X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fcreature%2Fcreature.cpp;h=ff3a81c06c050b3a8013f5ddc6d44e06ef63696a;hb=a4d4cc133ff1a8b9ab209b436ee94579930eb948;hp=d870755cfa8ae46607c62d7b4be120c5755b290c;hpb=b0e73e632f0b681a0af78f889dd82d370563944a;p=blobs.git diff --git a/src/creature/creature.cpp b/src/creature/creature.cpp index d870755..ff3a81c 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 +6,14 @@ #include "Situation.hpp" #include "Steering.hpp" +#include "AttackGoal.hpp" +#include "BlobBackgroundTask.hpp" #include "Goal.hpp" #include "IdleGoal.hpp" -#include "InhaleNeed.hpp" -#include "IngestNeed.hpp" -#include "Need.hpp" #include "../app/Assets.hpp" +#include "../graphics/color.hpp" +#include "../math/const.hpp" +#include "../ui/string.hpp" #include "../world/Body.hpp" #include "../world/Planet.hpp" #include "../world/Simulation.hpp" @@ -18,84 +21,444 @@ #include #include +#include #include +#include #include #include +using blobs::graphics::hsl2rgb; +using blobs::graphics::rgb2hsl; + namespace blobs { namespace creature { +Composition::Composition(const world::Set &resources) +: resources(resources) +, components() +, total_mass(0.0) +, total_volume(0.0) +, state_mass{0.0} { +} + +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.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 && 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 { + 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; +} + +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(sim.Resources()) +, base_color(1.0) +, 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) +, death(-1.0) , on_death() , removable(false) +, parents() +, stats() , memory(*this) -, needs() +, bg_task() , goals() , situation() -, steering() +, 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 + steering.Separate(0.1, 1.5); } Creature::~Creature() { } -void Creature::Grow(double amount) noexcept { - Mass(std::min(properties.max_mass, mass + amount)); +void Creature::AddMass(int res, double amount) { + composition.Add(res, amount); + double nonsolid = 0.0; + double volume = 0.0; + for (const auto &c : composition) { + volume += c.value / sim.Resources()[c.resource].density; + if (sim.Resources()[c.resource].state != world::Resource::SOLID) { + nonsolid += c.value; + } + } + Mass(composition.TotalMass()); + Size(std::cbrt(volume)); + highlight_color.a = nonsolid / composition.TotalMass(); +} + +void Creature::HighlightColor(const glm::dvec3 &c) noexcept { + highlight_color = glm::dvec4(c, highlight_color.a); +} + +void Creature::Ingest(int res, double amount) noexcept { + if (sim.Resources()[res].state == world::Resource::SOLID) { + // 30% of solids stays in body + AddMass(res, amount * 0.3 * composition.Compatibility(res)); + } else { + // 10% of fluids stays in body + AddMass(res, amount * 0.1 * 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 + 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) { + 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 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.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 { + 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 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::Hurt(double amount) noexcept { + stats.Damage().Add(amount); + if (stats.Damage().Full()) { Die(); } } void Creature::Die() noexcept { - needs.clear(); - goals.clear(); - steering.Halt(); + if (Dead()) return; + + if (stats.Damage().Full()) { + std::ostream &log = sim.Log() << name << " "; + if (stats.Exhaustion().Full()) { + log << "died of exhaustion"; + } else if (stats.Breath().Full()) { + log << "suffocated"; + } else if (stats.Thirst().Full()) { + log << "died of thirst"; + } else if (stats.Hunger().Full()) { + log << "starved to death"; + } else { + log << "succumed to wounds"; + } + log << " at an age of " << ui::TimeString(Age()) + << " (" << ui::PercentageString(Age() / properties.Lifetime()) + << " of life expectancy of " << ui::TimeString(properties.Lifetime()) + << ")" << std::endl; + } + + sim.SetDead(this); + death = sim.Time(); + steering.Off(); if (on_death) { on_death(*this); } Remove(); } -double Creature::Size() const noexcept { - return size; +bool Creature::Dead() const noexcept { + return death > birth; +} + +void Creature::Remove() noexcept { + removable = true; +} + +void Creature::Removed() noexcept { + bg_task.reset(); + goals.clear(); + memory.Erase(); + KillVAO(); +} + +void Creature::AddParent(Creature &p) { + parents.push_back(&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); + // 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 { + 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::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(); } double Creature::Fertility() const noexcept { - double age = Age(); - if (mass < properties.fertile_mass - || age < properties.fertile_age - || age > properties.infertile_age) { - return 0.0; - } - return properties.fertility / 3600.0; + return properties.Fertility() * AgeFactor(0.25); +} + +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); +} + +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) { - std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl; g->Enable(); + if (goals.empty()) { + g->SetForeground(); + } goals.emplace_back(std::move(g)); } +void Creature::SetBackgroundTask(std::unique_ptr &&g) { + bg_task = std::move(g); +} + +Goal &Creature::BackgroundTask() { + return *bg_task; +} + namespace { bool GoalCompare(const std::unique_ptr &a, const std::unique_ptr &b) { @@ -105,91 +468,198 @@ bool GoalCompare(const std::unique_ptr &a, const std::unique_ptr &b) } void Creature::Tick(double 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); + 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()); + 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.EnforceConstraints(state); + + 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))); } - if (Age() > properties.death_age) { - std::cout << "[" << int(sim.Time()) << "s] " - << name << " died of old age" << std::endl; + situation.SetState(state); + // work is force times distance + // 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 + glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos)); + force += glm::dvec3( + -normal + * (Mass() * situation.GetPlanet().GravitationalParameter() + / glm::length2(s.pos))); + // if net force is applied and in contact with surface + 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::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel)); + force += friction; } + return { + s.vel, + force / 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); + // 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); + } + Goal *top = &*goals.front(); // 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; - } + } + 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()) { - std::cout << "[" << int(sim.Time()) << "s] " << name - << " complete goal: " << (*goal)->Describe() << std::endl; goals.erase(goal); } else { ++goal; } } + if (&*goals.front() != top) { + goals.front()->SetForeground(); + } } -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::CollisionBounds() 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(); - return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size)) + 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 { + const double half_size = size * 0.5; + return CollisionTransform() * glm::scale(glm::dvec3(half_size, half_size, half_size)); } void Creature::BuildVAO() { - vao.Bind(); - vao.BindAttributes(); - vao.EnableAttribute(0); - vao.EnableAttribute(1); - vao.EnableAttribute(2); - vao.AttributePointer(0, false, offsetof(Attributes, position)); - vao.AttributePointer(1, false, offsetof(Attributes, normal)); - vao.AttributePointer(2, false, offsetof(Attributes, texture)); - vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW); + vao.reset(new graphics::SimpleVAO); + vao->Bind(); + vao->BindAttributes(); + vao->EnableAttribute(0); + vao->EnableAttribute(1); + vao->EnableAttribute(2); + vao->AttributePointer(0, false, offsetof(Attributes, position)); + vao->AttributePointer(1, false, offsetof(Attributes, normal)); + vao->AttributePointer(2, false, offsetof(Attributes, texture)); + vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW); { - auto attrib = vao.MapAttributes(GL_WRITE_ONLY); - const float offset = 1.0f; + auto attrib = vao->MapAttributes(GL_WRITE_ONLY); + 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; @@ -202,7 +672,7 @@ 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; @@ -212,7 +682,7 @@ 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; @@ -222,7 +692,7 @@ 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; @@ -232,13 +702,13 @@ 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(); - vao.ReserveElements(6 * 6, GL_STATIC_DRAW); + vao->BindElements(); + vao->ReserveElements(6 * 6, GL_STATIC_DRAW); { - auto element = vao.MapElements(GL_WRITE_ONLY); + auto element = vao->MapElements(GL_WRITE_ONLY); for (int surface = 0; surface < 3; ++surface) { element[6 * surface + 0] = 4 * surface + 0; element[6 * surface + 1] = 4 * surface + 2; @@ -256,18 +726,25 @@ void Creature::BuildVAO() { element[6 * surface + 5] = 4 * surface + 3; } } - vao.Unbind(); + vao->Unbind(); +} + +void Creature::KillVAO() { + vao.reset(); } void Creature::Draw(graphics::Viewport &viewport) { - vao.Bind(); - vao.DrawTriangles(6 * 6); + if (!vao) return; + vao->Bind(); + vao->DrawTriangles(6 * 6); } 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().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; @@ -296,43 +773,50 @@ void Spawn(Creature &c, world::Planet &p) { } Genome genome; - genome.properties.birth_mass = { 0.5, 0.1 }; - genome.properties.fertile_mass = { 1.0, 0.1 }; - genome.properties.max_mass = { 1.2, 0.1 }; - genome.properties.fertile_age = { 60.0, 5.0 }; - genome.properties.infertile_age = { 700.0, 30.0 }; - genome.properties.death_age = { 900.0, 90.0 }; - genome.properties.fertility = { 0.5, 0.01 }; + 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() = { 0.9, 0.1 }; + genome.properties.Adaptability() = { 0.9, 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(), 0.005); + 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 - //{ 0.1, 0.001 }, // intake - { 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; } + if (color_divisor > 0.001) { + color_avg /= color_divisor; + } + glm::dvec3 hsl = rgb2hsl(color_avg); + 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.skin_side = { 0.5, 0.01 }; + genome.skin_back = { 0.5, 0.01 }; + genome.Configure(c); } @@ -341,46 +825,32 @@ void Genome::Configure(Creature &c) const { math::GaloisLFSR &random = c.GetSimulation().Assets().random; - c.GetProperties().birth_mass = properties.birth_mass.FakeNormal(random.SNorm()); - c.GetProperties().fertile_mass = properties.fertile_mass.FakeNormal(random.SNorm()); - c.GetProperties().max_mass = properties.max_mass.FakeNormal(random.SNorm()); - c.GetProperties().fertile_age = properties.fertile_age.FakeNormal(random.SNorm()); - c.GetProperties().infertile_age = properties.infertile_age.FakeNormal(random.SNorm()); - c.GetProperties().death_age = properties.death_age.FakeNormal(random.SNorm()); - c.GetProperties().fertility = properties.fertility.FakeNormal(random.SNorm()); - - double mass = 0.0; - double volume = 0.0; - for (const auto &comp : composition) { - 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 (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) { - need.reset(new IngestNeed(comp.resource, intake, penalty)); - need->gain = intake * 0.05; - } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) { - 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->growth = comp.growth.FakeNormal(random.SNorm()); - need->inconvenient = 0.5; - need->critical = 0.95; - c.AddNeed(std::move(need)); - } - - c.Mass(c.GetProperties().birth_mass); - c.Density(mass / volume); - c.GetSteering().MaxAcceleration(1.4); - c.GetSteering().MaxSpeed(4.4); + c.GetProperties() = Instantiate(properties, random); + + // 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), + glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0), + glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0) + ); + glm::dvec3 highlight_color( + 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)); + 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(new BlobBackgroundTask(c))); c.AddGoal(std::unique_ptr(new IdleGoal(c))); } @@ -388,25 +858,39 @@ void Genome::Configure(Creature &c) const { void Split(Creature &c) { Creature *a = new Creature(c.GetSimulation()); const Situation &s = c.GetSituation(); - // TODO: generate names + a->AddParent(c); a->Name(c.GetSimulation().Assets().name.Sequential()); - // TODO: mutate c.GetGenome().Configure(*a); + for (const auto &cmp : c.GetComposition()) { + // 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.Surface(), - s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0)); + s.GetPlanet(), + 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; Creature *b = new Creature(c.GetSimulation()); + b->AddParent(c); b->Name(c.GetSimulation().Assets().name.Sequential()); c.GetGenome().Configure(*b); + for (const auto &cmp : c.GetComposition()) { + // 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.Surface(), - s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0)); + s.GetPlanet(), + 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; c.Die(); } @@ -419,17 +903,79 @@ Memory::Memory(Creature &c) 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.OnSurface()) { - TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt); + 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) { + // "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; @@ -441,6 +987,9 @@ 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); } } @@ -462,7 +1011,6 @@ std::string NameGenerator::Sequential() { Situation::Situation() : planet(nullptr) , state(glm::dvec3(0.0), glm::dvec3(0.0)) -, surface(0) , type(LOST) { } @@ -477,102 +1025,156 @@ 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 { state.pos += dp; + EnforceConstraints(state); +} + +void Situation::Accelerate(const glm::dvec3 &dv) noexcept { + state.vel += dv; + EnforceConstraints(state); +} + +void Situation::EnforceConstraints(State &s) const noexcept { if (OnSurface()) { - // enforce ground constraint - if (Surface() < 3) { - state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]); - } else { - state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(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); } -Steering::Steering() -: seek_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) -, seeking(false) { +, min_dist(0.0) +, max_look(0.0) +, separating(false) +, halting(true) +, seeking(false) +, arriving(false) { } 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; + max_look = max_lookaround; +} + +void Steering::DontSeparate() noexcept { + separating = false; +} + +void Steering::ResumeSeparate() noexcept { + separating = true; +} + void Steering::Halt() noexcept { halting = true; seeking = false; + arriving = false; } -void Steering::GoTo(const glm::dvec3 &t) noexcept { - seek_target = t; +void Steering::Pass(const glm::dvec3 &t) noexcept { + target = t; halting = false; seeking = true; + arriving = false; } -glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept { - glm::dvec3 acc(0.0); +void Steering::GoTo(const glm::dvec3 &t) noexcept { + target = t; + halting = false; + seeking = false; + arriving = true; +} + +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 (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; + } + result += repulse; + } if (halting) { - SumForce(acc, s.vel * -max_accel); + // brake hard + result += -5.0 * s.vel * force; } if (seeking) { - glm::dvec3 diff = seek_target - s.pos; + glm::dvec3 diff = target - s.pos; if (!allzero(diff)) { - SumForce(acc, ((normalize(diff) * max_speed) - s.vel) * max_accel); + result += TargetVelocity(s, (glm::normalize(diff) * speed), force); } } - return acc; -} - -bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept { - if (allzero(in) || anynan(in)) { - return false; - } - double cur = allzero(out) ? 0.0 : length(out); - double rem = max_accel - cur; - if (rem < 0.0) { - return true; + if (arriving) { + glm::dvec3 diff = target - s.pos; + double dist = glm::length(diff); + if (!allzero(diff) && dist > std::numeric_limits::epsilon()) { + result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force); + } } - 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 { + return (vel - s.vel) * acc; } }