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 "AttackGoal.hpp"
  10 #include "BlobBackgroundTask.hpp"
  11 #include "Goal.hpp"
  12 #include "IdleGoal.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../math/const.hpp"
  15 #include "../ui/string.hpp"
  16 #include "../world/Body.hpp"
  17 #include "../world/Planet.hpp"
  18 #include "../world/Simulation.hpp"
  19 #include "../world/TileType.hpp"
  20
  21 #include <algorithm>
  22 #include <sstream>
  23 #include <glm/gtx/transform.hpp>
  24 #include <glm/gtx/vector_angle.hpp>
  25
  26 #include <iostream>
  27 #include <glm/gtx/io.hpp>
  28
  29
  30 namespace blobs {
  31 namespace creature {
  32
  33 Composition::Composition(const world::Set<world::Resource> &resources)
  34 : resources(resources)
  35 , components()
  36 , total_mass(0.0)
  37 , total_volume(0.0)
  38 , state_mass{0.0} {
  39 }
  40
  41 Composition::~Composition() {
  42 }
  43
  44 namespace {
  45 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  46         return b.value < a.value;
  47 }
  48 }
  49
  50 void Composition::Add(int res, double amount) {
  51         bool found = false;
  52         for (auto c = components.begin(); c != components.end(); ++c) {
  53                 if (c->resource == res) {
  54                         c->value += amount;
  55                         if (c->value <= 0.0) {
  56                                 amount += c->value;
  57                                 components.erase(c);
  58                         }
  59                         found = true;
  60                         break;
  61                 }
  62         }
  63         if (!found && amount > 0.0) {
  64                 components.emplace_back(res, amount);
  65         }
  66         std::sort(components.begin(), components.end(), CompositionCompare);
  67         state_mass[resources[res].state] += amount;
  68         total_mass += amount;
  69         total_volume += amount / resources[res].density;
  70 }
  71
  72 bool Composition::Has(int res) const noexcept {
  73         for (auto &c : components) {
  74                 if (c.resource == res) {
  75                         return true;
  76                 }
  77         }
  78         return false;
  79 }
  80
  81 double Composition::Get(int res) const noexcept {
  82         for (auto &c : components) {
  83                 if (c.resource == res) {
  84                         return c.value;
  85                 }
  86         }
  87         return 0.0;
  88 }
  89
  90 double Composition::Proportion(int res) const noexcept {
  91         return Get(res) / TotalMass();
  92 }
  93
  94 double Composition::StateProportion(int res) const noexcept {
  95         return Get(res) / StateMass(resources[res].state);
  96 }
  97
  98 double Composition::Compatibility(int res) const noexcept {
  99         if (Has(res)) {
 100                 return StateProportion(res);
 101         }
 102         double max_compat = -1.0;
 103         double min_compat = 1.0;
 104         for (const auto &c : components) {
 105                 double prop = c.value / StateMass(resources[res].state);
 106                 for (const auto &compat : resources[c.resource].compatibility) {
 107                         double value = compat.second * prop;
 108                         if (value > max_compat) {
 109                                 max_compat = value;
 110                         }
 111                         if (value < min_compat) {
 112                                 min_compat = value;
 113                         }
 114                 }
 115         }
 116         if (min_compat < 0.0) {
 117                 return min_compat;
 118         } else {
 119                 return max_compat;
 120         }
 121 }
 122
 123
 124 Creature::Creature(world::Simulation &sim)
 125 : sim(sim)
 126 , name()
 127 , genome()
 128 , properties()
 129 , composition(sim.Resources())
 130 , base_color(1.0)
 131 , highlight_color(0.0, 0.0, 0.0, 1.0)
 132 , mass(1.0)
 133 , size(1.0)
 134 , birth(sim.Time())
 135 , death(-1.0)
 136 , on_death()
 137 , removable(false)
 138 , parents()
 139 , stats()
 140 , memory(*this)
 141 , bg_task()
 142 , goals()
 143 , situation()
 144 , steering(*this)
 145 , heading_target(0.0, 0.0, -1.0)
 146 , heading_manual(false)
 147 , perception_range(1.0)
 148 , perception_range_squared(1.0)
 149 , perception_omni_range(1.0)
 150 , perception_omni_range_squared(1.0)
 151 , perception_field(1.0)
 152 , vao() {
 153         sim.SetAlive(this);
 154         // all creatures avoid each other for now
 155         steering.Separate(0.1, 1.5);
 156 }
 157
 158 Creature::~Creature() {
 159 }
 160
 161 void Creature::AddMass(int res, double amount) {
 162         composition.Add(res, amount);
 163         double nonsolid = 0.0;
 164         double volume = 0.0;
 165         for (const auto &c : composition) {
 166                 volume += c.value / sim.Resources()[c.resource].density;
 167                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 168                         nonsolid += c.value;
 169                 }
 170         }
 171         Mass(composition.TotalMass());
 172         Size(std::cbrt(volume));
 173         highlight_color.a = nonsolid / composition.TotalMass();
 174 }
 175
 176 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 177         highlight_color = glm::dvec4(c, highlight_color.a);
 178 }
 179
 180 void Creature::Ingest(int res, double amount) noexcept {
