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()
  33 : components()
  34 , total_mass(0.0) {
  35 }
  36
  37 Composition::~Composition() {
  38 }
  39
  40 namespace {
  41 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  42         return b.value < a.value;
  43 }
  44 }
  45
  46 void Composition::Add(int res, double amount) {
  47         bool found = false;
  48         for (auto c = components.begin(); c != components.end(); ++c) {
  49                 if (c->resource == res) {
  50                         c->value += amount;
  51                         if (c->value <= 0.0) {
  52                                 components.erase(c);
  53                         }
  54                         found = true;
  55                         break;
  56                 }
  57         }
  58         if (!found && amount > 0.0) {
  59                 components.emplace_back(res, amount);
  60         }
  61         std::sort(components.begin(), components.end(), CompositionCompare);
  62         total_mass += amount;
  63 }
  64
  65 bool Composition::Has(int res) const noexcept {
  66         for (auto &c : components) {
  67                 if (c.resource == res) {
  68                         return true;
  69                 }
  70         }
  71         return false;
  72 }
  73
  74 double Composition::Get(int res) const noexcept {
  75         for (auto &c : components) {
  76                 if (c.resource == res) {
  77                         return c.value;
  78                 }
  79         }
  80         return 0.0;
  81 }
  82
  83
  84 Creature::Creature(world::Simulation &sim)
  85 : sim(sim)
  86 , name()
  87 , genome()
  88 , properties()
  89 , composition()
  90 , base_color(1.0)
  91 , highlight_color(0.0, 0.0, 0.0, 1.0)
  92 , mass(1.0)
  93 , size(1.0)
  94 , birth(sim.Time())
  95 , death(-1.0)
  96 , on_death()
  97 , removable(false)
  98 , parents()
  99 , stats()
 100 , memory(*this)
 101 , bg_task()
 102 , goals()
 103 , situation()
 104 , steering(*this)
 105 , vao() {
 106         sim.SetAlive(this);
 107         // all creatures avoid each other for now
 108         steering.Separate(0.1, 1.5);
 109 }
 110
 111 Creature::~Creature() {
 112 }
 113
 114 void Creature::AddMass(int res, double amount) {
 115         composition.Add(res, amount);
 116         double nonsolid = 0.0;
 117         double volume = 0.0;
 118         for (const auto &c : composition) {
 119                 volume += c.value / sim.Assets().data.resources[c.resource].density;
 120                 if (sim.Assets().data.resources[c.resource].state != world::Resource::SOLID) {
 121                         nonsolid += c.value;
 122                 }
 123         }
 124         Mass(composition.TotalMass());
 125         Size(std::cbrt(volume));
 126         highlight_color.a = nonsolid / composition.TotalMass();
 127 }
 128
 129 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 130         highlight_color = glm::dvec4(c, highlight_color.a);
 131 }
 132
 133 void Creature::Ingest(int res, double amount) noexcept {
 134         // TODO: check foreign materials
 135         if (sim.Resources()[res].state == world::Resource::SOLID) {
 136                 // 15% of solids stays in body
 137                 AddMass(res, amount * 0.15);
 138         } else {
 139                 // 10% of fluids stays in body
 140                 AddMass(res, amount * 0.05);
 141         }
 142         math::GaloisLFSR &random = sim.Assets().random;
 143         if (random.UNorm() < AdaptChance()) {
 144                 // change color to be slightly more like resource
 145                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 146                 // solids affect base color, others highlight
 147                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 148                 double q = random.UInt(3); // hue, sat, or val
 149                 double r = random.UInt(2); // mean or deviation
 150                 math::Distribution *d = nullptr;
 151                 double ref = 0.0;
 152                 if (p == 0) {
 153                         if (q == 0) {
 154                                 d = &genome.base_hue;
 155                                 ref = color.x;
 156                         } else if (q == 1) {
 157                                 d = &genome.base_saturation;
 158                                 ref = color.y;
 159                         } else {
 160                                 d = &genome.base_lightness;
 161                                 ref = color.z;
 162                         }
