src/creature/creature.cpp

   1 #include "Creature.hpp"
   2 #include "Genome.hpp"
   3 #include "Memory.hpp"
   4 #include "NameGenerator.hpp"
   5 #include "Situation.hpp"
   6 #include "Steering.hpp"
   7
   8 #include "Goal.hpp"
   9 #include "IdleGoal.hpp"
  10 #include "InhaleNeed.hpp"
  11 #include "IngestNeed.hpp"
  12 #include "Need.hpp"
  13 #include "../app/Assets.hpp"
  14 #include "../world/Body.hpp"
  15 #include "../world/Planet.hpp"
  16 #include "../world/Simulation.hpp"
  17 #include "../world/TileType.hpp"
  18
  19 #include <algorithm>
  20 #include <sstream>
  21 #include <glm/gtx/transform.hpp>
  22
  23 #include <iostream>
  24 #include <glm/gtx/io.hpp>
  25
  26
  27 namespace blobs {
  28 namespace creature {
  29
  30 Creature::Creature(world::Simulation &sim)
  31 : sim(sim)
  32 , name()
  33 , genome()
  34 , properties()
  35 , cur_prop(0)
  36 , mass(1.0)
  37 , density(1.0)
  38 , size(1.0)
  39 , birth(sim.Time())
  40 , health(1.0)
  41 , on_death()
  42 , removable(false)
  43 , memory(*this)
  44 , needs()
  45 , goals()
  46 , situation()
  47 , steering()
  48 , vao() {
  49 }
  50
  51 Creature::~Creature() {
  52 }
  53
  54 void Creature::Grow(double amount) noexcept {
  55         Mass(std::min(properties.props[cur_prop].mass, mass + amount));
  56 }
  57
  58 void Creature::Hurt(double dt) noexcept {
  59         health = std::max(0.0, health - dt);
  60         if (health == 0.0) {
  61                 std::cout << "[" << int(sim.Time()) << "s] "
  62                 << name << " died" << std::endl;
  63                 Die();
  64         }
  65 }
  66
  67 void Creature::Die() noexcept {
  68         needs.clear();
  69         goals.clear();
  70         steering.Halt();
  71         if (on_death) {
  72                 on_death(*this);
  73         }
  74         Remove();
  75 }
  76
  77 double Creature::Size() const noexcept {
  78         return size;
  79 }
  80
  81 double Creature::Age() const noexcept {
  82         return sim.Time() - birth;
  83 }
  84
  85 double Creature::Fertility() const noexcept {
  86         // TODO: lerp based on age?
  87         return properties.props[cur_prop].fertility / 3600.0;
  88 }
  89
  90 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
  91         std::cout << "[" << int(sim.Time()) << "s] " << name << " new goal: " << g->Describe() << std::endl;
  92         g->Enable();
  93         goals.emplace_back(std::move(g));
  94 }
  95
  96 namespace {
  97
  98 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
  99         return b->Urgency() < a->Urgency();
 100 }
 101
 102 }
 103
 104 void Creature::Tick(double dt) {
 105         if (cur_prop < 5 && Age() > properties.props[cur_prop + 1].age) {
 106                 ++cur_prop;
 107                 if (cur_prop == 5) {
 108                         std::cout << "[" << int(sim.Time()) << "s] "
 109                                 << name << " died of old age" << std::endl;
 110                         Die();
 111                 }
 112         }
 113
 114         {
 115                 Situation::State state(situation.GetState());
 116                 Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 117                 Situation::Derivative b(Step(a, dt * 0.5));
 118                 Situation::Derivative c(Step(b, dt * 0.5));
 119                 Situation::Derivative d(Step(c, dt));
 120                 Situation::Derivative f(
 121                         (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 122                         (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 123                 );
 124                 state.pos += f.vel * dt;
 125                 state.vel += f.acc * dt;
 126                 situation.SetState(state);
 127         }
 128
 129         memory.Tick(dt);
 130         for (auto &need : needs) {
 131                 need->Tick(dt);
 132         }
 133         for (auto &goal : goals) {
 134                 goal->Tick(dt);
 135         }
 136         // do background stuff
 137         for (auto &need : needs) {
 138                 need->ApplyEffect(*this, dt);
 139         }
 140         if (goals.empty()) {
 141                 return;
 142         }
 143         // if active goal can be interrupted, check priorities
 144         if (goals.size() > 1 && goals[0]->Interruptible()) {
 145                 Goal *old_top = &*goals[0];
 146                 std::sort(goals.begin(), goals.end(), GoalCompare);
 147                 Goal *new_top = &*goals[0];
 148                 if (new_top != old_top) {
 149                         std::cout << "[" << int(sim.Time()) << "s] " << name
 150                                 << " changing goal from " << old_top->Describe()