 181         if (sim.Resources()[res].state == world::Resource::SOLID) {
 182                 // 30% of solids stays in body
 183                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 184         } else {
 185                 // 5% of fluids stays in body
 186                 AddMass(res, amount * 0.05 * composition.Compatibility(res));
 187         }
 188         math::GaloisLFSR &random = sim.Assets().random;
 189         if (random.UNorm() < AdaptChance()) {
 190                 // change color to be slightly more like resource
 191                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 192                 // solids affect base color, others highlight
 193                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 194                 double q = random.UInt(3); // hue, sat, or val
 195                 double r = random.UInt(2); // mean or deviation
 196                 math::Distribution *d = nullptr;
 197                 double ref = 0.0;
 198                 if (p == 0) {
 199                         if (q == 0) {
 200                                 d = &genome.base_hue;
 201                                 ref = color.x;
 202                         } else if (q == 1) {
 203                                 d = &genome.base_saturation;
 204                                 ref = color.y;
 205                         } else {
 206                                 d = &genome.base_lightness;
 207                                 ref = color.z;
 208                         }
 209                 } else {
 210                         if (q == 0) {
 211                                 d = &genome.highlight_hue;
 212                                 ref = color.x;
 213                         } else if (q == 1) {
 214                                 d = &genome.highlight_saturation;
 215                                 ref = color.y;
 216                         } else {
 217                                 d = &genome.highlight_lightness;
 218                                 ref = color.z;
 219                         }
 220                 }
 221                 if (r == 0) {
 222                         double diff = ref - d->Mean();
 223                         if (q == 0) {
 224                                 if (diff < -0.5) {
 225                                         diff += 1.0;
 226                                 } else if (diff > 0.5) {
 227                                         diff -= 1.0;
 228                                 }
 229                                 // move 0-15% of distance
 230                                 d->Mean(std::fmod(d->Mean() + diff * random.UNorm() * 0.15, 1.0));
 231                         } else {
 232                                 d->Mean(glm::clamp(d->Mean() + diff * random.UNorm() * 0.15, 0.0, 1.0));
 233                         }
 234                 } else {
 235                         // scale by ±15%, enforce bounds
 236                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 237                 }
 238         }
 239 }
 240
 241 void Creature::DoWork(double amount) noexcept {
 242         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 243         // burn resources proportional to composition
 244         // factor = 1/total * 1/efficiency * amount * -1
 245         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 246         // make a copy to total remains constant and
 247         // no entries disappear during iteration
 248         Composition comp(composition);
 249         for (auto &cmp : comp) {
 250                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 251                 AddMass(cmp.resource, value);
 252         }
 253         // doing work improves strength a little
 254         properties.Strength() += amount * 0.0001;
 255 }
 256
 257 void Creature::Hurt(double amount) noexcept {
 258         stats.Damage().Add(amount);
 259         if (stats.Damage().Full()) {
 260                 Die();
 261         }
 262 }
 263
 264 void Creature::Die() noexcept {
 265         if (Dead()) return;
 266
 267         if (stats.Damage().Full()) {
 268                 std::ostream &log = sim.Log() << name << " ";
 269                 if (stats.Exhaustion().Full()) {
 270                         log << "died of exhaustion";
 271                 } else if (stats.Breath().Full()) {
 272                         log << "suffocated";
 273                 } else if (stats.Thirst().Full()) {
 274                         log << "died of thirst";
 275                 } else if (stats.Hunger().Full()) {
 276                         log << "starved to death";
 277                 } else {
 278                         log << "succumed to wounds";
 279                 }
 280                 log << " at an age of " << ui::TimeString(Age())
 281                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 282                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 283                         << ")" << std::endl;
 284         }
 285
 286         sim.SetDead(this);
 287         death = sim.Time();
 288         steering.Off();
 289         if (on_death) {
 290                 on_death(*this);
 291         }
 292         Remove();
 293 }
 294
 295 bool Creature::Dead() const noexcept {
 296         return death > birth;
 297 }
 298
 299 void Creature::Remove() noexcept {
 300         removable = true;
 301 }
 302
 303 void Creature::Removed() noexcept {