 163                 } else {
 164                         if (q == 0) {
 165                                 d = &genome.highlight_hue;
 166                                 ref = color.x;
 167                         } else if (q == 1) {
 168                                 d = &genome.highlight_saturation;
 169                                 ref = color.y;
 170                         } else {
 171                                 d = &genome.highlight_lightness;
 172                                 ref = color.z;
 173                         }
 174                 }
 175                 if (r == 0) {
 176                         double diff = ref - d->Mean();
 177                         if (q == 0) {
 178                                 if (diff < -0.5) {
 179                                         diff += 1.0;
 180                                 } else if (diff > 0.5) {
 181                                         diff -= 1.0;
 182                                 }
 183                                 // move ±15% of distance
 184                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 185                         } else {
 186                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 187                         }
 188                 } else {
 189                         // scale by ±15%, enforce bounds
 190                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 191                 }
 192         }
 193 }
 194
 195 void Creature::DoWork(double amount) noexcept {
 196         stats.Exhaustion().Add(amount / Stamina());
 197         // burn resources proportional to composition
 198         // factor = 1/total * 1/efficiency * amount * -1
 199         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 200         // make a copy to total remains constant and
 201         // no entries disappear during iteration
 202         Composition comp(composition);
 203         for (auto &cmp : comp) {
 204                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 205                 AddMass(cmp.resource, value);
 206         }
 207 }
 208
 209 void Creature::Hurt(double amount) noexcept {
 210         stats.Damage().Add(amount);
 211         if (stats.Damage().Full()) {
 212                 std::cout << "[" << ui::TimeString(sim.Time()) << "] " << name << " ";
 213                 if (stats.Exhaustion().Full()) {
 214                         std::cout << "died of exhaustion";
 215                 } else if (stats.Breath().Full()) {
 216                         std::cout << "suffocated";
 217                 } else if (stats.Thirst().Full()) {
 218                         std::cout << "died of thirst";
 219                 } else if (stats.Hunger().Full()) {
 220                         std::cout << "starved to death";
 221                 } else {
 222                         std::cout << "succumed to wounds";
 223                 }
 224                 std::cout << " at an age of " << ui::TimeString(Age())
 225                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 226                         << "% of life expectancy of " << ui::TimeString(properties.Lifetime())
 227                         << ")" << std::endl;
 228                 Die();
 229         }
 230 }
 231
 232 void Creature::Die() noexcept {
 233         if (Dead()) return;
 234
 235         sim.SetDead(this);
 236         death = sim.Time();
 237         steering.Off();
 238         if (on_death) {
 239                 on_death(*this);
 240         }
 241         Remove();
 242 }
 243
 244 bool Creature::Dead() const noexcept {
 245         return death > birth;
 246 }
 247
 248 void Creature::Remove() noexcept {
 249         removable = true;
 250 }
 251
 252 void Creature::Removed() noexcept {
 253         bg_task.reset();
 254         goals.clear();
 255         memory.Erase();
 256         KillVAO();
 257 }
 258
 259 void Creature::AddParent(Creature &p) {
 260         parents.push_back(&p);
 261 }
 262
 263 double Creature::Age() const noexcept {
 264         return sim.Time() - birth;
 265 }
 266
 267 double Creature::AgeFactor(double peak) const noexcept {
 268         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 269         // goes negative below -0.5 and starts to rise again above 1.0
 270         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 271         // guarantee at least 1%
 272         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 273 }
 274
 275 double Creature::EnergyEfficiency() const noexcept {
 276         return 0.25 * AgeFactor(0.05);
 277 }
 278
