src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "BlobBackgroundTask.hpp"
  10 #include "Goal.hpp"
  11 #include "IdleGoal.hpp"
  12 #include "../app/Assets.hpp"
  13 #include "../math/const.hpp"
  14 #include "../ui/string.hpp"
  15 #include "../world/Body.hpp"
  16 #include "../world/Planet.hpp"
  17 #include "../world/Simulation.hpp"
  18 #include "../world/TileType.hpp"
  19
  20 #include <algorithm>
  21 #include <sstream>
  22 #include <glm/gtx/transform.hpp>
  23 #include <glm/gtx/vector_angle.hpp>
  24
  25 #include <iostream>
  26 #include <glm/gtx/io.hpp>
  27
  28
  29 namespace blobs {
  30 namespace creature {
  31
  32 Composition::Composition(const world::Set<world::Resource> &resources)
  33 : resources(resources)
  34 , components()
  35 , total_mass(0.0)
  36 , state_mass{0.0} {
  37 }
  38
  39 Composition::~Composition() {
  40 }
  41
  42 namespace {
  43 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  44         return b.value < a.value;
  45 }
  46 }
  47
  48 void Composition::Add(int res, double amount) {
  49         bool found = false;
  50         for (auto c = components.begin(); c != components.end(); ++c) {
  51                 if (c->resource == res) {
  52                         c->value += amount;
  53                         if (c->value <= 0.0) {
  54                                 amount += c->value;
  55                                 components.erase(c);
  56                         }
  57                         found = true;
  58                         break;
  59                 }
  60         }
  61         if (!found && amount > 0.0) {
  62                 components.emplace_back(res, amount);
  63         }
  64         std::sort(components.begin(), components.end(), CompositionCompare);
  65         state_mass[resources[res].state] += amount;
  66         total_mass += amount;
  67 }
  68
  69 bool Composition::Has(int res) const noexcept {
  70         for (auto &c : components) {
  71                 if (c.resource == res) {
  72                         return true;
  73                 }
  74         }
  75         return false;
  76 }
  77
  78 double Composition::Get(int res) const noexcept {
  79         for (auto &c : components) {
  80                 if (c.resource == res) {
  81                         return c.value;
  82                 }
  83         }
  84         return 0.0;
  85 }
  86
  87 double Composition::Proportion(int res) const noexcept {
  88         return Get(res) / TotalMass();
  89 }
  90
  91 double Composition::StateProportion(int res) const noexcept {
  92         return Get(res) / StateMass(resources[res].state);
  93 }
  94
  95 double Composition::Compatibility(int res) const noexcept {
  96         if (Has(res)) {
  97                 return StateProportion(res);
  98         }
  99         double max_compat = -1.0;
 100         double min_compat = 1.0;
 101         for (const auto &c : components) {
 102                 double prop = c.value / StateMass(resources[res].state);
 103                 for (const auto &compat : resources[c.resource].compatibility) {
 104                         double value = compat.second * prop;
 105                         if (value > max_compat) {
 106                                 max_compat = value;
 107                         }
 108                         if (value < min_compat) {
 109                                 min_compat = value;
 110                         }
 111                 }
 112         }
 113         if (min_compat < 0.0) {
 114                 return min_compat;
 115         } else {
 116                 return max_compat;
 117         }
 118 }
 119
 120
 121 Creature::Creature(world::Simulation &sim)
 122 : sim(sim)
 123 , name()
 124 , genome()
 125 , properties()
 126 , composition(sim.Resources())
 127 , base_color(1.0)
 128 , highlight_color(0.0, 0.0, 0.0, 1.0)
 129 , mass(1.0)
 130 , size(1.0)
 131 , birth(sim.Time())
 132 , death(-1.0)
 133 , on_death()
 134 , removable(false)
 135 , parents()
 136 , stats()
 137 , memory(*this)
 138 , bg_task()
 139 , goals()
 140 , situation()
 141 , steering(*this)
 142 , vao() {
 143         sim.SetAlive(this);
 144         // all creatures avoid each other for now
 145         steering.Separate(0.1, 1.5);
 146 }
 147
 148 Creature::~Creature() {
 149 }
 150
 151 void Creature::AddMass(int res, double amount) {
 152         composition.Add(res, amount);
 153         double nonsolid = 0.0;
 154         double volume = 0.0;
 155         for (const auto &c : composition) {
 156                 volume += c.value / sim.Resources()[c.resource].density;
 157                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 158                         nonsolid += c.value;
 159                 }
 160         }
 161         Mass(composition.TotalMass());
 162         Size(std::cbrt(volume));
 163         highlight_color.a = nonsolid / composition.TotalMass();
 164 }
 165
 166 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 167         highlight_color = glm::dvec4(c, highlight_color.a);
 168 }
 169
 170 void Creature::Ingest(int res, double amount) noexcept {