 304         bg_task.reset();
 305         goals.clear();
 306         memory.Erase();
 307         KillVAO();
 308 }
 309
 310 void Creature::AddParent(Creature &p) {
 311         parents.push_back(&p);
 312 }
 313
 314 double Creature::Age() const noexcept {
 315         return Dead() ? death - birth : sim.Time() - birth;
 316 }
 317
 318 double Creature::AgeFactor(double peak) const noexcept {
 319         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 320         // goes negative below -0.5 and starts to rise again above 1.0
 321         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 322         // guarantee at least 1%
 323         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 324 }
 325
 326 double Creature::EnergyEfficiency() const noexcept {
 327         return 0.25 * AgeFactor(0.05);
 328 }
 329
 330 double Creature::ExhaustionFactor() const noexcept {
 331         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 332 }
 333
 334 double Creature::FatigueFactor() const noexcept {
 335         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 336 }
 337
 338 double Creature::Strength() const noexcept {
 339         // TODO: replace all age factors with actual growth and decay
 340         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 341 }
 342
 343 double Creature::StrengthFactor() const noexcept {
 344         double str = Strength();
 345         return str / (str + 1.0);
 346 }
 347
 348 double Creature::Stamina() const noexcept {
 349         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 350 }
 351
 352 double Creature::StaminaFactor() const noexcept {
 353         double stm = Stamina();
 354         return stm / (stm + 1.0);
 355 }
 356
 357 double Creature::Dexerty() const noexcept {
 358         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 359 }
 360
 361 double Creature::DexertyFactor() const noexcept {
 362         double dex = Dexerty();
 363         return dex / (dex + 1.0);
 364 }
 365
 366 double Creature::Intelligence() const noexcept {
 367         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 368 }
 369
 370 double Creature::IntelligenceFactor() const noexcept {
 371         double intl = Intelligence();
 372         return intl / (intl + 1.0);
 373 }
 374
 375 double Creature::Lifetime() const noexcept {
 376         return properties.Lifetime();
 377 }
 378
 379 double Creature::Fertility() const noexcept {
 380         return properties.Fertility() * AgeFactor(0.25);
 381 }
 382
 383 double Creature::Mutability() const noexcept {
 384         return properties.Mutability();
 385 }
 386
 387 double Creature::Adaptability() const noexcept {
 388         return properties.Adaptability();
 389 }
 390
 391 double Creature::OffspringMass() const noexcept {
 392         return properties.OffspringMass();
 393 }
 394
 395 double Creature::PerceptionRange() const noexcept {
 396         return perception_range;
 397 }
 398
 399 double Creature::PerceptionOmniRange() const noexcept {
 400         return perception_omni_range;
 401 }
 402
 403 double Creature::PerceptionField() const noexcept {
 404         return perception_field;
 405 }
 406
 407 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 408         const glm::dvec3 diff(p - situation.Position());
 409         double ldiff = glm::length2(diff);
 410         if (ldiff < perception_omni_range_squared) return true;
 411         if (ldiff > perception_range_squared) return false;
 412         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 413 }
 414
 415 double Creature::OffspringChance() const noexcept {
 416         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 417 }
 418
 419 double Creature::MutateChance() const noexcept {
 420         return GetProperties().Mutability() * (1.0 / 3600.0);
 421 }
 422
 423 double Creature::AdaptChance() const noexcept {
 424         return GetProperties().Adaptability() * (1.0 / 120.0);
 425 }
 426
 427 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 428         g->Enable();
 429         if (goals.empty()) {
 430                 g->SetForeground();
 431         }
 432         goals.emplace_back(std::move(g));
 433 }
 434
 435 void Creature::SetBackgroundTask(std::unique_ptr<Goal> &&g) {
 436         bg_task = std::move(g);
 437 }
 438
 439 Goal &Creature::BackgroundTask() {
 440         return *bg_task;
 441 }
 442
 443 namespace {
 444
 445 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 446         return b->Urgency() < a->Urgency();
 447 }
 448
 449 }
 450
 451 void Creature::Tick(double dt) {
 452         Cache();
 453         TickState(dt);
 454         TickStats(dt);
 455         TickBrain(dt);
 456 }
 457
 458 void Creature::Cache() noexcept {
 459         double dex_fact = DexertyFactor();
 460         perception_range = 3.0 * dex_fact + size;
 461         perception_range_squared = perception_range * perception_range;
 462         perception_omni_range = 0.5 * dex_fact + size;
 463         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 464         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 465         perception_field = 0.8 - dex_fact;
 466 }
 467
 468 void Creature::TickState(double dt) {
 469         steering.MaxSpeed(Dexerty());
 470         steering.MaxForce(Strength());
 471         Situation::State state(situation.GetState());
 472         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 473         Situation::Derivative b(Step(a, dt * 0.5));
