X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=dc857ceb08bd637460ee7b4954a95e7c17dd0275;hb=f5fc0c2bd1c0d1e2737d2b4ed49c3de16aa67c67;hp=456e08102ebbb2d5cd45a7337a7f02ea508dd27f;hpb=6c1097479fd1ea41f0f76b91e67613822acf2e90;p=blobs.git diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp index 456e081..dc857ce 100644 --- a/src/creature/creature.cpp +++ b/src/creature/creature.cpp @@ -1,3 +1,4 @@ +#include "Composition.hpp" #include "Creature.hpp" #include "Genome.hpp" #include "Memory.hpp" @@ -5,12 +6,11 @@ #include "Situation.hpp" #include "Steering.hpp" +#include "BlobBackgroundTask.hpp" #include "Goal.hpp" #include "IdleGoal.hpp" -#include "InhaleNeed.hpp" -#include "IngestNeed.hpp" -#include "Need.hpp" #include "../app/Assets.hpp" +#include "../math/const.hpp" #include "../world/Body.hpp" #include "../world/Planet.hpp" #include "../world/Simulation.hpp" @@ -19,6 +19,7 @@ #include #include #include +#include #include #include @@ -27,63 +28,155 @@ namespace blobs { namespace creature { +Composition::Composition() +: components() { +} + +Composition::~Composition() { +} + +namespace { +bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) { + return b.value < a.value; +} +} + +void Composition::Add(int res, double amount) { + bool found = false; + for (auto &c : components) { + if (c.resource == res) { + c.value += amount; + found = true; + break; + } + } + if (!found) { + components.emplace_back(res, amount); + } + std::sort(components.begin(), components.end(), CompositionCompare); +} + +bool Composition::Has(int res) const noexcept { + for (auto &c : components) { + if (c.resource == res) { + return true; + } + } + return false; +} + +double Composition::Get(int res) const noexcept { + for (auto &c : components) { + if (c.resource == res) { + return c.value; + } + } + return 0.0; +} + + Creature::Creature(world::Simulation &sim) : sim(sim) , name() , genome() , properties() -, cur_prop(0) +, composition() , base_color(1.0) -, highlight_color(0.0) +, highlight_color(0.0, 0.0, 0.0, 1.0) , mass(1.0) -, density(1.0) , size(1.0) , birth(sim.Time()) -, health(1.0) , on_death() , removable(false) +, stats() , memory(*this) -, needs() +, bg_task() , goals() , situation() -, steering() +, steering(*this) , vao() { + // all creatures avoid each other for now + steering.Separate(0.1, 1.5); } Creature::~Creature() { } -glm::dvec4 Creature::HighlightColor() const noexcept { - return glm::dvec4(highlight_color, AgeLerp(CurProps().highlight, NextProps().highlight)); -} - -void Creature::Ingest(int res, double amount) noexcept { - const Genome::Composition *cmp = nullptr; - for (const auto &c : genome.composition) { - if (c.resource == res) { - cmp = &c; - break; +void Creature::AddMass(int res, double amount) { + composition.Add(res, amount); + double mass = 0.0; + double nonsolid = 0.0; + double volume = 0.0; + for (const auto &c : composition) { + mass += c.value; + volume += c.value / sim.Assets().data.resources[c.resource].density; + if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) { + nonsolid += c.value; } } - if (cmp) { - const double max_mass = AgeLerp(CurProps().mass, NextProps().mass); - Mass(std::min(max_mass, mass + amount)); - } else { - // foreign material. poisonous? - } + Mass(mass); + Size(std::cbrt(volume)); + highlight_color.a = nonsolid / mass; +} + +void Creature::HighlightColor(const glm::dvec3 &c) noexcept { + highlight_color = glm::dvec4(c, highlight_color.a); } -void Creature::Hurt(double dt) noexcept { - health = std::max(0.0, health - dt); - if (health == 0.0) { - std::cout << "[" << int(sim.Time()) << "s] " - << name << " died" << std::endl; +void Creature::Ingest(int res, double amount) noexcept { + // TODO: check foreign materials + // 10% stays in body + AddMass(res, amount * 0.1); +} + +void Creature::Hurt(double amount) noexcept { + stats.Damage().Add(amount); + if (stats.Damage().Full()) { + std::cout << "[" << int(sim.Time()) << "s] " << name << " "; + if (stats.Exhaustion().Full()) { + std::cout << "died of exhaustion"; + } else if (stats.Breath().Full()) { + std::cout << "suffocated"; + } else if (stats.Thirst().Full()) { + std::cout << "died of thirst"; + } else if (stats.Hunger().Full()) { + std::cout << "starved to death"; + } else { + std::cout << "succumed to wounds"; + } + std::cout << " at an age of "; + { + int age = int(Age()); + if (age >= 3600) { + std::cout << (age / 3600) << "h "; + age %= 3600; + } + if (age >= 60) { + std::cout << (age / 60) << "m "; + age %= 60; + } + std::cout << age << 's'; + } + std::cout << " (" << int(Age() / properties.Lifetime() * 100) + << "% of life expectancy of "; + { + int lt = int(properties.Lifetime()); + if (lt >= 3600) { + std::cout << (lt / 3600) << "h "; + lt %= 3600; + } + if (lt >= 60) { + std::cout << (lt / 60) << "m "; + lt %= 60; + } + std::cout << lt << 's'; + } + std::cout << ")" << std::endl; Die(); } } void Creature::Die() noexcept { - needs.clear(); goals.clear(); steering.Halt(); if (on_death) { @@ -92,43 +185,67 @@ void Creature::Die() noexcept { Remove(); } -double Creature::Size() const noexcept { - return size; -} - double Creature::Age() const noexcept { return sim.Time() - birth; } -std::string Creature::AgeName() const { - switch (cur_prop) { - case 0: - return "Newborn"; - case 1: - return "Child"; - case 2: - return "Youth"; - case 3: - return "Adult"; - case 4: - return "Elder"; - case 5: - return "Dead"; - default: - return "Unknown"; - } +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); +} + +double Creature::ExhaustionFactor() const noexcept { + return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5); +} + +double Creature::FatigueFactor() const noexcept { + return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5); +} + +double Creature::Strength() const noexcept { + // TODO: replace all age factors with actual growth and decay + return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25); } -double Creature::AgeLerp(double from, double to) const noexcept { - return glm::mix(from, to, glm::smoothstep(CurProps().age, NextProps().age, Age())); +double Creature::Stamina() const noexcept { + return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25); +} + +double Creature::Dexerty() const noexcept { + return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25); +} + +double Creature::Intelligence() const noexcept { + return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25); +} + +double Creature::Lifetime() const noexcept { + return properties.Lifetime(); } double Creature::Fertility() const noexcept { - return AgeLerp(CurProps().fertility, NextProps().fertility) / 3600.0; + return properties.Fertility() * AgeFactor(0.25); +} + +double Creature::Mutability() const noexcept { + return properties.Mutability(); +} + +double Creature::OffspringMass() const noexcept { + return properties.OffspringMass(); +} + +double Creature::OffspringChance() const noexcept { + return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0); +} + +double Creature::MutateChance() const noexcept { + return GetProperties().Mutability() * (1.0 / 3600.0); } void Creature::AddGoal(std::unique_ptr &&g) { - std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl; g->Enable(); goals.emplace_back(std::move(g)); } @@ -142,60 +259,93 @@ bool GoalCompare(const std::unique_ptr &a, const std::unique_ptr &b) } void Creature::Tick(double dt) { - if (cur_prop < 5 && Age() > NextProps().age) { - ++cur_prop; - if (cur_prop == 5) { - std::cout << "[" << int(sim.Time()) << "s] " - << name << " died of old age" << std::endl; - Die(); + TickState(dt); + TickStats(dt); + TickBrain(dt); +} + +void Creature::TickState(double dt) { + steering.MaxSpeed(Dexerty()); + steering.MaxForce(Strength()); + Situation::State state(situation.GetState()); + Situation::Derivative a(Step(Situation::Derivative(), 0.0)); + Situation::Derivative b(Step(a, dt * 0.5)); + Situation::Derivative c(Step(b, dt * 0.5)); + Situation::Derivative d(Step(c, dt)); + Situation::Derivative f( + (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel), + (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc) + ); + state.pos += f.vel * dt; + state.vel += f.acc * dt; + if (length2(state.vel) > 0.000001) { + glm::dvec3 nvel(normalize(state.vel)); + double ang = angle(nvel, state.dir); + double turn_rate = PI * 0.5 * dt; + if (ang < turn_rate) { + state.dir = normalize(state.vel); + } else if (std::abs(ang - PI) < 0.001) { + state.dir = rotate(state.dir, turn_rate, world::Planet::SurfaceNormal(situation.Surface())); + } else { + state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel))); } } + situation.SetState(state); + stats.Exhaustion().Add(length(f.acc) * Mass() / Stamina() * dt); +} - { - Situation::State state(situation.GetState()); - Situation::Derivative a(Step(Situation::Derivative(), 0.0)); - Situation::Derivative b(Step(a, dt * 0.5)); - Situation::Derivative c(Step(b, dt * 0.5)); - Situation::Derivative d(Step(c, dt)); - Situation::Derivative f( - (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel), - (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc) - ); - state.pos += f.vel * dt; - state.vel += f.acc * dt; - situation.SetState(state); - } +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; + return { + s.vel, + steering.Force(s) / Mass() + }; +} - memory.Tick(dt); - for (auto &need : needs) { - need->Tick(dt); +void Creature::TickStats(double dt) { + for (auto &s : stats.stat) { + s.Add(s.gain * dt); } - for (auto &goal : goals) { - goal->Tick(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; + Hurt(dps * dt); } - // do background stuff - for (auto &need : needs) { - need->ApplyEffect(*this, dt); + if (stats.Thirst().Full()) { + constexpr double dps = 1.0 / 32.0; + Hurt(dps * dt); } + if (stats.Hunger().Full()) { + constexpr double dps = 1.0 / 128.0; + Hurt(dps * dt); + } + if (!situation.Moving()) { + // double exhaustion recovery when standing still + stats.Exhaustion().Add(stats.Exhaustion().gain * dt); + } +} + +void Creature::TickBrain(double dt) { + bg_task->Tick(dt); + bg_task->Action(); + memory.Tick(dt); + // do background stuff if (goals.empty()) { return; } + for (auto &goal : goals) { + goal->Tick(dt); + } // if active goal can be interrupted, check priorities if (goals.size() > 1 && goals[0]->Interruptible()) { - Goal *old_top = &*goals[0]; std::sort(goals.begin(), goals.end(), GoalCompare); - Goal *new_top = &*goals[0]; - if (new_top != old_top) { - std::cout << "[" << int(sim.Time()) << "s] " << name - << " changing goal from " << old_top->Describe() - << " to " << new_top->Describe() << std::endl; - } } goals[0]->Action(); for (auto goal = goals.begin(); goal != goals.end();) { if ((*goal)->Complete()) { - std::cout << "[" << int(sim.Time()) << "s] " << name - << " complete goal: " << (*goal)->Describe() << std::endl; goals.erase(goal); } else { ++goal; @@ -203,18 +353,22 @@ void Creature::Tick(double 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; - return { s.vel, steering.Acceleration(s) }; +math::AABB Creature::CollisionBox() const noexcept { + return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) }; } -glm::dmat4 Creature::LocalTransform() noexcept { - // TODO: surface transform +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::dmat4 Creature::LocalTransform() noexcept { + const double half_size = size * 0.5; + return CollisionTransform() * glm::scale(glm::dvec3(half_size, half_size, half_size)); } @@ -309,6 +463,7 @@ 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]); // probe surrounding area for common resources int start = p.SideLength() / 2 - 2; @@ -337,76 +492,30 @@ void Spawn(Creature &c, world::Planet &p) { } Genome genome; - - genome.properties.Birth().age = { 0.0, 0.0 }; - genome.properties.Birth().mass = { 0.5, 0.05 }; - genome.properties.Birth().fertility = { 0.0, 0.0 }; - genome.properties.Birth().highlight = { 0.0, 0.0 }; - - genome.properties.Child().age = { 30.0, 1.0 }; - genome.properties.Child().mass = { 0.7, 0.05 }; - genome.properties.Child().fertility = { 0.0, 0.0 }; - genome.properties.Child().highlight = { 0.2, 0.05 }; - - genome.properties.Youth().age = { 60.0, 5.0 }; - genome.properties.Youth().mass = { 0.9, 0.1 }; - genome.properties.Youth().fertility = { 0.5, 0.03 }; - genome.properties.Youth().highlight = { 0.9, 0.1 }; - - genome.properties.Adult().age = { 120.0, 10.0 }; - genome.properties.Adult().mass = { 1.2, 0.1 }; - genome.properties.Adult().fertility = { 0.4, 0.01 }; - genome.properties.Adult().highlight = { 0.7, 0.1 }; - - genome.properties.Elder().age = { 360.0, 30.0 }; - genome.properties.Elder().mass = { 1.0, 0.05 }; - genome.properties.Elder().fertility = { 0.1, 0.01 }; - genome.properties.Elder().highlight = { 0.6, 0.1 }; - - genome.properties.Death().age = { 480.0, 60.0 }; - genome.properties.Death().mass = { 0.9, 0.05 }; - genome.properties.Death().fertility = { 0.0, 0.0 }; - genome.properties.Death().highlight = { 0.5, 0.1 }; - - genome.properties.strength = { 1.0, 0.1 }; - genome.properties.stamina = { 1.0, 0.1 }; - genome.properties.dexerty = { 1.0, 0.1 }; - genome.properties.intelligence = { 1.0, 0.1 }; - genome.properties.mutability = { 1.0, 0.1 }; + genome.properties.Strength() = { 2.0, 0.1 }; + genome.properties.Stamina() = { 2.0, 0.1 }; + genome.properties.Dexerty() = { 2.0, 0.1 }; + 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.OffspringMass() = { 0.3, 0.02 }; glm::dvec3 color_avg(0.0); double color_divisor = 0.0; if (p.HasAtmosphere()) { - genome.composition.push_back({ - p.Atmosphere(), // resource - { 0.01, 0.00001 }, // mass - { 0.5, 0.001 }, // intake - { 0.1, 0.0005 }, // penalty - { 0.0, 0.0 }, // growth - }); + c.AddMass(p.Atmosphere(), 0.01); color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1; color_divisor += 0.1; } if (liquid > -1) { - genome.composition.push_back({ - liquid, // resource - { 0.6, 0.01 }, // mass - { 0.2, 0.001 }, // intake - { 0.01, 0.002 }, // penalty - { 0.1, 0.0 }, // growth - }); + c.AddMass(liquid, 0.3); color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5; color_divisor += 0.5; } if (solid > -1) { - genome.composition.push_back({ - solid, // resource - { 0.4, 0.01 }, // mass - { 0.4, 0.001 }, // intake - { 0.001, 0.0001 }, // penalty - { 10.0, 0.002 }, // growth - }); + c.AddMass(solid, 0.1); color_avg += c.GetSimulation().Resources()[solid].base_color; color_divisor += 1.0; } @@ -429,35 +538,14 @@ void Genome::Configure(Creature &c) const { c.GetProperties() = Instantiate(properties, random); - double mass = 0.0; - double volume = 0.0; - for (const auto &comp : composition) { - const world::Resource &resource = c.GetSimulation().Resources()[comp.resource]; - double comp_mass = comp.mass.FakeNormal(random.SNorm()); - double intake = comp.intake.FakeNormal(random.SNorm()); - double penalty = comp.penalty.FakeNormal(random.SNorm()); - - mass += comp_mass; - volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density; - - std::unique_ptr need; - if (resource.state == world::Resource::SOLID) { - intake *= std::atan(c.GetProperties().strength); - need.reset(new IngestNeed(comp.resource, intake, penalty)); - need->gain = intake * 0.05; - } else if (resource.state == world::Resource::LIQUID) { - intake *= std::atan(c.GetProperties().stamina); - need.reset(new IngestNeed(comp.resource, intake, penalty)); - need->gain = intake * 0.1; - } else { - need.reset(new InhaleNeed(comp.resource, intake, penalty)); - need->gain = intake * 0.5; - } - need->name = c.GetSimulation().Resources()[comp.resource].label; - need->inconvenient = 0.5; - need->critical = 0.95; - c.AddNeed(std::move(need)); - } + // TODO: derive stats from properties + c.GetStats().Damage().gain = (-1.0 / 100.0); + c.GetStats().Breath().gain = (1.0 / 5.0); + c.GetStats().Thirst().gain = (1.0 / 60.0); + c.GetStats().Hunger().gain = (1.0 / 200.0); + c.GetStats().Exhaustion().gain = (-1.0 / 100.0); + c.GetStats().Fatigue().gain = (-1.0 / 100.0); + c.GetStats().Boredom().gain = (1.0 / 300.0); glm::dvec3 base_color( std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0), @@ -471,11 +559,7 @@ void Genome::Configure(Creature &c) const { ); c.BaseColor(hsl2rgb(base_color)); c.HighlightColor(hsl2rgb(highlight_color)); - - c.Mass(c.GetProperties().props[0].mass); - c.Density(mass / volume); - c.GetSteering().MaxAcceleration(1.4 * std::atan(c.GetProperties().strength)); - c.GetSteering().MaxSpeed(4.4 * std::atan(c.GetProperties().dexerty)); + c.SetBackgroundTask(std::unique_ptr(new BlobBackgroundTask(c))); c.AddGoal(std::unique_ptr(new IdleGoal(c))); } @@ -484,23 +568,32 @@ void Split(Creature &c) { Creature *a = new Creature(c.GetSimulation()); const Situation &s = c.GetSituation(); a->Name(c.GetSimulation().Assets().name.Sequential()); - // TODO: mutate c.GetGenome().Configure(*a); + for (const auto &cmp : c.GetComposition()) { + a->AddMass(cmp.resource, cmp.value * 0.5); + } s.GetPlanet().AddCreature(a); // TODO: duplicate situation somehow a->GetSituation().SetPlanetSurface( s.GetPlanet(), s.Surface(), - s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0)); + s.Position() + glm::dvec3(0.0, a->Size() + 