 279 double Creature::ExhaustionFactor() const noexcept {
 280         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 281 }
 282
 283 double Creature::FatigueFactor() const noexcept {
 284         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 285 }
 286
 287 double Creature::Strength() const noexcept {
 288         // TODO: replace all age factors with actual growth and decay
 289         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 290 }
 291
 292 double Creature::Stamina() const noexcept {
 293         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 294 }
 295
 296 double Creature::Dexerty() const noexcept {
 297         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 298 }
 299
 300 double Creature::Intelligence() const noexcept {
 301         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 302 }
 303
 304 double Creature::Lifetime() const noexcept {
 305         return properties.Lifetime();
 306 }
 307
 308 double Creature::Fertility() const noexcept {
 309         return properties.Fertility() * AgeFactor(0.25);
 310 }
 311
 312 double Creature::Mutability() const noexcept {
 313         return properties.Mutability();
 314 }
 315
 316 double Creature::Adaptability() const noexcept {
 317         return properties.Adaptability();
 318 }
 319
 320 double Creature::OffspringMass() const noexcept {
 321         return properties.OffspringMass();
 322 }
 323
 324 double Creature::OffspringChance() const noexcept {
 325         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 326 }
 327
 328 double Creature::MutateChance() const noexcept {
 329         return GetProperties().Mutability() * (1.0 / 3600.0);
 330 }
 331
 332 double Creature::AdaptChance() const noexcept {
 333         return GetProperties().Adaptability() * (1.0 / 120.0);
 334 }
 335
 336 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 337         g->Enable();
 338         goals.emplace_back(std::move(g));
 339 }
 340
 341 namespace {
 342
 343 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 344         return b->Urgency() < a->Urgency();
 345 }
 346
 347 }
 348
 349 void Creature::Tick(double dt) {
 350         TickState(dt);
 351         TickStats(dt);
 352         TickBrain(dt);
 353 }
 354
 355 void Creature::TickState(double dt) {
 356         steering.MaxSpeed(Dexerty());
 357         steering.MaxForce(Strength());
 358         Situation::State state(situation.GetState());
 359         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 360         Situation::Derivative b(Step(a, dt * 0.5));
 361         Situation::Derivative c(Step(b, dt * 0.5));
 362         Situation::Derivative d(Step(c, dt));
 363         Situation::Derivative f(
 364                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 365                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 366         );
 367         state.pos += f.vel * dt;
 368         state.vel += f.acc * dt;
 369         situation.EnforceConstraints(state);
 370         if (length2(state.vel) > 0.000001) {
 371                 glm::dvec3 nvel(normalize(state.vel));
 372                 double ang = angle(nvel, state.dir);
 373                 double turn_rate = PI * 0.75 * dt;
 374                 if (ang < turn_rate) {
 375                         state.dir = normalize(state.vel);
 376                 } else if (std::abs(ang - PI) < 0.001) {
 377                         state.dir = rotate(state.dir, turn_rate, world::Planet::SurfaceNormal(situation.Surface()));
 378                 } else {
 379                         state.dir = rotate(state.dir, turn_rate, normalize(cross(state.dir, nvel)));
 380                 }
 381         }
 382         situation.SetState(state);
 383         // work is force times distance
 384         DoWork(length(f.acc) * Mass() * length(f.vel) * dt);
 385 }
 386
 387 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 388         Situation::State s = situation.GetState();
 389         s.pos += ds.vel * dt;
 390         s.vel += ds.acc * dt;
 391         glm::dvec3 force(steering.Force(s));
 392         // gravity = antinormal * mass * Gm / r²
 393         double elevation = s.pos[(situation.Surface() + 2) % 3];
 394         glm::dvec3 normal(world::Planet::SurfaceNormal(situation.Surface()));
 395         force += glm::dvec3(
 396                 -normal
 397                 * Mass() * situation.GetPlanet().GravitationalParameter()
 398                 / (elevation * elevation));
 399         // if net force is applied and in contact with surface
 400         if (!allzero(force) && std::abs(std::abs(elevation) - situation.GetPlanet().Radius()) < 0.001) {