 474         Situation::Derivative c(Step(b, dt * 0.5));
 475         Situation::Derivative d(Step(c, dt));
 476         Situation::Derivative f(
 477                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 478                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 479         );
 480         state.pos += f.vel * dt;
 481         state.vel += f.acc * dt;
 482         situation.EnforceConstraints(state);
 483
 484         if (!heading_manual && glm::length2(state.vel) > 0.000001) {
 485                 const glm::dvec3 normal(situation.GetPlanet().NormalAt(state.pos));
 486                 const glm::dvec3 tangent(state.vel - (normal * glm::dot(state.vel, normal)));
 487                 if (glm::length2(tangent) > 0.000001) {
 488                         heading_target = glm::normalize(tangent);
 489                 }
 490         }
 491         double ang = glm::angle(heading_target, state.dir);
 492         double turn_rate = PI * 0.75 * dt;
 493         if (ang < turn_rate) {
 494                 state.dir = heading_target;
 495                 heading_manual = false;
 496         } else {
 497                 state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, heading_target)));
 498         }
 499
 500         situation.SetState(state);
 501         // work is force times distance
 502         // keep 10% of gravity as a kind of background burn
 503         DoWork(glm::length(f.acc - (0.9 * situation.GetPlanet().GravityAt(state.pos))) * Mass() * glm::length(f.vel) * dt);
 504 }
 505
 506 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 507         Situation::State s = situation.GetState();
 508         s.pos += ds.vel * dt;
 509         s.vel += ds.acc * dt;
 510         situation.EnforceConstraints(s);
 511         glm::dvec3 force(steering.Force(s));
 512         // gravity = antinormal * mass * Gm / r²
 513         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 514         force += glm::dvec3(
 515                 -normal
 516                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 517                 / glm::length2(s.pos)));
 518         // if net force is applied and in contact with surface
 519         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 520                 // apply friction
 521                 glm::dvec3 fn(normal * glm::dot(force, normal));
 522                 // TODO: friction somehow bigger than force?
 523                 glm::dvec3 ft(force - fn);
 524                 double u = 0.4;
 525                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 526                 force += friction;
 527         }
 528         return {
 529                 s.vel,
 530                 force / Mass()
 531         };
 532 }
 533
 534 void Creature::TickStats(double dt) {
 535         for (auto &s : stats.stat) {
 536                 s.Add(s.gain * dt);
 537         }
 538         // TODO: damage values depending on properties
 539         if (stats.Breath().Full()) {
 540                 constexpr double dps = 1.0 / 4.0;
 541                 Hurt(dps * dt);
 542         }
 543         if (stats.Thirst().Full()) {
 544                 constexpr double dps = 1.0 / 32.0;
 545                 Hurt(dps * dt);
 546         }
 547         if (stats.Hunger().Full()) {
 548                 constexpr double dps = 1.0 / 128.0;
 549                 Hurt(dps * dt);
 550         }
 551         if (!situation.Moving()) {
 552                 // double exhaustion recovery when standing still
 553                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 554         }
 555 }
 556
 557 void Creature::TickBrain(double dt) {
 558         bg_task->Tick(dt);
 559         bg_task->Action();
 560         memory.Tick(dt);
 561         // do background stuff
 562         if (goals.empty()) {
 563                 return;
 564         }
 565         for (auto &goal : goals) {
 566                 goal->Tick(dt);
 567         }
 568         Goal *top = &*goals.front();
 569         // if active goal can be interrupted, check priorities
 570         if (goals.size() > 1 && goals[0]->Interruptible()) {
 571                 std::sort(goals.begin(), goals.end(), GoalCompare);
 572         }
 573         if (&*goals.front() != top) {
 574                 top->SetBackground();
 575                 goals.front()->SetForeground();
 576                 top = &*goals.front();
 577         }
 578         goals[0]->Action();
 579         for (auto goal = goals.begin(); goal != goals.end();) {
 580                 if ((*goal)->Complete()) {
 581                         goals.erase(goal);
 582                 } else {
 583                         ++goal;
 584                 }
 585         }
 586         if (&*goals.front() != top) {
 587                 goals.front()->SetForeground();
 588         }
 589 }
 590
 591 math::AABB Creature::CollisionBounds() const noexcept {
 592         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 593 }
 594
 595 glm::dmat4 Creature::CollisionTransform() const noexcept {
 596         const double half_size = size * 0.5;
 597         const glm::dvec3 &pos = situation.Position();
 598         glm::dmat3 orient;
 599         orient[1] = situation.GetPlanet().NormalAt(pos);
 600         orient[2] = situation.Heading();
 601         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 602                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 603         }