 151                                 << " to " << new_top->Describe() << std::endl;
 152                 }
 153         }
 154         goals[0]->Action();
 155         for (auto goal = goals.begin(); goal != goals.end();) {
 156                 if ((*goal)->Complete()) {
 157                         std::cout << "[" << int(sim.Time()) << "s] " << name
 158                                 << " complete goal: " << (*goal)->Describe() << std::endl;
 159                         goals.erase(goal);
 160                 } else {
 161                         ++goal;
 162                 }
 163         }
 164 }
 165
 166 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 167         Situation::State s = situation.GetState();
 168         s.pos += ds.vel * dt;
 169         s.vel += ds.acc * dt;
 170         return { s.vel, steering.Acceleration(s) };
 171 }
 172
 173 glm::dmat4 Creature::LocalTransform() noexcept {
 174         // TODO: surface transform
 175         const double half_size = size * 0.5;
 176         const glm::dvec3 &pos = situation.Position();
 177         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 178                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 179 }
 180
 181 void Creature::BuildVAO() {
 182         vao.Bind();
 183         vao.BindAttributes();
 184         vao.EnableAttribute(0);
 185         vao.EnableAttribute(1);
 186         vao.EnableAttribute(2);
 187         vao.AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 188         vao.AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 189         vao.AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 190         vao.ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 191         {
 192                 auto attrib = vao.MapAttributes(GL_WRITE_ONLY);
 193                 const float offset = 1.0f;
 194                 for (int surface = 0; surface < 6; ++surface) {
 195                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 196                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 197
 198                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 199                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 200                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 201                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 202                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 203                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 204                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 205                         attrib[4 * surface + 0].texture.y = 1.0f;
 206                         attrib[4 * surface + 0].texture.z = surface;
 207
 208                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 209                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 210                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 211                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 212                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 213                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 214                         attrib[4 * surface + 1].texture.x = tex_u_end;
 215                         attrib[4 * surface + 1].texture.y = 1.0f;
 216                         attrib[4 * surface + 1].texture.z = surface;
 217
 218                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 219                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 220                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 221                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 222                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 223                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 224                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 225                         attrib[4 * surface + 2].texture.y = 0.0f;
 226                         attrib[4 * surface + 2].texture.z = surface;
 227
 228                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 229                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 230                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 231                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 232                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 233                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 234                         attrib[4 * surface + 3].texture.x = tex_u_end;
 235                         attrib[4 * surface + 3].texture.y = 0.0f;
 236                         attrib[4 * surface + 3].texture.z = surface;
 237                 }
