X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=72d0b3f348e3c548ba55f6dcc00c52c6694408af;hb=00f55d5b55ff993d2516f00f8d635887562983c7;hp=de82f86ad9a7db52924106735450f49ee8033a8c;hpb=d364d8a9203138be1c569cdc31144f51883ec79f;p=blobs.git

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index de82f86..72d0b3f 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;
 }
 
@@ -80,19 +84,52 @@ 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)
 , size(1.0)
 , birth(sim.Time())
-, death(0.0)
+, death(-1.0)
 , on_death()
 , removable(false)
 , parents()
@@ -116,8 +153,8 @@ 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 +168,12 @@ 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 +229,7 @@ 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());
@@ -204,41 +240,52 @@ 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()) {
-		std::cout << "[" << ui::TimeString(sim.Time()) << "] " << name << " ";
+		Die();
+	}
+}
+
+void Creature::Die() noexcept {
+	if (Dead()) return;
+
+	if (stats.Damage().Full()) {
+		std::ostream &log = sim.Log() << name << " ";
 		if (stats.Exhaustion().Full()) {
-			std::cout << "died of exhaustion";
+			log << "died of exhaustion";
 		} else if (stats.Breath().Full()) {
-			std::cout << "suffocated";
+			log << "suffocated";
 		} else if (stats.Thirst().Full()) {
-			std::cout << "died of thirst";
+			log << "died of thirst";
 		} else if (stats.Hunger().Full()) {
-			std::cout << "starved to death";
+			log << "starved to death";
 		} else {
-			std::cout << "succumed to wounds";
+			log << "succumed to wounds";
 		}
-		std::cout << " at an age of " << ui::TimeString(Age())
+		log << " at an age of " << ui::TimeString(Age())
 			<< " (" << ui::PercentageString(Age() / properties.Lifetime())
-			<< "% of life expectancy of " << ui::TimeString(properties.Lifetime())
+			<< " of life expectancy of " << ui::TimeString(properties.Lifetime())
 			<< ")" << std::endl;
-		Die();
 	}
-}
 
-void Creature::Die() noexcept {
 	sim.SetDead(this);
 	death = sim.Time();
-	steering.Halt();
+	steering.Off();
 	if (on_death) {
 		on_death(*this);
 	}
 	Remove();
 }
 
+bool Creature::Dead() const noexcept {
+	return death > birth;
+}
+
 void Creature::Remove() noexcept {
 	removable = true;
 }
@@ -255,7 +302,7 @@ 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 {
@@ -283,18 +330,34 @@ double Creature::Strength() const noexcept {
 	return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StrengthFactor() const noexcept {
+	return Strength() / (Strength() + 1.0);
+}
+
 double Creature::Stamina() const noexcept {
 	return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StaminaFactor() const noexcept {
+	return Stamina() / (Stamina() + 1.0);
+}
+
 double Creature::Dexerty() const noexcept {
 	return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::DexertyFactor() const noexcept {
+	return Dexerty() / (Dexerty() + 1.0);
+}
+
 double Creature::Intelligence() const noexcept {
 	return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 }
 
+double Creature::IntelligenceFactor() const noexcept {
+	return Intelligence() / (Intelligence() + 1.0);
+}
+
 double Creature::Lifetime() const noexcept {
 	return properties.Lifetime();
 }
@@ -315,6 +378,28 @@ double Creature::OffspringMass() const noexcept {
 	return properties.OffspringMass();
 }
 
+double Creature::PerceptionRange() const noexcept {
+	return 3.0 * DexertyFactor() + Size();
+}
+
+double Creature::PerceptionOmniRange() const noexcept {
+	return 0.5 * DexertyFactor() + Size();
+}
+
+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 - DexertyFactor();
+}
+
+bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
+	const glm::dvec3 diff(p - situation.Position());
+	double omni_range = PerceptionOmniRange();
+	if (glm::length2(diff) < omni_range * omni_range) return true;
+	double range = PerceptionRange();
+	if (glm::length2(diff) > range * range) return false;
+	return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
+}
+
 double Creature::OffspringChance() const noexcept {
 	return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 }
@@ -329,6 +414,9 @@ double Creature::AdaptChance() const noexcept {
 
 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 	g->Enable();
+	if (goals.empty()) {
+		g->SetForeground();
+	}
 	goals.emplace_back(std::move(g));
 }
 