 401                 // apply friction = -|normal force| * tangential force * coefficient
 402                 glm::dvec3 fn(normal * dot(force, normal));
 403                 glm::dvec3 ft(force - fn);
 404                 double u = 0.4;
 405                 glm::dvec3 friction(-length(fn) * ft * u);
 406                 force += friction;
 407         }
 408         return {
 409                 s.vel,
 410                 force / Mass()
 411         };
 412 }
 413
 414 void Creature::TickStats(double dt) {
 415         for (auto &s : stats.stat) {
 416                 s.Add(s.gain * dt);
 417         }
 418         stats.Breath().Add(stats.Breath().gain * stats.Exhaustion().value * dt);
 419         // TODO: damage values depending on properties
 420         if (stats.Breath().Full()) {
 421                 constexpr double dps = 1.0 / 4.0;
 422                 Hurt(dps * dt);
 423         }
 424         if (stats.Thirst().Full()) {
 425                 constexpr double dps = 1.0 / 32.0;
 426                 Hurt(dps * dt);
 427         }
 428         if (stats.Hunger().Full()) {
 429                 constexpr double dps = 1.0 / 128.0;
 430                 Hurt(dps * dt);
 431         }
 432         if (!situation.Moving()) {
 433                 // double exhaustion recovery when standing still
 434                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 435         }
 436 }
 437
 438 void Creature::TickBrain(double dt) {
 439         bg_task->Tick(dt);
 440         bg_task->Action();
 441         memory.Tick(dt);
 442         // do background stuff
 443         if (goals.empty()) {
 444                 return;
 445         }
 446         for (auto &goal : goals) {
 447                 goal->Tick(dt);
 448         }
 449         // if active goal can be interrupted, check priorities
 450         if (goals.size() > 1 && goals[0]->Interruptible()) {
 451                 std::sort(goals.begin(), goals.end(), GoalCompare);
 452         }
 453         goals[0]->Action();
 454         for (auto goal = goals.begin(); goal != goals.end();) {
 455                 if ((*goal)->Complete()) {
 456                         goals.erase(goal);
 457                 } else {
 458                         ++goal;
 459                 }
 460         }
 461 }
 462
 463 math::AABB Creature::CollisionBox() const noexcept {
 464         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 465 }
 466
 467 glm::dmat4 Creature::CollisionTransform() const noexcept {
 468         const double half_size = size * 0.5;
 469         const glm::dvec3 &pos = situation.Position();
 470         const glm::dmat3 srf(world::Planet::SurfaceOrientation(situation.Surface()));
 471         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z + half_size))
 472                 * glm::rotate(glm::orientedAngle(-srf[2], situation.Heading(), srf[1]), srf[1])
 473                 * glm::dmat4(srf);
 474 }
 475
 476 glm::dmat4 Creature::LocalTransform() noexcept {
 477         const double half_size = size * 0.5;
 478         return CollisionTransform()
 479                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 480 }
 481
 482 void Creature::BuildVAO() {
 483         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 484         vao->Bind();
 485         vao->BindAttributes();
 486         vao->EnableAttribute(0);
 487         vao->EnableAttribute(1);
 488         vao->EnableAttribute(2);
 489         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 490         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 491         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 492         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 493         {
 494                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 495                 const float offset = 1.0f;
 496                 for (int surface = 0; surface < 6; ++surface) {
 497                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 498                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 499
 500                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 501                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 502                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 503                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 504                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 505                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 506                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 507                         attrib[4 * surface + 0].texture.y = 1.0f;
