src/creature/creature.cpp

   1 #include "Composition.hpp"
   2 #include "Creature.hpp"
   3 #include "Genome.hpp"
   4 #include "Memory.hpp"
   5 #include "NameGenerator.hpp"
   6 #include "Situation.hpp"
   7 #include "Steering.hpp"
   8
   9 #include "BlobBackgroundTask.hpp"
  10 #include "Goal.hpp"
  11 #include "IdleGoal.hpp"
  12 #include "../app/Assets.hpp"
  13 #include "../math/const.hpp"
  14 #include "../ui/string.hpp"
  15 #include "../world/Body.hpp"
  16 #include "../world/Planet.hpp"
  17 #include "../world/Simulation.hpp"
  18 #include "../world/TileType.hpp"
  19
  20 #include <algorithm>
  21 #include <sstream>
  22 #include <glm/gtx/transform.hpp>
  23 #include <glm/gtx/vector_angle.hpp>
  24
  25 #include <iostream>
  26 #include <glm/gtx/io.hpp>
  27
  28
  29 namespace blobs {
  30 namespace creature {
  31
  32 Composition::Composition(const world::Set<world::Resource> &resources)
  33 : resources(resources)
  34 , components()
  35 , total_mass(0.0)
  36 , state_mass{0.0} {
  37 }
  38
  39 Composition::~Composition() {
  40 }
  41
  42 namespace {
  43 bool CompositionCompare(const Composition::Component &a, const Composition::Component &b) {
  44         return b.value < a.value;
  45 }
  46 }
  47
  48 void Composition::Add(int res, double amount) {
  49         bool found = false;
  50         for (auto c = components.begin(); c != components.end(); ++c) {
  51                 if (c->resource == res) {
  52                         c->value += amount;
  53                         if (c->value <= 0.0) {
  54                                 amount += c->value;
  55                                 components.erase(c);
  56                         }
  57                         found = true;
  58                         break;
  59                 }
  60         }
  61         if (!found && amount > 0.0) {
  62                 components.emplace_back(res, amount);
  63         }
  64         std::sort(components.begin(), components.end(), CompositionCompare);
  65         state_mass[resources[res].state] += amount;
  66         total_mass += amount;
  67 }
  68
  69 bool Composition::Has(int res) const noexcept {
  70         for (auto &c : components) {
  71                 if (c.resource == res) {
  72                         return true;
  73                 }
  74         }
  75         return false;
  76 }
  77
  78 double Composition::Get(int res) const noexcept {
  79         for (auto &c : components) {
  80                 if (c.resource == res) {
  81                         return c.value;
  82                 }
  83         }
  84         return 0.0;
  85 }
  86
  87 double Composition::Proportion(int res) const noexcept {
  88         return Get(res) / TotalMass();
  89 }
  90
  91 double Composition::StateProportion(int res) const noexcept {
  92         return Get(res) / StateMass(resources[res].state);
  93 }
  94
  95 double Composition::Compatibility(int res) const noexcept {
  96         if (Has(res)) {
  97                 return StateProportion(res);
  98         }
  99         double max_compat = -1.0;
 100         double min_compat = 1.0;
 101         for (const auto &c : components) {
 102                 double prop = c.value / StateMass(resources[res].state);
 103                 for (const auto &compat : resources[c.resource].compatibility) {
 104                         double value = compat.second * prop;
 105                         if (value > max_compat) {
 106                                 max_compat = value;
 107                         }
 108                         if (value < min_compat) {
 109                                 min_compat = value;
 110                         }
 111                 }
 112         }
 113         if (min_compat < 0.0) {
 114                 return min_compat;
 115         } else {
 116                 return max_compat;
 117         }
 118 }
 119
 120
 121 Creature::Creature(world::Simulation &sim)
 122 : sim(sim)
 123 , name()
 124 , genome()
 125 , properties()
 126 , composition(sim.Resources())
 127 , base_color(1.0)
 128 , highlight_color(0.0, 0.0, 0.0, 1.0)
 129 , mass(1.0)
 130 , size(1.0)
 131 , birth(sim.Time())
 132 , death(-1.0)
 133 , on_death()
 134 , removable(false)
 135 , parents()
 136 , stats()
 137 , memory(*this)
 138 , bg_task()
 139 , goals()
 140 , situation()
 141 , steering(*this)
 142 , perception_range(1.0)
 143 , perception_range_squared(1.0)
 144 , perception_omni_range(1.0)
 145 , perception_omni_range_squared(1.0)
 146 , perception_field(1.0)
 147 , vao() {
 148         sim.SetAlive(this);
 149         // all creatures avoid each other for now
 150         steering.Separate(0.1, 1.5);
 151 }
 152
 153 Creature::~Creature() {
 154 }
 155
 156 void Creature::AddMass(int res, double amount) {
 157         composition.Add(res, amount);
 158         double nonsolid = 0.0;
 159         double volume = 0.0;
 160         for (const auto &c : composition) {
 161                 volume += c.value / sim.Resources()[c.resource].density;
 162                 if (sim.Resources()[c.resource].state != world::Resource::SOLID) {
 163                         nonsolid += c.value;
 164                 }
 165         }
 166         Mass(composition.TotalMass());
 167         Size(std::cbrt(volume));
 168         highlight_color.a = nonsolid / composition.TotalMass();
 169 }
 170
 171 void Creature::HighlightColor(const glm::dvec3 &c) noexcept {
 172         highlight_color = glm::dvec4(c, highlight_color.a);
 173 }
 174
 175 void Creature::Ingest(int res, double amount) noexcept {
 176         if (sim.Resources()[res].state == world::Resource::SOLID) {
