X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=7ad0657e0d176f2a14412b5eb984255e6f707706;hb=cead4f0686af352cdbac1f2c2df9b6a21ad9faec;hp=fb6e9f6540b2872152bc390d07623cf779cfe26b;hpb=392826deaf802ac0960ed3924a3f98b9d18d381b;p=blobs.git diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp index fb6e9f6..7ad0657 100644 --- a/src/creature/creature.cpp +++ b/src/creature/creature.cpp @@ -6,6 +6,7 @@ #include "Situation.hpp" #include "Steering.hpp" +#include "AttackGoal.hpp" #include "BlobBackgroundTask.hpp" #include "Goal.hpp" #include "IdleGoal.hpp" @@ -29,9 +30,12 @@ namespace blobs { namespace creature { -Composition::Composition() -: components() -, total_mass(0.0) { +Composition::Composition(const world::Set &resources) +: resources(resources) +, components() +, total_mass(0.0) +, total_volume(0.0) +, state_mass{0.0} { } Composition::~Composition() { @@ -45,18 +49,24 @@ bool CompositionCompare(const Composition::Component &a, const Composition::Comp void Composition::Add(int res, double amount) { bool found = false; - for (auto &c : components) { - if (c.resource == res) { - c.value += amount; + for (auto c = components.begin(); c != components.end(); ++c) { + if (c->resource == res) { + c->value += amount; + if (c->value <= 0.0) { + amount += c->value; + components.erase(c); + } found = true; break; } } - if (!found) { + if (!found && amount > 0.0) { components.emplace_back(res, amount); } std::sort(components.begin(), components.end(), CompositionCompare); + state_mass[resources[res].state] += amount; total_mass += amount; + total_volume += amount / resources[res].density; } bool Composition::Has(int res) const noexcept { @@ -77,19 +87,52 @@ 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() @@ -99,6 +142,11 @@ 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 @@ -113,8 +161,8 @@ 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; } } @@ -128,49 +176,124 @@ 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()) { + // change color to be slightly more like resource + glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color)); + // solids affect base color, others highlight + double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1; + double q = random.UInt(3); // hue, sat, or val + double r = random.UInt(2); // mean or deviation + math::Distribution *d = nullptr; + double ref = 0.0; + if (p == 0) { + if (q == 0) { + d = &genome.base_hue; + ref = color.x; + } else if (q == 1) { + d = &genome.base_saturation; + ref = color.y; + } else { + d = &genome.base_lightness; + ref = color.z; + } + } else { + if (q == 0) { + d = &genome.highlight_hue; + ref = color.x; + } else if (q == 1) { + d = &genome.highlight_saturation; + ref = color.y; + } else { + d = &genome.highlight_lightness; + ref = color.z; + } + } + if (r == 0) { + double diff = ref - d->Mean(); + if (q == 0) { + if (diff < -0.5) { + diff += 1.0; + } else if (diff > 0.5) { + diff -= 1.0; + } + // move ±15% of distance + d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0)); + } else { + d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0)); + } + } else { + // scale by ±15%, enforce bounds + d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5)); + } } } +void Creature::DoWork(double amount) noexcept { + 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()); + // make a copy to total remains constant and + // no entries disappear during iteration + Composition comp(composition); + for (auto &cmp : comp) { + 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; } @@ -187,14 +310,19 @@ 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 { // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak // goes negative below -0.5 and starts to rise again above 1.0 double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0); - return 1.0 - (3.0 * t * t) + (2.0 * t * t * t); + // guarantee at least 1% + return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t)); +} + +double Creature::EnergyEfficiency() const noexcept { + return 0.25 * AgeFactor(0.05); } double Creature::ExhaustionFactor() const noexcept { @@ -210,18 +338,38 @@ 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(); } @@ -234,10 +382,34 @@ double Creature::Mutability() const noexcept { return properties.Mutability(); } +double Creature::Adaptability() const noexcept { + return properties.Adaptability(); +} + double Creature::OffspringMass() const noexcept { return properties.OffspringMass(); } +double Creature::PerceptionRange() const noexcept { + return perception_range; +} + +double Creature::PerceptionOmniRange() const noexcept { + return perception_omni_range; +} + +double