 508                         attrib[4 * surface + 0].texture.z = surface;
 509
 510                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 511                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 512                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 513                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 514                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 515                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 516                         attrib[4 * surface + 1].texture.x = tex_u_end;
 517                         attrib[4 * surface + 1].texture.y = 1.0f;
 518                         attrib[4 * surface + 1].texture.z = surface;
 519
 520                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 521                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 522                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 523                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 524                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 525                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 526                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 527                         attrib[4 * surface + 2].texture.y = 0.0f;
 528                         attrib[4 * surface + 2].texture.z = surface;
 529
 530                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 531                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 532                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 533                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 534                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 535                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 536                         attrib[4 * surface + 3].texture.x = tex_u_end;
 537                         attrib[4 * surface + 3].texture.y = 0.0f;
 538                         attrib[4 * surface + 3].texture.z = surface;
 539                 }
 540         }
 541         vao->BindElements();
 542         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 543         {
 544                 auto element = vao->MapElements(GL_WRITE_ONLY);
 545                 for (int surface = 0; surface < 3; ++surface) {
 546                         element[6 * surface + 0] = 4 * surface + 0;
 547                         element[6 * surface + 1] = 4 * surface + 2;
 548                         element[6 * surface + 2] = 4 * surface + 1;
 549                         element[6 * surface + 3] = 4 * surface + 1;
 550                         element[6 * surface + 4] = 4 * surface + 2;
 551                         element[6 * surface + 5] = 4 * surface + 3;
 552                 }
 553                 for (int surface = 3; surface < 6; ++surface) {
 554                         element[6 * surface + 0] = 4 * surface + 0;
 555                         element[6 * surface + 1] = 4 * surface + 1;
 556                         element[6 * surface + 2] = 4 * surface + 2;
 557                         element[6 * surface + 3] = 4 * surface + 2;
 558                         element[6 * surface + 4] = 4 * surface + 1;
 559                         element[6 * surface + 5] = 4 * surface + 3;
 560                 }
 561         }
 562         vao->Unbind();
 563 }
 564
 565 void Creature::KillVAO() {
 566         vao.reset();
 567 }
 568
 569 void Creature::Draw(graphics::Viewport &viewport) {
 570         if (!vao) return;
 571         vao->Bind();
 572         vao->DrawTriangles(6 * 6);
 573 }
 574
 575
 576 void Spawn(Creature &c, world::Planet &p) {
 577         p.AddCreature(&c);
 578         c.GetSituation().SetPlanetSurface(p, 0, p.TileCenter(0, p.SideLength() / 2, p.SideLength() / 2));
 579         c.GetSituation().Heading(-world::Planet::SurfaceOrientation(0)[2]);
 580
 581         // probe surrounding area for common resources
 582         int start = p.SideLength() / 2 - 2;
 583         int end = start + 5;
 584         std::map<int, double> yields;
 585         for (int y = start; y < end; ++y) {
 586                 for (int x = start; x < end; ++x) {
 587                         const world::TileType &t = p.TypeAt(0, x, y);
 588                         for (auto yield : t.resources) {
 589                                 yields[yield.resource] += yield.ubiquity;
 590                         }
 591                 }
 592         }
 593         int liquid = -1;
 594         int solid = -1;
 595         for (auto e : yields) {
 596                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 597                         if (liquid < 0 || e.second > yields[liquid]) {
 598                                 liquid = e.first;
 599                         }
 600                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 601                         if (solid < 0 || e.second > yields[solid]) {
 602                                 solid = e.first;
 603                         }
 604                 }
 605         }
 606
 607         Genome genome;
 608         genome.properties.Strength() = { 2.0, 0.1 };
 609         genome.properties.Stamina() = { 2.0, 0.1 };
 610         genome.properties.Dexerty() = { 2.0, 0.1 };
 611         genome.properties.Intelligence() = { 1.0, 0.1 };
 612         genome.properties.Lifetime() = { 480.0, 60.0 };
 613         genome.properties.Fertility() = { 0.5, 0.03 };
 614         genome.properties.Mutability() = { 0.9, 0.1 };
 615         genome.properties.Adaptability() = { 0.9, 0.1 };
 616         genome.properties.OffspringMass() = { 0.3, 0.02 };
 617
 618         glm::dvec3 color_avg(0.0);
 619         double color_divisor = 0.0;
 620
 621         if (p.HasAtmosphere()) {
 622                 c.AddMass(p.Atmosphere(), 0.01);
 623                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 624                 color_divisor += 0.1;
 625         }
 626         if (liquid > -1) {
 627                 c.AddMass(liquid, 0.3);
 628                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 629                 color_divisor += 0.5;
 630         }
 631         if (solid > -1) {
 632                 c.AddMass(solid, 0.1);
 633                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 634                 color_divisor += 1.0;
 635         }
 636
 637         if (color_divisor > 0.001) {
 638                 color_avg /= color_divisor;
 639         }
 640         glm::dvec3 hsl = rgb2hsl(color_avg);
 641         genome.base_hue = { hsl.x, 0.01 };
 642         genome.base_saturation = { hsl.y, 0.01 };
 643         genome.base_lightness = { hsl.z, 0.01 };
 644         // use opposite color as start highlight
 645         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 646         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 647         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 648
 649         genome.Configure(c);
 650 }
 651
 652 void Genome::Configure(Creature &c) const {
 653         c.GetGenome() = *this;
 654
 655         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 656
 657         c.GetProperties() = Instantiate(properties, random);
 658
 659         // TODO: derive stats from properties
 660         c.GetStats().Damage().gain = (-1.0 / 100.0);
 661         c.GetStats().Breath().gain = (1.0 / 5.0);
 662         c.GetStats().Thirst().gain = (1.0 / 60.0);
 663         c.GetStats().Hunger().gain = (1.0 / 200.0);
 664         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 665         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 666         c.GetStats().Boredom().gain = (1.0 / 300.0);
 667
 668         glm::dvec3 base_color(
 669                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 670                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 671                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 672         );
 673         glm::dvec3 highlight_color(
 674                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 675                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 676                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 677         );
 678         c.BaseColor(hsl2rgb(base_color));
 679         c.HighlightColor(hsl2rgb(highlight_color));
 680         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 681         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 682 }
 683
 684
 685 void Split(Creature &c) {
 686         Creature *a = new Creature(c.GetSimulation());
 687         const Situation &s = c.GetSituation();
 688         a->AddParent(c);
 689         a->Name(c.GetSimulation().Assets().name.Sequential());
 690         c.GetGenome().Configure(*a);
 691         for (const auto &cmp : c.GetComposition()) {
 692                 a->AddMass(cmp.resource, cmp.value * 0.5);
 693         }
 694         s.GetPlanet().AddCreature(a);
 695         // TODO: duplicate situation somehow
 696         a->GetSituation().SetPlanetSurface(
 697                 s.GetPlanet(), s.Surface(),
 698                 s.Position() + glm::dvec3(0.0, 0.55 * a->Size(), 0.0));