 171         if (sim.Resources()[res].state == world::Resource::SOLID) {
 172                 // 30% of solids stays in body
 173                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 174         } else {
 175                 // 5% of fluids stays in body
 176                 AddMass(res, amount * 0.05 * composition.Compatibility(res));
 177         }
 178         math::GaloisLFSR &random = sim.Assets().random;
 179         if (random.UNorm() < AdaptChance()) {
 180                 // change color to be slightly more like resource
 181                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 182                 // solids affect base color, others highlight
 183                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 184                 double q = random.UInt(3); // hue, sat, or val
 185                 double r = random.UInt(2); // mean or deviation
 186                 math::Distribution *d = nullptr;
 187                 double ref = 0.0;
 188                 if (p == 0) {
 189                         if (q == 0) {
 190                                 d = &genome.base_hue;
 191                                 ref = color.x;
 192                         } else if (q == 1) {
 193                                 d = &genome.base_saturation;
 194                                 ref = color.y;
 195                         } else {
 196                                 d = &genome.base_lightness;
 197                                 ref = color.z;
 198                         }
 199                 } else {
 200                         if (q == 0) {
 201                                 d = &genome.highlight_hue;
 202                                 ref = color.x;
 203                         } else if (q == 1) {
 204                                 d = &genome.highlight_saturation;
 205                                 ref = color.y;
 206                         } else {
 207                                 d = &genome.highlight_lightness;
 208                                 ref = color.z;
 209                         }
 210                 }
 211                 if (r == 0) {
 212                         double diff = ref - d->Mean();
 213                         if (q == 0) {
 214                                 if (diff < -0.5) {
 215                                         diff += 1.0;
 216                                 } else if (diff > 0.5) {
 217                                         diff -= 1.0;
 218                                 }
 219                                 // move ±15% of distance
 220                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 221                         } else {
 222                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 223                         }
 224                 } else {
 225                         // scale by ±15%, enforce bounds
 226                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 227                 }
 228         }
 229 }
 230
 231 void Creature::DoWork(double amount) noexcept {
 232         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 233         // burn resources proportional to composition
 234         // factor = 1/total * 1/efficiency * amount * -1
 235         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 236         // make a copy to total remains constant and
 237         // no entries disappear during iteration
 238         Composition comp(composition);
 239         for (auto &cmp : comp) {
 240                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 241                 AddMass(cmp.resource, value);
 242         }
 243         // doing work improves strength a little
 244         properties.Strength() += amount * 0.0001;
 245 }
 246
 247 void Creature::Hurt(double amount) noexcept {
 248         stats.Damage().Add(amount);
 249         if (stats.Damage().Full()) {
 250                 Die();
 251         }
 252 }
 253
 254 void Creature::Die() noexcept {
 255         if (Dead()) return;
 256
 257         if (stats.Damage().Full()) {
 258                 std::ostream &log = sim.Log() << name << " ";
 259                 if (stats.Exhaustion().Full()) {
 260                         log << "died of exhaustion";
 261                 } else if (stats.Breath().Full()) {
 262                         log << "suffocated";
 263                 } else if (stats.Thirst().Full()) {
 264                         log << "died of thirst";
 265                 } else if (stats.Hunger().Full()) {
 266                         log << "starved to death";
 267                 } else {
 268                         log << "succumed to wounds";
 269                 }
 270                 log << " at an age of " << ui::TimeString(Age())
 271                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 272                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 273                         << ")" << std::endl;
 274         }
 275
 276         sim.SetDead(this);
 277         death = sim.Time();
 278         steering.Off();
 279         if (on_death) {
 280                 on_death(*this);
 281         }
 282         Remove();
 283 }
 284