Creature::PerceptionField() const noexcept { + return perception_field; +} + +bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept { + const glm::dvec3 diff(p - situation.Position()); + 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 { return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0); } @@ -246,8 +418,15 @@ double Creature::MutateChance() const noexcept { return GetProperties().Mutability() * (1.0 / 3600.0); } +double Creature::AdaptChance() const noexcept { + return GetProperties().Adaptability() * (1.0 / 120.0); +} + void Creature::AddGoal(std::unique_ptr &&g) { g->Enable(); + if (goals.empty()) { + g->SetForeground(); + } goals.emplace_back(std::move(g)); } @@ -260,11 +439,22 @@ 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()); @@ -280,41 +470,45 @@ 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); - stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * 0.5 * dt); + // work is force times distance + // 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 { @@ -327,7 +521,6 @@ 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; @@ -358,10 +551,16 @@ 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()) { @@ -370,19 +569,33 @@ 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)); +} + +void Creature::OnCollide(Creature &other) { + memory.TrackCollision(other); } glm::dmat4 Creature::LocalTransform() noexcept { @@ -487,8 +700,8 @@ 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; @@ -523,7 +736,8 @@ void Spawn(Creature &c, world::Planet &p) { genome.properties.Intelligence() = { 1.0, 0.1 }; genome.properties.Lifetime() = { 480.0, 60.0 }; genome.properties.Fertility() = { 0.5, 0.03 }; - genome.properties.Mutability() = { 1.0, 0.1 }; + genome.properties.Mutability() = { 0.9, 0.1 }; + genome.properties.Adaptability() = { 0.9, 0.1 }; genome.properties.OffspringMass() = { 0.3, 0.02 }; glm::dvec3 color_avg(0.0); @@ -552,6 +766,10 @@ void Spawn(Creature &c, world::Planet &p) { genome.base_hue = { hsl.x, 0.01 }; genome.base_saturation = { hsl.y, 0.01 }; genome.base_lightness = { hsl.z, 0.01 }; + // use opposite color as start highlight + genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 }; + genome.highlight_saturation = { 1.0 - hsl.y, 0.01 }; + genome.highlight_lightness = { 1.0 - hsl.z, 0.01 }; genome.Configure(c); } @@ -578,9 +796,9 @@ void Genome::Configure(Creature &c) const { glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0) ); glm::dvec3 highlight_color( - std::fmod(base_color.x + 0.5, 1.0), - 1.0 - base_color.y, - 1.0 - base_color.z + std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0), + glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0), + glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0) ); c.BaseColor(hsl2rgb(base_color)); c.HighlightColor(hsl2rgb(highlight_color)); @@ -601,11 +819,10 @@ 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); @@ -616,11 +833,10 @@ 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(); } @@ -635,17 +851,65 @@ Memory::~Memory() { void Memory::Erase() { known_types.clear(); + known_creatures.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::TrackCollision(Creature &other) { + // TODO: find out whose fault it was + // TODO: source values from personality + Profile &p = known_creatures[&other]; + p.annoyance += 0.1; + const double annoy_fact = p.annoyance / (p.annoyance + 1.0); + if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) { + AttackGoal *g = new AttackGoal(c, other); + g->SetDamageTarget(annoy_fact); + g->Urgency(annoy_fact); + c.AddGoal(std::unique_ptr(g)); + p.annoyance *= 0.5; + } } 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) { @@ -693,7 +957,6 @@ std::string NameGenerator::Sequential() { Situation::Situation() : planet(nullptr) , state(glm::dvec3(0.0), glm::dvec3(0.0)) -, surface(0) , type(LOST) { } @@ -708,25 +971,20 @@ bool Situation::OnSurface() const noexcept { return type == PLANET_SURFACE; } -bool Situation::OnTile() const noexcept { - glm::ivec2 t(planet->SurfacePosition(surface, state.pos)); - return type == PLANET_SURFACE - && 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 { @@ -739,26 +997,20 @@ 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); } @@ -781,6 +1033,13 @@ 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; @@ -826,52 +1085,38 @@ 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) { - SumForce(result, s.vel * -force, 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::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; + // 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; } glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {