURFACE) return false; - glm::ivec2 t(planet->SurfacePosition(surface, state.pos)); - return t.x >= 0 && t.x < planet->SideLength() - && t.y >= 0 && t.y < planet->SideLength(); +bool Situation::OnGround() const noexcept { + return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05); } -glm::ivec2 Situation::SurfacePosition() const noexcept { - return planet->SurfacePosition(surface, state.pos); +glm::dvec3 Situation::SurfaceNormal() const noexcept { + return planet->NormalAt(state.pos); } world::Tile &Situation::GetTile() const noexcept { - glm::ivec2 t(planet->SurfacePosition(surface, state.pos)); - return planet->TileAt(surface, t.x, t.y); + return planet->TileAt(state.pos); } const world::TileType &Situation::GetTileType() const noexcept { - glm::ivec2 t(planet->SurfacePosition(surface, state.pos)); - return planet->TypeAt(surface, t.x, t.y); + return planet->TileTypeAt(state.pos); } void Situation::Move(const glm::dvec3 &dp) noexcept { @@ -852,26 +974,20 @@ 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()) { - if (Surface() < 3) { - if (s.pos[(Surface() + 2) % 3] < GetPlanet().Radius()) { - s.pos[(Surface() + 2) % 3] = GetPlanet().Radius(); - s.vel[(Surface() + 2) % 3] = std::max(0.0, s.vel[(Surface() + 2) % 3]); - } - } else { - if (s.pos[(Surface() + 2) % 3] > -GetPlanet().Radius()) { - s.pos[(Surface() + 2) % 3] = -GetPlanet().Radius(); - s.vel[(Surface() + 2) % 3] = std::min(0.0, s.vel[(Surface() + 2) % 3]); - } + double r = GetPlanet().Radius(); + 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); } } } -void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept { +void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept { type = PLANET_SURFACE; planet = &p; - surface = srf; state.pos = pos; EnforceConstraints(state); } @@ -946,34 +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 = length(diff) - other->Size() * 0.707 - c.Size() * 0.707; - if (sep < min_dist) { - repulse += normalize(diff) * (1.0 - sep / min_dist); - } + 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::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; }