 177                 // 30% of solids stays in body
 178                 AddMass(res, amount * 0.3 * composition.Compatibility(res));
 179         } else {
 180                 // 5% of fluids stays in body
 181                 AddMass(res, amount * 0.05 * composition.Compatibility(res));
 182         }
 183         math::GaloisLFSR &random = sim.Assets().random;
 184         if (random.UNorm() < AdaptChance()) {
 185                 // change color to be slightly more like resource
 186                 glm::dvec3 color(rgb2hsl(sim.Resources()[res].base_color));
 187                 // solids affect base color, others highlight
 188                 double p = sim.Resources()[res].state == world::Resource::SOLID ? 0 : 1;
 189                 double q = random.UInt(3); // hue, sat, or val
 190                 double r = random.UInt(2); // mean or deviation
 191                 math::Distribution *d = nullptr;
 192                 double ref = 0.0;
 193                 if (p == 0) {
 194                         if (q == 0) {
 195                                 d = &genome.base_hue;
 196                                 ref = color.x;
 197                         } else if (q == 1) {
 198                                 d = &genome.base_saturation;
 199                                 ref = color.y;
 200                         } else {
 201                                 d = &genome.base_lightness;
 202                                 ref = color.z;
 203                         }
 204                 } else {
 205                         if (q == 0) {
 206                                 d = &genome.highlight_hue;
 207                                 ref = color.x;
 208                         } else if (q == 1) {
 209                                 d = &genome.highlight_saturation;
 210                                 ref = color.y;
 211                         } else {
 212                                 d = &genome.highlight_lightness;
 213                                 ref = color.z;
 214                         }
 215                 }
 216                 if (r == 0) {
 217                         double diff = ref - d->Mean();
 218                         if (q == 0) {
 219                                 if (diff < -0.5) {
 220                                         diff += 1.0;
 221                                 } else if (diff > 0.5) {
 222                                         diff -= 1.0;
 223                                 }
 224                                 // move ±15% of distance
 225                                 d->Mean(std::fmod(d->Mean() + diff * random.SNorm() * 0.15, 1.0));
 226                         } else {
 227                                 d->Mean(glm::clamp(d->Mean() + diff * random.SNorm() * 0.15, 0.0, 1.0));
 228                         }
 229                 } else {
 230                         // scale by ±15%, enforce bounds
 231                         d->StandardDeviation(glm::clamp(d->StandardDeviation() * (1.0 + random.SNorm() * 0.15), 0.0001, 0.5));
 232                 }
 233         }
 234 }
 235
 236 void Creature::DoWork(double amount) noexcept {
 237         stats.Exhaustion().Add(amount / (Stamina() + 1.0));
 238         // burn resources proportional to composition
 239         // factor = 1/total * 1/efficiency * amount * -1
 240         double factor = -amount / (composition.TotalMass() * EnergyEfficiency());
 241         // make a copy to total remains constant and
 242         // no entries disappear during iteration
 243         Composition comp(composition);
 244         for (auto &cmp : comp) {
 245                 double value = cmp.value * factor * sim.Resources()[cmp.resource].inverse_energy;
 246                 AddMass(cmp.resource, value);
 247         }
 248         // doing work improves strength a little
 249         properties.Strength() += amount * 0.0001;
 250 }
 251
 252 void Creature::Hurt(double amount) noexcept {
 253         stats.Damage().Add(amount);
 254         if (stats.Damage().Full()) {
 255                 Die();
 256         }
 257 }
 258
 259 void Creature::Die() noexcept {
 260         if (Dead()) return;
 261
 262         if (stats.Damage().Full()) {
 263                 std::ostream &log = sim.Log() << name << " ";
 264                 if (stats.Exhaustion().Full()) {
 265                         log << "died of exhaustion";
 266                 } else if (stats.Breath().Full()) {
 267                         log << "suffocated";
 268                 } else if (stats.Thirst().Full()) {
 269                         log << "died of thirst";
 270                 } else if (stats.Hunger().Full()) {
 271                         log << "starved to death";
 272                 } else {
 273                         log << "succumed to wounds";
 274                 }
 275                 log << " at an age of " << ui::TimeString(Age())
 276                         << " (" << ui::PercentageString(Age() / properties.Lifetime())
 277                         << " of life expectancy of " << ui::TimeString(properties.Lifetime())
 278                         << ")" << std::endl;
 279         }
 280
 281         sim.SetDead(this);
 282         death = sim.Time();
 283         steering.Off();
 284         if (on_death) {
 285                 on_death(*this);
 286         }
 287         Remove();
 288 }
 289
 290 bool Creature::Dead() const noexcept {
 291         return death > birth;
 292 }
 293
 294 void Creature::Remove() noexcept {
 295         removable = true;
 296 }
 297
 298 void Creature::Removed() noexcept {
 299         bg_task.reset();
 300         goals.clear();