 699         a->BuildVAO();
 700         std::cout << "[" << ui::TimeString(c.GetSimulation().Time()) << "] "
 701                 << a->Name() << " was born" << std::endl;
 702
 703         Creature *b = new Creature(c.GetSimulation());
 704         b->AddParent(c);
 705         b->Name(c.GetSimulation().Assets().name.Sequential());
 706         c.GetGenome().Configure(*b);
 707         for (const auto &cmp : c.GetComposition()) {
 708                 b->AddMass(cmp.resource, cmp.value * 0.5);
 709         }
 710         s.GetPlanet().AddCreature(b);
 711         b->GetSituation().SetPlanetSurface(
 712                 s.GetPlanet(), s.Surface(),
 713                 s.Position() - glm::dvec3(0.0, 0.55 * b->Size(), 0.0));
 714         b->BuildVAO();
 715         std::cout << "[" << ui::TimeString(c.GetSimulation().Time()) << "] "
 716                 << b->Name() << " was born" << std::endl;
 717
 718         c.Die();
 719 }
 720
 721
 722 Memory::Memory(Creature &c)
 723 : c(c) {
 724 }
 725
 726 Memory::~Memory() {
 727 }
 728
 729 void Memory::Erase() {
 730         known_types.clear();
 731 }
 732
 733 void Memory::Tick(double dt) {
 734         Situation &s = c.GetSituation();
 735         if (s.OnTile()) {
 736                 TrackStay({ &s.GetPlanet(), s.Surface(), s.SurfacePosition() }, dt);
 737         }
 738 }
 739
 740 void Memory::TrackStay(const Location &l, double t) {
 741         const world::TileType &type = l.planet->TypeAt(l.surface, l.coords.x, l.coords.y);
 742         auto entry = known_types.find(type.id);
 743         if (entry != known_types.end()) {
 744                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 745                         // "it's been ages"
 746                         if (entry->second.time_spent > c.Age() * 0.25) {
 747                                 // the place is very familiar
 748                                 c.GetStats().Boredom().Add(-0.2);
 749                         } else {
 750                                 // infrequent stays
 751                                 c.GetStats().Boredom().Add(-0.1);
 752                         }
 753                 }
 754                 entry->second.last_been = c.GetSimulation().Time();
 755                 entry->second.last_loc = l;
 756                 entry->second.time_spent += t;
 757         } else {
 758                 known_types.emplace(type.id, Stay{
 759                         c.GetSimulation().Time(),
 760                         l,
 761                         c.GetSimulation().Time(),
 762                         l,
 763                         t
 764                 });
 765                 // completely new place, interesting
 766                 // TODO: scale by personality trait
 767                 c.GetStats().Boredom().Add(-0.25);
 768         }
 769 }
 770
 771
 772 NameGenerator::NameGenerator()
 773 : counter(0) {
 774 }
 775
 776 NameGenerator::~NameGenerator() {
 777 }
 778
 779 std::string NameGenerator::Sequential() {
 780         std::stringstream ss;
 781         ss << "Blob " << ++counter;
 782         return ss.str();
 783 }
 784
 785
 786 Situation::Situation()
 787 : planet(nullptr)
 788 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 789 , surface(0)
 790 , type(LOST) {
 791 }
 792
 793 Situation::~Situation() {
 794 }
 795
 796 bool Situation::OnPlanet() const noexcept {
 797         return type == PLANET_SURFACE;
 798 }
 799
 800 bool Situation::OnSurface() const noexcept {
 801         return type == PLANET_SURFACE;
 802 }
 803
 804 bool Situation::OnTile() const noexcept {
 805         if (type != PLANET_SURFACE) return false;
 806         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 807         return t.x >= 0 && t.x < planet->SideLength()
 808                 && t.y >= 0 && t.y < planet->SideLength();
 809 }
 810
 811 glm::ivec2 Situation::SurfacePosition() const noexcept {
 812         return planet->SurfacePosition(surface, state.pos);
 813 }
 814
 815 world::Tile &Situation::GetTile() const noexcept {
 816         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 817         return planet->TileAt(surface, t.x, t.y);
 818 }
 819
 820 const world::TileType &Situation::GetTileType() const noexcept {
 821         glm::ivec2 t(planet->SurfacePosition(surface, state.pos));
 822         return planet->TypeAt(surface, t.x, t.y);
 823 }
 824
 825 void Situation::Move(const glm::dvec3 &dp) noexcept {
 826         state.pos += dp;
 827         EnforceConstraints(state);
 828 }
 829
 830 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 831         state.vel += dv;