 238         }
 239         vao.BindElements();
 240         vao.ReserveElements(6 * 6, GL_STATIC_DRAW);
 241         {
 242                 auto element = vao.MapElements(GL_WRITE_ONLY);
 243                 for (int surface = 0; surface < 3; ++surface) {
 244                         element[6 * surface + 0] = 4 * surface + 0;
 245                         element[6 * surface + 1] = 4 * surface + 2;
 246                         element[6 * surface + 2] = 4 * surface + 1;
 247                         element[6 * surface + 3] = 4 * surface + 1;
 248                         element[6 * surface + 4] = 4 * surface + 2;
 249                         element[6 * surface + 5] = 4 * surface + 3;
 250                 }
 251                 for (int surface = 3; surface < 6; ++surface) {
 252                         element[6 * surface + 0] = 4 * surface + 0;
 253                         element[6 * surface + 1] = 4 * surface + 1;
 254                         element[6 * surface + 2] = 4 * surface + 2;
 255                         element[6 * surface + 3] = 4 * surface + 2;
 256                         element[6 * surface + 4] = 4 * surface + 1;
 257                         element[6 * surface + 5] = 4 * surface + 3;
 258                 }
 259         }
 260         vao.Unbind();
 261 }
 262
 263 void Creature::Draw(graphics::Viewport &viewport) {
 264         vao.Bind();
 265         vao.DrawTriangles(6 * 6);
 266 }
 267
 268
 269 void Spawn(Creature &c, world::Planet &p) {
 270         p.AddCreature(&c);
 271         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 272
 273         // probe surrounding area for common resources
 274         int start = p.SideLength() / 2 - 2;
 275         int end = start + 5;
 276         std::map<int, double> yields;
 277         for (int y = start; y < end; ++y) {
 278                 for (int x = start; x < end; ++x) {
 279                         const world::TileType &t = p.TypeAt(0, x, y);
 280                         for (auto yield : t.resources) {
 281                                 yields[yield.resource] += yield.ubiquity;
 282                         }
 283                 }
 284         }
 285         int liquid = -1;
 286         int solid = -1;
 287         for (auto e : yields) {
 288                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 289                         if (liquid < 0 || e.second > yields[liquid]) {
 290                                 liquid = e.first;
 291                         }
 292                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 293                         if (solid < 0 || e.second > yields[solid]) {
 294                                 solid = e.first;
 295                         }
 296                 }
 297         }
 298
 299         Genome genome;
 300
 301         genome.properties.Birth().age = { 0.0, 0.0 };
 302         genome.properties.Birth().mass = { 0.5, 0.05 };
 303         genome.properties.Birth().fertility = { 0.0, 0.0 };
 304
 305         genome.properties.Child().age = { 30.0, 1.0 };
 306         genome.properties.Child().mass = { 0.7, 0.05 };
 307         genome.properties.Child().fertility = { 0.0, 0.0 };
 308
 309         genome.properties.Youth().age = { 60.0, 5.0 };
 310         genome.properties.Youth().mass = { 0.9, 0.1 };
 311         genome.properties.Youth().fertility = { 0.5, 0.03 };
 312
 313         genome.properties.Adult().age = { 120.0, 10.0 };
 314         genome.properties.Adult().mass = { 1.2, 0.1 };
 315         genome.properties.Adult().fertility = { 0.4, 0.01 };
 316
 317         genome.properties.Elder().age = { 360.0, 30.0 };
 318         genome.properties.Elder().mass = { 1.0, 0.05 };
 319         genome.properties.Elder().fertility = { 0.1, 0.01 };
 320
 321         genome.properties.Death().age = { 480.0, 60.0 };
 322         genome.properties.Death().mass = { 0.9, 0.05 };
 323         genome.properties.Death().fertility = { 0.0, 0.0 };
 324
 325         glm::dvec3 color_avg(0.0);
 326         double color_divisor = 0.0;
 327
 328         if (p.HasAtmosphere()) {
 329                 genome.composition.push_back({
 330                         p.Atmosphere(),    // resource
 331                         { 0.01, 0.00001 }, // mass
 332                         { 0.5,  0.001 },   // intake
 333                         { 0.1,  0.0005 },  // penalty
 334                         { 0.0,  0.0 },     // growth
 335                 });
 336                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color;
 337                 color_divisor += 0.1;
 338         }
 339         if (liquid > -1) {
 340                 genome.composition.push_back({
 341                         liquid,          // resource