 301         memory.Erase();
 302         KillVAO();
 303 }
 304
 305 void Creature::AddParent(Creature &p) {
 306         parents.push_back(&p);
 307 }
 308
 309 double Creature::Age() const noexcept {
 310         return Dead() ? death - birth : sim.Time() - birth;
 311 }
 312
 313 double Creature::AgeFactor(double peak) const noexcept {
 314         // shifted inverse hermite, y = 1 - (3t² - 2t³) with t = normalized age - peak
 315         // goes negative below -0.5 and starts to rise again above 1.0
 316         double t = glm::clamp((Age() / properties.Lifetime()) - peak, -0.5, 1.0);
 317         // guarantee at least 1%
 318         return std::max(0.01, 1.0 - (3.0 * t * t) + (2.0 * t * t * t));
 319 }
 320
 321 double Creature::EnergyEfficiency() const noexcept {
 322         return 0.25 * AgeFactor(0.05);
 323 }
 324
 325 double Creature::ExhaustionFactor() const noexcept {
 326         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Exhaustion().value) * 0.5);
 327 }
 328
 329 double Creature::FatigueFactor() const noexcept {
 330         return 1.0 - (glm::smoothstep(0.5, 1.0, stats.Fatigue().value) * 0.5);
 331 }
 332
 333 double Creature::Strength() const noexcept {
 334         // TODO: replace all age factors with actual growth and decay
 335         return properties.Strength() * ExhaustionFactor() * AgeFactor(0.25);
 336 }
 337
 338 double Creature::StrengthFactor() const noexcept {
 339         double str = Strength();
 340         return str / (str + 1.0);
 341 }
 342
 343 double Creature::Stamina() const noexcept {
 344         return properties.Stamina() * ExhaustionFactor() * AgeFactor(0.25);
 345 }
 346
 347 double Creature::StaminaFactor() const noexcept {
 348         double stm = Stamina();
 349         return stm / (stm + 1.0);
 350 }
 351
 352 double Creature::Dexerty() const noexcept {
 353         return properties.Dexerty() * ExhaustionFactor() * AgeFactor(0.25);
 354 }
 355
 356 double Creature::DexertyFactor() const noexcept {
 357         double dex = Dexerty();
 358         return dex / (dex + 1.0);
 359 }
 360
 361 double Creature::Intelligence() const noexcept {
 362         return properties.Intelligence() * FatigueFactor() * AgeFactor(0.25);
 363 }
 364
 365 double Creature::IntelligenceFactor() const noexcept {
 366         double intl = Intelligence();
 367         return intl / (intl + 1.0);
 368 }
 369
 370 double Creature::Lifetime() const noexcept {
 371         return properties.Lifetime();
 372 }
 373
 374 double Creature::Fertility() const noexcept {
 375         return properties.Fertility() * AgeFactor(0.25);
 376 }
 377
 378 double Creature::Mutability() const noexcept {
 379         return properties.Mutability();
 380 }
 381
 382 double Creature::Adaptability() const noexcept {
 383         return properties.Adaptability();
 384 }
 385
 386 double Creature::OffspringMass() const noexcept {
 387         return properties.OffspringMass();
 388 }
 389
 390 double Creature::PerceptionRange() const noexcept {
 391         return perception_range;
 392 }
 393
 394 double Creature::PerceptionOmniRange() const noexcept {
 395         return perception_omni_range;
 396 }
 397
 398 double Creature::PerceptionField() const noexcept {
 399         return perception_field;
 400 }
 401
 402 bool Creature::PerceptionTest(const glm::dvec3 &p) const noexcept {
 403         const glm::dvec3 diff(p - situation.Position());
 404         double ldiff = glm::length2(diff);
 405         if (ldiff < perception_omni_range_squared) return true;
 406         if (ldiff > perception_range_squared) return false;
 407         return glm::dot(diff / std::sqrt(ldiff), situation.Heading()) > perception_field;
 408 }
 409
 410 double Creature::OffspringChance() const noexcept {
 411         return AgeFactor(0.25) * properties.Fertility() * (1.0 / 3600.0);
 412 }
 413
 414 double Creature::MutateChance() const noexcept {
 415         return GetProperties().Mutability() * (1.0 / 3600.0);
 416 }
 417
 418 double Creature::AdaptChance() const noexcept {
 419         return GetProperties().Adaptability() * (1.0 / 120.0);
 420 }
 421
 422 void Creature::AddGoal(std::unique_ptr<Goal> &&g) {
 423         g->Enable();
 424         if (goals.empty()) {
 425                 g->SetForeground();
 426         }
 427         goals.emplace_back(std::move(g));
 428 }
 429
 430 namespace {
 431
 432 bool GoalCompare(const std::unique_ptr<Goal> &a, const std::unique_ptr<Goal> &b) {
 433         return b->Urgency() < a->Urgency();
 434 }
 435
 436 }
 437
 438 void Creature::Tick(double dt) {
 439         Cache();
 440         TickState(dt);
 441         TickStats(dt);
 442         TickBrain(dt);
 443 }
 444
 445 void Creature::Cache() noexcept {
 446         double dex_fact = DexertyFactor();
 447         perception_range = 3.0 * dex_fact + size;
 448         perception_range_squared = perception_range * perception_range;
 449         perception_omni_range = 0.5 * dex_fact + size;
 450         perception_omni_range_squared = perception_omni_range * perception_omni_range;
 451         // this is the cosine of half the angle, so 1.0 is none, -1.0 is perfect
 452         perception_field = 0.8 - dex_fact;
 453 }
 454
 455 void Creature::TickState(double dt) {
 456         steering.MaxSpeed(Dexerty());
 457         steering.MaxForce(Strength());
 458         Situation::State state(situation.GetState());
 459         Situation::Derivative a(Step(Situation::Derivative(), 0.0));
 460         Situation::Derivative b(Step(a, dt * 0.5));
 461         Situation::Derivative c(Step(b, dt * 0.5));
 462         Situation::Derivative d(Step(c, dt));