 832         EnforceConstraints(state);
 833 }
 834
 835 void Situation::EnforceConstraints(State &s) noexcept {
 836         if (OnSurface()) {
 837                 if (Surface() < 3) {
 838                         if (s.pos[(Surface() + 2) % 3] < GetPlanet().Radius()) {
 839                                 s.pos[(Surface() + 2) % 3] = GetPlanet().Radius();
 840                                 s.vel[(Surface() + 2) % 3] = std::max(0.0, s.vel[(Surface() + 2) % 3]);
 841                         }
 842                 } else {
 843                         if (s.pos[(Surface() + 2) % 3] > -GetPlanet().Radius()) {
 844                                 s.pos[(Surface() + 2) % 3] = -GetPlanet().Radius();
 845                                 s.vel[(Surface() + 2) % 3] = std::min(0.0, s.vel[(Surface() + 2) % 3]);
 846                         }
 847                 }
 848         }
 849 }
 850
 851 void Situation::SetPlanetSurface(world::Planet &p, int srf, const glm::dvec3 &pos) noexcept {
 852         type = PLANET_SURFACE;
 853         planet = &p;
 854         surface = srf;
 855         state.pos = pos;
 856         EnforceConstraints(state);
 857 }
 858
 859
 860 Steering::Steering(const Creature &c)
 861 : c(c)
 862 , target(0.0)
 863 , haste(0.0)
 864 , max_force(1.0)
 865 , max_speed(1.0)
 866 , min_dist(0.0)
 867 , max_look(0.0)
 868 , separating(false)
 869 , halting(true)
 870 , seeking(false)
 871 , arriving(false) {
 872 }
 873
 874 Steering::~Steering() {
 875 }
 876
 877 void Steering::Off() noexcept {
 878         separating = false;
 879         halting = false;
 880         seeking = false;
 881         arriving = false;
 882 }
 883
 884 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
 885         separating = true;
 886         min_dist = min_distance;
 887         max_look = max_lookaround;
 888 }
 889
 890 void Steering::DontSeparate() noexcept {
 891         separating = false;
 892 }
 893
 894 void Steering::ResumeSeparate() noexcept {
 895         separating = true;
 896 }
 897
 898 void Steering::Halt() noexcept {
 899         halting = true;
 900         seeking = false;
 901         arriving = false;
 902 }
 903
 904 void Steering::Pass(const glm::dvec3 &t) noexcept {
 905         target = t;
 906         halting = false;
 907         seeking = true;
 908         arriving = false;
 909 }
 910
 911 void Steering::GoTo(const glm::dvec3 &t) noexcept {
 912         target = t;
 913         halting = false;
 914         seeking = false;
 915         arriving = true;
 916 }
 917
 918 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
 919         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
 920         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
 921         glm::dvec3 result(0.0);
 922         if (separating) {
 923                 // TODO: off surface situation
 924                 glm::dvec3 repulse(0.0);
 925                 const Situation &s = c.GetSituation();
 926                 for (auto &other : s.GetPlanet().Creatures()) {
 927                         if (&*other == &c) continue;
 928                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
 929                         if (length2(diff) > max_look * max_look) continue;
 930                         double sep = length(diff) - other->Size() * 0.707 - c.Size() * 0.707;
 931                         if (sep < min_dist) {
 932                                 repulse += normalize(diff) * (1.0 - sep / min_dist);
 933                         }
 934                 }
 935                 result += repulse;
 936         }
 937         if (halting) {
 938                 // break twice as hard
 939                 result += -2.0 * s.vel * force;
 940         }
 941         if (seeking) {
 942                 glm::dvec3 diff = target - s.pos;
 943                 if (!allzero(diff)) {
 944                         result += TargetVelocity(s, (normalize(diff) * speed), force);
 945                 }
 946         }
 947         if (arriving) {
 948                 glm::dvec3 diff = target - s.pos;
 949                 double dist = length(diff);
 950                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
 951                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
 952                 }
 953         }
 954         if (length2(result) > max_force * max_force) {
 955                 result = normalize(result) * max_force;
 956         }
 957         return result;
 958 }
 959
 960 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
 961         return (vel - s.vel) * acc;
 962 }
 963
 964 }
 965 }