 285 bool Creature::Dead() const noexcept {
 286         return death > birth;
 287 }
 288
 289 void Creature::Remove() noexcept {
 290         removable = true;
 291 }
 292
 293 void Creature::Removed() noexcept {
 294         bg_task.reset();
 295         goals.clear();
 296         memory.Erase();
 297         KillVAO();
 298 }
 299
 300 void Creature::AddParent(Creature &p) {
 301         parents.push_back(&p);
 302 }
 303
 304 double Creature::Age() const noexcept {
 305         return Dead() ? death - birth : sim.Time() - birth;
 306 }
 307
 308 double Creature::AgeFactor(double peak) const noexcept {
 309         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 310         // goes negative below -0.5 and starts to rise again above 1.0
 311         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 312         // guarantee at least 1%
 313         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 314 }
 315
 316 double Creature::EnergyEfficiency() const noexcept {
 317         return 0.25 * AgeFactor(0.05);
 318 }
 319
 320 double Creature::ExhaustionFactor() const noexcept {
 321         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 322 }
 323
 324 double Creature::FatigueFactor() const noexcept {
 325         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 326 }
 327
 328 double Creature::Strength() const noexcept {
 329         // TODO: replace all age factors with actual growth and decay
 330         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 331 }
 332
 333 double Creature::StrengthFactor() const noexcept {
 334         return Strength() / (Strength() + 1.0);
 335 }
 336
 337 double Creature::Stamina() const noexcept {
 338         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 339 }
 340
 341 double Creature::StaminaFactor() const noexcept {
 342         return Stamina() / (Stamina() + 1.0);
 343 }
 344
 345 double Creature::Dexerty() const noexcept {
 346         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 347 }
 348
 349 double Creature::DexertyFactor() const noexcept {
 350         return Dexerty() / (Dexerty() + 1.0);
 351 }
 352
 353 double Creature::Intelligence() const noexcept {
 354         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 355 }
 356
 357 double Creature::IntelligenceFactor() const noexcept {
 358         return Intelligence() / (Intelligence() + 1.0);
 359 }
 360
 361 double Creature::Lifetime() const noexcept {
 362         return properties.Lifetime();
 363 }
 364
 365 double Creature::Fertility() const noexcept {
 366         return properties.Fertility() * AgeFactor(0.25);
 367 }
 368
 369 double Creature::Mutability() const noexcept {
 370         return properties.Mutability();
 371 }
 372
 373 double Creature::Adaptability() const noexcept {
 374         return properties.Adaptability();
 375 }
 376
 377 double Creature::OffspringMass() const noexcept {
 378         return properties.OffspringMass();
 379 }
 380
 381 double Creature::PerceptionRange() const noexcept {
 382         return 3.0 * DexertyFactor() + Size();
 383 }
 384
 385 double Creature::PerceptionOmniRange() const noexcept {
 386         return 0.5 * DexertyFactor() + Size();
 387 }
 388
 389 double Creature::PerceptionField() const noexcept {
 390         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 391         return 0.8 - DexertyFactor();
 392 }
 393
 394 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 395         const glm::dvec3 diff(p - situation.Position());
 396         double omni_range = PerceptionOmniRange();
 397         if (glm::length2(diff) < omni_range * omni_range) return true;
 398         double range = PerceptionRange();
 399         if (glm::length2(diff) > range * range) return false;
 400         return glm::dot(glm::normalize(diff), situation.Heading()) > PerceptionField();
 401 }
 402
 403 double Creature::OffspringChance() const noexcept {
 404         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 405 }
 406
 407 double Creature::MutateChance() const noexcept {
 408         return GetProperties().Mutability() * (1.0 / 3600.0);
 409 }
 410
 411 double Creature::AdaptChance() const noexcept {
 412         return GetProperties().Adaptability() * (1.0 / 120.0);
 413 }
 414
 415 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 416         g->Enable();
 417         if (goals.empty()) {
 418                 g->SetForeground();
 419         }
 420         goals.emplace_back(std::move(g));
 421 }
 422
 423 namespace {
 424
 425 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 426         return b->Urgency() < a->Urgency();
 427 }
 428
 429 }
 430
 431 void Creature::Tick(double dt) {
 432         TickState(dt);
 433         TickStats(dt);
 434         TickBrain(dt);
 435 }
 436
 437 void Creature::TickState(double dt) {
 438         steering.MaxSpeed(Dexerty());
 439         steering.MaxForce(Strength());
 440         Situation::State state(situation.GetState());
 441         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 442         Situation::Derivative b(Step(a, dt * 0.5));
 443         Situation::Derivative c(Step(b, dt * 0.5));
 444         Situation::Derivative d(Step(c, dt));