 463         Situation::Derivative f(
 464                 (1.0 / 6.0) * (a.vel + 2.0 * (b.vel + c.vel) + d.vel),
 465                 (1.0 / 6.0) * (a.acc + 2.0 * (b.acc + c.acc) + d.acc)
 466         );
 467         state.pos += f.vel * dt;
 468         state.vel += f.acc * dt;
 469         situation.EnforceConstraints(state);
 470         if (glm::length2(state.vel) > 0.000001) {
 471                 glm::dvec3 nvel(glm::normalize(state.vel));
 472                 double ang = glm::angle(nvel, state.dir);
 473                 double turn_rate = PI * 0.75 * dt;
 474                 if (ang < turn_rate) {
 475                         state.dir = glm::normalize(state.vel);
 476                 } else if (std::abs(ang - PI) < 0.001) {
 477                         state.dir = glm::rotate(state.dir, turn_rate, situation.GetPlanet().NormalAt(state.pos));
 478                 } else {
 479                         state.dir = glm::rotate(state.dir, turn_rate, glm::normalize(glm::cross(state.dir, nvel)));
 480                 }
 481         }
 482         situation.SetState(state);
 483         // work is force times distance
 484         // exclude gravity for no apparent reason
 485         // actually, this should solely be based on steering force
 486         DoWork(glm::length(f.acc - situation.GetPlanet().GravityAt(state.pos)) * Mass() * glm::length(f.vel) * dt);
 487 }
 488
 489 Situation::Derivative Creature::Step(const Situation::Derivative &ds, double dt) const noexcept {
 490         Situation::State s = situation.GetState();
 491         s.pos += ds.vel * dt;
 492         s.vel += ds.acc * dt;
 493         situation.EnforceConstraints(s);
 494         glm::dvec3 force(steering.Force(s));
 495         // gravity = antinormal * mass * Gm / r²
 496         glm::dvec3 normal(situation.GetPlanet().NormalAt(s.pos));
 497         force += glm::dvec3(
 498                 -normal
 499                 * (Mass() * situation.GetPlanet().GravitationalParameter()
 500                 / glm::length2(s.pos)));
 501         // if net force is applied and in contact with surface
 502         if (!allzero(force) && !allzero(s.vel) && glm::length2(s.pos) < (situation.GetPlanet().Radius() + 0.01) * (situation.GetPlanet().Radius() + 0.01)) {
 503                 // apply friction
 504                 glm::dvec3 fn(normal * glm::dot(force, normal));
 505                 // TODO: friction somehow bigger than force?
 506                 glm::dvec3 ft(force - fn);
 507                 double u = 0.4;
 508                 glm::dvec3 friction(-glm::clamp(glm::length(ft), 0.0, glm::length(fn) * u) * glm::normalize(s.vel));
 509                 force += friction;
 510         }
 511         return {
 512                 s.vel,
 513                 force / Mass()
 514         };
 515 }
 516
 517 void Creature::TickStats(double dt) {
 518         for (auto &s : stats.stat) {
 519                 s.Add(s.gain * dt);
 520         }
 521         // TODO: damage values depending on properties
 522         if (stats.Breath().Full()) {
 523                 constexpr double dps = 1.0 / 4.0;
 524                 Hurt(dps * dt);
 525         }
 526         if (stats.Thirst().Full()) {
 527                 constexpr double dps = 1.0 / 32.0;
 528                 Hurt(dps * dt);
 529         }
 530         if (stats.Hunger().Full()) {
 531                 constexpr double dps = 1.0 / 128.0;
 532                 Hurt(dps * dt);
 533         }
 534         if (!situation.Moving()) {
 535                 // double exhaustion recovery when standing still
 536                 stats.Exhaustion().Add(stats.Exhaustion().gain * dt);
 537         }
 538 }
 539
 540 void Creature::TickBrain(double dt) {
 541         bg_task->Tick(dt);
 542         bg_task->Action();
 543         memory.Tick(dt);
 544         // do background stuff
 545         if (goals.empty()) {
 546                 return;
 547         }
 548         for (auto &goal : goals) {
 549                 goal->Tick(dt);
 550         }
 551         Goal *top = &*goals.front();
 552         // if active goal can be interrupted, check priorities
 553         if (goals.size() > 1 && goals[0]->Interruptible()) {
 554                 std::sort(goals.begin(), goals.end(), GoalCompare);
 555         }
 556         if (&*goals.front() != top) {
 557                 top->SetBackground();
 558                 goals.front()->SetForeground();
 559                 top = &*goals.front();
 560         }
 561         goals[0]->Action();
 562         for (auto goal = goals.begin(); goal != goals.end();) {
 563                 if ((*goal)->Complete()) {
 564                         goals.erase(goal);
 565                 } else {
 566                         ++goal;
 567                 }
 568         }
 569         if (&*goals.front() != top) {
 570                 goals.front()->SetForeground();
 571         }
 572 }
 573
 574 math::AABB Creature::CollisionBounds() const noexcept {
 575         return { glm::dvec3(size * -0.5), glm::dvec3(size * 0.5) };
 576 }
 577
 578 glm::dmat4 Creature::CollisionTransform() const noexcept {
 579         const double half_size = size * 0.5;
 580         const glm::dvec3 &pos = situation.Position();
 581         glm::dmat3 orient;
 582         orient[1] = situation.GetPlanet().NormalAt(pos);
 583         orient[2] = situation.Heading();
 584         if (std::abs(glm::dot(orient[1], orient[2])) > 0.999) {
 585                 orient[2] = glm::dvec3(orient[1].z, orient[1].x, orient[1].y);
 586         }
 587         orient[0] = glm::normalize(glm::cross(orient[1], orient[2]));
 588         orient[2] = glm::normalize(glm::cross(orient[0], orient[1]));