 342                         { 0.6,  0.01 },  // mass
 343                         { 0.2,  0.001 }, // intake
 344                         { 0.01, 0.002 }, // penalty
 345                         { 0.1, 0.0 },   // growth
 346                 });
 347                 color_avg += c.GetSimulation().Resources()[liquid].base_color;
 348                 color_divisor += 0.5;
 349         }
 350         if (solid > -1) {
 351                 genome.composition.push_back({
 352                         solid,             // resource
 353                         { 0.4,   0.01 },   // mass
 354                         { 0.4,   0.001 },  // intake
 355                         { 0.001, 0.0001 }, // penalty
 356                         { 10.0,  0.002 },   // growth
 357                 });
 358                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 359                 color_divisor += 1.0;
 360         }
 361
 362         if (color_divisor > 0.001) {
 363                 color_avg /= color_divisor;
 364         }
 365         glm::dvec3 hsl = rgb2hsl(color_avg);
 366         genome.base_hue = { hsl.x, 0.01 };
 367         genome.base_saturation = { hsl.y, 0.01 };
 368         genome.base_lightness = { hsl.z, 0.01 };
 369
 370         genome.Configure(c);
 371 }
 372
 373 void Genome::Configure(Creature &c) const {
 374         c.GetGenome() = *this;
 375
 376         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 377
 378         c.GetProperties() = Instantiate(properties, random);
 379
 380         double mass = 0.0;
 381         double volume = 0.0;
 382         for (const auto &comp : composition) {
 383                 double comp_mass = comp.mass.FakeNormal(random.SNorm());
 384                 double intake = comp.intake.FakeNormal(random.SNorm());
 385                 double penalty = comp.penalty.FakeNormal(random.SNorm());
 386
 387                 mass += comp_mass;
 388                 volume += comp_mass / c.GetSimulation().Resources()[comp.resource].density;
 389
 390                 std::unique_ptr<Need> need;
 391                 if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::SOLID) {
 392                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 393                         need->gain = intake * 0.05;
 394                 } else if (c.GetSimulation().Resources()[comp.resource].state == world::Resource::LIQUID) {
 395                         need.reset(new IngestNeed(comp.resource, intake, penalty));
 396                         need->gain = intake * 0.1;
 397                 } else {
 398                         need.reset(new InhaleNeed(comp.resource, intake, penalty));
 399                         need->gain = intake * 0.5;
 400                 }
 401                 need->name = c.GetSimulation().Resources()[comp.resource].label;
 402                 need->growth = comp.growth.FakeNormal(random.SNorm());
 403                 need->inconvenient = 0.5;
 404                 need->critical = 0.95;
 405                 c.AddNeed(std::move(need));
 406         }
 407
 408         c.Mass(c.GetProperties().props[0].mass);
 409         c.Density(mass / volume);
 410         c.GetSteering().MaxAcceleration(1.4);
 411         c.GetSteering().MaxSpeed(4.4);
 412         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 413 }
 414
 415
 416 void Split(Creature &c) {
 417         Creature *a = new Creature(c.GetSimulation());
 418         const Situation &s = c.GetSituation();
 419         // TODO: generate names
 420         a->Name(c.GetSimulation().Assets().name.Sequential());
 421         // TODO: mutate
 422         c.GetGenome().Configure(*a);
 423         s.GetPlanet().AddCreature(a);
 424         // TODO: duplicate situation somehow
 425         a->GetSituation().SetPlanetSurface(
 426                 s.GetPlanet(), s.Surface(),
 427                 s.Position() + glm::dvec3(0.0, a->Size() * 0.51, 0.0));
 428         a->BuildVAO();
 429
 430         Creature *b = new Creature(c.GetSimulation());
 431         b->Name(c.GetSimulation().Assets().name.Sequential());
 432         c.GetGenome().Configure(*b);
 433         s.GetPlanet().AddCreature(b);
 434         b->GetSituation().SetPlanetSurface(
 435                 s.GetPlanet(), s.Surface(),
 436                 s.Position() + glm::dvec3(0.0, b->Size() * -0.51, 0.0));
 437         b->BuildVAO();
 438
 439         c.Die();
 440 }
 441
 442
 443 Memory::Memory(Creature &c)
 444 : c(c) {
 445 }
 446
 447 Memory::~Memory() {
 448 }
 449
 450 void Memory::Tick(double dt) {
 451         Situation &s = c.GetSituation();
 452         if (s.OnSurface()) {
 453                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 454         }
 455 }