 445         Situation::Derivative f(
 446                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 447                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 448         );
 449         state.pos += f.vel * dt;
 450         state.vel += f.acc * dt;
 451         situation.EnforceConstraints(state);
 452         if (glm::length2(state.vel) > 0.000001) {
 453                 glm::dvec3 nvel(glm::normalize(state.vel));
 454                 double ang = glm::angle(nvel, state.dir);
 455                 double turn_rate = PI * 0.75 * dt;
 456                 if (ang < turn_rate) {
 457                         state.dir = glm::normalize(state.vel);
 458                 } else if (std::abs(ang - PI) < 0.001) {
 459                         state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 460                 } else {
 461                         state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 462                 }
 463         }
 464         situation.SetState(state);
 465         // work is force times distance
 466         DoWork(glm::length(f.acc) * Mass() * glm::length(f.vel) * dt);
 467 }
 468
 469 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 470         Situation::State s = situation.GetState();
 471         s.pos += ds.vel * dt;
 472         s.vel += ds.acc * dt;
 473         glm::dvec3 force(steering.Force(s));
 474         // gravity = antinormal * mass * Gm / r²
 475         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 476         force += glm::dvec3(
 477                 -normal
 478                 * Mass() * situation.GetPlanet().GravitationalParameter()
 479                 / glm::length2(s.pos));
 480         // if net force is applied and in contact with surface
 481         if (!allzero(force) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 482                 // apply friction = -|normal force| * tangential force * coefficient
 483                 glm::dvec3 fn(normal * glm::dot(force, normal));
 484                 glm::dvec3 ft(force - fn);
 485                 double u = 0.4;
 486                 glm::dvec3 friction(-glm::length(fn) * ft * u);
 487                 force += friction;
 488         }
 489         return {
 490                 s.vel,
 491                 force / Mass()
 492         };
 493 }
 494
 495 void Creature::TickStats(double dt) {
 496         for (auto &s : stats.stat) {
 497                 s.Add(s.gain * dt);
 498         }
 499         // TODO: damage values depending on properties
 500         if (stats.Breath().Full()) {
 501                 constexpr double dps = 1.0 / 4.0;
 502                 Hurt(dps * dt);
 503         }
 504         if (stats.Thirst().Full()) {
 505                 constexpr double dps = 1.0 / 32.0;
 506                 Hurt(dps * dt);
 507         }
 508         if (stats.Hunger().Full()) {
 509                 constexpr double dps = 1.0 / 128.0;
 510                 Hurt(dps * dt);
 511         }
 512         if (!situation.Moving()) {
 513                 // double exhaustion recovery when standing still
 514                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 515         }
 516 }
 517
 518 void Creature::TickBrain(double dt) {
 519         bg_task->Tick(dt);
 520         bg_task->Action();
 521         memory.Tick(dt);
 522         // do background stuff
 523         if (goals.empty()) {
 524                 return;
 525         }
 526         for (auto &goal : goals) {
 527                 goal->Tick(dt);
 528         }
 529         Goal *top = &*goals.front();
 530         // if active goal can be interrupted, check priorities
 531         if (goals.size() > 1 && goals[0]->Interruptible()) {
 532                 std::sort(goals.begin(), goals.end(), GoalCompare);
 533         }
 534         if (&*goals.front() != top) {
 535                 top->SetBackground();
 536                 goals.front()->SetForeground();
 537                 top = &*goals.front();
 538         }
 539         goals[0]->Action();
 540         for (auto goal = goals.begin(); goal != goals.end();) {
 541                 if ((*goal)->Complete()) {
 542                         goals.erase(goal);
 543                 } else {
 544                         ++goal;
 545                 }
 546         }
 547         if (&*goals.front() != top) {
 548                 goals.front()->SetForeground();
 549         }
 550 }
 551
 552 math::AABB Creature::CollisionBounds() const noexcept {
 553         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 554 }
 555
 556 glm::dmat4 Creature::CollisionTransform() const noexcept {
 557         const double half_size = size * 0.5;
 558         const glm::dvec3 &pos = situation.Position();
 559         glm::dmat3 orient;
 560         orient[1] = situation.GetPlanet().NormalAt(pos);
 561         orient[2] = situation.Heading();
 562         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 563                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 564         }
 565         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 566         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 567         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 568                 * glm::dmat4(orient)