 589         return glm::translate(glm::dvec3(pos.x, pos.y, pos.z))
 590                 * glm::dmat4(orient)
 591                 * glm::translate(glm::dvec3(0.0, half_size, 0.0));
 592 }
 593
 594 glm::dmat4 Creature::LocalTransform() noexcept {
 595         const double half_size = size * 0.5;
 596         return CollisionTransform()
 597                 * glm::scale(glm::dvec3(half_size, half_size, half_size));
 598 }
 599
 600 void Creature::BuildVAO() {
 601         vao.reset(new graphics::SimpleVAO<Attributes, unsigned short>);
 602         vao->Bind();
 603         vao->BindAttributes();
 604         vao->EnableAttribute(0);
 605         vao->EnableAttribute(1);
 606         vao->EnableAttribute(2);
 607         vao->AttributePointer<glm::vec3>(0, false, offsetof(Attributes, position));
 608         vao->AttributePointer<glm::vec3>(1, false, offsetof(Attributes, normal));
 609         vao->AttributePointer<glm::vec3>(2, false, offsetof(Attributes, texture));
 610         vao->ReserveAttributes(6 * 4, GL_STATIC_DRAW);
 611         {
 612                 auto attrib = vao->MapAttributes(GL_WRITE_ONLY);
 613                 const float offset = 1.0f;
 614                 for (int surface = 0; surface < 6; ++surface) {
 615                         const float tex_u_begin = surface < 3 ? 1.0f : 0.0f;
 616                         const float tex_u_end = surface < 3 ? 0.0f : 1.0f;
 617
 618                         attrib[4 * surface + 0].position[(surface + 0) % 3] = -offset;
 619                         attrib[4 * surface + 0].position[(surface + 1) % 3] = -offset;
 620                         attrib[4 * surface + 0].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 621                         attrib[4 * surface + 0].normal[(surface + 0) % 3] = 0.0f;
 622                         attrib[4 * surface + 0].normal[(surface + 1) % 3] = 0.0f;
 623                         attrib[4 * surface + 0].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 624                         attrib[4 * surface + 0].texture.x = tex_u_begin;
 625                         attrib[4 * surface + 0].texture.y = 1.0f;
 626                         attrib[4 * surface + 0].texture.z = surface;
 627
 628                         attrib[4 * surface + 1].position[(surface + 0) % 3] = -offset;
 629                         attrib[4 * surface + 1].position[(surface + 1) % 3] =  offset;
 630                         attrib[4 * surface + 1].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 631                         attrib[4 * surface + 1].normal[(surface + 0) % 3] = 0.0f;
 632                         attrib[4 * surface + 1].normal[(surface + 1) % 3] = 0.0f;
 633                         attrib[4 * surface + 1].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 634                         attrib[4 * surface + 1].texture.x = tex_u_end;
 635                         attrib[4 * surface + 1].texture.y = 1.0f;
 636                         attrib[4 * surface + 1].texture.z = surface;
 637
 638                         attrib[4 * surface + 2].position[(surface + 0) % 3] =  offset;
 639                         attrib[4 * surface + 2].position[(surface + 1) % 3] = -offset;
 640                         attrib[4 * surface + 2].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 641                         attrib[4 * surface + 2].normal[(surface + 0) % 3] = 0.0f;
 642                         attrib[4 * surface + 2].normal[(surface + 1) % 3] = 0.0f;
 643                         attrib[4 * surface + 2].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 644                         attrib[4 * surface + 2].texture.x = tex_u_begin;
 645                         attrib[4 * surface + 2].texture.y = 0.0f;
 646                         attrib[4 * surface + 2].texture.z = surface;
 647
 648                         attrib[4 * surface + 3].position[(surface + 0) % 3] = offset;
 649                         attrib[4 * surface + 3].position[(surface + 1) % 3] = offset;
 650                         attrib[4 * surface + 3].position[(surface + 2) % 3] = surface < 3 ? offset : -offset;
 651                         attrib[4 * surface + 3].normal[(surface + 0) % 3] = 0.0f;
 652                         attrib[4 * surface + 3].normal[(surface + 1) % 3] = 0.0f;
 653                         attrib[4 * surface + 3].normal[(surface + 2) % 3] = surface < 3 ? 1.0f : -1.0f;
 654                         attrib[4 * surface + 3].texture.x = tex_u_end;
 655                         attrib[4 * surface + 3].texture.y = 0.0f;
 656                         attrib[4 * surface + 3].texture.z = surface;
 657                 }
 658         }
 659         vao->BindElements();
 660         vao->ReserveElements(6 * 6, GL_STATIC_DRAW);
 661         {
 662                 auto element = vao->MapElements(GL_WRITE_ONLY);
 663                 for (int surface = 0; surface < 3; ++surface) {
 664                         element[6 * surface + 0] = 4 * surface + 0;
 665                         element[6 * surface + 1] = 4 * surface + 2;
 666                         element[6 * surface + 2] = 4 * surface + 1;
 667                         element[6 * surface + 3] = 4 * surface + 1;
 668                         element[6 * surface + 4] = 4 * surface + 2;
 669                         element[6 * surface + 5] = 4 * surface + 3;
 670                 }
 671                 for (int surface = 3; surface < 6; ++surface) {
 672                         element[6 * surface + 0] = 4 * surface + 0;
 673                         element[6 * surface + 1] = 4 * surface + 1;
 674                         element[6 * surface + 2] = 4 * surface + 2;