0.1, 0.0)); a->BuildVAO(); + std::cout << "[" << int(c.GetSimulation().Time()) << "s] " + << a->Name() << " was born" << std::endl; Creature *b = new Creature(c.GetSimulation()); b->Name(c.GetSimulation().Assets().name.Sequential()); c.GetGenome().Configure(*b); + for (const auto &cmp : c.GetComposition()) { + b->AddMass(cmp.resource, cmp.value * 0.5); + } s.GetPlanet().AddCreature(b); b->GetSituation().SetPlanetSurface( s.GetPlanet(), s.Surface(), - s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0)); + s.Position() + glm::dvec3(0.0, b->Size() - 0.1, 0.0)); b->BuildVAO(); + std::cout << "[" << int(c.GetSimulation().Time()) << "s] " + << b->Name() << " was born" << std::endl; c.Die(); } @@ -515,7 +608,7 @@ Memory::~Memory() { void Memory::Tick(double dt) { Situation &s = c.GetSituation(); - if (s.OnSurface()) { + if (s.OnTile()) { TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt); } } @@ -524,6 +617,16 @@ void Memory::TrackStay(const Location &l, double t) { const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y); 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) { + // "it's been ages" + if (entry->second.time_spent > c.Age() * 0.25) { + // the place is very familiar + c.GetStats().Boredom().Add(-0.2); + } else { + // infrequent stays + c.GetStats().Boredom().Add(-0.1); + } + } entry->second.last_been = c.GetSimulation().Time(); entry->second.last_loc = l; entry->second.time_spent += t; @@ -535,6 +638,9 @@ void Memory::TrackStay(const Location &l, double t) { l, t }); + // completely new place, interesting + // TODO: scale by personality trait + c.GetStats().Boredom().Add(-0.25); } } @@ -612,11 +718,16 @@ void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &po } -Steering::Steering() -: target(0.0) -, max_accel(1.0) +Steering::Steering(const Creature &c) +: c(c) +, target(0.0) +, haste(0.0) +, max_force(1.0) , max_speed(1.0) -, halting(false) +, min_dist(0.0) +, max_look(0.0) +, separating(false) +, halting(true) , seeking(false) , arriving(false) { } @@ -624,6 +735,20 @@ Steering::Steering() Steering::~Steering() { } +void Steering::Separate(double min_distance, double max_lookaround) noexcept { + separating = true; + min_dist = min_distance; + max_look = max_lookaround; +} + +void Steering::DontSeparate() noexcept { + separating = false; +} + +void Steering::ResumeSeparate() noexcept { + separating = false; +} + void Steering::Halt() noexcept { halting = true; seeking = false; @@ -644,33 +769,50 @@ void Steering::GoTo(const glm::dvec3 &t) noexcept { arriving = true; } -glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept { - glm::dvec3 acc(0.0); +glm::dvec3 Steering::Force(const Situation::State &s) const noexcept { + double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0); + double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0); + glm::dvec3 result(0.0); + if (separating) { + // TODO: off surface situation + glm::dvec3 repulse(0.0); + const Situation &s = c.GetSituation(); + 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); + } + } + SumForce(result, repulse, force); + } if (halting) { - SumForce(acc, s.vel * -max_accel); + SumForce(result, s.vel * -force, force); } if (seeking) { glm::dvec3 diff = target - s.pos; if (!allzero(diff)) { - SumForce(acc, TargetVelocity(s, (normalize(diff) * max_speed))); + SumForce(result, TargetVelocity(s, (normalize(diff) * speed), force), force); } } if (arriving) { glm::dvec3 diff = target - s.pos; double dist = length(diff); if (!allzero(diff) && dist > std::numeric_limits::epsilon()) { - SumForce(acc, TargetVelocity(s, diff * std::min(dist * max_accel, max_speed) / dist)); + SumForce(result, TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force), force); } } - return acc; + return result; } -bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept { +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_accel - cur; + double rem = max - cur; if (rem < 0.0) { return true; } @@ -686,8 +828,8 @@ bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept { } } -glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel) const noexcept { - return (vel - s.vel) * max_accel; +glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept { + return (vel - s.vel) * acc; } }