 569                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 570 }
 571
 572 glm::dmat4 Creature::LocalTransform() noexcept {
 573         const double half_size = size * 0.5;
 574         return CollisionTransform()
 575                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 576 }
 577
 578 void Creature::BuildVAO() {
 579         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 580         vao->Bind();
 581         vao->BindAttributes();
 582         vao->EnableAttribute(0);
 583         vao->EnableAttribute(1);
 584         vao->EnableAttribute(2);
 585         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 586         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 587         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 588         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 589         {
 590                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 591                 const float offset = 1.0f;
 592                 for (int surface = 0; surface < 6; ++surface) {
 593                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 594                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 595
 596                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 597                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 598                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 599                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 600                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 601                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 602                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 603                         attrib[4 * surface + 0].texture.y = 1.0f;
 604                         attrib[4 * surface + 0].texture.z = surface;
 605
 606                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 607                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 608                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 609                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 610                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 611                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 612                         attrib[4 * surface + 1].texture.x = tex_u_end;
 613                         attrib[4 * surface + 1].texture.y = 1.0f;
 614                         attrib[4 * surface + 1].texture.z = surface;
 615
 616                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 617                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 618                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 619                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 620                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 621                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 622                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 623                         attrib[4 * surface + 2].texture.y = 0.0f;
 624                         attrib[4 * surface + 2].texture.z = surface;
 625
 626                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 627                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 628                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 629                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 630                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 631                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 632                         attrib[4 * surface + 3].texture.x = tex_u_end;
 633                         attrib[4 * surface + 3].texture.y = 0.0f;
 634                         attrib[4 * surface + 3].texture.z = surface;
 635                 }
 636         }
 637         vao->BindElements();
 638         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 639         {
 640                 auto element = vao->MapElements(GL_WRITE_ONLY);
 641                 for (int surface = 0; surface < 3; ++surface) {
 642                         element[6 * surface + 0] = 4 * surface + 0;
 643                         element[6 * surface + 1] = 4 * surface + 2;
 644                         element[6 * surface + 2] = 4 * surface + 1;
 645                         element[6 * surface + 3] = 4 * surface + 1;
 646                         element[6 * surface + 4] = 4 * surface + 2;
 647                         element[6 * surface + 5] = 4 * surface + 3;
 648                 }
 649                 for (int surface = 3; surface < 6; ++surface) {
 650                         element[6 * surface + 0] = 4 * surface + 0;
 651                         element[6 * surface + 1] = 4 * surface + 1;
 652                         element[6 * surface + 2] = 4 * surface + 2;
 653                         element[6 * surface + 3] = 4 * surface + 2;
 654                         element[6 * surface + 4] = 4 * surface + 1;
 655                         element[6 * surface + 5] = 4 * surface + 3;