 675                         element[6 * surface + 3] = 4 * surface + 2;
 676                         element[6 * surface + 4] = 4 * surface + 1;
 677                         element[6 * surface + 5] = 4 * surface + 3;
 678                 }
 679         }
 680         vao->Unbind();
 681 }
 682
 683 void Creature::KillVAO() {
 684         vao.reset();
 685 }
 686
 687 void Creature::Draw(graphics::Viewport &viewport) {
 688         if (!vao) return;
 689         vao->Bind();
 690         vao->DrawTriangles(6 * 6);
 691 }
 692
 693
 694 void Spawn(Creature &c, world::Planet &p) {
 695         p.AddCreature(&c);
 696         c.GetSituation().SetPlanetSurface(p, glm::dvec3(0.0, 0.0, p.Radius()));
 697         c.GetSituation().Heading(glm::dvec3(1.0, 0.0, 0.0));
 698
 699         // probe surrounding area for common resources
 700         int start = p.SideLength() / 2 - 2;
 701         int end = start + 5;
 702         std::map<int, double> yields;
 703         for (int y = start; y < end; ++y) {
 704                 for (int x = start; x < end; ++x) {
 705                         const world::TileType &t = p.TypeAt(0, x, y);
 706                         for (auto yield : t.resources) {
 707                                 yields[yield.resource] += yield.ubiquity;
 708                         }
 709                 }
 710         }
 711         int liquid = -1;
 712         int solid = -1;
 713         for (auto e : yields) {
 714                 if (c.GetSimulation().Resources()[e.first].state == world::Resource::LIQUID) {
 715                         if (liquid < 0 || e.second > yields[liquid]) {
 716                                 liquid = e.first;
 717                         }
 718                 } else if (c.GetSimulation().Resources()[e.first].state == world::Resource::SOLID) {
 719                         if (solid < 0 || e.second > yields[solid]) {
 720                                 solid = e.first;
 721                         }
 722                 }
 723         }
 724
 725         Genome genome;
 726         genome.properties.Strength() = { 2.0, 0.1 };
 727         genome.properties.Stamina() = { 2.0, 0.1 };
 728         genome.properties.Dexerty() = { 2.0, 0.1 };
 729         genome.properties.Intelligence() = { 1.0, 0.1 };
 730         genome.properties.Lifetime() = { 480.0, 60.0 };
 731         genome.properties.Fertility() = { 0.5, 0.03 };
 732         genome.properties.Mutability() = { 0.9, 0.1 };
 733         genome.properties.Adaptability() = { 0.9, 0.1 };
 734         genome.properties.OffspringMass() = { 0.3, 0.02 };
 735
 736         glm::dvec3 color_avg(0.0);
 737         double color_divisor = 0.0;
 738
 739         if (p.HasAtmosphere()) {
 740                 c.AddMass(p.Atmosphere(), 0.01);
 741                 color_avg += c.GetSimulation().Resources()[p.Atmosphere()].base_color * 0.1;
 742                 color_divisor += 0.1;
 743         }
 744         if (liquid > -1) {
 745                 c.AddMass(liquid, 0.3);
 746                 color_avg += c.GetSimulation().Resources()[liquid].base_color * 0.5;
 747                 color_divisor += 0.5;
 748         }
 749         if (solid > -1) {
 750                 c.AddMass(solid, 0.1);
 751                 color_avg += c.GetSimulation().Resources()[solid].base_color;
 752                 color_divisor += 1.0;
 753         }
 754
 755         if (color_divisor > 0.001) {
 756                 color_avg /= color_divisor;
 757         }
 758         glm::dvec3 hsl = rgb2hsl(color_avg);
 759         genome.base_hue = { hsl.x, 0.01 };
 760         genome.base_saturation = { hsl.y, 0.01 };
 761         genome.base_lightness = { hsl.z, 0.01 };
 762         // use opposite color as start highlight
 763         genome.highlight_hue = { std::fmod(hsl.x + 0.5, 1.0), 0.01 };
 764         genome.highlight_saturation = { 1.0 - hsl.y, 0.01 };
 765         genome.highlight_lightness = { 1.0 - hsl.z, 0.01 };
 766
 767         genome.Configure(c);
 768 }
 769
 770 void Genome::Configure(Creature &c) const {
 771         c.GetGenome() = *this;
 772
 773         math::GaloisLFSR &random = c.GetSimulation().Assets().random;
 774
 775         c.GetProperties() = Instantiate(properties, random);
 776
 777         // TODO: derive stats from properties
 778         c.GetStats().Damage().gain = (-1.0 / 100.0);
 779         c.GetStats().Breath().gain = (1.0 / 5.0);
 780         c.GetStats().Thirst().gain = (1.0 / 60.0);
 781         c.GetStats().Hunger().gain = (1.0 / 200.0);
 782         c.GetStats().Exhaustion().gain = (-1.0 / 100.0);
 783         c.GetStats().Fatigue().gain = (-1.0 / 100.0);
 784         c.GetStats().Boredom().gain = (1.0 / 300.0);
 785
 786         glm::dvec3 base_color(
 787                 std::fmod(base_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 788                 glm::clamp(base_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 789                 glm::clamp(base_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 790         );
 791         glm::dvec3 highlight_color(
 792                 std::fmod(highlight_hue.FakeNormal(random.SNorm()) + 1.0, 1.0),
 793                 glm::clamp(highlight_saturation.FakeNormal(random.SNorm()), 0.0, 1.0),
 794                 glm::clamp(highlight_lightness.FakeNormal(random.SNorm()), 0.0, 1.0)
 795         );
 796         c.BaseColor(hsl2rgb(base_color));
 797         c.HighlightColor(hsl2rgb(highlight_color));
 798         c.SetBackgroundTask(std::unique_ptr<Goal>(new BlobBackgroundTask(c)));
 799         c.AddGoal(std::unique_ptr<Goal>(new IdleGoal(c)));
 800 }
 801
 802
 803 void Split(Creature &c) {