 604         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 605         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 606         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 607                 * glm::dmat4(orient)
 608                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 609 }
 610
 611 void Creature::OnCollide(Creature &other) {
 612         memory.TrackCollision(other);
 613 }
 614
 615 glm::dmat4 Creature::LocalTransform() noexcept {
 616         const double half_size = size * 0.5;
 617         return CollisionTransform()
 618                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 619 }
 620
 621 void Creature::BuildVAO() {
 622         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 623         vao->Bind();
 624         vao->BindAttributes();
 625         vao->EnableAttribute(0);
 626         vao->EnableAttribute(1);
 627         vao->EnableAttribute(2);
 628         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 629         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 630         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 631         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 632         {
 633                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 634                 const float offset = 1.0f;
 635                 for (int surface = 0; surface < 6; ++surface) {
 636                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 637                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 638
 639                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 640                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 641                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 642                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 643                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 644                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 645                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 646                         attrib[4 * surface + 0].texture.y = 1.0f;
 647                         attrib[4 * surface + 0].texture.z = surface;
 648
 649                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 650                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 651                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 652                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 653                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 654                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 655                         attrib[4 * surface + 1].texture.x = tex_u_end;
 656                         attrib[4 * surface + 1].texture.y = 1.0f;
 657                         attrib[4 * surface + 1].texture.z = surface;
 658
 659                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 660                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 661                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 662                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 663                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 664                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 665                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 666                         attrib[4 * surface + 2].texture.y = 0.0f;
 667                         attrib[4 * surface + 2].texture.z = surface;
 668
 669                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 670                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 671                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 672                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 673                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 674                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 675                         attrib[4 * surface + 3].texture.x = tex_u_end;
 676                         attrib[4 * surface + 3].texture.y = 0.0f;
 677                         attrib[4 * surface + 3].texture.z = surface;
 678                 }
 679         }
 680         vao->BindElements();
 681         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 682         {
 683                 auto element = vao->MapElements(GL_WRITE_ONLY);
 684                 for (int surface = 0; surface < 3; ++surface) {
 685                         element[6 * surface + 0] = 4 * surface + 0;
 686                         element[6 * surface + 1] = 4 * surface + 2;
 687                         element[6 * surface + 2] = 4 * surface + 1;
 688                         element[6 * surface + 3] = 4 * surface + 1;
 689                         element[6 * surface + 4] = 4 * surface + 2;
 690                         element[6 * surface + 5] = 4 * surface + 3;
 691                 }
 692                 for (int surface = 3; surface < 6; ++surface) {
 693                         element[6 * surface + 0] = 4 * surface + 0;
 694                         element[6 * surface + 1] = 4 * surface + 1;
 695                         element[6 * surface + 2] = 4 * surface + 2;
 696                         element[6 * surface + 3] = 4 * surface + 2;
 697                         element[6 * surface + 4] = 4 * surface + 1;
 698                         element[6 * surface + 5] = 4 * surface + 3;
 699                 }
 700         }
 701         vao->Unbind();
 702 }
 703