 656                 }
 657         }
 658         vao->Unbind();
 659 }
 660
 661 void Creature::KillVAO() {
 662         vao.reset();
 663 }
 664
 665 void Creature::Draw(graphics::Viewport &viewport) {
 666         if (!vao) return;
 667         vao->Bind();
 668         vao->DrawTriangles(6 * 6);
 669 }
 670
 671
 672 void Spawn(Creature &c, world::Planet &p) {
 673         p.AddCreature(&c);
 674         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 675         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 676
 677         // probe surrounding area for common resources
 678         int start = p.SideLength() / 2 - 2;
 679         int end = start + 5;
 680         std::map<int, double> yields;
 681         for (int y = start; y < end; ++y) {
 682                 for (int x = start; x < end; ++x) {
 683                         const world::TileType &t = p.TypeAt(0, x, y);
 684                         for (auto yield : t.resources) {
 685                                 yields[yield.resource] += yield.ubiquity;
 686                         }
 687                 }
 688         }
 689         int liquid = -1;
 690         int solid = -1;
 691         for (auto e : yields) {
 692                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 693                         if (liquid < 0 || e.second > yields[liquid]) {
 694                                 liquid = e.first;
 695                         }
 696                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 697                         if (solid < 0 || e.second > yields[solid]) {
 698                                 solid = e.first;
 699                         }
 700                 }
 701         }
 702
 703         Genome genome;
 704         genome.properties.Strength() = { 2.0, 0.1 };
 705         genome.properties.Stamina() = { 2.0, 0.1 };
 706         genome.properties.Dexerty() = { 2.0, 0.1 };
 707         genome.properties.Intelligence() = { 1.0, 0.1 };
 708         genome.properties.Lifetime() = { 480.0, 60.0 };
 709         genome.properties.Fertility() = { 0.5, 0.03 };
 710         genome.properties.Mutability() = { 0.9, 0.1 };
 711         genome.properties.Adaptability() = { 0.9, 0.1 };
 712         genome.properties.OffspringMass() = { 0.3, 0.02 };
 713
 714         glm::dvec3 color_avg(0.0);
 715         double color_divisor = 0.0;
 716
 717         if (p.HasAtmosphere()) {
 718                 c.AddMass(p.Atmosphere(), 0.01);
 719                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 720                 color_divisor += 0.1;
 721         }
 722         if (liquid > -1) {
 723                 c.AddMass(liquid, 0.3);
 724                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 725                 color_divisor += 0.5;
 726         }
 727         if (solid > -1) {
 728                 c.AddMass(solid, 0.1);
 729                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 730                 color_divisor += 1.0;
 731         }
 732
 733         if (color_divisor > 0.001) {
 734                 color_avg /= color_divisor;
 735         }
 736         glm::dvec3 hsl = rgb2hsl(color_avg);
 737         genome.base_hue = { hsl.x, 0.01 };
 738         genome.base_saturation = { hsl.y, 0.01 };
 739         genome.base_lightness = { hsl.z, 0.01 };
 740         // use opposite color as start highlight
 741         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 742         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 743         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 744
 745         genome.Configure(c);
 746 }
 747
 748 void Genome::Configure(Creature &c) const {
 749         c.GetGenome() = *this;
 750
 751         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 752
 753         c.GetProperties() = Instantiate(properties, random);
 754
 755         // TODO: derive stats from properties
 756         c.GetStats().Damage().gain = (-1.0 / 100.0);
 757         c.GetStats().Breath().gain = (1.0 / 5.0);
 758         c.GetStats().Thirst().gain = (1.0 / 60.0);
 759         c.GetStats().Hunger().gain = (1.0 / 200.0);
 760         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 761         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 762         c.GetStats().Boredom().gain = (1.0 / 300.0);
 763
 764         glm::dvec3 base_color(
 765                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 766                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 767                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 768         );
 769         glm::dvec3 highlight_color(
 770                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 771                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 772                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 773         );
 774         c.BaseColor(hsl2rgb(base_color));
 775         c.HighlightColor(hsl2rgb(highlight_color));
 776         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 777         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 778 }
 779
 780
 781 void Split(Creature &c) {