 804         Creature *a = new Creature(c.GetSimulation());
 805         const Situation &s = c.GetSituation();
 806         a->AddParent(c);
 807         a->Name(c.GetSimulation().Assets().name.Sequential());
 808         c.GetGenome().Configure(*a);
 809         for (const auto &cmp : c.GetComposition()) {
 810                 a->AddMass(cmp.resource, cmp.value * 0.5);
 811         }
 812         s.GetPlanet().AddCreature(a);
 813         // TODO: duplicate situation somehow
 814         a->GetSituation().SetPlanetSurface(
 815                 s.GetPlanet(),
 816                 s.Position() + glm::rotate(s.Heading() * a->Size() * 0.6, PI * 0.5, s.SurfaceNormal()));
 817         a->BuildVAO();
 818         c.GetSimulation().Log() << a->Name() << " was born" << std::endl;
 819
 820         Creature *b = new Creature(c.GetSimulation());
 821         b->AddParent(c);
 822         b->Name(c.GetSimulation().Assets().name.Sequential());
 823         c.GetGenome().Configure(*b);
 824         for (const auto &cmp : c.GetComposition()) {
 825                 b->AddMass(cmp.resource, cmp.value * 0.5);
 826         }
 827         s.GetPlanet().AddCreature(b);
 828         b->GetSituation().SetPlanetSurface(
 829                 s.GetPlanet(),
 830                 s.Position() + glm::rotate(s.Heading() * b->Size() * 0.6, PI * -0.5, s.SurfaceNormal()));
 831         b->BuildVAO();
 832         c.GetSimulation().Log() << b->Name() << " was born" << std::endl;
 833
 834         c.Die();
 835 }
 836
 837
 838 Memory::Memory(Creature &c)
 839 : c(c) {
 840 }
 841
 842 Memory::~Memory() {
 843 }
 844
 845 void Memory::Erase() {
 846         known_types.clear();
 847 }
 848
 849 bool Memory::RememberLocation(const Composition &accept, glm::dvec3 &pos) const noexcept {
 850         double best_rating = -1.0;
 851         for (const auto &k : known_types) {
 852                 const world::TileType &t = c.GetSimulation().TileTypes()[k.first];
 853                 auto entry = t.FindBestResource(accept);
 854                 if (entry != t.resources.end()) {
 855                         double rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.first_loc.position));
 856                         if (rating > best_rating) {
 857                                 best_rating = rating;
 858                                 pos = k.second.first_loc.position;
 859                         }
 860                         rating = entry->ubiquity / std::max(0.125, 0.25 * glm::length2(c.GetSituation().Position() - k.second.last_loc.position));
 861                         if (rating > best_rating) {
 862                                 best_rating = rating;
 863                                 pos = k.second.last_loc.position;
 864                         }
 865                 }
 866         }
 867         if (best_rating > 0.0) {
 868                 glm::dvec3 error(
 869                         c.GetSimulation().Assets().random.SNorm(),
 870                         c.GetSimulation().Assets().random.SNorm(),
 871                         c.GetSimulation().Assets().random.SNorm());
 872                 pos += error * (4.0 * (1.0 - c.IntelligenceFactor()));
 873                 pos = glm::normalize(pos) * c.GetSituation().GetPlanet().Radius();
 874                 return true;
 875         } else {
 876                 return false;
 877         }
 878 }
 879
 880 void Memory::Tick(double dt) {
 881         Situation &s = c.GetSituation();
 882         if (s.OnSurface()) {
 883                 TrackStay({ &s.GetPlanet(), s.Position() }, dt);
 884         }
 885         // TODO: forget
 886 }
 887
 888 void Memory::TrackStay(const Location &l, double t) {
 889         const world::TileType &type = l.planet->TileTypeAt(l.position);
 890         auto entry = known_types.find(type.id);
 891         if (entry != known_types.end()) {
 892                 if (c.GetSimulation().Time() - entry->second.last_been > c.GetProperties().Lifetime() * 0.1) {
 893                         // "it's been ages"
 894                         if (entry->second.time_spent > c.Age() * 0.25) {
 895                                 // the place is very familiar
 896                                 c.GetStats().Boredom().Add(-0.2);
 897                         } else {
 898                                 // infrequent stays
 899                                 c.GetStats().Boredom().Add(-0.1);
 900                         }
 901                 }
 902                 entry->second.last_been = c.GetSimulation().Time();
 903                 entry->second.last_loc = l;
 904                 entry->second.time_spent += t;
 905         } else {
 906                 known_types.emplace(type.id, Stay{
 907                         c.GetSimulation().Time(),
 908                         l,
 909                         c.GetSimulation().Time(),
 910                         l,
 911                         t
 912                 });
 913                 // completely new place, interesting
 914                 // TODO: scale by personality trait
 915                 c.GetStats().Boredom().Add(-0.25);
 916         }
 917 }
 918
 919
 920 NameGenerator::NameGenerator()
 921 : counter(0) {
 922 }
 923
 924 NameGenerator::~NameGenerator() {
 925 }
 926
 927 std::string NameGenerator::Sequential() {
 928         std::stringstream ss;
 929         ss << "Blob " << ++counter;
 930         return ss.str();
 931 }
 932
 933
 934 Situation::Situation()
 935 : planet(nullptr)
 936 , state(glm::dvec3(0.0), glm::dvec3(0.0))
 937 , type(LOST) {
 938 }
 939
 940 Situation::~Situation() {
 941 }
 942
 943 bool Situation::OnPlanet() const noexcept {