 704 void Creature::KillVAO() {
 705         vao.reset();
 706 }
 707
 708 void Creature::Draw(graphics::Viewport &viewport) {
 709         if (!vao) return;
 710         vao->Bind();
 711         vao->DrawTriangles(6 * 6);
 712 }
 713
 714
 715 void Spawn(Creature &c, world::Planet &p) {
 716         p.AddCreature(&c);
 717         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 718         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 719         c.HeadingTarget(glm::dvec3(1.0, 0.0, 0.0));
 720
 721         // probe surrounding area for common resources
 722         int start = p.SideLength() / 2 - 2;
 723         int end = start + 5;
 724         std::map<int, double> yields;
 725         for (int y = start; y < end; ++y) {
 726                 for (int x = start; x < end; ++x) {
 727                         const world::TileType &t = p.TypeAt(0, x, y);
 728                         for (auto yield : t.resources) {
 729                                 yields[yield.resource] += yield.ubiquity;
 730                         }
 731                 }
 732         }
 733         int liquid = -1;
 734         int solid = -1;
 735         for (auto e : yields) {
 736                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 737                         if (liquid < 0 || e.second > yields[liquid]) {
 738                                 liquid = e.first;
 739                         }
 740                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 741                         if (solid < 0 || e.second > yields[solid]) {
 742                                 solid = e.first;
 743                         }
 744                 }
 745         }
 746
 747         Genome genome;
 748         genome.properties.Strength() = { 2.0, 0.1 };
 749         genome.properties.Stamina() = { 2.0, 0.1 };
 750         genome.properties.Dexerty() = { 2.0, 0.1 };
 751         genome.properties.Intelligence() = { 1.0, 0.1 };
 752         genome.properties.Lifetime() = { 480.0, 60.0 };
 753         genome.properties.Fertility() = { 0.5, 0.03 };
 754         genome.properties.Mutability() = { 0.9, 0.1 };
 755         genome.properties.Adaptability() = { 0.9, 0.1 };
 756         genome.properties.OffspringMass() = { 0.3, 0.02 };
 757
 758         glm::dvec3 color_avg(0.0);
 759         double color_divisor = 0.0;
 760
 761         if (p.HasAtmosphere()) {
 762                 c.AddMass(p.Atmosphere(), 0.01);
 763                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 764                 color_divisor += 0.1;
 765         }
 766         if (liquid > -1) {
 767                 c.AddMass(liquid, 0.3);
 768                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 769                 color_divisor += 0.5;
 770         }
 771         if (solid > -1) {
 772                 c.AddMass(solid, 0.1);
 773                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 774                 color_divisor += 1.0;
 775         }
 776
 777         if (color_divisor > 0.001) {
 778                 color_avg /= color_divisor;
 779         }
 780         glm::dvec3 hsl = rgb2hsl(color_avg);
 781         genome.base_hue = { hsl.x, 0.01 };
 782         genome.base_saturation = { hsl.y, 0.01 };
 783         genome.base_lightness = { hsl.z, 0.01 };
 784         // use opposite color as start highlight
 785         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 786         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 787         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 788
 789         genome.Configure(c);
 790 }
 791
 792 void Genome::Configure(Creature &c) const {
 793         c.GetGenome() = *this;
 794
 795         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 796
 797         c.GetProperties() = Instantiate(properties, random);
 798
 799         // TODO: derive stats from properties
 800         c.GetStats().Damage().gain = (-1.0 / 100.0);
 801         c.GetStats().Breath().gain = (1.0 / 5.0);
 802         c.GetStats().Thirst().gain = (1.0 / 60.0);
 803         c.GetStats().Hunger().gain = (1.0 / 200.0);
 804         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 805         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 806         c.GetStats().Boredom().gain = (1.0 / 300.0);
 807
 808         glm::dvec3 base_color(
 809                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 810                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 811                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 812         );
 813         glm::dvec3 highlight_color(
 814                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 815                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 816                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 817         );
 818         c.BaseColor(hsl2rgb(base_color));
 819         c.HighlightColor(hsl2rgb(highlight_color));
 820         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 821         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 822 }
 823
 824
 825 void Split(Creature &c) {
 826         Creature *a = new Creature(c.GetSimulation());
 827         const Situation &s = c.GetSituation();
 828         a->AddParent(c);
 829         a->Name(c.GetSimulation().Assets().name.Sequential());
 830         c.GetGenome().Configure(*a);
 831         for (const auto &cmp : c.GetComposition()) {
 832                 a->AddMass(cmp.resource, cmp.value * 0.5);
 833         }
 834         s.GetPlanet().AddCreature(a);
 835         // TODO: duplicate situation somehow
 836         a->GetSituation().SetPlanetSurface(
 837                 s.GetPlanet(),
 838                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.86, PI * 0.5, s.SurfaceNormal()));
 839         a->BuildVAO();
 840         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 841
 842         Creature *b = new Creature(c.GetSimulation());
 843         b->AddParent(c);
 844         b->Name(c.GetSimulation().Assets().name.Sequential());
 845         c.GetGenome().Configure(*b);
 846         for (const auto &cmp : c.GetComposition()) {
 847                 b->AddMass(cmp.resource, cmp.value * 0.5);
 848         }
 849         s.GetPlanet().AddCreature(b);
 850         b->GetSituation().SetPlanetSurface(
 851                 s.GetPlanet(),
 852                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.86, PI * -0.5, s.SurfaceNormal()));
 853         b->BuildVAO();
 854         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 855
 856         c.Die();
 857 }
 858
 859
 860 Memory::Memory(Creature &c)
 861 : c(c) {
 862 }
 863
 864 Memory::~Memory() {
 865 }
 866
 867 void Memory::Erase() {
 868         known_types.clear();
 869         known_creatures.clear();
 870 }
 871
 872 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 873         double best_rating = -1.0;
 874         for (const auto &k : known_types) {
 875                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 876                 auto entry = t.FindBestResource(accept);
 877                 if (entry != t.resources.end()) {
 878                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 879                         if (rating > best_rating) {
 880                                 best_rating = rating;
 881                                 pos = k.second.first_loc.position;
 882                         }
 883                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 884                         if (rating > best_rating) {
 885                                 best_rating = rating;
 886                                 pos = k.second.last_loc.position;
 887                         }
 888                 }
 889         }
 890         if (best_rating > 0.0) {
 891                 glm::dvec3 error(
 892                         c.GetSimulation().Assets().random.SNorm(),
 893                         c.GetSimulation().Assets().random.SNorm(),
 894                         c.GetSimulation().Assets().random.SNorm());
 895                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 896                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 897                 return true;
 898         } else {
 899                 return false;
 900         }
 901 }
 902
 903 void Memory::TrackCollision(Creature &other) {
 904         // TODO: find out whose fault it was
 905         // TODO: source values from personality
 906         Profile &p = known_creatures[&other];
 907         p.annoyance += 0.1;
 908         const double annoy_fact = p.annoyance / (p.annoyance + 1.0);
 909         if (c.GetSimulation().Assets().random.UNorm() > annoy_fact * 0.1 * (1.0 - c.GetStats().Damage().value)) {
 910                 AttackGoal *g = new AttackGoal(c, other);
 911                 g->SetDamageTarget(annoy_fact);
 912                 g->Urgency(annoy_fact);
 913                 c.AddGoal(std::unique_ptr<Goal>(g));
 914                 p.annoyance *= 0.5;
 915         }
 916 }
 917
 918 void Memory::Tick(double dt) {
 919         Situation &s = c.GetSituation();
 920         if (s.OnSurface()) {
 921                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 922         }
 923         // TODO: forget
 924 }
 925
 926 void Memory::TrackStay(const Location &l, double t) {
 927         const world::TileType &type = l.planet->TileTypeAt(l.position);
 928         auto entry = known_types.find(type.id);
 929         if (entry != known_types.end()) {
 930                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 931                         // "it's been ages"
 932                         if (entry->second.time_spent > c.Age() * 0.25) {
 933                                 // the place is very familiar
 934                                 c.GetStats().Boredom().Add(-0.2);
 935                         } else {
 936                                 // infrequent stays
 937                                 c.GetStats().Boredom().Add(-0.1);
 938                         }
 939                 }
 940                 entry->second.last_been = c.GetSimulation().Time();
 941                 entry->second.last_loc = l;
 942                 entry->second.time_spent += t;
 943         } else {
 944                 known_types.emplace(type.id, Stay{
 945                         c.GetSimulation().Time(),
 946                         l,
 947                         c.GetSimulation().Time(),
 948                         l,
 949                         t
 950                 });
 951                 // completely new place, interesting
 952                 // TODO: scale by personality trait
 953                 c.GetStats().Boredom().Add(-0.25);
 954         }
 955 }
 956
 957
 958 NameGenerator::NameGenerator()
 959 : counter(0) {
 960 }
 961
 962 NameGenerator::~NameGenerator() {
 963 }
 964
 965 std::string NameGenerator::Sequential() {
 966         std::stringstream ss;