 782         Creature *a = new Creature(c.GetSimulation());
 783         const Situation &s = c.GetSituation();
 784         a->AddParent(c);
 785         a->Name(c.GetSimulation().Assets().name.Sequential());
 786         c.GetGenome().Configure(*a);
 787         for (const auto &cmp : c.GetComposition()) {
 788                 a->AddMass(cmp.resource, cmp.value * 0.5);
 789         }
 790         s.GetPlanet().AddCreature(a);
 791         // TODO: duplicate situation somehow
 792         a->GetSituation().SetPlanetSurface(
 793                 s.GetPlanet(),
 794                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 795         a->BuildVAO();
 796         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 797
 798         Creature *b = new Creature(c.GetSimulation());
 799         b->AddParent(c);
 800         b->Name(c.GetSimulation().Assets().name.Sequential());
 801         c.GetGenome().Configure(*b);
 802         for (const auto &cmp : c.GetComposition()) {
 803                 b->AddMass(cmp.resource, cmp.value * 0.5);
 804         }
 805         s.GetPlanet().AddCreature(b);
 806         b->GetSituation().SetPlanetSurface(
 807                 s.GetPlanet(),
 808                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 809         b->BuildVAO();
 810         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 811
 812         c.Die();
 813 }
 814
 815
 816 Memory::Memory(Creature &c)
 817 : c(c) {
 818 }
 819
 820 Memory::~Memory() {
 821 }
 822
 823 void Memory::Erase() {
 824         known_types.clear();
 825 }
 826
 827 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 828         double best_rating = -1.0;
 829         for (const auto &k : known_types) {
 830                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 831                 auto entry = t.FindBestResource(accept);
 832                 if (entry != t.resources.end()) {
 833                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 834                         if (rating > best_rating) {
 835                                 best_rating = rating;
 836                                 pos = k.second.first_loc.position;
 837                         }
 838                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 839                         if (rating > best_rating) {
 840                                 best_rating = rating;
 841                                 pos = k.second.last_loc.position;
 842                         }
 843                 }
 844         }
 845         if (best_rating > 0.0) {
 846                 glm::dvec3 error(
 847                         c.GetSimulation().Assets().random.SNorm(),
 848                         c.GetSimulation().Assets().random.SNorm(),
 849                         c.GetSimulation().Assets().random.SNorm());
 850                 pos += error * (2.0 * (1.0 - c.IntelligenceFactor()));
 851                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 852                 return true;
 853         } else {
 854                 return false;
 855         }
 856 }
 857
 858 void Memory::Tick(double dt) {
 859         Situation &s = c.GetSituation();
 860         if (s.OnSurface()) {
 861                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 862         }
 863         // TODO: forget
 864 }
 865
 866 void Memory::TrackStay(const Location &l, double t) {
 867         const world::TileType &type = l.planet->TileTypeAt(l.position);
 868         auto entry = known_types.find(type.id);
 869         if (entry != known_types.end()) {
 870                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 871                         // "it's been ages"
 872                         if (entry->second.time_spent > c.Age() * 0.25) {
 873                                 // the place is very familiar
 874                                 c.GetStats().Boredom().Add(-0.2);
 875                         } else {
 876                                 // infrequent stays
 877                                 c.GetStats().Boredom().Add(-0.1);
 878                         }
 879                 }
 880                 entry->second.last_been = c.GetSimulation().Time();
 881                 entry->second.last_loc = l;
 882                 entry->second.time_spent += t;
 883         } else {
 884                 known_types.emplace(type.id, Stay{
 885                         c.GetSimulation().Time(),
 886                         l,
 887                         c.GetSimulation().Time(),
 888                         l,
 889                         t
 890                 });
 891                 // completely new place, interesting
 892                 // TODO: scale by personality trait
 893                 c.GetStats().Boredom().Add(-0.25);
 894         }
 895 }
 896
 897
 898 NameGenerator::NameGenerator()
 899 : counter(0) {
 900 }
 901
 902 NameGenerator::~NameGenerator() {
 903 }
 904
 905 std::string NameGenerator::Sequential() {
 906         std::stringstream ss;
 907         ss << "Blob " << ++counter;
 908         return ss.str();
 909 }
 910
 911
 912 Situation::Situation()
 913 : planet(nullptr)
