src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Situation.hpp"
   4 #include "Steering.hpp"
   5
   6 #include "Goal.hpp"
   7 #include "IdleGoal.hpp"
   8 #include "InhaleNeed.hpp"
   9 #include "IngestNeed.hpp"
  10 #include "Need.hpp"
  11 #include "../app/Assets.hpp"
  12 #include "../world/Body.hpp"
  13 #include "../world/Planet.hpp"
  14 #include "../world/Simulation.hpp"
  15 #include "../world/TileType.hpp"
  16
  17 #include <algorithm>
  18 #include <glm/gtx/transform.hpp>
  19
  20 #include <iostream>
  21 #include <glm/gtx/io.hpp>
  22
  23
  24 namespace blobs {
  25 namespace creature {
  26
  27 Creature::Creature(world::Simulation &sim)
  28 : sim(sim)
  29 , name()
  30 , genome()
  31 , mass(1.0)
  32 , density(1.0)
  33 , size(1.0)
  34 , birth(sim.Time())
  35 , health(1.0)
  36 , on_death()
  37 , removable(false)
  38 , needs()
  39 , goals()
  40 , situation()
  41 , steering()
  42 , vel(0.0)
  43 , vao() {
  44 }
  45
  46 Creature::~Creature() {
  47 }
  48
  49 void Creature::Grow(double amount) noexcept {
  50         Mass(std::min(properties.max_mass, mass + amount));
  51 }
  52
  53 void Creature::Hurt(double dt) noexcept {
  54         health = std::max(0.0, health - dt);
  55         if (health == 0.0) {
  56                 Die();
  57         }
  58 }
  59
  60 void Creature::Die() noexcept {
  61         needs.clear();
  62         goals.clear();
  63         steering.Halt();
  64         if (on_death) {
  65                 on_death(*this);
  66         }
  67         Remove();
  68 }
  69
  70 double Creature::Size() const noexcept {
  71         return size;
  72 }
  73
  74 double Creature::Age() const noexcept {
  75         return sim.Time() - birth;
  76 }
  77
  78 double Creature::Fertility() const noexcept {
  79         double age = Age();
  80         if (mass < properties.fertile_mass
  81                 || age < properties.fertile_age
  82                 || age > properties.infertile_age) {
  83                 return 0.0;
  84         }
  85         return properties.fertility / 3600.0;
  86 }
  87
  88 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
  89         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
  90         g->Enable();
  91         goals.emplace_back(std::move(g));
  92 }
  93
  94 namespace {
  95
  96 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
  97         return b->Urgency() < a->Urgency();
  98 }
  99
 100 }
 101
 102 void Creature::Tick(double dt) {
 103         // TODO: better integration method
 104         glm::dvec3 acc(steering.Acceleration(*this));
 105         situation.Move(vel * dt);
 106         vel += acc * dt;
 107
 108         for (auto &need : needs) {
 109                 need->Tick(dt);
 110         }
 111         for (auto &goal : goals) {
 112                 goal->Tick(dt);
 113         }
 114         // do background stuff
 115         for (auto &need : needs) {
 116                 need->ApplyEffect(*this, dt);
 117         }
 118         if (goals.empty()) {
 119                 return;
 120         }
 121         // if active goal can be interrupted, check priorities
 122         if (goals.size() > 1 && goals[0]->Interruptible()) {
 123                 Goal *old_top = &*goals[0];
 124                 std::sort(goals.begin(), goals.end(), GoalCompare);
 125                 Goal *new_top = &*goals[0];
 126                 if (new_top != old_top) {
 127                         std::cout << "[" << int(sim.Time()) << "s] " << name
 128                                 << " changing goal from " << old_top->Describe()
 129                                 << " to " << new_top->Describe() << std::endl;
 130                 }
 131         }
 132         goals[0]->Action();
 133         for (auto goal = goals.begin(); goal != goals.end();) {
 134                 if ((*goal)->Complete()) {
 135                         std::cout << "[" << int(sim.Time()) << "s] " << name
 136                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 137                         goals.erase(goal);
 138                 } else {
 139                         ++goal;
 140                 }
 141         }
 142 }
 143
 144 glm::dmat4 Creature::LocalTransform() noexcept {
 145         // TODO: surface transform
 146         const double half_size = size * 0.5;
 147         const glm::dvec3 &pos = situation.Position();
 148         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 149                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 150 }
 151
 152 void Creature::BuildVAO() {
 153         vao.Bind();
 154         vao.BindAttributes();
 155         vao.EnableAttribute(0);
 156         vao.EnableAttribute(1);
 157         vao.EnableAttribute(2);