 456
 457 void Memory::TrackStay(const Location &l, double t) {
 458         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 459         auto entry = known_types.find(type.id);
 460         if (entry != known_types.end()) {
 461                 entry->second.last_been = c.GetSimulation().Time();
 462                 entry->second.last_loc = l;
 463                 entry->second.time_spent += t;
 464         } else {
 465                 known_types.emplace(type.id, Stay{
 466                         c.GetSimulation().Time(),
 467                         l,
 468                         c.GetSimulation().Time(),
 469                         l,
 470                         t
 471                 });
 472         }
 473 }
 474
 475
 476 NameGenerator::NameGenerator()
 477 : counter(0) {
 478 }
 479
 480 NameGenerator::~NameGenerator() {
 481 }
 482
 483 std::string NameGenerator::Sequential() {
 484         std::stringstream ss;
 485         ss << "Blob " << ++counter;
 486         return ss.str();
 487 }
 488
 489
 490 Situation::Situation()
 491 : planet(nullptr)
 492 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 493 , surface(0)
 494 , type(LOST) {
 495 }
 496
 497 Situation::~Situation() {
 498 }
 499
 500 bool Situation::OnPlanet() const noexcept {
 501         return type == PLANET_SURFACE;
 502 }
 503
 504 bool Situation::OnSurface() const noexcept {
 505         return type == PLANET_SURFACE;
 506 }
 507
 508 bool Situation::OnTile() const noexcept {
 509         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 510         return type == PLANET_SURFACE
 511                 && t.x >= 0 && t.x < planet->SideLength()
 512                 && t.y >= 0 && t.y < planet->SideLength();
 513 }
 514
 515 glm::ivec2 Situation::SurfacePosition() const noexcept {
 516         return planet->SurfacePosition(surface, state.pos);
 517 }
 518
 519 world::Tile &Situation::GetTile() const noexcept {
 520         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 521         return planet->TileAt(surface, t.x, t.y);
 522 }
 523
 524 const world::TileType &Situation::GetTileType() const noexcept {
 525         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 526         return planet->TypeAt(surface, t.x, t.y);
 527 }
 528
 529 void Situation::Move(const glm::dvec3 &dp) noexcept {
 530         state.pos += dp;
 531         if (OnSurface()) {
 532                 // enforce ground constraint
 533                 if (Surface() < 3) {
 534                         state.pos[(Surface() + 2) % 3] = std::max(0.0, state.pos[(Surface() + 2) % 3]);
 535                 } else {
 536                         state.pos[(Surface() + 2) % 3] = std::min(0.0, state.pos[(Surface() + 2) % 3]);
 537                 }
 538         }
 539 }
 540
 541 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 542         type = PLANET_SURFACE;
 543         planet = &p;
 544         surface = srf;
 545         state.pos = pos;
 546 }
 547
 548
 549 Steering::Steering()
 550 : seek_target(0.0)
 551 , max_accel(1.0)
 552 , max_speed(1.0)
 553 , halting(false)
 554 , seeking(false) {
 555 }
 556
 557 Steering::~Steering() {
 558 }
 559
 560 void Steering::Halt() noexcept {
 561         halting = true;
 562         seeking = false;
 563 }
 564
 565 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 566         seek_target = t;
 567         halting = false;
 568         seeking = true;
 569 }
 570
 571 glm::dvec3 Steering::Acceleration(const Situation::State &s) const noexcept {
 572         glm::dvec3 acc(0.0);
 573         if (halting) {
 574                 SumForce(acc, s.vel * -max_accel);
 575         }
 576         if (seeking) {
 577                 glm::dvec3 diff = seek_target - s.pos;
 578                 if (!allzero(diff)) {
 579                         SumForce(acc, ((normalize(diff) * max_speed) - s.vel) * max_accel);
 580                 }
 581         }
 582         return acc;
 583 }
 584
 585 bool Steering::SumForce(glm::dvec3 &out, const glm::dvec3 &in) const noexcept {
 586         if (allzero(in) || anynan(in)) {
 587                 return false;
 588         }
 589         double cur = allzero(out) ? 0.0 : length(out);
 590         double rem = max_accel - cur;
 591         if (rem < 0.0) {
 592                 return true;
 593         }
 594         double add = length(in);
 595         if (add > rem) {
 596                 // this method is off if in and out are in different
 597                 // directions, but gives okayish results
 598                 out += in * (1.0 / add);
 599                 return true;
 600         } else {
 601                 out += in;
 602                 return false;
 603         }
 604 }
 605
 606 }
 607 }