 914 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 915 , type(LOST) {
 916 }
 917
 918 Situation::~Situation() {
 919 }
 920
 921 bool Situation::OnPlanet() const noexcept {
 922         return type == PLANET_SURFACE;
 923 }
 924
 925 bool Situation::OnSurface() const noexcept {
 926         return type == PLANET_SURFACE;
 927 }
 928
 929 bool Situation::OnGround() const noexcept {
 930         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
 931 }
 932
 933 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 934         return planet->NormalAt(state.pos);
 935 }
 936
 937 world::Tile &Situation::GetTile() const noexcept {
 938         return planet->TileAt(state.pos);
 939 }
 940
 941 const world::TileType &Situation::GetTileType() const noexcept {
 942         return planet->TileTypeAt(state.pos);
 943 }
 944
 945 void Situation::Move(const glm::dvec3 &dp) noexcept {
 946         state.pos += dp;
 947         EnforceConstraints(state);
 948 }
 949
 950 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 951         state.vel += dv;
 952         EnforceConstraints(state);
 953 }
 954
 955 void Situation::EnforceConstraints(State &s) noexcept {
 956         if (OnSurface()) {
 957                 double r = GetPlanet().Radius();
 958                 if (glm::length2(s.pos) < r * r) {
 959                         s.pos = glm::normalize(s.pos) * r;
 960                 }
 961         }
 962 }
 963
 964 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
 965         type = PLANET_SURFACE;
 966         planet = &p;
 967         state.pos = pos;
 968         EnforceConstraints(state);
 969 }
 970
 971
 972 Steering::Steering(const Creature &c)
 973 : c(c)
 974 , target(0.0)
 975 , haste(0.0)
 976 , max_force(1.0)
 977 , max_speed(1.0)
 978 , min_dist(0.0)
 979 , max_look(0.0)
 980 , separating(false)
 981 , halting(true)
 982 , seeking(false)
 983 , arriving(false) {
 984 }
 985
 986 Steering::~Steering() {
 987 }
 988
 989 void Steering::Off() noexcept {
 990         separating = false;
 991         halting = false;
 992         seeking = false;
 993         arriving = false;
 994 }
 995
 996 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 997         separating = true;
 998         min_dist = min_distance;
 999         max_look = max_lookaround;
1000 }
1001
1002 void Steering::DontSeparate() noexcept {
1003         separating = false;
1004 }
1005
1006 void Steering::ResumeSeparate() noexcept {
1007         separating = true;
1008 }
1009
1010 void Steering::Halt() noexcept {
1011         halting = true;
1012         seeking = false;
1013         arriving = false;
1014 }
1015
1016 void Steering::Pass(const glm::dvec3 &t) noexcept {
1017         target = t;
1018         halting = false;
1019         seeking = true;
1020         arriving = false;
1021 }
1022
1023 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1024         target = t;
1025         halting = false;
1026         seeking = false;
1027         arriving = true;
1028 }
1029
1030 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1031         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1032         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1033         glm::dvec3 result(0.0);
1034         if (separating) {
1035                 // TODO: off surface situation
1036                 glm::dvec3 repulse(0.0);
1037                 const Situation &s = c.GetSituation();
1038                 for (auto &other : s.GetPlanet().Creatures()) {
1039                         if (&*other == &c) continue;
1040                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1041                         if (glm::length2(diff) > max_look * max_look) continue;
1042                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1043                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1044                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1045                 }
1046                 result += repulse;
1047         }
1048         if (halting) {
1049                 // brake hard
1050                 result += -5.0 * s.vel * force;
1051         }
1052         if (seeking) {
1053                 glm::dvec3 diff = target - s.pos;
1054                 if (!allzero(diff)) {
1055                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1056                 }
1057         }
1058         if (arriving) {
1059                 glm::dvec3 diff = target - s.pos;
1060                 double dist = glm::length(diff);
1061                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1062                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1063                 }
1064         }
1065         // remove vertical component, if any
1066         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1067         result += normal * glm::dot(normal, result);
1068         // clamp to max
1069         if (glm::length2(result) > max_force * max_force) {
1070                 result = glm::normalize(result) * max_force;
1071         }
1072         return result;
1073 }
1074
1075 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1076         return (vel - s.vel) * acc;
1077 }
1078
1079 }
1080 }