 158         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 159         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 160         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 161         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 162         {
 163                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 164                 const float offset = 1.0f;
 165                 for (int surface = 0; surface < 6; ++surface) {
 166                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 167                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 168
 169                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 170                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 171                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 172                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 173                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 174                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 175                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 176                         attrib[4 * surface + 0].texture.y = 1.0f;
 177                         attrib[4 * surface + 0].texture.z = surface;
 178
 179                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 180                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 181                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 182                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 183                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 184                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 185                         attrib[4 * surface + 1].texture.x = tex_u_end;
 186                         attrib[4 * surface + 1].texture.y = 1.0f;
 187                         attrib[4 * surface + 1].texture.z = surface;
 188
 189                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 190                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 191                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 192                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 193                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 194                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 195                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 196                         attrib[4 * surface + 2].texture.y = 0.0f;
 197                         attrib[4 * surface + 2].texture.z = surface;
 198
 199                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 200                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 201                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 202                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 203                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 204                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 205                         attrib[4 * surface + 3].texture.x = tex_u_end;
 206                         attrib[4 * surface + 3].texture.y = 0.0f;
 207                         attrib[4 * surface + 3].texture.z = surface;
 208                 }
 209         }
 210         vao.BindElements();
 211         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 212         {
 213                 auto element = vao.MapElements(GL_WRITE_ONLY);
 214                 for (int surface = 0; surface < 3; ++surface) {
 215                         element[6 * surface + 0] = 4 * surface + 0;
 216                         element[6 * surface + 1] = 4 * surface + 2;
 217                         element[6 * surface + 2] = 4 * surface + 1;
 218                         element[6 * surface + 3] = 4 * surface + 1;
 219                         element[6 * surface + 4] = 4 * surface + 2;
 220                         element[6 * surface + 5] = 4 * surface + 3;
 221                 }
 222                 for (int surface = 3; surface < 6; ++surface) {
 223                         element[6 * surface + 0] = 4 * surface + 0;
 224                         element[6 * surface + 1] = 4 * surface + 1;
 225                         element[6 * surface + 2] = 4 * surface + 2;
 226                         element[6 * surface + 3] = 4 * surface + 2;
 227                         element[6 * surface + 4] = 4 * surface + 1;
 228                         element[6 * surface + 5] = 4 * surface + 3;
 229                 }
 230         }
 231         vao.Unbind();
 232 }
 233
 234 void Creature::Draw(graphics::Viewport &viewport) {
 235         vao.Bind();
 236         vao.DrawTriangles(6 * 6);
 237 }
 238
 239
 240 void Spawn(Creature &c, world::Planet &p) {
 241         p.AddCreature(&c);
 242         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 243
 244         // probe surrounding area for common resources
 245         int start = p.SideLength() / 2 - 2;