 967         ss << "Blob " << ++counter;
 968         return ss.str();
 969 }
 970
 971
 972 Situation::Situation()
 973 : planet(nullptr)
 974 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 975 , type(LOST) {
 976 }
 977
 978 Situation::~Situation() {
 979 }
 980
 981 bool Situation::OnPlanet() const noexcept {
 982         return type == PLANET_SURFACE;
 983 }
 984
 985 bool Situation::OnSurface() const noexcept {
 986         return type == PLANET_SURFACE;
 987 }
 988
 989 bool Situation::OnGround() const noexcept {
 990         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
 991 }
 992
 993 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 994         return planet->NormalAt(state.pos);
 995 }
 996
 997 world::Tile &Situation::GetTile() const noexcept {
 998         return planet->TileAt(state.pos);
 999 }
1000
1001 const world::TileType &Situation::GetTileType() const noexcept {
1002         return planet->TileTypeAt(state.pos);
1003 }
1004
1005 void Situation::Move(const glm::dvec3 &dp) noexcept {
1006         state.pos += dp;
1007         EnforceConstraints(state);
1008 }
1009
1010 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
1011         state.vel += dv;
1012         EnforceConstraints(state);
1013 }
1014
1015 void Situation::EnforceConstraints(State &s) const noexcept {
1016         if (OnSurface()) {
1017                 double r = GetPlanet().Radius();
1018                 if (glm::length2(s.pos) < r * r) {
1019                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
1020                         s.pos = normal * r;
1021                         s.vel -= normal * glm::dot(normal, s.vel);
1022                 }
1023         }
1024 }
1025
1026 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
1027         type = PLANET_SURFACE;
1028         planet = &p;
1029         state.pos = pos;
1030         EnforceConstraints(state);
1031 }
1032
1033
1034 Steering::Steering(const Creature &c)
1035 : c(c)
1036 , target(0.0)
1037 , haste(0.0)
1038 , max_force(1.0)
1039 , max_speed(1.0)
1040 , min_dist(0.0)
1041 , max_look(0.0)
1042 , separating(false)
1043 , halting(true)
1044 , seeking(false)
1045 , arriving(false) {
1046 }
1047
1048 Steering::~Steering() {
1049 }
1050
1051 void Steering::Off() noexcept {
1052         separating = false;
1053         halting = false;
1054         seeking = false;
1055         arriving = false;
1056 }
1057
1058 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1059         separating = true;
1060         min_dist = min_distance;
1061         max_look = max_lookaround;
1062 }
1063
1064 void Steering::DontSeparate() noexcept {
1065         separating = false;
1066 }
1067
1068 void Steering::ResumeSeparate() noexcept {
1069         separating = true;
1070 }
1071
1072 void Steering::Halt() noexcept {
1073         halting = true;
1074         seeking = false;
1075         arriving = false;
1076 }
1077
1078 void Steering::Pass(const glm::dvec3 &t) noexcept {
1079         target = t;
1080         halting = false;
1081         seeking = true;
1082         arriving = false;
1083 }
1084
1085 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1086         target = t;
1087         halting = false;
1088         seeking = false;
1089         arriving = true;
1090 }
1091
1092 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1093         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1094         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1095         glm::dvec3 result(0.0);
1096         if (separating) {
1097                 // TODO: off surface situation
1098                 glm::dvec3 repulse(0.0);
1099                 const Situation &s = c.GetSituation();
1100                 for (auto &other : s.GetPlanet().Creatures()) {
1101                         if (&*other == &c) continue;
1102                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1103                         if (glm::length2(diff) > max_look * max_look) continue;
1104                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1105                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1106                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1107                 }
1108                 result += repulse;
1109         }
1110         if (halting) {
1111                 // brake hard
1112                 result += -5.0 * s.vel * force;
1113         }
1114         if (seeking) {
1115                 glm::dvec3 diff = target - s.pos;
1116                 if (!allzero(diff)) {
1117                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1118                 }
1119         }
1120         if (arriving) {
1121                 glm::dvec3 diff = target - s.pos;
1122                 double dist = glm::length(diff);
1123                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1124                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1125                 }
1126         }
1127         // remove vertical component, if any
1128         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1129         result -= normal * glm::dot(normal, result);
1130         // clamp to max
1131         if (glm::length2(result) > max_force * max_force) {
1132                 result = glm::normalize(result) * max_force;
1133         }
1134         return result;
1135 }
1136
1137 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1138         return (vel - s.vel) * acc;
1139 }
1140
1141 }
1142 }