 944         return type == PLANET_SURFACE;
 945 }
 946
 947 bool Situation::OnSurface() const noexcept {
 948         return type == PLANET_SURFACE;
 949 }
 950
 951 bool Situation::OnGround() const noexcept {
 952         return OnSurface() && glm::length2(state.pos) < (planet->Radius() + 0.05) * (planet->Radius() + 0.05);
 953 }
 954
 955 glm::dvec3 Situation::SurfaceNormal() const noexcept {
 956         return planet->NormalAt(state.pos);
 957 }
 958
 959 world::Tile &Situation::GetTile() const noexcept {
 960         return planet->TileAt(state.pos);
 961 }
 962
 963 const world::TileType &Situation::GetTileType() const noexcept {
 964         return planet->TileTypeAt(state.pos);
 965 }
 966
 967 void Situation::Move(const glm::dvec3 &dp) noexcept {
 968         state.pos += dp;
 969         EnforceConstraints(state);
 970 }
 971
 972 void Situation::Accelerate(const glm::dvec3 &dv) noexcept {
 973         state.vel += dv;
 974         EnforceConstraints(state);
 975 }
 976
 977 void Situation::EnforceConstraints(State &s) const noexcept {
 978         if (OnSurface()) {
 979                 double r = GetPlanet().Radius();
 980                 if (glm::length2(s.pos) < r * r) {
 981                         const glm::dvec3 normal(GetPlanet().NormalAt(s.pos));
 982                         s.pos = normal * r;
 983                         s.vel -= normal * glm::dot(normal, s.vel);
 984                 }
 985         }
 986 }
 987
 988 void Situation::SetPlanetSurface(world::Planet &p, const glm::dvec3 &pos) noexcept {
 989         type = PLANET_SURFACE;
 990         planet = &p;
 991         state.pos = pos;
 992         EnforceConstraints(state);
 993 }
 994
 995
 996 Steering::Steering(const Creature &c)
 997 : c(c)
 998 , target(0.0)
 999 , haste(0.0)
1000 , max_force(1.0)
1001 , max_speed(1.0)
1002 , min_dist(0.0)
1003 , max_look(0.0)
1004 , separating(false)
1005 , halting(true)
1006 , seeking(false)
1007 , arriving(false) {
1008 }
1009
1010 Steering::~Steering() {
1011 }
1012
1013 void Steering::Off() noexcept {
1014         separating = false;
1015         halting = false;
1016         seeking = false;
1017         arriving = false;
1018 }
1019
1020 void Steering::Separate(double min_distance, double max_lookaround) noexcept {
1021         separating = true;
1022         min_dist = min_distance;
1023         max_look = max_lookaround;
1024 }
1025
1026 void Steering::DontSeparate() noexcept {
1027         separating = false;
1028 }
1029
1030 void Steering::ResumeSeparate() noexcept {
1031         separating = true;
1032 }
1033
1034 void Steering::Halt() noexcept {
1035         halting = true;
1036         seeking = false;
1037         arriving = false;
1038 }
1039
1040 void Steering::Pass(const glm::dvec3 &t) noexcept {
1041         target = t;
1042         halting = false;
1043         seeking = true;
1044         arriving = false;
1045 }
1046
1047 void Steering::GoTo(const glm::dvec3 &t) noexcept {
1048         target = t;
1049         halting = false;
1050         seeking = false;
1051         arriving = true;
1052 }
1053
1054 glm::dvec3 Steering::Force(const Situation::State &s) const noexcept {
1055         double speed = max_speed * glm::clamp(max_speed * haste * haste, 0.25, 1.0);
1056         double force = max_speed * glm::clamp(max_force * haste * haste, 0.5, 1.0);
1057         glm::dvec3 result(0.0);
1058         if (separating) {
1059                 // TODO: off surface situation
1060                 glm::dvec3 repulse(0.0);
1061                 const Situation &s = c.GetSituation();
1062                 for (auto &other : s.GetPlanet().Creatures()) {
1063                         if (&*other == &c) continue;
1064                         glm::dvec3 diff = s.Position() - other->GetSituation().Position();
1065                         if (glm::length2(diff) > max_look * max_look) continue;
1066                         if (!c.PerceptionTest(other->GetSituation().Position())) continue;
1067                         double sep = glm::clamp(glm::length(diff) - other->Size() * 0.707 - c.Size() * 0.707, 0.0, min_dist);
1068                         repulse += glm::normalize(diff) * (1.0 - sep / min_dist) * force;
1069                 }
1070                 result += repulse;
1071         }
1072         if (halting) {
1073                 // brake hard
1074                 result += -5.0 * s.vel * force;
1075         }
1076         if (seeking) {
1077                 glm::dvec3 diff = target - s.pos;
1078                 if (!allzero(diff)) {
1079                         result += TargetVelocity(s, (glm::normalize(diff) * speed), force);
1080                 }
1081         }
1082         if (arriving) {
1083                 glm::dvec3 diff = target - s.pos;
1084                 double dist = glm::length(diff);
1085                 if (!allzero(diff) && dist > std::numeric_limits<double>::epsilon()) {
1086                         result += TargetVelocity(s, diff * std::min(dist * force, speed) / dist, force);
1087                 }
1088         }
1089         // remove vertical component, if any
1090         const glm::dvec3 normal(c.GetSituation().GetPlanet().NormalAt(s.pos));
1091         result -= normal * glm::dot(normal, result);
1092         // clamp to max
1093         if (glm::length2(result) > max_force * max_force) {
1094                 result = glm::normalize(result) * max_force;
1095         }
1096         return result;
1097 }
1098
1099 glm::dvec3 Steering::TargetVelocity(const Situation::State &s, const glm::dvec3 &vel, double acc) const noexcept {
1100         return (vel - s.vel) * acc;
1101 }
1102
1103 }
1104 }