 246         int end = start + 5;
 247         std::map<int, double> yields;
 248         for (int y = start; y < end; ++y) {
 249                 for (int x = start; x < end; ++x) {
 250                         const world::TileType &t = p.TypeAt(0, x, y);
 251                         for (auto yield : t.resources) {
 252                                 yields[yield.resource] += yield.ubiquity;
 253                         }
 254                 }
 255         }
 256         int liquid = -1;
 257         int solid = -1;
 258         for (auto e : yields) {
 259                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 260                         if (liquid < 0 || e.second > yields[liquid]) {
 261                                 liquid = e.first;
 262                         }
 263                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 264                         if (solid < 0 || e.second > yields[solid]) {
 265                                 solid = e.first;
 266                         }
 267                 }
 268         }
 269
 270         Genome genome;
 271         genome.properties.birth_mass = { 0.5, 0.1 };
 272         genome.properties.fertile_mass = { 1.0, 0.1 };
 273         genome.properties.max_mass = { 1.2, 0.1 };
 274         genome.properties.fertile_age = { 60.0, 5.0 };
 275         genome.properties.infertile_age = { 700.0, 30.0 };
 276         genome.properties.death_age = { 900.0, 90.0 };
 277         genome.properties.fertility = { 0.5, 0.01 };
 278
 279         if (p.HasAtmosphere()) {
 280                 genome.composition.push_back({
 281                         p.Atmosphere(),    // resource
 282                         { 0.01, 0.00001 }, // mass
 283                         { 0.5,  0.001 },   // intake
 284                         { 0.1,  0.0005 },  // penalty
 285                         { 0.0,  0.0 },     // growth
 286                 });
 287         }
 288         if (liquid > -1) {
 289                 genome.composition.push_back({
 290                         liquid,          // resource
 291                         { 0.6,  0.01 },  // mass
 292                         { 0.2,  0.001 }, // intake
 293                         { 0.01, 0.002 }, // penalty
 294                         { 0.1, 0.0 },   // growth
 295                 });
 296         }
 297         if (solid > -1) {
 298                 genome.composition.push_back({
 299                         solid,             // resource
 300                         { 0.4,   0.01 },   // mass
 301                         //{ 0.1,   0.001 },  // intake
 302                         { 0.4,   0.001 },  // intake
 303                         { 0.001, 0.0001 }, // penalty
 304                         { 10.0,  0.002 },   // growth
 305                 });
 306         }
 307
 308         genome.Configure(c);
 309 }
 310
 311 void Genome::Configure(Creature &c) const {
 312         c.GetGenome() = *this;
 313
 314         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 315
 316         c.GetProperties().birth_mass = properties.birth_mass.FakeNormal(random.SNorm());
 317         c.GetProperties().fertile_mass = properties.fertile_mass.FakeNormal(random.SNorm());
 318         c.GetProperties().max_mass = properties.max_mass.FakeNormal(random.SNorm());
 319         c.GetProperties().fertile_age = properties.fertile_age.FakeNormal(random.SNorm());
 320         c.GetProperties().infertile_age = properties.infertile_age.FakeNormal(random.SNorm());
 321         c.GetProperties().death_age = properties.death_age.FakeNormal(random.SNorm());
 322         c.GetProperties().fertility = properties.fertility.FakeNormal(random.SNorm());
 323
 324         double mass = 0.0;
 325         double volume = 0.0;
 326         for (const auto &comp : composition) {
 327                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 328                 double intake = comp.intake.FakeNormal(random.SNorm());
 329                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 330
 331                 mass += comp_mass;
 332                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 333
 334                 std::unique_ptr<Need> need;
 335                 if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) {
 336                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 337                         need->gain = intake * 0.05;
 338                 } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) {
 339                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 340                         need->gain = intake * 0.1;
 341                 } else {
 342                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 343                         need->gain = intake * 0.5;
 344                 }
 345                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 346                 need->growth = comp.growth.FakeNormal(random.SNorm());