@@ -361,21 +449,21 @@ 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);
+	DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
 }
 
 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
@@ -384,8 +472,8 @@ Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt)
 	s.vel += ds.acc * dt;
 	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()));
+	double elevation = situation.GetPlanet().DistanceAt(s.pos);
+	glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 	force += glm::dvec3(
 		-normal
 		* Mass() * situation.GetPlanet().GravitationalParameter()
@@ -393,10 +481,10 @@ Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt)
 	// 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));
+		glm::dvec3 fn(normal * glm::dot(force, normal));
 		glm::dvec3 ft(force - fn);
 		double u = 0.4;
-		glm::dvec3 friction(-length(fn) * ft * u);
+		glm::dvec3 friction(-glm::length(fn) * ft * u);
 		force += friction;
 	}
 	return {
@@ -409,7 +497,6 @@ 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;
@@ -440,10 +527,16 @@ 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()) {
@@ -452,6 +545,9 @@ void Creature::TickBrain(double dt) {
 			++goal;
 		}
 	}
+	if (&*goals.front() != top) {
+		goals.front()->SetForeground();
+	}
 }
 
 math::AABB Creature::CollisionBox() const noexcept {
@@ -461,10 +557,17 @@ math::AABB Creature::CollisionBox() const noexcept {
 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 {
@@ -569,8 +672,8 @@ 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;
@@ -688,11 +791,10 @@ 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();
-	std::cout << "[" << ui::TimeString(c.GetSimulation().Time()) << "] "
-		<< a->Name() << " was born" << std::endl;
+	c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 
 	Creature *b = new Creature(c.GetSimulation());
 	b->AddParent(c);
@@ -703,11 +805,10 @@ 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();
-	std::cout << "[" << ui::TimeString(c.GetSimulation().Time()) << "] "
-		<< b->Name() << " was born" << std::endl;
+	c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 
 	c.Die();
 }
@@ -724,15 +825,47 @@ 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 * (2.0 * (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) {
@@ -780,7 +913,6 @@ std::string NameGenerator::Sequential() {
 Situation::Situation()
 : planet(nullptr)
 , state(glm::dvec3(0.0), glm::dvec3(0.0))
-, surface(0)
 , type(LOST) {
 }
 
@@ -795,25 +927,16 @@ 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();
-}
-
-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 {
@@ -828,24 +951,16 @@ void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 
 void Situation::EnforceConstraints(State &s) 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) {
+			s.pos = glm::normalize(s.pos) * r;
 		}
 	}
 }
 
-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);
 }
@@ -868,6 +983,13 @@ Steering::Steering(const Creature &c)
 Steering::~Steering() {
 }
 
+void Steering::Off() noexcept {
+	separating = false;
+	halting = false;
+	seeking = false;
+	arriving = false;
+}
+
 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 	separating = true;
 	min_dist = min_distance;
@@ -913,53 +1035,34 @@ 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;
-			double sep = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
-			if (sep < min_dist) {
-				repulse += normalize(diff) * (1.0 - sep / min_dist);
-			}
+			if (glm::length2(diff) > max_look * max_look) continue;
+			if (!c.PerceptionTest(other->GetSituation().Position())) continue;
+			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;
 		}
-		SumForce(result, repulse, force);
+		result += repulse;
 	}
 	if (halting) {
-		// break twice as hard
-		SumForce(result, s.vel * force * -2.0, force);
+		// brake hard
+		result += -5.0 * s.vel * force;
 	}
 	if (seeking) {
 		glm::dvec3 diff = target - s.pos;
 		if (!allzero(diff)) {
-			SumForce(result, TargetVelocity(s, (normalize(diff) * speed), force), 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()) {
-			SumForce(result, TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force), force);
+			result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
 		}
 	}
-	return result;
-}
-
-bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in, double max) const noexcept {
-	if (allzero(in) || anynan(in)) {
-		return false;
-	}
-	double cur = allzero(out) ? 0.0 : length(out);
-	double rem = max - cur;
-	if (rem < 0.0) {
-		return true;
-	}
-	double add = length(in);
-	if (add > rem) {
-		// this method is off if in and out are in different
-		// directions, but gives okayish results
-		out += in * (1.0 / add);
-		return true;
-	} else {
-		out += in;
-		return false;
+	if (glm::length2(result) > max_force * max_force) {
+		result = glm::normalize(result) * max_force;
 	}
+	return result;
 }
 
 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {