X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=e118451147fa0e3d88919ecd2a4b96e96698924d;hb=01cc65097f27ad657130fb58a10813e8d5c09fe7;hp=7333fdc42978693728e2d2bf599c9e3c159669b1;hpb=0e061ce526fe46dd3e894223e5d646eb2e30f826;p=blobs.git

diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp
index 7333fdc..e118451 100644
--- a/src/creature/creature.cpp
+++ b/src/creature/creature.cpp
@@ -6,10 +6,12 @@
 #include "Situation.hpp"
 #include "Steering.hpp"
 
+#include "AttackGoal.hpp"
 #include "BlobBackgroundTask.hpp"
 #include "Goal.hpp"
 #include "IdleGoal.hpp"
 #include "../app/Assets.hpp"
+#include "../graphics/color.hpp"
 #include "../math/const.hpp"
 #include "../ui/string.hpp"
 #include "../world/Body.hpp"
@@ -25,13 +27,19 @@
 #include <iostream>
 #include <glm/gtx/io.hpp>
 
+using blobs::graphics::hsl2rgb;
+using blobs::graphics::rgb2hsl;
+
 
 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)
+, total_volume(0.0)
+, state_mass{0.0} {
 }
 
 Composition::~Composition() {
@@ -49,6 +57,7 @@ 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;
@@ -59,7 +68,9 @@ 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;
+	total_volume += amount / resources[res].density;
 }
 
 bool Composition::Has(int res) const noexcept {
@@ -80,13 +91,46 @@ 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 +146,13 @@ Creature::Creature(world::Simulation &sim)
 , goals()
 , situation()
 , steering(*this)
+, heading_target(0.0, 0.0, -1.0)
+, heading_manual(false)
+, 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 +167,8 @@ 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;
 		}
 	}
@@ -131,22 +182,21 @@ 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);
+		AddMass(res, amount * 0.1 * 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
+		int p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
+		int q = random.UInt(3); // hue, sat, or val
+		int r = random.UInt(2); // mean or deviation
 		math::Distribution *d = nullptr;
 		double ref = 0.0;
 		if (p == 0) {
@@ -180,16 +230,30 @@ void Creature::Ingest(int res, double amount) noexcept {
 				} 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));
+				// move 0-15% of distance
+				d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
 			} else {
-				d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
+				d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 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));
 		}
 	}
+	if (sim.Resources()[res].state == world::Resource::LIQUID && random.UNorm() < AdaptChance()) {
+		// change texture randomly
+		// TODO: make change depending on surroundings and/or resource
+		int p = random.UInt(2); // back or side
+		int q = random.UInt(2); // mean or deviation
+		math::Distribution &d = p ? genome.skin_side : genome.skin_back;
+		if (q == 0) {
+			// move ± one standard deviation
+			d.Mean(d.Mean() + (random.SNorm() * d.StandardDeviation()));
+		} else {
+			// scale by ±10%, enforce bounds
+			d.StandardDeviation(glm::clamp(d.StandardDeviation() * (1.0 + random.SNorm() * 0.1), 0.0001, 0.5));
+		}
+	}
 }
 
 void Creature::DoWork(double amount) noexcept {
@@ -266,7 +330,7 @@ void Creature::AddParent(Creature &p) {
 }
 
 double Creature::Age() const noexcept {
-	return sim.Time() - birth;
+	return Dead() ? death - birth : sim.Time() - birth;
 }
 
 double Creature::AgeFactor(double peak) const noexcept {
@@ -294,18 +358,38 @@ double Creature::Strength() const noexcept {
 	return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StrengthFactor() const noexcept {
+	double str = Strength();
+	return str / (str + 1.0);
+}
+
 double Creature::Stamina() const noexcept {
 	return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::StaminaFactor() const noexcept {
+	double stm = Stamina();
+	return stm / (stm + 1.0);
+}
+
 double Creature::Dexerty() const noexcept {
 	return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 }
 
+double Creature::DexertyFactor() const noexcept {
+	double dex = Dexerty();
+	return dex / (dex + 1.0);
+}
+
 double Creature::Intelligence() const noexcept {
 	return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 }
 
+double Creature::IntelligenceFactor() const noexcept {
+	double intl = Intelligence();
+	return intl / (intl + 1.0);
+}
+
 double Creature::Lifetime() const noexcept {
 	return properties.Lifetime();
 }
@@ -327,25 +411,23 @@ 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 (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 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 {
@@ -368,6 +450,14 @@ void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 	goals.emplace_back(std::move(g));
 }
 
+void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
+	bg_task = std::move(g);
+}
+
+Goal &Creature::BackgroundTask() {
+	return *bg_task;
+}
+
 namespace {
 
 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
@@ -377,11 +467,22 @@ bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b)
 }
 
 void Creature::Tick(double dt) {
+	Cache();
 	TickState(dt);
 	TickStats(dt);
 	TickBrain(dt);
 }
 
+void Creature::Cache() noexcept {
+	double dex_fact = DexertyFactor();
+	perception_range = 3.0 * dex_fact + size;
+	perception_range_squared = perception_range * perception_range;
+	perception_omni_range = 0.5 * dex_fact + size;
+	perception_omni_range_squared = perception_omni_range * perception_omni_range;
+	// this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
+	perception_field = 0.8 - dex_fact;
+}
+
 void Creature::TickState(double dt) {
 	steering.MaxSpeed(Dexerty());
 	steering.MaxForce(Strength());
@@ -397,42 +498,49 @@ void Creature::TickState(double dt) {
 	state.pos += f.vel * dt;
 	state.vel += f.acc * dt;
 	situation.EnforceConstraints(state);
-	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 = glm::normalize(state.vel);
-		} else if (std::abs(ang - PI) < 0.001) {
-			state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
-		} else {
-			state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
+
+	if (!heading_manual && glm::length2(state.vel) > 0.000001) {
+		const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
+		const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
+		if (glm::length2(tangent) > 0.000001) {
+			heading_target = glm::normalize(tangent);
 		}
 	}
+	double ang = glm::angle(heading_target, state.dir);
+	double turn_rate = PI * 0.75 * dt;
+	if (ang < turn_rate) {
+		state.dir = heading_target;
+		heading_manual = false;
+	} else {
+		state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
+	}
+
 	situation.SetState(state);
 	// work is force times distance
-	DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
+	// keep 10% of gravity as a kind of background burn
+	DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
 }
 
 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 	Situation::State s = situation.GetState();
 	s.pos += ds.vel * dt;
 	s.vel += ds.acc * dt;
+	situation.EnforceConstraints(s);
 	glm::dvec3 force(steering.Force(s));
 	// gravity = antinormal * mass * Gm / r²
-	double elevation = situation.GetPlanet().DistanceAt(s.pos);
 	glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 	force += glm::dvec3(
 		-normal
-		* Mass() * situation.GetPlanet().GravitationalParameter()
-		/ (elevation * elevation));
+		* (Mass() * situation.GetPlanet().GravitationalParameter()
+		/ glm::length2(s.pos)));
 	// if net force is applied and in contact with surface
-	if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
-		// apply friction = -|normal force| * tangential force * coefficient
+	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(-glm::length(fn) * ft * u);
+		glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 		force += friction;
 	}
 	return {
@@ -498,7 +606,7 @@ void Creature::TickBrain(double dt) {
 	}
 }
 
-math::AABB Creature::CollisionBox() const noexcept {
+math::AABB Creature::CollisionBounds() const noexcept {
 	return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 }
 
@@ -518,6 +626,10 @@ glm::dmat4 Creature::CollisionTransform() const noexcept {
 		* glm::translate(glm::dvec3(0.0, half_size, 0.0));
 }
 
+void Creature::OnCollide(Creature &other) {
+	memory.TrackCollision(other);
+}
+
 glm::dmat4 Creature::LocalTransform() noexcept {
 	const double half_size = size * 0.5;
 	return CollisionTransform()
@@ -537,7 +649,16 @@ void Creature::BuildVAO() {
 	vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 	{
 		auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
-		const float offset = 1.0f;
+		constexpr float offset = 1.0f;
+		constexpr float max_tex = 5.999f;
+		const float tex[6] = {
+			0.0f, // face
+			float(std::floor(skin_side * max_tex)), // left
+			float(std::floor(skin_back * max_tex)), // top
+			float(std::floor(skin_back * max_tex)), // back
+			float(std::floor(skin_side * max_tex)), // right
+			0.0f, // bottom
+		};
 		for (int surface = 0; surface < 6; ++surface) {
 			const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 			const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
@@ -550,7 +671,7 @@ void Creature::BuildVAO() {
 			attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 			attrib[4 * surface + 0].texture.x = tex_u_begin;
 			attrib[4 * surface + 0].texture.y = 1.0f;
-			attrib[4 * surface + 0].texture.z = surface;
+			attrib[4 * surface + 0].texture.z = tex[surface];
 
 			attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 			attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
@@ -560,7 +681,7 @@ void Creature::BuildVAO() {
 			attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 			attrib[4 * surface + 1].texture.x = tex_u_end;
 			attrib[4 * surface + 1].texture.y = 1.0f;
-			attrib[4 * surface + 1].texture.z = surface;
+			attrib[4 * surface + 1].texture.z = tex[surface];
 
 			attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 			attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
@@ -570,7 +691,7 @@ void Creature::BuildVAO() {
 			attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 			attrib[4 * surface + 2].texture.x = tex_u_begin;
 			attrib[4 * surface + 2].texture.y = 0.0f;
-			attrib[4 * surface + 2].texture.z = surface;
+			attrib[4 * surface + 2].texture.z = tex[surface];
 
 			attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 			attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
@@ -580,7 +701,7 @@ void Creature::BuildVAO() {
 			attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 			attrib[4 * surface + 3].texture.x = tex_u_end;
 			attrib[4 * surface + 3].texture.y = 0.0f;
-			attrib[4 * surface + 3].texture.z = surface;
+			attrib[4 * surface + 3].texture.z = tex[surface];
 		}
 	}
 	vao->BindElements();
@@ -622,6 +743,7 @@ void Spawn(Creature &c, world::Planet &p) {
 	p.AddCreature(&c);
 	c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 	c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
+	c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
 
 	// probe surrounding area for common resources
 	int start = p.SideLength() / 2 - 2;
@@ -664,7 +786,7 @@ void Spawn(Creature &c, world::Planet &p) {
 	double color_divisor = 0.0;
 
 	if (p.HasAtmosphere()) {
-		c.AddMass(p.Atmosphere(), 0.01);
+		c.AddMass(p.Atmosphere(), 0.005);
 		color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 		color_divisor += 0.1;
 	}
@@ -691,6 +813,9 @@ void Spawn(Creature &c, world::Planet &p) {
 	genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 	genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 
+	genome.skin_side = { 0.5, 0.01 };
+	genome.skin_back = { 0.5, 0.01 };
+
 	genome.Configure(c);
 }
 
@@ -722,6 +847,8 @@ void Genome::Configure(Creature &c) const {
 	);
 	c.BaseColor(hsl2rgb(base_color));
 	c.HighlightColor(hsl2rgb(highlight_color));
+	c.BackSkin(glm::clamp(skin_back.FakeNormal(random.SNorm()), 0.0, 1.0));
+	c.SideSkin(glm::clamp(skin_side.FakeNormal(random.SNorm()), 0.0, 1.0));
 	c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 	c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 }
@@ -734,13 +861,16 @@ void Split(Creature &c) {
 	a->Name(c.GetSimulation().Assets().name.Sequential());
 	c.GetGenome().Configure(*a);
 	for (const auto &cmp : c.GetComposition()) {
-		a->AddMass(cmp.resource, cmp.value * 0.5);
+		// require at least 0.1%
+		if (cmp.value > 0.002) {
+			a->AddMass(cmp.resource, cmp.value * 0.5);
+		}
 	}
 	s.GetPlanet().AddCreature(a);
 	// TODO: duplicate situation somehow
 	a->GetSituation().SetPlanetSurface(
 		s.GetPlanet(),
-		s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
+		s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
 	a->BuildVAO();
 	c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 
@@ -749,12 +879,15 @@ void Split(Creature &c) {
 	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);
+		// require at least 0.1%
+		if (cmp.value > 0.002) {
+			b->AddMass(cmp.resource, cmp.value * 0.5);
+		}
 	}
 	s.GetPlanet().AddCreature(b);
 	b->GetSituation().SetPlanetSurface(
 		s.GetPlanet(),
-		s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
+		s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
 	b->BuildVAO();
 	c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 
@@ -771,6 +904,53 @@ 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<Goal>(g));
+		p.annoyance *= 0.5;
+	}
 }
 
 void Memory::Tick(double dt) {
@@ -778,6 +958,7 @@ void Memory::Tick(double dt) {
 	if (s.OnSurface()) {
 		TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 	}
+	// TODO: forget
 }
 
 void Memory::TrackStay(const Location &l, double t) {
@@ -843,6 +1024,14 @@ bool Situation::OnSurface() const noexcept {
 	return type == PLANET_SURFACE;
 }
 
+bool Situation::OnGround() const noexcept {
+	return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
+}
+
+glm::dvec3 Situation::SurfaceNormal() const noexcept {
+	return planet->NormalAt(state.pos);
+}
+
 world::Tile &Situation::GetTile() const noexcept {
 	return planet->TileAt(state.pos);
 }
@@ -861,11 +1050,13 @@ void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 	EnforceConstraints(state);
 }
 
-void Situation::EnforceConstraints(State &s) noexcept {
+void Situation::EnforceConstraints(State &s) const noexcept {
 	if (OnSurface()) {
 		double r = GetPlanet().Radius();
 		if (glm::length2(s.pos) < r * r) {
-			s.pos = glm::normalize(s.pos) * r;
+			const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
+			s.pos = normal * r;
+			s.vel -= normal * glm::dot(normal, s.vel);
 		}
 	}
 }
@@ -955,8 +1146,8 @@ glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 		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;
@@ -971,6 +1162,10 @@ glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 			result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, 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;
 	}