 347                 need->inconvenient = 0.5;
 348                 need->critical = 0.95;
 349                 c.AddNeed(std::move(need));
 350         }
 351
 352         c.Mass(c.GetProperties().birth_mass);
 353         c.Density(mass / volume);
 354         c.GetSteering().MaxAcceleration(1.4);
 355         c.GetSteering().MaxSpeed(4.4);
 356         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 357 }
 358
 359
 360 void Split(Creature &c) {
 361         Creature *a = new Creature(c.GetSimulation());
 362         const Situation &s = c.GetSituation();
 363         // TODO: generate names
 364         a->Name("Blobby");
 365         // TODO: mutate
 366         c.GetGenome().Configure(*a);
 367         s.GetPlanet().AddCreature(a);
 368         // TODO: duplicate situation somehow
 369         a->GetSituation().SetPlanetSurface(
 370                 s.GetPlanet(), s.Surface(),
 371                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 372         a->BuildVAO();
 373
 374         Creature *b = new Creature(c.GetSimulation());
 375         b->Name("Sir Blobalot");
 376         c.GetGenome().Configure(*b);
 377         s.GetPlanet().AddCreature(b);
 378         b->GetSituation().SetPlanetSurface(
 379                 s.GetPlanet(), s.Surface(),
 380                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 381         b->BuildVAO();
 382
 383         c.Die();
 384 }
 385
 386
 387 Situation::Situation()
 388 : planet(nullptr)
 389 , position(0.0)
 390 , surface(0)
 391 , type(LOST) {
 392 }
 393
 394 Situation::~Situation() {
 395 }
 396
 397 bool Situation::OnPlanet() const noexcept {
 398         return type == PLANET_SURFACE;
 399 }
 400
 401 bool Situation::OnSurface() const noexcept {
 402         return type == PLANET_SURFACE;
 403 }
 404
 405 world::Tile &Situation::GetTile() const noexcept {
 406         double side_length = planet->SideLength();
 407         double offset = side_length * 0.5;
 408         double x = std::max(0.0, std::min(side_length, position.x + offset));
 409         double y = std::max(0.0, std::min(side_length, position.y + offset));
 410         return planet->TileAt(surface, int(x), int(y));
 411 }
 412
 413 const world::TileType &Situation::GetTileType() const noexcept {
 414         return planet->GetSimulation().TileTypes()[GetTile().type];
 415 }
 416
 417 void Situation::Move(const glm::dvec3 &dp) noexcept {
 418         position += dp;
 419         if (OnSurface()) {
 420                 // enforce ground constraint
 421                 if (Surface() < 3) {
 422                         position[(Surface() + 2) % 3] = std::max(0.0, position[(Surface() + 2) % 3]);
 423                 } else {
 424                         position[(Surface() + 2) % 3] = std::min(0.0, position[(Surface() + 2) % 3]);
 425                 }
 426         }
 427 }
 428
 429 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 430         type = PLANET_SURFACE;
 431         planet = &p;
 432         surface = srf;
 433         position = pos;
 434 }
 435
 436
 437 Steering::Steering()
 438 : seek_target(0.0)
 439 , max_accel(1.0)
 440 , max_speed(1.0)
 441 , halting(false)
 442 , seeking(false) {
 443 }
 444
 445 Steering::~Steering() {
 446 }
 447
 448 void Steering::Halt() noexcept {
 449         halting = true;
 450         seeking = false;
 451 }
 452
 453 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 454         seek_target = t;
 455         halting = false;
 456         seeking = true;
 457 }
 458
 459 glm::dvec3 Steering::Acceleration(Creature &c) const noexcept {
 460         glm::dvec3 acc(0.0);
 461         if (halting) {
 462                 SumForce(acc, c.Velocity() * -max_accel);
 463         }
 464         if (seeking) {
 465                 glm::dvec3 diff = seek_target - c.GetSituation().Position();
 466                 if (!allzero(diff)) {
 467                         SumForce(acc, ((normalize(diff) * max_speed) - c.Velocity()) * max_accel);
 468                 }
 469         }
 470         return acc;
 471 }
 472
 473 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 474         if (allzero(in) || anynan(in)) {
 475                 return false;
 476         }
 477         double cur = allzero(out) ? 0.0 : length(out);
 478         double rem = max_accel - cur;
 479         if (rem < 0.0) {
 480                 return true;
 481         }
 482         double add = length(in);
 483         if (add > rem) {
 484                 // this method is off if in and out are in different
 485                 // directions, but gives okayish results
 486                 out += in * (1.0 / add);
 487                 return true;
 488         } else {
 489                 out += in;
 490                 return false;
 491         }
 492 }
 493
 494 }
 495 }